Sigma-7 Series Catalogue

AC SERVO DRIVES
SERIES
Certified for
ISO9001 and
ISO14001
JQA-0422 JQA-EM0202
Series of AC Servo Drives
Everyone’s preferred choice

of Servo Drives
Since the release of the first series of Servo Drives in 1992, Yaskawa Electric has
consistently made innovations to existing technologies to find solutions for problems
that users experience. Users have always sought high - speed, high - accuracy, and
easy-to-use products, and this demand rises every year.
In 2013, the series of Servo Drives evolved into the Servo Drives, which provides
users with the ultimate experience in seven key areas and delivers the optimal solutions
that only Yaskawa can offer. With the superlative performance and outstanding ease of
use of the series, Yaskawa can offer solutions that will make the Servo Drives
the preferred choice of customers at any point in the life cycle of their systems.
１ Ultimate system performance pages M-4 to M-7
Superlative performance with improved

efficiency and speed
Attention developers/engineers
Refer to pages M-6 and M-7 for examples

of the high performance of the series in
“ pick and place ” applications. Contact
Yaskawa for details on this and additional
applications.
2 Ultimate ease of use page M-8
No tuning required with the series upgraded tuning-less

function to achieve stable movement with no vibration.
Attention developers/engineers production maintenance personnel
You can check the level of performance of actual operations with

the use of demonstration units. Contact Yaskawa for a
demonstration.
3 Ultimate environmental performance page M-9
Each product has improved specifications to meet even the most

stringent environmental requirements. Servo Drives can now be used in
different countries and regions, and under a variety of conditions.
Attention developers/engineers operators
Are there any operating environments that you have given up on? The servos
have an increased ability to cope with temperature rises in systems, comply with
the IP67 resistance to water immersion rating, and have greater global support (AC
240 V input and operable at an altitude of 2,000 meters*). Compact and energy
saving systems can also be easily built with the two-axis SERVOPACKs.
2
*: At this altitude, the servo drives will operate at reduced ratings.
7 Ultimate compatibility page M-13
Programs and parameters used with SERVOPACKs are compatible with SERVOPACKs.
The performance of your systems can be easily enhanced with a simple replacement.
There is no need to change your system design because the sizes of

the Servo Drives are the same as those of the series. The
improved shape of the mounting screws makes them easier to secure.
With the ensured compatibility of programs and parameters, it is easy to
replace Servo Drives with Servo Drives.
6 Ultimate lineup page M-12
You can choose from a rich product lineup of the series as well
as from the compatible products of Yaskawa’s partner companies to
easily build just the right system for your needs.
Compatible products made by our partner

companies are also available. You can prepare
all the motion devices required for your system
with our one-stop, all-in-one service.
It is now possible to drive rotary, Linear, or
Direct Drive Servomotors using the same
SERVOPACK model in the series. This
helps to reduce the number of Servo Drives
that are put in storage.
5 Ultimate support page M-11
Full support is available from selection to maintenance.

Maintenance is easier because product information can be viewed
by using a smartphone.
QR code reading
Attention developers/engineers maintenance personnel with a smartphone.
Services* that take full advantage of the latest technology, such

as cloud storages, QR codes, and smartphones are readily
available. They add another dimension of convenience and ease in
terms of product information control and maintenance work.
*: MechatroCloud is available in Japan only.
Note: QR code is a registered trademark of Denso Wave Incorporated.
4 Ultimate safety and security page M-10
The Servo Drives satisfy the IEC 61508 safety integrity level 3 (SIL 3). Safety
is also ensured with temperature sensors mounted in products.
These Servo Drives can be used as system components with safety guaranteed.
Attention developers/engineers operators maintenance personnel
It is absolutely essential to ensure the safety of systems and protect against

temperature increases. The Servo Drives are fully equipped with all the
necessary safety measures, which reduces the amount of work required for
system design and maintenance.
3
Ultimate system performance
1 The high-performance of SERVOPACKs translates into ultra-high-speed
and ultra-high-accuracy control, which maximizes system performance.
Single-axis SERVOPACKs
3.1 kHz response frequency
Optimized for specific applications:
New models in EX and FT series to be released
Improved vibration suppression
Ripple compensation Enhanced vibration suppression function
Notch filter
Suppresses high-frequency vibrations of 500 Hz or higher.
Number of filters increased from 2 to 5.
Anti-resonance control
Suppresses vibrations at frequencies ranging from
several hundred Hz to 1 kHz.
Vibrations can now be suppressed at multiple
frequencies in comparison with one frequency in
earlier models.
Vibration suppression
Suppresses vibrations at low frequencies (30 Hz and lower).
SERVOPACKs can reduce speed Vibrations can now be suppressed at two different
ripples caused by motor cogging, frequencies (in comparison with one frequency in
even for machines for which speed earlier models).
loop gains cannot be set high. This These functions can be adjusted automatically using
ensures smooth operation. the autotuning function.
Two-axis SERVOPACKs
Two-axis SERVOPACKs
(200 W x 2 axes to 1 kW x 2 axes)
Improved vibration suppression
SERVOPACK
Two-axis SERVOPACKs
with Built-in Controllers
★ 3.1 kHz response frequency
★ Build small - scale equipment system
without PLC using one SERVOPACK.
4
Rotary Servomotors
Compact dimensions
(approx. 80% smaller than our earlier models.)
High-resolution 24-bit encoder
incorporated
(16,777,216 pulses/rev)
Maximum torque: 350%
(small capacity)
High-resolution, 24-bit encoder

Servomotors ( 50 W or greater ) use
SERVOMOTOR encoders with a resolution that are 16 times

higher than those used in Servomotors.
Model Encoder resolution comparison
SGM7M 3.3 W 33 W series series
20 bits = 24 bits =
SGM7J 50 W 750 W 1 million pulses/rev (approx.) 16 million pulses/rev (approx.)
SGM7A 50 W 7 kW 16 times higher!
SGM7P 100 W 1.5 kW
SGM7G 300 W 15 kW
Solution for 50-W or greater models.

Servomotors with 24-bit batteryless absolute
encoders have also been added to the lineup.
High efficiency and low heat generation

Servomotors use an optimized magnetic
circuit that improves motor efficiency and
reduces heat generation.
（comparison with typical models.）
About 20% reduction in

temperature increase!
(under the same conditions)
Refer to pages M-20 to M-23 for the details on the features of Direct Drive
Servomotors and Linear Servomotors.
series series
5
Example Solving problems in “pick and place” applications
Horizontal axis 1
Issue How can we reduce takt times?
(widthwise direction) Issue How can we improve positioning
Horizontal axis 2
(lengthwise direction) accuracy?
Issue How can we suppress vibration
created by speed acceleration?
Issue How can we achieve stable
operation with or without
workpieces?
“Pick and place” refers to the actions involved in picking up an object

in one location and placing it in another location.
Issue 1 We need to reduce takt times.
Problem Solution
Case 1 Case 2 Servo gain can be increased

Vibration occurs after servo Servo gain was successfully increased
by using the enhanced
gain is increased. by first using the anti - resonance anti-resonance control
control adjustment, and then vibration adjustment function.
occurred at a different frequency.
Without anti-resonance With anti-resonance With improved anti-resonance

control adjustment control adjustment control adjustment
A A A
B B B
C C C
A Position deviation
B Torque reference Reduces system takt times
C Positioning Completion signal
6
Issue 1 We want to increase productivity by suppressing vibration of equipment.
Problem Solution
Vibration occurs at two different frequencies at the Vibration at two different low-frequencies is suppressed
edges of equipment and it takes a while for the simultaneously with the automatic adjustment function.
vibration to stop.
No vibration
Position deviation Two different low-frequencies

Position deviation
Vibration at Vibration at edge of equipment can be suppressed simultaneously.
edge of
equipment
No vibration occurs
Vibration
occurs. Position command speed Position command speed
Positioning Completion signal Positioning Completion signal
Issue 2
3 We want to improve positioning accuracy to handle parts that are becoming increasingly smaller.
Problem Solution Just the

trick!
Positioning accuracy needs to be improved High-precision positioning
because parts that are handled are becoming becomes possible for precision
increasingly smaller. workpieces by replacing the 0 5 10 μ m
existing drive with the Vibration when stopped
±10nm level also possible
Servo Drive. Note: This will depend on the
installation conditions.
SERVOPACKs
Highest performance in the industry

Must improve Improved vibration suppression
accuracy
Servomotors
High-resolution encoders
24 bits = 16,777,216 pulses/rev
0 5 10 μ m
For 20 mm lead ball screws
1.2 nm resolution
7
Ultimate ease of use
2 Yaskawa’s original tuning-less function has undergone further development.
Stable operations can be achieved without having to adjust gains.
No need to adjust servo gains Series Series

Allowable load
30 times (max.) 30 times (max.)
With Yaskawa’ s original tuning-less function, systems can run without moment of inertia ratio
vibration for a load with 30 times ( max.) of load moment of inertia. Max. control gain
Speed loop gain Speed loop gain
40 Hz (approx.) 70 Hz (approx.)
Systems remain stable even with load changes during operation.
When the allowable load moment of inertia ratio is 30 times:
［min-1］［min-1］
4500 4500
4000 Previous speed 4000

Speed response when Setup time
3500
response 3500
tuning-less functions reduced
3000 3000
Feedback speed Feedback speed
2500 2500
2000
Position
2000
Position Takt time
1500 command speed 1500 command speed reduced
1000 1000
Positioning Positioning
500 Completion signal 500 Completion signal
0 0
-500 -500
0,000 200,000 400,000 600,000 800,000 1000,000 0,000 200,000 400,000 600,000 800,000 1000,000
Time [ms] Time [ms]
Solution Example Robot
The robot’s arm maintains stable movements even when the moment
of inertia changes due to changes in the robot’s posture.
Improved response
Response is about twice as fast as
before and requires no adjustment.
Improved stability
Stable operation is assured even in
systems with load fluctuations.
No need for gain adjustments
High-level performance is assured
although no tuning is required.
8
Ultimate environmental performance
3 The Servo Drives can be used in harsh environments and conserve energy.
Optimal systems can be easily set up in different countries and under a variety of conditions.
Satisfies specifications for use overseas Waterproof protective structure upgrade

and in harsh operating conditions to IP67 rating
[SGM7J, SGM7A (IP22 for 7.0 kW), and SGM7G models]
240 VAC supply voltage also supported
High-altitude use increased to 2,000 meters above sea level* Protective Structure (IEC 60034-5)
Maximum ambient temperature raised to 60° C*
I P 67 Rating for protection from water:
* Derating required. The units can be used even when they are immersed in
water under specific conditions (immersed at a depth
of 1 m below the surface of the water for 30 minutes).
Rating for protection from contact and entry of solid foreign objects:
Safe dust-proof structure
Structure is completely protected from the entry of dust.
Solution Example Regenerative energy effectively used to help save energy
Issue Solution
DC bus connection
SERVOPACK
Regenerative
resistor
Regenerative power used to be converted By replacing the existing amplifiers

to heat by using regenerative resistors. with the 2-axis SERVOPACKs
With global warming, CO2 emissions must or using a DC bus connection, the
regenerative energy of multiple axes
be cut by reducing power generation that
can be used as the drive energy.
produces CO2, such as thermal power.
This means that the energy inside
the system can be utilized more
effectively.
Status of energy consumption in the Energy consumption monitoring display
system can be viewed on a display (image)
by using machine controllers.
9
Ultimate safety and security
4 Systems can be operated safely because the Servo Drives comply with safety standards
and safety is ensured by monitoring.
Satisfies requirements of the SIL 3 of the IEC 61508 functional safety standards (first in Japan)
Certification will make it easier to set up systems that conform to safety standards for press machines and other
systems in Europe and other regions. Certification also helps reduce the number of hours required for wiring and of
peripheral devices. Complies with Stop Category 0 (Safe Torque Off)
Conventional machine safety system Safety standards Performance level & category
Safety door switch EN ISO13849-1 PLe (CAT3)

Safety of
machinery IEC 60204-1 Stop Category 0
Safety unit Monitoring
IEC 61508 SIL 3
Safety relay Functional
IEC 62061 SIL CL3
safety
IEC 61800-5-2 STO
The safety function works even for a single problem.

The safety function is enhanced with compliance with
the EN ISO 13849-1 PLe (performance level e).
New machine safety system Note: Although the safety performance level of the series Servo Drives is
-Safety relay no longer
needed PLd (performance level d), the benefits described in the figure on the
left apply.
-Less wiring required
because the monitoring
function is built inside the Systems that need to satisfy the required performance
SERVOPACKs.
level e (PLr e) can easily be configured.
Monitoring
Protect systems from high temperatures

SERVOPACKs and Servomotors are equipped with Protection from abnormal temperatures
temperature sensors that can directly monitor temperatures
of machines and detect abnormalities to prevent failures.
Real-time temperatures can be viewed on a display by using
Built-in
Machine Controllers. temperature
sensor
Temperature monitoring display

(image)
10
Ultimate support
5 Cloud-based storage of product data facilitates data retrieval when needed.
Maintenance throughout a product’s service life is improved and simplified with

SigmaTouch!, Yaskawa’s smartphone application.
Selection Design Trial Production Production Operation Maintenance
SigmaSize+ SigmaWin+ SigmaTouch!*
Electrical machinery Provision of Parameter Monitoring Test operation Servo Service life Troubleshooting Production Cloud
products and design setting adjustments diagnosis maintenance service*
capacity selection information and control
Single or multiple orders possible after specifying parameters*

Customers can now place single or multiple orders for SERVOPACKs in MechatroCloud, Yaskawa Electric’
s
New and Innovative Service
the series after specifying parameters at the factory shipment stage.
No longer is it necessary to write the parameters at the system assembly
Note: MechatroCloud is available in Japan only.
site, which means that production lead times can be reduced.
Product management and maintenance service*

Product information can be easily viewed by using SigmaTouch!, Yaskawa’s Read QR code
with a smartphone
smartphone application. To view, simply hold your smartphone over the QR
code of the product. Industry first
cloud-based
service
Improve troubleshooting*
If you have a smartphone, troubleshooting information can be accessed
Features:
by reading a product’s QR code. Simply access the MechatroCloud service* and hold
your smartphone over the QR code of the product. You
Automatic tracing is possible when a SERVOPACK alarm occurs. This can access the product data stored in the
MechatroCloud, and view the manual for that product.
allows you to detect and solve problems promptly.
Note: MechatroCloud is a new cloud service provided
Achieve planned maintenance by monitoring by the Yaskawa Electric.
Service Life Monitor

the remaining service life
The service life of the maintenance can be estimated, and the users are
notified when the parts should be replaced. System failure can be
prevented because parts can be replaced before products break.
*: MechatroCloud is available in Japan only. For details, refer to pages M-14 to M-19.
11
Ultimate lineup
6 You can construct a system that exactly meets your requirements using communications
networks and the rich lineup of products offered by Yaskawa’s partner companies.
Made by
Schneider Electric Japan Holdings Ltd.
Controller Network
Supported open networks
FL-net
EtherNet/IP
Option modules for MP2000 and
Ethernet MP3000 series
RS-232C, RS-422/485
Motion Network Field Network

Open network Supported open networks
MECHATROLINK- DeviceNet
MECHATROLINK- PROFIBUS
PROFINET
CC-Link
CompoNet
EtherCAT
Supported closed networks
MP-LINK
(Real-time network developed by Yaskawa)
HLS
(By M-System Co., Ltd.)
A-net/A-Link
(By ALGO System Co., Ltd.)
The same SERVOPACK can be used CUnet
with different types of Servomotors. (By ALGO System Co., Ltd.)
AnyWire-DB
(By Anywire Corporation)
Major manufacturing partners
･ Schneider Electric Japan ･ Dr. JOHANNES
Holdings Ltd. HEIDENHAIN GmbH
･ Tokyo Electron Device Limited ･ Renishaw plc
･ Anywire Corporation ･ Magnescale Co., Ltd.
･ ALGO System Co., Ltd. ･ Mitutoyo Corporation
･ Azbil Corporation ･ Fagor Automation S. Coop.
･ M-System Co., Ltd. ･ Endo Kogyo Co., Ltd.
･ RKC Instrument Inc. ･ Kyoei Electric Co., Ltd.
･ Oriental Motor Co., Ltd. ･ NSD Corporation
Rich lineup of products offered
Others by Yaskawa’s partner companies
12
Ultimate compatibility
7 Compatibility with earlier series is assured. You can improve the performance
of your system by replacing devices currently used with Servo Drives.
Installation interchangeability with the models in A parameter conversion mode is provided.

SERVOPACK
the SERVOPACK having the same capacity is The parameters of the SERVOPACKs
featured for the SERVOPACKs. can be used with the SERVOPACKs,
The SERVOPACKs have improved shapes for when using the SigmaWin + parameter
mounting holes. With this new shape, it is much converter.
easier to insert a screwdriver.
Mounting holes on top Mounting holes on top
Mounting holes on bottom Mounting holes on bottom
Note: A special attachment is required for SGD7S-470A to -780A

SERVOPACKs. Contact your Yaskawa representative for details.
● Installation interchangeability with the ● Easily-replaceable system configuration

Servomotor
models in the SERVOPOACK having
Currently used incremental system
the same capacity is featured for the
SERVOPACKs.
8 mm
Series SGM7J-01A
93.5 mm
Series SGM7J-01A6
Batteryless
101.5 mm Batteryless
absolute
6 mm encoder
Series SGMJV-01Ａ Replaceable by
changing only the motor.
107.5 mm SERVOPACK and cables
can be left as is.
13
MechatroCloud, Yaskawa Electric’s
MechatroCloud is a cloud service offered by the Motion Troubleshooting

SigmaTouch! BTO Service
Control Division of Yaskawa Electric. With this service, smartphone application Website
it is now easier and more convenient to use Yaskawa’s

motion control products. A wide range of services are
now available through Yaskawa’s website, smartphone
applications, and QR codes. Product Management
Cloud server
BTO Service
You can order customized SERVOPACKs from the website!
Use BTO
for
free!
Example of
Customize parameter Nameplate
settings Model：SGD7S-R70A20A000000B
The last digit (14th) is“B”
.
Parameters and text to be printed on BTO No.： Indicates BTO products with
customized specifications.
nameplates can be registered on the
MechatroCloud website. This service is
available for all orders.
012345-000001
Company code Serial number
Text (equipment name, etc)：XX inspection equipment
Reduce equipment Text (axis name, etc.) ：Transfer axis A
assembly time Text can be added here.
Ready - to - use SERVOPACKs will be

delivered to you with parameters set
and text printed on the nameplate.
Refer to page M-16 for an example of how BTO can be used.
In the BTO ( build to order ) service available from Standard product Parameter file specified BTO product
Yaskawa, parameters for SERVOPACKs are set to the by customer*1
Parameter
values specified by customers when placing orders. .USRS values are set
Customers can order customized SERVOPACKs by to customer
simply registering parameter specifications on the specifications.
website.
Text*2, such as
“Axis name” , can
be printed on
the nameplate.
Note: To use MechatroCloud service, you must register your name under
*12:: Use a parameter file for version 5.71 or later versions of SigmaWin+.
the corporate membership of the e - mechatronics website, the
Yaskawa Electric website for product and technical information.
* Alphanumeric characters and some symbols can be used for the text (equipment
name and axis name).
14
MechatroCloud Introduction Videos – Now on YouTube
Use the standard bar code reader on your smartphone to BTO service SigmaTouch!
read these codes and view videos on YouTube.
Note:“YouTube” is a trademark or a registered trademark of Google Inc.
BTO Service
Single or multiple orders possible after specifying parameters (BTO)
Customers can now place single or multiple orders for SERVOPACKs in the series after specifying parameters at the factory shipment stage.
It is no longer necessary to write the parameters at the system assembly site, which means that production lead times can be reduced.
Issue Solution
The SERVOPACKs are delivered with
Delivery the customer-specified parameters Done Done Done Done
already written prior to shipment.
Done Done Done Done
Parameter
writing
This reduces the man-hours
involved in system assembly work. No need to write
Done Done Done
the parameters
Writing the parameters for
each unit means time is wasted
The names of the axes are printed

on the boxes in which the products
Assembly
are delivered. This ensures that Done Done Done Done
these are no mistakes made when Done Done Done Done
Done Done Done Done installing the axes.

Done Done Done Done
Cloud
Nappin
g on the Narumi
Production line
Writing With Yaskawa's BTO I'll use test equipment
parameters service, you can to determine the
must take do it in no time. parameters.
a lot of time.
It's that easy!
All you have to do

is upload the …to order our
parameters to customized
MechatroCloud… BTO products.
15
BTO Service
How to use Yaskawa’s BTO service
Register required information under a corporate membership on the e-mechatronics website.*
Determine parameters for your equipment.
Upload the parameter file to the MechatroCloud website and issue BTO numbers and BTO order numbers.
Note: Use a parameter file for SigmaWin+ version 5.71 or later versions to upload parameter files.
Provide the BTO order number to your Yaskawa representative when requesting estimates and placing orders.
*: Corporate member registration for MechatroCloud use

Corporate Members
Management Group
Corporate Manager
The Corporate Manager is in charge of the members that are
registered under the company's corporate membership. The first
person who registers as a corporate member is the Corporate
Manager. There must be at least one Corporate Manager for each
corporate membership.
●Corporate Managers are authorized to:
・Add or delete Corporate Managers or Corporate Users.
・Issue or delete BTO numbers.
Corporate User group

Corporate User (company employees)
A person who is added as a corporate member
by the Corporate Manager.
●Corporate Users (company employees) are authorized to:
Corporate User (system integrators)
●Corporate users (system integrators) are authorized to:
Corporate User (sales representatives)
●Corporate Users (sales representatives) are authorized to:
Register required information under the corporate membership of the e-mechatronics website, the Yaskawa Electric
website for product and technical information. For example, information on Yaskawa’ s BTO service can be shared
by members of the same corporate membership by registering persons at the same company and/or persons at
related companies under the same corporate membership.
There are two types of corporate membership: Corporate Manager and Corporate User.
The member(s) in charge of Corporate Members is called the Corporate Manager. The Corporate Manager is the first person to register as a
Corporate Member. Persons who are invited to become Corporate Members under the same corporate membership are called “Corporate
Users.” A Corporate User can issue BTO numbers.
16
Easy troubleshooting with SigmaTouch!
Anytime, Anywhere
MechatroCloud
Cloud
server
e-mechatronics
website for product
Information
Yaskawa & technology
Electric plant
Service SigmaTouch!
Use
SigmaTouch!
for
Innovative service
free! that links users to
cloud data!
Yaskawa is striving to incorporate the needs of our
customers into our services in a timely manner. With
the use of SigmaTouch!, users can quickly and easily
access the MechatroCloud server, which contains the
latest product information from Yaskawa Electric's
plants and maintenance information from the
e-mechatronics website. Yaskawa Electric’s service
will continue to be enhanced to accommodate the
needs and expectations of our customers.
Simply read
the QR code!
Easily search for

product information
using SigmaTouch!
Users can search for troubleshooting information for a
specific model and view product manuals on a
smartphone by using a smartphone camera to simply
read the QR code of the product.
“ S i g m a To u c h ! ” i s a s m a r t p h o n e
application for MechatroCloud. Product
Product
information, such as manufacturing
manuals
information and parameter lists, can be
viewed by simply reading the QR codes
of Yaskawa Electric ’s products with a
smartphone camera. Alarm details and
Inquiries
troubleshooting information can also be
QR code
viewed on the smartphone, which can
greatly reduce recovery time. Alarm list
Note: The QR codes can be read with Android OS SigmaTouch! Parameter list
4 . 0 . 3 or later versions. The Android must be
connected to the network to use this service. etc.
17
SigmaTouch!
Easier and faster troubleshooting options
Operators can use smartphones on-site to display the SERVOPACKs in the series manual and troubleshooting details.
The trace waveforms generated when alarms occur can be saved automatically, and the real causes of problems can be
tracked faster, which reduces downtime.
Issue Production
cycle Solution Production
cycle
SigmaTouch !
QR
Production
Production
operations
operations
reading
Cloud
Immediate recovery!
Problem occurs
Actual cause
Production steps
traced quickly
Losses
Time is lost and Troubleshooting details will be displayed by

losses are incurred. Less holding a smartphone up to the product.
downtime! Less downtime
There is no manual ……
Production
Production
operations
operations
We have no idea what the
real cause is …… SigmaWin+
How long will we be stuck
like this ……
The trace waveforms generated when

alarms occur are displayed and saved auto-
matically by the amplifier.
Actual cause traced quickly.
Cloud
Nappin
g on the Narumi
An alarm is
going off!
What should I do? Details of Search Alarms It’
s so easy to
the alarm can see what the
All you need is be found in problem is and
a smartphone. seconds. how to solve it.
Search
At the customer's plant

Note: The smartphone screen is a sample illustration.
Thank you! Now

You can also view I can view I can restart the
manufacturing manuals too. You can fix the production line.
information for problem quickly
the product by on site.
Narumi X axis
reading the
QR code.
Equipment Number:
xxxxxxxxxxxxxxxxxx
Display Manual
At the customer’s plant

Note: The smartphone screen is a sample illustration.
18
SigmaTouch!
Functions of SigmaTouch!
Members of the e-mechatronics website have immediate access to all functions. Corporate Individual
Non-members
(Non-members can access some functions.) members members
: Can use all functions and view information of BTO products. Product
Nameplate
: Can use all functions. information info only
: Can view some information.
Manuals
Troubleshooting
Easy download from the Google Play Store

SigmaTouch! can be downloaded from Google Play Store, the contents distribution service for Android.
You can access the Google Play Store through the e -mechatronics website, the Yaskawa Electric website for product and
technical information.
Download SigmaTouch! to your smartphone to start your experience!
Note: “Android” and “Google Play” are trademarks or registered trademarks of Google Inc.
Download SigmaTouch!
from the Google Play Store for free. Link to the Google Play Store →
Read the QR code with the bar
code reader of your smartphone.
Use the various functions and services of SigmaTouch! using your smartphone.
Select the
appropriate
function.
Read the QR code View product

on the SERVOPACK.* information.
*: Hold the camera about 10 cm

away from the QR code.
19
Direct Drive Servomotors
Use a direct drive to supply high torque at low speeds, obtain precise positioning at high
speeds without any slippage and backlash, and simplify your machine's configuration and
maintenance.
Coreless, inner rotor With core, inner rotor With core, outer rotor
Small capacity: SGM7F/SGMCV*2
Features
Small capacity: SGM7E/SGMCS*1 Medium capacity: SGM7F/SGMCS*2 Small and medium capacity: SGM7D
Ideal for applications that Ideal for applications that Ideal for applications that
require smooth movement require downsizing and a require high torque, high
without speed fluctuations. shorter takt time. precision, and high rigidity.
Inner rotor Inner rotor Outer rotor*3

The inside of the motor rotates. The inside of the motor rotates. The outside of the motor rotates.
Compatible with the former Yokogawa

Electric DYNASERV Series.
Structures
◎ Built-in 24- and 20-bit encoder. ◎ Built-in 24-, 22- and 20-bit ◎ Built-in 24-bit encoder.
◎ Low cogging with a core-less encoder. ◎ Application to large loads
system provides smooth ◎ Compact design with small possible with a high allowable
operation free from speed rotor diameter. load moment of inertia ratio.
variations. ◎ High-speed, high-frequency ◎ Large center aperture design
positioning. provides more space available
◎ Low inertia. for wiring connections.
◎ Low heat generation. ◎ High rigidity.
*1: following
The SGM7E is the next-generation series
the SGMCS (Small capacity).
*2: following
The SGM7F is the next-generation series
the SGMCV and SGMCS (Medium
*3: strong
A magnetic bias is used that places a
permanent magnet between
capacity). the stator and core.
Note: Use the motor with a Σ-7S SERVOPACK
that has a FT82/FT83 specification.
◎ Spinning (CMP equipment ◎ Indexers ◎ Rotary tables

and washing machines) ◎ Sorters and bonders (Can handle large loads.)
◎ Printing rolls ◎ Semiconductor manufacturing
equipment
◎ Machine tools
Applications
20
Features of Direct Drive Servomotor
The load is mounted directly to the motor, so the motor accuracy becomes
the equipment accuracy, which contributes greatly to increasing the
equipment accuracy. Furthermore, there is no drop in efficiency due to the
presence of a reduction gear or other parts, which helps to save energy.
The motor's compact size also enables reducing the equipment size, which
helps to reduce both the design process time and maintenance costs. Direct Drive
The desired operation angle and number of divisions can easily be set, Servomotor
simply by changing the command values.
Example: Index table Index table
Reduction gear + Direct Drive

encoder Servomotor
Coupling Energy saving High accuracy

Maintenance-free Compact equipment
AC Servomotor Reduced design process time size saves space
No slippage or backlash
Typical Servo Drive System Direct Drive System

Current limitations： Technical improvements:
・Reduced accuracy in positioning with ・Improved positioning accuracy
excessive slippage and backlash with direct connection to a load
・Noise ・Low noise
・Maintenance for wear and tear or for lubrication ・Clean room use (No gear means no lubrication.)
・Reduced number of parts
・Easy wiring and piping based on the motor’s
hollow design
■ Motor with Gear ■ Motor + Timing Belt ■ Direct Drive Servomotor
Table Table
Bearing Pulley
Coupling Table
Gear
Motor Motor
Timing Belt
■ Hollow Motor + Hollow Gear ■ Direct Drive Servomotor（Large center aperture)

Hollow Space
Hollow Space
Table
Hollow Gear Table
Hollow Motor
21
Linear Servomotors
Linear Servo Drives contribute to improved machine functionality and performance with
exceptional features such as high speed, fast acceleration, long-stroke compatible, constant
speed, stability, clean operation, low noise, and low maintenance.
Coreless Model Model with F-type Iron Cores Model with T-type Iron Cores
（SGLG）（SGLF）（SGLT）
Features
The lack of magnetic attraction force The compact profiles of the FW Linear Yaskawa's unique structure negates the
helps to extend the life of the linear Motors save installation space. The effects of magnetic attraction.
motion guides and minimize operational magnetic attraction between the Moving This reduces concerns for the structural
noise in applications that require high Coil and Magnetic Way allows the linear strength of the linear motion guides and
precision with a small force. motion guides to be highly rigid. machinery.
Magnet Track Magnet Track

(Stationary (Stationary
Member) Member)
Laminated
Iron-core
Molded
Resin
Coil Coil Molded Magnets
Resin
Magnets Magnets Laminated
Coil Iron-core
Magnet Track
Structures
(Stationary Member)
Coil Windings
N S N S N S N S Magnetic Way
Magnets Magnetic
N S N S N S N S Way Laminated
Iron-core Coil Windings
Coil Moving Coil Moving Coil
Laminated Moving Coil
Windings Magnets
N S N S N S N S Magnetic Iron-core
S N S N S N S N Magnetic Way
Way Magnets
S N S N S N S N
Magnetic Way
・ The Moving Coil has no core, and ・ The Moving Coil consists of ・ The Moving Coil consists of
is made of accurately molded laminated core and pre-wound coil laminated core and pre-wound coil
resin windings bobbins inserted into slots located bobbins inserted into slots located
・ The Magnetic Way is made of two in the laminated core and in the laminated core and
facing plates with accurately encapsulated in resin. encapsulated in resin.
placed magnets secured on the ・ The Magnetic Way is made of a ・ The Magnetic Way is made of a row of
sides. row of magnets accurately placed magnets accurately placed on carrier
on the core side of the carrier plate. plates on both sides of the core.
◎ Multiple heads
Devices used in LCD and OLED manufacturing
(dispensers, inspection equipment,
repair equipment, etc.)
Applications
◎ Linear stages (X, Y, θ )

Devices used in LCD and OLED manufacturing
(for G5.5 or larger glass substrates and
for long strokes) and semiconductor
manufacturing devices (probers, etc.)
◎ Gantries
Devices for electronic parts manufacturing
(high-speed chip mounters, etc.)
22
Benefits of Linear Servomotors
Linear Drive Ball Screw Drive
Benefits 1 Easy stroke extension

Support bearing
(heat generation and backlash)
(extendable Magnetic Way)
Moving Coil
● High Speed
Magnetic Way Motor
● High Precision
Ball screw and nut
(heat generation, torsion, and backlash) Coupling
(torsion and backlash)
A load is directly driven by the Linear Servomotor without any

Speed restrictions on the speed. Resonance and heat generation occur at high speeds.
This easily enables speeds of up to 5 m/s.
Positioning The load is directly driven in a fully-closed loop, enabling The actual position is likely to deviate from the target position
Accuracy submicron positioning control at the sensor resolution. due to torsion and backlash.
A long stroke can be achieved by coupling Magnetic Ways as

Stroke required. A ball screw must be selected according to the stroke length.
Benefits 2 Load
Load Support bearing
● Fast Acceleration Support
Motor
bearing
● Simple Structure Heat generation Heat generation
Ball screw and nut
Acceleration Acceleration ＝ Force M ＝ Load mass Acceleration ＝ Torque JL ＝ Load inertia

Rate rate M+ ｍ m ＝ Moving Coil mass rate JL + JB + JC + JM JB ＝ Ball screw inertia
JC ＝ Coupling inertia
JM ＝ Motor inertia
The acceleration rate can be increased just by lightening the load. Lightening the load does not have much impact on increasing
the acceleration rate.
Heat Extremely limited heat transfer to the surroundings allows highly The ball screw expands due to the heat generated at different
Generation accurate positioning. parts, resulting in inconsistent positioning accuracy.
Extendibility Multiple Moving Coil can be mounted to one Multiple feeding units are required to perform versatile
Magnetic Way. operations on the same axis.
・Simple structure. ・Increased costs.

・Versatile operations can be performed on the same axis. ・One ball screw can be used for only one operation.
Benefits 3 Support bearing

Gap Support
● Easy Operation bearing Motor
Ball screw and nut
A table that uses a Linear Servomotor has limited mechanical

Noise High-speed operation is likely to increase noise.
contact areas and therefore creates minimum operational noise.
A table that uses a Linear Servomotor has limited mechanical The many mechanical contact areas require periodic
Maintenance
contact areas, which greatly reduces the need for maintenance. maintenance to be performed for lubrication and wear.
Clean The lack of any rotating parts creates a clean manufacturing Rotating contact areas cause applied grease to splatter, making
Environment environment without grease splattering. it difficult to keep a clean manufacturing environment.
23
-Series SERVOPACKs and Option Modules
SERVOPACKs
■ MECHATROLINK-III/-II Communications Reference
◎ Real-time communication
A high transmission speed allows real-time transmission of various data required for control.
◎ Cost savings
Multiple stations can be connected to a single MECHATROLINK transmission line, so wiring costs
and time are greatly reduced. Also, only one signal connector is required on the host controller. The
all-digital network eliminates the need for a converter to change speed/torque references from
digital to analog and for a pulse generator to create position references.
◎ High-precision motion control Single-axis
The SERVOPACK when connected to the host controller in the MECHATROLINK-III /-II network MECHATROLINK-III
provides not only torque, position, and speed control, but also synchronized phase control that Communications
requires advanced control technology. The control mode can be changed online so that the machine Reference
can move smoothly in complex motions with great efficiency.
Communications
MECHATROLINK-III MECHATROLINK-II
protocol
Physical layer Ethernet Same as RS-485
Baud rate 100 Mbps 10 Mbps
Transmission cycle ：125 s to 4.0 ms，：250 s to 4.0 ms 250 s to 4.0 ms
Number of
32 or 48 bytes/station 17 or 32 bytes/station Two-axis
transmission bytes
Number of slaves 62 max. 30 max. MECHATROLINK-III
Maximum Communications
75 m between stations 50 m total (100 m with Repeater) Reference
transmission distance
Minimum distance
20 cm 50 cm
between stations
■ Analog Voltage/Pulse Train Reference

Max. input
± 12 V (forward speed reference with positive reference)
control
Speed
Reference voltage
Analog voltage
voltage Factory
6 VDC at rated speed (Input gain setting can be changed.)
setting Single-axis
reference
Max. input MECHATROLINK-II

± 12 V (forward torque reference with positive reference)
control
Torque
Reference voltage Communications

voltage Factory Reference
3 VDC at rated torque (Input gain setting can be changed.)
setting
Select one: Sign + pulse train, CW + CCW pulse train,
Type
or two-phase pulse train with 90°phase differential
Pulse train reference
Position control
Form For line driver, open collector

Reference
pulse Line driver Sign + pulse train, CW + CCW pulse train: 4 Mpps
Max. input Two-phase pulse train with 90°phase differential: 1 Mpps
pulse
frequency* Open Collector Sign + pulse train, CW + CCW pulse train: 200 kpps
Two-phase pulse train with 90°phase differential: 200 kpps
Clear signal Analog Voltage/
(Position error clear) For line driver, open collector
Pulse Train
Reference
*: Connect
If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield.
the shield at the SERVOPACK to the connector shell.
■ INDEXER Module-Mounted Type

Application Examples
Point-to-point positioning Station positioning (Indexing) Feeding
(X-Y Table) (Rotary Table) (Labeling Machine)
24
Simple
◎ Interactive methods for everything from adjustment to programming are available
with the setup support tool SigmaWin+ for Windows (Ver.5.72 or later).
◎ Simple connection to the host controller can be established with the I/O module.
Smart
◎ Special languages are not required, because required operation
patterns are easily made by simply setting the data for position and
Specifications
speed in program tables.
Function Specifications
◎ Optimum operation method supports your application.
Stations for
For positioning, up to 256 steps can be programmed. Program 256
〈Operation〉 Program tables, Position and speed tables (station positioning), Registration Table Operation
(positioning by external signals), Serial communication JOG Speed Setting 16
◎ Various functions, including external positioning, JOG table ZONE Signal
32
Output
operation, homing, and programmable signal outputs are provided.
Serial HR: ASCII; max. axes: 16
Speedy Communication MEMOBUS: Binary
◎ Reliable high-speed, high-precision positioning when combined with Homing Methods 3

Equally-dividing and
high-performance SERVOPACKs. Indexing Positioning Rotary machine and
◎ Motion control is accomplished without using motion controllers. (Station Positioning tool setting
Note: The INDEXER module can be used in combination with the Fully-Closed Module. Command)
■ DeviceNet Module-Mounted Type

◎ Compliant with the communication specifications of the DeviceNet open field network.
◎ Maintainability improved by the host controller using DeviceNet to monitor the
operating conditions of servo drives, alarm status, and other information.
◎ Full range of positioning functions featured including simple positioning, homing,
continuous speed operation, positioning after continuous speed operation, and
programmed operation.
◎ Round micro-connectors used for the connectors.
◎ Modules can be driven by two different power-supply methods: servo control power or
external power.
Note: The DeviceNet module can be used in combination with the Fully-Closed Module.
Option Modules
■ Fully-Closed Module
◎ High-precision and high-response positioning by using feedback from detector (such
as an external encoder) installed on the machine.
◎ High resolution with external encoders (linear scales).
Note: The Fully-Closed Module can be used in combination with the INDEXER module or DeviceNet module.
■ Safety Module
The Safety Module complies with EN ISO13849-1 (the standards harmonized with EU
Machinery Directive 2006/42/EC) and has safety functions equivalent to those stipulated
in IEC61800-5-2. By using SERVOPACKs with the safety module, optimum safety
designs can be created for mechanical systems to better meet the needs of the industry.
◎ The first product for AC servo drives in Japan that has safety functions equivalent to
the following ones stipulated in the international standard IEC Safe Torque Off (STO),
Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safely-Limited Speed (SLS)
◎ Two safety functions (A and B) are provided and stopping functions can be allocated
individually to these safety functions.
◎ With the attachable Safety Modules for SERVOPACKs, system configurations are
simplified and compact.
25
SERVOPACKs with FT Specifications
Choose the Best SERVOPACK for the Application

The know - how we have acquired in every market has resulted in the creation
of a lineup of SERVOPACKs with FT specifications that have added functions
to optimally suit a variety of applications.
: Possible − : Not Possible
FT Interface
Applications Additional Functions Features*
Specifications A/P M-II M-III
Little delay in motor operations for position references as a
result of built-in less deviation control. Ideal for applications that
Built-in Less
FT19 Tracking
Deviation Control
require reference tracking performance (high position accuracy) −
during movement.
[Catalog No. CHEPS80000187]
Improved tracking ability and high-accuracy machining operations

Machining
Feed Shaft with the use of clearance (constant distance) control, predictive
FT21 and
Supporting control, and quadrant projection compensation functions.
− −
Cutting
Press and Highly accurate pressure control with input of pressure sensor
FT40 Injection Pressure Feedback signals directly to the SERVOPACK. − −
Molding [Catalog No. CHEPS80000194]
Highly accurate pressure control by feeding back the signals of

Press and
the pressure sensors directly to the SERVOPACK through the
FT41 Injection Pressure Feedback
MECHATROLINK-I/O system.
− −
Molding
The host controller can detect the orientation of the workpiece

or offsets in multiple workpieces based on the information on
FT60 Conveyance Three-Point Latching
the three positions input to the SERVOPACK.
− −
Triggers at Pre-set Addition of pass-through signals for designated points to enable

Conveyance
Positions and coordinated operations with the use of trigger signals.
FT62 and
Rotational Coordinate Turntables can be easily controlled with innitelength coordinates.
− −
Alignment
System [Catalog No. CHEPS80000195]
Built-in Semi-Closed/
Allows loop control to be switched between
Fully-Closed Loop
FT63 Conveyance
Control Online
semi-closed/fully-closed while online. −
Switching Function
Three built-in functions (Position correction table,

Synchronized stopping during alarms, and
Built-in Optimal
FT70 Gantry
Gantry Control
the Position deviation between axes overflow detection) − −
effective for driving gantries.
Multiple SERVOPACKs can be used for applications that require

Built-in Torque/Force more than one axis to easily build a system which will increase
FT77 Conveyance
Assistance the torque or force up to five times.
−
Convenient positioning functions (ZONE signal outputs, job

speed table, homing, other) added for high-precision and high-
FT79 Indexing Built-in INDEXER
speed positioning without a motion controller.
− −
SERVOPACKs with high torque, high precision, and a

For Special SGM7D Motor
FT82 Motors Drive
user-friendly design for SGM7D motors. ✓ ✓ ✓
[Catalog No. KAEPS80000123]
SERVOPACKs with built-in INDEXER for SGM7D
For Special SGM7D Motor
FT83 Motors Drive
motors. ✓ − −
[Catalog No. KAEPS80000123]
*: Refer to the separate catalogs shown in the table above.

26
-Series SERVOPACKs C
New Two-Axis SERVOPACKs

with Built-in Controllers!
Yaskawa's newest two-axis SERVOPACKs with built-in controllers offer the
ideal configuration to control small-scale equipment and mechanisms to meet
the increasing needs of component downsizing, equipment modularization,
and system distribution.
Simple, All-in-One System Configuration
Ethernet C
Four external axes MECHATROLINK-III
Two internal axes
● No separate controller is required

(no connection cables or battery is required).
● Width reduced by 34 mm
(system comparison to MP3300 + ).
Features
Less system space required Option Base Unit
Model: JEPMC-OP3C01-E
◎ Configure up to six axes.
◎ Build small-scale equipment system without PLC using one SERVOPACK.
◎ Expand functionality by mounting an Option Base Unit.
Equipment modularization and distributed control system

◎ Reduce burden of designing software when part of the equipment changes.
High-Speed Response
◎ High-speed response frequency of 3.1 kHz has been achieved.
◎ High-speed I/O used for the Controller Function Module.
MP3000/MP2000-series
◎ The command/response delay is minimized with the two internal axes. Optional Module*
These axes can be synchronized with the external axes. 24-V power supply
connector for option
Easier Maintenance
◎ No battery is required for the Controller Function Module, which *: Excluding the following Optional Modules:
SVA-01, SVB-01, SVC-01, PO-01, MPU-01,
reduces the time and cost of periodic replacement. 215ＡIF-01, and EXIOIF.
◎ Protective functions have been improved for outputs to the Controller
Function Module.
27
Product Lineup
回転形サーボドライブ
Servomotors
● Rotary Servomotors
Low inertia Medium inertia Earlier model

with Low inertia
Model SGM7M SGM7A SGM7J SGM7P SGM7G SGMMV

Rated 3.3 W − 33 W 50 W − 7 kW 50 W − 750 W 100 W − 1.5 kW 300 W − 15 kW 10 W − 30 W
Output
● Direct Drive Servomotors
With core, outer rotor With core, inner rotor Coreless, inner rotor
SGM7F/SGMCV SGM7F/SGMCS SGM7E/SGMCS

Model SGM7D (Small Capacity) (Medium capacity) (Small Capacity)
Rated 1.30 N·m − 240 N·m 2.00 N·m − 35.0 N·m 45.0 N·m − 200 N·m 2.00 N·m − 35.0 N·m
Torque
● Linear Servomotors
Coreless model Model with iron core Earlier model

with iron core
Model SGLG SGLFW2 SGLT SGLFW

Rated 12.5 N − 750 N 45 N − 1680 N 130 N − 900 N 25 N − 1120 N
Force
28
SERVOPACKs
● (Single-axis) ● (Two-axis)
MECHATROLINK-III
Analog Voltage/Pulse Train MECHATROLINK-II MECHATROLINK-III Communications Reference
Reference Communications Communications SGD7W- A20A
SGD7S- 00A Reference Reference
SGD7S- 10A SGD7S- 20A
● (Two-axis)
Two-axis SERVOPACKs
INDEXER Module-Mounted DeviceNet Module-Mounted FT Specifications with Built-in Controllers,
SGD7S E0A 10 SGD7S E0A 50 Refer to page M-26 Bus Connection Reference
SGD7S E0A 60 for the line-up. SGD7C- AMA A
● Option Modules
Fully-Closed Module Safety Module

SGDV-OFA01A SGDV-OSA01A
Combination of SERVOPACKs and Option Modules : Possible − : Not Possible

Option Module
SERVOPACK (Model Number) Fully-Closed Module Safety Module
（SGDV-OFA01A）（SGDV-OSA01A）
Single-axis Analog Voltage/Pulse Train Reference Type (SGD7S- □□□□ 00A) *1 *1
Single-axis MECHATROLINK-II Communications Reference Type (SGD7S- □□□□ 10A) *1 *1
Single-axis MECHATROLINK-III Communications Reference Type (SGD7S- □□□□ 20A) *1 *1
Two-axis MECHATROLINK-III Communications Reference Type (SGD7W- □□□ A20A) − −
SERVOPACK SERVOPACK Command Option Module
(Model Number of Set) (Model Number) (Model Number)
Single-axis INDEXER −
Module-Mounted Type INDEXER （SGDV-OCA03A）
（SGD7S E0A 10 )
Command Option Attachable Type
Single-axis DeviceNet （SGD7S- DeviceNet*2（SGDV-OCA04A） −
E0A）
Module-Mounted Type
（SGD7S E0A )
50 * 2
（SGD7S E0A 60 )*3 DeviceNet*3（SGDV-OCA05A） −
*12:: You cannot use a Fully-Closed Module and a Safety Module together.
*3: Driven by control power supply
* Driven by external power supply
29
System Configuration Example
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor
For MECHATROLINK-III Communications

Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is detected.
Noise Filter
Single-axis
Used to eliminate Magnetic MECHATROLINK-
external noise from Contactor
the power line.
Turns the servo
Communications Reference
ON and OFF. SERVOPACK
Install a surge
absorber.
MECHATROLINK Communications Cable

CN6
To next
MECHATROLINK- station
Digital
Digital Operator Cable Operator
CN3
CN7
Computer Cable
I/O Signal Cable

CN1
External devices such as
External LED indicators
Regenerative
Resistor
CN8 Safety Function Note: When not using the safety function,
Connect an external
regenerative resistor
Devices Cable leave the safety jumper connector
to terminals B1 and connected to the SERVOPACK.
B2 if the regenerative
capacity is insufficient.
Magnetic To CN2
Contactor
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Encoder Cable
Holding Brake Battery Case*
Power Supply Unit (Required when an
Used for a
absolute encoder is
servomotor used.)
with a brake.
Encoder Cable Servomotor Main
Circuit Cable
(Wiring required for the brake)

Servomotor Main
Circuit Cable
*: Ifencoder,
you use a Servomotor with a batteryless absolute
the Battery Case is not required.
Rotary Servomotor
Direct Drive Servomotor
30
回転形サーボドライブ
Combination of SERVOPACK and Linear Servomotor

Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power
Noise Filter
Used to eliminate Single-axis
external noise from
the power line.
Magnetic MECHATROLINK-
Contactor Communications Reference
Turns the servo
ON and OFF. SERVOPACK
Install a surge
absorber.

CN6
To next
Digital
CN3
CN7
Computer Cable
I/O Signal Cable

CN1
Regenerative
Resistor Safety Function Note: When not using the safety function,
CN8
Connect an external Devices Cable leave the safety jumper connector
regenerative resistor
to terminals B1 and connected to the SERVOPACK.
capacity is insufficient.
Serial Converter Unit Cable
Serial Converter Unit
Linear Servomotor
Main Circuit Cable Linear
Encoder Sensor Cable
Cable
Linear encoder
(Not provided by Yaskawa.)
Linear Servomotor
31

Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power
Noise Filter Magnetic

Used to eliminate Contactor
Two-axis
external noise from Turns the servo
MECHATROLINK-
the power line. ON and OFF. Communications Reference
Install a surge
absorber.
SERVOPACK

CN6
To next
Digital
CN3
CN7
Computer Cable
I/O Signal Cable

CN1
Regenerative
Resistor
Connect an external
regenerative resistor CN2A
to terminals B1 and
capacity is insufficient. CN2B
Magnetic
Contactor
Turns the brake Battery Case*1
power supply
ON and OFF.
(Required when
Install a surge an absolute encoder
absorber. is used.) Encoder Cable
Holding Brake Encoder Cable
Power Supply Unit
Used for a
servomotor
with a brake.
Servomotor Main
Circuit Cable
(Wiring required for the brake)
Servomotor Main
Circuit Cable
*1: Ifencoder,
you use a Servomotor with a batteryless absolute
the Battery Case is not required.
*2: The SGM7D model cannot be used in combination
with the Σ-7W SERVOPACK.
Rotary Servomotor Direct Drive Servomotor*2
32

Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case circuit breaker (MCCB)

Protects the power supply line by
shutting the circuit OFF when
Noise Filter
Used to eliminate
external noise from
the power line.
Two-axis
MECHATROLINK-III Communication
Reference SERVOPACK
Magnetic
Contactor
Turns the servo CN6 MECHATROLINK-III Communications Cable
ON and OFF. To next MECHATROLINK-III Station
Install a surge
absorber.
Digital Operator Digital
Cable Operator
CN3
CN7 Computer Cable
I/O Signal Cable

CN1
External devices such as LED indicators
External
Regenerative
Resistor
Connect an external
regenerative resistor CN2A
to terminals B1 and
capacity is CN2B
insufficient. Serial Converter
Unit Cable
Serial Converter Unit Cable
Linear Servomotor
Main Circuit Cable
Linear Servomotor
Main Circuit Cable
Linear Encoder Sensor Cable Linear Encoder Sensor Cable

Cable Cable
Linear Encoder
Linear Encoder
Linear Servomotor Linear Servomotor
33
Power supply
Three-phase 200 VAC
-
Molded case
circuit breaker R S T
(MCCB)
Protects the power
supply line by
shutting the circuit
OFF when
overcurrent is Magnetic Contactor
detected. Turns the servo ON and OFF.
Install a surge absorber.
Noise Filter
Used to eliminate Computer
external noise from Two-axis Bus MPE720
the power line.
Connection Reference Option Module
Integrated
Engineering
SERVOPACKs with Tool Version 7
built-in Controllers
Ethernet Host PLC
communication
CN12 cable
HUB
CN6
Computer Engineering
CN7 Computer Cable
Tool
SigmaWin+
External
Regenerative
Resistor
Connect an external
regenerative resistor to I/O Signal Cable
terminals B1 and B2 if
the regenerative CN1
capacity is insufficient. I/O device
Holding Brake
Power Supply I/O Signal Cable
Unit CN13
Used for a servomotor I/O device
with a brake.
Install a surge
absorber.
Ground CN2A
Holding Brake cable
Power Supply CN2B
Unit
Used for a servomotor
with a brake.
Battery Case*1
(Required when an
absolute encoder MECHATROLINK-III Cable
(Wiring required for the brake) is used.)
Servomotor Encoder Servomotor Encoder

Main Circuit Cable for Main Circuit Cable for axis B SERVOPACKs with
Cable for axis A axis A Cable for axis B MECHATROLINK-III
Communications I/O Module with
MECHATROLINK-III
Communications
When Using a
Rotary Servomotor
Rotary Servomotor for axis A Rotary Servomotor for axis B
I/O
When Using a
Direct Drive Servo Servo Servo
Servomotor*2 motor motor motor
Direct Drive Servomotor Direct Drive Servomotor Up to 8 stations, including I/O

for axis A for axis B
*12:: IfTheyouSGM
use a Servomotor with a batteryless absolute encoder, the Battery Case is not required.
* 7D model cannot be used in combination with the Σ-7C SERVOPACK.
34
Power supply
Three-phase 200 VAC
RST
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by
shutting the circuit Magnetic Contactor
OFF when Turns the servo ON and OFF.
overcurrent is Install a surge absorber.
detected.
Noise Filter Computer MPE720

Used to eliminate Two-axis Bus Integrated
external noise from
the power line.
Connection Reference Option Module
Engineering
SERVOPACKs with Tool Version 7
built-in Controllers
Ethernet Host PLC
communication
CN12 cable
HUB
CN6
Computer Engineering
CN7 Computer Cable
Tool
SigmaWin+
External
Regenerative
Resistor I/O Signal Cable
Connect an CN1
external
regenerative
I/O device
resistor to
terminals B1 and
B2 if the I/O Signal Cable
regenerative CN13
capacity is I/O device
insufficient.
Ground
cable CN2A
CN2B
MECHATROLINK-III Cable
Serial Converter Serial Converter
Unit Cable Serial Unit Cable Serial
Converter Converter
Unit Unit
SERVOPACKs with
MECHATROLINK-III
Linear Encoder Cable Linear Encoder Cable Communications I/O Module with
Sensor Cable
MECHATROLINK-III
Sensor Cable Communications
Linear Encoder Linear Encoder
I/O
Linear Servomotor for axis A Linear Servomotor for axis B Servo Servo Servo
motor motor motor
Linear Servomotor Main Circuit Cable Linear Servomotor Main Circuit Cable
Up to 8 stations, including I/O
35
Series Combination
Combination of Rotary Servomotors and SERVOPACKs for AC Power Input
SERVOPACK Model
Rotary Servomotor Model Rated Output SGD7W-
SGD7S-
SGD7C-
SGM7M SGM7M-A1A 11 W
R90A，R90F 1R6A*1，2R8A*1
(Low inertia, ultra-small capacity) SGM7M-A2A 22 W
3000 min-1 SGM7M-A3A 33 W 1R6A，2R1F 1R6A，2R8A*1
SGM7J-A5A 50 W R70A，R70F
1R6A*1，2R8A*1
SGM7J-01A 100 W R90A，R90F
SGM7J SGM7J-C2A 150 W
1R6A，2R1F 1R6A，2R8A*1
(Medium inertia, high speed) SGM7J-02A 200 W
3000 min-1 SGM7J-04A 400 W 2R8A，2R8F 2R8A，5R5A*1，7R6A*1
SGM7J-06A 600 W
5R5A 5R5A，7R6A
SGM7J-08A 750 W
SGM7A-A5A 50 W R70A，R70F
1R6A*1，2R8A*1
SGM7A-01A 100 W R90A，R90F
SGM7A-C2A 150 W
1R6A，2R1F 1R6A，2R8A*1
SGM7A-02A 200 W
SGM7A-04A 400 W 2R8A，2R8F 2R8A，5R5A*1，7R6A*1
SGM7A-06A 600 W
5R5A 5R5A，7R6A
SGM7A SGM7A-08A 750 W
(Low inertia, high speed) SGM7A-10A 1.0 kW
120A
3000 min-1 SGM7A-15A 1.5 kW
SGM7A-20A 2.0 kW 180A
SGM7A-25A 2.5 kW
200A −
SGM7A-30A 3.0 kW
SGM7A-40A 4.0 kW
330A
SGM7A-50A 5.0 kW
SGM7A-70A 7.0 kW 550A
SGM7P-01A 100 W R90A，R90F 1R6A*1，2R8A*1
SGM7P SGM7P-02A 200 W 2R8A，2R1F
2R8A，5R5A*1，7R6A*1
(Medium inertia, flat type) SGM7P-04A 400 W 2R8A，2R8F
3000 min-1 SGM7P-08A 750 W 5R5A 5R5A，7R6A
SGM7P-15A 1.5 kW 120A −
SGM7G-03A 300 W
3R8A 5R5A*1，7R6A*1
SGM7G-05A 450 W
SGM7G-09A 850 W 7R6A
SGM7G-13A 1.3 kW 120A
SGM7G SGM7G-20A 1.8 kW 180A
(Medium inertia, large torque) SGM7G-30A 2.9 kW*2
330A
1500 min-1 SGM7G-44A 4.4 kW
−
SGM7G-55A 5.5 kW 470A
SGM7G-75A 7.5 kW 550A
SGM7G-1AA 11 kW 590A
SGM7G-1EA 15 kW 780A
SGMMV *3 SGMMV-A1A 10 W
R90A，R90F 1R6A*1，2R8A*1
(Low inertia, ultra-small capacity) SGMMV-A2A 20 W
3000 min-1 SGMMV-A3A 30 W 1R6A，2R1F 1R6A，2R8A*1
*12:: IfTheyourated
use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with using a SERVOPACK.
*3: The SGMMV output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
* model is an earlier product. Select the SGM7M model when newly installing a rotary servomotor to a machine.
Combination of Rotary Servomotors and SERVOPACKs for DC Power Input

SERVOPACK Model
Rotary Servomotor Model Rated Output
SGDV- □□□□ *
SGM7M-B3E 3.3 W
SGM7M SGM7M-B5E 5.5 W 1R7E*
(Low inertia, ultra- SGM7M-B9E 11 W
small capacity) SGM7M-A1E 11 W
3000 min-1 SGM7M-A2E 22 W 2R9E*
SGM7M-A3E 33 W
*: These are -series SERVOPACKs.
36
Combination of Direct Drive Servomotors and SERVOPACKs
Instantaneous SERVOPACK Model
Rated Torque
Direct Drive Servomotor Model Max. Torque SGD7W-
Nm SGD7S-
Nm SGD7C-
SGM7D-30F 30.0 50.0
SGM7D-58F 58.0 100
120A (Note)
SGM7D-90F 90.0 150
SGM7D-1AF 110 200
SGM7D-01G 1.30 4.00
2R8A (Note)，2R8F (Note)
SGM7D-05G 5.00 6.00
SGM7D-08G 8.00 15.0
SGM7D-18G 18.0 30.0
SGM7D-24G 24.0 45.0 120A (Note)
SGM7D-34G 34.0 60.0
SGM7D-45G 45.0 75.0
SGM7D-03H 3.00 4.00 2R8A (Note)，2R8F (Note)
SGM7D-28I 28.0 50.0
SGM7D-70I 70.0 100
SGM7D (Note)
SGM7D-1ZI 100 150 −
（With core, outer rotor）
SGM7D-1CI 130 200
SGM7D-2BI 220 300
SGM7D-2DI 240 400 120A (Note)
SGM7D-06J 6.00 8.00
SGM7D-09J 9.00 15.0
SGM7D-18J 18.0 30.0
SGM7D-20J 20.0 45.0
SGM7D-38J 38.0 60.0
SGM7D-02K 2.06 5.00
SGM7D-06K 6.00 10.0
SGM7D-08K 8.00 15.0 2R8A (Note)，2R8F (Note)
SGM7D-06L 6.00 10.0
SGM7D-12L 12.0 20.0
SGM7D-30L 30.0 40.0 120A (Note)
SGM7E-02B 2.00 6.00
SGM7E-05B 5.00 15.0 2R8A，2R1F
SGM7E-07B 7.00 21.0
SGM7E-04C 4.00 12.0
SGM7E-10C 10.0 30.0 2R8A
SGM7E
SGM7E-14C 14.0 42.0
(Coreless, inner rotor) 2R8A，2R8F
SGM7E-08D 8.00 24.0
SGM7E-17D 17.0 51.0
SGM7E-25D 25.0 75.0
SGM7E-16E 16.0 48.0
5R5A
SGM7E-35E 35.0 105
SGM7F-02A 2.00 6.00
2R8A，2R1F
SGM7F-05A 5.00 15.0
SGM7F-07A 7.00 21.0 2R8A
SGM7F-04B 4.00 12.0 2R8A，2R8F
SGM7F-10B 10.0 30.0
SGM7F-14B 14.0 42.0 5R5A
SGM7F-08C 8.00 24.0 2R8A，2R8F 2R8A
SGM7F-17C 17.0 51.0 5R5A
SGM7F
SGM7F-25C 25.0 75.0 7R6A
(With core, inner rotor)
SGM7F-16D 16.0 48.0 5R5A
SGM7F-35D 35.0 105 7R6A*，120A 7R6A*
SGM7F-45M 45.0 135 7R6A
SGM7F-80M 80.0 240 120A
SGM7F-1AM 110 330 180A
SGM7F-80N 80.0 240 120A −
SGM7F-1EN 150 450
200A
SGM7F-2ZN 200 600
*: For the rated output and rated motor speed of this combination, use the derated values given in the table at the asterisk on the next page.
Note: Use SGM7D Servomotor in combination with FT-specification SERVOPACK. The following SERVOPACK models can be used.
(Cont d)
・SGD7S- □□□□□□ A □□□ F82 □

・SGD7S- □□□□ 00A □□□ F83 □
37
Series Combination
Combination of Direct Drive Servomotors and SERVOPACKs (Cont d)
Instantaneous SERVOPACK Model
Rated Torque
Direct Drive Servomotor Model Max. Torque SGD7W-
Nm SGD7S-
Nm SGD7C-
SGMCV-04B 4.00 12.0
2R8A，2R8F 2R8A
SGMCV-10B 10.0 30.0
SGMCV-14B 14.0 42.0 5R5A
SGMCV
SGMCV-08C 8.00 24.0 2R8A，2R8F 2R8A
(Small capacity, with
SGMCV-17C 17.0 51.0 5R5A
core, inner rotor)
SGMCV-25C 25.0 75.0 7R6A
SGMCV-16D 16.0 48.0 5R5A
SGMCV-35D 35.0 105 7R6A*，120A 7R6A*
SGMCS-02B 2.00 6.00
SGMCS-05B 5.00 15.0 2R8A，2R1F
SGMCS-07B 7.00 21.0
SGMCS-04C 4.00 12.0
SGMCS SGMCS-10C 10.0 30.0 2R8A
(Small capacity, coreless, SGMCS-14C 14.0 42.0
2R8A，2R8F
inner rotor) SGMCS-08D 8.00 24.0
SGMCS-17D 17.0 51.0
SGMCS-25D 25.0 75.0
SGMCS-16E 16.0 48.0
5R5A
SGMCS-35E 35.0 105
SGMCS-45M 45.0 135 7R6A
SGMCS-80M 80.0 240 120A
SGMCS
SGMCS-1AM 110 330 180A
(Medium capacity, with
SGMCS-80N 80.0 240 120A −
core, inner rotor)
SGMCS-1EN 150 450
200A
SGMCS-2ZN 200 600
*: For the rated output and rated motor speed of this combination, use the derated values given in the table below.
SGD7W- □□□□
SERVOPACK Model SGD7S- □□□□
SGD7C- □□□□
Rated Output W 1000
Rated Motor Speed min-1 270
38
Combination of Linear Servomotors and SERVOPACKs
SERVOPACK Model
Rated Force Max. Force
Linear Servomotor Model SGD7W-
N N SGD7S-
SGD7C-
SGLGW-30A050C 12.5 40 R70A，R70F
SGLGW-30A080C 25 80
R90A，R90F 1R6A
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280 1R6A，2R1F
SGLG SGLGW-40A365C 140 420 2R8A，2R8F 2R8A
(Coreless model, with SGLGW-60A140C 70 220 1R6A，2R1F 1R6A
standard magnetic way) SGLGW-60A253C 140 440 2R8A，2R8F 2R8A
SGLGW-60A365C 210 660 5R5A
SGLGW-90A200C 325 1300 120A
SGLGW-90A370C 550 2200 180A −
SGLGW-90A535C 750 3000 200A
SGLGW-40A140C 57 230 1R6A，2R1F 1R6A
SGLGW-40A253C 114 460 2R8A，2R8F 2R8A
SGLG
SGLGW-40A365C 171 690 3R8A 5R5A
(Coreless model, with
SGLGW-60A140C 85 360 1R6A，2R1F 1R6A
high-force magnetic way)
SGLGW-60A253C 170 720 3R8A 5R5A
SGLGW-60A365C 255 1080 7R6A
SGLFW2-30A070A 45 135
1R6A，2R1F 1R6A
SGLFW2-30A120A 90 270
180 540 3R8A −
SGLFW2-30A230A
170 500 2R8A，2R8F 2R8A
SGLFW2-45A200A 280 840 5R5A
1680 180A
(Model with F-type iron core)
SGLFW2* SGLFW2-45A380A 560

1500
120A
SGLFW2-90A200A 560 1680
SGLFW2-90A380A 1120 3360 200A −
SGLFW2-90A560A 1680 5040 330A
SGLF
SGLFW2-1DA380A 1680 5040 200A

SGLFW2-1DA560A 2520 7560 330A
SGLFW-20A090A 25 86
SGLFW-20A120A 40 125 1R6A，2R1F 1R6A
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440 3R8A 5R5A
SGLFW*
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B
560 1200 120A
SGLFW-1ZA200B −
SGLFW-1ZA380B 1120 2400 200A
SGLTW-20A170A 130 380 3R8A 5R5A
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140 120A −
SGLTW-35A170A 220 660
5R5A
SGLTW-35A170H 300 600
SGLTW-35A320A 440 1320
SGLT 120A
SGLTW-35A320H 600 1200
(Model with T-type iron
SGLTW-35A460A 670 2000 −
core) 180A
SGLTW-40A400B 670 2600
SGLTW-40A600B 1000 4000 330A
SGLTW-50A170H 450 900 5R5A
SGLTW-50A320H 900 1800 120A
SGLTW-80A400B 1300 5000 330A −
SGLTW-80A600B 2000 7500 550A
*: The SGLFW model is an earlier product. Select the SGLFW2 model when newly installing a linear servomotor to a machine.
39
Recommended Encoders
◆ Incremental Linear Encoders : Possible
Model Linear Support Application
Linear Resolution Maximum Application
Encoder for Polarity to
Output Signal Manufacturer Encoder Sensor Interpolator (Serial Pitch Speed*3 to Linear
Scale Sensor Fully-Closed
Type Head Converter Unit) Motors
μm nm m/s Input Loop Control
JZDP-H003/-H006*5 78.1 5
Dr. JOHANNES LIDA48 □ 20
1 Vp-p Analog
HEIDENHAIN Exposed
JZDP- J 003/- J 006*5
JZDP-H003/-H006* 5
4.9
15.6
2
1
8
*
GmbH LIF48 □ 4
Voltage*1 JZDP- J 003/- J 006*5
JZDP-H005/-H008*5
1.0
78.1
0.4
5
8
* 8
*
Renishaw plc*4 Exposed RGS20 RGH22B 20
JZDP- J 005/- J 008*5
PL101-RY*6
4.9 2
−
8
*
SL7 □ 0 800 97.7 10
Encoder for Exposed
PL101 MJ620-T13*7
MQ10-FLA −
8
*
Yaskawa s SQ10 PQ10 400 48.83 3
Magnescale MQ10-GLA −
Serial
Co., Ltd. SR75- □□□□□ LF − 80 9.8 3.33 −
Interface*2
( -LINK) SR75- □□□□□ MF − 80 78.1 3.33 −
Sealed
SR85- □□□□□ LF − 80 9.8 3.33 −
SR85- □□□□□ MF − 80 78.1 3.33 −
*1: will
You must also use a Yaskawa Serial Converter Unit. The output signal
*56:: Use this model number to purchase the Serial Converter Unit.
be multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in
*7: Use this model number to purchase the Sensor Head with Interpolator.
the Serial Converter Unit.
*8: Use this model number to purchase the Interpolator.
*2: The multiplier (number of divisions) depends on the Linear Encoder. Also,
you must write the motor constant file to the Linear Encoder in advance.
*NoteContact your Yaskawa representative.
: 1. Confirm detailed specifications, such as the tolerances, dimensions,
*3: applicable
The maximum speeds given in the above table are the maximum
speeds of the encoders when combined with a Yaskawa
and operating environment, with the manufacturer of the Encoder
before you use it.
SERVOPACK. The actual speed will be restricted by either the maximum 2. -LINK is a registered trademark of YASKAWA ELECTRIC
speed of the Linear Servomotor or the maximum speed of the Linear CORPORATION.
Encoder (given above).
* 4: If you use the origin signals with a Linear Encoder from Renishaw plc,
the origin may sometimes be falsely detected. If that occurs, use the
BID/DIR signal to output the origin signal only in one direction.
◆ Absolute Rotary Encoder

The following Absolute Rotary Encoders are for fully-closed control. Can not use it to control the motor.
Rotary Encoder Model Relay Device between Fully-Closed Resolution Maximum Speed*1
Output Signal Manufacturer
Type Scale Sensor Head Module and Rotary Encoder Bits min-1
Magnescale RU77-4096ADF* 2 − 20 2000
Sealed
Co., Ltd. RU77-4096AFFT01*2 − 22 2000
27 1600
Exposed ECA4412*2 28 800
29 400
Encoder for Dr. JOHANNES
RCN2 □ 10*2 26 3000
Yaskawa s Serial HEIDENHAIN EIB3391Y
RCN5 □ 10*2 28 800
Interface GmbH
( -LINK) Sealed RCN8 □ 10*2 29 400
ROC2310*2 26 3000
ROC7310*2 28 800
RA23Y- □□□□□□□□□ *2 − 23 14600
Renishaw plc Exposed RA26Y- □□□□□□□□□ *2 − 26 3250
RA30Y- □□□□□□□□□ *2 − 30 200
*1: applicable
The maximum speeds given in the above table are the maximum
speeds of the encoders when combined with a Yaskawa
Note: 1. Confirm detailed specifications, such as the tolerances, dimensions,
SERVOPACK. The actual speed will be restricted by either the maximum before you use it.
speed of the Linear Servomotor or the maximum speed of the Linear 2. -LINK is a registered trademark of YASKAWA ELECTRIC
Encoder (given above). CORPORATION.
* 2: This is a single-turn absolute encoder.
40
◆ Absolute Linear Encoder : Possible
Model Linear Support Application
Linear Resolution Maximum Application
Encoder for Polarity to
Output Signal Manufacturer Encoder Sensor Interpolator (Serial Pitch*2 Speed*3 to Linear
Scale Sensor Fully-Closed
Type Head Converter Unit) Motors
μm nm m/s Input Loop Control
SQ47- □□□□ S □ F □□□
− 20.48 5 3.33 −
SQ47- □□□□ T □ F □□□
SQ47- □□□□ A □ F □□□
− 40.96 10 3.33 −
SQ47- □□□□ F □ F □□□
Exposed
SQ57- □□□□ S □ F □□□
− 20.48 5 3.33 −
Magnescale SQ57- □□□□ T □ F □□□
Co., Ltd. SQ57- □□□□ A □ F □□□
− 40.96 10 3.33 −
SQ57- □□□□ F □ F □□□
SR77- □□□□□ LF − 80 9.8 3.33 −
SR77- □□□□□ MF − 80 78.1 3.33 −
Sealed
SR87- □□□□□ LF − 80 9.8 3.33 −
SR87- □□□□□ MF − 80 78.1 3.33 −
ST781A − 256 500 5 −
ST782A − 256 500 5 −
ST783A − 51.2 100 5 −
Mitutoyo ST784A − 51.2 100 5 −
Exposed
Corporation ST788A − 51.2 100 5 −
ST789A*4 − 25.6 50 5 −
Encoder for ST1381 − 5.12 10 8 −
Yaskawa s − −
ST1382 0.512 1 3.6*6
Serial
LIC4100 Series 20.48 5 10 −
Interface*1
( -LINK) Dr. JOHANNES Exposed 204.8 50 10 −
LIC2100 Series
HEIDENHAIN EIB3391Y*5 409.6 100 10 −
GmbH LC115 40.96 10 3 −
Sealed
LC415 40.96 10 3 −
EL36Y- □□ 050F □□□ − 12.8 50 100 −
EL36Y- □□ 100F □□□ − 25.6 100 100 −
Renishaw plc Exposed EL36Y- □□ 500F □□□ − 128 500 100 −
RL36Y- □□ 050 □□□ − 12.8 50 100 −
RL36Y- □□ 001 □□□ − 0.256 1 3.6 −
L2AK208 − 20 78.1 8.0 −
Exposed
L2AK211 − 20 9.8 8.0 −
LAK209 − 40 78.1 3.0 −
LAK212 − 40 9.8 3.0 −
Fagor − −
S2AK208 20 78.1 3.0
Automation S.
SV2AK208 − 20 78.1 3.0 −
Coop. Sealed
G2AK208 − 20 78.1 3.0 −
S2AK211 − 20 9.8 3.0 −
SV2AK211 − 20 9.8 3.0 −
G2AK211 − 20 9.8 3.0 −
*1: The multiplier (number of divisions) depends on the Linear Encoder. Also,
*45:: Contact Mitutoyo Corporation for details on the Linear Encoders.
you must write the motor constant file to the Linear Encoder in advance.
*6: Use this model number to purchase the Interpolator.
*2: These are reference values for setting SERVOPACK parameters. Contact
the manufacturer for actual linear encoder scale pitches.
*NoteThe speed is restricted for some SERVOPACKs.
: 1. Confirm detailed specifications, such as the tolerances, dimensions,
*3: The maximum speeds given in the above table are the maximum
applicable speeds of the encoders when combined with a Yaskawa
before you use it.
SERVOPACK. The actual speed will be restricted by either the maximum 2. -LINK is a registered trademark of YASKAWA ELECTRIC
speed of the Linear Servomotor or the maximum speed of the Linear CORPORATION.
Encoder (given above).
41
Model Designations
Rotary Servomotors
SGM7M SGMMV (Earlier Model)
SGM7M - A1 A 3 A 2 1 The SGMMV model is an earlier product. Select the SGM7M
model when newly installing a rotary servomotor to a machine.
mini Series 1st+2nd 3rd 4th 5th 6th 7th digit
Servomotors: 1st+2nd digits Rated Output 5th digit Design Revision Order SGMMV - A1 A 2 A 2 1
SGM7M Code Specification A
A1 11 W mini Series 1st+2nd 3rd 4th 5th 6th 7th digit
A2 22 W 6th digit Shaft End
A3 33 W Code Specification Servomotors: 1st+2nd digits Rated Output 5th digit Design Revision Order
B3 3 .3 W 2 Straight (standard) SGMMV Code Specification A
B5 5 .5 W Straight with flat seats A1 10 W
A (optional)
B9 11 W A2 20 W 6th digit Shaft End
A3 30 W Code Specification
3rd digit Power Supply Voltage 7th digit Options 2 Straight (standard)
Code Specification Code Specification 3rd digit Power Supply Voltage Straight with flat seats
A 200 VAC 1 Without options A (optional)
Code Specification
E 24 VDC/48 VDC* * 1 , 2 C With holding brake (24 VDC)*3
A 200 VAC
4th digit Serial Encoder 7th digit Options
Code Specification 4th digit Serial Encoder Code Specification
3 20-bit absolute Code Specification 1 Without options
2 17-bit absolute With holding brake
*1: This specification must be used with SGDV SERVOPACKs ( Series). C (24 VDC)
*2: Specifications are the same for 24 VDC and 48 VDC. Characteristics vary
with the voltage of the main circuit for SERVOPACKs.
*3: Applicable only for SGM7M-A1/-A2/-A3
SGM7J
Without Gears With Gears
SGM7J - 01 A 7 A 2 1 SGM7J - 01 A 7 A H 1 2 1
Series 1st+2nd 3rd 4th 5th 6th 7th digit Series 1st+2nd 3rd 4th 5th 6th 7th 8th 9th digit
Servomotors: 1st+2nd digits Rated Output 5th digit Design Revision Order
Servomotors: 1st+2nd digits Rated Output 7th digit Gear Ratio
SGM7J Code Specification A SGM7J Code Specification Code Specification
A5 50 W A5 50 W B 1/11*1
01 100 W 6th digit Shaft End 01 100 W C 1/21
C2 150 W Code Specification C2 150 W 1 1/5
02 200 W 2 Straight without key 02 200 W 2 1/9*2
04 400 W 6 Straight with key and tap 04 400 W 7 1/33
06 600 W B With two flat seats 06 600 W
08 750 W
7th digit Options
08 750 W * 1: This specification is not
supported for models with a
3rd digit Power Supply Voltage Code Specification 3rd digit Power Supply Voltage rated output of 50 W.
Code
A
Specification
200 VAC
1 Without options
With holding brake
Code
A
Specification
200 VAC
* 2: This specification is
supported only for models
C (24 VDC) with a rated output of 50 W.
4th digit Serial Encoder With oil seal and holding 4th digit Serial Encoder
E 8th digit Shaft End
Code Specification brake (24 VDC) Code Specification
Code Specification
24-bit batteryless S With oil seal 24-bit batteryless
6 6 0 Flange output
absolute absolute
2 Straight without key
7 24-bit absolute 7 24-bit absolute
6 Straight with key and tap
F 24-bit incremental F 24-bit incremental
9th digit Options
5th digit Design Revision Order Code Specification
A 1 Without options
6th digit Gear Type With holding brake
C (24 VDC)
Code Specification
HDS planetary
H
low-backlash gear
SGM7A
SGM7A - 01 A 7 A 2 1 SGM7A - 01 A 7 A H 1 2 1
Servomotors: 1st+2nd digits Rated Output 6th digit Gear Type
SGM7A Code Specification A SGM7A Code Specification Code Specification
A5 50 W A5 50 W HDS planetary
6th digit Shaft End H
01 100 W 01 100 W low-backlash gear
C2 150 W Code Specification C2 150 W
02 200 W 2 Straight without key 02 200 W 7th digit Gear Ratio
04 400 W 6 Straight with key and tap 04 400 W Code Specification
06 600 W B* With two flat seats 06 600 W B 1/11*1
08 750 W 08 750 W C 1/21
10 1.0 kW * : Code B is not supported for
models with a rated output of 10 1.0 kW 1 1/5
15 1.5 kW 1.5 kW or higher. 2 1/9*2
20 2.0 kW 3rd digit Power Supply Voltage 7 1/33
25 2.5 kW 7th digit Options Code Specification
30 3.0 kW Code Specification A 200 VAC * 1: This specification is not
supported for models with a
40 4.0 kW 1 Without options
4th digit Serial Encoder rated output of 50 W.
50 5.0 kW With holding brake
70 7.0 kW
C (24 VDC) Code Specification
24-bit batteryless
* 2: This specification is
supported only for models
With oil seal and holding 6
E absolute with a rated output of 50 W.
3rd digit Power Supply Voltage brake (24 VDC)
Code Specification S With oil seal 7 24-bit absolute 8th digit Shaft End
A 200 VAC F 24-bit incremental
Note: SGM7A-70A Servomotors Code Specification
with holding brakes are Note: Contact your Yaskawa 0 Flange output
4th digit Serial Encoder representative for models 2 Straight without key
not available.
Code Specification of 1.5 kW or higher. 6 Straight with key and tap
24-bit batteryless
6 5th digit Design Revision Order
absolute 9th digit Options
7 24-bit absolute A Code Specification
F 24-bit incremental 1 Without options
With holding brake
42 C (24 VDC)
Rotary Servomotors
SGM7P
SGM7P - 01 A 7 A 2 1 SGM7P - 01 A 7 A H B 0 1
Servomotors: 1st+2nd digits Rated Output 6th digit Gear Type
SGM7P Code Specification Code Specification SGM7P Code Specification Code Specification
01 100 W A IP65 01 100 W HDS planetary
H
02 200 W E IP67 02 200 W low-backlash gear
04 400 W 04 400 W
08 750 W 6th digit Shaft End 08 750 W 7th digit Gear Ratio
15 1.5 kW Code Specification 15 1.5 kW Code Specification
2 Straight without key B 1/11
3rd digit Power Supply Voltage 6 Straight with key and tap 3rd digit Power Supply Voltage C 1/21
Code Specification Code Specification 1 1/5
A 200 VAC 7th digit Options A 200 VAC 7 1/33
Code Specification
4th digit Serial Encoder 1 Without options 4th digit Serial Encoder 8th digit Shaft End
Code Specification With holding brake Code Specification Code Specification
C (24 VDC) 24-bit batteryless 0 Flange output
24-bit batteryless 6
6 With oil seal and holding absolute 2 Straight without key
absolute E
7 24-bit absolute brake (24 VDC) 7 24-bit absolute 6 Straight with key and tap
F 24-bit incremental S With oil seal F 24-bit incremental
9th digit Options
Code Specification 1 Without options
A IP55 With holding brake
C (24 VDC)
SGM7G
SGM7G - 03 A 7 A 2 1
Series 1st+2nd 3rd 4th 5th 6th 7th digit
Servomotors: 1st+2nd digits Rated Output 4th digit Serial Encoder
SGM7G Code Specification Code Specification
03 300 W 24-bit batteryless
6
05 450 W absolute
09 850 W 7 24-bit absolute
13 1.3 kW F 24-bit incremental
20 1.8 kW
30 2.9 kW* 5th digit Design Revision Order
44 4.4 kW A
55 5.5 kW
75 7.5 kW 6th digit Shaft End
1A 11 kW Code Specification
1E 15 kW 2 Straight without key
＊ : The rated output is 2.4 kW
if you combine the SGM7G- 7th digit Options
30A with the SGD7S-200A. Code Specification
3rd digit Power Supply Voltage 1 Without options
Code Specification With holding brake
C (24 VDC)
A 200 VAC
With oil seal and holding
E
brake (24 VDC)
S With oil seal
Direct Drive Servomotors Note: Direct Drive Servomotors are not available with holding brakes.
SGM7D
SGM7D - 30 F 7 C 4 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th digit
SGM7D Code Specification Code Specification C
01 1.30 N m 30 30.0 N m
02 2.06 N m 34 34.0 N m 6th digit Flange : Applicable models.
03 3.00 N m 38 38.0 N m Servomotor Outer Diameter Code (3rd Digit)
Code Mounting
05 5.00 N m 45 45.0 N m F G H I J K L
06 6.00 N m 58 58.0 N m 4 with cable − − −
08 8.00 N m 70 70.0 N m Non-load on side
09 9.00 N m 90 90.0 N m side with cable
12 12.0 N m 1Z 100 N m 5 * − −
on bottom
18 18.0 N m 1A 110 N m
20
24
20.0 N m
24.0 N m
1C
2B
130 N m
220 N m
* : SGM7D-01G and -05G are not available with a cable extending
from the bottom.
28 28.0 N m 2D 240 N m
7th digit Options
Code Specification
3rd digit Servomotor Outer Diameter 1 Standard machine precision
Code Specification Code Specification 2 High machine precision*
F 264-mm dia. J 150-mm dia.
G
H
160-mm dia.
116-mm dia.
K
L
107-mm dia.
224 mm × 224 mm
* : The SGM7D-01G, -05G, and -03H are available only with high
mechanical precision.
I 264-mm dia.
4th digit Serial Encoder
Code Specification
7 24-bit multi-turn absolute encoder*
F 24-bit incremental encoder*
* : Both multiturn absolute encoder and incremental encoder can be

used as a single-turn absolute encoder by setting parameters. 43
Model Designations
Direct Drive Servomotors Note: Direct Drive Servomotors are not available with holding brakes.
SGM7E SGM7F
SGM7E - 02 B 7 A 1 1 SGM 7 F - 02 A 7 A 1 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th digit Direct Drive 1st+2nd 3rd 4th 5th 6th 7th digit
Servomotors: 1st+2nd digits Rated Output
SGM7E Code Specification Code Specification SGM7F ・Small-capacity ・Medium-capacity
02 2.00 N m 24- bit multiturn Code Specification Code Specification Code Specification
04 4.00 N m 7 absolute encoder* 02 2.00 N m 14 14.0 N m 45 45.0 N m
05 5.00 N m 24-bit incremental 04 4.00 N m 16 16.0 N m 80 80.0 N m
F
07 7.00 N m encoder* 05 5.00 N m 17 17.0 N m 1A 110 N m
08 8.00 N m
10 10.0 N m * : Both multiturn absolute
encoder and incremental
07
08
7.00 N m
8.00 N m
25
35
25.0 N m
35.0 N m
1E
2Z
150 N m
200 N m
14 14.0 N m encoder can be used as a 10 10.0 N m
16 16.0 N m single-turn absolute encoder
17 17.0 N m by setting parameters. 3rd digit Servomotor Outer Diameter 4th digit Serial Encoder
25 25.0 N m Code Specification Code Specification
35 35.0 N m 5th digit Design Revision Order A 100-mm dia.
A 7 24- bit multiturn
B 135-mm dia. absolute encoder*
3rd digit Servomotor Outer Diameter C 175-mm dia.
Code Specification 6th digit Flange F 24-bit incremental
D 230-mm dia. encoder*
B 135-mm dia. Code Mounting M 280-mm dia.
C
D
175-mm dia.
230-mm dia.
1 Non-load side
Non -load side
N 360-mm dia. * : Both multiturn absolute
encoder and incremental
4 (with cable on side) encoder can be used as a
E 290-mm dia.
single-turn absolute encoder
7th digit Options by setting parameters.
Code Specification
1 Without options 5th digit Design Revision Order
High machine precision A
(runout at end of shaft
2 6th digit Flange : Applicable models.
and runout of shaft
surface: 0.01 mm) Servomotor Outer Diameter Code (3rd Digit)
Code Mounting
A B C D M N
Note: 1. Direct Drive Servomotors are not available with holding brakes. Non-load side − −
1 − − − −
2. This information is provided to explain model numbers. It is not meant to imply Load side
that models are available for all combinations of codes. 3 Non-load side − − − −
4 Non-load side − −
(with cable on side)
7th digit Options

Code Specification
1 Without options
High machine precision (runout at end of shaft and runout
2
of shaft surface: 0.01 mm)
Note: 1. Direct Drive Servomotors are not available with holding brakes.
2. This information is provided to explain model numbers. It is not meant to imply
that models are available for all combinations of codes.
SGMCV SGMCS
SGMCV - 04 B E A 1 1 SGMCS - 02 B 3 C 1 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th digit Direct Drive 1st+2nd 3rd 4th 5th 6th 7th digit
Servomotors: 1st+2nd digits Rated Output
SGMCV Code Specification Code Specification SGMCS ・Small-capacity, Coreless ・Medium-capacity, with Core
04 4.00 N m
E 22-bit single-turn Code Specification Code Specification Code Specification
08 8.00 N m absolute encoder 02 2.00 N m 14 14.0 N m 45 45.0 N m
10 10.0 N m 22-bit multiturn 04 4.00 N m 16 16.0 N m 80 80.0 N m
I absolute encoder
14 14.0 N m 05 5.00 N m 17 17.0 N m 1A 110 N m
16 16.0 N m 07 7.00 N m 25 25.0 N m 1E 150 N m
17 17.0 N m 5th digit Design Revision Order 08 8.00 N m 35 35.0 N m 2Z 200 N m
25 25.0 N m A 10 10.0 N m
35 35.0 N m
6th digit Flange 3rd digit Servomotor Outer Diameter 4th digit Serial Encoder
3rd digit Servomotor Outer Diameter Code Specification Code Specification Code Specification
Code Specification 1 Non-load side B 135-mm dia. 20-bit single-turn
B 135-mm dia. Non -load side 3 absolute encoder
4 (with cable on side) C 175-mm dia.
C 175-mm dia. D 230-mm dia. 20-bit incremental
D 230-mm dia. D encoder
E 290-mm dia.
7th digit Options M 280-mm dia.
Code Specification N 360-mm dia.
1 Without options
High machine precision 5th digit Design Revision Order
(runout at end of shaft Code Specification
5
and runout of shaft A Model with servomotor outer diameter code M or N
surface: 0.01 mm) B Model with servomotor outer diameter code E
used as a single-turn absolute encoder by setting parameters.
C Model with servomotor outer diameter code B, C, or D
6th digit Flange : Applicable models.
Servomotor Outer Diameter Code (3rd Digit)
Code Mounting
B C D E M N
Non-load side − −
1 − − − −
Load side
3 Non-load side − − − −
4 Non-load side − −
(with cable on side)
7th digit Options

Code Specification
1 Without options

44
Linear Servomotors
SGLG (Coreless Models)
Moving Coil Magnetic Way
S G L G W - 30 A 050 C P S G L G M - 30 108 A
Linear 1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th digit Linear 1st 2nd 3rd+4th 5th+6th+7th 8th 9th digit
Series 1st digit Servomotor Type 5th digit Power Supply Voltage
Series 1st digit Servomotor Type 5th+6th+7th digits Length of Magnetic Way
Linear Code Specification Code Specification Linear Code Specification Code Specification
G Coreless model A 200 VAC G Coreless model 090 90 mm
Servomotors Servomotors 108 108 mm
2nd digit Moving Coil/Magnetic Way 6th+7th+8th digits Length of Moving Coil 2nd digit Moving Coil/Magnetic Way 216 216 mm
Code Specification Code Specification Code Specification 225 225 mm
W Moving Coil 050 50 mm M Magnetic Way 252 252 mm
080 80 mm 360 360 mm
3rd+4th digits Magnet Height 140 140 mm 3rd+4th digits Magnet Height 405 405 mm
Code Specification 200 199 mm Code Specification 432 432 mm
30 30 mm 253 252.5 mm 30 30 mm 450 450 mm
40 40 mm 365 365 mm 40 40 mm 504 504 mm
60 60 mm 370 367 mm 60 60 mm
90 86 mm 535 535 mm 90 86 mm 8th digit Design Revision Order
A, B , C *
9th digit Design Revision Order
A, B 9th digit Options
Code Specification Applicable Models
10th digit Sensor Specification and Cooling Method None Standard-force All models
Specifications -M -
High force SGLGM-40, -60
Code Applicable Models
Polarity Sensor Cooling Method
None None
C None
Self-cooled
Air-cooled
All models *: ･The SGLGM-40 and SGLGM-60 also have a CT code.
C = Without mounting holes on the bottom
SGLGW-40A, -60A, -90A ･CT = With mounting holes on the bottom
H Yes Air-cooled
P Yes Self-cooled All models
11th digit Connector for Servomotor Main Circuit Cable
None Connector from Tyco
Electronics Japan G.K. All models
D Connector from SGLGW-30A, -40A, -60A

Interconnectron GmbH
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
SGLFW2 (Models with F-type Iron Cores)

S G L F W2 - 30 A 070 A T S G L F M2 - 30 270 A
Linear 1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th digit Linear 1st 2nd 3rd+4th 5th+6th+7th 8th digit
Series 1st digit Servomotor Type 5th+6th+7th Length of Magnetic Way
Linear Code Specification Code Specification Linear Code Specification digits
F With F-type iron core A 200 VAC F With F-type iron core Code Specification
2nd digit Moving Coil/Magnetic Way 6th+7th+8th Length of Moving Coil 2nd digit Moving Coil/Magnetic Way 306 306 mm
Code Specification digits Code Specification 450 450 mm
W Moving Coil Code Specification M Magnetic Way 510 510 mm
070 70 mm 630 630 mm
Code Specification 200 205 mm Code Specification
45 45 mm 380 384 mm 45 45 mm A
90 90 mm 560 563 mm 90 90 mm
1D 135 mm 1D 135 mm
A
10th digit Sensor Specification
Code Specification
S With polarity sensor and thermal protector
T Without polarity sensor, with thermal protector
11th digit Cooling Method
Code Specification
None Self-cooled
L Water-cooled*
*: Contact your Yaskawa representative for information on water-cooled models.

45
Model Designations
Linear Servomotors
SGLFW (Earlier Model with F-type Iron Cores)

The SGLFW model is an earlier product. Select the SGLFW2 model when newly installing a linear servomotor to a machine.

S G L F W - 20 A 090 A P S G L F M - 20 324 A
Series 1st digit Servomotor Type 5th digit Voltage
F With F-type iron core A 200 VAC F With F-type iron core Code Specification
090 91 mm 756 756 mm
Code Specification 200 215 mm Code Specification
35 36 mm 380 395 mm 35 36 mm A, B
50 47.5 mm 50 47.5 mm
1Z 95 mm 9th digit Design Revision Order 1Z 95 mm
A, B
10th digit Sensor Specification 9th digit Options
Code Specification Code Specification
P With polarity sensor None Without options
None Without polarity sensor C With magnet cover
None Connector from Tyco
Electronics Japan G.K. All models
D Connector from SGLFW-35, -50, -1Z 200B

Interconnectron GmbH
SGLT (Models with T-type Iron Cores)

S G L T W - 20 A 170 A P S G L T M - 20 324 A
T With T-type iron core A 200 VAC T With T-type iron core Code Specification
170 170 mm 756 756 mm
Code Specification 400 394.2 mm Code Specification
35 36 mm 600 574.2 mm 35 36 mm A, B
40 40 mm 40 40 mm H: High-efficiency model
50 51 mm 9th digit Design Revision Order 50 51 mm
80 76.5 mm A, B 80 76.5 mm
H: High-efficiency model
9th digit Options
10th digit Sensor Specification and Cooling Method Code Specification Applicable Models
Code
Specifications
Applicable Models None Without options −
Polarity Sensor Cooling Method C With magnet cover All models
None None Self-cooled All models Y With base and magnet cover SGLTM-20, -35*, -40, -80
C* None Water-cooled
SGLTW-40, -80
H* Yes Water-cooled
P Yes Self-cooled All models *: The SGLTM-35 H (high-efficiency models) do not support this specification.

Connector from Tyco SGLTW-20A ,
Electronics Japan G.K. -35A
SGLTW -40 A B ,
None MS connector -80A B
Loose lead wires with SGLTW-35A H ,
no connector -50A H
*: Contact your Yaskawa representative for the characteristics, dimensions, and other
details on Servomotors with these specifications.
46
SERVOPACKs
Model
SGD7S - R70 A 20 A 001 000 B

Series 1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th digit
Models 1st+2nd+3rd Maximum Applicable 4th digit Voltage 8th+9th+10th digits Hardware Options Specification
digits Motor Capacity Code Specification Code Specification Applicable Models
Voltage Code Specification A 200 VAC None Without options All models
R70*1 0.05 kW F 100 VAC SGD7S-R70A to -330A
Rack-mounted
R90*1 0.1 kW 001 SGD7S-R70F to -2R8F
1R6*1 0.2 kW 5th+6th digits Interface*3 Duct-ventilated SGD7S-470A to -780A
2R8*1 0.4 kW Code Specification 002 Varnished All models
3R8 0.5 kW 00 Analog voltage/pulse train reference 008 Single-phase, 200-VAC power supply input SGD7S-120A
5R5*1 0.75 kW MECHATROLINK -II SGD7S-R70A to -2R8A
Three- 10 communications reference 020*6
No dynamic brake
SGD7S-R70F to -2R8F
7R6 1.0 kW
phase, MECHATROLINK -III External dynamic brake resistor SGD7S-3R8A to -780A
120*2 1.5 kW 20
200 communications reference
180 2.0 kW
VAC E0 Command Option Attachable Type*4 11th+12th+13th digits FT/EX Specification BTO Specification*8
200*3 3.0 kW 14th digit
330 5.0 kW Code Specification (Available in Japan only)
470 6.0 kW 7th digit Design Revision Order None Code Specification
550 7.5 kW A None None None
000
590 11 kW B BTO Specification
780 15 kW F82*7 Application function option for
special motors, SGM7D motor drive
Single- R70 0.05 kW
phase, R90 0.1 kW Application function
F83*7 motors, SGM7D motor option for special
drive, indexing
100 2R1 0.2 kW
VAC 2R8*7 0.4 kW
*12:: You can use these models with either a single-phase or three-phase power supply input.
*3: AThemodel with a single-phase, 200-VAC power supply input is available as a hardware option (model. SGD7S-120A □ 0A008).
*4: The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
*5: A command
same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
*6: Refer to the following
option module must be attached to the Command Option Attachable-type SERVOPACK for use. Refer to pages 374 to 399 for details.
* Σ-7-Series AC Servo manual for details.
Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Product Manual (Manual No.: SIEP S800001 73)
*7: ReferΣ-7-
to the following manual for details.
Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for SGM7D Motor Product Manual (Manual No.: SIEP S800001 91)
*8: The BTO specification indicates if the SERVOPACK is customized by using the MechatroCloud BTO service. This service is available in Japan only.
You need a BTO number to order SERVOPACKs with customized specifications. Refer to page M-15 for the details on the BTO service.
Model
SGD7W - 1R6 A 20 A 001 000 B
Series 1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th digit
Models 1st+2nd+3rd Maximum Applicable 5th+6th digits Interface*3 8th+9th+10th digits Hardware Options Specification
digits Motor Capacity per Axis Code Specification Code Specification Applicable Models
Voltage Code Specification 20 MECHATROLINK-III None Without options
Three- 1R6*1 0.2 kW communications reference 001 Rack-mounted All models
phase, 2R8*1 0.4 kW 002 Varnished
200 5R5*2 0.75 kW No dynamic brake SGD7W-1R6A to -2R8A
7th digit Design Revision Order 020*4
VAC 7R6 1.0 kW External dynamic brake resistor SGD7W-5R5A to -7R6A
A 700* HWBB option
5 All models
4th digit Voltage
Code Specification 11th+12th+13th digits FT/EX Specification BTO Specification*6
14th digit (
A 200 VAC Code Specification Available in Japan only)
None Code Specification
None None None
000
B BTO Specification
*12:: You can use these models with either a single-phase or three-phase power supply input.
* IfIf you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An example is given below.
the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis so that average load ratio for both axes is 65% ((90% + 40%)/2 = 65%).
*34:: The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
* ReferΣ-7 to the following manual for details.
Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Product Manual (Manual No.: SIEP S800001 73)
* Σ-7 Series AC Servo Drive Σ-7W/Σ-7C SERVOPACK with Hardware Option Specifications HWBB Function Product Manual (Manual No.: SIEP S800001 72)
5: Refer to the following manual for details.
*6: The BTO specification indicates if the SERVOPACK is customized by using the MechatroCloud BTO service. This service is available in Japan only.
You need a BTO number to order SERVOPACKs with customized specifications. Refer to page M-15 for the details on the BTO service.
Model
SGD7C - 1R6 A MA A 001
Series 1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th digit
Models 8th+9th+10th digits Hardware Options Specification
1st+2nd+3rd Maximum Applicable 4th digit Voltage
digits Motor Capacity per Axis Code Specification Code Specification Applicable Models
Voltage Code Specification A 200 VAC None Without options
-
Three 1R6*1 0.2 kW 001 Rack-mounted All models
phase, 2R8*1 0.4 kW 5th+6th digits Interface*3 002 Varnished
200 5R5*2 0.75 kW Code Specification No dynamic brake SGD7C-1R6A to -2R8A
020*4
VAC 7R6 1.0 kW Bus connection with External dynamic brake resistor SGD7C-5R5A to -7R6A
MA 700*5 HWBB option All models
references

A
*1: input.
You can use these models with either a single-phase or three-phase power supply
*34:: The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
* ReferΣ-7to the following manual for details.
*2: derate
If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input,
the load ratio to 65%. An example is given below.
Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option
Specifications Dynamic Brake Product Manual (Manual No.: SIEP S800001 73)
If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis
so that average load ratio for both axes is 65% ((90% + 40%)/2 = 65%).
*5: ReferΣ-7to the following manual for details.
Series AC Servo Drive Σ-7W/Σ-7C SERVOPACK with Hardware Option
Specifications HWBB Function Product Manual (Manual No.: SIEP S800001 72) 47
Related Documents
The documents that are related to the MP3300 Machine Controllers and series AC Servo
Drives are shown in the following table. Refer to these documents as required.
Catalog Manual
(Catalog No.) (Manual No.) Description of Document
General Catalog
Machine Controller and AC Servo

Drive Solutions Catalog − −
(KAEP S800001 22)
MP3300 Catalog MP3000-Series Manual
Machine Controller MP3000 Series MP3300 Describes the functions, specifications,

(KAEP C880732 15) (SIEP C880725 21) operating methods, maintenance,
inspections, and troubleshooting of
MP3200
(SIEP C880725 10) the MP3000-Series Machine
Controllers.
MP3100
(SIEP C880725 24)
-Series Catalog -Series SERVOPACK Product Manual
AC Servo Drives SERVOPACK with

Series MECHATROLINK-III Communications References
(KAEP S800001 23) (SIEP S800001 28)
SERVOPACK with
MECHATROLINK-II Communications References
(SIEP S800001 27)
SERVOPACK with Analog
Voltage/Pulse Train References Provide detailed information on
(SIEP S800001 26) selecting -Series SERVOPACKs
SERVOPACK Command and information on installing,
Option Attachable Type with connecting, setting, performing
INDEXER Module trial operation for, tuning, and
(SIEP S800001 64) monitoring the Servo Drives.
SERVOPACK Command
Option Attachable Type with
DeviceNet Module
(SIEP S800001 70)
SERVOPACK with
MECHATROLINK-III Communications References
(SIEP S800001 29)
Provides detailed information

on selecting -Series
SERVOPACKs; installing, connecting,
SERVOPACK
(SIEP S800002 04) setting, testing in trial operation,
and tuning Servo Drives; writing,
monitoring, and maintaining programs;
and other information.
Provides detailed information on the

SERVOPACK specifications, system configuration,
Motion Control and application methods of the Motion
User s Manual Control Function Modules (SVD, SVC4,
(SIEP S800002 03) and SVR4) for -Series
SERVOPACKS.
Provides detailed information on
Machine Controller
the specifications, system
MP3000 Series
configuration, and communications
Communications
connection methods for the Ethernet
User s Manual
(SIEP C880725 12) communications that are used with
-Series SERVOPACKs.
48
Catalog Manual
-Series Catalog -Series SERVOPACK Product Manual
AC Servo Drives SERVOPACK Provides detailed troubleshooting

Series Troubleshooting Manual information for -Series
(KAEP S800001 23) (SIEP S800002 07) SERVOPACKs.
/ SERVOPACK with
Hardware Option Specifications
Dynamic Brake
(SIEP S800001 73) Provides detailed information on
Hardware Options for -Series
/ SERVOPACK with SERVOPACKs.
Hardware Option Specifications
HWBB Function
(SIEP S800001 72)
-Series AC Servo Drive

SERVOPACK with Hardware Provides detailed information on
Option Specifications Dynamic Options for SERVOPACK with
Brake FT/EX Specification.
(SIEP S800001 91)
-Series/ -Series for Large-
Capacity Models/ -Series Provides details information required
User s Manual Safety Module for the design and maintenance of a
(SIEP C720829 06) Safety Module.
-Series Servomotor Product Manual
Rotary Servomotor
(SIEP S800001 36)
Provide detailed information on
Linear Servomotor
(SIEP S800001 37) selecting, installing, and connecting
the -Series Servomotors.
Direct Drive Servomotor
(SIEP S800001 38)
49
Related Documents
Catalog Manual
-Series Catalog Others
AC Servo Drives Peripheral Device Selection Manual Describes the cables and peripheral
Series (SIEP S800001 32) devices for a -Series Servo System.
(KAEP S800001 23)
Provides detailed information on the
MECHATROLINK-III Communications MECHATROLINK-III communications
Standard Servo Profile Command Manual standard servo profile commands
(SIEP S800001 31) that are used for a - Series Servo
System.
MECHATROLINK-II Communications
the MECHATROLINK-II
Command Manual
(SIEP S800001 30) communications commands that
are used for a -Series Servo System.
Digital Operator Operating Manual Describes the operating procedures for a Digital
(SIEP S800001 33) Operator for a -Series Servo System.
Engineering Tool SigmaWin+ Provides detailed operating procedures
Operation Manual for the SigmaWin+ Engineering Tool
（SIET S800001 34） for a -Series Servo System.
Machine Controller
MP2000/MP3000 Series
Describes in detail how to operate
Engineering Tool
MPE720 version 7.
MPE720 Version 7 User s Manual
（SIEP C880761 03）
Machine Controller Provides detailed information on

MP3000 Series the ladder programming specifications
Ladder Programming Manual and instructions for -Series
(SIEP C880725 13) SERVOPACKs.
Machine Controller
the motion programming and
MP3000 Series
sequence programming specifications
Motion Programming Manual
(SIEP C880725 14) and instructions for -Series
SERVOPACKs.
50
CONTENTS Rotary Servomotors
SGM7M (Low Inertia, Ultra-small Size) 4
SGM7J (Medium Inertia, High-speed) 18
SGM7A (Low Inertia, High-speed) 42
SGM7P (Medium Inertia, Flat Type) 78
SGM7G (Medium Inertia, Large Torque) 98
Reference SGMMV (Earlier Model with Low Inertia, Ultra-small Size) 120
SGM7D (With Core, Outer Rotor) 132
SGM7E (Coreless, Inner Rotor) 158
SGM7F (With Core, Inner Rotor) 174
SGMCV (Small Capacity, with Core, Inner Rotor) 196
SGMCS (Small Capacity, Coreless, Inner Rotor or Medium Capacity, with Core, Inner Rotor) 210
Linear Servomotors
SGLG (Coreless Models) 232
SGLFW2 (Models with F-type Iron Cores) 256
SGLT (Models with T-type Iron Cores) 280
Recommended Linear Encoders and Cables 306
Reference SGLFW (Earlier Models with F-Type Iron Cores) 326
SERVOPACKs
Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs 346
Single-axis MECHATROLINK-II Communications Reference SERVOPACKs 356
Single-axis MECHATROLINK-III Communications Reference SERVOPACKs 366
Single-axis SERVOPACKs with INDEXER Module 376
Single-axis SERVOPACKs with DeviceNet Module 390
Single-axis FT82 SERVOPACKs SGM7D Motor Drive 402
Single-axis FT83 SERVOPACKs SGM7D Motor Drive with Built-in INDEXER 422
Two-axis MECHATROLINK-III Communications Reference SERVOPACKs 432
Two-axis Bus Connection Reference SERVOPACKs with built-in Controllers 440
SERVOPACK External Dimensions 456
Peripheral Devices 468
For SGM7M Motor SERVOPACKs with DC Power Input 500
Option Modules
Feedback Option Module 524
Safety Option Module 534
Appendices
Capacity Selection for Servomotors 540
Capacity Selection for Regenerative Resistors 548
International Standards 566
Warranty 568
1
2
Rotary Servomotors
Features
SGM7M
SGM7M (Low Inertia, Ultra Small Size) ................ 4
• Contributes to machine downsizing SGM7J
(flange size: 15 mm × 15 mm/25 mm × 25 mm).
• Ultra small capacity: 3.3 W to 33 W and SGM7A
maximum motor speed: 7,000 min-1 SGM7P
• Mounted absolute serial encoder: 20 bits.
Can be used as an incremental encoder. SGM7G
SGMMV
SGM7J (Medium Inertia, High Speed) ................ 18
• Instantaneous peak torque: 350% of rated torque.
• Protective structure: IP67
• Mounted high-resolution serial encoder: 24 bits.
Batteryless absolute encoder also provided.
• Full lineup (50 W to 750 W, with holding brake,
with gears, and with oil seal).
• Cables can be installed in both load side and
non-load side.
SGM7A (Low Inertia, High Speed) ..................... 42

• Instantaneous peak torque: 350% of rated torque
(for motors of less than 1 kW).
• Protective structure: IP67 (IP22 for 7.0 kW motor)
• Full lineup (50 W to 7.0 kW, with holding brake,
• Cables can be installed in both load side and
non-load side (for motors of less than 1 kW).
SGM7P (Medium Inertia, Flat Type) ................... 78

• Flat type with short depth.
• Full lineup (100 W to 1.5 kW, with holding brake,
SGM7G (Medium Inertia, Large Torque) ............ 98

• Protective structure: IP67
• Full lineup (300 W to 15 kW, with holding brake,
and with oil seal).
Reference
SGMMV (Earlier Models with Low Inertia, Ultra Small Size) ...120
Rotary Servomotors
SGM7M (Low Inertia, Ultra Small Size)
Model Designations
SGM7M - A1 A 3 A 2 1
1st+2nd 3rd 4th 5th 6th 7th
-7mini Series digits digit digit digit digit digit
Servomotors:
SGM7M
1st+2nd digits Rated Output 3rd digit Power Supply Voltage 6th digit Shaft End
Code Specification Code Specification Code Specification
A1 11 W A 200 VAC 2 Straight (standard)
A2 22 W E 24 VDC / 48 VDC*1, *2 A Straight with flat seats (optional)
A3 33 W
B3 3.3 W 4th digit Serial Encoder 7th digit Options
B5 5.5 W Code Specification Code Specification
B9 11 W 3 20-bit absolute 1 Without options
C With holding brake (24 VDC)*3
*1. This specification must be used with SGDV SERVOPACKs (Σ-V Series).
*2. Specifications are the same for 24 VDC and 48 VDC. Characteristics vary with the voltage of the main circuit for
SERVOPACKs.
*3. Applicable only for SGM7M-A1/-A2/-A3
4
Rotary Servomotors
SGM7M
Specifications and Ratings
Specifications
Voltage 24 VDC/48 VDC 200 VAC
Model SGM7M- B3E B5E B9E A1E A2E A3E A1A A2A A3A
Time Rating Continuous
Thermal Class UL: A, CE: B B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 600 VAC for 1 minute 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1 V15
Surrounding Air Temperature 0°C to 40°C
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
• Must be indoors and free of corrosive and explosive gases.
Environmen- • Must be well-ventilated and free of dust and moisture.
tal Condi- Installation Site • Must facilitate inspection and cleaning.
tions • Must have an altitude of 1,000 m or less.
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it with the power cable disconnected.
Storage Environment Storage Temperature: -20°C to 60°C (with no freezing)
Storage Humidity: 20% to 80% relative humidity (with no condensation)
Impact Acceleration
Shock 490 m/s2
Rate at Flange
Resistance*2
Number of Impacts 2 times
Vibration Vibration Acceleration
49 m/s2
Resistance*2 Rate at Flange
SGDV- *3 1R7E 2R9E − − −
1R6A,
Applicable SGD7S- − − − − − − R90A, R90F
2R1F
SERVOPACKs
SGD7W- 1R6A*4, 1R6A,
− − − − − −
SGD7C- 2R8A*4 2R8A*4
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed.
*2. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the
directions shown in the following figures.
The strength of the vibration that the Servomotor can withstand depends on the application. Always check the
vibration acceleration rate that is applied to the Servomotor with the actual equipment.
Vertical Vertical Front to back
Horizontal direction
Side to side
Shock Applied to the Servomotor Vibration Applied to the Servomotor
*3. These are Σ-V-series SERVOPACKs.

Refer to the following section for details.
Servomotor Ratings (page 6)
*4. If you use a Servomotor together with a Σ-7W or Σ-7C SERVOPACK, the control gain may not increase as much
as with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVO-
PACK.
5
Rotary Servomotors
Servomotor Ratings
Voltage 24 VDC/48 VDC
Model SGM7M B3E B5E B9E A1E A2E A3E
*1 W 3.3 5.5 11 11 22 33
Rated Output
*1, *2 Nm 0.0105 0.0175 0.0350 0.0350 0.0700 0.105
Rated Torque
*1 Nm 0.0263 0.0438 0.0875 0.105 0.210 0.306
Instantaneous Maximum Torque
*1 Arms 1.5 1.5 1.7 2.5 2.5 2.7
Rated Current
*1 Arms 3.6 3.7 4.1 7.8 7.6 8.0
Instantaneous Maximum Current
*1 -1 3000
Rated Motor Speed min
*1 -1 7000 6000
Maximum Motor Speed min
Torque Constant Nm/Arms 0.00814 0.0132 0.0241 0.0153 0.0309 0.0421
2.54 4.49 6.81
Motor Moment of Inertia ×10-7 kgm2 0.560 0.902 2.29
(3.99) (5.96) (8.31)
Rated Power Rate*1 kW/s 1.97 3.40 5.35 4.82 10.9 16.2
*1 2 188000 194000 153000 138000 156000 154000
Rated Angular Acceleration Rate rad/s
Motor Constant Nm/√W 0.00374 0.00618 0.0133 0.0149 0.02440.0310
250 × 250
Heat Sink Size (Aluminum)*3 mm 150 × 150 × 3
×6
Totally enclosed, self- Totally enclosed, self-
Protective Structure*4 cooled, IP42 (except for cooled, IP55 (except for
shaft opening) shaft opening)
Rated Voltage V − − − 24 VDC 0
+10%
Capacity W − − − 2.1 2.8 3.2

Holding Torque Nm − − − 0.044 0.077 0.116
Holding Brake Coil Resistance Ω (at 20°C) − − − 274.3 205.7 180
Specifications*5 Rated Current A (at 20°C) − − − 0.087 0.133 0.117
Time Required to Release
ms − − − 60 60 60
Brake
Time Required to Brake ms − − − 100 100 100
Allowable Load Moment of Inertia
30 times
(Motor Moment of Inertia Ratio)*6
With External Regenerative Resistor 30 times
LF mm 10 16
Allowable Shaft
Allowable Radial Load N 8 10 34 44
Loads*7
Allowable Thrust Load N 4 14.5
Note: The values in parentheses are for Servomotors with Holding Brakes.
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature wind-
ing is 100°C. The values for other items are at 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an
aluminum or steel heat sink of the dimensions given in the table.
*3. Refer to the following section for the relation between the heat sinks and derating rate.
Servomotor Heat Dissipation Conditions (page 11)
*4. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
*5. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used. Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*6. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake.
*7. Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft end during
operation do not exceed the values given in the table.
LF
Radial load
Thrust load
6
Rotary Servomotors
SGM7M
Torque-Motor Speed Characteristics
A : Continuous duty zone (solid lines): With 48 VDC input
B : Intermittent duty zone (dotted lines): With 24 VDC input
SGM7M-B3E* SGM7M-B5E SGM7M-B9E

8000 8000 8000
7000 7000 7000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

6000 6000 6000
5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.01 0.02 0.03 0 0.02 0.04 0.06 0 0.04 0.08 0.12
Torque (Nm) Torque (Nm) Torque (Nm)
SGM7M-A1E* SGM7M-A2E SGM7M-A3E

8000 8000 8000
7000 7000 7000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

6000 6000 6000
5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.03 0.06 0.09 0.12 0 0.06 0.12 0.18 0.24 0 0.09 0.18 0.27 0.36
* The characteristics are the same for 24 VDC and 48 VDC input.
Note: 1. These values (typical values) are for operation in combination with a SERVOPACK when the temperature of
the armature winding is 100°C.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-
motor speed characteristics will become smaller because the voltage drop increases.
Servomotor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servomotor surrounding air tem-
perature of 40°C.
SGM7M-B3E, -B5E, -B9E SGM7M-A1E, -A2E, -A3E
10000 10000
1000
1000
Detection time (s)
Detection time (s)
100
SGM7M-B9E
100
10
10
1
SGM7M-B3E, -B5E
0.1 1
0 50 100 150 200 250 0 60 120 180 240 300
Torque reference (percent of rated torque) Torque reference (percent of rated torque)
(%) (%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher. Use the Servomotor so that the effective torque remains within the contin-
uous duty zone given in Torque-Motor Speed Characteristics (page 7).
7
Rotary Servomotors
Servomotor Ratings
Voltage 200 VAC
Model SGM7M- A1A A2A A3A
*1 W 11 22 33
Rated Output
*1, *2 Nm 0.0350 0.0700 0.105
Rated Torque
Instantaneous Maximum Torque*1 Nm 0.105 0.210 0.315
*1 Arms 0.83 0.82 0.90
Rated Current
*1 Arms 2.6 2.5 2.8
Rated Motor Speed*1 min-1 3000
Maximum Motor Speed*1 min-1 7000
Torque Constant Nm/Arms 0.0458 0.0928 0.126
2.54 4.49 6.81
Motor Moment of Inertia ×10-7 kgm2
(3.99) (5.96) (8.31)
Rated Power Rate*1 kW/s 4.82 10.9 16.2
*1 2 138000 156000 154000
Motor Constant Nm/√W 0.0149 0.0245 0.0309
*3 mm 150×150×3 250×250×6
Heat Sink Size (Aluminum)
Totally enclosed, self-cooled, IP55
Protective Structure*4
(except for shaft opening)
+10%
Rated Voltage V 24 VDC 0
Capacity W 2.1 2.8 3.2
Holding Torque Nm 0.044 0.077 0.116
Holding Brake Coil Resistance Ω (at 20°C) 274.3 205.7 180
Specifications*5 Rated Current A (at 20°C) 0.087 0.133 0.117
ms 60 60 60
Brake
Time Required to Brake ms 100 100 100
30 times
LF mm 16
Allowable Shaft
Allowable Radial Load N 34 44
Loads*7
Allowable Thrust Load N 14.5
aluminum or steel heat sink of the dimensions given in the table.
used.
LF
Radial load
Thrust load
8
Rotary Servomotors
SGM7M
A : Continuous duty zone

B : Intermittent duty zone*
SGM7M-A1A SGM7M-A2A SGM7M-A3A

8000 8000 8000
7000 7000 7000
Motor speed (min-1)

Motor speed (min-1)
Motor speed (min-1)
6000 6000 6000

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.03 0.06 0.09 0.12 0 0.06 0.12 0.18 0.24 0 0.09 0.18 0.27 0.36
Torque (N·m) Torque (N·m) Torque (N·m)
* The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V input.

perature of 40°C.
SGM7M-A1A, -A2A, -A3A
10000
1000
Detection time (s)
100
10
1
0 60 120 180 240 300
Torque reference (percent of rated torque)

(%)
9
Rotary Servomotors

The allowable load moments of inertia (motor moment of inertia ratios) for the Servomotors are given
in the Servomotor Ratings (page 6 and 8). The values are determined by the regenerative energy
processing capacity of the SERVOPACK and are also affected by the drive conditions of the Servo-
motor. Perform the required Steps for each of the following cases.
Use the SigmaSize+ AC Servo Drive Capacity Selection Program to check the driving conditions.
Contact your Yaskawa representative for information on this program.
 Exceeding the Allowable Load Moment of Inertia

Use one of the following measures to adjust the load moment of inertia to within the allowable value.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
If the above steps is not possible, install an external regenerative resistor.
Information An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of iner-
tia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative
resistor may generate a Regenerative Overload Alarm (A.320). Refer to Built-In Regenerative
Resistor (page 492) for the regenerative power (W) that can be processed by the SERVO-
PACKs.
Install an External Regenerative Resistor when the built-in regenerative resistor cannot pro-
cess all of the regenerative power.
 SERVOPACKs without Built-in Regenerative Resistors

The following graph shows the allowable load moment of inertia scaling factor of the motor speed
(reference values for deceleration operation at or above the rated torque). Application is possible
without an external regenerative resistor within the allowable value. However, an External Regenera-
tive Resistor is required in the shaded areas of the graphs.
SGM7M-A1A, -A2A, -A3A

Allowable load moment of inertia
35
30
scaling factor (times)
25
20
15
10
5
0
0 1000 2000 3000 4000 5000 6000 7000 8000
Motor speed (min-1)
Note: Applicable SERVOPACK models: SGD7S-R90A, -1R6A, -R90F, and -2R1F
 When an External Regenerative Resistor Is Required

Install the External Regenerative Resistor. Refer to the following section for the recommended products.
External Regenerative Resistors (page 492)
10
Rotary Servomotors
SGM7M
Derating Rates
 Servomotor Heat Dissipation Conditions

The Servomotor ratings are the continuous allowable values when a heat sink is installed on the Ser-
vomotor. If the Servomotor is mounted on a small device component, the Servomotor temperature
may rise considerably because the surface for heat dissipation becomes smaller. Refer to the follow-
ing graphs for the relation between the heat sink size and derating rate.
120 120 120
100 100 100 SGM7M-A3

SGM7M-B3, -B5, -B9 SGM7M-A1, -A2
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
60 60 60
40 40 40
20 20 20
0 30 60 90 120 150 0 30 60 90 120 150 0 50 100 150 200 250
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)
The actual temperature rise depends on the following conditions. Always check the Servomotor
temperature with the actual equipment.
• How the heat sink (the Servomotor mounting section) is attached to the installation surface
Important • Status between heat sink and Servomotor (sealant, reduction gear, etc.)
• What material is used for the Servomotor mounting section
• Servomotor speed
Information When using Servomotors with derating, change the detection timing of overload warning and
overload alarm based on the overload detection level of the motor given in Servomotor
Overload Protection Characteristics (page 7 and 9).
Note: The derating rates are applicable only when the average motor speed is less than or equal to
the rated motor speed. If the average motor speed exceeds the rated motor speed, consult
with your Yaskawa representative.
11
Rotary Servomotors
External Dimensions
Servomotors without Holding Brakes
 SGM7M-B3, -B5 and -B9
Encoder Connector
Encoder Cable
AWG28, UL20276 4 dia.
300 ±30
Servomotor Main Circuit Cable Servomotor Connector

Protective Tube
4 dia., Black
300 ±30
(L)
(3.3) (L3)
15
(L1) 12.5
0.04 A
1.3 3.7 (24.7) L2 10
5 dia. 0.04 dia. A
3.6
LB dia.
2.5
S dia.
20
15
16
dia
.
45°
A 4×M2×3
0.02 Unit: mm
Model Flange Dimensions Approx.

L L1 L2 L3
SGM7M- S LB Mass [g]
0 0
B3E3A1 56 46 21.3 42.7 4 -0.008 11 -0.018 55
0 0
B5E3A1 62 52 27.3 48.7 4 -0.008 11 -0.018 60
0 0
B9E3A1 96 86 61.3 82.7 4 -0.008 11 -0.018 100
 Shaft End Specification  Connector Specifications

• Straight with Flat Seats • Encoder Connector
0.02 PG5V 1 5 PS
6 A PG0V 2 6 /PS
5 4
3
BAT(+) 7 −
S dia.
4
BAT(-) 8 −
8 1 Connector case FG
Model: IX40-A-8S-CV (6.4)
Manufacturer: Hirose Electric Co., Ltd.
LB dia.
Mating connector: IX40-A-8P-CV

• Servomotor Connector
0.5 3.5 1 Phase U
3 4
2 Phase V
3 Phase W
1 2
4 FG (frame ground)
Receptacle: 43025-0400
Manufacturer: Molex Japan LLC
12
Rotary Servomotors
SGM7M
 SGM7M-A1, -A2 and -A3
Encoder Cable Encoder Connector
UL20276 4 dia.
300 ±30

AWG24, UL3266
Protective Tube
5 dia., Black
300 ±30
Notation
0.04 A : Square dimensions
(L)
4.6 (L3)
25
12 0.02
(L1) 16
A
23 L2 2.5 16
0.04 dia. A
S dia.
4
45°
LB dia.
28
dia
.
2×M3×7 Unit: mm

L L1 L2 L3
A13A1 68 52 29 47.4 0
5 -0.008 0
20 -0.021 120
A23A1 78 62 39 57.4 5 0
-0.008 20 0
-0.021 160
A33A1 89.5 73.5 50.5 68.9 5
0
-0.008 20
0
-0.021
210

0.02 1
PG5V 5 PS
10 A 2
PG0V 6 /PS
5 4
3
BAT(+) 7 −
S Dia.
4
BAT(-) 8 −
LB Dia.

0.5 4.5 1 Phase U
3 4
2 Phase V
3 Phase W
1 2
4 FG (frame ground)
13
Rotary Servomotors
Servomotors with Holding Brakes
 SGM7M-A1, -A2 and -A3

Encoder Connector
Encoder Cable
UL20276 4 dia.
300 ±30

AWG24, UL3266
Protective Tube
5 dia., Black
300 ±30
0.04 A
(L)
4.6 (L3)
0.02 25
12 (L1) 16 A
23 L2 2.5 16
S dia.
4
45°
LB dia.
28
dia
.
0.04 dia. A
2×M3×7 Unit: mm

L L1 L2 L3
A13AC 90.5 74.5 29 69.9 0
5 -0.008 0
20 -0.021 180
A23AC 104 88 39 83.4 0
5 -0.008 0
20 -0.021 220
A33AC 118 102 50.5 97.4 0
5 -0.008
0
20 -0.021 310

1
PG5V 5 PS
0.02
4 2
PG0V 6 /PS
10 A 5
3
BAT(+) 7 −
S Dia.
4
BAT(-) 8 −
LB Dia.
1 Phase U
0.5 4.5
2 Phase V
4 5 6
3 Phase W
1 2 3
4 FG (frame ground)
5 Brake
6 Brake
14
Rotary Servomotors
SGM7M
Selecting Cables
 Cable Configurations
The cables shown below are required to connect a Servomotor to a SERVOPACK.
SERVOPACK
Encoder Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor
Main Circuit Cable
Encoder-end
Servomotor Main Cable
Circuit Cable
Servomotor
Note: Refer to the following manual for the following information.

• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
15
Rotary Servomotors
 Servomotor Main Circuit Cables

Servomotor Length Order Number
Name Appearance
Model (L) Standard Cable Flexible Cable*
SGM7M-B3E 3m JZSP-CF1M00-03-E JZSP-CF1M20-03-E
to -B9E 5m JZSP-CF1M00-05-E JZSP-CF1M20-05-E
For Servomo-
3.3 to 11 W SERVOPACK end
L
Motor end
tors without 10 m JZSP-CF1M00-10-E JZSP-CF1M20-10-E
Holding 15 m JZSP-CF1M00-15-E JZSP-CF1M20-15-E
SGM7M-A1E
Brakes
to -A3E
20 m JZSP-CF1M00-20-E JZSP-CF1M20-20-E
11 to 33 W
3m JZSP-CF1M10-03-E JZSP-CF1M30-03-E
For Servomo- 5m JZSP-CF1M10-05-E JZSP-CF1M30-05-E
SERVOPACK end
L
Motor end
SGM7M-A1E
tors with
to -A3E 10 m JZSP-CF1M10-10-E JZSP-CF1M30-10-E
Holding
11 to 33 W 15 m JZSP-CF1M10-15-E JZSP-CF1M30-15-E
Brakes Ｂ
For Servomo- 5m JZSP-CF2M00-05-E JZSP-CF2M20-05-E
SERVOPACK end Motor end
tors without L
Holding
SGM7M-A1A to Brakes 15 m JZSP-CF2M00-15-E JZSP-CF2M20-15-E
-A3A 20 m JZSP-CF2M00-20-E JZSP-CF2M20-20-E
11 to 33 W For Servomo- 5m JZSP-CF2M03-05-E JZSP-CF2M23-05-E SERVOPACK end Motor end
tors with L
Holding
Brakes 15 m JZSP-CF2M03-15-E JZSP-CF2M23-15-E
* Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 90
mm or larger.
 Encoder Cables
Length Order Number
Name Appearance
(L) Standard Cable Flexible Cable*
3m JZSP-C7MP01-03-E JZSP-C7MP21-03-E
Cables with Connectors 5m JZSP-C7MP01-05-E JZSP-C7MP21-05-E SERVOPACK end
L
Encoder end
on Both Ends 10 m JZSP-C7MP01-10-E JZSP-C7MP21-10-E

(for incremental encoder) 15 m JZSP-C7MP01-15-E JZSP-C7MP21-15-E
20 m JZSP-C7MP01-20-E JZSP-C7MP21-20-E
3m JZSP-C7MP19-03-E JZSP-C7MP29-03-E
SERVOPACK end Encoder end
Cables with Connectors 5m JZSP-C7MP19-05-E JZSP-C7MP29-05-E L
on Both Ends
(for absolute encoder: Battery Case
With Battery Case) 15 m JZSP-C7MP19-15-E JZSP-C7MP29-15-E (battery included)
mm or larger.
16
SGM7M
MEMO
17
Rotary Servomotors
SGM7J (Medium Inertia, High Speed)
Model Designations
Without Gears
SGM7J - 01 A 7 A 2 1
-7 Series digits digit digit digit digit digit
Servomotors:
SGM7J

A5 50 W A 200 VAC 2 Straight without key
01 100 W 6 Straight with key and tap
C2 150 W 4th digit Serial Encoder B With two flat seats
02 200 W Code Specification
04 400 W 6
7th digit Options
24-bit batteryless absolute
06 600 W 7 24-bit absolute Code Specification
08 750 W F 24-bit incremental 1 Without options
C With holding brake (24 VDC)
5th digit Design Revision Order With oil seal and holding
E
A brake (24 VDC)
S With oil seal
With Gears
SGM7J - 01 A 7 A H 1 2 1
1st+2nd 3rd 4th 5th 6th 7th 8th 9th
-7 Series digits digit digit digit digit digit digit digit
Servomotors:
SGM7J
1st+2nd digits Rated Output 5th digit Design Revision Order 8th digit Shaft End
Code Specification A Code Specification
A5 50 W 0 Flange output
6th digit Gear Type 2 Straight without key
01 100 W
C2 150 W Code Specification 6 Straight with key and tap
02 200 W H HDS planetary low-backlash gear
04 400 W 9th digit Options
06 600 W 7th digit Gear Ratio
Code Specification
08 750 W Code Specification 1 Without options
B 1/11*1 C With holding brake (24 VDC)
3rd digit Power Supply Voltage C 1/21
Code Specification 1 1/5
A 200 VAC 2 1/9*2
7 1/33
4th digit Serial Encoder
*1. This specification is not supported for
Code Specification models with a rated output of 50 W.
6 24-bit batteryless absolute *2. This specification is supported only for
models with a rated output of 50 W.
7 24-bit absolute
F 24-bit incremental
18
Rotary Servomotors
SGM7J
Specifications
Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
Thermal Class UL: B, CE: B
Withstand Voltage 1,500 VAC for 1 minute
Counterclockwise (CCW) for forward reference when viewed from the load
Rotation Direction
side
Surrounding Air Temperature 0°C to 40°C (With derating, usage is possible between 40°C and 60°C.)*3
• Must be well-ventilated and free of dust and moisture.
Environmen- • Must facilitate inspection and cleaning.
Installation Site
tal Condi- • Must have an altitude of 1,000 m or less. (With derating, usage
tions is possible between 1,000 m and 2,000 m.) *3
Shock Impact Acceleration Rate at Flange 490 m/s2
Resistance*2 Number of Impacts 2 times
49 m/s2
R70A, R90A, 2R8A,
SGD7S- 1R6A, 2R1F 5R5A
Applicable R70F R90F 2R8F
SERVO- 2R8A,
SGD7W-
PACKs 1R6A*4, 2R8A*4 1R6A, 2R8A*4 5R5A*4, 5R5A, 7R6A
SGD7C-
7R6A*4
*2. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in
the directions shown in the following figures.
Side to side
*3. Refer to the following section for the derating rates.

Derating Rates (page 26)
*4. If you use a Servomotor together with a Σ-7W or Σ-7C SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
19
Rotary Servomotors
Ratings of Servomotors without Gears

Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
Rated Output*1 W 50 100 150 200 400 600 750
Rated Torque*1, *2 Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39
*1 Nm 0.557 1.11 1.67 2.23 4.46 6.69 8.36
Rated Current*1 Arms 0.55 0.85 1.6 1.6 2.5 4.2 4.4
*1 Arms 2.0 3.1 5.7 5.8 9.3 15.3 16.9
Torque Constant Nm/Arms 0.316 0.413 0.321 0.444 0.544 0.493 0.584
Motor Moment of Inertia 0.0395 0.0659 0.0915 0.263 0.486 0.800 1.59
With holding brake 0.0475 0.0739 0.0995 0.333 0.556 0.870 1.77
With batteryless absolute encoder ×10-4 kgm2 0.0410 0.0674 0.0930 0.264 0.487 0.801 1.59
With holding brake and
0.0490 0.0754 0.1010 0.334 0.557 0.871 1.77
batteryless absolute encoder
Rated Power Rate*1 6.40 15.3 24.8 15.4 33.1 45.6 35.9
kW/s
With holding brake 5.32 13.6 22.8 12.1 29.0 41.9 32.2
Rated Angular Acceleration Rate*1 40200 48200 52100 24200 26100 23800 15000
rad/s2
With holding brake 33400 43000 47900 19100 22800 21900 13500
Derating Rate for Servomotor with Oil Seal % 80 90 95
Heat Sink Size (Aluminum) *3 mm 200 × 200 × 6 250 × 250 × 6
Protective Structure*4 Totally enclosed, self-cooled, IP67
Rated Voltage V 24 VDC±10%
Specifications*5
Capacity W 5.5 6 6.5

Holding Brake
Holding Torque Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39
Coil Resistance Ω (at 20°C) 104.8±10% 96±10% 88.6±10%
Rated Current A (at 20°C) 0.23 0.25 0.27
Time Required to Release Brake ms 60 80
Time Required to Brake ms 100
Allowable Load Moment of Inertia 15 10 20 12
35 times
(Motor Moment of Inertia Ratio)*6 times times times times
With External Regenerative Resistor and 20 15
35 times 25 times
External Dynamic Brake Resistor*7 times times
LF mm 20 25 35
Allowable
Loads*3
Shaft
Allowable Radial Load N 78 245 392

Allowable Thrust Load N 54 74 147
aluminum heat sink of the dimensions given in the table.
*4. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.
*7. To externally connect a dynamic brake resistor, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect a dynamic brake resistor if you use the following SERVOPACKs (maximum
applicable motor capacity: 400 W).
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
• SGD7C-1R6AMAA020 to -2R8AMAA020
*8. Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft end during operation
do not exceed the values given in the table.
LF
Radial load
Thrust load
20
Rotary Servomotors
SGM7J
A : Continuous duty zone (solid lines): With three-phase 200-V or single-phase 230-V input
B : Intermittent duty zone (dotted lines): With single-phase 200-V input
(dashed-dotted lines): With single-phase 100-V input
SGM7J-A5A*1 SGM7J-01A SGM7J-C2A*2

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.15 0.3 0.45 0.6 0.75 0 0.25 0.5 0.75 1 1.25 0 0.5 1 1.5 2 2.5
SGM7J-02A SGM7J-04A SGM7J-06A

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.5 1 1.5 2 2.5 0 1 2 3 4 5 0 2 4 6 8 10
SGM7J-08A
7000
6000
Motor speed (min-1)
5000
4000
3000
A B
2000
1000
0
0 2 4 6 8 10
Torque (Nm)
*1. The characteristics are the same for single-phase 200 V and single-phase 100 V input.
*2. The characteristics are the same for three-phase 200 V and single-phase 200 V input.
21
Rotary Servomotors
Ratings of Servomotors with Gears

Gear Mechanism Protective Structure Lost Motion [arc-min]
All Models Totally enclosed, self-cooled, IP55
Planetary gear mechanism 3 max.
Servomotor Gear Output
Maxi- Instanta- Maxi-
Servomotor Rated neous Instanta- Rated
Rated mum Rated Rated Torque/ mum
Model SGM7J- Motor Maxi- Gear neous Maxi- Motor
Output Speed
Motor Torque
mum Ratio Efficiency*1 mum Torque Speed
Motor
[W] Speed [N⋅m] [N⋅m/%] Speed
[min-1] Torque [N⋅m] [min-1]
[min -1] [N⋅m] [min-1]
A5AAH1 1/5 0.433/64*2 2.37 600 1200

A5AAH2 1/9 1.12/78 3.78*3 333 667
50 3000 6000 0.159 0.557
A5AAHC 1/21 2.84/85 10.6 143 286
A5AAH7 1/33 3.68/70 15.8 91 182
01AAH1 1/5 1.06/78 *2 4.96 600 1200
01AAHB 1/11 2.52/72 10.7 273 545
100 3000 6000 0.318 1.11
01AAHC 1/21 5.35/80 20.8 143 286
01AAH7 1/33 7.35/70 32.7 91 182
C2AAH1 1/5 1.68/83 *2 7.80 600 1200
C2AAHB 1/11 3.53/79 *2 16.9 273 545
150 3000 6000 0.477 1.67
C2AAHC 1/21 6.30/70 *2 31.0 143 286
C2AAH7 1/33 11.2/79 *2 49.7 91 182
02AAH1 1/5 2.39/75 9.80 600 1200
02AAHB 1/11 5.74/82 22.1 273 545
200 3000 6000 0.637 2.23
02AAHC 1/21 10.2/76 42.1 143 286
02AAH7 1/33 17.0/81 67.6 91 182
04AAH1 1/5 5.35/84 20.1 600 1200
04AAHB 1/11 11.5/82 45.1 273 545
400 3000 6000 1.27 4.46
04AAHC 1/21 23.0/86 87.0 143 286
04AAH7 1/33 34.0/81 135 91 182
06AAH1 1/5 7.54/79 30.5 600 1200
06AAHB 1/11 18.1/86 68.6 273 545
600 3000 6000 1.91 6.69
06AAHC 1/21 32.1/80 129 143 286
06AAH7 1/33 53.6/85 206 91 182
08AAH1 1/5 10.0/84 38.4 600 1200
08AAHB 1/11 23.1/88 86.4 273 545
750 3000 6000 2.39 8.36
08AAHC 1/21 42.1/84 163 143 286
08AAH7 1/33 69.3/88 259 91 182
*1. The gear output torque is expressed by the following formula.

Gear output torque = Servomotor output torque × 1 × Efficiency
Gear ratio
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. The
values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of
25°C. They are reference values only.
*2. When using an SGM7J-A5A, SGM7J-01A, or SGM7J-C2A Servomotor with a gear ratio of 1/5 or an SGM7J-C2A
Servomotor with a gear ratio of 1/11, maintain an 85% maximum effective load ratio. For an SGM7J-C2A Servomotor
with a gear ratio of 1/21 or 1/33, maintain a 90% maximum effective load ratio. The values in the table take the effec-
tive load ratio into consideration.
*3. The instantaneous maximum torque is 300% of the rated torque.
Note: 1. The gears that are mounted to Yaskawa Servomotors have not been broken in.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems
occur, 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 after a few minutes.
This is a common phenomenon caused by grease circulation in the gears and it does not indicate faulty gears.
3. Other specifications are the same as those for Servomotors without Gears.
The SERVOPACK speed control range is 1:5,000. If you use Servomotors at extremely low speeds
(0.02 min-1 or lower at the gear output shaft), if you use Servomotors with a one-pulse feed refer-
ence for extended periods, or under some other operating conditions, the gear bearing lubrication
Important may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
Contact your Yaskawa representative if you use a Servomotor under these conditions.
22
Rotary Servomotors
SGM7J
Moment of Inertia [×10-4 kg⋅m2] With Gears
Servomotor Model Shaft Output Flange Output Allowable Allowable
Radial Thrust LF Reference Diagram
SGM7J-
Motor* Motor* Load Load [mm]
Gear Gear
+ Gear + Gear [N] [N]
A5AAH1 0.0455 0.006 0.0445 0.005 95 431 37
A5AAH2 0.0425 0.003 0.0425 0.003 113 514 37
A5AAHC 0.0435 0.004 0.0435 0.004 146 663 37
A5AAH7 0.0845 0.045 0.0845 0.045 267 1246 53
01AAH1 0.0719 0.006 0.0709 0.005 95 431 37
01AAHB 0.126 0.060 0.125 0.059 192 895 53
01AAHC 0.116 0.050 0.116 0.050 233 1087 53
01AAH7 0.131 0.065 0.130 0.064 605 2581 75
Shaft Output
C2AAH1 0.0975 0.006 0.0965 0.005 95 431 37
LF
C2AAHB 0.152 0.060 0.151 0.059 192 895 53
C2AAHC 0.202 0.110 0.200 0.108 528 2254 75 Radial load
C2AAH7 0.157 0.065 0.156 0.064 605 2581 75
Thrust load
02AAH1 0.470 0.207 0.464 0.201 152 707 53
02AAHB 0.456 0.193 0.455 0.192 192 895 53
02AAHC 0.753 0.490 0.751 0.488 528 2254 75
Flange Output
02AAH7 0.713 0.450 0.712 0.449 605 2581 75
04AAH1 0.693 0.207 0.687 0.201 152 707 53 LF
04AAHB 1.06 0.570 1.05 0.560 435 1856 75

04AAHC 0.976 0.490 0.974 0.488 528 2254 75 Radial load
04AAH7 1.11 0.620 1.10 0.610 951 4992 128 Thrust load
06AAH1 1.50 0.700 1.46 0.660 343 1465 75
06AAHB 1.37 0.570 1.36 0.560 435 1856 75
06AAHC 1.64 0.840 1.62 0.820 830 4359 128
06AAH7 1.42 0.620 1.41 0.610 951 4992 128
08AAH1 2.29 0.700 2.25 0.660 343 1465 75
08AAHB 2.19 0.600 2.18 0.590 435 1856 75
08AAHC 4.59 3.00 4.57 2.98 830 4359 128
08AAH7 4.39 2.80 4.37 2.78 951 4992 128
* The moment of inertia for the Servomotor and gear is the value without a holding brake. You can calculate the
moment of inertia for a Servomotor with a Gear and Holding Brake with the following formula.
Motor moment of inertia for a Servomotor with a Holding Brake from Ratings of Servomotors without
Gears (page 20) + Moment of inertia for the gear from the above table.
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss depends on the
torque and motor speed conditions. The temperature rise depends on the loss and heat dissipation condi-
tions. For the heat dissipation conditions, always refer to the following table and check the gear and motor
Important temperatures with the actual equipment. If the temperature is too high, implement the following measures.
• Decrease the load ratio.
• Change the heat dissipation conditions.
• Use forced-air cooling for the motor with a cooling fan or other means.
Heat Sink Size

Model
1/5 1/9 or 1/11 1/21 1/33
SGM7J-A5 A
SGM7J-01
SGM7J-C2
B
SGM7J-02
SGM7J-04
SGM7J-06
C
SGM7J-08
• A: 250 mm × 250 mm × 6 mm, aluminum plate
• B: 300 mm × 300 mm × 12 mm, aluminum plate
• C: 350 mm × 350 mm × 12 mm, aluminum plate
23
Rotary Servomotors

perature of 40°C.
10000
1000
Detection time (s)
Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0 50 100 150 200 250 300 350
(%)
with an output of 100% or higher.
Use the Servomotor so that the effective torque remains within the continuous duty zone given in Torque-
Motor Speed Characteristics on page 21.
24
Rotary Servomotors
SGM7J
in the Ratings of Servomotors without Gears (page 20). The values are determined by the regenera-
tive energy processing capacity of the SERVOPACK and are also affected by the drive conditions of
the Servomotor. Perform the required Steps for each of the following cases.

PACKs.

SGM7J-A5A SGM7J-01A SGM7J-C2A
40 40 40
35 35 35
30 30 30
25 25 25
20 20 20
15 15 15
10 10 10
5 5 5
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1 -1
Motor speed (min ) Motor speed (min ) Motor speed (min-1)
SGM7J-02A SGM7J-04A
30 30
25 25
20 20
15 15
10 10
5 5
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1) Motor speed (min-1)

Note: Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F

25
Rotary Servomotors
Derating Rates
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small
device component, the Servomotor temperature may rise considerably because the surface for heat
dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink
size and derating rate.
120 120 120
SGM7J-A5 and -01 SGM7J-02 and -04 SGM7J-08

100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7J-C2
SGM7J-06
60 60 60
40 40 40
20 20 20
0 50 100 150 200 250 300 0 50 100 150 200 250 300 0 50 100 150 200 250 300
 Applications Where the Surrounding Air Temperature Exceeds 40°C

40°C. If you use a Servomotor at a surrounding air temperature that exceeds 40°C (60°C max.),
apply a suitable derating rate from the following graphs.
120 120
SGM7J-01 and -C2 SGM7J-02 and -04
100 100
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7J-A5 SGM7J-06 and -08
40 40
20 20
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding air temperature (°C) Surrounding air temperature (°C)
 Applications Where the Altitude Exceeds 1,000 m

The Servomotor ratings are the continuous allowable values at an altitude of 1,000 m or less. If you
use a Servomotor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation effect of
the air is reduced. Apply the appropriate derating rate from the following graphs.
120 120
SGM7J-02, -04, and -06
100 100
Derating rate (%)
Derating rate (%)
80 80
SGM7J-A5, -01, and -C2
60 60 SGM7J-08
40 40
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Altitude (m) Altitude (m)
Overload Protection Characteristics (page 24).
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions
are satisfied for both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal
to the rated motor speed. If the average motor speed exceeds the rated motor speed,
consult with your Yaskawa representative.
26
Rotary Servomotors
SGM7J
External Dimensions
Servomotors without Gears
 SGM7J-A5, -01, and -C2

0.04 A
L 0.04 dia. A
LL LR
LC
20.5 LM LE
MW
MD 0.6 17 ML 0.8
LG
MH
14
LB dia.
LA
S dia. dia
.
A
2 × LZ dia.
0.02
Unit: mm

L* LL* LM S MD MW MH ML Mass
SGM7J- LR LE LG LC LA LB LZ [kg]
81.5 56.5 37.9 25 2.5 0.3
A5AA2 (122) (97) 5 40 0
46 30 -0.021 0
4.3 8 -0.009 8.8 25.8 14.7 16.1 (0.6)
01AA2 93.5 68.5 0 0 0.4
(109) 49.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009 8.8 25.8 14.7 16.1
(134) (0.7)
105.5 80.5 0.5
C2AA2 (153.5) (128.5) 61.9 25 2.5 5 40 0
46 30 -0.021 0
4.3 8 -0.009 8.8 25.8 14.7 16.1 (0.8)
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the
following section for the values for individual models.
Dimensions of Servomotors with Batteryless Absolute Encoders (page 36)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. The values for a straight, without key specification are given. Refer to the information given below for other
shaft end specifications and option specifications.
 Shaft End Specifications  Specifications of Options
• Straight with Key and Tap • Oil Seal
25 7.5
8 -0.009 dia.
1.5
14
1.8
0
Y
M3 × 6L
30 - 0.021 dia.
3
29.8 dia.
Y 3
Cross section Y-Y
• With Two Flat Seats Oil Seal Cover

25
 Connector Mounting Dimensions
dia.
15
-0.009
• Cable Installed on Load Side

0
7.5
Y
8
25°
7.5
(7.4)
(1.2)
Y
35°
Cross section Y-Y
• Cable Installed on Non-load Side

(10)
25°
35°
27
Rotary Servomotors
 SGM7J-02, -04, and -06

0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE LC
MD 0.6 17 ML LG MW
MH
14
LB dia.
S dia.
A
LA dia
0.02 4 × LZ dia. Unit: mm
.
L* LL* LM S MD MW MH ML
SGM7J- LR LE LG LC LA LB LZ Mass [kg]
99.5 69.5 0.8
02AA2 51.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(140) (110) (1.4)
115.5 85.5 1.1
04AA2 67.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(156) (126) (1.7)
137.5 107.5 1.6
06AA2 89.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(191.5) (161.5) (2.2)
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the

30 10
dia.
5.2
14
-0.011
3
3
0
14
Y
M5 × 8L
5
35 dia.
47 dia.
Y 5
Cross section Y-Y
• With Two Flat Seats

30
Oil Seal Cover
14 -0.011 dia.
15
0
13

Y 13 • Cable Installed on Load Side
Cross section Y-Y
25°
35°

(10)
25°
35°
28
Rotary Servomotors
SGM7J
 SGM7J-08
0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE LC
MD 0.6 17 ML LG MW
MH
14
LB dia.
S dia.
A
LA dia
.
Flange Dimensions Approx.
Model
L* LL* LM S MD MW MH ML Mass*
SGM7J- LR LE LG LC LA LB LZ [kg]
137 97 2.2
08AA2 78.5 40 3 8 80 0
90 70 -0.030 7 0
19 -0.013 13.6 38 14.7 19.3
(184) (144) (2.8)
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater and the approximate mass is 0.1
kg greater than the given value. Refer to the following section for the values for individual models.

40 11
19 -0.013 dia.
5.5
22 3
3.5
0
Y
M6 × 10L
6
47 dia.
61 dia.
Y 6
Cross section Y-Y

40
19 -0.013 dia.
Oil Seal Cover

22
0
18

Cross section Y-Y
25°
25°

(10)
25°
25°
29
Rotary Servomotors
Servomotors with Gears

 SGM7J-A5, -01, and -C2
0.06
A
(0.05)
L
LL LR 0.04 0.05 dia.
LM L1 L2 (0.03) (0.04 dia.) A
0.6 17 16.1 LG L3 Q A LC
LE QK .
dia
14.7
LA
14
T
U
LB dia.
LD dia.
B dia.
S dia.
C dia.
Details of Shaft End
with Key and Tap
Rotating parts (shaded section) 4 × LZ dia. Tap size × Depth Unit: mm
Gear Flange Dimensions

Model SGM7J- L* LL* LM
Ratio LR LE LG B LD LB LC LA LZ
A5AAH1 1/5 138 96 77.4
A5AAH2 1/9 (178.5) (136.5) 0
42 2.2 5 29 39.5 40 -0.025 40 46 3.4
147 105
A5AAHC 1/21 (187.5) (145.5) 86.4
A5AAH7 178.5 120.5 0

1/33 101.9 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
(219) (161)
150 108
01AAH1 1/5 (190.5) (148.5) 89.4 42 2.2 5 29 0
39.5 40 -0.025 40 46 3.4
01AAHB 1/11 190.5 132.5 0
(231) (173) 113.9 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
01AAHC 1/21
215 135
01AAH7 1/33 116.4 80 7.5 10 59 84 0
85 -0.035 90 105 9
(255.5) (175.5)
162 120
C2AAH1 1/5 (210) (168) 101.4 42 2.2 5 29 0
39.5 40 -0.025 40 46 3.4
202.5 144.5
C2AAHB 1/11 125.9 58 2.5 8 40 0
55.5 56 -0.030 60 70 5.5
(250.5) (192.5)
C2AAHC 1/21 227 147 0
128.4 80 7.5 10 59 84 85 -0.035 90 105 9
C2AAH7 1/33 (275) (195)
Flange Dimensions Tap Size × Key Dimensions Approx.

Model SGM7J- Q C S
L1 L2 L3 Depth QK U W T Mass [kg]
A5AAH1 0.6
A5AAH2 (0.9)
22 20 14.6 − − 10 0
-0.015 M3 × 6L 15 2.5 4 4
0.7
A5AAHC (1.0)
1.3
A5AAH7 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 (1.6)
0.7
01AAH1 22 20 14.6 − − 0
10 -0.015 M3 × 6L 15 2.5 4 4 (1.0)
01AAHB 1.4
28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5
01AAHC (1.7)
2.8
01AAH7 36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7 (3.1)
0.8
C2AAH1 22 20 14.6 − − 0
10 -0.015 M3 × 6L 15 2.5 4 4 (1.1)
1.5
C2AAHB 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 (1.8)
C2AAHC 2.9
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
C2AAH7 (3.2)
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater than the given value. Refer to the following
section for the values for individual models.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
3. The values for the shaft end are for a straight shaft with key and tap. If a key and tap are not necessary,
specify shaft end code 2 for the 8th digit.
30
Rotary Servomotors
SGM7J
 Flange Output Face
L
0.06
A
(0.05)
LR 0.02
L3 0.05 dia.
LE 0.04 (0.04 dia.) A
(0.03) LC
A
.
dia
LA
LB dia.
LD dia.
G dia.
F dia.
LJ d
ia.
LK 4 × LZ dia. Tap size × Depth Unit: mm
Note: The geometric tolerance in parentheses is the value for LC = 40.
Gear No. of Taps × Approx.

Model SGM7J- L* LR LJ F G LK
Ratio Tap Size × Depth Mass [kg]
A5AAH10 1/5 111
A5AAH20 1/9 (151.5) 0.6
15 18 5 +0.012
0 24 3 3 × M4 × 6L
120 (0.9)
A5AAHC0 1/21
(160.5)
141.5 1.2
A5AAH70 1/33 21 30 14 +0.018
0 40 5 6 × M4 × 7L
(182) (1.5)
123 0.7
01AAH10 1/5 15 18 5 +0.012
0 24 3 3 × M4 × 6L
(163.5) (1.0)
01AAHB0 1/11 153.5 1.3
21 30 14 +0.018
0 40 3 × M4 × 7L
01AAHC0 1/21 (194) (1.6)
5
162 2.4
01AAH70 1/33 27 45 24 +0.021
0 59 6 × M6 × 10L
(202.5) (2.7)
135 0.8
C2AAH10 1/5 15 18 5 +0.012
0 24 3 3 × M4 × 6L
(183) (1.1)
165.5 1.4
C2AAHB0 1/11 21 30 14 +0.018
0 40 5 6 × M4 × 7L
(213.5) (1.7)
C2AAHC0 1/21 174 2.5
27 45 24 +0.021
0 59 5 6 × M6 × 10L
C2AAH70 1/33 (222) (2.8)
* For models that have a batteryless absolute encoder, L is 8 mm greater than the given value. Refer to the following sec-
tion for the values for individual models.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
For a Servomotor with a flange output that has square gear flange dimensions (LC) of 40 mm,
we recommend that you design the Servomotor with the dimensions shown in the following figure
in order to secure a gap between the gear oil seal and the connecting parts on the load side.
Important
0.5 min.
Connecting parts on the load side
24 dia. max.
31
Rotary Servomotors
 SGM7J-02, -04, and -06

0.06 A
L
LL LR 0.05 A
LM L1 L2
LG L3 Q 0.04 LC
LE QK A
0.6 17 17.1
.
dia
14.7
LA
14
T
U
LD dia.
LB dia.
S dia.
C dia.
B dia.
with Key and Tap
Rotating parts
(shaded section) 4 × LZ dia. Tap size × Depth Unit: mm

Model SGM7J- L* LL* LM
02AAH1 1/5 191.5 133.5 0
115.2 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
02AAHB 1/11 (232) (174)
02AAHC 1/21 220.5 140.5 0
122.2 80 7.5 10 59 84 85 -0.035 90 105 9
02AAH7 1/33 (261) (181)
207.5 149.5
04AAH1 1/5 131.2 58 2.5 8 40 55.5 0
56 -0.030 60 70 5.5
(248) (190)
04AAHB 1/11 236.5 156.5 0
138.2 80 7.5 10 59 84 85 -0.035 90 105 9
04AAHC 1/21 (277) (197)
322.5 189.5
04AAH7 1/33 171.2 133 12.5 13 84 114 0
115 -0.035 120 135 11
(363) (230)
06AAH1 1/5 258.5 178.5 0
160.2 80 7.5 10 59 84 85 -0.035 90 105 9
06AAHB 1/11 (312.5) (232.5)
06AAHC 1/21 344.5 211.5 0
193.2 133 12.5 13 84 114 115 -0.035 120 135 11
06AAH7 1/33 (398.5) (265.5)

Model SGM7J- Q C S
1.8
02AAH1
(2.4)
28 30 20 28 20 16
0
-0.018 M4 × 8L 25 3 5 5
1.9
02AAHB
(2.5)
02AAHC 3.7
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
02AAH7 (4.3)
2.1
04AAH1 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5
(2.7)
04AAHB 4.0
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
04AAHC (4.6)
8.6
04AAH7 48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
(9.2)
4.3
06AAH1
(4.9)
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
4.5
06AAHB
(5.1)
06AAHC 9.1
48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
06AAH7 (9.7)
32
Rotary Servomotors
SGM7J
L
0.06 A
LR 0.02
L3
0.05 dia. A
LE
0.04 LC
A
.
dia
LA
LD dia.
LB dia.
G dia.
F dia.
LJ
dia
.
5 4 × LZ dia. Tap size × Depth Unit: mm

Model SGM7J- L* LR LJ F G
1.7
02AAH10 1/5
154.5 (2.3)
21 30 14 +0.018
0 40 6 × M4 × 7L
(195) 1.8
02AAHB0 1/11
(2.4)
02AAHC0 1/21 167.5 3.3
27 45 24 +0.021
0 59 6 × M6 × 10L
02AAH70 1/33 (208) (3.9)
170.5 2.0
04AAH10 1/5 21 30 14 +0.018
0 40 6 × M4 × 7L
(211) (2.6)
04AAHB0 1/11 183.5 3.6
27 45 24 +0.021
0 59 6 × M6 × 10L
04AAHC0 1/21 (224) (4.2)
224.5 7.2
04AAH70 1/33 35 60 32 +0.025
0 84 6 × M8 × 12L
(265) (7.8)
3.9
06AAH10 1/5
205.5 (4.5)
27 45 24 +0.021
0 59 6 × M6 × 10L
(259.5) 4.1
06AAHB0 1/11
(4.7)
06AAHC0 1/21 246.5 7.7
35 60 32 +0.025
0 84 6 × M8 × 12L
06AAH70 1/33 (300.5) (8.3)
* For models that have a batteryless absolute encoder, L is 8 mm greater than the given value. Refer to the following sec-
tion for the values for individual models.
33
Rotary Servomotors
 SGM7J-08
0.06 A
L
LL LR
LM L1 L2 0.05 A
LG L3
LE Q 0.04 LC
0.6 17 19.3 QK A
.
dia
LA
17
14
T
U
LB dia.
LD dia.
B dia.
S dia.
C dia.
with Key and Tap
Rotating parts 4 LZ dia. Tap size  Depth

(shaded section)
Unit: mm

Model SGM7J- L* LL * LM
08AAH1 1/5 255 175 0
156.5 80 7.5 10 59 84 85 -0.035 90 105 9
08AAHB 1/11 (302) (222)
08AAHC 1/21 334 201 0
182.5 133 12.5 13 84 114 115 -0.035 120 135 11
08AAH7 1/33 (381) (248)

Model SGM7J- Q C S
L1 L2 L3 Depth QK U W T Mass* [kg]
5.1
08AAH1
(5.7)
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
5.3
08AAHB
(5.9)
08AAHC 10
48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
08AAH7 (10.6)
34
Rotary Servomotors
SGM7J
L
0.06 A
LR
0.02
L3
0.05 dia. A
LE
0.04 LC
A
.
dia
LA
LD dia.
LB dia.
G dia.
F dia.
LJ
dia
.
5 4 × LZ dia. Tap size × Depth Unit: mm
No. of Taps × Approx.

Model SGM7J- Gear Ratio L* LR LJ F G
Tap Size × Depth Mass* [kg]
4.7
08AAH101 1/5
202 (5.3)
27 45 24 +0.021
0 59 6 × M6 × 10L
(249) 4.9
08AAHB01 1/11
(5.5)
08AAHC01 1/21 236 8.6
35 60 32 +0.025
0 84 6 × M8 × 12L
08AAH701 1/33 (283) (9.2)
* For models that have a batteryless absolute encoder, L is 8 mm greater and the approximate mass is 0.1 kg
greater than the given value. Refer to the following section for the values for individual models.
35
Rotary Servomotors
Dimensions of Servomotors with Batteryless Absolute Encoders

 Servomotors without Gears
Model Approx.
L LL
SGM7J- Mass [kg]
A5A6A2  89.5 64.5 0.3
(130) (105) (0.6)
01A6A2 101.5 76.5 0.4
(142) (117) (0.7)
C2A6A2  113.5 88.5 0.5
(161.5) (136.5) (0.8)
02A6A2 107.5 77.5 0.8
(148) (118) (1.4)
04A6A2 123.5 93.5 1.1
(164) (134) (1.7)
06A6A2 145.5 115.5 1.6
(199.5) (169.5) (2.2)
08A6A2 145 105 2.3
(192) (152) (2.9)
 Servomotors with Gears

• Shaft End Specification: Straight • Shaft End Specification: Flange Output
Model Approx. Model Approx.
L LL L
SGM7J- Mass [kg] SGM7J- Mass [kg]
A5A6AH1 146 104 0.6 A5A6AH10 119
A5A6AH2 (186.5) (144.5) (0.9) A5A6AH20 (159.5) 0.6
155 113 0.7 128 (0.9)
A5A6AHC A5A6AHC0
(195.5) (153.5) (1.7) (168.5)
186.5 128.5 1.3 149.5 1.2
A5A6AH7 A5A6AH70
(227) (169) (1.6) (190) (1.5)
158 116 0.7 131 0.7
01A6AH1 01A6AH10
(198.5) (156.5) (1.0) (171.5) (1.0)
01A6AHB 198.5 140.5 1.4 01A6AHB0 161.5 1.3
01A6AHC (239) (181) (1.7) 01A6AHC0 (202) (1.6)
223 143 2.8 170 2.4
01A6AH7 01A6AH70
(263.5) (183.5) (3.1) (210.5) (2.7)
170 128 0.8 143 0.8
C2A6AH1 C2A6AH10
(218) (176) (1.1) (191) (1.1)
210.5 152.5 1.5 173.5 1.4
C2A6AHB C2A6AHB0
(258.5) (200.5) (1.8) (221.5) (1.7)
C2A6AHC 235 155 2.9 C2A6AHC0 182 2.5
C2A6AH7 (283) (203) (3.2) C2A6AH70 (230) (2.8)
1.8 1.7
02A6AH1 02A6AH10
199.5 141.5 (2.4) 162.5 (2.3)
(240) (182) 1.9 (203) 1.8
02A6AHB 02A6AHB0
(2.5) (2.4)
02A6AHC 228.5 148.5 3.7 02A6AHC0 175.5 3.3
02A6AH7 (269) (189) (4.3) 02A6AH70 (216) (3.9)
215.5 157.5 2.1 178.5 2.0
04A6AH1 04A6AH10
(256) (198) (2.7) (219) (2.6)
04A6AHB 244.5 164.5 4.0 04A6AHB0 191.5 3.6
04A6AHC (285) (205) (4.6) 04A6AHC0 (232) (4.2)
330.5 197.5 8.6 232.5 7.2
04A6AH7 04A6AH70
(371) (238) (9.2) (273) (7.8)
4.3 3.9
06A6AH1 06A6AH10
266.5 186.5 (4.9) 213.5 (4.5)
(320.5) (240.5) 4.5 (267.5) 4.1
(5.1) (4.7)
06A6AHC 352.5 219.5 9.1 06A6AHC0 254.5 7.7
06A6AH7 (406.5) (273.5) (9.7) 06A6AH70 (308.5) (8.3)
5.2 4.8
08A6AH1 08A6AH10
263 183 (5.8) 210 (5.4)
(310) (230) 5.4 (257) 5.0
(6.0) (5.6)
08A6AHC 342 209 10.1 08A6AHC0 244 8.7
08A6AH7 (389) (256) (10.7) 08A6AH70 (291) (9.3)
36
Rotary Servomotors
SGM7J
Selecting Cables
Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case

(Required when an
Cable with Connectors

on Both Ends
Encoder Cable
Battery Case
(Required when an Servomotor Encoder-end Cable
absolute encoder is used.) Main Circuit Cable
Servomotor Main
Circuit Cable
Servomotor
Servomotor
Note: 1. If the Encoder Cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
3. Refer to the following manual for the following information.
There are different order numbers for the Servomotor Main Circuit Cables and Encoder Cables
depending on the cable installation direction. Confirm the order numbers before you order.
Important Cable Installed toward Load Cable Installed away from Load
U
U
V
V
W
W
G
G
37
Rotary Servomotors

Name Appearance
3m JZSP-C7M10F-03-E JZSP-C7M12F-03-E
10 m JZSP-C7M10F-10-E JZSP-C7M12F-10-E
SGM7J-A5 to -C2
50 W to 150 W
For Servo-
motors with-
out Holding 10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E SERVOPACK end Motor end
SGM7J-02 to -06 15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E L
Brakes
U
20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E V
200 W to 600 W W
Cable 30 m JZSP-C7M20F-30-E JZSP-C7M22F-30-E G
installed
toward load
SGM7J-08 15 m JZSP-C7M30F-15-E JZSP-C7M32F-15-E
750 W, 1.0 kW
3m JZSP-C7M10G-03-E JZSP-C7M12G-03-E
10 m JZSP-C7M10G-10-E JZSP-C7M12G-10-E
SGM7J-A5 to -C2
50 W to 150 W
For Servo- 3m JZSP-C7M20G-03-E JZSP-C7M22G-03-E
motors with- 5m JZSP-C7M20G-05-E JZSP-C7M22G-05-E
out Holding 10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E SERVOPACK end Motor end
SGM7J-02 to -06 Brakes L
U
20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E V
200 W to 600 W Cable W
installed 30 m JZSP-C7M20G-30-E JZSP-C7M22G-30-E G
away from 40 m JZSP-C7M20G-40-E JZSP-C7M22G-40-E

load 50 m JZSP-C7M20G-50-E JZSP-C7M22G-50-E
SGM7J-08
750 W, 1.0 kW
mm or larger.
38
Rotary Servomotors
SGM7J
Name Appearance
SGM7J-A5 to -C2
50 W to 150 W
For Servo-
motors with SERVOPACK end Motor end
Holding 10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E L
SGM7J-02 to -06
Brakes 15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E U
200 W to 600 W
W
Cable 30 m JZSP-C7M23F-30-E JZSP-C7M24F-30-E B
installed
toward load
SGM7J-08
750 W, 1.0 kW
SGM7J-A5 to -C2
50 W to 150 W
motors with 5m JZSP-C7M23G-05-E JZSP-C7M24G-05-E
Holding 10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E SERVOPACK end Motor end
L
SGM7J-02 to -06 Brakes
15 m JZSP-C7M23G-15-E JZSP-C7M24G-15-E U
200 W to 600 W Cable
W
installed 30 m JZSP-C7M23G-30-E JZSP-C7M24G-30-E B

SGM7J-08
750 W, 1.0 kW
mm or larger.
39
Rotary Servomotors
 Encoder Cables of 20 m or Less

Servomo- Length Order Number
Name Appearance
tor Model (L) Standard Cable Flexible Cable*1
For incremental encoder, 3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
or batteryless absolute 5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E SERVOPACK Encoder end
end L
encoder
10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
Cable installed toward 15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
load 20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E
For incremental encoder, 3m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E
or batteryless absolute 5m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E SERVOPACK Encoder end
end L
encoder
10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E
Cable installed away 15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E
All SGM7J from load 20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E
models 3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
For absolute encoder: SERVOPACK Encoder end
end L
With Battery Case*2 5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E
10 m JZSP-C7PA0D-10-E JZSP-C7PA2D-10-E
Cable installed toward 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case
(battery included)
load 20 m JZSP-C7PA0D-20-E JZSP-C7PA2D-20-E
For absolute encoder: 3m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E SERVOPACK Encoder end
end L
With Battery Case*2 5m JZSP-C7PA0E-05-E JZSP-C7PA2E-05-E
10 m JZSP-C7PA0E-10-E JZSP-C7PA2E-10-E
Cable installed away 15 m JZSP-C7PA0E-15-E JZSP-C7PA2E-15-E Battery Case
(battery included)
from load 20 m JZSP-C7PA0E-20-E JZSP-C7PA2E-20-E
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 90 mm
or larger.
*2. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremental
encoders.
 Relay Encoder Cable of 30 m to 50 m

Servomotor Length
Name Order Number Appearance
Model (L)
Encoder-end Cable L
(for all types of encoders) 0.3 m JZSP-C7PRCD-E
Cable installed toward load
Encoder-end Cable L
(for all types of encoders) 0.3 m JZSP-C7PRCE-E
Cable installed away from load
All SGM7J Cables with Connectors on Both 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
L
models Ends 40 m JZSP-UCMP00-40-E
(for all types of encoders) 50 m JZSP-UCMP00-50-E
L
(Required when an absolute 0.3 m JZSP-CSP12-E
encoder is used.*) Battery Case
(battery included)
* This Cable is not required if you use a Servomotor with a Batteryless Absolute Encoder, and you connect a battery to the
host controller.
40
SGM7J
MEMO
41
Rotary Servomotors
SGM7A (Low Inertia, High Speed)
Model Designations
Without Gears
SGM7A - 01 A 7 A 2 1
-7 Series digit digit digit digit digit
digits
Servomotors:
SGM7A
A5 50 W A 200 VAC 2 Straight without key
C2 150 W 4th digit Serial Encoder B* With two flat seats
02 200 W Code Specification * Code B is not supported for models with
04 400 W 6 24-bit batteryless absolute a rated output of 1.5 kW or higher.
06 600 W 7 24-bit absolute 7th digit Options
08 750 W F 24-bit incremental
10 1.0 kW Code Specification
15 1.5 kW 1 Without options
20 2.0 kW C With holding brake (24 VDC)
A
25 2.5 kW E With oil seal and holding brake
(24 VDC)
30 3.0 kW
40 4.0 kW S With oil seal
Note: SGM7A-70A Servomotors with
50 5.0 kW
holding brakes are not available.
70 7.0 kW
With Gears
SGM7A - 01 A 7 A H 1 2 1
-7 Series digit digit digit digit digit digit
digits digit
Servomotors:
SGM7A
1st+2nd digits Rated Output 4th digit Serial Encoder 7th digit Gear Ratio
A5 50 W 6 24-bit batteryless absolute B 1/11*1
01 100 W 7 24-bit absolute C 1/21
C2 150 W F 24-bit incremental 1 1/5
02 200 W Note: Contact your Yaskawa 2 1/9*2
04 400 W representative for models 7 1/33
of 1.5 kW or higher.
06 600 W
*1. This specification is not supported for
08 750 W 5th digit Design Revision Order models with a rated output of 50 W.
10 1.0 kW
A *2. This specification is supported only for
models with a rated output of 50 W.
3rd digit Power Supply Voltage 6th digit Gear Type
8th digit Shaft End
Code Specification
A 200 VAC H HDS planetary low-backlash gear
0 Flange output
2 Straight without key
9th digit Options

Code Specification
1 Without options
C With holding brake (24 VDC)
42
Rotary Servomotors
SGM7A
Specifications
Voltage 200 V
C2A, 06A, 25A, 40A,
Model SGM7A- A5A 01A 04A 10A 15A 20A 70A
02A 08A 30A 50A
Thermal Class UL: B, CE: B UL: F, CE: F
Surrounding Air
0°C to 40°C (With derating, usage is possible between 40°C and 60°C.)*3
Temperature
Surrounding Air
20% to 80% relative humidity (with no condensation)
Environmental Conditions
Humidity
• Must facilitate inspection and cleaning.
Installation Site
• Must have an altitude of 1,000 m or less. (With derating, usage is possible
between 1,000 m and 2,000 m.)*3
Store the Servomotor in the following environment if you store it with the power cable
disconnected.
Storage
Storage Temperature: -20°C to 60°C (with no freezing)
Environment
Storage Humidity: 20% to 80% relative humidity
(with no condensation)
Impact Acceler-
Resistance*2 Resistance*2
ation Rate at 490 m/s2

Shock
Flange
Number of
2 times
Impacts
Vibration
Vibration Accel-
14.7
eration Rate at 49 m/s2 (Models 15A to 50A: 24.5 m/s2 front to back)
m/s2
Flange
R70A, R90A, 1R6A, 2R8A,

SGD7S- 5R5A 120A 180A 200A 330A 550A
R70F R90F 2R1F 2R8F
Applicable 2R8A,
SERVOPACKs SGD7W- 1R6A, 5R5A,
1R6A*4, 2R8A*4 5R5A*4, –
SGD7C- 2R8A*4 *4
7R6A
7R6A
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
Side to side

43
Rotary Servomotors

Voltage 200 V
Model SGM7A- A5A 01A C2A 02A 04A 06A 08A 10A
Rated Output*1 W 50 100 150 200 400 600 750 1000
Rated Torque*1, *2 Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Instantaneous Maximum Torque*1 Nm 0.557 1.11 1.67 2.23 4.46 6.69 8.36 11.1
Rated Current*1 Arms 0.57 0.89 1.5 1.5 2.4 4.5 4.4 6.4
Instantaneous Maximum Current*1 Arms 2.1 3.2 5.6 5.9 9.3 16.9 16.8 23.2
Torque Constant Nm/Arms 0.304 0.384 0.332 0.458 0.576 0.456 0.584 0.541
Motor Moment of Inertia 0.0217 0.0337 0.0458 0.139 0.216 0.315 0.775 0.971
With holding brake 0.0297 0.0417 0.0538 0.209 0.286 0.385 0.955 1.15
With batteryless absolute encoder ×10-4 kgm2 0.0232 0.0352 0.0473 0.140 0.217 0.316 0.776 0.972
0.0312 0.0432 0.0553 0.210 0.287 0.386 0.956 1.15
Rated Power Rate*1 11.7 30.0 49.7 29.2 74.7 115 73.7 104
kW/s
With holding brake 8.51 24.2 42.2 19.4 56.3 94.7 59.8 87.9
Rated Angular Acceleration Rate*1 73200 94300 104000 45800 58700 60600 30800 32700
rad/s2
With holding brake 53500 76200 88600 30400 44400 49600 25000 27600
Derating Rate for Servomotor with Oil Seal % 80 90 95
300 × 300 250 × 300 × 300
Heat Sink Size (Aluminum)*3 mm 200 × 200 × 6 250 × 250 × 6
× 12*9 250 × 6 × 12
Rated Voltage V 24 VDC±10%
Specifications*5
Capacity W 5.5 6 6.5

Holding Brake
Holding Torque Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Coil Resistance Ω (at 20°C) 104.8±10% 96±10% 88.6±10%
Allowable Load Moment of Inertia 30
40 times 20 times 20 times
(Motor Moment of Inertia Ratio)*6 times
With External Regenerative Resistor and 30
40 times 20 times 30 times
External Dynamic Brake Resistor*7 times
Allowable
LF mm 20 25 35
Loads*8
Shaft

*7. To externally connect a dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. How-
ever, you cannot externally connect a dynamic brake resistor if you use the following SERVOPACKs (maximum applica-
ble motor capacity: 400 W).
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
LF
Radial load
Thrust load
*9. If the heat sink is 250 mm × 250 mm × 6 mm, the rated output is 550 W and the rated torque is 1.75 N·m.
44
Rotary Servomotors
SGM7A
SGM7A-A5A*1 SGM7A-01A*1 SGM7A-C2A

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.15 0.3 0.45 0.6 0.75 0 0.25 0.5 0.75 1 1.25 0 0.5 1 1.5 2 2.5
SGM7A-02A SGM7A-04A SGM7A-06A

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.5 1 1.5 2 2.5 0 1 2 3 4 5 0 2 4 6 8 10
SGM7A-08A SGM7A-10A*2
7000 7000
6000 6000
Motor speed (min-1)
Motor speed (min-1)
5000 5000
4000 4000
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 2 4 6 8 10 0 2.5 5 7.5 10 12.5
Torque (Nm) Torque (Nm)
*1. The characteristics are the same for single-phase 200 V and single-phase 100 V input.
*2. A single-phase power input can be used in combination with the SGD7S-120AA008.
45
Rotary Servomotors

Voltage 200 V
Model SGM7A- 15A 20A 25A 30A 40A 50A 70A
*1 kW 1.5 2.0 2.5 3.0 4.0 5.0 7.0
Rated Output
Rated Torque*1, *2 Nm 4.90 6.36 7.96 9.80 12.6 15.8 22.3
Instantaneous Maximum Torque*1 Nm 14.7 19.1 23.9 29.4 37.8 47.6 54.0
Instantaneous Maximum Current*1 Arms 28 42 51 56 77 84 105
Maximum Motor Speed*1 min-1 6000*9
Torque Constant Nm/Arms 0.590 0.561 0.538 0.582 0.519 0.604 0.604
Motor Moment of Inertia 2.00 2.47 3.19 7.00 9.60 12.3 12.3
With holding brake 2.25 2.72 3.44 9.20 11.8 14.5 −
With batteryless absolute encoder ×10-4 kgm2 2.00 2.47 3.19 7.00 9.60 12.3 12.3
2.25 2.72 3.44 9.20 11.8 14.5 −
batteryless absolute encoer
Rated Power Rate*1 120 164 199 137 165 203 404
kW/s
With holding brake 106 148 184 104 134 172 −
Rated Angular Acceleration Rate*1 24500 25700 24900 14000 13100 12800 18100
rad/s2
With holding brake 21700 23300 23100 10600 10600 10800 −
Heat Sink Size (Aluminum)*3 mm 300 × 300 × 12 400 × 400 × 20
Totally enclosed,
Protective Structure*4 Totally enclosed, self-cooled, IP67 separately cooled
(with fan), IP22
Rated Voltage V 24 VDC
+10%
0
Specifications*5
Capacity W 12 10
Holding Brake
Holding Torque Nm 7.84 10 20

Coil Resistance Ω (at 20°C) 48 59 −
Rated Current A (at 20°C) 0.5 0.41
Time Required to ms 170 100
Release Brake
10 times 5 times
(Motor Moment of Inertia Ratio) *6
With External Regenerative Resistor and
20 times 15 times
External Dynamic Brake Resistor*7
Allowable
LF mm 45 63
Loads*8
Shaft

Allowable Thrust Load N 196 392
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is
20°C. These are typical values.
*7. To externally connect a dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. How-
ever, you cannot externally connect a dynamic brake resistor if you use the following SERVOPACKs (maximum applica-
ble motor capacity: 400 W).
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
LF
Radial load
Thrust load
*9. For the SGM7A-25A or SGM7A-50A, the maximum motor speed for the continuous duty zone is 5,000 min-1.
Use the Servomotor within the continuous duty zone for the average motor speed and effective torque.
46
Rotary Servomotors
SGM7A
SGM7A-15A* SGM7A-20A SGM7A-25A

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 5 10 15 20 0 5 10 15 20 0 7.5 15 22.5 30
SGM7A-30A SGM7A-40A SGM7A-50A

7000 7000 7000
6000 6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000 5000 5000
4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 10 20 30 40 0 10 20 30 40 0 15 30 45 60
SGM7A-70A
7000
6000
Motor speed (min-1)
5000
4000
3000
A B
2000
1000
0
0 15 30 45 60
Torque (Nm)
* A single-phase power input can be used in combination with the SGD7S-120A A008.
47
Rotary Servomotors

All Models Totally enclosed, self-cooled, IP55
Servomotor Rated Maximum Instanta- Rated Maximum
Rated Rated Torque/ Instantaneous
Model SGM7A- Rated Motor Motor neous Maxi- Gear Motor Motor
Output [W] Speed Speed Torque
mum Torque Ratio Efficiency*1 Maximum Speed Speed
[N⋅m] [N⋅m/%] Torque [N⋅m]
[min-1] [min-1] [N⋅m] [min-1] [min-1]
A5AAH1 1/5 0.433/64*2 2.37 600 1200
A5AAH2 1/9 1.12/78 3.78*3 333 667
50 3000 6000 0.159 0.557
A5AAHC 1/21 2.84/85 10.6 143 286
A5AAH7 1/33 3.68/70 15.8 91 182
01AAH1 1/5 1.06/78*2 4.96 600 1200
01AAHB 1/11 2.52/72 10.7 273 545
100 3000 6000 0.318 1.11
01AAHC 1/21 5.35/80 20.8 143 286
01AAH7 1/33 7.35/70 32.7 91 182
C2AAH1 1/5 1.68/83*2 7.80 600 1200
C2AAHB 1/11 3.53/79*2 16.9 273 545
150 3000 6000 0.477 1.67
C2AAHC 1/21 6.30/70*2 31.0 143 286
C2AAH7 1/33 11.2/79*2 49.7 91 182
02AAH1 1/5 2.39/75 9.80 600 1200
02AAHB 1/11 5.74/82 22.1 273 545
200 3000 6000 0.637 2.23
02AAHC 1/21 10.2/76 42.1 143 286
02AAH7 1/33 17.0/81 67.6 91 182
04AAH1 1/5 5.35/84 20.1 600 1200
04AAHB 1/11 11.5/82 45.1 273 545
400 3000 6000 1.27 4.46
04AAHC 1/21 23.0/86 87.0 143 286
04AAH7 1/33 34.0/81 135 91 182
06AAH1 1/5 7.54/79 30.5 600 1200
06AAHB 1/11 18.1/86 68.6 273 545
600 3000 6000 1.91 6.69
06AAHC 1/21 32.1/80 129 143 286
06AAH7 1/33 53.6/85 206 91 182
08AAH1 1/5 10.0/84 38.4 600 1200
08AAHB 1/11 23.1/88 86.4 273 545
750 3000 6000 2.39 8.36
08AAHC 1/21 42.1/84 163 143 286
08AAH7 1/33 69.3/88 259 91 182
10AAH1 1/5 13.7/86 52.5 600 1200
10AAHB 1/11 29.1/83 111 273 545
1000 3000 6000 3.18 11.1
10AAHC 1/21 58.2/87 215 143 286
10AAH7 1/33 94.5/90 296*3 91 182
Gear output torque = Servomotor output torque × 1
× Efficiency
Gear ratio
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature. The values
in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are
reference values only.
*2. When using an SGM7A-A5A, SGM7A-01A, or SGM7A-C2A Servomotor with a gear ratio of 1/5 or an SGM7A-C2A
Servomotor with a gear ratio of 1/11, maintain an 85% maximum effective load ratio. For an SGM7A-C2A Servomotor with a
gear ratio of 1/21 or 1/33, maintain a 90% maximum effective load ratio. The values in the table take the effective load ratio
into consideration.
*3. The instantaneous maximum torque is 300% of the rated torque.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems occur,
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 after a few minutes. This is a common phenomenon caused by grease circulation in the gears and
it does not indicate faulty gears.
3. Contact your Yaskawa representative for information on Servomotor with Gears with a rated output of 1.5 kW or higher.
Important may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
48
Rotary Servomotors
Moment of Inertia [×10 -4 kg⋅m2] With Gears
SGM7A
Servomotor Model Shaft Output Flange Output Allowable Allowable
Radial Thrust LF Reference Diagram
SGM7A- Motor* Motor*
Gear Gear Load Load [mm]
+ Gear + Gear [N] [N]
A5AAH1 0.0277 0.006 0.0267 0.005 95 431 37
A5AAH2 0.0247 0.003 0.0247 0.003 113 514 37
A5AAHC 0.0257 0.004 0.0257 0.004 146 663 37
A5AAH7 0.0667 0.045 0.0667 0.045 267 1246 53
01AAH1 0.0397 0.006 0.0387 0.005 95 431 37
01AAHB 0.0937 0.060 0.0927 0.059 192 895 53
01AAHC 0.0837 0.050 0.0837 0.050 233 1087 53
01AAH7 0.0987 0.065 0.0977 0.064 605 2581 75
C2AAH1 0.0518 0.006 0.0508 0.005 95 431 37
C2AAHB 0.106 0.060 0.105 0.059 192 895 53 Shaft Output
LF
C2AAHC 0.156 0.110 0.154 0.108 528 2254 75
C2AAH7 0.111 0.065 0.110 0.064 605 2581 75
Radial load
02AAH1 0.346 0.207 0.340 0.201 152 707 53
02AAHB 0.332 0.193 0.331 0.192 192 895 53
Thrust load
02AAHC 0.629 0.490 0.627 0.488 528 2254 75
02AAH7 0.589 0.450 0.588 0.449 605 2581 75
04AAH1 0.423 0.207 0.417 0.201 152 707 53
04AAHB 0.786 0.570 0.776 0.560 435 1856 75 Flange Output
04AAHC 0.706 0.490 0.704 0.488 528 2254 75

LF
04AAH7 0.836 0.620 0.826 0.610 951 4992 128
06AAH1 1.02 0.700 0.975 0.660 343 1465 75
Radial load
06AAHB 0.885 0.570 0.875 0.560 435 1856 75
Thrust load
06AAHC 1.16 0.840 1.14 0.820 830 4359 128
06AAH7 0.935 0.620 0.925 0.610 951 4992 128
08AAH1 1.48 0.700 1.44 0.660 343 1465 75
08AAHB 1.38 0.600 1.37 0.590 435 1856 75
08AAHC 3.78 3.00 3.76 2.98 830 4359 128
08AAH7 3.58 2.80 3.57 2.79 951 4992 128
10AAH1 1.67 0.700 1.63 0.660 343 1465 75
10AAHB 4.37 3.40 4.31 3.34 684 3590 128
10AAHC 3.97 3.00 3.95 2.98 830 4359 128
10AAH7 3.77 2.80 3.76 2.79 951 4992 128
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss depends on the
torque and motor speed conditions. The temperature rise depends on the loss and heat dissipation condi-
tions. For the heat dissipation conditions, always refer to the following table and check the gear and motor
Important temperatures with the actual equipment. If the temperature is too high, implement the following measures.
Heat Sink Size

Model
1/5 1/9 or 1/11 1/21 1/33
SGM7A-A5 A
SGM7A-01
SGM7A-C2 B
SGM7A-02
SGM7A-04
SGM7A-06
SGM7A-08 C
SGM7A-10A
49
Rotary Servomotors

perature of 40°C.
SGM7A-A5, -01, -C2, -02, -04, -06, -08, and -10 SGM7A-15, -20, -25, -30, -40, -50, and -70
10000 10000
1000 1000
Detection time (s)
Detection time (s)

SGM7A-15, -20, -25,
-30, -40, and -50
Motor speed of
100 10 min-1 or higher 100
10 10
Motor speed of SGM7A-70
less than 10 min-1
1 1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300
(%) (%)
uous duty zone given in Torque-Motor Speed Characteristics on page 45 or page 47.
50
Rotary Servomotors
SGM7A
in the Ratings of Servomotors without Gears (pages 44 and 46). The values are determined by the
regenerative energy processing capacity of the SERVOPACK and are also affected by the drive con-
ditions of the Servomotor. Perform the required Steps for each of the following cases.

PACKs.

SGM7A-A5A SGM7A-01A SGM7A-C2A
45 45 45
40 40 40
35 35 35
30 30 30
25 25 25
20 20 20
15 15 15
10 10 10
5 5 5
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)
SGM7A-02A SGM7A-04A
35 25
30
20
25
15
20
15 10
10
5
5
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1) Motor speed (min-1)

51
Rotary Servomotors
Derating Rates

120 120 120
SGM7A-08
SGM7A-A5 and -01 SGM7A-02 and -04 100
100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80
80 80
SGM7A-10
SGM7A-C2 60
60 60
40
SGM7A-06
40 40 20
20 20 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300 50 100 150 200 250 300 350
120 120
SGM7A-15, -20, and -25 100 SGM7A-70

100
Derating rate (%)
Derating rate (%)
80
80
60 SGM7A-30
60 SGM7A-40 and -50
40
40 20
20 0
0 50 100 150 200 250 300 350 0 100 200 300 400 500
Heat sink size (mm) Heat sink size (mm)

120 120 120
SGM7A-06
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80
60 60 60
SGM7A-A5, -01, and -C2 SGM7A-02 and -04
SGM7A-08 and -10
40 40 40
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding Air Temperature (C) Surrounding Air Temperature (C) Surrounding Air Temperature (C)
120 120
SGM7A-70
100 100
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7A-15, -20, and -25 SGM7A-50
40 40
20 20 SGM7A-30 and -40
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding Air Temperature (C) Surrounding Air Temperature (C)
52
Rotary Servomotors
SGM7A
120 120 120
SGM7A-08
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7A-A5, -01, and -C2 SGM7A-02, -04, and -06 SGM7A-10
60 60 60
40 40 40
20 20 20
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Altitude (m) Altitude (m) Altitude (m)
120 120
SGM7A-70
100 100
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7A-15, -20, and -25 SGM7A-30 and -40
40 40
SGM7A-50
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
53
Rotary Servomotors
External Dimensions
 SGM7A-A5, -01, and -C2

0.04 A
L 0.04 dia. A
LL LR
LC
20.5 LM LE
MW
MD 0.6 17 ML 0.8
LG
MH
14
LB dia.
LA
S dia. dia
.
A
2 × LZ dia.
0.02
Unit: mm

SGM7A- LR LE LG LC LA LB LZ [kg]
81.5 56.5 37.9 25 2.5 0.3
A5AA2 5 40 0
46 30 -0.021 0
4.3 8 -0.009 8.8 25.8 14.7 16.1
(122) (97) (0.6)
93.5 68.5 0.4
01AA2 (134) 0 0
(109) 49.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009 8.8 25.8 14.7 16.1 (0.7)
105.5 80.5 61.9 25 2.5 0.5
C2AA2 (153.5) 5 40 0
46 30 -0.021 0
4.3 8 -0.009 8.8 25.8 14.7 16.1
(128.5) (0.8)
25 7.5
8 -0.009 dia.
1.5
14
1.8
0
Y
M3 × 6L
30 - 0.021 dia.
3
29.8 dia.
Y 3
Cross section Y-Y
• With Two Flat Seats Oil Seal Cover
25
dia.
15
-0.009
• Cable Installed on Load Side

0
7.5
Y
8
25°
7.5
(7.4)
(1.2)
Y
35°
Cross section Y-Y

(10)
25°35°
54
Rotary Servomotors
 SGM7A-02, -04, and -06
SGM7A
0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE LC
MD 0.6 17 ML LG MW
MH
14
LB dia.
S dia.
A
LA dia
.
Model
99.5 69.5 0.8
02AA2 51.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(140) (110) (1.4)
115.5 85.5 1.2
04AA2 67.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(156) (126) (1.8)
137.5 107.5 1.6
06AA2 89.2 30 3 6 60 0
70 50 -0.025 0
5.5 14 -0.011 8.5 28.7 14.7 17.1
(191.5) (161.5) (2.2)

30 10
dia.
5.2
14
-0.011
3
3
0
14
Y
M5 × 8L
5
35 dia.
47 dia.
Y 5
Cross section Y-Y

30
Oil Seal Cover
14 -0.011 dia.
15
0
13

Cross section Y-Y
25°
35°

(10)
25°
35°
55
Rotary Servomotors
 SGM7A-08 and -10

0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE LC
MD 0.6 17 ML LG MW
MH
14
LB dia.
S dia.
A
LA dia
.
Model
137 97 2.3
08AA2 78.5 40 3 8 80 0
90 70 -0.030 7 0
19 -0.013 13.6 38 14.7 19.3
(184) (144) (2.9)
162 122 3.1
10AA2 103.5 40 3 8 80 0
90 70 -0.030 7 0
19 -0.013 13.6 38 14.7 19.3
(209) (169) (3.7)
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater and the approximate mass is 0.1 kg greater
than the given value. Refer to the following section for the values for individual models.

40 11
19 -0.013 dia.
5.5
22 3
3.5
0
Y
M6 × 10L
6
47 dia.
61 dia.
Y 6
Cross section Y-Y

40
19 -0.013 dia.
Oil Seal Cover

22
0
18

Cross section Y-Y
25°
25°

(10)
25°
25°
56
Rotary Servomotors
Servomotors without Gears and without Holding Brakes
SGM7A
 SGM7A-15, -20, and -25
L
Shaft End Details
LL
0.04 A
LP LM LR LR
LG LE 0.04 dia. A
LE
S dia.
0.5
40 LC
.
LH dia
LA
79 dia.
dia
.
LB dia.
65 dia.
45 dia.
S dia.
50
R1
30 dia.
KL1
4 LZ dia. Q
A
106.5
0.02
17 KB1
KB2 Unit: mm
Model SGM7A- L* LL* LM LP* LR KB1 KB2* KL1

15AA21 202 157 121 36 45 107 145 95
20AA21 218 173 137 36 45 123 161 95
25AA21 241 196 160 36 45 146 184 95
Flange Dimensions Shaft End Dimensions Approx.

Model SGM7A-
LA LB LC LE LG LH LZ S Q Mass [kg]
15AA21 115 0
95 -0.035 100 3 10 130 7 0
24 -0.013 40 4.6
20AA21 115 95
0
-0.035 100 3 10 130 7 24 0
-0.013 40 5.4
25AA21 115 95
0
-0.035 100 3 10 130 7 24 0
-0.013 40 6.8
* For models that have a batteryless absolute encoder, L, LL, LP, and KB2 are 8 mm greater than the given value. Refer to the
 Shaft End Specifications  Connector Specifications

• Straight with Key and Tap • Encoder Connector (24-bit Encoder)
45 1 PS 6* BAT(+)
dia.
3 1
40 2 /PS 7 −
24 -0.013
32 M8 × 16L 7 4
3 − 8 −
0
4 10 8 4 PG5V 9 PG0V
5* BAT(−) 10 FG (frame ground)
* A battery is required only for an absolute
8
7
encoder.
R1
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
A Phase U C Phase W
D A B Phase V D FG (frame ground)
C B
57
Rotary Servomotors
 SGM7A-30, -40, and -50

L
LL LR Shaft End Details
LP LM
0.04 A LR
LG LE
0.04 dia. A
S dia.
1.5 LE
LC
55
.
dia
LH
dia. LA
79 dia.
LB dia.
65 dia.
45 dia.
S dia.
50
R1
30 dia.
KL1
A
Q
0.02
17 KB1 4  LZ dia.
KB2 Unit: mm
Model SGM7A- L* LL* LM LP* LR KB1 KB2* KL1

30AA21 257 194 158 36 63 145 182 114
40AA21 296 233 197 36 63 184 221 114
50AA21 336 273 237 36 63 224 261 114
Flange Dimensions Shaft End Dimensions Approx.

Model SGM7A-
LA LB LC LE LG LH LZ S Q Mass [kg]
30AA21 145 0
110 -0.035 130 6 12 165 9 0
28 -0.013 55 10.5
40AA21 145 110
0
-0.035 130 6 12 165 9 28 0
-0.013 55 13.5
50AA21 145 110
0
-0.035 130 6 12 165 9 28 0
-0.013 55 16.5

1 PS 6* BAT(+)
63 3 1
2 /PS 7 −
dia.
55 7 4
3 − 8 −
M8 × 16L
-0.013
50 10 8 4 PG5V 9 PG0V
0
28
4
encoder.
8
7 Receptacle: CM10-R10P-D
R1

A Phase U C Phase W
C B
58
Rotary Servomotors
 SGM7A-70
SGM7A
L
70* LL LR
43 LM 0.04 A
130 LG LE
S dia.
1.5 144 63
0.04 dia. A LC 6
5.5
Cooling air
flow
φ LH
LB dia.
65 dia.
LC
45 dia.
S dia.
144
φL
50
30 dia.
R1
A
80
KL1
114
A
20 KB1
KB2 4 × LZ dia.
0.04 dia. A
Fan Connector Encoder Connector
Servomotor Connector 0.02
Cooling fan
Unit: mm
17
49
* Leave a minimum space of 70 mm around the Servomotor from walls and other equipment to allow for a sufficient
amount of cooling air.
Shaft End Approx.

Model Flange Dimensions
L LL LM LR KB1 KB2* KL1 Dimensions Mass
SGM7A-
LA LB LC LE LG LH LZ S Q [kg]
70AA21 397 334 291 63 0
224 261 108 145 110 -0.035 130 6 12 165 9 0
28 -0.013 55 18.5
* For models that have a batteryless absolute encoder, KB is 8 mm greater than the given value. Refer to the following section for
the values for individual models.
 Cooling Fan Specifications  Connector Specifications
Single-phase, 220 V • Encoder Connector (24-bit Encoder)
50/60 Hz
17/15 W 1 PS 6* BAT(+)
3
0.11/0.09 A
1 2 /PS 7 −
7 4 3 − 8 −
10 8 4 PG5V 9 PG0V
 Specifications of Fan Operation Error 5* BAT(−) 10 FG (frame ground)
Detector encoder.
Contact Capacity Receptacle: CM10-R10P-D
Maximum allowable voltage: 350 V (AC/DC) Applicable plug: Not provided by Yaskawa.
Maximum allowable current: 120 mA (AC/ DC) Plug: CM10-AP10S--D for Right-angle Plug
Maximum controllable power: 360 mW CM10-SP10S--D for Straight Plug
Alarm Contacts ( depends on the applicable cable size.)
ON for normal fan rotation. Manufacturer: DDK Ltd.
OFF at 1,680 ± 100 min-1 max. • Servomotor Connector
OFF for 3 seconds at startup.
A Phase U C Phase W
 Shaft End Specifications
C B
• Straight with Key and Tap
63
• Fan Connector
dia.
55
M8 × 16L A Fan motor D Alarm pin
-0.013
50 A
0
B Fan motor E Alarm pin

28
4 F B
C – F FG (frame ground)
E C
D Receptacle: MS3102A14S-6P
Applicable Plug (Available from Yaskawa
8
7 Controls Co., Ltd.)

R1
Plug: MS3108B14S-6S
Cable Clamp: MS3057-6A
Note: The Servomotor Connector (receptacle) is RoHS compliant.
Contact the connector manufacturer for RoHS-compliant
cable-side connectors (not provided by Yaskawa).
59
Rotary Servomotors
Servomotors without Gears and with Holding Brakes

 SGM7A-15 to -25
L
LL LR
LP LM Shaft End Details
0.04 A
LG LE LR
0.04 dia. A
S dia.
0.5 LE
LC
40
.
LH dia
dia LA
.
79 dia.
φ1 15
30 φ1
45 dia.
LB dia.
65 dia.
S dia.
R1
50
30 dia.
80
KL1
Q
A
0.02 4 × LZ dia.
KB1
17 KB3
KB2 Unit: mm
Model
L* LL* LM LP* LR KB1 KB2* KB3 KL1
SGM7A-
15AA2C 243 198 162 36 45 107 186 139 102
20AA2C 259 214 178 36 45 123 202 155 102
25AA2C 292 247 211 36 45 156 235 188 102
Model Flange Dimensions Shaft End Dimensions Approx.

SGM7A- LA LB LC LE LG LH LZ S Q Mass [kg]
15AA2C 115 0
95 -0.035 100 3 10 130 7 0
24 -0.013 40 6.0
20AA2C 115 0
95 -0.035 100 3 10 130 7 0
24 -0.013 40 6.8
25AA2C 115 95 0
-0.035 100 3 10 130 7 0
24 -0.013 40 8.7
45 1 PS 6* BAT(+)
dia.
3
40
1 2 /PS 7 −
24 -0.013
32 M8 × 16L 7 4 3 − 8 −
0
4 10 8 4 PG5V 9 PG0V
* A battery is required only for an absolute encoder.
8
7 Applicable plug: Not provided by Yaskawa.

R1

A Phase U C Phase W
C B
• Brake Connector
1 Brake terminal
1 2 Brake terminal
2
Note: There is no voltage polarity for the
brake terminals.
60
Rotary Servomotors
 SGM7A-30 to -50
SGM7A
L Shaft End Details
LL LR
LP LM LR
0.04 A
LG LE
LE
S dia.
1.5 LC
5.5
0.04 dia. A .
dia
LH
dia LA
79 dia. .
LB dia.
45 dia.
65 dia.
S dia.
50
R1
30 dia.
81
KL1
A Q
0.02
4 × LZ dia.
KB1
17 KB3
KB2 Unit: mm
Model
L* LL* LM LP* LR KB1 KB2* KB3 KL1
SGM7A-
30AA2C 293 232 196 36 63 145 220 181 119
40AA2C 332 269 233 36 63 184 257 220 119
50AA2C 372 309 273 36 63 224 297 260 119

SGM7A- LA LB LC LE LG LH LZ S Q Mass [kg]
30AA2C 145 0
110 -0.035 130 6 12 165 9 0
28 -0.013 55 13
40AA2C 145 110
0
-0.035 130 6 12 165 9 28 0
-0.013 55 16
50AA2C 145 110
0
-0.035 130 6 12 165 9 28 0
-0.013 55 19
45 1 PS 6* BAT(+)
dia.
3
40
1
2 /PS 7 −
24 -0.013
32 M8 × 16L 7 4
3 − 8 −
0
4 10 8 4 PG5V 9 PG0V
8
7
encoder.
R1
A Phase U C Phase W
C B
• Brake Connector
1 Brake terminal
1 2 Brake terminal
2
brake terminals.
61
Rotary Servomotors
 SGM7A-A5, -01, and -C2

0.06
A
(0.05)
L
LL LR 0.04 0.05 dia.
LM L1 L2 (0.03) (0.04 dia.) A
0.6 17 16.1 LG L3 Q A LC

LE QK .
dia
14.7
14
LA W
T
U
LD dia.
LB dia.
C dia.
S dia.
B dia.
Details of Shaft
End with Key
and Tap
Rotating parts (shaded section)
4  LZ dia. Tap size  Depth Unit: mm

Model SGM7A- L* LL* LM
A5AAH1 1/5 138 96 77.4
A5AAH2 1/9 (178.5) (136.5) 0
42 2.2 5 29 39.5 40 -0.025 40 46 3.4
147 105
A5AAHC 1/21 86.4
(187.5) (145.5)
A5AAH7 178.5 120.5 0
1/33 101.9 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
(219) (161)
150 108
01AAH1 1/5 89.4 42 2.2 5 29 39.5 0
40 -0.025 40 46 3.4
(190.5) (148.5)
01AAHB 1/11 190.5 132.5 0
113.9 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
01AAHC 1/21 (231) (173)
01AAH7 215 135 0

1/33 116.4 80 7.5 10 59 84 85 -0.035 90 105 9
(255.5) (175.5)
162 120
C2AAH1 1/5 101.4 42 2.2 5 29 39.5 0
40 -0.025 40 46 3.4
(210) (168)
202.5 144.5
C2AAHB 1/11 125.9 58 2.5 8 40 55.5 0
56 -0.030 60 70 5.5
(250.5) (192.5)
C2AAHC 1/21 227 147 0
128.4 80 7.5 10 59 84 85 -0.035 90 105 9
C2AAH7 1/33 (275) (195)

Model SGM7A- Q C S
A5AAH1 0.6
A5AAH2 22 20 14.6 − − 0
M3 × 6L 15 2.5 4 4
(0.9)
10 -0.015
0.7
A5AAHC (1.0)
1.3
A5AAH7 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 (1.6)
0.7
01AAH1 22 20 14.6 − − 0
10 -0.015 M3 × 6L 15 2.5 4 4 (1.0)
01AAHB 1.4
28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5
01AAHC (1.7)
2.8
01AAH7 36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7 (3.1)
0.8
C2AAH1 22 20 14.6 − − 0
10 -0.015 M3 × 6L 15 2.5 4 4 (1.1)
1.5
C2AAHB 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 (1.8)
C2AAHC 2.9
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
C2AAH7 (3.2)
62
Rotary Servomotors
SGM7A
L
0.06
(0.05) A
LR 0.02
L3 0.05 dia.
LE (0.04 dia.) A
0.04
(0.03) LC
A .
dia
LA
LD dia.
LB dia.
G dia.
F dia.
LJ d
ia.
LK 4  LZ dia. Tap size  Depth Unit: mm

Model SGM7A- L* LR LJ F G LK
A5AAH10 1/5 111
A5AAH20 1/9 (151.5) 0.6
15 18 5 +0.012
0 24 3 3 × M4 × 6L
120 (0.9)
A5AAHC0 1/21
(160.5)
141.5 1.2
A5AAH70 1/33 21 30 14 +0.018
0 40 5 6 × M4 × 7L
(182) (1.5)
123 0.7
01AAH10 1/5 15 18 5 +0.012
0 24 3 3 × M4 × 6L
(163.5) (1.0)
01AAHB0 1/11 153.5 1.3
21 30 14 +0.018
0 40 3 × M4 × 7L
01AAHC0 1/21 (194) (1.6)
5
162 2.4
01AAH70 1/33 27 45 24 +0.021
0 59 6 × M6 × 10L
(202.5) (2.7)
135 0.8
C2AAH10 1/5 15 18 5 +0.012
0 24 3 3 × M4 × 6L
(183) (1.1)
165.5 1.4
C2AAHB0 1/11 21 30 14 +0.018
0 40 5 6 × M4 × 7L
(213.5) (1.7)
C2AAHC0 1/21 174 2.5
27 45 24 +0.021
0 59 5 6 × M6 × 10L
C2AAH70 1/33 (222) (2.8)
* For models that have a batteryless absolute encoder, L is 8 mm greater than the given value. Refer to the following section for
Important
0.5 min.
24 dia. max.
63
Rotary Servomotors
 SGM7A-02, -04, and -06

0.06 A
L
LL LR 0.05 A
LM L1 L2
LG L3 Q 0.04 LC
LE QK A
0.6 17 17.1
.
dia
14.7
14
LA
W
T
U
LD dia.
LB dia.
B dia.
S dia.
C dia.
Details of Shaft
End with Key
and Tap
Rotating parts (shaded section) 4  LZ dia. Tap size  Depth Unit: mm

Model SGM7A- L* LL* LM
02AAH1 1/5 191.5 133.5 0
115.2 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
02AAHB 1/11 (232) (174)
02AAHC 1/21 220.5 140.5 0
122.2 80 7.5 10 59 84 85 -0.035 90 105 9
02AAH7 1/33 (261) (181)
207.5 149.5 0
04AAH1 1/5 131.2 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
(248) (190)
04AAHB 1/11 236.5 156.5 0
138.2 80 7.5 10 59 84 85 -0.035 90 105 9
04AAHC 1/21 (277) (197)
322.5 189.5 0
04AAH7 1/33 171.2 133 12.5 13 84 114 115 -0.035 120 135 11
(363) (230)
06AAH1 1/5 258.5 178.5 0
160.2 80 7.5 10 59 84 85 -0.035 90 105 9
06AAHB 1/11 (312.5) (232.5)
06AAHC 1/21 344.5 211.5 0
193.2 133 12.5 13 84 114 115 -0.035 120 135 11
06AAH7 1/33 (398.5) (265.5)

Model SGM7A- Q C S
1.8
02AAH1
(2.4)
28 30 20 28 20 16 -0.018
0
M4 × 8L 25 3 5 5
1.9
02AAHB
(2.5)
02AAHC 3.7
36 44 26 42 32 25 -0.021
0
M6 × 12L 36 4 8 7
02AAH7 (4.3)
2.1
04AAH1 28 30 20 28 20 16 -0.018
0
M4 × 8L 25 3 5 5
(2.7)
04AAHB 4.0
36 44 26 42 32 25 -0.021
0
M6 × 12L 36 4 8 7
04AAHC (4.6)
8.6
04AAH7 48 85 33 82 44 40 -0.025
0
M10 × 20L 70 5 12 8
(9.2)
4.3
06AAH1
(4.9)
36 44 26 42 32 25 -0.021
0
M6 × 12L 36 4 8 7
4.5
06AAHB
(5.1)
06AAHC 9.1
48 85 33 82 44 40 -0.025
0
M10 × 20L 70 5 12 8
06AAH7 (9.7)
64
Rotary Servomotors
SGM7A
L
0.06 A
LR
0.02
L3
0.05 dia. A
LE
0.04 LC
A
.
dia
LD dia. LA
F dia.
LB dia.
G dia.
LJ
dia
.
5 4  LZ dia. Tap size  Depth Unit: mm

Model SGM7A- L* LR LJ F G
1.7
02AAH10 1/5
154.5 (2.3)
21 30 14 +0.018
0 40 6 × M4 × 7L
(195) 1.8
02AAB20 1/11
(2.4)
02AAHC0 1/21 167.5 3.3
27 45 24 +0.021
0 59 6 × M6 × 10L
02AAH70 1/33 (208) (3.9)
170.5 2.0
04AAH10 1/5 21 30 14 +0.018
0 40 6 × M4 × 7L
(211) (2.6)
04AAHB0 1/11 183.5 3.6
27 45 24 +0.021
0 59 6 × M6 × 10L
04AAHC0 1/21 (224) (4.2)
224.5 7.2
04AAH70 1/33 35 60 32 +0.025
0 84 6 × M8 × 12L
(265) (7.8)
3.9
06AAH10 1/5
205.5 (4.5)
27 45 24 +0.021
0 59 6 × M6 × 10L
(259.5) 4.1
06AAHB0 1/11
(4.7)
06AAHC0 1/21 246.5 7.7
35 60 32 +0.025
0 84 6 × M8 × 12L
06AAH70 1/33 (300.5) (8.3)
* For models that have a batteryless absolute encoder, L is 8 mm greater than the given value. Refer to the following section for
65
Rotary Servomotors
 SGM7A-08 and -10

0.06 A
L
LL LR
LM L1 L2 0.05 A
LG L3
LE Q 0.04 LC
0.6 17 19.3 QK A
.
dia
17
LA
14
T
U
LD dia.
LB dia.
S dia.
C dia.
B dia.
Details of Shaft
End with Key
and Tap
Rotating parts 4 LZ dia. Tap size  Depth
(shaded section)
Unit: mm

Model SGM7A- L* LL * LM
08AAH1 1/5 255 175 0
156.5 80 7.5 10 59 84 85 -0.035 90 105 9
08AAHB 1/11 (302) (222)
08AAHC 1/21 334 201 0
182.5 133 12.5 13 84 114 115 -0.035 120 135 11
08AAH7 1/33 (381) (248)
280 200
10AAH1 1/5 181.5 80 7.5 10 59 84 0
85 -0.035 90 105 9
(327) (247)
10AAHB 1/11
359 226
10AAHC 1/21 207.5 133 12.5 13 84 114 0
115 -0.035 120 135 11
(406) (273)
10AAH7 1/33

Model SGM7A- Q C S
4.9
08AAH1
(5.8)
36 44 26 42 32 25 0
-0.021 M6 × 12L 36 4 8 7
5.1
08AAHB
(6.0)
08AAHC 9.8
48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
08AAH7 (10.7)
6.0
10AAH1 36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
(6.6)
10AAHB
10.9
10AAHC 48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
(11.5)
10AAH7
* For models that have a batteryless absolute encoder, L and LL are 8 mm greater and the approximate mass is 0.1 kg greater
than the given value. Refer to the following section for the values for individual models.
66
Rotary Servomotors
SGM7A
L
0.06 A
LR
0.02
L3
0.05 dia. A
LE
0.04 LC
A
.
dia
LA
LD dia.
LB dia.
G dia.
F dia.
LJ d
ia.
5 4  LZ dia. Tap size  Depth Unit: mm

Model SGM7A- L* LR LJ F G
Ratio Tap Size × Depth Mass* [kg]
4.7
08AAH10 1/5
202 (5.3)
27 45 24 +0.021
0 59 6 × M6 × 10L
(249) 4.9
08AAHB0 1/11
(5.5)
08AAHC0 1/21 236 8.6
35 60 32 +0.025
0 84 6 × M8 × 12L
08AAH70 1/33 (283) (9.2)
227 5.6
10AAH10 1/5 27 45 24 +0.021
0 59 6 × M6 × 10L
(274) (6.3)
10AAHB0 1/11
261 9.5
10AAHC0 1/21 35 60 32 +0.025
0 84 6 × M8 × 12L
(308) (10.1)
10AAH70 1/33
* For models that have a batteryless absolute encoder, L is 8 mm greater and the approximate mass is 0.1 kg greater than the
given value. Refer to the following section for the values for individual models.
67
Rotary Servomotors

Model Approx.
L LL LP KB2
SGM7A- Mass [kg]
89.5 64.5 0.3
A5A6A2 − −
(130) (105) (0.6)
101.5 76.5 0.4
01A6A2 − −
(142) (117) (0.7)
113.5 88.5 0.5
C2A6A2 − −
(161.5) (136.5) (0.8)
107.5 77.5 0.8
02A6A2 − −
(148) (118) (1.4)
123.5 93.5 1.2
04A6A2 − −
(164) (134) (1.8)
145.5 115.5 1.6
06A6A2 − −
(199.5) (169.5) (2.2)
145 105 2.4
08A6A2 − −
(192) (152) (3.0)
170 130 3.2
10A6A2 − −
(217) (177) (3.8)
210 165 44 153 4.6
15A6A2
(251) (206) (44) (194) (6.0)
226 181 44 169 5.4
20A6A2
(267) (222) (44) (210) (6.8)
249 204 44 192 6.8
25A6A2
(300) (255) (44) (243) (8.7)
265 202 44 190 10.5
30A6A2
(301) (240) (44) (228) (13)
304 241 44 229 13.5
40A6A2
(340) (277) (44) (265) (16)
344 281 44 269 16.5
50A6A2
(380) (317) (44) (305) (19)
70A6A2 397 334 − 269 18.5
68
Rotary Servomotors
SGM7A
L LL L
SGM7A- Mass [kg] SGM7A- Mass [kg]
A5A6AH1 146 104 0.6 A5A6AH10 119
A5A6AH2 (186.5) (144.5) (0.9) A5A6AH20 (159.5) 0.6
155 113 0.7 128 (0.9)
A5A6AHC A5A6AHC0
(195.5) (153.5) (1.7) (168.5)
186.5 128.5 1.3 149.5 1.2
A5A6AH7 A5A6AH70
(227) (169) (1.6) (190) (1.5)
158 116 0.7 131 0.7
01A6AH1 01A6AH10
(198.5) (156.5) (1.0) (171.5) (1.0)
01A6AHB 198.5 140.5 1.4 01A6AHB0 161.5 1.3
01A6AHC (239) (181) (1.7) 01A6AHC0 (202) (1.6)
223 143 2.8 170 2.4
01A6AH7 01A6AH70
(263.5) (183.5) (3.1) (210.5) (2.7)
170 128 0.8 143 0.8
C2A6AH1 C2A6AH10
(218) (176) (1.1) (191) (1.1)
210.5 152.5 1.5 173.5 1.4
C2A6AHB  C2A6AHB0
(258.5) (200.5) (1.8) (221.5) (1.7)
C2A6AHC 235 155 2.9 C2A6AHC0 182 2.5
C2A6AH7 (283) (203) (3.2) C2A6AH70 (230) (2.8)
1.8 1.7
02A6AH1 02A6AH10
199.5 141.5 (2.4) 162.5 (2.3)
(240) (182) 1.9 (203) 1.8
(2.5) (2.4)
02A6AHC 228.5 148.5 3.7 02A6AHC0 175.5 3.3
02A6AH7 (269) (189) (4.3) 02A6AH70 (216) (3.9)
215.5 157.5 2.1 178.5 2.0
04A6AH1 04A6AH10
(256) (198) (2.7) (219) (2.6)
04A6AHB 244.5 164.5 4.0 04A6AHB0 191.5 3.6
04A6AHC (285) (205) (4.6) 04A6AHC0 (232) (4.2)
330.5 197.5 8.6 232.5 7.2
04A6AH7 04A6AH70
(371) (238) (9.2) (273) (7.8)
4.3 3.9
06A6AH1 06A6AH10
266.5 186.5 (4.9) 213.5 (4.5)
(320.5) (240.5) 4.5 (267.5) 4.1
(5.1) (4.7)
06A6AHC 352.5 219.5 9.1 06A6AHC0 254.5 7.7
06A6AH7 (406.5) (273.5) (9.7) 06A6AH70 (308.5) (8.3)
5.0 4.8
08A6AH1 08A6AH10
263 183 (5.9) 210 (5.4)
(310) (230) 5.2 (257) 5.0
08A6AHB  08A6AHB0
(6.1) (5.6)
08A6AHC 342 209 9.9 08A6AHC0 244 8.7
08A6AH7 (389) (256) (10.8) 08A6AH70 (291) (9.3)
288 208 6.1 235 5.7
10A6AH1 10A6AH10
(335) (255) (6.7) (282) (6.4)
10A6AHC 367 234 11.0 10A6AHC0 269 9.6
(414) (281) (11.6) (316) (10.2)
10A6AH7 10A6AH70
69
Rotary Servomotors
Selecting Cables
SERVOPACK
SERVOPACK
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Battery Case
Servomotor Main
Circuit Cable
Servomotor
Servomotor
Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European
Safety Standards are not available from Yaskawa for the SGM7A-15A to SGM7A-70A Servomotors. You
must make such a cable yourself. Use the Connectors specified by Yaskawa for these Servomotors. (These
Connectors are compliant with the standards.) Yaskawa does not specify what wiring materials to use.
2. If the Encoder Cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
For the SGM7A-A5 to -10, there are different order numbers for the Servomotor Main Circuit
Cables and Encoder Cables depending on the cable installation direction. Confirm the order
numbers before you order.
Important
Cable Installed toward Load Cable Installed away from Load
U
U
V
V
W
W
G
G
70
Rotary Servomotors
SGM7A
Name Appearance
SGM7A-A5 to -C2
50 W to 150 W
For Servo-
motors with-
out Holding 10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E SERVOPACK end Motor end
SGM7A-02 to -06 15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E L
Brakes
U
20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E V
200 W to 600 W W
Cable 30 m JZSP-C7M20F-30-E JZSP-C7M22F-30-E G
installed
toward load
SGM7A-08 and -10 15 m JZSP-C7M30F-15-E JZSP-C7M32F-15-E
750 W, 1.0 kW
SGM7A-A5 to -C2
50 W to 150 W
motors with- 5m JZSP-C7M20G-05-E JZSP-C7M22G-05-E
out Holding 10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E SERVOPACK end Motor end
SGM7A-02 to -06 Brakes L
U
20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E V
200 W to 600 W Cable W
installed 30 m JZSP-C7M20G-30-E JZSP-C7M22G-30-E G

SGM7A-08 and -10
750 W, 1.0 kW
mm or larger.
71
Rotary Servomotors

Name Appearance
SGM7A-A5 to -C2
50 W to 150 W
For Servo-
motors with SERVOPACK end Motor end
Holding 10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E L
SGM7A-02 to -06
Brakes 15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E U
200 W to 600 W
W
Cable 30 m JZSP-C7M23F-30-E JZSP-C7M24F-30-E B
installed
toward load
SGM7A-08 and -10
750 W, 1.0 kW
SGM7A-A5 to -C2
50 W to 150 W
motors with 5m JZSP-C7M23G-05-E JZSP-C7M24G-05-E
Holding SERVOPACK end Motor end
10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E L
SGM7A-02 to -06 Brakes
15 m JZSP-C7M23G-15-E JZSP-C7M24G-15-E U
20 m JZSP-C7M23G-20-E JZSP-C7M24G-20-E W
200 W to 600 W Cable G
installed 30 m JZSP-C7M23G-30-E JZSP-C7M24G-30-E B

SGM7A-08 and -10
750 W, 1.0 kW
mm or larger.
72
Rotary Servomotors
Servo- Connec- Order Number

Length
SGM7A
motor Name tor Spec- Appearance
Model ifications
(L) Standard Cable Flexible Cable*1
3m JZSP-UVA101-03-E JZSP-UVA121-03-E
5m JZSP-UVA101-05-E JZSP-UVA121-05-E SERVOPACK Motor end
end L
Straight 10 m JZSP-UVA101-10-E JZSP-UVA121-10-E
15 m JZSP-UVA101-15-E JZSP-UVA121-15-E
For Servomotors 20 m JZSP-UVA101-20-E JZSP-UVA121-20-E
without Holding
Brakes 3m JZSP-UVA102-03-E JZSP-UVA122-03-E
SERVOPACK Motor end
5m JZSP-UVA102-05-E JZSP-UVA122-05-E end L
Right-angle 10 m JZSP-UVA102-10-E JZSP-UVA122-10-E
SGM7A- 20 m JZSP-UVA102-20-E JZSP-UVA122-20-E
15 3m JZSP-UVA131-03-E JZSP-UVA141-03-E SERVOPACK end Motor end
L
1.5 kW
SERVOPACK end Brake end
For Servomotors 15 m JZSP-UVA131-15-E JZSP-UVA141-15-E L
with Holding 20 m JZSP-UVA131-20-E JZSP-UVA141-20-E
Brakes
3m JZSP-UVA132-03-E JZSP-UVA142-03-E SERVOPACK end Motor end
L
(Set of Two 5m JZSP-UVA132-05-E JZSP-UVA142-05-E
Cables*2) 10 m JZSP-UVA132-10-E JZSP-UVA142-10-E
Right-angle
15 m JZSP-UVA132-15-E JZSP-UVA142-15-E Brake end Motor end
L
end L
without Holding
SERVOPACK Motor end
L
2.0 kW 5m JZSP-UVA331-05-E JZSP-UVA341-05-E
Brakes SERVOPACK end Motor end
L
Cables*2) 10 m JZSP-UVA332-10-E JZSP-UVA342-10-E
Brake end Motor end
L
or larger.
*2. This order number is for a set of two cables (Main Power Supply Cable and Holding Brake Cable).
When you purchase them separately, the order numbers for Main Power Supply Cables are the same as for a
Servomotor without a Holding Brake.
The following order numbers are for a Holding Brake Cable. These Standard Cables are Flexible Cables.
• Cable with Straight Plug: JZSP-U7B23--E
• Cable with Right-angle Plug: JZSP-U7B24--E
73
Rotary Servomotors

Length
Model ifications
end L
without Holding
SERVOPACK Motor end
25 3m JZSP-U7A551-03-E JZSP-U7A561-03-E SERVOPACK end Motor end
L
5m JZSP-U7A551-05-E JZSP-U7A561-05-E
2.5 kW
Straight 10 m JZSP-U7A551-10-E JZSP-U7A561-10-E
For Servomotors 15 m JZSP-U7A551-15-E JZSP-U7A561-15-E L
with Holding 20 m JZSP-U7A551-20-E JZSP-U7A561-20-E

Brakes 3m JZSP-U7A552-03-E JZSP-U7A562-03-E SERVOPACK end Motor end
L
(Set of Two 5m JZSP-U7A552-05-E JZSP-U7A562-05-E

Cables*2)
Right-angle 10 m JZSP-U7A552-10-E JZSP-U7A562-10-E
Brake end Motor end
15 m JZSP-U7A552-15-E JZSP-U7A562-15-E L
20 m JZSP-U7A552-20-E JZSP-U7A562-20-E
end L
without Holding
SERVOPACK Motor end
SGM7A-
30 L
3.0 kW 10 m JZSP-UVA631-10-E JZSP-UVA641-10-E
Straight
15 m JZSP-UVA631-15-E JZSP-UVA641-15-E SERVOPACK end Brake end
For Servomotors L
L
Cables*2)
Brake end Motor end
15 m JZSP-UVA632-15-E JZSP-UVA642-15-E L
or larger.
• Cable with Right-angle Plug: JZSP-U7B24- -E
74
Rotary Servomotors
SGM7A
Length
Model ifications
end L
without Holding
SERVOPACK Motor end
40 and 20 m JZSP-UVA702-20-E JZSP-UVA722-20-E
-50 3m JZSP-UVA731-03-E JZSP-UVA741-03-E SERVOPACK end Motor end
L
4.0 kW, 5m JZSP-UVA731-05-E JZSP-UVA741-05-E

5.0 kW Straight 10 m JZSP-UVA731-10-E JZSP-UVA741-10-E
L
L
Cables*2)
Brake end Motor end
end L

For Servomotors
70*3 20 m JZSP-UVA901-20-E JZSP-UVA921-20-E
without Holding
7.0 kW 5m JZSP-UVA902-05-E JZSP-UVA922-05-E SERVOPACK Motor end
end L
or larger.
*3. A cooling fan is built into the SGM7A-70 Servomotor. There is no specified cable to connect to the built-in cool-
ing fan connector. Use appropriate wiring materials for the built-in cooling fan connector specifications. The
cable is available from Yaskawa Controls Co., Ltd.
Refer to the following manual for the built-in cooling fan connector specifications that are required to select the
cable.
75
Rotary Servomotors

Name Appearance
Model (L) Standard Cable Flexible Cable*1
For incremental 3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
encoder,
5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E SERVOPACK Encoder end
or batteryless end L
absolute encoder 10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
Cable installed
toward load 20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E
For incremental 3m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E
encoder,
5m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E SERVOPACK Encoder end
or batteryless end L
absolute encoder 10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E
15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E
Cable installed
SGM7A-A5 to -10 away from load 20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E
50 W to 1.0 kW 3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
For absolute
SERVOPACK Encoder end
encoder: With 5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E end L
Battery Case*2
Cable installed 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case
(battery included)
toward load 20 m JZSP-C7PA0D-20-E JZSP-C7PA2D-20-E
For absolute 3m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E

encoder: With 5m JZSP-C7PA0E-05-E JZSP-C7PA2E-05-E end L
Battery Case*2
10 m JZSP-C7PA0E-10-E JZSP-C7PA2E-10-E
Battery Case
Cable installed 15 m JZSP-C7PA0E-15-E JZSP-C7PA2E-15-E (battery included)
away from load 20 m JZSP-C7PA0E-20-E JZSP-C7PA2E-20-E
3m JZSP-CVP01-03-E JZSP-CVP11-03-E
5m JZSP-CVP01-05-E JZSP-CVP11-05-E SERVOPACK Encoder end
end L
10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
molex
For incremental
encoder,
or batteryless 3m JZSP-CVP02-03-E*3 JZSP-CVP12-03-E*3
absolute encoder 5m JZSP-CVP02-05-E*3 JZSP-CVP12-05-E*3 SERVOPACK Encoder end
end L
10 m *3 *3
JZSP-CVP02-10-E JZSP-CVP12-10-E
molex
*3
15 m JZSP-CVP02-15-E JZSP-CVP12-15-E*3
*3
SGM7A-15 to -70 20 m JZSP-CVP02-20-E JZSP-CVP12-20-E*3
1.5 kW to 7.0 kW 3m JZSP-CVP06-03-E JZSP-CVP26-03-E
L
5m JZSP-CVP06-05-E JZSP-CVP26-05-E end
15 m JZSP-CVP06-15-E JZSP-CVP26-15-E Battery Case
(battery included)
For absolute 20 m JZSP-CVP06-20-E JZSP-CVP26-20-E
encoder: With 3m JZSP-CVP07-03-E*3 JZSP-CVP27-03-E*3
Battery Case*2 SERVOPACK Encoder end
5m JZSP-CVP07-05-E*3 JZSP-CVP27-05-E*3 end
L
10 m JZSP-CVP07-10-E*3 JZSP-CVP27-10-E*3
Battery Case
15 m JZSP-CVP07-15-E*3 JZSP-CVP27-15-E*3 (battery included)
20 m JZSP-CVP07-20-E*3 JZSP-CVP27-20-E*3
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 90 mm or
larger.
encoders.
*3. You cannot use a right-angle connector for the encoder of a SGM7A-70A (7.0 kW) Servomotor.
Use a straight connector.
76
Rotary Servomotors
 Relay Encoder Cable of 30 m to 50 m
SGM7A
Servomotor Length
Model (L)
Encoder-end Cable (for all L
types of encoders) 0.3 m JZSP-C7PRCD-E
Encoder-end Cable (for all SERVOPACK end Encoder end
L
types of encoders)
0.3 m JZSP-C7PRCE-E
Cable installed away from
load
SGM7A-A5 to -10
Cables with Connectors on 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
50 W to 1.0 kW L
Both Ends (for all types of 40 m JZSP-UCMP00-40-E
encoders) 50 m JZSP-UCMP00-50-E
L
encoder is used.*2) Battery Case
(battery included)

end L
JZSP-CVP01-E
molex
Encoder-end Cable
0.3 m
(for all types of encoders) SERVOPACK
L
Encoder end
end
*1
JZSP-CVP02-E
molex
SGM7A-15 to -70 30 m JZSP-UCMP00-30-E
Cables with Connectors on SERVOPACK end
L
Encoder end
1.5 kW to 7.0 kW Both Ends (for all types of 40 m JZSP-UCMP00-40-E
encoders)
50 m JZSP-UCMP00-50-E
L
encoder is used.*2) Battery Case
(battery included)
*1. You cannot use a right-angle connector for the encoder of a SGM7A-70A (7.0 kW) Servomotor.
Use a straight connector.
*2. This Cable is not required if you use a Servomotor with a Batteryless Absolute Encoder, and you connect a bat-
tery to the host controller.
77
Rotary Servomotors
SGM7P (Medium Inertia, Flat Type)
Model Designations
Without Gears
SGM7P - 01 A 7 A 2 1
Σ-7 Series digits digit digit digit digit digit
Servomotors:
SGM7P
1st+2nd digits Rated Output 4th digit Serial Encoder 6th digit Shaft End

01 100 W 6 24-bit batteryless absolute 2 Straight without key
02 200 W 7 24-bit absolute 6 Straight with key and tap
04 400 W F 24-bit incremental
08 750 W 7th digit Options
15 1.5 kW 5th digit Design Revision Order
Code Specification
Code Specification 1 Without options
3rd digit Power Supply Voltage
A IP65 C With holding brake (24 VDC)
Code Specification E IP67 With oil seal and holding brake
E
A 200 VAC (24 VDC)
S With oil seal
With Gears
SGM7P - 01 A 7 A H B 0 1
Σ-7 Series digits digit digit digit digit digit digit digit
Servomotors:
SGM7P
1st+2nd digits Rated Output 5th digit Design Revision Order 8th digit Shaft End
01 100 W A IP55 0 Flange output
02 200 W 2 Straight without key
04 400 W 6th digit Gear Type 6 Straight with key and tap
08 750 W Code Specification
15 1.5 kW H HDS planetary low-backlash gear
9th digit Options
3rd digit Power Supply Voltage 7th digit Gear Ratio Code Specification
Code Specification Code Specification 1 Without options
A 200 VAC B 1/11 C With holding brake (24 VDC)
C 1/21
4th digit Serial Encoder 1 1/5
Code Specification 7 1/33
6 24-bit batteryless absolute
7 24-bit absolute
F 24-bit incremental
78
Rotary Servomotors
SGM7P
Specifications
Voltage 200 V
Model SGM7P- 01A 02A 04A 08A 15A
Thermal Class UL: B, CE: B
0°C to 40°C
Surrounding Air Temperature
(With derating, usage is possible between 40°C and 60°C.)*3
Installation Site
Environmental • Must have an altitude of 1,000 m or less. (With derating,
Conditions usage is possible between 1,000 m and 2,000 m.)*3
Store the Servomotor in the following environment if you
store it with the power cable disconnected.
Storage Humidity: 20% to 80% relative humidity (with no
condensation)
Vibration
Vibration Acceleration Rate at Flange 49 m/s2
Resistance*2
R90A, 2R8A, 2R8A,
SGD7S- 5R5A 120A
Applicable R90F 2R1F 2R8F
SERVOPACKs SGD7W- 1R6A*4, 5R5A,
2R8A, 5R5A*4, 7R6A*4 –
SGD7C- 2R8A*4 7R6A
Side to side

79
Rotary Servomotors

Voltage 200 V
Model SGM7P- 01A 02A 04A 08A 15A
Rated Output*1 W 100 200 400 750 1500
Rated Torque*1, *2 Nm 0.318 0.637 1.27 2.39 4.77
*1 Nm 0.955 1.91 3.82 7.16 14.3
Rated Current*1 Arms 0.86 2.0 2.6 5.4 9.2
*1 Arms 2.8 6.4 8.4 16.5 28.0
Torque Constant Nm/Arms 0.401 0.355 0.524 0.476 0.559
Motor Moment of Inertia 0.0592 0.263 0.409 2.10 4.02
With holding brake 0.0892 0.415 0.561 2.98 4.90
With batteryless absolute encoder ×10-4 kgm2 0.0607 0.264 0.410 2.10 4.02
0.0907 0.416 0.562 2.98 4.90
Rated Power Rate *1 17.1 15.4 39.6 27.2 56.6
kW/s
With holding brake 11.3 9.7 28.8 19.1 46.4
Rated Angular Acceleration Rate*1 53700 24200 31100 11400 11900
rad/s2
With holding brake 35600 15300 22600 8020 9730
Derating Rate for Servomotor with Oil Seal % 90 95
Heat Sink Size*3 mm 250 × 250 × 6 300 × 300 × 12
Rated Voltage V 24 VDC ±10%
Specifications*5
Capacity W 6 7.4 7.5

Holding Brake
Holding Torque Nm 0.318 0.637 1.27 2.39 4.77

Coil Resistance Ω (at 20°C) 96 84.5 76.8
Time Required to Release Brake ms 80
25 times 15 times 10 times 5 times
LF mm 20 25 35
Allowable
Loads*8
Shaft
Allowable Radial Load N 78 245 392 490

However, you cannot externally connect a dynamic brake resistor if you use the following SERVOPACKs
(maximum applicable motor capacity: 400 W).
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
LF
Radial load
Thrust Load
80
Rotary Servomotors

SGM7P
SGM7P-01A SGM7P-02A SGM7P-04A

7000 7000
6000
6000 6000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

5000
5000 5000
4000 4000 4000
3000 3000 3000
A B A B
2000 A B
2000 2000
1000 1000 1000
0 0 0
0 0.25 0.5 0.75 1 0 0.5 1 1.5 2 0 1 2 3 4
SGM7P-08A SGM7P-15A*
7000 7000
6000 6000
Motor speed (min-1)
Motor speed (min-1)
5000 5000
4000 4000
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 2 4 6 8 0 4 8 12 16
81
Rotary Servomotors

All Models Totally enclosed, self-cooled,
IP55 (except for shaft opening)

Maxi- Maxi-
Servomotor Rated Instanta- Instanta- Rated
Rated mum Rated Rated Torque/ mum
Model Motor neous Maxi- Gear *1 neous Maxi- Motor
Output Motor Torque Efficiency Motor
SGM7P- Speed mum Torque Ratio mum Torque Speed
[W] Speed [Nm] [Nm/%] Speed
[min-1] [Nm] [Nm] [min-1]
[min-1] [min-1]
01AAH1 1/5 1.05/78*2 4.30 600 1200
01AAHB 1/11 2.52/72 9.30 273 545
100 3000 6000 0.318 0.955
01AAHC 1/21 5.34/80 18.2 143 286
01AAH7 1/33 6.82/65 27.0 91 182
02AAH1 1/5 2.39/75 8.60 600 1200
02AAHB 1/11 5.74/82 19.4 273 545
200 3000 6000 0.637 1.91
02AAHC 1/21 10.2/76 35.9 143 286
02AAH7 1/33 17.0/81 57.3 91 182
04AAH1 1/5 5.35/84 17.8 600 1200
04AAHB 1/11 11.5/82 38.3 273 545
400 3000 6000 1.27 3.82
04AAHC 1/21 22.9/86 74.4 143 286
04AAH7 1/33 34.0/81 114.6 91 182
08AAH1 1/5 10.0/84 32.8 600 1200
08AAHB 1/11 23.1/88 73.6 273 545
750 3000 6000 2.39 7.16
08AAHC 1/21 42.1/84 138.0 143 286
08AAH7 1/33 69.3/88 220 91 182
15AAH1 1/5 19.1/80 64.8 600 1200
15AAHB 1/11 45.6/87 146 273 545
1500 3000 6000 4.77 14.3
15AAHC 1/21 87.1/87 278 143 214*3
15AAH7 1/33 142/90 443 91 136*3
1
Gear output torque = Servomotor output torque × × Efficiency
Gear ratio
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature.
The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air tem-
perature of 25°C. They are reference values only.
*2. Use the Servomotor at an effective load ratio of 85% or less. The values in the table take the effective load ratio
into consideration.
*3. The maximum motor speed calculated at the motor shaft is 4,500 min-1 max.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no prob-
lems occur, 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 after a few minutes. This is a common phenomenon caused by grease
circulation in the gears and it does not indicate faulty gears.
Important
may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
82
Rotary Servomotors
Moment of Inertia [×10-4 kgm2] With Low-Backlash Gears

Servomotor Shaft Output Flange Output Allow-
Allow-
SGM7P
Model able Reference Diagram
able LF
SGM7P- Motor* Motor* Radial
Gear Gear Thrust [mm]
+ Gear + Gear Load
Load [N]
[N]
01AAH1 0.0642 0.005 0.0632 0.004 95 431 37
01AAHB 0.119 0.060 0.118 0.059 192 895 53
01AAHC 0.109 0.050 0.109 0.050 233 1087 53
01AAH7 0.509 0.450 0.508 0.449 605 2581 75
02AAH1 0.470 0.207 0.464 0.201 152 707 53 Shaft Output
02AAHB 0.456 0.193 0.455 0.192 192 895 53 LF
02AAHC 0.753 0.490 0.751 0.488 528 2254 75

Radial load
02AAH7 0.713 0.450 0.712 0.449 605 2581 75
04AAH1 0.616 0.207 0.610 0.201 152 707 53 Thrust load
04AAHB 0.979 0.570 0.969 0.560 435 1856 75

04AAHC 0.899 0.490 0.897 0.488 528 2254 75
Flange Output
04AAH7 1.03 0.620 1.01 0.610 951 4992 128
LF
08AAH1 3.20 1.10 3.16 1.06 343 1465 75
08AAHB 2.70 0.600 2.69 0.590 435 1856 75
Radial load
08AAHC 5.10 3.00 5.08 2.98 830 4359 128
Thrust load
08AAH7 4.90 2.80 4.89 2.79 951 4992 128
15AAH1 7.82 3.80 7.55 3.53 540 2834 128
15AAHB 7.42 3.40 7.36 3.34 684 3590 128
15AAHC 9.82 5.80 9.72 5.70 2042 8840 151
15AAH7 8.82 4.80 8.79 4.77 2338 10120 151
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss
depends on the torque and motor speed conditions. The temperature rise depends on the loss
and heat dissipation conditions. For the heat dissipation conditions, always refer to the following
Important table and check the gear and motor temperatures with the actual equipment. If the temperature
is too high, implement the following measures.
Heat Sink Size

Model
1/5 1/11 1/21 1/33
SGM7P-01 A
SGM7P-02
SGM7P-04 B
SGM7P-08 C
SGM7P-15
83
Rotary Servomotors

perature of 40°C.
10000
1000
Detection time (s)
Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0 50 100 150 200 250 300
(%)
84
Rotary Servomotors

SGM7P
in the Ratings of Servomotors without Gears (page 80). The values are determined by the regenera-
tive energy processing capacity of the SERVOPACK and are also affected by the drive conditions of
the Servomotor. Perform the required Steps for each of the following cases.

PACKs.

SGM7P-01A SGM7P-02A SGM7P-04A
30 16 12
14
25 10
12
20 8
10
15 8 6
10 6
4
4
5 2
2
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1 -1

85
Rotary Servomotors
Derating Rates
120 120
100 100
SGM7P-01, -02, and -04 SGM7P-15
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7P-08
40 40
20 20
0 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350

120 120
SGM7P-01 SGM7P-08
100 100
Derating rate (%)
Derating rate (%)
80 80
SGM7P-02
60 60
SGM7P-04 SGM7P-15
40 40
20 20
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60
Surrounding air temperature (°C) Surrounding air temperature (°C)

120 120
SGM7P-08
100 100
Derating rate (%)
Derating rate (%)
80 80
SGM7P-01, -02, and -04
60 60
SGM7P-15
40 40
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
86
Rotary Servomotors
External Dimensions
SGM7P
 SGM7P-01, -02, and -04

0.04 A
L 0.04 dia. A
LL LR
(20.5) LM LE LC
0.6 17 ML LG MW
MD
MH
14
LA
dia
.
LB dia.
S dia.
4 × LZ dia.
A
0.02
Unit: mm

Model
SGM7P- LR LE LG LC LA LB LZ [kg]
85 60 0 0 0.5
01AA2 36 25 3 6 60 70 50 -0.025 5.5 8 -0.009 8.5 19 12 20
(115) (90) (0.9)
97 67 0 0 1.1
02AA2 43 30 3 8 80 90 70 -0.030 7 14 -0.011 13.6 21 13 21
(128.5) (98.5) (1.9)
107 77 0 0 1.4
04AA2 53 30 3 8 80 90 70 -0.030 7 14 -0.011 13.6 21 13 21
(138.5) (108.5) (2.2)

LR LS2
LS1
S dia.
QK
U LE
Y
P
W
Y T
E1 dia.
E2 dia.
Cross section Y-Y
Model
LR QK S W T U P Oil Seal Cover
SGM7P-
01AA6 25 14 8 0
-0.009 3 3 1.8 M3×6L
Model Dimensions with Oil Seal
02AA6 30 14 14 0
-0.011 5 5 3 M5×8L SGM7P- E1 E2 LS1 LS2 LE
04AA6 30 0
14 14 -0.011 5 5 3 M5×8L 01AA2 22 38 3.5 7 3
02AA2
35 47 5.2 10 3
04AA2
87
Rotary Servomotors
 SGM7P-08 and -15

Encoder Cable 300±30
UL20276, 6 dia. Encoder connector
300±30
Servomotor Main Circuit Cable
UL1828, 7 dia. Servomotor connector
L
LL 40
LM LC
0.04 A
25 7 10.5 38
(40)
10 3.5
0.04 dia. A
9
28
13 19
(25.5)
S dia.
LB dia.
14
5
dia
.
A 4 × 10.2 dia.
0.02
Unit: mm
Approx.
Model SGM7P- L* LL* LM LB LC S
Mass* [kg]
126.5 86.5 0 0 4.2
08AA2 67.6 110 -0.035 120 19 -0.013
(160) (120) (5.9)
154.5 114.5 0 0 6.6
15AA2 95.6 110 -0.035 120 19 -0.013
(187.5) (147.5) (8.2)

40 10
19 -0.013 dia.
22 5
3.5 3.5
0
Y
M6 × 10L
6
Y 6
Cross section Y-Y

47 dia.
66 dia.
Oil Seal Cover
88
Rotary Servomotors

 SGM7P-01, -02, and -04
SGM7P
0.06 A
L
0.05 dia. A
LL LR
LM L1 L2
0.04
L3 Q
MH LC
0.6 17 ML LG LE QK A
.
dia
LA W
T
U
LD dia.
LB dia.
C dia.
B dia.
S dia.
with Key and Tap
Rotating parts (shaded section) 4 × LZ dia. Tap size × Depth Unit: mm
Model Gear Flange Dimensions

L* LL* LM
SGM7P- Ratio LR LE LG B LD LB LC LA LZ
141.5 99.5
01AAH1 1/5 75.5 42 2.2 5 29 39.5 0
40 -0.025 40 46 3.4
(171.5) (129.5)
01AAHB 1/11 182 124
100 58 2.5 8 40 55.5 0
56 -0.030 60 70 5.5
01AAHC 1/21 (212) (154)
211 131
01AAH7 1/33 107 80 7.5 10 59 84 0
85 -0.035 90 105 9
(241) (161)
02AAH1 1/5 190 132 0
108 58 2.5 8 40 55.5 56 -0.030 60 70 5.5
02AAHB 1/11 (221.5) (163.5)
02AAHC 1/21 225 145
121 80 7.5 10 59 84 0
85 -0.035 90 105 9
02AAH7 1/33 (256.5) (176.5)
200 142
04AAH1 1/5 118 58 2.5 8 40 55.5 0
56 -0.030 60 70 5.5
(231.5) (173.5)
04AAHB 1/11 235 155
131 80 7.5 10 59 84 0
85 -0.035 90 105 9
04AAHC 1/21 (266.5) (186.5)
314 181
04AAH7 1/33 157 133 12.5 13 84 114 0
115 -0.035 120 135 11
(345.5) (212.5)
Model Flange Dimensions Tap Size × Key Dimensions Approx. Mass*
Q C S
SGM7P- L1 L2 L3 Depth QK U W T [kg]
01AAH1 22 20 14.6 − − 0
10 -0.015 M3 × 6L 15 2.5 4 4 0.9 (1.3)
01AAHB
28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 1.6 (2.0)
01AAHC
01AAH7 36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7 3.4 (3.8)
02AAH1 2.3 (2.9)
28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5
02AAHB 2.4 (3.0)
02AAHC
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7 4.2 (5.0)
02AAH7
04AAH1 28 30 20 28 20 0
16 -0.018 M4 × 8L 25 3 5 5 2.6 (3.2)
04AAHB
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7 4.5 (5.3)
04AAHC
04AAH7 48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8 9.2 (10.0)
89
Rotary Servomotors

L
0.06
A
(0.05)
LR
0.02
L3
0.05 dia.
LE 0.04 A
(0.04 dia.)
(0.03) oLC
A
.
dia
LA
LD dia.
LB dia.
F dia.
G dia.
LJ d
ia.
LK 4 × LZ dia. Tap size × Depth Unit: mm
Gear No. of Taps × Approx. Mass*

Model SGM7P- L* LR LJ F G LK
Ratio Tap Size × Depth [kg]
114.5
01AAH10 1/5 15 18 5
+0.012
0 24 3 3 × M4 × 6L 0.8 (1.2)
(144.5)
01AAHB0 1/11 145
21 30 14 +0.018
0 40 5 6 × M4 × 7L 1.5 (1.9)
01AAHC0 1/21 (175)
158
01AAH70 1/33 27 45 24 +0.021
0 59 5 6 × M6 × 10L 3.0 (3.4)
(188)
02AAH10 1/5 153 2.2 (2.8)
21 30 14
+0.018
0 40 5 6 × M4 × 7L
02AAHB0 1/11 (184.5) 2.3 (2.9)
02AAHC0 1/21 172
27 45 24
+0.021
0 59 5 6 × M6 × 10L 3.8 (4.6)
02AAH70 1/33 (203.5)
163
04AAH10 1/5 21 30 14
+0.018
0 40 5 6 × M4 × 7L 2.5 (3.1)
(194.5)
04AAHB0 1/11 182
27 45 24
+0.021
0 59 5 6 × M6 × 10L 4.1 (4.9)
04AAHC0 1/21 (213.5)
216
04AAH70 1/33 35 60 32
+0.025
0 84 5 6 × M8 × 12L 7.8 (8.6)
(247.5)
Important
0.5 min.
24 dia. max.
90
Rotary Servomotors
 SGM7P-08 and -15

Encoder Cable 300±30
UL20276, 6 dia. Encoder connector
SGM7P
Servomotor Main Circuit Cable 300±30
UL1828, 7 dia. Servomotor connector
0.06 A
L
LL LR 0.05 dia. A
LM L1 L2
7 10.5 LG L3 Q LC
(40) LE QK 0.04
.
A dia
LA
13 19
(25.5) W
T
LD dia.
LB dia.
C dia.
B dia.
S dia.
with Key and Tap
Rotating parts
(shaded section) 4 × LZ dia. Tap size × Depth
Unit: mm

Model SGM7P- L* LL* LM
08AAH1 1/5 253.5 173.5
154.6 80 7.5 10 59 84 0
85 -0.035 90 105 9
08AAHB 1/11 (287) (207)
08AAHC 1/21 326.5 193.5
174.6 133 12.5 13 84 114 115 -0.035
0
120 135 11
08AAH7 1/33 (360) (227)
15AAH1 1/5 354.5 221.5 0
202.6 133 12.5 13 84 114 115 -0.035 120 135 11
15AAHB 1/11 (387.5) (254.5)
15AAHC 1/21 393.5 237.5 0
218.6 156 12 16 122 163 165 -0.063 170 190 14
15AAH7 1/33 (426.5) (270.5)

Model SGM7P- Q C S
08AAH1 6.9 (8.6)
36 44 26 42 32 0
25 -0.021 M6 × 12L 36 4 8 7
08AAHB 7.1 (8.8)
08AAHC
48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8 12 (13.7)
08AAH7
15AAH1 13.9 (15.5)
48 85 33 82 44 0
40 -0.025 M10 × 20L 70 5 12 8
15AAHB 14.4 (16.0)
15AAHC
70 86 51 82 56 0
50 -0.025 M10 × 20L 70 5.5 14 9 25.7 (27.3)
15AAH7
91
Rotary Servomotors

L
0.06 A SGM7P-15AAHC0 and

LR
0.02 SGM7P-15AAH70
L3 Tap Locations
0.05 dia. A
LE
45°
0.04 LC 22
°
A 22.5 .5°
.
ia. dia
d LA
LA
LD dia.
LB dia.
G dia.
F dia.
LJ
dia LJ
. dia
.
5 4 × LZ dia. Tap size × Depth 45°

Unit: mm
Tap size × Depth
4 × LZ dia.
LC
Approx.
Gear No. of Taps ×
Model SGM7P- L* LR LJ F G LK Mass*
Ratio Tap Size × Depth
[kg]
08AAH10 1/5 200.5 6.5 (8.2)
27 45 24 +0.021
0 59 5 6 × M6 × 10L
08AAHB0 1/11 (234) 6.7 (8.4)
08AAHC0 1/21 228.5
35 60 32 +0.025
0 84 5 6 × M8 × 12L 10.6 (12.3)
08AAH70 1/33 (262)
15AAH10 1/5 256.5 12.5 (14.1)
35 60 32 +0.025
0 84 5 6 × M8 × 12L
15AAHB0 1/11 (289.5) 13 (14.6)
15AAHC0 1/21 290.5
53 100 47 +0.025
0 122 7 14 × M8 × 12L 22.7 (24.3)
15AAH70 1/33 (323.5)
92
Rotary Servomotors
SGM7P
Model Approx.
SGM7P- L LL Mass [kg]
93 68 0.5
01A6A2 (123) (98) (0.9)
105 75 1.2
02A6A2 (136.5) (106.5) (2.0)
115 85 1.5
04A6A2 (146.5) (116.5) (2.3)
134.5 94.5 4.3
08A6A2 (168) (128) (6.0)
162.5 122.5 6.7
15A6A2 (195.5) (155.5) (8.3)

L LL L
SGM7P- Mass [kg] SGM7P- Mass [kg]
149.5 107.5 0.9 122.5 0.8
01A6AH1 (179.5) (179.5) (1.3) 01A6AH10 (152.5) (1.2)
01A6AHB 190 132 1.6 01A6AHB0 153 1.5
01A6AHC (220) (162) (2.0) 01A6AHC0 (183) (1.9)
219 139 3.4 166 3.0
01A6AH7 (249) (169) (3.8) 01A6AH70 (196) (3.4)
2.4 2.3
02A6AH1 (3.0) 02A6AH10 (2.9)
198 140 161
(229.5) (171.5) 2.5 (192.5) 2.4
02A6AHB (3.1) 02A6AHB0 (3.0)
02A6AHC 233 153 4.3 02A6AHC0 180 3.9
02A6AH7 (264.5) (184.5) (5.1) 02A6AH70 (211.5) (4.7)
208 150 2.7 171 2.6
04A6AH1 (239.5) (181.5) (3.3) 04A6AH10 (202.5) (3.2)
04A6AHB 243 163 4.6 04A6AHB0 190 4.2
04A6AHC (274.5) (194.5) (5.4) 04A6AHC0 (221.5) (5.0)
322 191 9.3 224 7.9
04A6AH7 (354.5) (220.5) (10.1) 04A6AH70 (255.5) (8.7)
7.0 6.6
08A6AH1 (8.7) 08A6AH10 (8.3)
261.5 181.5 208.5
(295) (215) 7.2 (242) 6.8
08A6AHB (8.9) 08A6AHB0 (8.5)
08A6AHC 334.5 201.5 12.1 08A6AHC0 236.5 10.7
08A6AH7 (368) (235) (13.8) 08A6AH70 (270) (12.4)
14.0 12.6
15A6AH1 (15.6) 15A6AH10 (14.2)
362.5 229.5 264.5
(395.5) (262.5) 14.5 (297.5) 13.1
15A6AHB (16.1) 15A6AHB0 (14.7)
15A6AHC 401.5 245.5 25.8 15A6AHC0 298.5 22.8
15A6AH7 (434.5) (278.5) (27.4) 15A6AH70 (331.5) (24.4)
93
Rotary Servomotors
Selecting Cables
SERVOPACK SERVOPACK
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Battery Case
Servomotor Main
Circuit Cable
Servomotor
Servomotor
For SGM7P-08 or -15 For SGM7P-08 or -15

(750 W or 1.5 kW) Servomotor (750 W or 1.5 kW) Servomotor
Relay
Encoder Cable
Refer to page 97.
Encoder Cable
Refer to page 97.
Cable with a
Battery Case
(Required when an
absolute encoder
is used.)
Cable with
Connectors on
Servomotor Servomotor Both Ends or
Main Circuit Cable Main Circuit Cable Cables without
Refer to page 95. Refer to page 95. Connectors
94
Rotary Servomotors

Name Appearance
SGM7P
3m JZSP-CSM01-03-E JZSP-CSM21-03-E
10 m JZSP-CSM01-10-E JZSP-CSM21-10-E
SGM7P-01
100 W
40 m JZSP-CSM01-40-E JZSP-CSM21-40-E SERVOPACK Motor end
end L
SGM7P-02 and 10 m JZSP-CSM02-10-E JZSP-CSM22-10-E
-04 15 m JZSP-CSM02-15-E JZSP-CSM22-15-E
For Servo- 20 m JZSP-CSM02-20-E JZSP-CSM22-20-E
200 W, 400 W 30 m JZSP-CSM02-30-E JZSP-CSM22-30-E
motors
without 40 m JZSP-CSM02-40-E JZSP-CSM22-40-E
Holding 50 m JZSP-CSM02-50-E JZSP-CSM22-50-E
Brakes 3m JZSP-CMM00-03-E JZSP-CMM01-03-E
5m JZSP-CMM00-05-E JZSP-CMM01-05-E
10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
SGM7P-08 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
750 W
30 m JZSP-CMM00-30-E JZSP-CMM01-30-E SERVOPACK Motor end
end L
3m JZSP-CMM20-03-E −
SGM7P-15 5m JZSP-CMM20-05-E −
10 m JZSP-CMM20-10-E −
1.5 kW 15 m JZSP-CMM20-15-E −
mm or larger.
95
Rotary Servomotors

Name Appearance
SGM7P-01
100 W
40 m JZSP-CSM11-40-E JZSP-CSM31-40-E SERVOPACK Motor end
end L
SGM7P-02 and 10 m JZSP-CSM12-10-E JZSP-CSM32-10-E
-04 15 m JZSP-CSM12-15-E JZSP-CSM32-15-E
For Servo- 20 m JZSP-CSM12-20-E JZSP-CSM32-20-E
200 W, 400 W 30 m JZSP-CSM12-30-E JZSP-CSM32-30-E
motors
with 40 m JZSP-CSM12-40-E JZSP-CSM32-40-E
Holding 50 m JZSP-CSM12-50-E JZSP-CSM32-50-E
Brakes 3m JZSP-CMM10-03-E JZSP-CMM11-03-E
SGM7P-08
750 W SERVOPACK Motor end
30 m JZSP-CMM10-30-E JZSP-CMM11-30-E end L
3m JZSP-CMM30-03-E −
SGM7P-15 5m JZSP-CMM30-05-E −
1.5 kW 15 m JZSP-CMM30-15-E −
mm or larger.
96
Rotary Servomotors

SGM7P
Name Appearance
3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
SGM7P-01, -02 5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E SERVOPACK Encoder end
end L
and -04
For incremental 10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
100 W, 200 W,
encoder, 15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
400 W
or batteryless 20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E
absolute encoder
3m JZSP-CMP00-03-E JZSP-CMP10-03-E
SGM7P-08 Cable installed 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
end L
and -15 toward load 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
750 W, 1500 W 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
SGM7P-01, -02 5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E end L
and -04
100 W, 200 W, For absolute
400 W encoder: With 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case
(battery included)
Battery Case*2 20 m JZSP-C7PA0D-20-E JZSP-C7PA2D-20-E
3m JZSP-CSP19-03-E JZSP-CSP29-03-E
Cable installed SERVOPACK Encoder end
SGM7P-08 toward load 5m JZSP-CSP19-05-E JZSP-CSP29-05-E end L
and -15 10 m JZSP-CSP19-10-E JZSP-CSP29-10-E

750 W, 1500 W 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
(battery included)
20 m JZSP-CSP19-20-E JZSP-CSP29-20-E
larger.
encoders.
 Relay Encoder Cables of 30 m to 50 m

Servomotor Length
Model (L)
Encoder-end Cable L
(for all types of encoders) 0.3 m JZSP-C7PRCD-E
Cables with Connectors on 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
L
Both Ends 40 m JZSP-UCMP00-40-E
All SGM7P models (for all types of encoders) 50 m JZSP-UCMP00-50-E
L
encoder is used.*) Battery Case
(battery included)
host controller.
97
Rotary Servomotors
SGM7G (Medium Inertia, Large Torque)
Model Designations
SGM7G - 03 A 7 A 2 1
-7 Series digits digit digit digit digit digit
Servomotors:
SGM7G
03 300 W A 200 VAC 2 Straight without key
09 850 W 4th digit Serial Encoder
13 1.3 kW Code Specification 7th digit Options
20 1.8 kW 6 24-bit batteryless absolute Code Specification
30 2.9 kW* 7 24-bit absolute 1 Without options
44 4.4 kW F 24-bit incremental C With holding brake (24 VDC)
55 5.5 kW
With oil seal and holding
75 7.5 kW 5th digit Design Revision Order E
brake (24 VDC)
1A 11 kW
A S With oil seal
1E 15 kW
* The rated output is 2.4 kW if you
combine the SGM7G-30A with the
SGD7S-200A.
98
Rotary Servomotors
Specifications
SGM7G
Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
Thermal Class UL: F, CE: F
Surrounding Air Temperature 0°C to 40°C (60°C max.)*3
Environmen- • Must facilitate inspection and cleaning.
Installation Site
tal Condi- • Must have an altitude of 1,000 m or less. (With derating, usage
tions is possible between 1,000 m and 2,000 m.)*3
Impact Acceleration
Shock 490 m/s2
Rate at Flange
Resistance*2
49 m/s2 (24.5 m/s2 front to back) 24.5 m/s2
SGD7S- 3R8A 7R6A 120A 180A 330A 470A 550A 590A 780A
Applicable *4
SGD7W- 5R5A ,
SERVOPACKs 7A6A −
SGD7C- 7R6A*4
Side to side

99
Rotary Servomotors
Servomotor Ratings
Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A
*1 kW 0.3 0.45 0.85 1.3 1.8
Rated Output
*1, *2 Nm 1.96 2.86 5.39 8.34 11.5
Rated Torque
*1 Nm 5.88 8.92 14.2 23.3 28.7
*1 Arms 2.8 3.8 6.9 10.7 16.7
Rated Current
*1 Arms 8.0 11 17 28 42
*1 -1 1500
*1 -1 3000
2.48 3.33 13.9 19.9 26.0
Motor Moment of Inertia*9 ×10-4 kgm2 (2.73) (3.58) (16.0) (22.0) (28.1)
15.5 24.6 20.9 35.0 50.9
Rated Power Rate*1 kW/s
(14.1) (22.8) (18.2) (31.6) (47.1)
7900 8590 3880 4190 4420
Rated Angular Acceleration Rate*1 rad/s2 (7180) (7990) (3370) (3790) (4090)
250 × 250 × 6 400 × 400 × 20
Heat Sink Size*3 mm
(aluminum) (steel)
Rated Voltage V 24 VDC
+10%
0
Capacity W 10
Specifications*5
Holding Brake

Coil Resistance Ω (at 20°C) 56 59
Rated Current A (at 20°C) 0.43 0.41
Time Required to Release Brake ms 100
15 times 5 times
15 times 10 times
LF mm 40 58
Allowable
Loads*8
Shaft

*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimensions
given in the table.
• The time required to release the brake and the time required to brake depend on which discharge circuit is used.
Confirm that the operation delay time is appropriate for the actual equipment.
LF
Radial load
Thrust load
*9. The values for the SGM7G-03A to -20A Servomotors with batteryless absolute encoders are the same as the
values in the table.
100
Rotary Servomotors

SGM7G
SGM7G-03A SGM7G-05A SGM7G-09A
3500 3500 3500
3000 3000 3000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

2500 2500 2500
2000 2000 2000
1500 1500 1500
A B A B A B
1000 1000 1000
500 500 500
0 0 0
0 1.2 2.4 3.6 4.8 6 0 2 4 6 8 10 0 3 6 9 12 15
SGM7G-13A* SGM7G-20A
3500 3500
3000 3000
Motor speed (min-1)
Motor speed (min-1)
2500 2500
2000 2000
1500 1500
A B A B
1000 1000
500 500
0 0
0 5 10 15 20 25 0 6 12 18 24 30
101
Rotary Servomotors
Servomotor Ratings
Voltage 200 V
Model SGM7G- 30A 30A*9 44A 55A 75A 1AA 1EA
*1
Rated Output kW 2.9 2.4 4.4 5.5 7.5 11 15
Rated Torque*1, *2 Nm 18.6 15.1 28.4 35.0 48.0 70.0 95.4
Instantaneous Maximum Torque*1 Nm 54.0 45.1 71.6 102 119 175 224
Instantaneous Maximum Current*1 Arms 70 56 84 110 130 140 170
*1 -1
Rated Motor Speed min 1500 1500 1500 1500 1500 1500 1500
*1 -1
Maximum Motor Speed min 3000 3000 3000 3000 3000
2000 2000
1.38 1.44
46.0 46.0 67.5 89.0 125
242 303
Motor Moment of Inertia*10 ×10-4 kgm2
(53.9) (53.9) (75.4) (96.9) (133)
(261) (341)
75.2 49.5 119 138 184
202 300
Rated Power Rate*1 kW/s
(64.2) (42.2) (107) (126) (173)
(188) (267)
4040 3280 4210 3930 3840
2890 3150
Rated Angular Acceleration Rate*1 rad/s2
(3450) (2800) (3770) (3610) (3610)
(2680) (2800)
650 × 650 × 35
Heat Sink Size*3 mm 550 × 550 × 30 (steel)
(steel)
+10%
Capacity W 18.5 25 32 35
Specifications*5
Holding Brake
Holding Torque Nm 43.1 72.6 84.3 114.6

Coil Resistance Ω (at 20°C) 31 23 18 17
Rated Current A (at 20°C) 0.77 1.05 1.33 1.46
Time Required to Brake ms 100 80
Allowable Load Moment of Inertia 5 3
5 times
(Motor Moment of Inertia Ratio)*6 times times
With External Regenerative Resistor and 10 7
10 times
External Dynamic Brake Resistor*7 times times
Allowable
LF mm 79 113 116
Loads*8
Shaft

*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimensions
given in the table.
• The time required to release the brake and the time required to brake depend on which discharge circuit is used.
Confirm that the operation delay time is appropriate for the actual equipment.
*8. Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft end during opera-
tion do not exceed the values given in the table.
LF
Radial load
Thrust load
*9. This is the value if you combine the SGM7G-30A with the SGD7S-200A.
*10.The values for the SGM7G-30A to -1EA Servomotors with batteryless absolute encoders are the same as the
values in the table.
102
Rotary Servomotors

A : Continuous duty zone (solid lines): With three-phase 200-V input
B : Intermittent duty zone (dotted lines): When combined with the SGD7S-200A
SGM7G
SGM7G-30A SGM7G-44A SGM7G-55A
3500 3500 3500
3000 3000 3000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

2500 2500 2500
2000 2000 2000
1500 1500 1500
A B A B A B
1000 1000 1000
500 500 500
0 0 0
0 12 24 36 48 60 0 15 30 45 60 75 0 25 50 75 100 125
SGM7G-75A* SGM7G-1AA SGM7G-1EA

3500 2500 2500
3000
2000 2000
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

2500
2000 1500 1500
A B A B
1500 1000 1000
A B
1000
500 500
500
0 0 0
0 30 60 90 120 150 0 40 80 120 160 200 0 50 100 150 200 250
* Use an SGM7G-75A Servomotor with a Holding Brake with an output torque of 14.4 N·m (30% of the rated
torque) or lower when using the Servomotor in continuous operation at the maximum motor speed of 3,000 min-1.
103
Rotary Servomotors

perature of 40°C.
SGM7G-03 and -05 SGM7G-09, -13, and -20
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
SGM7G-05
SGM7G-13
10 10
SGM7G-09
SGM7G-03
SGM7G-20
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
SGM7G-30, -44, -55, and -75 SGM7G-1A and -1E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
SGM7G-30 and -55 SGM7G-1A
10 10
SGM7G-75 SGM7G-1E
SGM7G-44
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
uous duty zone given in Torque-Motor Speed Characteristics on page 103.
104
Rotary Servomotors

in the Servomotor Ratings (pages 100 and 102). The values are determined by the regenerative
SGM7G
energy processing capacity of the SERVOPACK and are also affected by the drive conditions of the
Servomotor. Perform the required Steps for each of the following cases.

PACKs.

105
Rotary Servomotors
Derating Rates

120 120 120 120
SGM7G-30, -44, and -55 SGM7G-1A and -1E
100 100 100 100
Derating rate (%)

Derating rate (%)
Derating rate (%)

Derating rate (%)
80 80 80 80
SGM7G-75
60 60 60 60
SGM7G-03 and -05 SGM7G-09, -13, and -20
40 40 40 40
20 20 20 20
0 0 0 0
0 50 100 150 200 250 300 0 100 200 300 400 0 100 200 300 400 500 600 0 100 200 300 400 500 600 700
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)
 Servomotor Derating Rates for Surrounding Air Temperatures

Apply a suitable derating rate from the following graphs according to the surrounding air tempera-
ture of the Servomotor (60°C max.).
120 120 120
SGM7G-1E SGM7G-30 and -44
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80
SGM7G-03 and -05 SGM7G-09, -13, and -20 SGM7G-75
60 60 60
SGM7G-55 and -1A
40 40 40
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60
Surrounding Air Temperature (°C) Surrounding Air Temperature (°C) Surrounding Air Temperature (°C)

120 120 120
SGM7G-30 and -44
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80
60 SGM7G-03 and -05 60 SGM7G-09, -13, and -20 60
40 40 40
20 20 20
SGM7G-55, -75, -1A, and -1E
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Altitude (m) Altitude (m) Altitude (m)
106
Rotary Servomotors
External Dimensions
SGM7G
 SGM7G-03 and -05
Shaft End Details
L Notation LR
LL LR : Square dimensions 5
LP LM
10 0.04 A
5
0.04 dia. A
S dia.
90 .
dia
LA
79 dia.
LB dia.
35 dia.
S dia.
50
R1
70
LH
18 dia.
dia
. Q
17 KB1 A
0.02
38 KB2 4 × LZ dia. Unit: mm
Model
L*1 LL*1 LM LP*1 LR KB1 KB2*1 KL1
SGM7G-
03AA21 166*2 126 90 36 40*2 75 114 70
05AA21 179 139 103 36 40 88 127 70

SGM7G- LA LB LC LE LG LH LZ S Q Mass [kg]
*2
03AA21 30*2
0
100 80 -0.030 90 5 10 120 6.6 0
16 -0.011 2.6
05AA21 100 80
0
-0.030
90 5 10 120 6.6 16
0
-0.011
30 3.2
*1. For models that have a batteryless absolute encoder, L, LL, LP, and KB2 are 8 mm greater than the given value.
Refer to the following section for the values for individual models.
*2. The L, LR, S, and Q dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servo-
motors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
LR 1 PS 6* BAT(+)
3
Q
1
2 /PS 7 −
P
7 4 3 − 8 −
QK
S dia.
U
10 8 4 PG5V 9 PG0V
5* BAT(-) 10 FG (frame ground)
W
encoder.
T
R1
Model Applicable plug: Not provided by Yaskawa.
LR Q QK S W T U P Plug: CM10-AP10S--D for Right-angle Plug
SGM7G-
03AA61 40* 30* 20* 16 -0.011* 5
0
5 3 CM10-SP10S--D for Straight Plug
0
M5×12L ( depends on the applicable cable size.)
05AA61 40 30 20 16 -0.011 5 5 3
* The shaft end dimensions of these Servomotors • Servomotor Connector
are different from those of the Σ-V-series SGMGV
PE FG (frame ground) 3 Phase U
Servomotors.
5 − 2 Phase V
PE
Models that have the same installation dimensions

−
5
4 1 Phase W
as the SGMGV Servomotors are also available.
4
Contact your Yaskawa representative for details. Manufacturer: Japan Aviation Electronics
3
2
Industry, Ltd.
1
107
Rotary Servomotors
 SGM7G-09 to -75
L
LL LR
LP LM
0.04 A
LG LE Shaft End Details
0.04 dia. A LR LR
LC
.
S dia.
dia LE LE
LA
S dia.
S dia.
LH d
ia.
LB dia.
79 dia.
62 dia.
45 dia.
50
R1
28 dia.
44 dia.
R1
KL1
IE
Q Q
A
SGM7G-09 to -20 SGM7G-30 to -75
0.02*1
17 KB1 4 × LZ dia.
KB2 Unit: mm
Shaft End Approx.

SGM7G- L*2 LL*2 LM LP*2 LR KB1 KB2*2 IE KL1 Dimensions Mass
09AA21 195 137 101 36 58 83 125 − 104 145 110
0
-0.035
130 6 12 165 9 24 -0.013 *3
0
40 5.5
13AA21 211 153 117 36 58 99 141 − 104 145 110 -0.035

0
130 6 12 165 9 24 -0.013 *3
0
40 7.1
20AA21 229 171 135 36 58 117 159 − 104 145 110 -0.035
0
130 6 12 165 9 24 -0.013
0
40 8.6
30AA21 239 160 124 36 79 108 148 − 134 200 114.3 -0.025
0
180 3.2 18 230 13.5 35
+0.01
0 76 13.5
44AA21 263 184 148 36 79 132 172 − 134 200 114.3 0

-0.025
180 3.2 18 230 13.5 35 0
+0.01
76 17.5
55AA21 334 221 185 36 113 163 209 123 144 200 114.3 -0.025
0
180 3.2 18 230 13.5 42 -0.016
0
110 21.5
75AA21 380 267 231 36 113 209 255 123 144 200 114.3 -0.025
0
180 3.2 18 230 13.5 42 -0.016
0
110 29.5
*1. This is 0.04 for the SGM7G-55 or SGM7G-75.
*3. The S dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servomotors.
LR 1 PS 6* BAT(+)
3
Q
1
2 /PS 7 −
QK P 7 4
3 − 8 −
S dia.
U 10 8 4 PG5V 9 PG0V
W
encoder.
T
R1
SGM7G-
09AA61 58 40 25 24 0
* 8*
-0.013 7* 4* CM10-SP10S--D for Straight Plug
13AA61 58 40 25 0
24 -0.013 * 8* 7* 4* M5×12L ( depends on the applicable cable size.)
20AA61 58 40 25 0
24 -0.013 8 7 4 Manufacturer: DDK Ltd.
30AA61 79 76 60 35 +0.01
0 10 8 5 • Servomotor Connector
M12×25L
44AA61 79 76 60 35 +0.01
0 10 8 5 A Phase U C Phase W
55AA61 113 110 90 0
42 -0.016 12 8 5 D A B Phase V D FG (frame ground)
M16×32L
75AA61 113 110 90 0
42 -0.016 12 8 5
C B
* The shaft end dimensions of these Servomotors are

different from those of the Σ-V-series SGMGV Servomotors.
Models that have the same installation dimensions as the
SGMGV Servomotors are also available. Contact your
108
Rotary Servomotors
 SGM7G-1A and -1E

L
LL LR
LP LM Shaft End Details
0.06 A
SGM7G
LG LE
0.04 dia. A LR
LC LE
.
dia
LH LA
S dia.
dia.
79 dia.
LB dia.
80 dia.
S dia.
50
S1 dia.
R1
KL1
110
IE
A 4 × LZ dia.
0.04
17 KB1 56 56
KB2 Unit: mm
Shaft End Approx.

L* LL* LM LP* LR KB1 KB2* IE KL1 Dimensions Mass
SGM7G-
LA LB LC LE LG LH LZ S S1 [kg]
0 0
1AAA21 447 331 295 36 116 247 319 150 168 235 200 -0.046 220 4 20 270 13.5 42 -0.016 50 57
0 +0.030
1EAA21 509 393 357 36 116 309 381 150 168 235 200 -0.046 220 4 20 270 13.5 55 +0.011 60 67
* For models that have a batteryless absolute encoder, L, LL, LP, and KB2 are 8 mm greater than the given value.

LR 1 PS 6* BAT(+)
3
Q
1
2 /PS 7 −
P
7 4 3 − 8 −
QK
S dia.
U
10 8 4 PG5V 9 PG0V
W
encoder.
T
R1
SGM7G-
1AAA61 116 110 90 42 0
-0.016 12 8 5 M16×32L CM10-SP10S--D for Straight Plug
1EAA61 116 110 90 55 +0.030
+0.011 16 10 6 M20×40L
A Phase U C Phase W
C B
109
Rotary Servomotors
 SGM7G-03 and -05

L Shaft End Details
LL LR LR
LP LM 0.04 A
10 5 5
90 ia.
S dia.
0.04 dia. A
0d
10
79 dia.
35 dia.
LB dia.
S dia.
50
18 dia.
70
R1
12
0d
ia. Q
17 KB1 A
0.02 4 × 6.6 dia.
38 KB2 Unit: mm
Model
L*1 LL*1 LM LP*1 LR KB1 KB2*1 KL1
SGM7G-
03AA2C 199*2 159 123 36 40*2 75 147 70
05AA2C 212 172 136 36 40 88 160 70
Shaft End Dimen- Approx.

sions Mass
SGM7G-
03AA2C 100 80
0
-0.030
90 5 10 120 6.6 16
0
-0.011
*2 30*2 3.6
05AA2C 100 80
0
-0.030
90 5 10 120 6.6 16
0
-0.011
30 4.2
*2. The L, LR, S, and Q dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servo-
motors.

LR 1 PS 6* BAT(+)
3
Q
1
2 /PS 7 −
P
7 4
3 − 8 −
QK
S dia.
U
10 8 4 PG5V 9 PG0V
5* BAT(-) 10 FG (frame ground)
W
encoder.
T
R1
Model
SGM7G-
03AA6C 40* 30* 20* 16 -0.011* 5
0
5 3
0
M5×12L ( depends on the applicable cable size.)
05AA6C 40 30 20 16 -0.011 5 5 3 Manufacturer: DDK Ltd.
* The shaft end dimensions of these Servomotors are • Servomotor Connector
different from those of the Σ-V-series SGMGV
PE FG (frame ground) 3 Phase U
Servomotors.
5 − 2 Phase V
PE
Models that have the same installation dimensions as

−
5
4 1 Phase W
the SGMGV Servomotors are also available. Contact
4
your Yaskawa representative for details. Manufacturer: Japan Aviation Electronics

3
2
Industry, Ltd.
1
110
Rotary Servomotors
 SGM7G-09 to -75
L
LL LR Shaft End Details
LP LM LR LR
0.04 A
LG LE LC LE
ia. LE
SGM7G
0.04 dia. A Ad
S dia.
S dia.
S dia.
L
LH d
ia.
LB dia.
62 dia.
79 dia.
45 dia.
50
R1
28 dia.
44 dia.
R1
KL3
KL1
IE
Q
A
0.02*1
11 17 4 × LZ dia. SGM7G-09 to -20 SGM7G-30 to -75
KB1
KB3
KB2 Unit: mm
Shaft End
SGM7G- L*2 LL*2 LM LP*2 LR KB1 KB2*2 KB3 IE KL1 KL3 Dimensions
Mass [kg]
LA LB LC LE LG LH LZ S Q
09AA2C 231 173 137 36 58 83 161 115 − 104 80 145 110 -0.035
0
130 6 12 165 9 24 -0.013 *3 40
0
7.5
13AA2C 247 189 153 36 58 99 177 131 − 104 80 145 110 0
-0.035 130 6 12 165 9 24
0
-0.013
*3 40 9.0
20AA2C 265 207 171 36 58 117 195 149 − 104 80 145 110 0
-0.035 130 6 12 165 9 24
0
-0.013 40 11.0
30AA2C 287 208 172 36 79 108 196 148 − 134 110 200 114.3 0
-0.025 180 3.2 18 230 13.5 35 +0.01
0 76 19.5
44AA2C 311 232 196 36 79 132 220 172 − 134 110 200 114.3 -0.025
0
180 3.2 18 230 13.5 35 +0.01
0 76 23.5
55AA2C 378 265 229 36 113 163 253 205 123 144 110 200 114.3 0
-0.025 180 3.2 18 230 13.5 42 0
-0.016 110 27.5
75AA2C 424 311 275 36 113 209 299 251 123 144 110 200 114.3 0
-0.025 180 3.2 18 230 13.5 42 0
-0.016 110 35.0
*1. This is 0.04 for the SGM7G-55 or SGM7G-75.
*3. The S dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servomotors.
LR 1 PS 6* BAT(+)
3 1 2 /PS 7 −
Q
P
7 4 3 − 8 −
QK
S dia.
10 8 4 PG5V 9 PG0V
U
encoder.
W
T Receptacle: CM10-R10P-D
R1

Model Plug: CM10-AP10S--D for Right-angle Plug
LR Q QK S W T U P CM10-SP10S--D for Straight Plug
SGM7G-
09AA6C 58 40 0
25 24 -0.013 * 8* 7* 4* ( depends on the applicable cable size.)
13AA6C 58 40 0
25 24 -0.013 * 8* 7* 4* M5×12L
20AA6C 58 40 25 0
24 -0.013 8 7 4
A Phase U C Phase W
30AA6C 79 76 60 35 +0.01
0 10 8 5
M12×25L D A B Phase V D FG (frame ground)
44AA6C 79 76 60 35 +0.01
0 10 8 5
55AA6C 113 110 90 0
42 -0.016 12 8 5 C B
M16×32L
75AA6C 113 110 90 42 0
-0.016 12 8 5
• Brake Connector
* The shaft end dimensions of these Servomotors are
1 Brake terminal
different from those of the Σ-V-series SGMGV 2 Brake terminal
1
Servomotors.
Models that have the same installation dimensions as 2
brake terminals.
the SGMGV Servomotors are also available. Contact Receptacle: CM10-R10P-D
your Yaskawa representative for details. Applicable plug: Not provided by Yaskawa.
111
Rotary Servomotors
 SGM7G-1A, 1E
L
LL LR
LP LM
0.06 A Shaft End Details
LG LE
0.04 dia. A
LC LR
. LE
dia
LH LA
S dia.
dia
.
LB dia.
79 dia.
80 dia.
S dia.
50
KL3
S1 dia.
R1
KL1
110
IE
A 4 × LZ dia.
11 17 0.04 56 56
KB1
KB3
KB2 Unit: mm

L* LL* LM LP* LR KB1 KB2* KB3 IE KL1 KL3
SGM7G- LA LB LC LE LG LH LZ S S1 Mass [kg]
0 0
1AAA2C 498 382 346 36 116 247 370 315 150 168 125 235 200 -0.046 220 4 20 270 13.5 42 -0.016 50 65
0
1EAA2C 598 482 446 36 116 309 470 385 150 168 125 235 200 -0.046 220 4 20 270 13.5 55 +0.030
+0.011 60 85
* For models that have a batteryless absolute encoder, L, LL, LP, and KB2 are 8 mm greater than the given value.

LR 1 PS 6* BAT(+)
3
Q
1
2 /PS 7 −
P
7 4
3 − 8 −
QK
S dia.
U
10 8 4 PG5V 9 PG0V
W
encoder.
T
R1
Model
SGM7G-
1AAA6C 116 110 90 42 -0.016
0
12 8 5 M16×32L
1EAA6C 116 110 90 55 +0.011
+0.030
16 10 6 M20×40L Manufacturer: DDK Ltd.
A Phase U C Phase W
C B
• Brake Connector
1 Brake terminal
1 2 Brake terminal
2
brake terminals.
112
Rotary Servomotors
 Servomotors without Holding Brakes
SGM7G
Model Approx.
L LL LP KB2
SGM7G- Mass [kg]
03A6A21 174 134 44 122 2.6
05A6A21 187 147 44 135 3.2
09A6A21 203 145 44 133 5.5
13A6A21 219 161 44 149 7.1
20A6A21 237 179 44 167 8.6
30A6A21 247 168 44 156 13.5
44A6A21 271 192 44 180 17.5
55A6A21 342 229 44 217 21.5
75A6A21 388 275 44 263 29.5
1AA6A21 455 339 44 327 57
1EA6A21 514 401 44 389 67
 Servomotors with Holding Brakes

Model Approx.
L LL LP KB2
SGM7G- Mass [kg]
03A6A2C 207 167 44 155 3.6
05A6A2C 220 180 44 168 4.2
09A6A2C 239 181 44 169 7.5
13A6A2C 255 197 44 185 9.0
20A6A2C 273 215 44 203 11
30A6A2C 295 216 44 204 19.5
44A6A2C 319 240 44 228 23.5
55A6A2C 386 273 44 261 27.5
75A6A2C 432 319 44 307 35.0
1AA6A2C 506 390 44 378 65
1EA6A2C 606 490 44 478 85
113
Rotary Servomotors
Selecting Cables
SERVOPACK SERVOPACK
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Servomotor
Main Circuit Cable
Battery Case
(Required when an
absolute encoder is used.) Encoder-end Cable
Servomotor
Main Circuit Cable Servomotor
Servomotor
Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European
Safety Standards are not available from Yaskawa for the SGM7G Servomotors. You must make such a
cable yourself. Use the Connectors specified by Yaskawa for these Servomotors. (These Connectors are
compliant with the standards.) Yaskawa does not specify what wiring materials to use.
2. If the Encoder Cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
114
Rotary Servomotors

Servomotor Length
Name Order Number* Appearance
Model (L)
SGM7G
3m JZSP-CVM21-03-E
5m JZSP-CVM21-05-E
10 m JZSP-CVM21-10-E SERVOPACK end Motor end
For Servomotors L
15 m JZSP-CVM21-15-E
without Holding
Brakes 20 m JZSP-CVM21-20-E
SGM7G-03 40 m JZSP-CVM21-40-E
and -05
300 W, 3m JZSP-CVM41-03-E
450 W 5m JZSP-CVM41-05-E
10 m JZSP-CVM41-10-E L
For Servomotors 15 m JZSP-CVM41-15-E
with Holding Brakes 20 m JZSP-CVM41-20-E
mm or larger.

Length
Model ifications
end L
without Holding
SERVOPACK Motor end
SGM7G- 15 m JZSP-UVA102-15-E JZSP-UVA122-15-E
-13 3m JZSP-UVA131-03-E JZSP-UVA141-03-E SERVOPACK end Motor end
L
850 W,
For Servomotors L

Brakes 3m JZSP-UVA132-03-E JZSP-UVA142-03-E SERVOPACK Motor end
end L

Cables*2) Right-angle 10 m JZSP-UVA132-10-E JZSP-UVA142-10-E
Brake end Motor end
or larger.
115
Rotary Servomotors

Length
Model ifications
end L
without Holding
SERVOPACK Motor end
L
1.8 kW

end L

Cables*2)
Brake end Motor end
L
For Servomo- 15 m JZSP-UVA601-15-E JZSP-UVA621-15-E
tors without 20 m JZSP-UVA601-20-E JZSP-UVA621-20-E
Holding 3m JZSP-UVA602-03-E JZSP-UVA622-03-E
5m JZSP-UVA602-05-E JZSP-UVA622-05-E L
SGM7G- Right-
30 10 m JZSP-UVA602-10-E JZSP-UVA622-10-E
angle
2.4 kW 20 m JZSP-UVA602-20-E JZSP-UVA622-20-E
(When 3m JZSP-UVA631-03-E JZSP-UVA641-03-E SERVOPACK end Motor end
using an L
SGD7S- 5m JZSP-UVA631-05-E JZSP-UVA641-05-E
200A Straight 10 m JZSP-UVA631-10-E JZSP-UVA641-10-E
SERVO- SERVOPACK end Brake end
PACK.) with Holding
Brakes
3m JZSP-UVA632-03-E JZSP-UVA642-03-E L
Cables*2)
Brake end Motor end
or larger.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable length.
116
Rotary Servomotors

Length
Model ifications
SGM7G
end L
For Servomo- 15 m JZSP-UVA701-15-E JZSP-UVA721-15-E
tors without 20 m JZSP-UVA701-20-E JZSP-UVA721-20-E
Holding 3m JZSP-UVA702-03-E JZSP-UVA722-03-E
end L
Right-
angle
-44 3m JZSP-UVA731-03-E JZSP-UVA741-03-E SERVOPACK Motor end
end L
2.9 kW,
SERVOPACK Brake end
For Servomotors 15 m JZSP-UVA731-15-E JZSP-UVA741-15-E end L
Brakes SERVOPACK Motor end
Cables*2)
Brake end Motor end
3m JZSP-UVAA01-03-E JZSP-UVAA21-03-E
5m JZSP-UVAA01-05-E JZSP-UVAA21-05-E SERVOPACK Motor end
end L
Straight 10 m JZSP-UVAA01-10-E JZSP-UVAA21-10-E
15 m JZSP-UVAA01-15-E JZSP-UVAA21-15-E
For Servomo-
tors without 20 m JZSP-UVAA01-20-E JZSP-UVAA21-20-E
Holding 3m JZSP-UVAA02-03-E JZSP-UVAA22-03-E
5m JZSP-UVAA02-05-E JZSP-UVAA22-05-E end L
Right-
angle
SGM7G- 15 m JZSP-UVAA02-15-E JZSP-UVAA22-15-E
55 and 20 m JZSP-UVAA02-20-E JZSP-UVAA22-20-E
-75
3m JZSP-UVAA31-03-E JZSP-UVAA41-03-E SERVOPACK Motor end
end L
5.5 kW, 5m JZSP-UVAA31-05-E JZSP-UVAA41-05-E
7.5 kW Straight 10 m JZSP-UVAA31-10-E JZSP-UVAA41-10-E
SERVOPACK Brake end
For Servomotors 15 m JZSP-UVAA31-15-E JZSP-UVAA41-15-E end L
with Holding 20 m JZSP-UVAA31-20-E JZSP-UVAA41-20-E
3m JZSP-UVAA32-03-E JZSP-UVAA42-03-E end L
(Set of Two 5m JZSP-UVAA32-05-E JZSP-UVAA42-05-E
Cables*2)
Right-angle 10 m JZSP-UVAA32-10-E JZSP-UVAA42-10-E
Brake end Motor end
15 m JZSP-UVAA32-15-E JZSP-UVAA42-15-E L
or larger.
117
Rotary Servomotors

Length
Model ifications
3m JZSP-UVAB01-03-E JZSP-UVAB21-03-E
5m JZSP-UVAB01-05-E JZSP-UVAB21-05-E SERVOPACK Motor end
end L
Straight 10 m JZSP-UVAB01-10-E JZSP-UVAB21-10-E
15 m JZSP-UVAB01-15-E JZSP-UVAB21-15-E
For Servomo-
tors without 20 m JZSP-UVAB01-20-E JZSP-UVAB21-20-E
Holding 3m JZSP-UVAB02-03-E JZSP-UVAB22-03-E
5m JZSP-UVAB02-05-E JZSP-UVAB22-05-E end L
Right-
angle
SGM7G- 15 m JZSP-UVAB02-15-E JZSP-UVAB22-15-E
1A and 20 m JZSP-UVAB02-20-E JZSP-UVAB22-20-E
-1E 3m JZSP-UVAB31-03-E JZSP-UVAB41-03-E SERVOPACK Motor end
end L
5m JZSP-UVAB31-05-E JZSP-UVAB41-05-E
11 kW,
15 kW Straight 10 m JZSP-UVAB31-10-E JZSP-UVAB41-10-E
SERVOPACK Brake end
For Servomotors 15 m JZSP-UVAB31-15-E JZSP-UVAB41-15-E end L
with Holding 20 m JZSP-UVAB31-20-E JZSP-UVAB41-20-E

Brakes 3m JZSP-UVAB32-03-E JZSP-UVAB42-03-E SERVOPACK Motor end
end L
(Set of Two 5m JZSP-UVAB32-05-E JZSP-UVAB42-05-E

Cables*2)
Right-angle 10 m JZSP-UVAB32-10-E JZSP-UVAB42-10-E
Brake end Motor end
15 m JZSP-UVAB32-15-E JZSP-UVAB42-15-E L
or larger.
118
Rotary Servomotors

Name Appearance
SGM7G
5m JZSP-CVP01-05-E JZSP-CVP11-05-E SERVOPACK Encoder end
end L
molex
For incremen- 15 m JZSP-CVP01-15-E JZSP-CVP11-15-E
tal encoder, 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
or batteryless
absolute 3m JZSP-CVP02-03-E JZSP-CVP12-03-E
encoder 5m JZSP-CVP02-05-E JZSP-CVP12-05-E SERVOPACK Encoder end
end L
molex
All SGM7G models
end L
Battery Case
15 m JZSP-CVP06-15-E JZSP-CVP26-15-E (battery included)
For absolute
encoder: With
Battery Case*2 SERVOPACK Encoder end
L
5m JZSP-CVP07-05-E JZSP-CVP27-05-E end
Battery Case
15 m JZSP-CVP07-15-E JZSP-CVP27-15-E (battery included)
or larger.
*2. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremen-
tal encoders.

Servomotor Length Order Number for
Name Appearance
Model (L) Standard Cable
end L
JZSP-CVP01-E
molex
Encoder-end Cable (for

0.3 m
all types of encoders) SERVOPACK Encoder end
end L
JZSP-CVP02-E
molex
30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end

All SGM7G models Cables with Connec- L
tors on Both Ends (for 40 m JZSP-UCMP00-40-E
all types of encoders)
Cable with a Battery SERVOPACK end Encoder end
L
Case
(Required when an 0.3 m JZSP-CSP12-E
absolute encoder is Battery Case
(battery included)
used.)*
host controller.
119
Rotary Servomotors Reference
SGMMV (Earlier Models with Low Inertia, Ultra Small Size)
Model Designations
SGMMV - A1 A 2 A 2 1
-Vmini Series digits digit digit digit digit digit
Servomotors:
SGMMV

A1 10 W A 200 VAC 2 Straight (standard)
A2 20 W A Straight with flat seats (optional)
A3 30 W 4th digit Serial Encoder
Code Specification 7th digit Options
2 17-bit absolute Code Specification
1 Without options
5th digit Design Revision Order C With holding brake (24 VDC)
A
120
Rotary Servomotors
Specifications
SGMMV
Voltage 200 V
Model SGMMV- A1A A2A A3A
Thermal Class B
Environmen- • Must be well-ventilated and free of dust and moisture.
tal Condi- Installation Site • Must facilitate inspection and cleaning.
tions • Must have an altitude of 1,000 m or less.
Impact Acceleration
Shock 490 m/s2
Rate at Flange
Resistance*2
49 m/s2
SGD7S- R90A, R90F 1R6A, 2R1F
Applicable
SGD7W-
SERVOPACKs 1R6A*3, 2R8A*3 1R6A, 2R8A*3
SGD7C-
*2. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the
directions shown in the following figures.
Side to side
121
Rotary Servomotors
Servomotor Ratings
Voltage 200 V
Model SGMMV- A1A A2A A3A
*1 W 10 20 30
Rated Output
*1, *2 Nm 0.0318 0.0637 0.0955
Rated Torque
Instantaneous Maximum Torque*1 Nm 0.0955 0.191 0.286
*1 Arms 0.70 0.66 0.98
Rated Current
*1 Arms 2.0 1.9 2.9
Torque Constant Nm/Arms 0.0516 0.107 0.107
Motor Moment of Inertia ×10 kgm
-7 2 2.72 (4.07) 4.66 (6.02) 6.68 (8.04)
*1 kW/s 3.72 8.71 13.7
Rated Power Rate
Rated Angular Acceleration Rate*1 rad/s2 117000 137000 143000
Heat Sink Size (Aluminum)*3 mm 150×150×3 250×250×6
Totally enclosed, self-cooled, IP55
Protective Structure*4
+10%
Capacity W 2.0 2.6

Holding Brake Coil Resistance Ω (at 20°C) 320 221.5
Specifications*5 Rated Current A (at 20°C) 0.075 0.108
ms 40
Brake
30 times
LF mm 16
Allowable Shaft
Allowable Radial Load N 34 44
Loads*7
Allowable Thrust Load N 14.5
ing is 100°C. These are typical values.
*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimen-
sions given in the table.
used.
LF
Radial load
Thrust load
122
Rotary Servomotors

B : Intermittent duty zone*
SGMMV
SGMMV-A1A SGMMV-A2A SGMMV-A3A
7000 7000 7000
6000 6000 6000
Motor speed (min-1)

Motor speed (min-1)
Motor speed (min-1)
5000 5000 5000

4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.04 0.08 0.12 0.16 0 0.08 0.16 0.24 0.32 0 0.1 0.2 0.3 0.4
Torque (N·m) Torque (N·m) Torque (N·m)
* The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V input.

perature of 40°C.
1000
SGMMV-A1, -A2, -A3

100
Detection time (s)
10
1
100 200 300

(%)
123
Rotary Servomotors

in the Servomotor Ratings (page 122). The values are determined by the regenerative energy pro-
cessing capacity of the SERVOPACK and are also affected by the drive conditions of the Servomo-
tor. Perform the required Steps for each of the following cases.

PACKs.

SGMMV-A1A, -A2A, -A3A

35
30
25
20
15
10
5
0
0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
Note: Applicable SERVOPACK models: SGD7S-R90A, -1R6A, -R90F, and -2R1F

124
Rotary Servomotors
Derating Rates

SGMMV
100 100
SGMMV-A3
Derating rate (%)
Derating rate (%)

SGMMV-A1，-A2
80 80
60 60
40 40
20 20
0 30 60 90 120 150 0 50 100 150 200 250
Note: The derating rates are applicable only when the average motor speed is less than or equal to
the rated motor speed. If the average motor speed exceeds the rated motor speed, consult
with your Yaskawa representative.
125
Rotary Servomotors
External Dimensions
 SGMMV-A1, -A2 and -A3
Encoder Cable, 4 Dia. Encoder connector
UL20276
300 ±30
Motor Lead Servomotor connector

AWG24,UL10095
or UL3266
Protective Tube
5 Dia., Black
300 ±30
L
0.04 A 25
12 L1 16
0.02
26.5 L2 2.5 A 16
0.04 Dia. A
S Dia.
4
45°
LB Dia.
28
Dia
.
2-M3 Tapped
Holes, Depth 7
Flange
Model Approx.
L L1 L2 Dimensions
SGMMV- Mass [kg]
S LB
A1A2A1 70 54 27.5 0
5 -0.008 20 -0.021
0
0.13
A2A2A1 80 64 37.5 0
5 -0.008 20 -0.021
0
0.17
A3A2A1 90 74 47.5 0
5 -0.008 20 -0.021
0
0.21

0.02 1 PG5V Red
10 A 5 6 2 PG0V Black
3* BAT Orange
S Dia.
3 4
4* BAT0 Orange/white
1 2 5 PS Light blue
6 /PS Light blue/white
Connector FG
Shield
LB Dia.
case (frame ground)

0.5 4.5
encoder.
Model: 55102-0600
Mating connector: 54280-0609
1 Phase U
3 4
2 Phase V
3 Phase W
1 2
4 FG (frame ground)
126
Rotary Servomotors
 SGMMV-A1, -A2 and -A3

Encoder Cable, 4 Dia. Encoder connector
UL20276
SGMMV
300 ±30
Motor Lead Servomotor connector

AWG24,UL10095
or UL3266
Protective Tube
5 Dia., Black
300 ±30
0.04 A 25
12 L1 16
0.02
26.5 L2 2.5 A 16
S Dia.
4
45°
LB Dia.
28
Dia
.
2-M3 Tapped
0.04 Dia. A Holes, Depth 7
Flange
Model Approx.
L L1 L2 Dimensions
SGMMV- Mass [kg]
S LB
A1A2AC 94.5 78.5 27.5 0
5 -0.008
0
20 -0.021 0.215
A2A2AC 108.5 92.5 37.5 0
5 -0.008
0
20 -0.021 0.27
A3A2AC 118.5 102.5 47.5 5
0
-0.008 20
0
-0.021
0.31

1 PG5V Red
0.02 5 6
A
2 PG0V Black
10
3* BAT Orange
3 4
S Dia.
4* BAT0 Orange/white
1 2 5 PS Light blue
6 /PS Light blue/white
Connector FG
Shield
case (frame ground)
LB Dia.

encoder.
0.5 4.5 Model: 55102-0600
1 Phase U
2 Phase V
4 5 6
3 Phase W
1 2 3
4 FG (frame ground)
5 Brake
6 Brake
127
Rotary Servomotors
Selecting Cables
SERVOPACK SERVOPACK
Relay Encoder Cable

(Required when an

Encoder Cable on Both Ends
Servomotor Main
Circuit Cable
Battery Case
(Required when an
Servomotor Main Encoder-end Cable

Servomotor Circuit Cable
Main Circuit Cable
Encoder-end
Servomotor Main Cable
Circuit Cable Servomotor
Servomotor
128
Rotary Servomotors

Length Order Number
Name Appearance
SGMMV
For Servomotors with- 15 m JZSP-CF2M00-15-E JZSP-CF2M20-15-E Ｌ
out Holding Brakes 20 m JZSP-CF2M00-20-E JZSP-CF2M20-20-E
For Servomotors with 15 m JZSP-CF2M03-15-E JZSP-CF2M23-15-E Ｌ
Holding Brakes 20 m JZSP-CF2M03-20-E JZSP-CF2M23-20-E

mm or larger.

Length Order Number
Name Appearance
Cables with Connectors 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK end
L
Encoder end
on Both Ends 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E

(for incremental encoder) 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
3m JZSP-CSP19-03-E JZSP-CSP29-03-E
Cables with Connectors 5m JZSP-CSP19-05-E JZSP-CSP29-05-E L
on Both Ends
(for absolute encoder:
15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
With Battery Case) (battery included)
mm or larger.

Length
(L)
30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
Cables with Connectors on Both Ends (for L
incremental or absolute encoder)
L
(Required when an absolute encoder is 0.3 m JZSP-CSP12-E
used.)* Battery Case
(battery included)
* This Cable is not required if a battery is connected to the host controller.
129
MEMO
130
Features
SGM7D (With Core, Outer Rotor) ..................... 132

• Ideal for applications that require high torque, high
precision, and high rigidity.
• Application to large loads possible with a high allow-
able load moment of inertia ratio.
• Highly accurate indexing can be achieved with a
high-resolution 24-bit encoder.
• High rigidity.
• Large center aperture design to save wiring space.
SGM7E (Coreless, Inner Rotor) ........................ 158

• Ideal for applications that require smooth movement SGM7D
without speed fluctuations. SGM7E
• Low cogging with a core-less system provides
smooth operation free from speed variations. SGM7F
• Highly accurate indexing can be achieved with a SGMCV
• High machine precision for runout at end of shaft SGMCS
and runout of shaft surface (0.01 mm).
SGM7F (With Core, Inner Rotor) ...................... 174

• Ideal for applications that require downsizing and a
shorter takt time.
• High-speed, high-frequency positioning.
• Low heat generation.
• Highly accurate indexing can be achieved with a
• High machine precision for runout at end of shaft
SGMCV
(Small Capacity, with Core, Inner Rotor) .......... 196
• Compact design with small rotor diameter.
• Low inertia, low heat generation.
• High-speed, high-frequency positioning.
• High machine precision for runout at end of shaft
• Built-in 22-bit encoder.
SGMCS
(Small Capacity, Coreless, Inner Rotor or
Medium Capacity, with Core, Inner Rotor) ....... 210
• High-speed operation can shorten takt time.
• Built-in 20-bit encoder.
SGM7D (With Core, Outer Rotor)
Model Designations
SGM7D - 30 F 7 C 4 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit
Servomotors:
SGM7D
1st+2nd digits Rated Torque 4th digit Serial Encoder
Code Specification Code Specification Code Specification Code Specification

01 1.30 Nm 18 18.0 Nm 58 58.0 Nm 7 24-bit multiturn absolute encoder*
02 2.06 Nm 20 20.0 Nm 70 70.0 Nm F 24-bit incremental encoder*
03 3.00 Nm 24 24.0 Nm 90 90.0 Nm * Both multiturn absolute encoder and incremental encoder can be
05 5.00 Nm 28 28.0 Nm 1Z 100 Nm
06 6.00 Nm 30 30.0 Nm 1A 110 Nm 5th digit Design Revision Order
08 8.00 Nm 34 34.0 Nm 1C 130 Nm C
09 9.00 Nm 38 38.0 Nm 2B 220 Nm 6th digit Flange
12 12.0 Nm 45 45.0 Nm 2D 240 Nm
Servomotor Outer
Code Mounting Diameter Code (3rd Digit)
3rd digit Servomotor Outer Diameter
F G H I J K L
Code Specification Code Specification 4
Non-load
With cable on side - - -
side
F 264-mm dia. J 150-mm dia. 5 With cable on bottom * - -
G 160-mm dia. K 107-mm dia. : Applicable models.
H 116-mm dia. L 224 mm × 224 mm * SGM7D-01G and -05G are not available with a cable
extending from the bottom.
I 264-mm dia.
Note: 1. Direct Drive Servomotors are not available 7th digit Options
with holding brakes.
2. This information is provided to explain Code Specification
model numbers. 1 Standard mechanical precision
It is not meant to imply that models are 2 High mechanical precision*
available for all combinations of codes.
* The SGM7D-01G, -05G, and -03H are available only with
high mechanical precision.
 Manufactured Models
Rated Servomotor Outer Diameter
Torque F G H I J K L (224 mm ×
Nm (264-mm dia.) (160-mm dia.) (116-mm dia.) (264-mm dia.) (150-mm dia.) (107-mm dia.) 224 mm)
1.30 – SGM7D-01G – – – – –
2.06 – – – – – SGM7D-02K –
3.00 – – SGM7D-03H – – – –
5.00 – SGM7D-05G – – – – –
6.00 – – – – SGM7D-06J SGM7D-06K SGM7D-06L
8.00 – SGM7D-08G – – – SGM7D-08K –
9.00 – – – – SGM7D-09J – –
12.0 – – – – – – SGM7D-12L
18.0 – SGM7D-18G – – SGM7D-18J – –
20.0 – – – – SGM7D-20J – –
24.0 – SGM7D-24G – – – – –
28.0 – – – SGM7D-28I – – –
30.0 SGM7D-30F – – – – – SGM7D-30L
34.0 – SGM7D-34G – – – – –
38.0 – – – – SGM7D-38J – –
45.0 – SGM7D-45G – – – – –
58.0 SGM7D-58F – – – – – –
70.0 – – – SGM7D-70I – – –
90.0 SGM7D-90F – – – – – –
100 – – – SGM7D-1ZI – – –
110 SGM7D-1AF – – – – – –
130 – – – SGM7D-1CI – – –
220 – – – SGM7D-2BI – – –
240 – – – SGM7D-2DI – – –
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh dig-
its have been omitted.
132

Specifications
 SGM7D-F, -G, and -H
Voltage 200 V
Model SGM7D- 30F 58F 90F 1AF 01G 05G 08G 18G 24G 34G 45G 03H
SGM7D
Thermal Class F
Excitation Three-phase
Absolute Accuracy ±15 s
Repeatability ±1.3 s
Totally enclosed, Totally enclosed, Totally enclosed, self- Totally enclosed,
Protective Structure*1 self-cooled, IP20 self-cooled, IP30 cooled, IP20 self-cooled, IP30
Surrounding Air Temperature 0°C to 40°C (with no freezing)

Installation Site • Must facilitate inspection and cleaning.
• Must have an altitude of 1,000 m or less.
Store the Servomotor in the following environment if you store it with
the power cable disconnected.
Tolerances*2
Standard Mechanical
Mechanical
Runout of mm 0.1 – 0.1 0.1 –

Output Shaft Precision
Surface/Runout
at End of High Mechanical mm 0.005 0.01 0.005 0.01
Output Shaft Precision
SGD7S- 120A*3 2R8A*3, 2R8F*3 120A*3 2R8A*3, 2R8F*3

Applicable SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are
excluded. Protective structure specifications apply only when the special cable is used.
*2. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of
the individual Servomotors for more information on tolerances.
dia.
A Runout of output shaft surface : Diameter determined by motor model.
Runout at end of output shaft B
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK
models can be used.
• SGD7S-AF82
• SGD7S-00AF83
133
 SGM7D-I and -J

Voltage 200 V
Model SGM7D- 28I 70I 1ZI 2BI 2DI 06J 09J 18J 20J 38J
1CI
Thermal Class F

Store the Servomotor in the following environment if you store it
with the power cable disconnected.
Storage Environment
Runout of Standard
Tolerances*2
Mechanical
Output Shaft Mechanical mm 0.1

Surface/ Precision
Runout at High
End of Out- Mechanical mm 0.005 0.02 0.005 0.01
put Shaft Precision
SGD7S- 120A*3
Applicable
SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are
dia.
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK
models can be used.
• SGD7S-AF82
• SGD7S-00AF83
134
 SGM7D-K and -L

Voltage 200 V
Model SGM7D- 02K 06K 08K 06L 12L 30L
Thermal Class F
SGM7D

Storage Environment
Runout of Standard
Tolerances*2
Mechanical
Output Shaft Mechanical mm 0.1 0.05

Surface/ Precision
Runout at High
End of Out- Mechanical mm 0.01 0.005
put Shaft Precision
SGD7S- 2R8A*3, 2R8F*3 120A*3
Applicable
SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are excluded.
Protective structure specifications apply only when the special cable is used.
*2. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the
individual Servomotors for more information on tolerances.
dia.
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK models can
be used.
• SGD7S-AF82
• SGD7S-00AF83
135
Ratings
 SGM7D-F, -G, and -H
Voltage 200 V
Model SGM7D- 30F 58F 90F 1AF 01G 05G 08G 18G 24G 34G 45G 03H
Rated Output W 188 364 565 691 16 63 101 226 302 320 565 38
Rated Torque*1 Nm 30.0 58.0 90.0 110 1.30 5.00 8.00 18.0 24.0 34.0 45.0 3.00
Rated Intermittent Torque*2 Nm – – – – – – – – 27.0 40.0 52.0 –
Instantaneous Maximum Torque Nm 50.0 100 150 200 4.00 6.00 15.0 30.0 45.0 60.0 75.0 4.00
Stall Torque Nm 30.0 58.0 90.0 110 1.30 5.00 8.00 18.0 24.0 34.0 45.0 3.00
Rated Current Arms 5.7 6.4 5.9 5.0 1.7 1.6 3.4 3.4 3.1 3.3 4.8 1.1
Instantaneous Maximum Current Arms 14.1 4.2 3.5 10.6 3.5
Rated Motor Speed min-1 60 120 90 120 120
Maximum Motor Speed min-1 72 150 144 150
Nm/
Torque Constant 6.25 12.5 17.8 24.5 1.09 3.84 2.82 5.76 8.57 11.2 10.2 3.01
Arms
×10-4 960 1190 1420 1670 55.0 75.0 120 150 190 230 270
Motor Moment of Inertia 25.0
kgm2
Rated Power Rate kW/s 9.38 28.3 57.0 72.5 0.307 3.33 5.33 21.6 30.3 50.3 75.0 3.60
Rated Angular Acceleration Rate rad/s2 313 487 634 659 236 667 667 1200 1260 1480 1670 1200
350 ×
Heat Sink Size mm 550 × 550 × 30 (aluminum) 350 × 20
(steel)
Allowable Load Moment of Inertia 200 150 150 130 400 350 300 250 200
times 130 300 600
(Motor Moment of Inertia Ratio) 500*4 400*4 350*4 300*4 1000*4 900*4 750*4 650*4 450*4
With External Regenerative
Resistor and External Dynamic times 2500 3500 4000 5000 130 300 2000 3000 4000 4000 4000 600
Brake Resistor*3
Forward N 4 × 104 50 200 3 × 104 50
Allowable
Loads*5
Allowable
Thrust Load Reverse N 2 × 10 4 50 200 1 × 10 4 50
Allowable Moment Load Nm 400 – 50 200 –
Thrust Forward mm/N 2 × 10 -6 – 2.5 × 10 -6 –
Rigidities
Displacement
Rigidity Reverse mm/N 3 × 10 -6 – 3 × 10-6 –
Moment rad/
Displacement Rigidity Nm 4 × 10 -7 – 1 × 10 -6 –
*1. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum
or steel heat sink of the dimensions given in the table.
*2. The rated intermittent torque is the value for 60% ED.
*3. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs (maximum
applicable motor capacity: 400 W).
• SGD7S-2R8 A020F82
• SGD7S-2R8 00A020F83
*4. If you use an SGD7S-120A008 SERVOPACK and SGM7D Servomotor together, use the ratios given on the bottom line.
*5. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the follow-
ing patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table.
The allowable load is for a static load in one direction.
When designing the system, multiply the allowable load by the following safety coefficient depending on the type of load.
• Smooth load with no shock: 1/3
• Light repetitive load: 1/5
• Shock load: 1/10
L F
Reverse Reverse
F Thrust load direction F Thrust load direction
Forward Forward L
Where F is the external force, Where F is the external force, Where F is the external force,
Thrust load = F + Load mass Thrust load = F + Load mass Thrust load = Load mass
Moment load = 0 Moment load = F × L Moment load = F × L
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 20°C. These are typical values.
2. For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of
heat loss is higher at low temperatures.
136
 SGM7D-I and -J

Voltage 200 V
Model SGM7D- 28I 70I 1ZI 1CI 2BI 2DI 06J 09J 18J 20J 38J
Rated Output W 264 440 628 817 691 754 75 113 226 251 358
*1 Nm 28.0 70.0 100 130 220 240 6.00 9.00 18.0 20.0 38.0
Rated Torque
Instantaneous
Nm 50.0 100 150 200 300 400 8.00 15.0 30.0 45.0 60.0
Maximum Torque
Stall Torque Nm 28.0 70.0 100 130 220 240 6.00 9.00 18.0 20.0 38.0
SGM7D
Rated Current Arms 5.2 5.6 5.5 5.0 5.6 4.8 4.0 3.4 3.0 2.2 3.1
Instantaneous
Arms 14.1 10.6
Maximum Current
Rated Motor Speed min-1 90 60 30 120 90
Maximum Motor Speed -1 108 72 60 48 144
min
Nm/
Torque Constant 6.90 13.9 20.8 27.8 41.5 54.4 1.71 3.29 6.62 9.88 13.3
Arms
×10-4
Motor Moment of Inertia 1800 2000 2300 2850 3400 4000 150 210 240 260 330
kgm2
Rated Power Rate kW/s 4.36 24.5 43.5 59.3 142 144 2.40 3.86 13.5 15.4 43.8
Rated Angular 2
rad/s 156 350 435 456 647 600 400 429 750 769 1150
Acceleration Rate
Heat Sink Size mm 550 × 550 × 30
Allowable Load Moment of Inertia 50 100 90 80 350 250 240 220 180
times 100 150
(Motor Moment of Inertia Ratio) 125*2 250*2 230*2 200*2 700*2 600*2 550*2 550*2 450*2
With External Regenera-
tive Resistor and External times 800 2000 2500 3000 100 150 700 900 2500 2000 2000
Dynamic Brake Resistor*3
4 × 104 3 × 104
Allowable
Forward N
Thrust
Load
Allowable
Loads*3
Reverse N 2 × 104 1 × 104

Allowable
Nm 400 200
Moment Load
Displacement
Forward mm/N 2 × 10-6 3 × 10-6

Rigidity
Thrust
Rigidities
Reverse mm/N 3 × 10-6 4 × 10-6
Moment rad/
Displacement Rigidity Nm 4 × 10-7 2 × 10-6
*2. If you use an SGD7S-120A008 SERVOPACK and SGM7D Servomotor together, use the ratios given on the bot-
tom line.
*3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into
the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values
given in the table.
When designing the system, multiply the allowable load by the following safety coefficient depending on the
type of load.
L F
Reverse Reverse
Forward Forward L
137
 SGM7D-K and -L

Voltage 200 V
Model SGM7D- 02K 06K 08K 06L 12L 30L
Rated Output W 52 151 201 113 226 565
Rated Torque*1 Nm 2.06 6.00 8.00 6.00 12.0 30.0
Repetitive Rated Torque *2 Nm − 6.90 − − − −
Instantaneous Maximum Torque Nm 5.00 10.0 15.0 10.0 20.0 40.0
Stall Torque Nm 2.06 6.00 8.00 6.00 12.0 30.0
Rated Current Arms 1.6 1.8 1.6 1.7 2.1 8.1
Instantaneous Maximum Current Arms 4.2 4.2 4.2 14.1
Rated Motor Speed min-1 240 180
Maximum Motor Speed -1 360 216
min
Motor Moment of Inertia ×10 kgm-4 2 60.0 70.0 80.0 220 220 370
Rated Power Rate kW/s 0.707 5.14 8.00 1.64 6.55 24.3
Rated Angular Acceleration Rate rad/s2 343 857 1000 273 545 811
Heat Sink Size mm 550 × 550 × 30 650 × 650 × 30
times 200 350 25 450 20
(Motor Moment of Inertia Ratio) 130*4
times 200 350 25 450 20 3500
5 × 103
Allowable
Forward N 2000
Loads*5
Allowable
Thrust Load Reverse N 3 × 10 3 1000
Allowable Moment Load Nm 20 100
Forward mm/N 4 × 10 -6 –
Rigidities
Thrust Displace-
ment Rigidity Reverse mm/N 8 × 10 -6 –
Moment Displacement Rigidity rad/Nm 8 × 10-6 –
*2. The rated intermittent torque is the value for 60% ED.
*3. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs (max-
imum applicable motor capacity: 400 W).
• SGD7S-2R8 A020F82
• SGD7S-2R8 00A020F83
*4. If you use an SGD7S-120A008 SERVOPACK and SGM7D Servomotor together, use the ratios given on the bot-
tom line.
given in the table.
When designing the system, multiply the allowable load by the following safety coefficient depending on the
type of load.
L F
Reverse Reverse
Forward Forward L
138

A : Continuous duty zone (dotted lines): With 60%ED 10 min. duty factor
B : Intermittent duty zone* (solid lines): With three-phase 200-V, single-phase 230-V, and single-phase 200-V input
SGM7D-30F SGM7D-58F SGM7D-90F

80 80 80
70 70 70
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60 60 60
50 50 50
SGM7D
40 40 40
30 30 30
20 20 20
A B A B A B
10 10 10
0 0 0
0 20 40 60 0 20 40 60 80 100 120 0 40 80 120 160
SGM7D-1AF SGM7D-01G SGM7D-05G

80 160 160
70 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60 120 120
50 100 100
40 80 80
30 60 60
20 40 40
A B A B A B
10 20 20
0 0 0
0 40 80 120 160 200 240 0 1 2 3 4 5 0 2 4 6 8
SGM7D-08G SGM7D-18G SGM7D-24G

160 160 160
140 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 120
100 100 100
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 4 8 12 16 0 8 16 24 32 0 10 20 30 40 50
SGM7D-34G SGM7D-45G SGM7D-03H

160 160 160
140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
120 120 120

100 100
80 80 80
60 60 A B
40 40 40
A B A B
20 20
0 0 0
0 10 20 30 40 50 60 70 0 20 40 60 80 0 1 2 3 4 5
SGM7D-28I SGM7D-70I SGM7D-1ZI

120 120 120
100 100 100

Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 20 40 60 0 20 40 60 80 100 120 0 30 60 90 120 150 180
139
SGM7D-1CI SGM7D-2BI SGM7D-2DI

120 80 60
100 50
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60
80 40
60 40 30
40 20
A B 20
20 A B 10
A B
0 0 0
0 40 80 120 160 200 240 0 80 160 240 320 0 60 120 180 240 300 360 420
SGM7D-06J SGM7D-09J SGM7D-18J

160 160 160
140 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 120
100 100 100
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 2 4 6 8 10 0 4 8 12 16 0 8 16 24 32
SGM7D-20J SGM7D-38J SGM7D-02K

160 160 400
140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 300
100 100
80 80 200
60 60 A B
40 40 100
A B A B
20 20
0 0 0
0 16 32 48 0 16 32 48 64 0 1 2 3 4 5 6
SGM7D-06K SGM7D-08K SGM7D-06L

400 400 240
200
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
300 300
160
200 200 120
80
100 100 A B
A B A B 40
0 0 0
0 2 4 6 8 10 12 0 3 6 9 12 15 18 0 2 4 6 8 10 12
SGM7D-12L SGM7D-30L
240 240
200 200
Motor speed (min-1)
Motor speed (min-1)
160 160
120 120
80 80
A B A B
40 40
0 0
0 4 8 12 16 20 24 0 8 16 24 32 40 48
* The characteristics are the same for three-phase 200 V and single-phase 200 V input.
Contact your Yaskawa representative for information on the characteristics for single-phase 100 V input.
140

perature of 40ºC.
SGM7D-30F SGM7D-58F
10000 10000
SGM7D
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
100 120 140 160 180 200 220 240 260 100 120 140 160 180 200 220 240
Current (percentage of rated current) (%) Current (percentage of rated current) (%)
SGM7D-90F SGM7D-1AF
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 120 140 160 180 200 220 240 100 140 180 220 260 300
SGM7D-01G SGM7D-05G
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
80 140 200 260 80 140 200 260
141
SGM7D-08G SGM7D-18G
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
100 160 220 280 340 100 160 220 280 340
SGM7D-24G SGM7D-34G
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 160 220 280 340 100 160 220 280 340
SGM7D-45G SGM7D-03H
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
80 140 200 260 100 130 160 190 220 250 280 310 340
142
SGM7D-28I SGM7D-70I
10000 10000
Detection time (s)
Detection time (s)

1000 1000
SGM7D
100 100
10 10
100 130 160 190 220 250 280 100 140 180 220 260
SGM7D-1ZI SGM7D-1CI
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 140 180 220 260 100 150 200 250 300
SGM7D-2BI SGM7D-2DI
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 140 180 220 260 100 150 200 250 300
143
SGM7D-06J SGM7D-09J
10000 10000
Detection time (s)
Detection time (s)

1000 1000
100 100
10 10
100 140 180 220 260 300 100 140 180 220 260 300 340
SGM7D-18J SGM7D-20J
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 150 200 250 300 350 400 100 160 220 280 340 400 460 520
SGM7D-38J SGM7D-02K
10000 1000
Detection time (s)
Detection time (s)
1000 100
100 10
10 1
100 140 180 220 260 300 340 380 100 140 180 220 260
144
SGM7D-06K SGM7D-08K
1000 1000
Detection time (s)
Detection time (s)

100 100
SGM7D
10 10
1 1
100 140 180 220 260 100 140 180 220 260
SGM7D-06L SGM7D-12L
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 120 140 160 180 200 220 240 260 100 120 140 160 180 200 220
SGM7D-30L
10000
1000
Detection time (s)
100
10
1
100 120 140 160 180
Current (percentage of rated current) (%)
Use the Servomotor so that the effective force remains within the continuous duty zone. Refer to the following
section for details on the effective torque.
Torque-Motor Speed Characteristics (page 139)
145

in the Ratings (pages 136 to 138). The values are determined by the regenerative energy processing
capacity of the SERVOPACK and are also affected by the drive conditions of the Servomotor. Per-
form the required Steps for each of the following cases.

PACKs.
Install an External Regenerative Resistor when the built-in regenerative resistor cannot process all
of the regenerative power.

146
External Dimensions
 SGM7D-F
• Servomotors with the Cable on the Side
300 ±50
25° (35)
SGM7D
6 × M8 × 10
Fixed part L ±1 (Divided into equal
5 ±0.2 sections at 60°.)
3)
) (1
.
2 dia
0 dia. hole
±0.
(48
10 +20
246
58+0.5
dia.
-0.05 dia.
264 dia.
200 -0.02
-0.06
-0.02
230
( 26
170 ±0.2 dia. )
CW
Cable tie direction
6 × M6 × 15 (6)
*2 *1
(Divided into equal sections at 60°.) CCW
Coated surface *2
direction
Unit: mm
• Servomotors with the Cable on the Bottom

6 × M6 × 15
(Divided into equal sections at 60°.)
L ±1 6 × M8 × 10
(48) (48) 10 +20 5 ±0.2 (Divided into equal
(35)
Fixed part sections at 60°.)

300 ±50
-0.05 dia.
0 dia. hole
dia.
(21.1)
0.2
200 -0.02
±
246
58+0.5
dia.
264 dia.
-0.02
-0.06
230
CW
direction
*2
170 ±0.2 dia. Coated surface *2 CCW *1
direction Unit: mm
*1. The shaded section indicates the rotating parts.  Connector Specifications
*2. The precision depends on the option specifica- • Servomotor Connector
tion. Refer to the following section for details. 1 Phase U Red
Specifications (page 133) 1 2 Phase V Gray
Note: Values in parentheses are reference dimensions. 2 3 Phase W Blue
3 4 FG (frame ground) Green (yellow)
Model SGM7D- L Approx. Mass [kg] 4 Models
30F C 113 ±1 14.5 • Plug: 350779-1
58F C 138 ±1 19 • Pins: 350218-3 or 350547-3 (No.1 to 3)
90F C 163 ±1 24 • Ground pin: 350654-1 or 350669-1 (No. 4)
1AFC 188 ±1 29 Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
• Cap: 350780-1
• Socket: 350536-3 or 350550-3
• Encoder Connector
1 PG5V
5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Connector case FG (frame ground)
* Only absolute-value models with multiturn data.
Model: 55102-0600
147
 SGM7D-01G
45 ±0.7 160
4 × R5
7.7 3 4 × 7 dia. 10 140
6 × M4 × 6
Coated surface (Divided into equal sections at 60°.)
ia.
CW 0.2 d
1 46 ±
25 dia. hole
direction
160
140
-0.06 dia.
158 dia.
136 -0.02
CCW *
direction
30 30
10
5
A 4 × M4 thru-hole (35)
0.01
B Unit: mm
0.01 Approx. mass: 3 kg
(35)
300 ±50
* The shaded section indicates the rotating parts.
Note: Values in parentheses are reference dimensions.
 SGM7D-05G
65 ±0.7 160
8.5 3 10 140 4 × R5
4 × 7 dia.
Coated surface 6 × M4 × 6 (Divided into equal sections at 60°.)
dia.
6 ± 0.2
CW 1 4
25 dia. hole
direction
-0.06 dia.
158 dia.
160
140
136-0.02
CCW
*
direction
30 30
10
5
A
0.01 4 × M4 thru-hole
B
0.01 (16) (12) Unit: mm
Approx. mass: 5 kg
(35)
300 ±50
 Connector Specifications
• Servomotor Connector • Encoder Connector
1 Phase U Red 1 PG5V
1 2 Phase V Gray 5 6 2 PG0V
2 3 Phase W Blue 3* BAT
3 4 FG (frame ground) Green 3 4
4* BAT0
4 5 PS
Models 1 2
• Plug: 350779-1 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3) Connector case FG (frame ground)
• Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K. * Only absolute-value models with multiturn data.
Mating Connector Model: 55102-0600
• Cap: 350780-1 Manufacturer: Molex Japan LLC
• Socket: 350570-3 or 350689-3 Mating connector: 54280-0609
148
 SGM7D-08G, -18G. -24G, -34G, and -45G

300 ±50
s 0
es : 10 (35)
e rec pth
bl De
Ca 20,
h : 6 × M6 × 8
dt
wi (Divided into equal L 6 × M6 × 8
sections at 60°.) +2 CW (Divided into equal
11.5 3 ±0.2
SGM7D
0
Fixed part direction sections at 60°.)
CCW
Cable tie direction
dia. dia.
0 dia. hole
±0.2 0.2
°
±
55
104 146
25 -0.02
-0.05 dia.
136 -0.06 dia.

160 dia.
116 -0.02
-0.02
(13
)
(30
)
(32
)
*1
(6)
*2 Unit: mm
Coated surface *2
(35)
6 × M6 × 8
300 ±50
(Divided into equal

sections at 60°.)
6 × M6 × 8
(28) (28) L
.
(Divided into equal

dia
+2
CW
11.5 3 ±0.2 sections at 60°.)
.2
0
CCW direction
±0
Fixed part
4
direction
-0.05 dia.
10
dia.
0 dia. hole
0.2
116 -0.02
±
146
-0.06dia.
25 +0.5
160 dia.
136-0.02
(21.1 dia.)
*1
*2
Coated surface *2 Unit: mm
08G C 92.5 ±1 5.5 • Plug: 350779-1
18G C 118 ±1 7.5 • Pins: 350218-3 or 350547-3 (No.1 to 3)
24G C 143 ±1 9.5 • Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K.
34G C 168 ±1 12 Mating Connector
45G C 194 ±1 14 • Cap: 350780-1
• Socket: 350536-3 or 350550-3
1 PG5V
5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Model: 55102-0600
149
 SGM7D-03H
6 × M4 × 6 6 × 4.5 dia.,
77 ±0.5 (Divided into equal Counterbore: 8 dia., Depth: 5
Fixed part
14 sections at 60°.) (Divided into equal
. 3
dia Helical insert, sections at 60°.)
2
±0. effective screw length: 4
8
12 CW dia.
0.2
25 dia. hole
direction ±
104
90 -0.06 dia.
140 dia.
116 dia.
-0.02
CCW
direction
*1
A
Coated B 0.01
30° surface 0.01
10°
(35) Unit: mm
Approx. mass: 3 kg
300 ±50

4* BAT0
4 5 PS
Models 1 2
• Plug: 350779-1 6 /PS
• Ground pin: 350654-1 or 350669-1 (No. 4)
150
 SGM7D-I
300 ±50 6 × M8 × 12
6 × M8 × 12 L (Divided into equal sections at 60°.)
(35)
Rotating part 5 ±0.2
11.5+20
170 ±0.2 dia.
Fixed part .
0.2 dia
SGM7D
(150 dia.) hole
230 ±
-0.05 dia.
(88)
-0.06 dia.
264 dia.
252 dia.
192 -0.02
215-0.02
300 ±50
(88)
CW
direction *1
79
*2 CCW
Coated direction
surface *2 Unit: mm
28IC5 158 ±1 23 • Plug: 350779-1
70IC5 185 ±1 28 • Pins: 350218-3 or 350547-3 (No.1 to 3)
1ZIC5 212 ±1 33 • Ground pin: 350654-1 or 350669-1 (No. 4)
1CIC5 250 ±1 45
Mating Connector
2BIC5 304 ±1 55 • Cap: 350780-1
2DIC5 358 ±1 65 • Socket: 350536-3 or 350550-3
1 PG5V
5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Model: 55102-0600
151
 SGM7D-06J
6 × M6 × 12
(Divided into equal
sections at 60°.) 85 ±1 6 × M5 × 5
Rotating (Divided into equal
(35)
3.4 ±0.5 3 ±0.2 CW
part direction sections at 60°.)
CCW
72 ±0.2 dia.
direction
(56 dia.) hole

.
0.2 dia
-0.05 dia.
130 ±
300 ±50
145 dia.
-0.06 dia.
(37)
145 dia.
Fixed part
86-0.02
120 -0.02
(37)
46.3 *1
*2
Coated surface Unit: mm
*2
Approx. mass: 6 kg
*1. The shaded section indicates the rotating parts.
*2. The precision depends on the option specification. Refer to the following section for details.
Specifications (page 133)
 SGM7D-09J, -18J, -20J, and -38J

6 × M6 × 9
6 × M6 × 12 (Divided into equal sections at 60°.)
L
(Divided into equal sections at 60°.) CW
+2 Rotating
6.5
(35)
0 part 4 ±0.2 direction

CCW
direction
72 ±0.2 dia.
dia.
-0.06 dia.
-0.05 dia.
130 ±0.2
150 dia.
(37) (37)
145 dia.
(56 dia.) hole
300 ±50
Fixed part
120 -0.02
86 -0.02
*1
62 Coated *2
surface
*2 Unit: mm
09JC5 123 ±1 8.0 • Plug: 350779-1
18JC5 151 ±1 11.0 • Pins: 350218-3 or 350547-3 (No.1 to 3)
20JC5 179 ±1 13.0 • Ground pin: 350654-1 or 350669-1 (No. 4)
38JC5 207 ±1 15.5 Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
• Cap: 350780-1
• Socket: 350536-3 or 350550-3
1 PG5V
5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Model: 55102-0600
152
 SGM7D-K
Fixed part
4 × M6 × 13 6 × M5 × 7
(Divided into equal sections at 60°.) (Divided into equal
L sections at 60°.)
84
(35)
+1
5.5 Rotating 3 ±0.2
±0
0
(2 part
4)
.2
SGM7D
(2
dia
(26 dia.) hole
4)
.
ia.
-0.06 dia.
-0.06 dia.
50 ±0.2 d
100 dia.
107 dia.
300 ±50
60 -0.02
74 -0.02
45°
CW
direction
58 Coated surface CCW *1
*2 direction
*2 Unit: mm

*2. The precision depends on the option specification. Refer to the following section for details.
Specifications (page 133)
Model SGM7D- L Approx. Mass [kg]

02KC5 113 ±1 4.0
06KC5 140 ±1 5.0
08KC5 167 ±1 6.5
4* BAT0
4 5 PS
Models 1 2
• Plug: 350779-1 6 /PS
• Ground pin: 350654-1 or 350669-1 (No. 4)
153
 SGM7D-06L and -12L

224
4 22 180 ±0.2
×
C2 112 -0.2
0
0 4 × 8.5 dia.
6 × M4 × 6
22

112 -0.2
0
(32)
180 ±0.2
121 ±
0.2 d
(70.3)
224
ia.
(36)
Marking
06L: White
12L: Red
*1
224 dia.
136 dia.
(35)
D dia.
300 ±50
2 ±0.2
300 ±50
*2
50+0.5
0 dia.
*2
3
42 ±1
(37.5)
(19)
122 dia.
0.5
7
140.5 dia.
14
6 × M5 × 8*3
0.5

dia
12
2d
.
ia.
131
±0.2
dia.
0
7
7
0.5
0.5
(122 dia.)
4× (140.5 dia.)
R1 R115
15
A A-0 Cross Section Unit: mm
(Fixed Part) Approx. mass: 8.1 kg
*2. The precision depends on the option specification. • Servomotor Connector
Refer to the following section for details. 1 Phase U Red
*3. In the following cases, rigidity is required in the 2 3 Phase W Blue
Servomotor. Therefore, secure the Servomotor with 3 4 FG (frame ground) Green (yellow)
these holes. 4 Models
• There is a fluctuating vertical load on the Servomotor. • Plug: 350779-1
• There is a moment load on the Servomotor. • Pins: 350218-3 or 350547-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
• The Servomotor is used hanging upside down.
Note: Values in parentheses are reference dimensions. Mating Connector
Model SGM7D- D • Cap: 350780-1
• Socket: 350536-3 or 350550-3
LC41 • Encoder Connector
(Standard mechanical precision) 112 -0.02
-0.06
LC42 1 PG5V
(High mechanical precision) 111.9 -0.02
-0.06 5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Model: 55102-0600
154
 SGM7D-30L
224
4 22 180 ±0.2
×
C2 112 -0.2
0
4 × 8.5 dia.
0
6 × M6 × 8
22

112-0.2
0
(32)
SGM7D
121 ±
180 ±0.2
0.2
(70.3)
dia.
224
(36)
*1
224 dia.
136 dia.
D dia.
(35)
2 ±0.2
*2
50 +0.5
0 dia.
300 ±50
300 ±50
*2
3
62 ±1
(37.5)
(19)
122 dia.
0.5
9
140.5 dia.
14
0.5
6 × M5 × 8*3
dia
12
2d
.
ia.
131 ±
0.2 d
ia.
9
0
0.5
0.5
(122 dia.)
(140.5 dia.)
4×
R1 R115
15 A-0 Cross Section Unit: mm
A (Fixed Part) Approx. mass: 11.8 kg
*2. The precision depends on the option specification. • Servomotor Connector
Refer to the following section for details. 1 Phase U Red
*3. In the following cases, rigidity is required in the 2 3 Phase W Blue
Servomotor. Therefore, secure the Servomotor with 3 4 FG (frame ground) Green (yellow)
these holes. 4 Models
• There is a fluctuating vertical load on the Servomotor. • Plug: 350779-1
• There is a moment load on the Servomotor. • Pins: 350218-3 or 350547-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
• The Servomotor is used hanging upside down.
Note: Values in parentheses are reference dimensions. Mating Connector
Model SGM7D- D • Cap: 350780-1
• Socket: 350536-3 or 350550-3
30LC41
(Standard mechanical precision) 112 -0.02
-0.06 • Encoder Connector
30LC42 1 PG5V
(High mechanical precision) 111.9 -0.02
-0.06 5 6 2 PG0V
3* BAT
3 4
4* BAT0
5 PS
1 2
6 /PS
Model: 55102-0600
155
Selecting Cables

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
Battery Case (Required only if a multiturn
(Required to use a multiturn absolute encoder is used.)
absolute encoder.)
on Both Ends
Servomotor Servomotor
Encoder-end Cable
Encoder Servomotor
Servomotor Cable Main Circuit Cable Servomotor
Main Circuit Cable Main Circuit
Cable
A A A

Length Order Number
Servomotor Model Appearance
3m JZSP-CMM00-03-E JZSP-C7DM21-03-E
SGM7D-F SERVOPACK Motor end
5m JZSP-CMM00-05-E JZSP-C7DM21-05-E end
SGM7D-08G to -45G L
SGM7D-I 10 m JZSP-CMM00-10-E JZSP-C7DM21-10-E
SGM7D-J 15 m JZSP-CMM00-15-E JZSP-C7DM21-15-E
SGM7D-L
20 m JZSP-CMM00-20-E JZSP-C7DM21-20-E
SERVOPACK Motor end
5m JZSP-CMM00-05-E JZSP-CMM01-05-E end
SGM7D-01G or -05G L
SGM7D-H 10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
SGM7D-K 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
mm or larger.
Note: Direct Drive Servomotors are not available with holding brakes.
156

Length Order Number
Servomotor Model Name Appearance
For incre- 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
mental 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK end Encoder end
encoder: L
Without
Battery 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
SGM7D
Case 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
For multi- 3 m JZSP-CMP00-03-E JZSP-CMP10-03-E
turn abso- 5 m JZSP-CMP00-05-E JZSP-CMP10-05-E
lute
10 m JZSP-CMP00-10-E JZSP-CMP10-10-E L
All SGM7D models encoder:
Without 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
Battery
Case*2
For multi- 3m JZSP-CSP19-03-E JZSP-CSP29-03-E
turn abso- 5m JZSP-CSP19-05-E JZSP-CSP29-05-E L
lute
encoder:
With Battery 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
(battery included)
Case 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 68
mm or larger.
*2. Use one of these Cables if a battery is connected to the host controller.

Servomotor Length
Name Order Number*1 Appearance
Model (L)
Cables with Connec- 30 m JZSP-UCMP00-30-E

tors on Both Ends SERVOPACK
L
Encoder end
end
(for incremental or 40 m JZSP-UCMP00-40-E
multiturn absolute
All SGM7D mod- encoder)
els 50 m JZSP-UCMP00-50-E
Cable with a Battery SERVOPACK Encoder end

end
Case
0.3 m JZSP-CSP12-E
(for multiturn absolute
Battery Case
encoder)*2 (battery included)
*1. Flexible Cables are not available.

*2. This Cable is not required if a battery is connected to the host controller.
157
SGM7E (Coreless, Inner Rotor)
Model Designations
SGM7E - 02 B 7 A 1 1
Direct Drive digits digit digit digit digit digit
Servomotors:
SGM7E
1st+2nd digits Rated Output 3rd digit Servomotor Outer Diameter 5th digit Design Revision Order
Code Specification Code Specification A
02 2.00 Nm B 135-mm dia.
04 4.00 Nm C 175-mm dia. 6th digit Flange
05 5.00 Nm D 230-mm dia. Code Mounting

07 7.00 Nm E 290-mm dia. 1 Non-load side
08 8.00 Nm 4 Non-load side (with cable on side)
10 10.0 Nm 4th digit Serial Encoder
14 14.0 Nm 7th digit Options
Code Specification
16 16.0 Nm
7 24-bit multiturn absolute encoder* Code Specification
17 17.0 Nm
F 24-bit incremental encoder* 1 Without options
25 25.0 Nm
* Both multiturn absolute encoder and High machine precision (runout at end of shaft
35 35.0 Nm 2
incremental encoder can be used as a and runout of shaft surface: 0.01 mm)
single-turn absolute encoder by setting
parameters.
2. This information is provided to explain model numbers. It is not meant to imply that models are available for
all combinations of codes.
Torque B C D E
Nm (135-mm dia.) (175-mm dia.) (230-mm dia.) (290-mm dia.)
2.00 SGM7E-02B – – –
4.00 – SGM7E-04C – –
5.00 SGM7E-05B – – –
7.00 SGM7E-07B – – –
8.00 – – SGM7E-08D –
10.0 – SGM7E-10C – –
14.0 – SGM7E-14C – –
16.0 – – – SGM7E-16E
17.0 – – SGM7E-17D –
25.0 – – SGM7E-25D –
35.0 – – – SGM7E-35E
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh digits
have been omitted.
158

Specifications
Voltage 200 V
Model SGM7E- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Thermal Class A
SGM7E
Protective Structure*2 Totally enclosed, self-cooled, IP42 (The protective structure is IP40 for CE Marking.)

Storage Environment
Runout of Output Shaft Surface mm 0.02 (0.01 for high machine precision option)
Tolerances*3
Mechanical
Runout at End of Output Shaft mm 0.04 (0.01 for high machine precision option)
Parallelism between Mounting
mm 0.07 0.08
Surface and Output Shaft Surface
Concentricity between Output
mm 0.07 0.08
Shaft and Flange Outer Diameter
49 m/s2
SGD7S- 2R8A, 2R1F 2R8A, 2R8F
Applicable
SGD7W- 5R5A
SERVOPACKs 2R8A
SGD7C-
*2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the
shaft are excluded. Protective structure specifications apply only when the special cable is used.
 dia.
A Runout of output shaft surface : Diameter determined by motor model.
Load side
Non-load side
 dia. Parallelism between mounting surface and output shaft surface B
Concentricity between output shaft and flange outer diameter A
The strength of the vibration that the Servomotor can withstand depends on the application. Check the vibration
acceleration rate.
Vertical
Vertical
Side to side
Front to back
159
Ratings
Voltage 200 V
Model SGM7E- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
*1 W 42 105 147 84 209 293 168 356 393 335 550
Rated Output
*1, *2 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Rated Torque
Instantaneous
Nm 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Maximum Torque*1
Stall Torque*1 Nm 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6
*1 Arms 1.8 1.7 1.4 2.2 2.8 1.9 2.5 2.6 3.3 3.5
Rated Current
Instantaneous
Arms 5.4 5.1 4.1 7.0 8.3 5.6 7.5 8.0 9.4 10.0
Maximum Current*1
Rated Motor
min-1 200 200 200 150 200 150
Speed*1
Maximum Motor
min-1 500 500 400 300 500 350 250 500 250
Speed*1
Torque Constant Nm/Arms 1.18 3.17 5.44 2.04 5.05 5.39 5.10 7.79 10.8 5.58 11.1
Motor Moment of
×10-4 kgm2 28.0 51.0 77.0 77.0 140 220 285 510 750 930 1430
Inertia
Rated Power Rate*1 kW/s 1.43 4.90 6.36 2.08 7.14 8.91 2.25 5.67 8.33 2.75 8.57
Rated Angular
rad/s2 710 980 910 520 710 640 280 330 170 240
Acceleration Rate*1
Heat Sink Size mm 350 × 350 × 12 450 × 450 × 12 550 × 550 × 12 650 × 650 × 12
10 times 3 times
(Motor Moment of Inertia Ratio) times
tive Resistor and Exter- 5
10 times 3 times
nal Dynamic Brake times
Resistor*3
Allowable
Thrust N 1500 3300 4000 11000
Allow-
Load
able
Allowable
Load*4
Moment Nm 40 50 64 70 75 90 93 103 135 250 320
Load
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with a
steel heat sink of the dimensions given in the table.
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However,
you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable
motor capacity: 400 W).
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
given in the table.
L F
F F L
Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of
160

SGM7E-02B SGM7E-05B SGM7E-07B

500 500 500
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

400 400 400
300 300 300
200 200 200

A B B A B
SGM7E
A
100 100 100
0 0 0
0 1.5 3.0 4.5 6.0 7.5 9.0 0 3 6 9 12 15 18 0 5 10 15 20 25 30
SGM7E-04C SGM7E-10C SGM7E-14C

500 500 500
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

400 400 400
300 300 300
200 200 200

A B A B A B
100 100 100
0 0 0
0 3 6 9 12 15 18 0 6 12 18 24 30 36 0 10 20 30 40 50 60
SGM7E-08D SGM7E-17D SGM7E-25D

500 500 500
400
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
400 400
300 300 300
200 200 200

A B A B A
B
100 100 100
0 0 0
0 6 12 18 24 30 36 0 12 24 36 48 60 72 0 15 30 45 60 75 90
SGM7E-16E SGM7E-35E
500 500
400 400
Motor speed (min-1)
Motor speed (min-1)
300 300
200 200
A B A B
100 100
0 0
0 9 18 27 36 45 54 0 20 40 60 80 100 120
161

perature of 40°C.
SGM7E-02B, -05B, -07B, -10C, -17D, and -35E SGM7E-04C
10000 10000
1000 1000
Detection time (s)

Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
Torque reference (%) Torque reference (%)
SGM7E-14C SGM7E-08D and -16E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGM7E-25D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
Torque reference (%)
162

in the Ratings (page 160). The values are determined by the regenerative energy processing capac-
ity of the SERVOPACK and are also affected by the drive conditions of the Servomotor. Perform the
required Steps for each of the following cases.
SGM7E
PACKs.
163

SGM7E-02B SGM7E-04C SGM7E-05B

12 12 12

10 10 10
8 8 8
6 6 6
4 4 4
2 2 2
0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600 0 100 200 300 400 500 600
-1 -1
SGM7E-07B SGM7E-08D SGM7E-10C


12 3.5 6

10 3 5
8 2.5
4
2
6 3
1.5
4 2
1
2 1
0.5
0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600 0 100 200 300 400 500
-1 -1
SGM7E-14C SGM7E-17D SGM7E-25D

3.5 3.5 3.5

3 3 3
2.5 2.5 2.5

2 2 2
1.5 1.5 1.5
1 1 1
0.5 0.5 0.5
0 0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300
-1 -1
Note: Applicable SERVOPACK models: SGD7S-2R8A and -2R8F

164
External Dimensions
 SGM7E-B
• Flange Specification 1
L
0.07 B B
6 × M4 × 8 4 (LL) 4 0.02 6 × M4 × 8
(Divided into equal (Divided into equal
sections at 60°.) 0.07 dia. A sections at 60°.)
90
SGM7E
dia
.
90
dia
.
LH dia.
LB dia.
135 dia.
134 dia.
LA dia.
(80 dia.)
(70 dia.)
(0.1)
R26 (1)
*

.4
23
25

.4
A
90°
0.04 Unit: mm

Model SGM7E- L (LL) LB LH LA Approx. Mass [kg]

02BA11 59 51 120 0
-0.035 20 +0.4
0 100 0
-0.035 4.8
05BA11 88 80 0
120 -0.035 20 +0.4
0
0
100 -0.035 5.8
07BA11 128 120 120 0
-0.035 20 +0.4
0 100 0
-0.035 8.2
300±50
(35)
50
30 L
0.07 B B 6 × M4 × 8
6 × M4 × 8 (LL)
(22)
4 4 0.02 (Divided into

(Divided into equal equal sections
sections at 60°.) 0.07 dia. A 20 at 60°.)
90
90 dia
10
dia .
. (2 × M4 × 8)
(For use by
LH dia.
Yaskawa)
134 dia.
LB dia.
135 dia.
LA dia.
(70 dia.)
(80 dia.)
(0.1)
(1)
*
A
0.04 Unit: mm


02BA41 59 51 0
120 -0.035 20 +0.4
0
0
100 -0.035 4.8
05BA41 88 80 120 0
-0.035 20 +0.4
0 100 0
-0.035 5.8
07BA41 128 120 0
120 -0.035 20 +0.4
0
0
100 -0.035 8.2
Refer to the following section for information on connectors.

Connector Specifications (page 169)
165
 SGM7E-C
L 6 × M5 × 8
6 × M5 × 8 0.07 B B (Divided into equal sections at 60°.)
(Divided into equal sections at 60°.) 5 (LL) 5 0.02
0.07 dia. A
ia.
0d
12
(2 × M5 × 8)
(For use by
Yaskawa)
LH dia.
173 dia.
175 dia.
130 dia
LA dia.
.
LB dia.
(0.1)
(102 dia.)
100 dia.
R51 *
6.5 con max. (1)
R3 nec
tor
2 area
5.4 . 4 (9.1)
3
2
60°
A (2 × M5 × 8)
(For use by Yaskawa) Unit: mm
0.04


04CA11 69 59 0
160 -0.040 35 +0.4
0
0
130 -0.040 7.2
10CA11 90 80 160 0
-0.040 35 +0.4
0 130 0
-0.040 10.2
14CA11 130 120 160 0
-0.040 35 +0.4
0 130 0
-0.040 14.2
300±50
(35)
50 6 × M5 × 8
6 × M5 × 8 30 (Divided into equal
(22)
(Divided into equal L sections at 60°.)

0.07 B B
sections at 60°.) 5 (LL) 5
0.02
ia.
0.07 dia. A 20
0d
12
10
(2 × M5 × 8)
(For use by
130 dia Yaskawa)
LB dia.
175 dia.
LH dia.
173 dia.
.
LA dia.
(102 dia.)
(0.1)
100 dia.
*
(1)
(2 × M5 × 8)
A (For use by Yaskawa)
0.04 Unit: mm


04CA41 69 59 160 0
-0.040 35 +0.4
0 130 0
-0.040 7.2
10CA41 90 80 160 0
-0.040 35 +0.4
0 130 0
-0.040 10.2
14CA41 130 120 160 0
-0.040 35 +0.4
0
0
130 -0.040 14.2

166
 SGM7E-D
L 6 × M6 × 10
6 × M6 × 10 0.08 B B
(Divided into equal sections at 60°.) 5 (LL) 5 (Divided into equal sections at 60°.)
0.08 dia. A 0.02
16
0 16
dia 0d
. ia.
*
(2 × M6 × 10)
(For use by
Yaskawa)
230 dia.
LB dia.
228 dia.
LA dia.
LH dia.
SGM7E
(0.1)
(140 dia.)
(140 dia.)
(1)
3
R5
25 (9.1)
.4 3.4
2
60° A (2 × M6 × 10)
(For use by Yaskawa)
0.04
Unit: mm


08DA11 74 64 200 0
-0.046 60 +0.4
0 170 0
-0.040 14.0
17DA11 110 100 200 0
-0.046 60 +0.4
0 170 0
-0.040 22.0
25DA11 160 150 200 0
-0.046 60 +0.4
0 170 0
-0.040 29.7
300±50
(35)
6 × M6 × 10 50
(Divided into equal 30 L 6 × M6 × 10
0.08 B B
(22)
sections at 60°.) 5 (LL) 5 (Divided into

0.02
0.08 dia. A 20 equal sections
(2 × M6 × 10) at 60°.)
(For use by
10
Yaskawa) 16
0d
ia.
*
230 dia.
LB dia.
228 dia.
LH dia.
LA dia.
(0.1)
(140 dia.)
(140 dia.)
(1)
.
dia
0
16
A (2 × M6 × 10)
0.04 (For use by Yaskawa)
Unit: mm


08DA41 74 64 0
200 -0.046 60 +0.4
0
0
170 -0.040 14.0
17DA41 110 100 200 0
-0.046 60 +0.4
0 170 0
-0.040 22.0
25DA41 160 150 200 0
-0.046 60 +0.4
0 170 0
-0.040 29.7

167
 SGM7E-E
6 × M8 × 14
6 × M8 × 14 L
0.08 B B (Divided into equal sections at 60°.)
(Divided into equal sections at 60°.) 6 (LL) 6
ia.
0.08 dia. A 0.02
0d
20
(2 × M8 × 14)
(For use by
Yaskawa)
200
dia.
LB dia.
288 dia.
290 dia.
LA dia.
LH dia.
(160 dia.)
(0.1)
(180 dia.)
5 *
(1)
R6
2
5.4 (9.1)
3.4
2
60°
A
(2 × M8 × 14)
Unit: mm


16EA11 88 76 260 0
-0.052 75 +0.4
0 220 0
-0.046 26.0
35EA11 112 100 260 0
-0.052 75 +0.4
0 220 0
-0.046 34.0
300±50
(35)
50 6 × M8 × 14
30 (Divided into equal sections at 60°.)
(22)
6 × M8 × 14 L
0.08 B B
(Divided into equal 6 (LL) 6
ia.
0.08 dia. A 0.02

0d
sections at 60°.) 20
20
10
(2 × M8 × 14)
(For use by
Yaskawa)
200
dia.
290 dia.
288 dia.
LB dia.
LH dia.
LA dia.
(160 dia.)
(0.1)
(180 dia.)
*
(1)
(9.1)
A (2 × M8 × 14)
Unit: mm


16EA41 88 76 260 0
-0.052 75 +0.4
0 220 0
-0.046 26.0
35EA41 112 100 0
260 -0.052 75 +0.4
0
0
220 -0.046 34.0

168
Connector Specifications
 Flange Specification 1
1 1 Phase U 1 3 1 PS
3 2 Phase V 2 /PS
3 Phase W 3 –
2 4 FG (frame ground) 4 7 4 PG5V
4 5* BAT0
SGM7E
8 10
Model: JN1AS04MK2R
6 –
Manufacturer: Japan Aviation Electronics
7 FG (frame ground)
Industry, Ltd. 8* BAT
9 PG0V
Mating connector: JN1DS04FK1
10 –
* Only absolute-value models with multiturn
data.
Model: JN1AS10ML1-R
Industry, Ltd.
Mating connector: JN1DS10SL1

1 2 Phase V White 5 6 2 PG0V
3 4 FG (frame ground) Green (yellow) 3 4
4* BAT0
4 5 PS
1 2
Models 6 /PS
• Plug: 350779-1 Connector case FG (frame ground)
• Pins: 350561-3 or 350690-3 (No.1 to 3) * Only absolute-value models with multiturn
• Ground pin: 350654-1 or 350669-1 (No. 4) data.
Manufacturer: Tyco Electronics Japan G.K. Model: 55102-0600
Mating Connector
• Cap: 350780-1 Mating connector: 54280-0609
• Socket: 350570-3 or 350689-3
169
Selecting Cables

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
absolute encoder.)
on Both Ends
Encoder-end Cable
Encoder Servomotor
Cable
A A A

Length Order Number
3m JZSP-CMM60-03-E JZSP-C7MDN23-03-E
SGM7E-
5m JZSP-CMM60-05-E JZSP-C7MDN23-05-E SERVOPACK Motor end
end L
Flange specification*2:
10 m JZSP-CMM60-10-E JZSP-C7MDN23-10-E
1
Non-load side installa- 15 m JZSP-CMM60-15-E JZSP-C7MDN23-15-E
tion
3m JZSP-CMM00-03-E JZSP-C7MDS23-03-E
SGM7E-
SERVOPACK Motor end
5m JZSP-CMM00-05-E JZSP-C7MDS23-05-E end
L
10 m JZSP-CMM00-10-E JZSP-C7MDS23-10-E
4
Non-load side installa- 15 m JZSP-CMM00-15-E JZSP-C7MDS23-15-E
tion (with cable on side)
larger.
*2. Refer to the following section for the flange specifications.
Model Designations (page 158)
170

Length Order Number
3 m JZSP-CMP60-03-E JZSP-CSP60-03-E
SGM7E-F 5 m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
end L
Flange specifica-
tion*2: 1 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
For incre- 20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
mental
SGM7E
encoder 3 m JZSP-CMP00-03-E JZSP-CMP10-03-E
SGM7E-F 5 m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
end L
Flange specifica-
tion*2: 4 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
For multi- 3m JZSP-C7PI00-03-E JZSP-C7PI20-03-E
turn abso-
5m JZSP-C7PI00-05-E JZSP-C7PI20-05-E
lute SERVOPACK Encoder end
end L
encoder 10 m JZSP-C7PI00-10-E JZSP-C7PI20-10-E
(without
SGM7E-7 Battery
15 m JZSP-C7PI00-15-E JZSP-C7PI20-15-E
Case*3) 20 m JZSP-C7PI00-20-E JZSP-C7PI20-20-E
Flange specifica-
tion*2: 1 For multi- 3m JZSP-C7PA00-03-E JZSP-C7PA20-03-E SERVOPACK Encoder end
turn abso- 5m JZSP-C7PA00-05-E JZSP-C7PA20-05-E end L
lute
10 m JZSP-C7PA00-10-E JZSP-C7PA20-10-E
encoder
(with Bat- 15 m JZSP-C7PA00-15-E JZSP-C7PA20-15-E Battery Case
(battery included)
tery Case) 20 m JZSP-C7PA00-20-E JZSP-C7PA20-20-E
For multi- 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
turn abso-
end L
(without
SGM7E-7 Battery
Case*3) 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
Flange specifica-
tion*2: 4 For multi- 3m JZSP-CSP19-03-E JZSP-CSP29-03-E
turn abso- 5m JZSP-CSP19-05-E JZSP-CSP29-05-E end L
lute
encoder
(with Bat- 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
(battery included)
tery Case) 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E
larger.
171

Servomotor Length
Model (L)
SGM7E-F
SGM7E-7 Encoder-end Cable SERVOPACK Encoder end
(for single-turn/multi- 0.3 m JZSP-C7PRC0-E end
Flange specifica- turn absolute encoder)

tion*2: 1
SGM7E-F 30 m JZSP-UCMP00-30-E
Cables with Connec-
SGM7E-7 SERVOPACK Encoder end
tors on Both Ends end L
(for single-turn/multi-
Flange specifica-
turn absolute encoder)
tion*2: 1 or 4 50 m JZSP-UCMP00-50-E
SGM7E-7 Cable with a Battery SERVOPACK

end
Encoder end
Case
0.3 m JZSP-CSP12-E
Flange specifica- (for multiturn absolute
Battery Case
tion*2: 1 or 4 encoder)*3 (battery included)

172
MEMO
SGM7E
173
SGM7F (With Core, Inner Rotor)
Model Designations
SGM7F - 02 A 7 A 1 1
Servomotors:
SGM7F
1st+2nd digits Rated Output 3rd digit Servomotor Outer Diameter 6th digit Flange
 Small-Capacity
Code Specification Servomotor Outer Diameter Code (3rd Digit)
Code Mounting
Code Specification A 100-mm dia. A B C D M N
02 2.00 Nm B 135-mm dia. Non-load side      
1
04 4.00 Nm C 175-mm dia. Load side      
05 5.00 Nm D 230-mm dia. 3 Non-load side      
07 7.00 Nm M 280-mm dia. Non-load side
4      
08 8.00 Nm N 360-mm dia. (with cable on side)
10 10.0 Nm
 : Applicable models.
16 16.0 Nm
Code Specification 7th digit Options
17 17.0 Nm
25 25.0 Nm 7 24-bit multiturn absolute encoder* Code Specification
35 35.0 Nm F 24-bit incremental encoder* 1 Without options
* Both multiturn absolute encoder and High machine precision (runout at end of shaft and
2
 Medium-Capacity incremental encoder can be used as a runout of shaft surface: 0.01 mm)
Code Specification single-turn absolute encoder by setting
parameters.
45 45.0 Nm
80 80.0 Nm
1A 110 Nm
1E
A
150 Nm
2Z 200 Nm
Torque A B C D M N
Nm (100-mm dia.) (135-mm dia.) (175-mm dia.) (230-mm dia.) (280-mm dia.) (360-mm dia.)
2.00 SGM7F-02A – – – – –
4.00 – SGM7F-04B – – – –
5.00 SGM7F-05A – – – – –
7.00 SGM7F-07A – – – – –
8.00 – – SGM7F-08C – – –
10.0 – SGM7F-10B – – – –
14.0 – SGM7F-14B – – – –
16.0 – – – SGM7F-16D – –
17.0 – – SGM7F-17C – – –
25.0 – – SGM7F-25C – – –
35.0 – – – SGM7F-35D – –
45.0 – – – – SGM7F-45M –
80.0 – – – – SGM7F-80M SGM7F-80N
110 – – – – SGM7F-1AM –
150 – – – – – SGM7F-1EN
200 – – – – – SGM7F-2ZN
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh dig-
its have been omitted.
174
Specifications and Ratings: Small Capacity

Specifications
Voltage 200 V
Model SGM7F- 02A 05A 07A 04B 10B 14B 08C 17C 25C 16D 35D
Thermal Class A
SGM7F
Protective Structure*2 Totally enclosed, self-cooled, IP42 (The protective structure is IP40 for CE Marking.)

Storage Environment
Tolerances*3
Mechanical
mm 0.07
mm 0.07
Vibration Vibration Acceleration Rate
49 m/s2
Resistance*4 at Flange
SGD7S-
2R8A,
2R8A, 2R8F
2R8A, 7R6A*5,
2R1F 2R8F 120A
Applicable SERVOPACKs 5R5A 5R5A 7R6A 5R5A
SGD7W-
SGD7C-
2R8A 2R8A 7R6A*5
*2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the shaft are
*3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the
individual Servomotors for more information on tolerances.
 dia. Runout of output shaft surface : Diameter determined by motor model.
A B
Runout at end of output shaft
Load side
Non-load side
acceleration rate.
Vertical
Vertical
Side to side
Front to back
*5. Use derated values for this combination. Refer to the following section for information on derating values.
Ratings (page 176)
175
Ratings
Voltage 200 V
Model SGM7F- 02A 05A 07A 04B 10B 14B 08C 17C 25C 16D 35D
1100
Rated Output*1 W 63 157 220 126 314 440 251 534 785 503 1000
*5
Rated Torque*1, *2 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Instantaneous Maximum
Nm 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Torque*1
Stall Torque*1 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
*1 Arms 1.7 1.8 2.1 2.0 2.8 4.6 2.4 4.5 5.0
Rated Current
Instantaneous Maximum
Arms 5.1 5.4 6.3 6.4 8.9 14.1 8.6 14.7 13.9 16.9 16.0
Current*1
300
Rated Motor Speed*1 min-1 300 300 300
270*5
Maximum Motor Speed*1 min-1 600 600 600 500 600 400
-4 2 8.04 14.5 19.3 16.2 25.2 36.9 56.5 78.5 111 178 276
*1 kW/s 4.98 17.2 25.4 9.88 39.7 53.1 11.3 36.8 56.3 14.4 44.4
Rated Power Rate
Rated Angular
rad/s2 2490 3450 3630 2470 3970 3790 1420 2170 2250 899 1270
Acceleration Rate*1
Heat Sink Size mm 300 × 300 × 12 350 × 350 × 12 450 × 450 × 12 550 × 550 × 12
Allowable Load Moment of Inertia 25 35 35 25 40 45 15 25 25 10 15
(Motor Moment of Inertia Ratio) times times times times times times times times times times times
With External Regenerative
25 35 35 25 40 45 15 25 25 10 15
Resistor and External
times times times times times times times times times times times
Dynamic Brake Resistor*3
Allowable
Allow- N 1100 1500 3300 4000
Thrust Load
able
Allowable
Load*4 Nm 22 24 26 45 55 65 92 98 110 210 225
Moment Load
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
given in the table.
L F
F F L
*5. If you use an SGD7S-7R6A SERVOPACK and SGM7F-35D Servomotor together, use this value (a derated
value).
176

SGM7F-02A SGM7F-05A SGM7F-07A

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300
A B A B A B
200 200 200
SGM7F
100 100 100
0 0 0
0 1 2 3 4 5 6 7 0 2 4 6 8 10 12 14 16 0 4 8 12 16 20 24
SGM7F-04B*1 SGM7F-10B SGM7F-14B*1

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
0 5 10 15 0 10 20 30 40 0 10 20 30 40 50
SGM7F-08C SGM7F-17C SGM7F-25C*2

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
500 500 500

400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
0 5 10 15 20 25 30 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80
SGM7F-16D SGM7F-35D
700 500
600
400
Motor speed (min-1)
Motor speed (min-1)
500
400 300
300 200
A B A B
200
100
100
0 0
0 10 20 30 40 50 0 20 40 60 80 100 120
*1. The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V.
*2. Contact your Yaskawa representative for information on the SGM7F-25C.
177

perature of 40°C.
SGM7F-A, -B SGM7F-08C
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGM7F-17C and -25C SGM7F-16D

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGM7F-35D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
178

SGM7F
PACKs.

SGM7F-02A SGM7F-05A SGM7F-07A
30 40 40
35 35
25
30 30
20
25 25
15 20 20
10 15 15
10 10
5
5 5
0 0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
-1
Motor speed (min ) -1
Motor speed (min ) Motor speed (min-1)
SGM7F-04B SGM7F-08C SGM7F-10B

30 16 45
14 40
25
12 35
20 30
10
25
15 8
20
10 6
15
4 10
5
2 5
0 0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700

179
Specifications and Ratings: Medium Capacity

Specifications
Voltage 200 V
Model SGM7F- 45M 80M 1AM 80N 1EN 2ZN
Thermal Class F

Storage Environment
Tolerances*3
Mechanical

mm −
mm 0.08
Perpendicularity between Mount-
mm 0.08
ing Surface and Output Shaft
24.5 m/s2
SGD7S- 7R6A 120A 180A 120A 200 A
Applicable
SGD7W-
SERVOPACKs 7R6A −
SGD7C-
 dia. : Diameter determined by motor model.
Concentricity between output shaft and flange outer diameter A B
 dia.
A  dia. Runout at end of output shaft
Runout of output shaft surface
Load side
Perpendicularity between mounting surface and output shaft A B
Non-load side
acceleration rate.
Vertical
Vertical
Side to side
Front to back
180
Ratings
Voltage 200 V
Model SGM7F- 45M 80M 1AM 80N 1EN 2ZN
*1 W 707 1260 1730 1260 2360 3140
Rated Output
*1, *2 Nm 45.0 80.0 110 80.0 150 200
Rated Torque
*1 Nm 135 240 330 240 450 600
*1 Nm 45.0 80.0 110 80.0 150 200
Stall Torque
*1 Arms 5.8 9.7 13.4 9.4 17.4 18.9
Rated Current
Instantaneous Maximum Current*1 Arms 17.0 28.0 42.0 28.0 56.0 56.0
SGM7F
*1 -1 150 150
*1 -1 300 300 250
-4 2 388 627 865 1360 2470 3060
*1 kW/s 52.2 102 140 47.1 91.1 131
Rated Power Rate
*1 2 1160 1280 1270 588 607 654
3 times
(Motor Moment of Inertia Ratio)
3 times
External Dynamic Brake Resistor
A mm 33 37.5
Allowable
Load*3
given in the table.
L F
F F L
A (Refer to the
values in the
table.)
Moment load = 0 Moment load = F × L Moment load = F × (L + A)
181

B : Intermittent duty zone
SGM7F-45M SGM7F-80M SGM7F-1AM

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B
100 100 100
0 0 0
0 50 100 150 0 100 200 300 0 100 200 300 400
SGM7F-80N SGM7F-1EN SGM7F-2ZN

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B
100 100 100
0 0 0
0 100 200 300 0 100 200 300 400 500 0 200 400 600 800
182

perature of 40°C.
SGM7F-45M SGM7F-80M
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
SGM7F
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGM7F-1AM and -80N SGM7F-1EN

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350
SGM7F-2ZN
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
183


PACKs.

184
External Dimensions
 SGM7F-A
L
0.07 B B 6 × M5 × 8
6 × M4 × 6 6.8 (LL) 1.5
0.02 (Divided into equal
(Divided into equal
92 dia.
0.07 dia. A
sections at 60°.) sections at 60°.)
100 dia.
(0.1) ia.
53 d
LH dia.
99.5 dia.
SGM7F
LB dia.
LA dia.
(38 dia.)
(82 dia.)
(1)
R26 (19.1)
.4

23
25
.7

 *2
25
.4
25
(2 × M5 × 8)
.7

(For use by
Yaskawa)
90 *1
A
0.04 Unit: mm

*2. The hatched section indicates the non-rotating parts.
Model SGM7F- L (LL) LB LH LA Approx. Mass [kg]

02AA11 61 (52.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
2.5
05AA11 96 (87.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
4.5
07AA11 122 (113.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
5.5
30050
(35)
43.5
24.5 L
0.07 B B
6 × M4 × 6 0.07 dia. A 6.8 (LL) 1.5 0.02
(Divided into 6 × M5 × 8
equal sections (Divided into equal
(22)
at 60°.) sections at 60°.)

18
100 dia.
10
92 d
ia.
53 d
ia.
LH dia.
LB dia.
99.5 dia.
LA dia.
(38 dia.)
(82 dia.)
(1)
(0.1)
*2 (2 × M5 × 8)
(For use by
Yaskawa)
*1
A
0.04 Unit: mm


02AA41 61 (52.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
2.5
05AA41 96 (87.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
4.5
07AA41 122 (113.7) 100 0
-0.035 15 +0.4
0 60 0
-0.030
5.5

185
 SGM7F-B
L Notation
0.07 B B
6 × M5 × 8 4 (LL) 2.7 : Square dimensions
0.02
90 dia.
(Divided into equal 0.07 dia. A 6 × M5 × 8
sections at 60°.) (Divided into equal sections at 60°.)
ia.
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
(82 dia.)
LA dia.
(1)
LB dia.
(0.1)
R26.5
.4
23

(9)
25
 *2
.4
(2 × M5 × 8)
(For use by
90° A Yaskawa)
0.04 *1
Unit: mm


04BA11 60 53.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 5.0
10BA11 85 78.3 0
120 -0.035 25 +0.3
+0.1
0
78 -0.030 6.5
14BA11 115 108.3 0
120 -0.035 25 +0.3
+0.1
0
78 -0.030 9.0
300±50
(35)
43.5
24.5
L
0.07 B B
4 (LL) 2.7
6 × M5 × 8 0.02
(Divided into 0.07 dia. A 6 × M5 × 8
(22)
equal sections 18 (Divided into

at 60°.) equal sections
(2 × M5 × 8) at 60°.)
10
(For use by
Yaskawa) ia.
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
LB dia.
LA dia.
(80 dia.)
(1)
90 dia (0.1)
.
*2
(2 × M5 × 8)
(For use by
A Yaskawa)
*1
0.04
Unit: mm


04BA41 60 53.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 5.0
10BA41 85 78.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 6.5
14BA41 115 108.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 9.0

186
 SGM7F-C
L B
6 × M6 × 9 0.07 B
(Divided into equal 5 (LL) 2.7 0.02
.
130 dia
98 dia
sections at 60°.) 6 × M6 × 9
0.07 dia. A (Divided into equal
.
sections at 60°.)
(2 × M6 × 9)
(For use by
Yaskawa)
LH dia.
175 dia.
173 dia.
LB dia.
LA dia.
(84 dia.)
(116 dia.)
(0.1) (1)
R43
SGM7F
(9)
.4

23
25

.4
*2
(2 × M6 × 9)
(For use by
Yaskawa)
90°
A *1
0.04
Unit: mm


08CA11 73 65.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 9.0
17CA11 87 79.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 11.0
25CA11 117 109.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 15.0
300±50
(35)
43.5
24.5
L
6 × M6 × 9 0.07 B B
(Divided into 5 (LL) 2.7 0.02 6 × M6 × 9
equal sections (Divided into
1 18
(22)
98
0.07 dia. A equal sections

at 60°.)
dia
at 60°.)
(2 × M6 × 9)
.
10
(For use by
Yaskawa)
175 dia.
LH dia.
LB dia.
(84 dia.)
173 dia.
LA dia.
(100 dia.)
(0.1) (1)
130 dia
.
*2
(2 × M6 × 9)
(For use by
Yaskawa)
A *1
0.04
Unit: mm


08CA41 73 65.3 0
160 -0.040 40 +0.3
+0.1
0
107 -0.035 9.0
17CA41 87 79.3 0
160 -0.040 40 +0.3
+0.1
0
107 -0.035 11.0
25CA41 117 109.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 15.0

187
 SGM7F-D
8 × M6 × 10
8 × M6 × 10 (6 × M6 × 10) L (Divided into equal
135 dia
0.08 B B sections at 45°.)
(Divided into equal (For use by Yaskawa) 5 (LL) 3 0.02
sections at 45°.) 0.08 dia. A (2 × M6 × 10)
(For use
.
(2 × M6 × 10)
(For use by Yaskawa) by Yaskawa)
160
(140 dia.)
230 dia.
LB dia.
dia.
228 dia.
LH dia.
LA dia.
(120 dia.)
5 (0.1) (1)
R5 (9.2)
2
5.4 3.4 *2
2
60° *1
A
0.04
Unit: mm


16DA11 78 70 200 0
-0.046 60 +0.4
0 145 0
-0.040 16.0
35DA11 107 99 200 0
-0.046 60 +0.4
0 145 0
-0.040 25.0
300 ±50
(35)
43.5 8 × M6 × 10
24.5 L (Divided into equal
8 × M6 × 10 0.08 B B
5 (LL) 3 sections at 45°.)
(Divided into equal 0.02
13
2.5 18
10 (22)

5d
(For use
ia.
(6 × M6 × 10) by Yaskawa)
160
(140 dia.)
230 dia.
228 dia.
dia
LB dia.
LA dia.
LH dia.
(120 dia.)
.
(0.1)
(1)
(2 × M6 × 10) *2
A *1
0.04
Unit: mm


16DA41 78 70 200 0
-0.046 60 +0.4
0 145 0
-0.040 16.0
35DA41 107 99 200 0
-0.046 60 +0.4
0 145 0
-0.040 25.0

188
 SGM7F-M
12 × M6 × 15
LL 15 (Divided into
6 KB2 equal sections.)
0.08 A B 41
KB1 30°
15 (280 h7 dia. range)
0.08 dia. A B
280±0.5 dia.
5
1.5 A
ia.
182
(rotating
d
0.04
264
147
part)
75.2 dia.
*
SGM7F
115 dia.
140 dia.
LH dia.
250 dia.
LA dia.
LB dia.
88
15 (75 H6 dia. range)
dia
Rotating part
.
*
* *
B
0.04
12 × M6 × 18
(Divided into Unit: mm
equal sections.)
Model SGM7F- LL KB1 KB2 LB LH LA Approx. Mass [kg]

45MA11 141 87.5 122 280 0
-0.052 75 +0.019
0 110 0
-0.035 38
80MA11 191 137.5 172 280 0
-0.052 75 +0.019
0 110 0
-0.035 45
1AMA11 241 187.5 222 0
280 -0.052 75 +0.019
0
0
110 -0.035 51
L
0.08 C C
6 LL 15 0.02
10° KB2
12 × M6 × 15 KB1 41
(Divided into equal sections.) 12 × M6 × 18
(Divided into
0.08 dia. A B equal sections.)
5
1.5 A 182
0.04
.
(rotating *
dia
147
part)
4
26
75.2 dia.
280 dia.
140 dia.
115 dia.
LH dia.
LA dia.
LB dia.
88

dia
.
*
* *
B
0.04
Unit: mm
Model SGM7F- L LL KB1 KB2 LB LH LA Approx. Mass [kg]

45MA31 150 135 102.5 137 248 0
-0.046 75 +0.019
0 110 0
-0.035 38
80MA31 200 185 152.5 187 248 0
-0.046 75 +0.019
0 110 0
-0.035 45
1AMA31 250 235 202.5 237 0
248 -0.046 75 +0.019
0
0
110 -0.035 51

189
 SGM7F-N
12 × M8 × 15
LL 15
(Divided into equal sections.)
6 KB2 41
0.08 A B
KB1 30°
0.08 dia. A B
360±0.5 dia.
5
A
ia.
1.5
222
4d
0.04
186
34
(rotating part)
*
325 dia.
190 dia.
166 dia.
LB dia.
LA dia.
LH dia.
118.2 dia.
135
Rotating
dia.
*
part
*
* B
0.04
12 × M8 × 20
(Divided into equal sections.) Unit: mm
Model SGM7F- LL KB1 KB2 LB LH LA Approx. Mass [kg]

80NA11 151 98 132 360 0
-0.057 118 +0.022
0 160 0
-0.040 50
1ENA11 201 148 182 360 0
-0.057 118 +0.022
0 160 0
-0.040 68
2ZNA11 251 198 232 0
360 -0.057 118 +0.022
0
0
160 -0.040 86
L
0.08 C C
6 LL 15 0.02
KB2
12 × M8 × 15
(Divided into equal sections.) KB1
10° 41
12 × M8 × 20
(Divided into equal
0.08 dia. A B sections.)
5
A
1.5 0.04 222
.
dia
186
(rotating part)
344
*
118.2 dia.
360 dia.
166 dia.
190 dia.
LB dia.
LH dia.
LA dia.
135 d

*
ia.
* *
B
0.04
Unit: mm
Model SGM7F- L LL KB1 KB2 LB LH LA Approx. Mass [kg]

80NA31 160 145 113 147 323 0
-0.057 118 +0.022
0 160 0
-0.040 50
1ENA31 210 195 163 197 323 0
-0.057 118 +0.022
0 160 0
-0.040 68
2ZNA31 260 245 213 247 0
323 -0.057 118 +0.022
0
0
160 -0.040 86

190
 SGM7F-A, -B, -C, or -D: Flange Specification 1

3 2 Phase V 2 /PS
3 Phase W 3 –
4 5* BAT0
8 10
Model: JN1AS04MK2R
6 –
SGM7F
7 FG (frame ground)
Industry, Ltd. 8* BAT
9 PG0V
10 –
data.
Model: JN1AS10ML1-R
Industry, Ltd.

 SGM7F-A, -B, -C, or -D: Flange Specification 4

4* BAT0
4 5 PS
1 2
Models 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3) * Only absolute-value models with multiturn
• Ground pin: 350654-1 or 350669-1 (No. 4) data.
Manufacturer: Tyco Electronics Japan G.K. Model: 55102-0600
Mating Connector
• Cap: 350780-1 Mating connector: 54280-0609
• Socket: 350570-3 or 350689-3
 SGM7F-M or -N with Flange Specification 1 or 3

A Phase U 1 3 1 PS
A B
B Phase V 2 /PS
C Phase W 3 –
D C
D FG (frame ground) 4 7 4 PG5V
5* BAT0
8 10 6 –
Model: CE05-2A18-10PD
Manufacturer: DDK Ltd. 7 FG (frame ground)
8* BAT
Mating Connector 9 PG0V
• Plug: CE05-6A18-10SD-B-BSS 10 –
• Cable clamp: CE3057-10A-(D265) * Only absolute-value models with multiturn
data.
Model: JN1AS10ML1
Industry, Ltd.
191
Selecting Cables

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
absolute encoder.)
on Both Ends
Encoder-end Cable
Encoder Servomotor
Cable
A A A

Length Order Number
SGM7F-A 3m JZSP-CMM60-03-E JZSP-C7MDN23-03-E
SGM7F-B
SGM7F-C 5m JZSP-CMM60-05-E JZSP-C7MDN23-05-E
SERVOPACK Motor end
SGM7F-D end L
1
Non-load side installa-
tion
SGM7F-A 3m JZSP-CMM00-03-E JZSP-C7MDS23-03-E
SGM7F-B
SGM7F-C 5m JZSP-CMM00-05-E JZSP-C7MDS23-05-E SERVOPACK Motor end
end
SGM7F-D L
*2
Flange specification :
4
Non-load side installa-
tion (with cable on side)
Continued on next page.
192
Continued from previous page.

Length Order Number
3m JZSP-USA101-03-E JZSP-USA121-03-E
5m JZSP-USA101-05-E JZSP-USA121-05-E SERVOPACK Motor end
end L
10 m JZSP-USA101-10-E JZSP-USA121-10-E
SGM7F-M 15 m JZSP-USA101-15-E JZSP-USA121-15-E
SGM7F-N 20 m JZSP-USA101-20-E JZSP-USA121-20-E
: 45 3m JZSP-USA102-03-E JZSP-USA122-03-E
SERVOPACK Motor end
: 80 5m JZSP-USA102-05-E JZSP-USA122-05-E end L
SGM7F
end L
: 1A SERVOPACK Motor end
5m JZSP-USA302-05-E JZSP-USA322-05-E end L
end L
: 1E 3m JZSP-USA502-03-E JZSP-USA522-03-E
SERVOPACK Motor end
: 2Z 5m JZSP-USA502-05-E JZSP-USA522-05-E end L
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius of the
Flexible Cables are given in the following table.
Recommended Recommended
Order Number Order Number
Bending Radius (R) Bending Radius (R)
JZSP-C7MDN23--E JZSP-USA321--E
90 mm min. 113 mm min.
JZSP-C7MDS23- -E JZSP-USA322--E
JZSP-USA121--E JZSP-USA521--E
193

Length Order Number
SGM7F-F 5 m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
end L
Flange specifica-
tion*2: 1 or 3 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
For incre-
SGM7F-AF mental 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
SGM7F-BF encoder
5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
SGM7F-CF end L
SGM7F-DF 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
Flange specifica- 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E

turn abso-
5m JZSP-C7PI00-05-E JZSP-C7PI20-05-E SERVOPACK Encoder end
lute
end L
(without
SGM7F-7 Battery
Flange specifica-
tion*2: 1 or 3 For multi- 3m JZSP-C7PA00-03-E JZSP-C7PA20-03-E SERVOPACK Encoder end
turn abso- 5m JZSP-C7PA00-05-E JZSP-C7PA20-05-E end L
lute
encoder
(battery included)
turn abso-
lute
end L
SGM7F-A7 encoder 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
SGM7F-B7 (without
SGM7F-C7 Battery
SGM7F-D7 Case*3) 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
For multi- 3m JZSP-CSP19-03-E JZSP-CSP29-03-E
Flange specifica- SERVOPACK Encoder end
turn abso- 5m JZSP-CSP19-05-E JZSP-CSP29-05-E end L
tion*2: 4 lute
encoder
(battery included)
larger.
194

Servomotor Length
Model (L)
SGM7F-F
SGM7F-7 Encoder-end Cable SERVOPACK Encoder end
(for single-turn/multi- 0.3 m JZSP-C7PRC0-E end
Flange specifica- turn absolute encoder)

tion*2: 1 or 3
SGM7F-F 30 m JZSP-UCMP00-30-E
Cables with Connec-
SGM7F-7 SERVOPACK Encoder end
L
SGM7F
tors on Both Ends end
Flange specifica-
tion*2: 1, 3 or 4 50 m JZSP-UCMP00-50-E
SGM7F-7 Cable with a Battery end
Case
0.3 m JZSP-CSP12-E
Flange specifica- (for multiturn absolute
Battery Case
tion*2: 1, 3 or 4 encoder)*3 (battery included)

195
SGMCV (Small Capacity, with Core, Inner Rotor)
Model Designations
SGMCV - 04 B E A 1 1
Servomotors:
SGMCV
1st+2nd digits Rated Output 4th digit Serial Encoder 6th digit Flange
Code Specification Code Specification Code Mounting

04 4.00 Nm E 22-bit single-turn absolute encoder 1 Non-load side
08 8.00 Nm I 22-bit multiturn absolute encoder 4 Non-load side (with cable on side)
10 10.0 Nm
14 14.0 Nm 5th digit Design Revision Order 7th digit Options
16 16.0 Nm
A Code Specification
17 17.0 Nm
25 25.0 Nm 1 Without options
High machine precision (runout at end of shaft
35 35.0 Nm 5
and runout of shaft surface: 0.01 mm)
3rd digit Servomotor Outer Diameter
Code Specification
B 135-mm dia.
C 175-mm dia.
D 230-mm dia.
Torque B C D
Nm (135-mm dia.) (175-mm dia.) (230-mm dia.)
4.00 SGMCV-04B – –
8.00 – SGMCV-08C –
10.0 SGMCV-10B – –
14.0 SGMCV-14B – –
16.0 – – SGMCV-16D
17.0 – SGMCV-17C –
25.0 – SGMCV-25C –
35.0 – – SGMCV-35D
have been omitted.
196

Specifications
Voltage 200 V
Model SGMCV- 04B 10B 08C 17C14B 25C 16D 35D
Thermal Class A
SGMCV

Storage Environment
Tolerances*3
Mechanical
mm 0.07
mm 0.07
Vibration Vibration Acceleration Rate
49 m/s2
Resistance*4 at Flange
SGD7S- 2R8A, 2R8F
2R8A, 7R6A*5,
2R8F 120A
Applicable SERVOPACKs 5R5A 5R5A 7R6A 5R5A
SGD7W-
SGD7C-
2R8A 2R8A 7R6A*5
 dia. Runout of output shaft surface : Diameter determined by motor model.
A B
Runout at end of output shaft
Load side
Non-load side
*4. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the direc-
tions shown in the following figures.
The strength of the vibration that the Servomotor can withstand depends on the application. Check the vibration acceleration rate.
Vertical
Vertical
Side to side
Front to back
*5. Use derated values for this combination. Refer to the following section for information on derating values.
Ratings (page 198)
197
Ratings
Voltage 200 V
Model SGMCV- 04B 10B 14B 08C 17C 25C 16D 35D
1100
Rated Output*1 W 126 314 440 251 534 785 503
1000*5
Rated Torque*1, *2 Nm 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
*1 Nm 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Stall Torque*1 Nm 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
*1 Arms 2.0 2.8 4.6 2.4 4.5 5.0
Rated Current
*1 Arms 6.4 8.9 14.1 8.6 14.7 13.9 16.9 16.0
300
Rated Motor Speed*1 min-1 300 300
270*5
Maximum Motor Speed*1 min-1 600 600 500 600 400
Torque Constant Nm/Arms 2.21 3.81 3.27 3.52 4.04 6.04 3.35 7.33
-4 2 16.2 25.2 36.9 56.5 78.5 111 178 276
*1 kW/s 9.88 39.7 53.1 11.3 36.8 56.3 14.4 44.4
Rated Power Rate
Rated Angular Acceleration Rate*1 rad/s2 2470 3970 3790 1420 2170 2250 899 1270
Heat Sink Size mm 350 × 350 × 12 450 × 450 × 12 550 × 550 × 12
Allowable Load Moment of Inertia 25 40 45 15 25 25 10 15
(Motor Moment of Inertia Ratio) times times times times times times times times
With External Regenerative Resis-
25 40 45 15 25 25 10 15
tor and External Dynamic Brake
*3 times times times times times times times times
Resistor
Allowable Thrust
N 1500 3300 4000
Allowable Load
Load*4 Allowable Moment
Nm 45 55 65 92 98 110 210 225
Load
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
given in the table.
L F
F F L
*5. If you use an SGD7S-7R6A SERVOPACK and SGMCV-35D Servomotor together, use this value (a derated
value).
198

SGMCV-04B*1 SGMCV-10B SGMCV-14B*1

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
SGMCV
0 5 10 15 0 10 20 30 40 0 10 20 30 40 50
SGMCV-08C SGMCV-17C SGMCV-25C*2

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
0 5 10 15 20 25 30 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80
SGMCV-16D SGMCV-35D
700 500
600
400
Motor speed (min-1)
Motor speed (min-1)
500
400 300
300 200
A B A B
200
100
100
0 0
0 10 20 30 40 50 0 20 40 60 80 100 120
*1. The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V.
*2. Contact your Yaskawa representative for information on the SGMCV-25C.
199

perature of 40°C.
SGMCV-B SGMCV-08C
10000 10000
1000
Detection time (s)
Detection time (s)

1000
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCV-17C and -25C SGMCV-16D

10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCV-35D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
200


SGMCV
PACKs.
Install an External Regenerative Resistor when the built-in regenerative resistor cannot process all
of the regenerative power.

SGMCV-04B SGMCV-08C SGMCV-10B
30 16 45
14 40
25
12 35
20 30
10
25
15 8
20
10 6
15
4 10
5
2 5
0 0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700

201
External Dimensions
 SGMCV-B
L Notation
0.07 B B
6 × M5 × 8 4 (LL) 2.7 : Square dimensions
0.02
90 dia.
(Divided into equal 0.07 dia. A 6 × M5 × 8

sections at 60°.) (Divided into equal sections at 60°.)
ia.
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
(82 dia.)
LA dia.
LB dia.
(1)
(0.1)
R26.5
.4

23 (9)
25
 *2
.4
(2 × M5 × 8)
(For use by
90° A Yaskawa)
0.04 *1
Unit: mm

Model SGMCV- L (LL) LB LH LA Approx. Mass [kg]

04BA11 60 53.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 5.0
10BA11 85 78.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 6.5
14BA11 115 108.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 9.0
300±50
(35)
43.5
24.5
L
0.07 B B
4 (LL) 2.7
6 × M5 × 8 0.02
(Divided into 0.07 dia. A 6 × M5 × 8
(22)
equal sections 18 (Divided into

at 60°.) equal sections
(2 × M5 × 8)
10
at 60°.)
(For use by
Yaskawa) ia.
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
LB dia.
LA dia.
(80 dia.)
(1)
90 dia (0.1)
.
*2
(2 × M5 × 8)
(For use by
A Yaskawa)
*1
0.04
Unit: mm


04BA41 60 53.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 5.0
10BA41 85 78.3 120 0
-0.035 25 +0.3
+0.1 78 0
-0.030 6.5
14BA41 115 108.3 0
120 -0.035 25 +0.3
+0.1
0
78 -0.030 9.0

202
 SGMCV- C
L B
6 × M6 × 9 0.07 B
(Divided into equal 5 (LL) 2.7 0.02
.
130 dia
98 dia
sections at 60°.) 6 × M6 × 9
0.07 dia. A (Divided into equal
.
sections at 60°.)
(2 × M6 × 9)
(For use by
Yaskawa)
LH dia.
175 dia.
173 dia.
LB dia.
LA dia.
(84 dia.)
(116 dia.)
(0.1) (1)
R43 (9)
.4

23
25
SGMCV

.4
*2
(2 × M6 × 9)
(For use by
Yaskawa)
90°
A *1
0.04
Unit: mm


08CA11 73 65.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 9.0
17CA11 87 79.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 11.0
25CA11 117 109.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 15.0
300±50
(35)
43.5
24.5
L
6 × M6 × 9 0.07 B B
(Divided into 5 (LL) 2.7 0.02 6 × M6 × 9
(Divided into
(22)
equal sections 1 18
98
0.07 dia. A equal sections

at 60°.)
dia
at 60°.)
.
(2 × M6 × 9)
10
(For use by
Yaskawa)
175 dia.
LH dia.
LB dia.
(84 dia.)
173 dia.
LA dia.
(100 dia.)
(0.1) (1)
130 dia
.
*2
(2 × M6 × 9)
(For use by
Yaskawa)
A *1
0.04
Unit: mm


08CA41 73 65.3 0
160 -0.040 40 +0.3
+0.1
0
107 -0.035 9.0
17CA41 87 79.3 0
160 -0.040 40 +0.3
+0.1
0
107 -0.035 11.0
25CA41 117 109.3 160 0
-0.040 40 +0.3
+0.1 107 0
-0.035 15.0

203
 SGMCV-D
8 × M6 × 10
(6 × M6 × 10) (Divided into equal
135 dia
8 × M6 × 10 L B
0.08 B sections at 45°.)
(Divided into equal (For use by Yaskawa) 5 (LL) 3 0.02
.
(2 × M6 × 10) (For use
(For use by Yaskawa) by Yaskawa)
160
(140 dia.)
230 dia.
LB dia.
dia.
228 dia.
LH dia.
LA dia.
(120 dia.)
5 (0.1) (1)
R5 (9.2)
2
5.4 3.4 *2
2
60° *1
A
0.04
Unit: mm


16DA11 78 70 200 0
-0.046 60 +0.4
0 145 0
-0.040 16.0
35DA11 107 99 200 0
-0.046 60 +0.4
0 145 0
-0.040 25.0
300 ±50
(35)
43.5 8 × M6 × 10
24.5 L (Divided into equal
8 × M6 × 10 0.08 B B
5 (LL) 3 sections at 45°.)
(Divided into equal 0.02
13
10 (22)
sections at 45°.) 2.5 18

0.08 dia. A (2 × M6 × 10)
5d
(For use
ia.
(6 × M6 × 10) by Yaskawa)
160
(140 dia.)
230 dia.
228 dia.
dia
LB dia.
LA dia.
LH dia.
(120 dia.)
.
(0.1)
(1)
(2 × M6 × 10) *2
A *1
0.04
Unit: mm


16DA41 78 70 200 0
-0.046 60 +0.4
0 145 0
-0.040 16.0
35DA41 107 99 200 0
-0.046 60 +0.4
0 145 0
-0.040 25.0

204
3 2 Phase V 2 /PS
3 Phase W 3 –
4 5* BAT0
8 10
Model: JN1AS04MK2R
6 –
Manufacturer: Japan Aviation Electronics 7 FG (frame ground)
Industry, Ltd.
8* BAT
SGMCV
9 PG0V
Mating connector: JN1DS04FK1 10 –
data.
Model: JN1AS10ML1-R
Industry, Ltd.

4* BAT0
4 5 PS
1 2
Models 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
data.
Model: 55102-0600
Mating Connector
• Cap: 350780-1
• Socket: 350570-3 or 350689-3
205
Selecting Cables

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
absolute encoder.)
on Both Ends
Encoder-end Cable
Encoder Servomotor
Cable
A A A

Length Order Number
3m JZSP-CMM60-03-E JZSP-C7MDN23-03-E
SGMCV-B
SGMCV-C 5m JZSP-CMM60-05-E JZSP-C7MDN23-05-E SERVOPACK Motor end
L
SGMCV-D end
*2
Flange specification : 1 15 m JZSP-CMM60-15-E JZSP-C7MDN23-15-E
Non-load side installation
SGMCV-B 3m JZSP-CMM00-03-E JZSP-C7MDS23-03-E
SGMCV-C SERVOPACK Motor end
5m JZSP-CMM00-05-E JZSP-C7MDS23-05-E end
SGMCV-D L
Flange specification*2: 4
Non-load side installation
(with cable on side) 20 m JZSP-CMM00-20-E JZSP-C7MDS23-20-E
larger.
206

Length Order Number
SGMCV-BE 3 m JZSP-CMP60-03-E JZSP-CSP60-03-E
SGMCV-CE 5 m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
SGMCV-DE end L
For single- 10 m JZSP-CMP60-10-E JZSP-CSP60-10-E
Flange specifica- turn abso- 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
tion*2: 1 lute 20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
encoder
SGMCV-BE (without 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
SGMCV-CE Battery 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
SGMCV-DE end L
SGMCV
Case) 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
Flange specifica- 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
turn abso-
5m JZSP-C7PI00-05-E JZSP-C7PI20-05-E
end L
SGMCV-BI (without
SGMCV-CI Battery
SGMCV-DI
Flange specifica- For multi- 3m JZSP-C7PA00-03-E JZSP-C7PA20-03-E SERVOPACK Encoder end
tion*2: 1 turn abso- 5m JZSP-C7PA00-05-E JZSP-C7PA20-05-E end L
lute
encoder
(battery included)
turn abso-
end L
SGMCV-BI (without
SGMCV-CI Battery
SGMCV-DI
Case*3) 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
Flange specifica- For multi- 3m JZSP-CSP19-03-E JZSP-CSP29-03-E
tion*2: 4 turn abso- 5m JZSP-CSP19-05-E JZSP-CSP29-05-E end L
lute
encoder
(battery included)
larger.
207

Servomotor Length
Model (L)
SGMCV-BE
SGMCV-BI
SGMCV-CE
SGMCV-CI Encoder-end Cable SERVOPACK Encoder end
SGMCV-DE (for single-turn/multi- 0.3 m JZSP-C7PRC0-E end
SGMCV-DI turn absolute encoder)
Flange specifica-
tion*2: 1
SGMCV-BE
SGMCV-BI
SGMCV-CE
Cables with Connec-
SGMCV-CI 40 m JZSP-UCMP00-40-E SERVOPACK Encoder end
tors on Both Ends end L
SGMCV-DE
SGMCV-DI
Flange specifica-
tion*2: 1 or 4
SGMCV-BI
SGMCV-CI Cable with a Battery SERVOPACK
end
Encoder end
SGMCV-DI Case
0.3 m JZSP-CSP12-E
(for multiturn absolute
Battery Case
Flange specifica- encoder)*3 (battery included)
tion*2: 1 or 4
208
MEMO
SGMCV
209
SGMCS (Small Capacity, Coreless, Inner Rotor or

Medium Capacity, with Core, Inner Rotor)
Model Designations
SGMCS - 02 B 3 C 1 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit
Servomotors:
SGMCS
1st+2nd digits Rated Output 3rd digit Servomotor Outer Diameter 5th digit Design Revision Order
 Small-Capacity, Coreless Code Specification Code Specification
Code Specification B 135-mm dia. Model with servomotor outer diameter code
A
02 2.00 Nm C 175-mm dia. M or N
04 4.00 Nm D 230-mm dia. B Model with servomotor outer diameter code E
05 5.00 Nm E 290-mm dia. Model with servomotor outer diameter code B,
C
07 7.00 Nm M 280-mm dia. C, or D
08 8.00 Nm N 360-mm dia.
10 10.0 Nm 6th digit Flange
Code
Servomotor Outer Diameter Code (3rd Digit)
16 16.0 Nm Mounting
Code Specification B C D E M N
17 17.0 Nm
20-bit single-turn Non-load side      
25 25.0 Nm 3 1
absolute encoder Load side      
35 35.0 Nm D 20-bit incremental encoder 3 Non-load side      
 Medium-Capacity, with Core Non-load side
4      
Code Specification (with cable on side)
45 45.0 Nm  : Applicable models.
80 80.0 Nm
1A
7th digit Options
110 Nm
1E 150 Nm Code Specification
2Z 200 Nm 1 Without options
Torque B C D E M N
Nm (135-mm dia.) (175-mm dia.) (230-mm dia.) (290-mm dia.) (280-mm dia.) (360-mm dia.)
2.00 SGMCS-02B – – – – –
4.00 – SGMCS-04C – – – –
5.00 SGMCS-05B – – – – –
7.00 SGMCS-07B – – – – –
8.00 – – SGMCS-08D – – –
10.0 – SGMCS-10C – – – –
14.0 – SGMCS-14C – – – –
16.0 – – – SGMCS-16E – –
17.0 – – SGMCS-17D – – –
25.0 – – SGMCS-25D – – –
35.0 – – – SGMCS-35E – –
45.0 – – – – SGMCS-45M –
80.0 – – – – SGMCS-80M SGMCS-80N
110 – – – – SGMCS-1AM –
150 – – – – – SGMCS-1EN
200 – – – – – SGMCS-2ZN
have been omitted.
210
SGMCS (Small Capacity, Coreless, Inner Rotor or Medium Capacity, with Core, Inner Rotor)

Small-Capacity, Coreless Servomotors: Specifications
Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Thermal Class A
SGMCS

Storage Environment
Runout of Output Shaft Surface mm 0.02
Tolerances*3
Mechanical
Runout at End of Output Shaft mm 0.04

mm 0.07 0.08
mm 0.07 0.08
49 m/s2
SGD7S- 2R8A, 2R1F 2R8A, 2R8F
Applicable
SGD7W- 5R5A
SERVOPACKs 2R8A
SGD7C-
 dia.
A Runout of output shaft surface : Diameter determined by motor model.
Load side
Non-load side
acceleration rate.
Vertical
Vertical
Side to side
Front to back
211
Small-Capacity, Coreless Servomotors: Ratings

Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
*1 W 42 105 147 84 209 293 168 356 393 335 550
Rated Output
*1, *2 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Rated Torque
Instantaneous
Nm 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Maximum Torque*1
Stall Torque*1 Nm 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6
*1 Arms 1.8 1.7 1.4 2.2 2.8 1.9 2.5 2.6 3.3 3.5
Rated Current
Instantaneous
Arms 5.4 5.1 4.1 7.0 8.3 5.6 7.5 8.0 9.4 10.0
Maximum Current*1
Rated Motor
min-1 200 200 200 150 200 150
Speed*1
Maximum Motor
min-1 500 500 400 300 500 350 250 500 250
Speed*1
Motor Moment of
×10-4 kgm2 28.0 51.0 77.0 77.0 140 220 285 510 750 930 1430
Inertia
Rated Power Rate*1 kW/s 1.43 4.90 6.36 2.08 7.14 8.91 2.25 5.67 8.33 2.75 8.57
Rated Angular
rad/s2 710 980 910 520 710 640 280 330 170 240
Acceleration Rate*1
Heat Sink Size mm 350 × 350 × 12 450 × 450 × 12 550 × 550 × 12 650 × 650 × 12
10 times 3 times
(Motor Moment of Inertia Ratio) times
tive Resistor and Exter- 5
10 times 3 times
nal Dynamic Brake times
Resistor*3
Allowable
Thrust N 1500 3300 4000 11000
Allow-
Load
able
Allowable
Load*4
Moment Nm 40 50 64 70 75 90 93 103 135 250 320
Load
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
given in the table.
L F
F F L
Where F is the external force, Where F is the external force, Where F is the external force
212
Small-Capacity, Coreless Servomotors: Torque-Motor Speed

Characteristics
SGMCS-02B SGMCS-05B SGMCS-07B

500 500 500
400 400 400

Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

300 300 300
200 200 200

A B A B A B
100 100 100
0 0 0
0 1.5 3.0 4.5 6.0 7.5 9.0 0 3 6 9 12 15 18 0 5 10 15 20 25 30
SGMCS
SGMCS-04C SGMCS-10C SGMCS-14C

500 500 500
400 400 400

Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

300 300 300
200 200 200

A B A B A B
100 100 100
0 0 0
0 3 6 9 12 15 18 0 6 12 18 24 30 36 0 10 20 30 40 50 60
SGMCS-08D SGMCS-17D SGMCS-25D

500 500 500
400 400 400

Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
300 300 300
200 200 200

A B A B A
B
100 100 100
0 0 0
0 6 12 18 24 30 36 0 12 24 36 48 60 72 0 15 30 45 60 75 90
SGMCS-16E SGMCS-35E
500 500
400 400
Motor speed (min-1)
Motor speed (min-1)
300 300
200 200
A B A B
100 100
0 0
0 9 18 27 36 45 54 0 20 40 60 80 100 120
213
Small-Capacity, Coreless Servomotors: Servomotor Overload

Protection Characteristics
perature of 40°C.
SGMCS-02B, -05B, -07B, -10C, -17D, and -35E SGMCS-04C
10000 10000
1000 1000
Detection time (s)

Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-14C SGMCS-08D and -16E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-25D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
uous duty zone given in Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics on page
213.
214
Medium-Capacity Servomotors with Cores: Specifications

Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Thermal Class F
SGMCS

Storage Environment
Runout of Output Shaft Surface mm 0.02
Runout at End of Output Shaft mm 0.04
Tolerances*3
Mechanical

mm −
mm 0.08
Perpendicularity between Mount-
mm 0.08
ing Surface and Output Shaft
Impact Acceleration
Shock
Rate at Flange 490 m/s2
*4
Resistance
24.5 m/s2
SGD7S- 7R6A 120A 180A 120A 200 A
Applicable
SGD7W-
SERVOPACKs 7R6A −
SGD7C-
 dia. : Diameter determined by motor model.
Concentricity between output shaft and flange outer diameter A B
 dia.
A  dia. Runout at end of output shaft
Runout of output shaft surface
Load side
Perpendicularity between mounting surface and output shaft A B
Non-load side
acceleration rate.
Vertical
Vertical
Side to side
Front to back
215
Medium-Capacity Servomotors with Cores: Ratings

Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
*1 W 707 1260 1730 1260 2360 3140
Rated Output
*1, *2 Nm 45.0 80.0 110 80.0 150 200
Rated Torque
*1 Nm 135 240 330 240 450 600
*1 Nm 45.0 80.0 110 80.0 150 200
Stall Torque
*1 Arms 5.8 9.7 13.4 9.4 17.4 18.9
Rated Current
Instantaneous Maximum Current*1 Arms 17.0 28.0 42.0 28.0 56.0 56.0
*1 -1 150 150
*1 -1 300 300 250
-4 2 388 627 865 1360 2470 3060
*1 kW/s 52.2 102 140 47.1 91.1 131
Rated Power Rate
*1 2 1160 1280 1270 588 607 654
3 times
(Motor Moment of Inertia Ratio)
3 times
External Dynamic Brake Resistor
A mm 33 37.5
Allowable
Load*3
given in the table.
L F
F F L
A (Refer to the
values in the
table.)
Moment load = 0 Moment load = F × L Moment load = F × (L + A)
216
Medium-Capacity Servomotors with Cores: Torque-Motor

Speed Characteristics
B : Intermittent duty zone
SGMCS-45M SGMCS-80M SGMCS-1AM

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B
100 100 100
0 0 0
0 50 100 150 0 100 200 300 0 100 200 300 400
SGMCS
SGMCS-80N SGMCS-1EN SGMCS-2ZN

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B
100 100 100
0 0 0
0 100 200 300 0 100 200 300 400 500 0 200 400 600 800
217
Medium-Capacity Servomotors with Cores: Servomotor

Overload Protection Characteristics
perature of 40°C.
SGMCS-45A SGMCS-80M
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-1AM and -80N SGMCS-1EN

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350
SGMCS-2ZN
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
uous duty zone given in Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics on
page 217.
218

in the Small-Capacity, Coreless Servomotors: Ratings (page 212) and Medium-Capacity Servomo-
tors with Cores: Ratings (page 216). The values are determined by the regenerative energy process-
ing capacity of the SERVOPACK and are also affected by the drive conditions of the Servomotor.
Perform the required Steps for each of the following cases.

SGMCS
PACKs.
219

SGMCS-02B SGMCS-04C SGMCS-05B

12 12 12
10

10 10
8 8 8
6 6 6
4 4 4
2 2 2
0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600 0 100 200 300 400 500 600
Motor speed (min-1)
SGMCS-07B SGMCS-08D SGMCS-10C


12 3.5 6
10 3

5
8 2.5
4
2
6 3
1.5
4 2
1
2 1
0.5
0 0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600 0 100 200 300 400 500
Motor speed (min-1)
SGMCS-14C SGMCS-17D SGMCS-25D

3.5 3.5 3.5

3 3 3
2.5 2.5 2.5

2 2 2
1.5 1.5 1.5
1 1 1
0.5 0.5 0.5
0 0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300
Motor speed (min-1)

220
External Dimensions
Small-Capacity, Coreless Servomotors
 SGMCS-B
6 × M4 × 8
6 × M4 × 8 (Divided into equal
L
(Divided into equal sections at 60°.) 4 (LL) 4±0.9 0.02
ia.
0.07 dia. A
d
90
*1
(70 dia.)
SGMCS
LH dia.
90 dia
135 dia.
LB dia.
LA dia.
R26 .
(0.5: bolt section)
R40 *1
(1)
con .5 ma
25
nec x. (9) *2
.4
tor
are
a
3.4
A
2
90°
0.04 Unit: mm

Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]

02BC11 59 51 120 0
-0.035 20 +0.4
0 100 0
-0.035 4.8
05BC11 88 80 0
120 -0.035 20 +0.4
0
0
100 -0.035 5.8
07BC11 128 120 120 0
-0.035 20 +0.4
0 100 0
-0.035 8.2
300±50
(35)
50
30 L
0.07 B B 6 × M4 × 8
(22)
4 (LL) 4±0.9 0.02 (Divided into equal

6 × M4 × 8 sections at 60°.)
(Divided into
ia.
equal sections 0.07 dia. A 20

d
at 60°.)
90
10
*1
(70 dia.)
90
LH dia.
dia
135 dia.
.
LB dia.
LA dia.
(80 dia.)
(0.5: bolt section)

0.1
(1) *1
*2
A
0.04 Unit: mm


02BC41 59 51 120 0
-0.035 20 +0.4
0 100 0
-0.035 4.8
05BC41 88 80 120 0
-0.035 20 +0.4
0 100 0
-0.035 5.8
07BC41 128 120 0
120 -0.035 20 +0.4
0
0
100 -0.035 8.2

221
 SGMCS-C
6 × M5 × 8
0.07 B L B (Divided into equal sections at 60°.)
6 × M5 × 8 0.02
5 (LL) 5±0.9
ia.
(Divided into equal sections at 60°.) 0.07 dia. A
0d
12
(2 × M5 × 8)
(For use by Yaskawa) *1
(100 dia.)
(2 × M5 × 8)
LH dia.
175 dia.
130 dia (For use by Yaskawa)
LB dia.
LA dia.
.
(1: bolt section)
.5 R5 *1
R36 con1 ma (9) *2
(1)
nec x.
tor
2 .4 are
5.4 23 a

A
60°
0.04 Unit: mm


04CC11 69 59 160 0
-0.040 35 +0.4
0 130 0
-0.040 7.2
10CC11 90 80 0
160 -0.040 35 +0.4
0
0
130 -0.040 10.2
14CC11 130 120 160 0
-0.040 35 +0.4
0 130 0
-0.040 14.2
300±50
(35)
50
30 6 × M5 × 8
L
(22)
0.07 B B (Divided into equal

6 × M5 × 8 5 (LL) 5±0.9
0.02 sections at 60°.)
(Divided into equal
sections at 60°.) 0.07 dia. A
ia.
20
0d
(2 × M5 × 8)
10
12
(For use by
Yaskawa) *1
(2 × M5 × 8)
13 (For use by Yaskawa)
(100 dia.)
0
di
LH dia.
a.
175 dia.
LB dia.
LA dia.
(100 dia.)
(1: bolt section)
0.1 *1
(1)
*2
A
0.04 Unit: mm


04CC41 69 59 160 0
-0.040 35 +0.4
0 130 0
-0.040 7.2
10CC41 90 80 0
160 -0.040 35 +0.4
0
0
130 -0.040 10.2
14CC41 130 120 160 0
-0.040 35 +0.4
0 130 0
-0.040 14.2

222
 SGMCS-D
6 × M6 × 10
L B (Divided into equal
6 × M6 × 10 0.08 B
(Divided into equal 5 (LL) 5±0.9 0.02 sections at 60°.)
ia.
0.08 dia. A
0d
sections at 60°.)
16
(2 × M6 × 10)
(For use by Yaskawa) *1
(2 × M6 × 10)
(140 dia.)
160
230 dia.
LB dia.
LH dia.
LA dia.
dia.
3
R5 (0.5: bolt section)
R6 *1
con 7.5 m (9) (1)
nec ax. *2
2 4 tor
5.4 3. are
2
SGMCS
a
60° A
0.04 Unit: mm


08DC11 74 64 200 0
-0.046 60 +0.4
0 170 0
-0.040 14.0
17DC11 110 100 200 0
-0.046 60 +0.4
0 170 0
-0.040 22.0
25DC11 160 150 0
200 -0.046 60 +0.4
0
0
170 -0.040 29.7
300±50
(35)
50
30 6 × M6 × 10
(22)
L (Divided into equal

6 × M6 × 10 0.08 B B sections at 60°.)
5 (LL) 5±0.9 0.02
ia.
(Divided into equal 0.08 dia. A

0d
sections at 60°.) (2 × M6 × 10) 20

16

10
*1
(2 × M6 × 10)
16 (For use by Yaskawa)
0
(140 dia.)
di
a.
(140 dia.)
230 dia.
LH dia.
LB dia.
LA dia.
(0.5: bolt section)

0.1 *1
(1)
*2
A
0.04 Unit: mm


08DC41 74 64 200 0
-0.046 60 +0.4
0 170 0
-0.040 14.0
17DC41 110 100 200 0
-0.046 60 +0.4
0 170 0
-0.040 22.0
25DC41 160 150 200 0
-0.046 60 +0.4
0 170 0
-0.040 29.7

223
 SGMCS-E
6 × M8 × 14
(Divided into equal
6 × M8 × 14 L
(Divided into equal 6 (LL) 6±1.6
ia.
sections at 60°.) 0.08 dia. A 0.02
0d
)
a.
di
20
80
(2 × M8 × 14)
(2
(For use by Yaskawa) *1 (2 × M8 × 14)
(For use by
Yaskawa)
(180 dia.)
200 dia
290 dia.
LB dia.
LA dia.
.
LH dia.
*1
R65
(1)
R (9) *2
co 80 m
2 nn ax
ec .
5.4 4 tor
23. are
a
(4) A
60°
0.04 Unit: mm


16EB11 88 76 260 0
-0.052 75 +0.4
0 220 0
-0.046 26.0
35EB11 112 100 260 0
-0.052 75 +0.4
0 220 0
-0.046 34.0
300±50
(35)
6 × M8 × 14 50 6 × M8 × 14
(Divided into equal 30 (Divided into equal sections at 60°.)
(22)
sections at 60°.) L B
0.08 B 6±1.6
6 (LL)
ia.
0.02
0d
0.08 dia. A 20
)
a.
20
di
10
80
(2 × M8 × 14)
(2
(For use by *1 (2 × M8 × 14)

Yaskawa) (For use by
Yaskawa)
20
0d
290 dia.
ia.
LB dia.
(180 dia.)
LH dia.
LA dia.
(160 dia.)
0.1 *1
(1)
*2
(4) A
0.04 Unit: mm


16EB41 88 76 260 0
-0.052 75 +0.4
0 220 0
-0.046 26.0
35EB41 112 100 0
260 -0.052 75 +0.4
0
0
220 -0.046 34.0

224
Medium-Capacity Servomotors with Cores
 SGMCS-M
12 × M6 × 15
LL 15 (Divided into
6 KB2 equal sections.)
0.08 A B 41
KB1 30°
0.08 dia. A B
280±0.5 dia.
5
1.5 A
ia.
182
d
(rotating 0.04
264
147 part)
75.2 dia.
*
SGMCS
115 dia.
140 dia.
LH dia.
250 dia.
LA dia.
LB dia.
88
dia
Rotating part 15 (75 H6 dia. range)
.
*
* *
B
0.04
12 × M6 × 18
(Divided into Unit: mm
equal sections.)
Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]

45MA11 141 87.5 122 0
280 -0.052 75 +0.019
0
0
110 -0.035 38
80MA11 191 137.5 172 0
280 -0.052 75 +0.019
0
0
110 -0.035 45
1AMA11 241 187.5 222 280 0
-0.052 75 +0.019
0 110 0
-0.035 51
L
0.08 C C
6 LL 15 0.02
10° KB2
12 × M6 × 15 KB1 41
(Divided into equal sections.) 12 × M6 × 18
(Divided into
0.08 dia. A B equal sections.)
5
1.5 A
182
0.04
.
*
dia
(rotating
147
part)
4
26
75.2 dia.
280 dia.
140 dia.
115 dia.
LH dia.
LA dia.
LB dia.
88

dia
.
*
* *
B
0.04
Unit: mm
Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]

45MA31 150 135 102.5 137 248 0
-0.046 75 +0.019
0 110 0
-0.035 38
80MA31 200 185 152.5 187 0
248 -0.046 75 +0.019
0
0
110 -0.035 45
1AMA31 250 235 202.5 237 248 0
-0.046 75 +0.019
0 110 0
-0.035 51

225
 SGMCS-N
12 × M8 × 15
LL 15
(Divided into equal sections.)
6 KB2 41
0.08 A B
KB1 30°
0.08 dia. A B
360±0.5 dia.
5
A
ia.
1.5
222
4d
0.04
186
34
(rotating part)
*
325 dia.
190 dia.
166 dia.
LB dia.
LA dia.
LH dia.
118.2 dia.
135
Rotating
dia.
*
part
*
* B
0.04
12 × M8 × 20
(Divided into equal sections.) Unit: mm
Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]

80NA11 151 98 132 360 0
-0.057 118 +0.022
0 160 0
-0.040 50
1ENA11 201 148 182 360 0
-0.057 118 +0.022
0 160 0
-0.040 68
2ZNA11 251 198 232 0
360 -0.057 118 +0.022
0
0
160 -0.040 86
L
0.08 C C
6 LL 15 0.02
KB2
12 × M8 × 15
(Divided into equal sections.) KB1
10° 41
12 × M8 × 20
(Divided into equal
0.08 dia. A B sections.)
5
A
1.5 0.04 222
.
dia
186
(rotating part)
344
*
118.2 dia.
360 dia.
166 dia.
190 dia.
LB dia.
LH dia.
LA dia.
135 d

*
ia.
* *
B
0.04
Unit: mm
Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]

80NA31 160 145 113 147 323 0
-0.057 118 +0.022
0 160 0
-0.040 50
1ENA31 210 195 163 197 323 0
-0.057 118 +0.022
0 160 0
-0.040 68
2ZNA31 260 245 213 247 0
323 -0.057 118 +0.022
0
0
160 -0.040 86

226
 SGMCS-B, -C, -D, or -E with Flange Specification 1

3 2 Phase V 2 /PS
3 Phase W 3 –
4 5 –
8 10
Model: JN1AS04MK2R
6 –
7 FG (frame ground)
Industry, Ltd. 8 –
9 PG0V
SGMCS
10 –
Model: JN1AS10ML1-R
Industry, Ltd.

 SGMCS-B, -C, -D, or -E with Flange Specification 4

2 3 Phase W Blue 3 –
3 4 FG (frame ground) Green (yellow) 3 4 4 –
4 5 PS
1 2
Models 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3) Model: 55102-0600
• Ground pin: 350654-1 or 350669-1 (No. 4) Manufacturer: Molex Japan LLC
Mating Connector
• Cap: 350780-1
• Socket: 350570-3 or 350689-3
 SGMCS-M or -N with Flange Specification 1 or 3

A Phase U 1 3 1 PS
A B
B Phase V 2 /PS
C Phase W 3 –
D C
D FG (frame ground) 4 7 4 PG5V
5 –
8 10 6 –
Model: CE05-2A18-10PD
Manufacturer: DDK Ltd. 7 FG (frame ground)
8 –
Mating Connector 9 PG0V
Plug: CE05-6A18-10SD-B-BSS 10 –
Cable clamp: CE3057-10A-(D265) Model: JN1AS10ML1
Industry, Ltd.
Mating connector:
JN1DS10SL1
227
Selecting Cables

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
Encoder-end Cable

on Both Ends
Encoder-end Cable
Encoder Servomotor
Cable
A A A

Length Order Number
SGMCS-B 3m JZSP-CMM60-03-E JZSP-CSM60-03-E
SGMCS-C
SGMCS-D 5m JZSP-CMM60-05-E JZSP-CSM60-05-E SERVOPACK Motor end
L
SGMCS-E end
10 m JZSP-CMM60-10-E JZSP-CSM60-10-E
Flange specification*2: 1 15 m JZSP-CMM60-15-E JZSP-CSM60-15-E
Non-load side
installation 20 m JZSP-CMM60-20-E JZSP-CSM60-20-E
SGMCS-B 3m JZSP-CMM00-03-E JZSP-CMM01-03-E
SGMCS-C
SGMCS-D 5m JZSP-CMM00-05-E JZSP-CMM01-05-E SERVOPACK Motor end
end
SGMCS-E L
Flange specification*2: 4
Non-load side 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
installation
(with cable on side) 20 m JZSP-CMM00-20-E JZSP-CMM01-20-E
228

Length Order Number
end L
SGMCS-M 15 m JZSP-USA101-15-E JZSP-USA121-15-E
SGMCS-N 20 m JZSP-USA101-20-E JZSP-USA121-20-E
: 45 3m JZSP-USA102-03-E JZSP-USA122-03-E
SERVOPACK Motor end
: 80 5m JZSP-USA102-05-E JZSP-USA122-05-E end L
SGMCS
end L
: 1A 5m JZSP-USA302-05-E JZSP-USA322-05-E
SERVOPACK Motor end
end L
end L
: 1E 3m JZSP-USA502-03-E JZSP-USA522-03-E
SERVOPACK Motor end
: 2Z 5m JZSP-USA502-05-E JZSP-USA522-05-E end L
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius of the
Flexible Cables are given in the following table.
Recommended Recommended
Order Number Order Number
Bending Radius (R) Bending Radius (R)
JZSP-CSM60--E JZSP-USA321--E
JZSP-CMN01--E JZSP-USA322--E
229

Length Order Number
3m JZSP-CMP60-03-E JZSP-CSP60-03-E
SGMCS- 5m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
end L
Flange specifica-
tion*2: 1 or 3 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
For incre-
mental/ 20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
absolute 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
encoder
SGMCS- 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
end L
Flange Specifica-
larger.

Servomotor Length
Model (L)
SGMCS- SERVOPACK Encoder end
Encoder-end Cable end L
(for incremental or 0.3 m JZSP-CSP15-E
Flange specifica-
absolute encoder)
tion*2: 1 or 3
SGMCS- Cables with Connec- 30 m JZSP-UCMP00-30-E SERVOPACK Encoder end
tors on Both Ends (for end L
Flange specifica- incremental or abso-
tion*2: 1, 3, or 4 lute encoder) 50 m JZSP-UCMP00-50-E

230
Linear Servomotors
Features
SGLG (Coreless Models) .................................. 232

• Lack of magnetic attraction force helps extend the
life of linear motion guides and minimizes noise.
• Zero cogging for minimal force ripple.
SGLFW2 (Models with F-type Iron Cores) ....... 256

• Large magnetic attraction force between the moving
and stationary members can be used to effectively
increase rigidity by preloading the linear guide.
• Magnetic preloading on the linear guide can help
increase the system’s frequency response, improv-
ing its damping and settling performances.
SGLT (Models with T-type Iron Cores) ............. 280

• Negates the effects of the magnetic attraction force
between the relative motor members.
• Very little cogging.
Common
SGLG
Recommended Linear Encoders and Cables .. 306
SGLFW2
Reference SGLT
SGLFW (Earlier Models with F-type Iron Cores) .. 326 Recommended Linear
Encoders and Cables
SGLFW
Linear Servomotors
Model Designations
Moving Coil
S G L G W - 30 A 050 C P 
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th
Linear  Series digit digit digits digit digits digit digit digit
Linear Servomotors
1st digit Servomotor Type 5th digit Power Supply Voltage 10th digit Sensor Specification and Cooling Method
Code Specification Code Specification Specifications
G Coreless model A 200 VAC Code Polarity Cooling Applicable Models
Sensor Method
Length of None None Self-cooled All models
2nd digit Moving Coil/Magnetic Way 6th+7th+8th digits Moving Coil
C None Air-cooled SGLGW
H Yes Air-cooled -40A, -60A, -90A
W Moving Coil 050 50 mm
P Yes Self-cooled All models
080 80 mm
3rd+4th digits Magnet Height 140 140 mm
200 199 mm 11th digit Connector for Servomotor Main Circuit Cable
Code Specification
253 252.5 mm Specification
30 30 mm Code Applicable Models
365 365 mm
40 40 mm Connector from Tyco
370 367 mm None All models
Electronics Japan G.K.
60 60 mm
535 535 mm Connector from SGLGW
90 86 mm D
Interconnectron GmbH -30A, -40A, -60A

A, B...
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Magnetic Way
S G L G M - 30 108 A 
1st 2nd 3rd+4th 5th+6th+7th 8th 9th
Linear  Series digit digit digits digits digit digit
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits Magnetic Way 9th digit Options
(Same as for the Moving Coil.) Code Specification Code Specification Applicable Models
090 90 mm None Standard-force All models
2nd digit Moving Coil/Magnetic Way 108 108 mm High-force
-M SGLGM-40, -60
Code Specification 216 216 mm
M Magnetic Way 225 225 mm
252 252 mm
405 405 mm
(Same as for the Moving Coil.)
432 432 mm
450 450 mm
504 504 mm

A, B, C*...
* The SGLGM-40 and SGLGM-60 also have a CT code.

• C = Without mounting holes on the bottom
• CT = With mounting holes on the bottom
232
Linear Servomotors
Precautions on Moving Coils with Polarity Sensors

When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, con-
Note sider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.
Correct Installation Incorrect Installation

Moving Coil Polarity sensor
Polarity sensor movement direction Moving Coil
Magnetic Way
Edge of Magnetic Way Edge of Magnetic Way
SGLG
 Total Length of Moving Coil with Length of Length of
Polarity Sensor Moving Coil Total
Moving Polarity
Model Length,
Coil, Sensor,
SGLGW- L [mm]
L L1 [mm] A [mm]
A L1
30A050P 50 0 50
Polarity sensor Moving Coil
(Included in the
30A080P 80 length of 80
Moving Coil.)
40A140H
140 156
40A140P
40A253H
Magnetic Way 252.5 16 268.5
40A253P
40A365H
365 381
40A365P
60A140H
140 156
60A140P
60A253H
252.5 16 268.5
60A253P
60A365H
365 381
60A365P
90A200H
199 199
90A200P 0
90A370H (Included in the
367 367
90A370P length of
90A535H Moving Coil.)
535 535
90A535P
233
Linear Servomotors
Specifications: With Standard-Force Magnetic Way

Linear Servomotor 30A 40A 60A 90A
Moving Coil Model
SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Thermal Class B
Self-cooled or air-cooled
Cooling Method
(Only self-cooled models are available for the SGLGW-30A.)
Protective Structure IP00
Surround-
ing Air Tem- 0°C to 40°C (with no freezing)
perature
Surround-
Environ-
ing Air 20% to 80% relative humidity (with no condensation)
mental
Humidity
Condi-
tions • Must be indoors and free of corrosive and explosive gases.
Installation
Site
Impact
Shock Accelera- 196 m/s2
Resis- tion Rate
tance Number of
2 times
Impacts
Vibra-
Vibration
tion 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and
Accelera-
Resis- front-to-back)
tion Rate
tance
234
Linear Servomotors
Ratings: With Standard-Force Magnetic Way

Linear Servomotor 30A 40A 60A 90A
Moving Coil Model
SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Rated Motor
Speed (Reference
Speed during m/s 1.5 1.5 2.0 2.0 2.0 2.3 2.3 2.3 1.8 1.5 1.5
Speed Control)*1
Maximum
m/s 5.0 5.0 5.0 5.0 5.0 4.8 4.8 4.8 4.0 4.0 4.0
Speed*1
Rated Force*1, *2 N 12.5 25 47 93 140 70 140 210 325 550 750
*1 N 40 80 140 280 420 220 440 660 1300 2200 3000
Maximum Force
*1 Arms 0.51 0.79 0.80 1.6 2.4 1.2 2.2 3.3 4.4 7.5 10.2
Rated Current
Maximum
Arms 1.6 2.5 2.4 4.9 7.3 3.5 7.0 10.5 17.6 30.0 40.8
Current*1
Moving Coil Mass kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.1 2.2 3.6 4.9
Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6 78.0 78.0 78.0
SGLG
Vrms/
BEMF Constant (m/s)/ 8.80 11.3 20.5 20.5 20.5 22.2 22.2 22.2 26.0 26.0 26.0
phase
Motor Constant N/ W 3.66 5.63 7.79 11.0 13.5 11.1 15.7 19.2 26.0 36.8 45.0
Electrical Time
ms 0.19 0.41 0.43 0.43 0.43 0.45 0.45 0.45 1.4 1.4 1.4
Constant
Mechanical Time
ms 7.5 4.7 5.6 5.0 4.8 3.4 3.1 3.0 3.3 2.7 2.4
Constant
Thermal Resis-
tance (with Heat K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51 0.39 0.26 0.22
Sink)
Thermal Resis-
tance (without K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15 1.09 0.63 0.47
Heat Sink)
Magnetic
N 0 0 0 0 0 0 0 0 0 0 0
Attraction
Maximum Allowable
kg 1.7 3.4 5.9 12 18 9.9 19 48 110 190 260
Payload
Maximum Allowable
Payload
(With External
Regenerative kg 1.7 3.4 5.9 12 18 9.9 19 48 110 190 260
Resistor and Exter-
nal Dynamic Brake
Resistor*3)
Combined Magnetic Way,
30A 40 C 60 C 90A
SGLGM-
Combined Serial Converter
250 251 252 253 254 258 259 260 264 265 266
Unit, JZDP--
R70A, 1R6A, 2R8A, 1R6A, 2R8A,
SGD7S- R90A, R90F 5R5A 120A 180A 200A
Applicable R70F 2R1F 2R8F 2R1F 2R8F
SERVOPACKs SGD7W-
1R6A 2R8A 1R6A 2R8A 5R5A −
SGD7C-
*2. The rated forces are the continuous allowable force values at a surrounding air temperature of 40°C with an alu-
minum heat sink of the dimensions given in the following table.
• Heat Sink Dimensions
• 200 mm × 300 mm × 12 mm: SGLGW-30A050C, -30A080C, -40A140C, and -60A140C
• 300 mm × 400 mm × 12 mm: SGLGW-40A253C and -60A253C
• 800 mm × 900 mm × 12 mm: SGLGW-90A200C, -90A370C, and -90A535C
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
235
Linear Servomotors
Force-Motor Speed Characteristics

SGLGW-30A050C* SGLGW-30A080C*
6 6
Motor speed (m/s)
Motor speed (m/s)

5 5
4 4
A B A B
3 3
2 2
1 1
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Force (N) Force (N)
SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C

6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5 5
4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 50 100 150 0 100 200 300 0 100 200 300 400 500
Force (N) Force (N) Force (N)

6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
5 5 5
4 4 4
3 3 3
2 2 2
A A A B
1 B 1 B 1
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 150 300 450 600 750

6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
5 5 5
4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 300 600 900 1200 1500 0 500 1000 1500 2000 2500 0 700 1400 2100 2800 3500
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the
intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor
speed characteristics will become smaller because the voltage drop increases.
236
Linear Servomotors

perature of 40°C.
SGLGW-30A SGLGW-40A
10000 10000
1000 1000
Detection time (s)

Detection time (s)
100 100
10 10
1 1
50 100 150 200 250 300 350 50 100 150 200 250 300 350
SGLG
Force reference (percent of rated force) Force reference (percent of rated force)
(%) (%)
SGLGW-60A SGLGW-90A
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
50 100 150 200 250 300 350 50 100 150 200 250 300 350 400 450
(%) (%)
with an output of 100% or higher. Use the Servomotor so that the effective force remains within the continu-
ous duty zone given in Force-Motor Speed Characteristics on page 236.
237
Linear Servomotors
Specifications: With High-Force Magnetic Way

Linear Servomotor Moving Coil Model 40A 60A
SGLGW- 140C 253C 365C 140C 253C 365C
Thermal Class B
Cooling Method Self-cooled or air-cooled
Environmental • Must be indoors and free of corrosive and explosive gases.
Conditions • Must be well-ventilated and free of dust and moisture.
Shock Impact Acceleration Rate 196 m/s2
Resistance Number of Impacts 2 times
Vibration 49 m/s2 (the vibration resistance in three directions, vertical,
Vibration Acceleration Rate
Resistance side-to-side, and front-to-back)
238
Linear Servomotors
Ratings: With High-Force Magnetic Way

Linear Servomotor Moving Coil Model 40A 60A
SGLGW- 140C 253C 365C 140C 253C 365C
Rated Motor Speed (Reference
m/s 1.0 1.0 1.0 1.0 1.0 1.0
Speed during Speed Control)*1
Maximum Speed*1 m/s 4.2 4.2 4.2 4.2 4.2 4.2
*1, *2 N 57 114 171 85 170 255
Rated Force
*1 N 230 460 690 360 720 1080
Maximum Force
*1 Arms 0.80 1.6 2.4 1.2 2.2 3.3
Rated Current
*1 Arms 3.2 6.5 9.7 5.0 10.0 14.9
Maximum Current
Moving Coil Mass kg 0.34 0.60 0.87 0.42 0.76 1.1
Force Constant N/Arms 76.0 76.0 76.0 77.4 77.4 77.4
Vrms/(m/s)/
BEMF Constant 25.3 25.3 25.3 25.8 25.8 25.8
phase
SGLG
Motor Constant N/ W 9.62 13.6 16.7 12.9 18.2 22.3
Electrical Time Constant ms 0.43 0.43 0.43 0.45 0.45 0.45
Mechanical Time Constant ms 3.7 3.2 3.1 2.5 2.3 2.2
Thermal Resistance (with Heat Sink) K/W 1.67 0.87 0.58 1.56 0.77 0.51
Thermal Resistance (without Heat Sink) K/W 3.02 1.80 1.23 2.59 1.48 1.15
Magnetic Attraction N 0 0 0 0 0 0
Maximum Allowable Payload kg 12 24 58 18 61 91
Maximum Allowable Payload
(With External Regenerative
kg 12 24 58 18 61 91
Resistor and External Dynamic
Brake Resistor*3)
Combined Magnetic Way, SGLGM- 40C-M 60C-M
Combined Serial Converter Unit, JZDP-- 255 256 257 261 262 263
1R6A, 2R8A, 1R6A,
SGD7S- 3R8A 3R8A 7R6A
2R1F 2R8F 2R1F
Applicable SERVOPACKs
SGD7W-
1R6A 2R8A 5R5A 1R6A 5R5A 7R6A
SGD7C-
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
239
Linear Servomotors


5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

4 4 4
3 3 3
2 2 2
A B A B
A B
1 1 1
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 200 400 600 800

5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 80 160 240 320 400 0 200 400 600 800 0 240 480 720 960 1200

perature of 40°C.
SGLGW-40A with High-Force Magnetic Way SGLGW-60A with High-Force Magnetic Way
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
50 100 150 200 250 300 350 400 450 50 100 150 200 250 300 350 400 450
(%) (%)
240
Linear Servomotors
External Dimensions
SGLGW-30
 Moving Coils: SGLGW-30AC

4 × M4 × 5
17
2 × #4-40 UNC screws
L5 L4
Cable
500±50
The Moving Coil moves in the direction indicated by the arrow

UL20276, when current flows in the following phase sequence: U, V, W.
Cable
AWG26
UL2517, AWG25
2 × 2 × M4 × 5 (both sides)
L1
500±50
SGLG
(5.3 dia.) 15 L3
22
(5 dia.)
12
1
48.5 3
L2
57
44
G (Gap) G (Gap)
W
24
Unit: mm
Moving Coil Model Approx.

L1 L2 L3 L4 L5 W G (Gap)
SGLGW- Mass* [kg]
30A050C 50 48 30 20 20 5.9 0.85 0.14
30A080C 80 72 50 30 25 5.7 0.95 0.19
* The mass is for a Moving Coil with a Polarity Sensor.
 Connector Specifications  Polarity Sensor Output Signal

The figure on the right shows
• Servomotor Connector Vu
the relationship between the Su
1 Phase U Red
Inverse power (V)
1 2 3 4 Su, Sv, and Sw polarity sensor

2 Phase V White output signals and the inverse Vv
Sv
3 Phase W Blue power of each motor phase Vu,
4 FG Green Vv, and Vw when the Moving Vw
Sw
Coil moves in the direction indi-
0 180 360 540
Plug: 350779-1 cated by the arrow in the Electrical angle (°)
Pins: 350924-1 or 770672-1 dimensional drawings of the
From Tyco Electronics Japan G.K. Moving Coil.
Mating Connector
Cap: 350780-1
Socket: 350925-1 or 770673-1
• Polarity Sensor Connector

9 6 1 +5 V (power supply) 6
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
5 0 V (power supply) − −
Pin connector: 17JE-23090-02 (D8C)-CG

From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)A-CG
Studs: 17L-002C or 17L-002C1
241
Linear Servomotors
 Moving Coils: SGLGW-30ACD

4 × M4 × 5
17
L5 L4
The Moving Coil moves in the direction indicated by the

Cable arrow when current flows in the following phase sequence:
UL20276, U, V, W.
500±50
AWG26
Cable
UL2517, AWG25 2 × 2 × M4 × 5 (both sides)
L1
500±50
(5.3 dia.) 15 L3
22
(5 dia.)
12
1
3
48.5
L2
57
44
G (Gap) G (Gap)
W
24
Unit: mm

L1 L2 L3 L4 L5 W G (Gap)
SGLGW- Mass* [kg]
30A050CD 50 48 30 20 20 5.9 0.85 0.14
30A080CD 80 72 50 30 25 5.7 0.95 0.19

• Servomotor Connector Vu
the relationship between the Su
1 2 1 Phase U Red
Inverse power (V)
Su, Sv, and Sw polarity sensor

6 3 2 Phase V White Vv
output signals and the inverse Sv
5 4 3 Phase W Blue power of each motor phase Vu,
4 Not used − Vv, and Vw when the Moving Vw
Sw
5 Not used − Coil moves in the direction indi-
0 180 360 540
6 FG Green cated by the arrow in the Electrical angle (°)
dimensional drawings of the
Extension: SROC06JMSCN169 Moving Coil.
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020

5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
242
Linear Servomotors
 Standard-Force Magnetic Ways: SGLGM-30A

7.6 8.2
44
Pitch: 54
4.5
N × 4.5 dia. 24
36 8 dia. 5 L2 (18)
L1 (1 unit)
N × M4 × 6
Pitch: 54
SGLG
27 L2 (27) Unit: mm
Magnetic Way Model

L1 L2 N Approx. Mass [kg]
SGLGM-
30108A 108 -0.1
-0.1 54 2 0.6
30216A 216 -0.1
-0.1 162 4 1.1
-0.1
30432A 432 -0.1 378 8 2.3
243
Linear Servomotors
SGLGW-40

L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
500±50
sequence: U, V, W.
(5.3 dia.) L1
(7 dia.) 16 L4 L3 25.4
45 N1 × M4 × 6 (both sides)
15
4
15
1
30
63
L2 (7.5)
78
62
Polarity sensor
Gap 0.8 Gap 0.8

5.8
25.4
Unit: mm
Moving Coil
Approx.
Model L1 L2 L3 L4 L5 L6 N1 N2
Mass* [kg]
SGLGW-
40A140C 140 125 90 30 52.5 45 3 4 0.40
40A253C 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365C 365 350 315 30 52.5 270 8 14 0.93

the relationship between the Vu Su
1 Phase U Red
Inverse power (V)

2 Phase V White output signals and the inverse
Vv
Phase W Blue power of each motor phase Vu, Sv
3
4 FG Green Vv, and Vw when the Moving
Coil moves in the direction indi- Vw
Sw
Plug: 350779-1 cated by the arrow in the
Pins: 350561-3 or 350690-3 (No.1 to 3) dimensional drawings of the 0 180 360 540
350654-1 or 350669-1 (No. 4) Moving Coil. Electrical angle (°)

From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
244
Linear Servomotors
2 × #4-40 UNC
screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
sequence: U, V, W.
500±50
(5.3 dia.) L1
16 L4 L3 25.4
(7 dia.)
15
4
15
1
30
63
L2 (7.5)
78
62
Polarity sensor
SGLG
Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm
Moving Coil
Approx.
Model L1 L2 L3 L4 L5 L6 N1 N2
Mass* [kg]
SGLGW-
40A140CD 140 125 90 30 52.5 45 3 4 0.40
40A253CD 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365CD 365 350 315 30 52.5 270 8 14 0.93

1 2 1 Phase U Red
Inverse power (V)

6 3 2 Phase V White output signals and the inverse
Vv
5 4 3 Phase W Blue power of each motor phase Vu, Sv
4 Not used − Vv, and Vw when the Moving

5 Not used − Coil moves in the direction indi- Vw
Sw
6 FG Green cated by the arrow in the
0 180 360 540
Extension: SROC06JMSCN169 Electrical angle (°)
Moving Coil.
Pins: 021.423.1020
Mating Connector
Socket: 020.030.1020

5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
245
Linear Servomotors
 Standard-Force Magnetic Ways:

SGLGM-40C (without Mounting Holes on the Bottom)
SGLGM-40CT (with Mounting Holes on the Bottom)
L1 (1 unit) 9 9
7.4 7.4
62
62
X
7
X Pitch: 45 25.4 12.7

22.5 L2 (22.5) 25.4
N × 5.5 dia.
5.5 dia.
10 dia.
5.5 dia.
10 dia.
(13)
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
5.4 5.4
X-X X-X
N × M5 × 13  SGLGM-  SGLGM-
X 40C 40CT
( SGLGM- CT only)
Unit: mm
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]

-0.1
40090C or 40090CT 90 -0.3 45 2 0.8
-0.1
40225C or 40225CT 225 -0.3 180 5 2.0
Standard-Force 40360C or 40360CT 360 -0.1
-0.3 315 8 3.1
-0.1
40405C or 40405CT 405 -0.3 360 9 3.5
-0.1
40450C or 40450CT 450 -0.3 405 10 3.9
246
Linear Servomotors
 High-Force Magnetic Ways:

SGLGM-40C-M (without Mounting Holes on the Bottom)
SGLGM-40CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4 12.2 7.4 12.2
62
62
X
7
X Pitch: 45 15.9
31.8
22.5 L2 (22.5) 31.8
5.5 dia.
5.5 dia.
10 dia.
10 dia.
N × 5.5 dia.
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
5.4 5.4
(13)
SGLG
X-X X-X
 SGLGM-  SGLGM-
N × M5 × 13
X 40C-M 40CT-M
( SGLGM- CT-M only)
Unit: mm

-0.1
40090C-M or 40090CT-M 90 -0.3 45 2 1.0
40225C-M or 40225CT-M 225 -0.1
-0.3 180 5 2.6
-0.1
High-Force 40360C-M or 40360CT-M 360 -0.3 315 8 4.1
-0.1
40405C-M or 40405CT-M 405 -0.3 360 9 4.6
40450C-M or 40450CT-M 450 -0.1
-0.3 405 10 5.1
247
Linear Servomotors
SGLGW-60

2 × #4-40
UNC screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
phase sequence: U, V, W. L1
(5.3 dia.)
500±50
(7 dia.) 16 L4 L3 25.4
15
4
15
1
30
L2 (7.5)
83
Polarity sensor
98
82
Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [kg]
60A140C 140 125 90 30 52.5 45 3 4 0.48
60A253C 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365C 365 350 315 30 52.5 270 8 14 1.16

1 Phase U Red
Inverse power (V)

Vv
3
Sw

Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
248
Linear Servomotors
2 × #4-40
UNC screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
(5.3 dia.) phase sequence: U, V, W. L1
500±50
16 L4 L3 25.4
(7 dia.)
15
4
15
1
30
L2 (7.5)
83
Polarity sensor
98
82
SGLG
Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [kg]
60A140CD 140 125 90 30 52.5 45 3 4 0.48
60A253CD 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365CD 365 350 315 30 52.5 270 8 14 1.16

1 2 1 Phase U Red
Inverse power (V)

6 3 2 Phase V White output signals and the inverse
Vv
5 4 3 Phase W Blue power of each motor phase Vu, Sv
4 Not used − Vv, and Vw when the Moving

5 Not used − Coil moves in the direction indi- Vw
Sw
6 FG Green cated by the arrow in the
0 180 360 540
Extension: SROC06JMSCN169 Moving Coil. Electrical angle (°)
Pins: 021.423.1020
Mating Connector
Socket: 020.030.1020

5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
249
Linear Servomotors
 Standard-Force Magnetic Ways:

SGLGM-60C (without Mounting Holes on the Bottom)
SGLGM-60CT (with Mounting Holes on the Bottom)
L1 (1 unit) 9 9
7.4 7.4
82
82
X
7
X Pitch: 45 12.7
25.4
22.5 L2 (22.5) 25.4
N × 5.5 dia.
5.5 dia.
5.5 dia.
10 dia.
10 dia.
(13)
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
5.4 5.4
X-X X-X
N  M5  13  SGLGM-  SGLGM-
X
( SGLGM- CT only) 60C 60CT
Unit: mm

-0.1
60090C or 60090CT 90 -0.3 45 2 1.1
-0.1
60225C or 60225CT 225 -0.3 180 5 2.6
Standard-Force 60360C or 60360CT 360 -0.1
-0.3 315 8 4.1
-0.1
60405C or 60405CT 405 -0.3 360 9 4.6
-0.1
60450C or 60450CT 450 -0.3 405 10 5.1
250
Linear Servomotors
 High-Force Magnetic Ways:

SGLGM-60C-M (without Mounting Holes on the Bottom)
SGLGM-60CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4 12.2 7.4 12.2
82
82
X
7
X Pitch: 45 15.9
(22.5) 31.8
22.5 L2 31.8
N × 5.5 dia.
10 dia.
5.5 dia.
10 dia.
5.5 dia.
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
SGLG
5.4 5.4
(13)
X-X X-X
 SGLGM-  SGLGM-
X N × M5 × 13 60C-M 60CT-M
( SGLGM- CT-M only)
Unit: mm

60090C-M or 60090CT-M 90 -0.1
-0.3 45 2 1.3
60225C-M or 60225CT-M 225 -0.1
-0.3 180 5 3.3
-0.1
High-Force 60360C-M or 60360CT-M 360 -0.3 315 8 5.2
-0.1
60405C-M or 60405CT-M 405 -0.3 360 9 5.9
60450C-M or 60450CT-M 450 -0.1
-0.3 405 10 6.6
251
Linear Servomotors
SGLGW-90

L5 L6
95 N2 × M6 × 9
32
2 × #4-40
UNC screws
Cable 2 × N1 × M6 × 9 (both sides)
500±50
UL20276, AWG26
L1
500±50
L4 L3
65 The Moving Coil moves in the direction indicated by the arrow 49
(5.3 dia.) when current flows in the following phase sequence: U, V, W.
26
2
(10.5 dia.)
Cable
121
138
UL2517, AWG15
110
L2
Gap1
Gap1
11.8
50.8
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [kg]
90A200C 199 189 130 40 60 95 3 4 2.2
90A370C 367 357 260 40 55 285 5 8 3.65
90A535C 535 525 455 40 60 380 8 10 4.95

1 Phase U Red
Inverse power (V)

Vv
3
Sw

Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
252
Linear Servomotors
 Standard-Force Magnetic Ways: SGLGM-90A

L1 (1 unit) 13.8 18.5
110
8.5
X
Pitch: 63 50.8
31.5 L2 (31.5)
N × 6.6 dia.
12 dia. 6.5
19
6.6 dia.
L2 (44)
12 dia.
Pitch: 63
6.5
X-X
SGLG
N × M6 × 14.5 Unit: mm
Magnetic Way Model

L1 L2 N Approx. Mass [kg]
SGLGM-
90252A 252 -0.1
-0.3 189 4 7.3
-0.1
90504A 504 -0.3 441 8 14.7
253
Linear Servomotors
Selecting Cables
To select a Linear Encoder, use Recommended Linear Encoders (pages 306 to 308). Prepare the
cable required for the encoder.
SERVOPACK
Serial Converter Unit Cable*

(between SERVOPACK connector
CN2 and Serial Converter Unit)
Linear Servomotor
Main Circuit Cable
Linear Encoder Cable
Linear encoder
(Not provided by Yaskawa.) Sensor Cable (between
Serial Converter Unit and
polarity sensor)
Polarity sensor
Linear Servomotor
* You can connect directly to an absolute linear encoder.

254
Linear Servomotors
 Linear Servomotor Main Circuit Cables

Length
Linear Servomotor Model Order Number Appearance
(L)
1m JZSP-CLN11-01-E
3m JZSP-CLN11-03-E SERVOPACK end Linear Servomotor
L end
5m JZSP-CLN11-05-E
SGLGW-30A, -40A, -60A
10 m JZSP-CLN11-10-E
*1
1m JZSP-CLN21-01-E
L end
5m JZSP-CLN21-05-E
SGLGW-90A
*1
SGLG
1m JZSP-CLN14-01-E
SERVOPACK end Linear Servomotor
3m JZSP-CLN14-03-E L end
SGLGW-30AD 5m JZSP-CLN14-05-E
-40AD
-60AD 10 m JZSP-CLN14-10-E
15 m JZSP-CLN14-15-E *2
*1. Connector from Tyco Electronics Japan G.K.
*2. Connector from Interconnectron GmbH
255
Linear Servomotors
Model Designations
 Moving Coil
S G L F W 2 - 30 A 070 A T 
Linear Σ Series digit digit digits digit digits digit digit digit
Linear Servomotors
1st digit Servomotor Type 5th digit Power Supply Voltage 10th digit Sensor Specification

F With F-type iron core A 200 VAC S With polarity sensor and Thermal Protector
T Without polarity sensor, with thermal protector
Length of
Code Specification Code Specification 11th digit Cooling Method

W Moving Coil 070 70 mm Code Specification
120 125 mm None Self-cooled
200 205 mm L Water-cooled*
3rd+4th digits Magnet Height
230 230 mm
Code Specification
380 384 mm
30 30 mm
560 563 mm
45 45 mm
90 90 mm 9th digit Design Revision Order
1D 135 mm A
* Contact your Yaskawa representative for information on water-cooled models.
 Magnetic Way
S G L F M 2 - 30 270 A
1st 2nd 3rd+4th 5th+6th+7th 8th
Linear  Series digit digit digits digits digit
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits Magnetic Way
(Same as for the Moving Coil.) Code Specification
270 270 mm
2nd digit Moving Coil/Magnetic Way 306 306 mm
630 630 mm
(Same as for the Moving Coil.)

A
256
Linear Servomotors

Note
sider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.

Moving Coil
movement direction Polarity sensor
Polarity sensor Moving Coil
Magnetic Way
Edge of Magnetic Way

SGLFW2
 Total Length of Moving Coil with
Length of Length of
Polarity Sensor Moving Coil
Moving Polarity
Total
Model Length,
L Coil, Sensor,
SGLFW2- L [mm]
A L1 Moving Coil L1 [mm] A [mm]
30A070AS 70 97
30A120AS 125 29 152
30A230AS 230 257
45A200AS 205 237
Polarity sensor Magnetic Way 34
45A380AS 384 416
90A200AS 205 237
90A380AS 384 34 416
90A560AS 563 595
1DA380AS 384 416
32
1DA560AS 563 595
257
Linear Servomotors
Specifications
Linear Servomotor Moving Coil 30A 45A 90A 1DA
Model SGLFW2- 070A 120A 230A 200A 380A 200A 380A 560A 380A 560A
Thermal Class B
Cooling Method Self-cooled and water-cooled*
Surrounding Air Tem-
0°C to 40°C (with no freezing)
perature
Surrounding Air
Environ- 20% to 80% relative humidity (with no condensation)
Humidity
mental
Condi- • Must be indoors and free of corrosive and explosive gases.
tions • Must be well-ventilated and free of dust and moisture.
Resis-
tance Number of Impacts 2 times
Vibra-
tion Vibration Accelera- 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side,
Resis- tion Rate and front-to-back)
tance
* Contact your Yaskawa representative for information on water-cooled models.
258
Linear Servomotors
Ratings
Linear Servomotor Moving Coil 30A 45A
Model SGLFW2- 070A 120A 230A 200A 380A
Rated Motor Speed
(Reference Speed during m/s 4.0 4.0 4.0 4.0 4.0
Speed Control)*1
Maximum Speed*1 m/s 5.0 5.0 5.0 4.5 4.5
*1, *2 N 45 90 180 170 280 560
Rated Force
*1 N 135 270 540 500 840 1680 1500
Maximum Force
*1 Arms 1.4 1.5 2.9 2.8 4.4 8.7
Rated Current
*1 Arms 5.3 5.2 10.5 9.3 16.4 32.7 27.5
Maximum Current
Moving Coil Mass kg 0.50 0.90 1.7 2.9 5.5
Force Constant N/Arms 33.3 64.5 64.5 67.5 67.5
Vrms/
BEMF Constant (m/s)/ 11.1 21.5 21.5 22.5 22.5
phase
SGLFW2
Motor Constant N/ W 11.3 17.3 24.4 36.9 52.2
Electrical Time Constant ms 7.6 7.3 7.3 19 19
Mechanical Time
ms 3.9 3.0 2.9 2.1 2.0
Constant
Thermal Resistance
K/W 2.62 1.17 0.79 0.60 0.44
(with Heat Sink)
Thermal Resistance
K/W 11.3 4.43 2.55 2.64 1.49
(without Heat Sink)
Magnetic Attraction N 200 630 1260 2120 4240
Maximum Allowable
kg 5.6 9.4 34 10 58 110 95
Payload
Maximum Allowable
Payload
(With External Regenera-
kg 5.6 11 34 20 64 110 110
tive Resistor and External
Dynamic Brake Resis-
tor*3)
30A 45A
SGLFM2-
Combined Serial Converter Unit,
628 629 630 631 632
JZDP--
2R8A,
SGD7S- 1R6A, 2R1F 3R8A 5R5A 180A 120A
Applicable 2R8F
SERVOPACKs SGD7W-
1R6A − 2R8A 5R5A −
SGD7C-
• 150 mm × 100 mm × 10 mm: SGLFW2-30A070A
• 254 mm × 254 mm × 25 mm: SGLFW2-30A120A and -30A230A
• 400 mm × 500 mm × 25 mm: SGLFW2-45A200A and -45A380A
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
259
Linear Servomotors
Ratings
Linear Servomotor Moving Coil 90A 1DA
Model SGLFW2- 200A 380A 560A 380A 560A
Rated Motor Speed
(Reference Speed during m/s 4.0 4.0 4.0 2.0 2.0
Speed Control)*1
Maximum Speed*1 m/s 4.0 4.0 4.0 2.5 2.5
*1, *2 N 560 1120 1680 1680 2520
Rated Force
*1 N 1680 3360 5040 5040 7560
Maximum Force
*1 Arms 7.2 14.4 21.6 14.4 21.6
Rated Current
Maximum Current*1 Arms 26.9 53.9 80.8 53.9 80.8
Moving Coil Mass kg 5.3 10.1 14.9 14.6 21.5
Force Constant N/Arms 82.0 82.0 82.0 123 123
Vrms/
BEMF Constant (m/s)/ 27.3 27.3 27.3 41.0 41.0
phase
Motor Constant N/ W 58.1 82.2 101 105 129
Electrical Time Constant ms 24 23 24 25 25
Mechanical Time
ms 1.6 1.5 1.5 1.3 1.3
Constant
Thermal Resistance
K/W 0.45 0.21 0.18 0.18 0.12
(with Heat Sink)
Thermal Resistance
K/W 1.81 1.03 0.72 0.79 0.55
(without Heat Sink)
Magnetic Attraction N 4240 8480 12700 12700 19100
Maximum Allowable
kg 130 160 360 690 1000
Payload
Maximum Allowable
Payload
(With External Regenera-
kg 140 290 440 710 1000
tive Resistor and Exter-
nal Dynamic Brake
Resistor)
90A 1DA
SGLFM2-
633 634 648 649 650
JZDP--
SGD7S- 120A 200A 330A 200A 330A
Applicable
SERVOPACKs SGD7W- −
SGD7C-
• 400 mm × 500 mm × 25 mm: SGLFW2-90A200A
• 609 mm × 762 mm × 40 mm: SGLFW2-90A380A
• 900 mm × 762 mm × 40 mm: SGLFW2-90A560A and -1DA380A
• 1,400 mm × 900 mm × 40 mm: SGLFW2-1DA560A
260
Linear Servomotors

SGLFW2-30A070A SGLFW2-30A120A
6 6
Motor speed (m/s)
Motor speed (m/s)

5 5
4 4
3 3
2 2
A B A B
1 1
0 0
0 50 100 150 0 100 200 300
Force (N) Force (N)
(Combined with SGD7-2R8A) (Combined with SGD7S-3R8A) SGLFW2-45A200A
6 6 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5
SGLFW2
4
4 4
3
3 3
2 2 2 A B
A B A B
1 1 1
0 0 0
0 200 400 600 0 200 400 600 0 200 400 600 800 1000
(Combined with SGD7S-120A) (Combined with SGD7S-180A)
5 5
Motor speed (m/s)
Motor speed (m/s)
4 4
3 3
2 2
A B A B
1 1
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000
Force (N) Force (N)
SGLFW2-90A200A SGLFW2-90A380A SGLFW2-90A560A

5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
4 4 4
3 3 3
2 2 2
A B A B
A B
1 1 1
0 0 0
0 500 1000 1500 2000 0 1000 2000 3000 4000 0 2000 4000 6000
SGLFW2-1DA380A SGLFW2-1DA560A
3 3
Motor speed (m/s)
Motor speed (m/s)
2.5 2.5
2 2
1.5 1.5
1 1
A B A B
0.5 0.5
0 0
0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N)

261
Linear Servomotors

perature of 40°C.
SGLFW2-30A070A SGLFW2-30A120A and -230A
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
50 100 150 200 250 300 350 400 50 100 150 200 250 300 350 400
(%) (%)
SGLFW2-45A, -90A, and -1DA

10000
1000
Detection time (s)
100
10
1
50 100 150 200 250 300 350 400
Force reference (percent of rated force)
(%)
262
Linear Servomotors
External Dimensions
SGLFW2-30
 Moving Coil with Polarity Sensor: SGLFW2-30A070AS

Polarity sensor 50 min. 70
12.2 5.8
40±0.1 Magnetic Way
27 20 20 (12)
(27.5) 1.5
Thermal protector relay connector
(9)
(Molex Japan LLC)

Receptacle housing: 5557-02R
(27.5)
Plug housing: 5559-02P

(55)
31
54
Polarity sensor and thermal

14 15
(27.5)
protector cable
UL20276, AWG28
(1.5)
12.5±0.1
(6) Refer to the following figure .

0
SGLFW2
2 × #4-40 ±3 (7 dia.)
(10.2) 29±0.1 UNC screws 300 Servomotor Main Circuit Cable
0.2 50 min. UL2586, AWG19
The Moving Coil moves in the

Gap 0.8 direction indicated by the
Thermal protector arrow when current flows in
cable the following phase
UL1333, AWG20 sequence: U, V, W.
Thermal protector relay cable
30
0± UL1333, AWG22
30
Polarity sensor and
thermal protector
connector
Servomotor connector
SGLFW2-30A070AS
3 × M4 × 8
31
Approx. mass: 0.5 kg

15
29
Unit: mm
18 20
14
40

1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)
1 2 3 4
2 Phase V White sor output signals and the
Vv
3 Phase W Black inverse power of each motor Sv
4 FG Green phase Vu, Vv, and Vw when

the Moving Coil moves in the Vw
Plug: 350779-1 Sw
Pins: 350218-3 or 350547-3 (No.1 to 3) direction indicated by the
arrow in the dimensional 0 180 360 540
350654-1 or 350669-1 (No. 4)
drawings of the Moving Coil. Electrical angle (°)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
• Polarity Sensor and Thermal Protector
Connector
9 6 1 +5 V (thermal protector), +5 V (power supply)
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8
5 0 V (power supply) 9 Thermal protector
Pin connector: 17JE-23090-02 (D8C) -CG
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C) A-CG
Studs: 17L-002C or 17L-002C1
263
Linear Servomotors
 Moving Coils with Polarity Sensors: SGLFW2-30AAS

50 min. L1
Polarity sensor
Thermal protector relay connector 12.6
400.1 (Molex Japan LLC)
27 26.7 L2 (33.2)
(27.5) 1.5 Receptacle housing: 5557-02R Magnetic Way
(7)
(27.5) (27.5)
(55)
31
50
15
(0.5) 12 15

protector cable
UL20276, AWG28 Refer to the following figures  and .
7.5
12.50.1
(6) 2 #4-40 UNC L3

30 (7 dia.)
(10.2) 290.1 screws  Servomotor Main Circuit Cable
0.2 300 50 min.
UL2586, AWG19 The Moving Coil moves in
the direction indicated by
Gap 0.8
the arrow when current flows in
Thermal protector cable the following phase sequence: U, V, W.
UL1333, AWG20
0
03
30 Thermal protector relay cable
Polarity sensor and thermal protector connector UL1333, AWG22
SGLFW2-30A120AS SGLFW2-30A230AS
4 × M4 × 8 8 × M4 × 8
31
15
31
15
27
27
39.3 52.5 39.3 52.5

12
7.5
12
7.5
157.5 (52.5 × 3) Unit: mm
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]

30A120AS 125 52.5 105.9 0.9
30A230AS 230 157.5 210.9 1.7

Inverse power (V)
1 2 3 4
Vv

the Moving Coil moves in the Vw Sw
Plug: 350779-1 direction indicated by the
Pins: 350218-3 or 350547-3 (No.1 to 3) arrow in the dimensional 0 180 360 540
350654-1 or 350669-1 (No. 4) drawings of the Moving Coil. Electrical angle (°)

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Connector
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
264
Linear Servomotors
 Moving Coil without Polarity Sensor: SGLFW2-30A070AT

70
40±0.1 12.2 5.8

Magnetic Way (12)
20 20
(27.5) 1.5 50 min.
(9)
(27.5) (27.5)
(55)
31
54
14 15

(1.5)
12.5±0.1
UL2586, AWG19
(6)
Refer to the following figure .
(7
dia
(10.2) 29±0.1
0.2
.)
Thermal protector cable
UL1333, AWG20
Gap 0.8 30 The Moving Coil moves in the
0± ± 20 direction indicated by the arrow
30 00 when current flows in the following
1
phase sequence: U, V, W.
Thermal protector
SGLFW2
connector
SGLFW2-30A070AT
3 × M4 × 8
31

15
29
Unit: mm
18 20
14
40
1 2 3 4
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
• Thermal Protector Connector
1 Thermal protector
1
2 Thermal protector
2
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
265
Linear Servomotors
 Moving Coils without Polarity Sensors: SGLFW2-30AAT

L1
40±0.1 Magnetic Way
12.6 26.7 L2 (33.2)
(27.5) 1.5
50 min.
(7)
(27.5) (27.5)
31
15
(55)
50
12 15
Servomotor Main Circuit Cable Refer to the following figures  and .
7.5
12.5±0.1
UL2586, AWG19
(0.5)
L3
(6)
(7
dia
(10.2) 29±0.1 Thermal protector cable
.)
0.2 The Moving Coil moves in the direction
UL1333, AWG20
indicated by the arrow when current
flows in the following phase sequence:
30
Gap 0.8 0± 20 U, V, W.
30 0±
10
Thermal protector
connector
SGLFW2-30A120AT SGLFW2-30A230AT
4 × M4 × 8 8 × M4 × 8
31
15
31
15
27
27
39.3 52.5 39.3 52.5

12
7.5
12
7.5
157.5 (52.5 × 3) Unit: mm
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]

30A120AT 125 52.5 105.9 0.9
30A230AT 230 157.5 210.9 1.7
1 2 3 4 1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
1 Thermal protector
1
2 Thermal protector
2
Mating Connector
266
Linear Servomotors
 Magnetic Ways: SGLFM2-30A

2 × N, 4.8-dia. mounting holes
8.5 dia. 0.4
(5)
27.5 (27.5)
55
45
N S N S N S
5
0.2
6 4.2
45 (45) (Reference mark)
10.20.1
22.5±0.1 L2 (22.5)
L1±0.1
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 4.2 max.
Mounting Section Details
SGLFW2
Unit: mm
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way Model

L1 ± 0.1 L2 N Approx. Mass [kg]
SGLFM2-
30270A 270 225 (45 × 5) 6 0.9
30450A 450 405 (45 × 9) 10 1.5
30630A 630 585 (45 × 13) 14 2.0
267
Linear Servomotors
SGLFW2-45

Polarity sensor and Thermal protector relay connector (Molex Japan LLC)
thermal protector cable Receptacle housing: 5557-02R
UL20276, AWG28 Plug housing: 5559-02P
50 min. L1
50±0.1 32 48.5 L2 (55)
(36) 2 Magnetic Polarity
12
(9)
Way sensor
(37.5) (37.5)
69.5
46
23
(75)
22.5
11
L3
15±0.1
14.5
(0.5)
(6)
0 Servomotor Main Circuit Cable Refer to the following figures and .
±3
(11.2) 38±0.1 Refer to the following table. 300 50 min. UL2586, AWG15
Thermal protector cable
(9.1
Gap 0.8 The Moving Coil moves in the direction

UL1333, AWG20 indicated by the arrow when current flows
dia
2 × #4-40
.)
in the following phase sequence: U, V, W.

UNC screws
Thermal protector relay cable
30 UL1333, AWG22
0±
30

protector connector
4 × M6 × 11.5 8 × M6 × 11.5
46
23
46
23
37
37
11
60.5 89.5
11
14.5
14.5
60.5 89.5
268.5 (89.5 × 3) Unit: mm
Approx. Mass
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
[kg]
45A200AS 205 89.5 187 0.2 2.9
45A380AS 384 268.5 365.5 0.3 5.5

1 2 3 4
Inverse power (V)

inverse power of each motor Vv
3 Phase W Black Sv

Plug: 350779-1 direction indicated by the Sw
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Connector
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
268
Linear Servomotors

L1
50±0.1 12 48.5 L2 (55)
(36) 2 Magnetic Way 50 min.
(9)
(37.5) (37.5)
69.5
46
23
(75)
22.5
Refer to the following figures  and .

15±0.1
11
14.5
(0.5)
(6)
UL2586, AWG15 L3
(9.
(11.2) 38±0.1
1d
Refer to the following table. Thermal protector cable
ia.
The Moving Coil moves in the direction
)
UL1333, AWG20
Gap 0.8 20 indicated by the arrow when current flows
30 0±
0 10 in the following phase sequence: U, V, W.
30
Thermal protector connector
SGLFW2
4 × M6 × 11.5 8 × M6 × 11.5
46
23
46
23
37
37
11
60.5 89.5
11
14.5
14.5
60.5 89.5
268.5 (89.5×3) Unit: mm
Approx. Mass
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
[kg]
45A200AT 205 89.5 187 0.2 2.9
45A380AT 384 268.5 365.5 0.3 5.5
1 2 3 4
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
1 Thermal protector
1
2 Thermal protector
2
Mating Connector
269
Linear Servomotors

2 × N, 5.8-dia. mounting holes
10 dia. 0.5
(6)
(37.5)
75
63
37.5 N S N S N S
0.2
6
6 5.2
102 (102)
11.2±0.1
510.1 L2 (51) (Reference
mark)
L1±0.1
Reference mark

Unit: mm
Magnetic Way Model

L1 ± 0.1 L2 N Approx. Mass [kg]
SGLFM2-
45306A 306 204 (102 × 2) 3 1.5
45510A 510 408 (102 × 4) 5 2.5
45714A 714 612 (102 × 6) 7 3.4
270
Linear Servomotors
SGLFW2-90
Thermal protector relay connector (Molex Japan LLC) 50 min.
Receptacle housing: 5557-02R L1
Plug housing: 5559-02P Polarity sensor 32 48.5 L2 (55)
50±0.1 12
Refer to the following table. Magnetic
(36) 2
Way
(9)
(60)
Polarity sensor and
15 30 30
thermal protector cable
120
114.5
UL20276, AWG28
91
45
(60)
2  #4-40 UNC
screws 30
0± L3
30
15±0.1
(0.5)
14.5
(6)
60 min. Refer to the following figures , , and .
(11.2) 38±0.1 Thermal protector cable
30 UL1333, AWG20
0± Thermal protector relay cable The Moving Coil moves in the direction indicated by the
30
(10
Gap 0.8 UL1333, AWG22 arrow when current flows in the following phase
.5
Servomotor Main Circuit Cable sequence: U, V, W.

dia
UL2586, AWG12
.)
SGLFW2
Polarity sensor and thermal Servomotor connector
protector connector
SGLFW2-90A200AS SGLFW2-90A380AS
6 × M6 × 11.5 12 × M6 × 11.5
30 30
30 30
91
91
59.5
59.5
15
60.5 89.5 60.5 89.5

15
14.5
14.5
268.5 (89. 5 × 3)
SGLFW2-90A560AS 18 × M6 × 11.5
30 30
91
59.5
60.5 89.5
15
14.5
447.5 (89.5 × 5) Unit: mm
Moving Coil Model SGLFW2- L1 L2 L3 Flatness Approx. Mass [kg]

90A200AS 205 89.5 187 0.2 5.3
90A380AS 384 268.5 365.5 0.3 10.1
90A560AS 563 447.5 544 0.3 14.9

• Servomotor Connector The figure on the right shows
B1 B2 A1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)
A2 Phase V White sor output signals and the

A1 A2
B1 Phase W Black inverse power of each motor
Vv
Sv
B2 FG Green
phase Vu, Vv, and Vw when
Tab housing: 1-917808-2 the Moving Coil moves in the Vw
Contacts: 917803-2 (A1, A2, and B1) Sw
direction indicated by the
84695-1 (B2) 0 180 360 540
From Tyco Electronics Japan G.K. arrow in the dimensional
Electrical angle (°)
Mating Connector drawings of the Moving Coil.
Receptacle housing: 1-917807-2
Contacts: 179956-2
Connector
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
271
Linear Servomotors

L1
50±0.1 12 48.5 L2 (55)
Refer to the following table.
(36) 2 Magnetic Way
(9)
(60)
15 30 30
120
114.5
91
45
(60)
Servomotor Main
Circuit Cable
L3
15±0.1
(0.5)
UL2586, AWG12
14.5
(6)
60 min. Refer to the following figures , , and .
(11.2) 38±0.1
30
0± 20 Thermal protector cable
30 0±
(10
Gap 0.8 10 The Moving Coil moves in the direction

UL1333, AWG20
.5
indicated by the arrow when current flows in

d ia.
Thermal protector connector the following phase sequence: U, V, W.

)
6 × M6 × 11.5 12 × M6 × 11.5
30 30
30 30
91
91
59.5
59.5
15
60.5 89.5 60.5 89.5

15
14.5
14.5
268.5 (89. 5 × 3)
SGLFW2-90A560AT
18 × M6 × 11.5
30 30
91
59.5
15
60.5 89.5
14.5
447.5 (89.5 × 5) Unit: mm

90A200AT 205 89.5 187 0.2 5.3
90A380AT 384 268.5 365.5 0.3 10.1
90A560AT 563 447.5 544 0.3 14.9
B1 B2 A1 Phase U Red
A2 Phase V White
A1 A2
B1 Phase W Black
B2 FG Green
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
Mating Connector
Contacts: 179956-2
1 Thermal protector
1
2 Thermal protector
2 Receptacle housing: 5557-02R
Mating Connector
272
Linear Servomotors

2 × N, 7-dia. mounting holes
11.5 dia. 2
(6.5)
(60)
107
120
N S N S N S
(60)
6.5
0.3
6 5.2 102 (102)
11.20.1 510.1 L2 (51) (Reference mark)
L10.1
Reference mark
SGLFW2
Unit: mm
Magnetic Way Model

L1±0.1 L2 N Approx. Mass [kg]
SGLFM2-
90306A 306 204 (102 × 2) 3 2.6
90510A 510 408 (102 × 4) 5 4.2
90714A 714 612 (102 × 6) 7 5.9
273
Linear Servomotors
SGLFW2-1D
 Moving Coil with Polarity Sensor: SGLFW2-1DAAS

Thermal protector relay connector (Molex Japan LLC)
50 min. L1
50±0.1 Polarity sensor 32 48.5 L2 (55)
(36) 2 Magnetic Way 12
(9)
Polarity sensor
(87.5)
and thermal
45
protector cable
136
175
160
UL20276, AWG28
22.5 45
67.5
(87.5)
2 × #4-40 UNC
screws 30
0±
30
L3
15
20±0.1
(5)
(6)
(11.2) 38±0.1 60 min.
30 Refer to the following figures  and .
0±
30 Thermal protector cable
(10
Gap 0.8
UL1333, AWG20
.5
Polarity sensor and

d ia.
thermal protector Thermal protector relay cable

)
connector UL1333, AWG22

The Moving Coil moves in the direction indicated
UL2586, AWG12
by the arrow when current flows in the following
SGLFW2-1DA380AS SGLFW2-1DA560AS
12 × M8 × 16 18 × M8 × 16
45 45
45 45
136
136
82.5
82.5
60.5 89.5 60.5

15
89.5
22.5
22.5
15
447.5 (89.5 × 5)
268.5 (89.5 × 3) Unit: mm

1DA380AS 384 268.5 365.5 0.3 14.6
1DA560AS 563 447.5 544 0.3 21.5

• Servomotor Connector The figure on the right shows
B1 B2 A1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)
A2 Phase V White sor output signals and the

A1 A2
B1 Phase W Black inverse power of each motor
Vv
Sv
B2 FG Green phase Vu, Vv, and Vw when
Tab housing: 1-917808-2 the Moving Coil moves in the Vw Sw
Contacts: 917803-2 (A1, A2, and B1) direction indicated by the
84695-1 (B2) arrow in the dimensional 0 180 360 540
From Tyco Electronics Japan G.K. Electrical angle (°)
drawings of the Moving Coil.
Mating Connector
Contacts: 179956-2
Connector
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
274
Linear Servomotors
 Moving Coil without Polarity Sensor: SGLFW2-1DAAT

50±0.1 L1
Refer to the following table. 12 48.5 L2 (55)
(36) 2 Magnetic Way
(9)
(87.5)
45
175
136
160
45
67.5
(87.5)
22.5
Servomotor Main
Circuit Cable
UL2586, AWG12 L3
20±0.1
(6)
(5)
15
60 min. Refer to the following figures  and .

(11.2) 38±0.1
0
0±3 20
30 0± Thermal protector cable
(10
Gap 0.8 10
UL1333, AWG20
.5

dia

.)
Thermal protector connector

SGLFW2
SGLFW2-1DA380AT SGLFW2-1DA560AT
12 × M8 × 16 18 × M8 × 16
45 45
45 45
136
136
82.5
82.5
60.5 89.5 60.5

15
15
89.5
22.5
22.5
268.5 (89.5 × 3) 447.5 (89.5 × 5) Unit: mm
Moving Coil Model Approx. Mass

L1 L2 L3 Flatness
SGLFW2- [kg]
1DA380AT 384 268.5 365.5 0.3 14.6
1DA560AT 563 447.5 544 0.3 21.5
B1 B2 A1 Phase U Red
A2 Phase V White
A1 A2
B1 Phase W Black
B2 FG Green
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
Mating Connector
Contacts: 179956-2
1 Thermal protector
1
2 Thermal protector
2 Receptacle housing: 5557-02R
Mating Connector
275
Linear Servomotors
 Magnetic Ways: SGLFM2-1DA

2  N, 10-dia. mounting holes
(9.5)
15 dia. 3
(87.5)
175
156 N S N S N S
(87.5)
0.3
9.5
6 5.2 102 (102)

11.2±0.1 51±0.1 L2 (51)
(Reference
L1±0.1 mark)
Reference mark

Mounting Section Details Unit: mm
Magnetic Way Model

L1±0.1 L2 N Approx. Mass [kg]
SGLFM2-
1D306A 306 204 (102 × 2) 3 3.7
1D510A 510 408 (102 × 4) 5 6.2
1D714A 714 612 (102 × 6) 7 8.6
276
Linear Servomotors
Selecting Cables
SERVOPACK

SGLFW2
Linear Servomotor
Main Circuit Cable
Sensor Cable
Linear Encoder (between Serial Converter
(Not provided by Yaskawa.) Unit and polarity sensor)
Polarity sensor
Linear Servomotor

277
Linear Servomotors

Length
(L)
1m JZSP-CL2N703-01-E
3m JZSP-CL2N703-03-E SERVOPACK end Linear Servomotor
end
SGLFW2-30A070A 5m JZSP-CL2N703-05-E
L
SGLFW2-30A120A
SGLFW2-30A230A 10 m JZSP-CL2N703-10-E
*
15 m JZSP-CL2N703-15-E
3m JZSP-CL2N603-03-E SERVOPACK end Linear Servomotor
L end
SGLFW2-45A380A 10 m JZSP-CL2N603-10-E
*
SGLFW2-90A380A 5m JZSP-CL2N503-05-E L end
SGLFW2-90A560A
SGLFW2-1DA380A 10 m JZSP-CL2N503-10-E
SGLFW2-1DA560A 15 m JZSP-CL2N503-15-E
* Connector from Tyco Electronics Japan G.K.
Note: Estimates are available for models other than those listed above (SGLFW2-90AAL and SGLFW2-
1DAL).
278
MEMO
SGLFW2
279
Linear Servomotors
Model Designations
Moving Coil
S G L T W - 20 A 170 A P 
Linear Servomotors
1st digit Servomotor Type 5th digit Power Supply Voltage 10th digit Sensor Specification and Cooling Method
Code Specification Code Specification Specifications

T With T-type iron core A 200 VAC Code Polarity Applicable Models
Cooling Method
Sensor
Length of None None Self-cooled All models
C* None Water-cooled
Code Specification Code Specification SGLTW-40, -80
H* Yes Water-cooled
W Moving Coil 170 170 mm P Yes Self-cooled All models
320 315 mm
3rd+4th digits Magnet Height 400 394.2 mm

460 460 mm 11th digit Connector for Servomotor Main Circuit Cable
Code Specification
600 574.2 mm Code Specification Applicable Models
20 20 mm
Connector from Tyco SGLTW-20A,
35 36 mm Electronics Japan G.K. -35A
None MS connector SGLTW-40AB,
50 51 mm A, B …
H: High-efficiency model -80AB
80 76.5 mm Loose lead wires with SGLTW-35AH,
no connector -50AH
* Contact your Yaskawa representative for the characteristics, dimensions, and other details on Servomotors with
these specifications.
Magnetic Way
S G L T M - 20 324 A 
Linear  Series digit digit digits digits digit digit
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits 9th digit Options
Magnetic Way
(Same as for the Moving Coil.) Code Specification Code Specification Applicable Models
324 324 mm None Without options 
2nd digit Moving Coil/Magnetic Way 405 405 mm C With magnet cover All models
Code Specification 540 540 mm With base and SGLTM-20, -35*, -40,
Y
M Magnetic Way 675 675 mm magnet cover -80
756 756 mm
(Same as for the Moving Coil.) 8th digit Design Revision Order
A, B …
H: High-efficiency model
* The SGLTM-35H (high-efficiency models) do not support this specification.

280
Linear Servomotors

Note sider the total length of the Moving Coil and the polarity sensor. Refer to the following table.

Moving Coil
movement direction Moving Coil Polarity sensor
Polarity sensor
Magnetic Way

SGLT
 Total Length of Moving Coil with
Length of
Polarity Sensor Moving Coil Length of
Polarity
Total
Model Moving Coil, Length,
L Sensor,
SGLTW- L1 [mm] L [mm]
A L1 Moving Coil
A [mm]
Polarity sensor 20A170AP 170 204
20A320AP 315 34 349
20A460AP 460 494
35A170AP 170 204
35A320AP 315 34 349
Magnetic Way
35A460AP 460 494
35A170HP 170 204
34
35A320HP 315 349
50A170HP 170 204
34
50A320HP 315 349
40A400BH
394.2 26 420.2
40A400BP
40A600BH
574.2 26 600.2
40A600BP
80A400BH
394.2 26 420.2
80A400BP
80A600BH
574.2 26 600.2
80A600BP
281
Linear Servomotors
Specifications
High-efficiency
Linear Servomotor Standard Models
Models
Moving Coil Model
20A 35A 40A 80A 35A 50A
SGLTW-
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Thermal Class B
Cooling Method Self-cooled
Surrounding
Air Tempera- 0°C to 40°C (with no freezing)
ture
Envi-
Surrounding
ron- 20% to 80% relative humidity (with no condensation)
Air Humidity
mental
Condi- • Must be indoors and free of corrosive and explosive gases.
tions • Must be well-ventilated and free of dust and moisture.
Installation
Site
Impact
Shock Accelera- 196 m/s 2
Resis- tion Rate
tance Number of
2 times
Impacts
Vibra-
Vibration
tion
Accelera- 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
Resis-
tion Rate
tance
282
Linear Servomotors
Ratings
High-efficiency
Standard Models
Linear Servomotor Moving Models
Coil Model SGLTW- 20A 35A 40A 80A 35A 50A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Rated Motor Speed
(Reference Speed during 3.0 3.0 3.0 2.5 2.5 2.5 1.5 2.0 2.0 2.0 2.5 2.0 2.0 2.0
Speed Control)*1
Maximum
m/s 5.0 5.0 5.0 5.0 5.0 5.0 3.1 3.1 2.5 2.5 4.8 4.8 3.2 3.1
Speed*1
Rated Force*1, *2 N 130 250 380 220 440 670 670 1000 1300 2000 300 600 450 900
*1 N 380 760 1140 660 1320 2000 2600 4000 5000 7500 600 1200 900 1800
Maximum Force
Rated Current*1 Arms 2.3 4.4 6.7 3.5 7.0 10.7 7.3 10.9 11.1 17.1 5.1 10.1 5.1 10.2
Maximum
Arms 7.7 15.4 23.2 12.1 24.2 36.7 39.4 60.6 57.9 86.9 11.9 23.9 11.8 23.6
Current*1
Moving Coil Mass kg 2.5 4.6 6.7 3.7 6.8 10 15 23 24 35 4.9 8.8 6.0 11
Force Constant N/Arms 61.0 61.0 61.0 67.5 67.5 67.5 99.1 99.1 126 126 64.0 64.0 95.2 95.2
Vrms/
BEMF Constant (m/s)/ 20.3 20.3 20.3 22.5 22.5 22.5 33.0 33.0 42.0 42.0 21.3 21.3 31.7 31.7
phase
SGLT
Motor Constant N/ W 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116 37.4 52.9 48.6 68.7
Electrical Time
ms 5.9 5.9 5.9 6.9 6.8 6.9 15 15 17 17 15 16 16 17
Constant
Mechanical Time
ms 7.1 6.6 6.4 5.2 4.8 4.6 4.0 4.1 2.7 2.6 3.5 3.1 2.5 2.4
Constant
Thermal
Resistance K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.20 0.22 0.18 0.76 0.40 0.61 0.30
(with Heat Sink)
Thermal
Resistance
K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.40 0.47 0.33 1.26 0.83 0.97 0.80
(without Heat
Sink)
Magnetic Attrac-
N 0 0 0 0 0 0 0 0 0 0 0 0 0 0
tion*3
Magnetic
Attraction on N 800 1590 2380 1400 2780 4170 3950 5890 7650 11400 1400 2780 2000 3980
One Side*4
Maximum Allow-
kg 25 50 76 44 88 130 280 440 690 1000 33 67 92 190
able Payload
Maximum Allow-
able Payload
(With External
Regenerative kg 25 50 76 44 88 130 280 440 690 1000 40 82 95 190
Resistor and
External Dynamic
Brake Resistor)
20A 35A 40A 80A 35H 50H
SGLTM-
Combined Serial Converter
011 012 013 014 015 016 185 186 187 188 105 106 108 109
Unit, JZDP--
SGD7S- 3R8A 7R6A 120A 5R5A 120A 180A 330A 550A 5R5A 120A 5R5A 120A
Applicable
SGD7W-
SERVOPACKs 5R5A 7R6A − 5R5A − 5R5A − 5R5A −
SGD7C-
• 254 mm × 254 mm × 25 mm: SGLTW-20A170A and -35A170A
• 400 mm × 500 mm × 40 mm: SGLTW-20A320A, -20A460A, -35A170H, -35A320A, -35A320H,
-35A460A, and -50A170H
• 609 mm × 762 mm × 50 mm: SGLTW-40A400B, -40A600B, -50A320H, -80A400B, and -80A600B
*3. The unbalanced magnetic gap that results from the Moving Coil installation condition causes a magnetic attraction on the Moving Coil.
*4. The value that is given is the magnetic attraction that is generated on one side of the Magnetic Way.
283
Linear Servomotors

 Standard Models
SGLTW-20A170A SGLTW-20A320A SGLTW-20A460A
6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5 5
4 4 4
3 3 3
2 A B A B 2 A B
2
1 1 1
0 0 0
0 100 200 300 400 0 200 400 600 800 0 200 400 600 800 1000 1200
SGLTW-35A170A SGLTW-35A320A SGLTW-35A460A
6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5 5
4 4 4
3 3 3
2 A B A B A B
2 2
1 1 1
0 0 0
0 200 400 600 700 0 400 800 1200 1400 0 500 1000 1500 2000 2500
SGLTW-40A400B SGLTW-40A600B
4 4
Motor speed (m/s)
Motor speed (m/s)
3 3
2 2
A B A B
1 1
0 0
0 1000 2000 3000 0 2000 4000
Force (N) Force (N)
SGLTW-80A400B SGLTW-80A600B
4 4
Motor speed (m/s)
Motor speed (m/s)
3 3
2 2
A B A B
1 1
0 0
0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N)
 High-efficiency Models
SGLTW-35A170H SGLTW-35A320H
6 6
Motor speed (m/s)
Motor speed (m/s)
5 5
4 4
3 3
A B A B
2 2
1 1
0 0
0 200 400 600 0 400 800 1200
Force (N) Force (N)
SGLTW-50A170H SGLTW-50A320H
4 4
Motor speed (m/s)
Motor speed (m/s)
3 3
2 2
A B
1 A B 1
0 0
0 300 600 900 0 600 1200 1800
Force (N) Force (N)
284
Linear Servomotors

perature of 40°C.
SGLTW-20AA and -35AA SGLTW-40AB and -80AB

10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
50 100 150 200 250 300 350 400 50 100 150 200 250 300 350 400 450 500 550
(%) (%)
SGLT
SGLTW-35AH and -50AH
10000
1000
Detection time (s)
100
10
1
50 100 150 200 250
(%)
Note: The above overload protection characteristics do mean that you can perform continuous duty operation with
an output of 100% or higher. Use the Servomotor so that the effective force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 284.
285
Linear Servomotors
External Dimensions
SGLTW-20: Standard Models
 Moving Coils: SGLTW-20AA

N  M6  12
(55)
51 50 L1
47.5 10 L2 (L3)
Magnetic Way
(15)
12 48
1
20 28
100
80
60
60
(70)
2  #4-40
UNC screws
(15)
indicated by the arrow when current flows

Polarity sensor
in the following phase sequence: U, V, W.
(Gap: 1 without magnet cover)
50050
(Gap: 0.8 with magnet cover)
(19 without magnet cover)
(4.2 dia.)
(19.2 with magnet cover)
(7.4 dia.) 63 min.
50050
90 min.
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
20A170A 170 144 (48 × 3) (16) 8 2.5
20A320A 315 288 (48 × 6) (17) 14 4.6
20A460A 460 432 (48 × 9) (18) 20 6.7

Inverse power (V)

1 2 3 4
Vv
3 Phase W Blue inverse power of each motor Sv

Sw
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
9 6 1 +5 V (DC) 6
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
5 0V − −
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
286
Linear Servomotors
 Magnetic Ways: SGLTM-20A

L1
LB L2 (54)
54
27
9.
9
(55) LA L2 (29.3)
40 Moving Coil
54 (54)
15
103 max.(at the factory)
71.5 1 (at the factory)
(1)
*700.3
(100)
87
*2.40.3
R6
C1
Gap: 10.3
C1
2  N  7 dia. (Refer to Side-to-Side Cross Section for the depth.)

15
19
32 (8) (29.3)
Spacers: Do not remove them

Side-to-Side Cross Section until the Moving Coil is mounted
2  N  M6  8 on the machine.
R:
8
0.5
ma .
x. ax 9.9
1m
R: *2.40.3
3
27
SGLT
54
Mount the Magnetic LD Mount the Magnetic LC (54)
L2
Way so that its edge *700.3 Way so that its edge
(9.4) L1
surfaces are flush surfaces are flush
with the inner step. with the inner step.
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
2. More than one Magnetic Way can be connected.
3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not
use stainless steel screws.)
Magnetic Way Approx.

L1 L2 LA LB LC LD N
Model SGLTM- Mass [kg]
20324A 324
-0.1
-0.3 270 (54 × 5) 0
31.7 -0.2 0
13.7 -0.2 0
40.3 -0.2 62 +0.6
0 6 3.4
20540A 540
-0.1
-0.3 486 (54 × 9) 31.7 0
-0.2 13.7 0
-0.2 40.3 0
-0.2 62 +0.6
0 10 5.7
20756A 756
-0.1
-0.3 702 (54 × 13) 31.7 -0.2
0 0
13.7 -0.2 0
40.3 -0.2 62 +0.6
0 14 7.9
287
Linear Servomotors
 Magnetic Ways with Bases: SGLTM-20AY

11.7 20 L2 (54)
54
(70)
15 (55)
9.
27
9
Base 40
15
700.3
(0.8)
132
116
(100)
87
60
1 2.40.3
DATE
0.80.3
19.2
15
L5 74 (14)
Moving Coil
74 L4 (162)
2  N2  10 dia.
(Refer to Side-to-Side Cross Section for the depth.)
Gap
Includes a 0.2-mm-thick
magnet cover. 2  N1  M6  8
9.9
Side-to-Side Cross Section

(2.40.3)
15 27
54
2N1M616 20 L2 (54)
2.3 L3 (11.7)
L1 Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model Approx.

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
20324AY 324 -0.3 270 310 162 162 6 2 5.1
-0.1
20540AY 540 -0.3 486 526 378 189 10 3 8.5
-0.1
20756AY 756 -0.3 702 742 594 198 14 4 12
288
Linear Servomotors
 Moving Coils: SGLTW-35AA

(70) N  M6  12
66 50 L1
55 10 L2 (L3)
Magnetic Way
(15)
12 48
1
20 28
100
60
(70)
80
60
2  #4-40
UNC screws
(15)
indicated by the arrow when current flows

Polarity sensor
50050 in the following phase sequence: U, V, W.

(4.2 dia.)
(8.4 dia.)
63 min.
50050
100 min.
Unit: mm
SGLT
L1 L2 (L3) N
SGLTW- [kg]
35A170A 170 144 (48 × 3) (16) 8 3.7
35A320A 315 288 (48 × 6) (17) 14 6.8
35A460A 460 432 (48 × 9) (18) 20 10

Inverse power (V)
1 2 3 4
Vv
3 Phase W Blue inverse power of each motor Sv
Sw
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
9 6 1 +5 V (DC) 6
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
5 0V − −

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
289
Linear Servomotors
 Magnetic Ways: SGLTM-35A

L1
LB L2 (54)
54
34.5
9.
9
(70) LA L2 (30.6)
55 Moving Coil
15
54 (54)
*700.3
(1)
(100)
87
*2.40.3
R6
C1
Gap: 10.3
(30.6)
19
C1

15
47 (8)
Spacers: Do not remove

Side-to-Side Cross Section them until the Moving Coil is
mounted on the machine.
2  N  M6  8
4
R:
0.5 9.9
ma .
ax
x. m *2.40.3
34.5
R:1
3
54
Mount the Magnetic Mount the Magnetic LC L2 (54)
LD
Way so that its edge Way so that its edge
surfaces are flush with *700.3
surfaces are flush with
(12) L1
the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
35324A 324
-0.1
-0.3 270 (54 × 5) 0
33 -0.2 0
15 -0.2 0
39 -0.2 62 +0.6
0 6 4.8
35540A 540
-0.1
-0.3 486 (54 × 9) 33 0
-0.2 15 0
-0.2 39 0
-0.2 62 +0.6
0 10 8
35756A 756
-0.1
-0.3 702 (54 × 13) 33 0
-0.2 15 0
-0.2 39 0
-0.2 62 +0.6
0 14 11
290
Linear Servomotors

13 20 L2 (54)
54
9.
34.5
(85) 9
15 (70)
Base 55
15
700.3
(0.8)
132
116
(100)
87
60
1 2.40.3
0.80.3
19.2
15
Moving Coil L5 74 (14)

74 L4 (162)
Gap 2  N2  10 dia.
(Refer to Side-to-Side Cross Section for the depth.)
Includes a 0.2-mm-thick
magnet cover.
2  N1  M6  8
9.9
SGLT

(2.40.3)
15 34.5
54
2  N1  M6  16 20 L2 (54)
1 L3 (13)
L1 Unit: mm

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
35324AY 324 -0.3 270 310 162 162 6 2 6.4
-0.1
35540AY 540 -0.3 486 526 378 189 10 3 11
-0.1
35756AY 756 -0.3 702 742 594 198 14 4 15
291
Linear Servomotors
SGLTW-35H: High-Efficiency Models
 Moving Coils: SGLTW-35AH

N  M6  12
(70)
30 L1
66
10 (L3)
200.1
L2
62.5 Magnetic Way
20 480.15
(15)
12
1200.1
1
800.05
1000.15
28
60
(90)
30
30
Polarity sensor The Moving Coil moves in the

(Gap: 1.0 without magnet cover)
2  #4-40
(15)
Protective tube direction indicated by the arrow

(4.2 dia.)
UNC screws when current flows in the following

50050
50050
Cable
UL20276, AWG28 35
43
63 min. Unit: mm

L1 L2 L3 N
SGLTW- [kg]
35A170H 170 144 (48 × 3) (16) 8 4.7
35A320H 315 288 (48 × 6) (17) 14 8.8

• Moving Coil Lead The figure on the right
shows the relationship Vu Su
Phase U Red U between the Su, Sv, and Sw
Inverse power (V)
Phase V Phase U
Phase V White V polarity sensor output sig-
2 mm2 Vv
Phase W Black W nals and the inverse power Sv
Phase W Ground Ground Green − of each motor phase Vu, Vv,

and Vw when the Moving Vw
Sw
(Viewed from the top surface Secure the lead from the Moving Coil of Coil moves in the direction
of the Moving Coil.)
the Linear Servomotor so that it moves indicated by the arrow in the 0 180 360 540
together with the Moving Coil. dimensional drawings of the Electrical angle (°)
Moving Coil.
9 6 1 +5 V (DC) 6
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
5 0V − −

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
292
Linear Servomotors
 Magnetic Ways: SGLTM-35H

L1
LB L2 (54)
54
9.
34.5
9
(70) (30.6)
150.1
LA L2
55 Moving Coil (54)
(0.8)
54
DATE MADE IN JAPAN
TYPE:
S/N
YASKAWA
O/N
*900.3
(120)
107
*2.40.3
C1
R6
C1
4.20.1
0.80.3
150.1
(30.6)
47 (8)
Gap
Includes a 0.2-mm-thick Spacers: Do not remove
magnet cover. them until the Moving Coil is
2 × N × M6 × 8 mounted on the machine.
(4)
9.

9°
*2.4±0.3
34.5
SGLT
R: .
0.5 ax
ma m
x. 1 54
R:
3
LC L2 (54)
(12) L1
Mount the Magnetic LD Mount the Magnetic
Way so that its edge *900.3 Way so that its edge
surfaces are flush surfaces are flush with
with the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
35324H 324
-0.1
-0.3 270 (54 × 5) 0
33 -0.2 0
15 -0.2 0
39 -0.2 82 +0.6
0 6 4.8
35540H 540
-0.1
-0.3 486 (54 × 9) 33 0
-0.2 15 0
-0.2 39 0
-0.2 82 +0.6
0 10 8
35756H 756
-0.1
-0.3 702 (54 × 13) 33 0
-0.2 15 0
-0.2 39 0
-0.2 82 +0.6
0 14 11
293
Linear Servomotors
 Moving Coils: SGLTW-40AB

Polarity sensor
(83) N  M8  16
78 63 L1
Receptacle L2
75 (L3)
(19.1)
20
Magnetic Way
16 40 60
1
38
(111.8)
149.8
124
97
98
30
2  #4-40
(4.2 dia.)
(25.1 without magnet cover)

(19.1)
UNC screws
64 min. when current flows in the following phase sequence: U, V, W.
50050
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
40A400B 394.2 360 (60 × 6) (15) 14 15
40A600B 574.2 540 (60 × 9) (15) 20 22

The figure on the right
shows the relationship Vu
Su
A Phase U between the Su, Sv, and Sw
Inverse power (V)
D A B Phase V polarity sensor output sig-

C B C Phase W Vv
nals and the inverse power Sv
D Ground of each motor phase Vu, Vv,
Receptacle: MS3102A-22-22P Coil moves in the direction Sw
From DDK Ltd. indicated by the arrow in the 0 180 360 540
Mating Connector dimensional drawings of the Electrical angle (°)
Right-angle plug: MS3108B22-22S Moving Coil.
Straight plug: MS3106B22-22S
Cable clamp: MS3057-12A
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
294
Linear Servomotors

L1
LB L2 (67.5)
67.5
(83)
39
5.6

63 Moving Coil
19.1
TYPE:
YASKAWA
113 1 (at the factory)
LA L2 (36.1)
67.5
Gap: 1.40.3
(1.4)
(67.5)
*111.80.3
(150)
C1
131
*1.40.3
25.1
19.1
C1
48 (15)
R7
Side-to-Side Cross Section (36.1) 2  N  9 dia. (Refer to Side-to-Side Cross Section for the depth.)
Spacers: Do not remove
them until the Moving Coil is
6
R: 2  N  M8  10
0 .5
ma
a x. 5.6
x. O/N
1m
S/N
MADE I
R:
4
*1.40.3
39
Mount the Magnetic Mount the Magnetic

LD Way so that its edge 67.5
Way so that its edge
*111.80.3 surfaces are flush LC L2 (67.5)
surfaces are flush
SGLT
with the inner step. with the inner step.
(7.6) L1 Unit: mm

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
40405A 405
-0.1
-0.3 337.5 (67.5 × 5) 0
37.5 -0.2 0
15 -0.2 0
52.5 -0.2 100 +0.6
0 6 9
40675A 675
-0.1
-0.3 607.5 (67.5 × 9) 37.5 0
-0.2 15 0
-0.2 52.5 0
-0.2 100 +0.6
0 10 15
40945A 945
-0.1
-0.3 877.5 (67.5 × 13) 37.5 -0.2
0 0
15 -0.2 0
52.5 -0.2 100 +0.6
0 14 21
295
Linear Servomotors

12.5 25 L2 (67.5)
67.5
(103) 5.
39
20 6
(83)
Base 63
19.1
(1.2)
111.8 0.3
190
170
131
(150)
90
1 1.40.3
1.2 0.3
19.1
25.3
L5 92.5 (17.5)
Moving Coil
92.5 L4 (202.5)
2  N2  12 dia.
Gap (Refer to Side-to-Side Cross Section for the depth.)
Includes a 0.2-mm-thick 2  N1  M8  10
magnet cover.
5.6
Side-to-Side Cross Section (1.40.3)

39
20
67.5
2  N1  M8  25 25 L2 (67.5)
5 L3 (12.5)
L1 Unit: mm

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
40405AY 405 -0.3 337.5 387.5 202.5 202.5 6 2 13
-0.1
40675AY 675 -0.3 607.5 657.5 472.5 236.25 10 3 21
-0.1
40945AY 945 -0.3 877.5 927.5 742.5 247.5 14 4 30
296
Linear Servomotors
SGLTW-50: High-Efficiency Models
 Moving Coils: SGLTW-50AH

N  M6  12
(85)
81 30 L1
(L3)
200.1
10 L2
(19.1)
62.5 Magnetic Way
(4.1)
12 20 480.15
1000.15
1
1200.1
800.05
28
(90)
60
30

Polarity sensor
(19.1)
Protective tube direction indicated by the arrow

2  #4-40
(4.2 dia.) when current flows in the following

UNC screws phase sequence: U, V, W.
50050
50050
Polarity sensor
connector
SGLT
Cable
UL20276, AWG28
35
43
63 min. Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
50A170H 170 144 (48 × 3) (16) 8 6
50A320H 315 288 (48 × 6) (17) 14 11

• Moving Coil Lead
shows the relationship Vu Su
Phase U Red U between the Su, Sv, and Sw
Inverse power (V)
Phase V Phase U
Phase V White V polarity sensor output sig-
2 mm2 Vv
Phase W Black W nals and the inverse power Sv
Phase W Ground Ground Green − of each motor phase Vu, Vv,

Sw
(Viewed from the top surface Secure the lead from the Moving Coil of Coil moves in the direction
of the Moving Coil.)
the Linear Servomotor so that it moves indicated by the arrow in the 0 180 360 540
together with the Moving Coil. dimensional drawings of the Electrical angle (°)
Moving Coil.
9 6 1 +5 V (DC) 6
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
5 0V − −

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
297
Linear Servomotors
 Magnetic Ways: SGLTM-50H

L1
LB L2 (54)
54
42
19.10.1
(85)
LA L2 (27)
(4.1)
70
(0.8)
54 (54)
900.3
(120)
112
a.
di
*
C1
12
C1
4.20.1
19.10.1
0.80.3
62 (8) Moving Coil 2  N  7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Gap
Includes a 0.2-mm-thick Spacers: Do not remove
magnet cover. them until the Moving Coil is
(4)
R:
0.5 .
42
ma ax
m
x. 1
R:
3
2  N  M6  8 54
LC L2 (54)
LD L1
Mount the Magnetic Mount the Magnetic
Way so that its edge * Way so that its edge
900.3
surfaces are flush with surfaces are flush with
the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
50324H 324
-0.1
-0.3 270 (54 × 5) 0
27 -0.2 0
9 -0.2 0
45 -0.2 82 +0.6
0 6 8
50540H 540
-0.1
-0.3 486 (54 × 9) 27 0
-0.2 9 0
-0.2 45 0
-0.2 82 +0.6
0 10 13
50756H 756
-0.1
-0.3 702 (54 × 13) 27 0
-0.2 9 0
-0.2 45 0
-0.2 82 +0.6
0 14 18
298
Linear Servomotors
 Moving Coils: SGLTW-80AB

Polarity sensor N × M8 × 16
(120)
115 Receptacle 63 L1
75 Magnetic Way 20 L2 (L3)
(19.1)
16 40 60
1
38
149.8
(111.8)
97
124
98
30
(4.2 dia.)


(19.1)
64 min. when current flows in the following phase sequence: U, V, W.

500±50
2 × #4-40
UNC screws
Unit: mm
SGLT
L1 L2 (L3) N
SGLTW- [kg]
80A400B 394.2 360 (60 × 6) (15) 14 24
80A600B 574.2 540 (60 × 9) (15) 20 35

shows the relationship Vu
Su
A Phase U between the Su, Sv, and Sw
Inverse power (V)
D A B Phase V polarity sensor output sig-

C B C Phase W Vv
nals and the inverse power Sv
D Ground of each motor phase Vu, Vv,
Receptacle: MS3102A-22-22P Coil moves in the direction Sw
From DDK Ltd. indicated by the arrow in the 0 180 360 540
Mating Connector dimensional drawings of the Electrical angle (°)
Right-angle plug: MS3108B22-22S Moving Coil.
Straight plug: MS3106B22-22S
Cable clamp: MS3057-12A
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
299
Linear Servomotors

L1
LB L2 (67.5)
67.5
57
5.6
°
(120)
LA L3 (37.9)
19.1
100 Moving Coil 33.75 (67.5)

♣153 max. (at the factory)
♣113 ±1 (at the factory）
Gap 1.4±0.3
(1.4)
*111.8±0.3
(150)
131
*1.5±0.3
R7
C1
25.1
(37.9) 2 × N2 × 9 dia. (Refer to Side-to-Side Cross Section for the depth.)

19.1
C1
85 (15)
Side-to-Side Cross Section Spacers: Do not remove them

until the Moving Coil is mounted
6
2 × N1 × M8 × 10 on the machine.
5.6°
R0 *1.5±0.3
.5 .
ma ax
x. 1m
R:
4
57
Mount the Magnetic Way so LD Mount the Magnetic Way so 67.5 (67.5)
LC L2
that its edge surfaces are
flush with the inner step. *111.8±0.3 that its edge surfaces are
flush with the inner step. (11.3) L1
Unit: mm
Magnetic
Approx.
Way
L1 L2 L3 LA LB LC LD N1 N2 Mass
Model
[kg]
SGLTM-
337.5 337.5
80405A 405
-0.1 0
39.4 -0.2 0
16.9 -0.2 0
50.6 -0.2 100
+0.6
6 11 14
-0.3
(67.5 × 5) (33.75 × 10) 0
607.5 607.5
80675A 675
-0.1 0
39.4 -0.2 0
16.9 -0.2 0
50.6 -0.2 100
+0.6
10 19 24
-0.3
(67.5 × 9) (33.75 × 18) 0
877.5 887.5
80945A 945
-0.1 0
39.4 -0.2 0
16.9 -0.2 0
50.6 -0.2 100
+0.6
14 27 34
-0.3
(67.5 × 13) (33.75 × 26) 0
300
Linear Servomotors

14.4 25 L2 (67.5)
67.5
33.75
5.6
57
°
(140)
20 (120)
100 Moving Coil
Base
19.1
2 × N2 × 12 dia.
(1.2)
111.8±0.3
190 (Refer to Side-to-Side Cross Section for the depth.)

170
131
90
(150)
1 1.5±0.3
1.2±0.3
19.1
25.3
L5 92.5 (17.5)
92.5 L4 (202.5)
2 × N1 × M8 × 10
Gap
Includes a 0.2-mm-thick magnet cover. 5.
SGLT
6°
Side-to-Side Cross Section (1.5±0.3)
57
20
33.75
2 × N3 × M8 × 25 67.5
25 L2 (67.5)
3.1 L3 (14.4)
L1 Unit: mm
Magnetic Way Approx.

L1 L2 L3 L4 L5 N1 N2 N3
Model SGLTM- Mass [kg]
-0.1
80405AY 405 -0.3 337.5 387.5 202.5 202.5 6 2 11 18
-0.1
80675AY 675 -0.3 607.5 657.5 472.5 236.25 10 3 19 31
-0.1
80945AY 945 -0.3 877.5 927.5 742.5 247.5 14 4 27 43
301
Linear Servomotors
Selecting Cables
To select a Linear Encoder, use Recommended Linear Encoders (pages 306 and 307). Prepare the
SERVOPACK

Linear Servomotor
Main Circuit Cable

Sensor Cable (between
Serial Converter Unit and
Linear encoder polarity sensor)
Linear Servomotor
Polarity sensor

302
Linear Servomotors

Length
(L)
1m JZSP-CLN21-01-E
L end
5m JZSP-CLN21-05-E
SGLTW-20A, -35A
*1
1m JZSP-CLN14-01-E
5m JZSP-CLN14-05-E
SGLTW-AD
15 m JZSP-CLN14-15-E *2
1m JZSP-CLN39-01-E
end
L
SGLT
SGLTW-40B 5m JZSP-CLN39-05-E
-80B 10 m JZSP-CLN39-10-E
*3
*3. A connector is not provided on the Linear Servomotor end. Obtain a connector according to your specifications.
Refer to the next page for information on connectors.
 JZSP-CLN39--E Cables
50 mm L 35 mm 2 mm
8.5 mm
Heat-shrinkable tube
Finished diameter: 15.8
U
V
W
M4 crimp terminal
G Cable
Wire markers (UL2570) AWG11/4C
• Wiring Specifications
SERVOPACK Leads Servomotor Connector
Wire Color Signal Signal Pin
Red Phase U Phase U A
White Phase V Phase V B
Blue Phase W Phase W C
Green/yellow FG FG D
• JZSP-CLN39 Cable Connectors

Connector Plug
Applicable
Provided with Cable Clamp
Servomotor Straight Right-angle
Servomotor
MS3106B22-22S
SGLTW-40 and -80 MS3102A22-22P or MS3108B22-22S MS3057-12A
MS3106A22-22S
303
Linear Servomotors
• MS3106B22-2S: Straight Plug with Two-piece Shell
Unit: mm
55.57 max.
J W
Joint Nut Effective
Length of Outer
Joint Thread Thread
A Shell Size Joint Diameter
50 max.
A Length
J ±0.12
Q
Q +0
-0.38 W min.
Cable Clamp
22 1-3/8-18UNEF 18.26 40.48 9.53
mounting thread:
1-3/16-18UNEF
• MS3106A22-2S: Straight Plug with Solid Shell

Unit: mm
540.5
J W
Joint Nut Effective
Length of Outer
Joint Thread Thread
34.99 0.5 dia.
A
Shell Size Joint Diameter
A Length
J ±0.12
Q
Q +0
-0.38 W min.
22 1-3/8-18UNEF 18.26 40.48 9.53
Cable Clamp
mounting thread:
1-3/16-18UNEF
• MS3108B22-2S: Right-angle Plug with Two-piece Shell
76.98 max.
Unit: mm
J
Joint Nut Effective
33.30.5 24.10.5
A
Length of Outer
Joint Thread Thread
Shell Size Joint Diameter
Q
A Length
J ± 0.12 Q +0
W
-0.38 W min.
Cable Clamp 22 1-3/8-18UNEF 18.26 40.48 9.53
mounting thread:
1-3/16-18UNEF
• Dimensional Drawings: MS3057-12A Cable Clamp with Rubber Bushing

Unit: mm
23.80.7
C
15.9 dia. Effective
1.6 (bushing inner diameter) Applicable Mounting
Thread Attached
Connector Thread
35 0.7 dia.
37.30.7
V 19.0 dia.
(Cable Clamp Length Bushing
Shell Size V
inner diameter) C
4.0 (slide range) 1-3/16-
20.22 10.3 AN3420-12
18UNEF
304
MEMO
SGLT
305
Linear Servomotors
Recommended Linear Encoders and Cables
Recommended Linear Encoders
Incremental Linear Encoders

 1 Vp-p Analog Voltage
You must also use a Yaskawa Serial Converter Unit. The output signal will be multiplied by 8 bits
(256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
Model
Polarity Sensor
Application to
Application to
Loop Control
Servomotors
Linear
Fully-Closed
Support for
Resolution
Maximum
Linear
Speed*1
Linear
Relay Device between Encoder
Input
[m/s]
[nm]
Manufacturer Encoder Sensor Reference
Scale SERVOPACK and Pitch
Type Head
Linear Encoder*3 [μm]
JZDP-H003/-H006 78.1 5    page 309

Dr. LIDA48 20
JOHANNES JZDP-J003/-J006 4.9 2   *4 page 310
Exposed
HEIDENHAIN JZDP-H003/-H006 15.6 1    page 309
GmbH LIF48  4
JZDP-J003/-J006 1.0 0.4  *4 *4 page 310
JZDP-H005/-H008 78.1 5    page 312
Renishaw plc*2 Exposed RGS20 RGH22B 20
JZDP-J005/-J008 4.9 2   *4 page 313
: Applicable
*1. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when combined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).
*2. If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may sometimes be falsely detected.
If that occurs, use the BID/DIR signal to output the origin signal only in one direction.
*3. These are the models of Serial Converter Units.
*4. Contact your Yaskawa representative.
Note: Confirm detailed specifications, such as the tolerances, dimensions, and operating environment, with the
manufacturer of the Linear Encoder before you use it.
 Encoder for Yaskawa’s Serial Interface

The multiplier (number of divisions) depends on the Linear Encoder. Also, you must write the Servo-
motor constant file to the Linear Encoder in advance.
Model
Polarity Sensor
Application to
Application to
Loop Control
Servomotors
Linear
Fully-Closed
Support for
Resolution
Maximum
Linear
Speed*1
Linear
Relay Device between Encoder

Input
[m/s]
[nm]

Scale SERVOPACK and Pitch
Type Head
Linear Encoder [μm]
PL101-RY*2 –   page 315

SL70 800 97.7 10
PL101 MJ620-T13*3   *4 page 316
Exposed
MQ10-FLA –  
SQ10 PQ10 400 48.83 3 page 318
Magnescale MQ10-GLA   –
Co., Ltd. SR75-LF – 80 9.8 3.33 –  
SR75-MF – 80 78.1 3.33 –  
Sealed page 320
SR85-LF – 80 9.8 3.33 –  
SR85-MF – 80 78.1 3.33 –  
: Applicable
*1. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when combined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).
*2. This is the model of the Sensor Head with Interpolator.
*3. This is the model of the Interpolator.
*4. Contact your Yaskawa representative.
306
Linear Servomotors
Absolute Linear Encoders
 Encoder for Yaskawa’s Serial Interface

The multiplier (number of divisions) depends on the Linear Encoder. Also, you must write the Servo-
motor constant file to the Linear Encoder in advance.
Model Linear
Polarity Sensor
Application to
Application to
Loop Control
Servomotors
Fully-Closed
Support for
Resolution
Linear
Maximum
Speed*1
Encoder
Linear
Relay Device between
Input
[m/s]
[nm]
Scale SERVOPACK and Pitch*1
Type Head
SQ47-
SF
– 20.48 5 3.33 –  
SQ47-
TF
SQ47-
AF
– 40.96 10 3.33 –  
Recommended Linear
SQ47-
Encoders and Cables

FF
Exposed page 321
SQ57-
Magnescale SF
– 20.48 5 3.33 –  
Co., Ltd. SQ57-
TF
SQ57-
AF
– 40.96 10 3.33 –  
SQ57-
FF
SR77-LF – 80 9.8 3.33 –  
SR77-MF – 80 78.1 3.33 –  
Sealed page 320
SR87-LF – 80 9.8 3.33 –  
SR87-MF – 80 78.1 3.33 –  
ST781A – 256 500 5 –  
ST782A – 256 500 5 –  
ST783A – 51.2 100 5 –  
Mitutoyo ST784A – 51.2 100 5 –  
Exposed page 322
Corporation ST788A – 51.2 100 5 –  
ST789A*3 – 25.6 50 5 –  
ST1381 – 5.12 10 8 –  
ST1382 – 0.512 1 3.6 *4 –  
LIC4100 Series 20.48 5 10 –  
Dr. Exposed 204.8 50 10 –  
JOHANNES LIC2100 Series
EIB3391Y*5 409.6 100 10 –   page 311
HEIDENHAIN
GmbH LC115 40.96 10 3 –  
Sealed
LC415 40.96 10 3 –  
: Applicable
*1. These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear
encoder scale pitches.
*2. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when com-
bined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum
speed of the Linear Encoder (given above).
*3. Contact Mitutoyo Corporation for details on the Linear Encoders.
*4. The speed is restricted for some SERVOPACKs.
*5. This is the model of the Interpolator.
307
Linear Servomotors

Model
Polarity Sensor
Linear
Application to
Application to
Loop Control
Servomotors
Fully-Closed
Support for
Resolution
Linear
Maximum
Speed*1
Encoder
Linear
Relay Device between
Input
[m/s]
[nm]
Scale SERVOPACK and Pitch*1
Type Head
EL36Y-050F – 12.8 50 100 –  
EL36Y-100F – 25.6 100 100 –  
Renishaw plc Exposed EL36Y-500F – 128 500 100 –   page 314
RL36Y-050 – 12.8 50 100 –  
RL36Y-001 – 0.256 1 3.6 –  
L2AK208 – 20 78.1 8.0 –  
Exposed
L2AK211 – 20 9.8 8.0 –  
LAK209 – 40 78.1 3.0 –  
LAK212 – 40 9.8 3.0 –  
Fagor S2AK208 – 20 78.1 3.0 –  
Automation page 323
S. Coop. SV2AK208 – 20 78.1 3.0 –  
Sealed
G2AK208 – 20 78.1 3.0 –  
S2AK211 – 20 9.8 3.0 –  
SV2AK211 – 20 9.8 3.0 –  
G2AK211 – 20 9.8 3.0 –  
: Applicable
*1. These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear
encoder scale pitches.
*2. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when com-
bined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum
speed of the Linear Encoder (given above).
308
Linear Servomotors
Connections to Linear Encoder from Dr. JOHANNES

HEIDENHAIN GmbH
 Connections for a 1 Vp-p Analog Voltage Output Signal

You must make the connections through a Yaskawa Serial Converter Unit. The output signal will be
multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
 Connecting to a Linear Servomotor with a Polarity Sensor

Linear Servomotor Main Circuit Cable
SERVOPACK
Main circuit
connector
Recommended Linear
Linear Servomotor
Encoders and Cables

Main Circuit Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Serial Converter Unit Sensor Cable Thermal Protector
Relay Connector *1
Sensor Cable
Linear Encoder from
Serial Converter Linear Encoder
Unit Cable Cable*2 Dr. JOHANNES HEIDENHAIN GmbH
CN2
Cable from
Dr. JOHANNES HEIDENHAIN GmbH*3
*1. Only SGLFW2 Servomotors come equipped with Thermal Protector Relay Connectors.
*2. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is longer than 3 m.
*3. Contact Dr. JOHANNES HEIDENHAIN GmbH for details on the cables (analog 1 Vp-p output, D-sub 15-pin,
male).
Reference
No. Cable Type
SGLG SGLF SGLT
 Linear Servomotor Main Circuit Cable page 255 page 278 page 303
 Serial Converter Unit Cable page 325
 Serial Converter Unit page 324
 Sensor Cable page 325
 Linear Encoder Cable page 325
309
Linear Servomotors
 Connecting to a Linear Servomotor without a Polarity Sensor
Servomotors Other Than the SGLFW2

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Linear Encoder from

Serial Converter Serial Converter Linear Encoder Dr. JOHANNES HEIDENHAIN GmbH
Unit Cable Unit Cable*1
CN2
Cable from
*1. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is lon-
ger than 3 m.
male).
SGLFW2 Servomotors
SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Thermal Protector
Serial Converter Unit Sensor Cable
Relay Connector*1
Linear Encoder from

Serial Converter Linear Encoder Dr. JOHANNES HEIDENHAIN GmbH
Unit Cable Cable*2
CN2
Cable from
male).
Reference
No. Cable Type
SGLG SGLF SGLT
310
Linear Servomotors
 LIC4100, LIC2100, LC115, or LC415 Linear Encoder with EIB3391Y Inter-

polator
1. You cannot use an LIC4100, LIC2100, LC115, or LC415 Linear Encoder together with a Linear
Servomotor with a Polarity Sensor.
2. If you use an SGLFW2 Servomotor, input the thermal protector signal from the Linear Servo-
Important motor to the host controller. The thermal protector signal is closed when the temperature is
normal and open when the thermal protector is activated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Recommended Linear
Encoders and Cables
Coil
Magnetic Way
Input to host controller*1 Thermal Protector

Relay Connector*2
Linear Encoder from

Dr. JOHANNES HEIDENHAIN GmbH
LIC4100 LIC2100
Encoder Cable from LC115 LC415
EIB3391Y
CN2
Interpolator
Products from Linear Encoder from

*1. Cables to connect to the host controller are not provided by Yaskawa.
Refer to the following manual for information on connector models.
*3. Use an Encoder Cable from Dr. JOHANNES HEIDENHAIN GmbH. Contact Dr. JOHANNES HEIDENHAIN GmbH
for detailed Encoder Cable specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
311
Linear Servomotors
Connections to Linear Encoder from Renishaw plc
 Connections for a 1 Vp-p Analog Voltage Output Signal

multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
 Connecting to a Linear Servomotor with a Polarity Sensor

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Relay Connector*1
Sensor Cable
Linear Encoder from
Serial Converter Linear Encoder Renishaw plc*3
Unit Cable Cable*2
CN2
Cable from Renishaw plc*4
*2. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is longer than
3 m.
*3. If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may sometimes be falsely
detected.
*4. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc.
However, the BID and DIR signals are not connected.
Reference
No. Cable Type
SGLG SGLF SGLT
312
Linear Servomotors
 Connecting to a Linear Servomotor without a Polarity Sensor
Servomotors Other Than the SGLFW2

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Recommended Linear
Encoders and Cables
Linear Encoder from
Serial Converter Serial Converter Unit Linear Encoder Renishaw plc*2
Unit Cable Cable*1
CN2
*3. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However,
the BID and DIR signals are not connected.
SGLFW2 Servomotors
SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*1
Linear Encoder from

Serial Converter Linear Encoder Renishaw plc*3
Unit Cable Cable*2
CN2
*4. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However,
the BID and DIR signals are not connected.
Reference
No. Cable Type
SGLG SGLF SGLT
313
Linear Servomotors
 EVOLUTE Series Linear Encoder (model: EL36Y-),

RESOLUTE Series Linear Encoder (model: RL36Y-)
1. You cannot use an EVOLUTE Series or RESOLUTE Series Linear Encoder together with a Lin-
ear Servomotor with a Polarity Sensor.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from

Renishaw plc
EVOLUTE Series
Encoder Cable from RESOLUTE Series
Renishaw plc*3
CN2
Products from Renishaw plc

*3. Use an Encoder Cable from Renishaw plc. Contact Renishaw plc for detailed Encoder Cable specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
314
Linear Servomotors
Connections to Linear Encoder from Magnescale Co., Ltd.
 SL70 Linear Encoder and PL101-RY Sensor Head with Interpolator
1. You cannot use a PL101-RY Sensor Head with an Interpolator together with a Linear Servo-
motor with a Polarity Sensor.

SERVOPACK
Main circuit
connector
Recommended Linear
Encoders and Cables
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Sensor Cable
SL70 Linear Encoder

from Magnescale Co., Ltd.
Encoder Cable
PL101-RY Head with
CN2
Interpolator
Products from
Magnescale Co., Ltd.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable Refer to the below.
 Encoder Cable
Length Order Number
Name Appearance
Cable with Connectors end L
on Both Ends
* Use Flexible Cables for moving parts of machines, such as robots.

The recommended bending radius (R) is 68 mm or larger.
315
Linear Servomotors
 SL70 Linear Encoder, PL101 Sensor Head, and MJ620-T13 Interpolator
1. A 5-VDC power supply is required for the MJ620-T13. (The 5-VDC power supply is not pro-
vided by Yaskawa.)
2. Refer to the MJ620-T13 specifications from Magnescale Co., Ltd. for the current consumption
Important
of the MJ620-T13.
3. If you use an SGLFW2 Servomotor, remove the thermal protector relay connector and input
the thermal protector signal from the Linear Servomotor to the host controller. The thermal
protector signal is closed when the temperature is normal and open when the thermal protec-
tor is activated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Sensor Cable
Moving
Coil
Magnetic Way
Input to host controller*1
Polarity Sensor
Thermal Protector
Relay Connector*2
Sensor Cable
Linear Encoder
Encoder Cable
MJ620-T13
CN2
Interpolator
External External power supply cable Linear Encoder Cable
power from Magnescale Co., Ltd.
supply (Included with the MJ620-T13 Interpolator.)
Products from Magnescale Co., Ltd.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable page 317
These cables are not provided
External power supply
 by Yaskawa. page 317
cable
Use the cables that come with
the MJ620-T13 Interpolator.
 Linear Encoder Cable For details, refer to the –
specifications for the MJ620-
T13 Interpolator.
316
Linear Servomotors
 Encoder Cables
These cables are not provided by Yaskawa. Use a shielded cable. Refer to the following tables for
the pin layouts.
SERVOPACK End of Cable (CN2)

• Plug Connector: 55100-0670 (Molex Japan LLC)
• Connector order number: JZSP-CMP9-1-E (SERVOPACK Connector Kit)
Pin Signal Function

1 PG5 V Encoder power supply +5 V
2 PG0 V Encoder power supply 0 V
3 − −
4 − −
5 PS
Serial data
6 /PS
Recommended Linear
Encoders and Cables
Shell Shield −
MJ620-T13 End of Cable

For details, refer to the specifications for the MJ620-T13 from Magnescale Co., Ltd..
• Receptacle: PCR-E20LMD+ (Honda Tsushin Kogyo Co., Ltd.)
• Plug: PCR-E20FS+ (Honda Tsushin Kogyo Co., Ltd.)
• Shell: PCS-E20L (Honda Tsushin Kogyo Co., Ltd.)
Pin Signal Function Pin Signal Function

1 Do not connect. − 12 0V 0V
2 Do not connect. − 13 Do not connect. −
3 Do not connect. − 14 0V 0V
5 SD 16 0V 0V
Serial data
6 /SD 17 Do not connect. −
10 Do not connect. − Shell Shield −
11 Do not connect. −
Cables without Connectors

Order Number
Name Length (L)
Standard Cable Flexible Cable
Cables without 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E
Connectors 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E
Note: We recommend that you use Flexible Cables.
 External Power Supply Cables

This cable is not provided by Yaskawa. Refer to the table on the right
for the pin layout. Pin Signal Function
For details, refer to the specifications for the MJ620-T13 from Mag- 1 +5 V +5 V
nescale Co., Ltd.. 2 0V 0V
• Connector Header: MC1.5/2-GF-3.81 (Phoenix Contact)
• Connector Plug: MC1.5/2-STF-3.81 (Phoenix Contact)
317
Linear Servomotors
 SmartSCALE Linear Encoder (SQ10 Scale + MQ10-LA Interpolator)
If you use an SGLFW2 Servomotor, remove the thermal protector relay connector and input the
thermal protector signal from the Linear Servomotor to the host controller. The thermal protector
signal is closed when the temperature is normal and open when the thermal protector is acti-
Important vated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Sensor Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Thermal Protector
Relay Connector*2
Sensor Cable
Linear Encoder
Encoder Cable*4
MQ10-GLA*3
CN2
Interpolator
from Magnescale Co., Ltd.
*3. This cable configurations shown above is the connection when you use the MQ10-GLA interpolator with polarity
sensor.
*4. The maximum length of the Serial Converter Unit Cable is 15 m.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable page 319
 Sensor Cable page 325
Use the cables that come with
the MQ10-LA Interpolator.
 Linear Encoder Cable For details, refer to the –
specifications for the MQ10-
LA Interpolator.
318
Linear Servomotors
 Encoder Cables
These cables are not provided by Yaskawa. Use a shielded cable. Refer to the following tables for
the pin layouts.
SERVOPACK End of Cable (CN2)

• Plug Connector: 55100-0670 (Molex Japan LLC)
• Connector order number: JZSP-CMP9-1-E (SERVOPACK Connector Kit)
Pin Signal Function

1 PG5 V Encoder power supply +5 V
2 PG0 V Encoder power supply 0 V
3 − −
4 − −
5 PS
Serial data
6 /PS
Recommended Linear
Encoders and Cables
Shell Shield −
MQ10-LA End of Cable

For details, refer to the specifications for the MQ10-LA from Magnescale Co., Ltd..
Cables without Connectors

Order Number
Name Length (L)
Standard Cable Flexible Cable
Cables without
Connectors
Note: We recommend that you use Flexible Cables.
319
Linear Servomotors
 SR-75, SR-77, SR-85, and SR-87 Linear Encoders
1. You cannot use an SR-75, SR-77, SR-85, or SR-87 Linear Encoder with a Linear Servomotor
with a Polarity Sensor.
Important
motor to the host controller. The thermal protector signal is closed when the temperature is

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from

SR75-LF
SR75-MF
SR77-LF
SR77-MF
SR85-LF
SR85-MF
SR87-LF
Encoder Cable from SR87-MF
Magnescale Co., Ltd.*3
CN2

*3. Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable
specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
320
Linear Servomotors
 SmartSCALE (SQ47/SQ57) Linear Encoders
1. You cannot use an SQ47 or SQ57 Linear Encoder with a Linear Servomotor with a Polarity
Sensor.
Important

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Recommended Linear
Coil
Encoders and Cables

Magnetic Way

Relay Connector*2
Linear Encoder from

Encoder Cable from SmartSCALE
Magnescale Co., Ltd.*3
CN2
*3. Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable
specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
321
Linear Servomotors
Connections to Linear Encoders from Mitutoyo Corporation
 ST78A/ST13 Linear Encoders
1. You cannot use a ST78A Linear Encoder together with a Linear Servomotor with a Polarity
Sensor.
Important

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Thermal Protector
Relay Connector*2
Linear Encoders
from Mitutoyo Corporation
ST781A ST788A
ST782A ST789A
ST783A ST1381
Serial Converter ST784A ST1382
Unit Cable
CN2
Cable from Mitutoyo Corporation
Reference
No. Cable Type
SGLG SGLF SGLT
322
Linear Servomotors
Connections to Linear Encoders from Fagor Automation S.

Coop.
1. You cannot use a Linear Encoder from Fagor Automation S. Coop. for a Linear Servomotor
with a Polarity Sensor.
Importan

SERVOPACK
Main circuit
connector
Recommended Linear
Encoders and Cables
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from

Encoder Cable from Fagor Automation S. Coop.
Fagor Automation S. Coop.*3
CN2
Products from Fagor Automation S. Coop.
*3. Use an Encoder Cable from Fagor Automation S. Coop.
Contact Fagor Automation S. Coop. or the representative for detailed Encoder Cable specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
323
Linear Servomotors
Serial Converter Units
Order Number
Use the following tables to select the Serial Converter Unit.
JZDP - 00 -
Serial Converter Unit Model Applicable Linear Servomotor

Servomotor Model Code Servomotor Model Code
Protector
Thermal
Applicable
Polarity
Sensor
Code Appearance Linear 30A050C 250 30A070A 628
Encoder 30A080C 251 30A120A 629
From 40A140C 252 30A230A 630
SGLGW -
H003 Dr. JOHANNES 40A253C 253 SGLFW2- 45A200A 631
None None (coreless
J003 HEIDENHAIN models) 40A365C 254 (models 45A380A 632
GmbH with F-type
For Stan- 60A140C 258 90A200A 633
From dard-force 60A253C 259 iron cores) 90A380A 634
H005
Renishaw None None Magnetic
J005 60A365C 260 90A560A 648
PLC Way
From 90A200C 264 1DA380A 649
H006 Dr. JOHANNES 90A370C 265 1DA560A 650
Yes Yes
J006 HEIDENHAIN 90A535C 266 20A170A 011
GmbH
SGLGW - 40A140C 255 20A320A 012
From +
H008 40A253C 256 20A460A 013
Renishaw Yes Yes SGLGM -
J008
PLC -M 40A365C 257 35A170A 014
(coreless
models) 60A140C 261 35A320A 015
For High- SGLTW-
60A253C 262 35A460A 016
force Mag- (models
netic Way 60A365C 263 with T- 35A170H 105
type iron
20A090A 017 35A320H 106
cores)
20A120A 018 50A170H 108
SGLFW- 35A120A 019 50A320H 109
(Earlier 35A230A 020 40A400B 185
models
with F-type 50A200B 181 40A600B 186
iron cores) 50A380B 182 80A400B 187
1ZA200B 183 80A600B 188
1ZA380B 184
Note: 1. Refer to the following manual for detailed specifications of the Serial Converter Units.
2. Contact your Yaskawa representative for information on the water cooling specifications of the SGLFW2.
324
Linear Servomotors
Serial Converter Unit Cables

Length
(L)
1m JZSP-CLP70-01-E
3m JZSP-CLP70-03-E SERVOPACK Serial Converter
end L Unit end
5m JZSP-CLP70-05-E
All Models
10 m JZSP-CLP70-10-E
Sensor Cables
Recommended Linear
Encoders and Cables
Length
(L)
1m JZSP-CLL10-01-E
Serial Converter Polarity sensor end
SGLGW-A 3m JZSP-CLL10-03-E Unit end L
SGLFW-A 5m JZSP-CLL10-05-E
SGLTW-A 10 m JZSP-CLL10-10-E
15 m JZSP-CLL10-15-E
1m JZSP-CL2L100-01-E
Serial Converter Polarity sensor end
3m JZSP-CL2L100-03-E Unit end L
SGLFW2-AAS
5m JZSP-CL2L100-05-E
(With Polarity Sensor)
10 m JZSP-CL2L100-10-E
15 m JZSP-CL2L100-15-E
1m JZSP-CL2TH00-01-E
Serial Converter Thermal Protector
3m JZSP-CL2TH00-03-E Unit end L end
SGLFW2-AAT
5m JZSP-CL2TH00-05-E
(Without Polarity Sensor)
10 m JZSP-CL2TH00-10-E
15 m JZSP-CL2TH00-15-E
Linear Encoder Cables

Linear
Length*
Name Servomotor Order Number Appearance
(L)
Model
1m JZSP-CLL00-01-E
For linear 3m JZSP-CLL00-03-E
encoder from 5m JZSP-CLL00-05-E
Renishaw PLC 10 m JZSP-CLL00-10-E Serial Converter Linear encoder
Unit end L end
All Models
1m JZSP-CLL30-01-E
For linear
encoder from 3m JZSP-CLL30-03-E
Dr. JOHANNES 5m JZSP-CLL30-05-E
HEIDENHAIN 10 m JZSP-CLL30-10-E
GmbH
* When using a JZDP-J00--E Serial Converter Unit, do not exceed a cable length of 3 m.
325
Linear Servomotors Reference
SGLFW (Earlier Models with F-type Iron Cores)
Model Designations
 Moving Coil
S G L F W - 20 A 090 A P 
Linear Servomotors
1st digit Servomotor Type 5th digit Voltage 10th digit Sensor Specification

F With F-type iron core A 200 VAC P With polarity sensor*
Length of None Without polarity sensor
Code Specification Code Specification 11th digit Connector for Servomotor Main Circuit Cable
W Moving Coil 090 91 mm Code Specification Applicable Models
120 127 mm Connector from Tyco
None All models
200 215 mm Electronics Japan G.K.
3rd+4th digits Magnet Height
230 235 mm Connector from SGLFW-35, -50,
Code Specification D
380 395 mm Interconnectron GmbH -1Z200B
20 20 mm
50 47.5 mm
A, B ...
1Z 95 mm
* Refer to page 257 for details on the precautions on Moving Coil with Polarity Sensor.
Refer to the following figure for the total length of Moving Coil with Polarity Sensor.
Moving Coil Model Length of Moving Coil, Length of Polarity Sensor, Total Length,
SGLFW- L1 [mm] A [mm] L [mm]
20A090AP 91 113
L 22
A L1 Moving Coil 20A120AP 127 149
35A120AP 127 149
22
35A230AP 235 257
50A200BP 215 237
22
Polarity sensor Magnetic Way 50A380BP 395 417
1ZA200BP 215 237
22
1ZA380BP 395 417
 Magnetic Way
S G L F M - 20 324 A 
Linear  Series digit digit digits digit digit
digits
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits Magnetic Way 9th digit Options
(Same as for the Moving Coil.) Code Specification Code Specification

324 324 mm None Without options
2nd digit Moving Coil/Magnetic Way 405 mm C With magnet cover
405
756 756 mm
(Same as for the Moving Coil.) 8th digit Design Revision Order
A, B ...
326
Linear Servomotors
Specifications
Linear Servomotor Moving Coil Model 20A 35A 50A 1ZA
SGLFW- 090A 120A 120A 230A 200B 380B 200B 380B
Thermal Class B
Cooling Method Self-cooled
Environmen- • Must be indoors and free of corrosive and explosive gases.
tal Condi- • Must be well-ventilated and free of dust and moisture.
tions Installation Site • Must facilitate inspection and cleaning.
SGLFW
Resistance Number of Impacts 2 times
Vibration 49 m/s2 (the vibration resistance in three directions, vertical,
Vibration Acceleration Rate
Resistance side-to-side, and front-to-back)
327
Linear Servomotors
Ratings
Linear Servomotor Moving Coil Model 20A 35A 50A 1ZA
SGLFW- 090A 120A 120A 230A 200B 380B 200B 380B
Rated Motor Speed
(Reference Speed during m/s 5.0 3.5 2.5 3.0 1.5 1.5 1.5 1.5
Speed Control)*1
Maximum Speed*1 m/s 5.0 5.0 5.0 5.0 5.0 5.0 4.9 4.9
*1, *2 N 25 40 80 160 280 560 560 1120
Rated Force
*1 N 86 125 220 440 600 1200 1200 2400
Maximum Force
*1 Arms 0.70 0.80 1.4 2.8 5.0 10.0 8.7 17.5
Rated Current
Maximum Current*1 Arms 3.0 2.9 4.4 8.8 12.4 25.0 21.6 43.6
Moving Coil Mass kg 0.70 0.90 1.3 2.3 3.5 6.9 6.4 12
Force Constant N/Arms 36.0 54.0 62.4 62.4 60.2 60.2 69.0 69.0
Vrms/(m/s)/
BEMF Constant 12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0
phase
Motor Constant N/ W 7.95 9.81 14.4 20.4 34.3 48.5 52.4 74.0
Electrical Time Constant ms 3.2 3.3 3.6 3.6 16 16 18 18
Mechanical Time Constant ms 11 9.4 6.3 5.5 3.0 2.9 2.3 2.1
Thermal Resistance
K/W 4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.20
(with Heat Sink)
Thermal Resistance
K/W 7.69 5.02 4.10 1.94 1.65 0.95 1.30 0.73
(without Heat Sink)
Magnetic Attraction N 310 460 810 1590 1650 3260 3300 6520
Maximum Allowable Payload kg 3.2 4.8 8.7 29 33 67 66 78
Maximum Allowable Payload
(With External Regenerative
kg 3.2 4.8 8.7 29 40 80 82 160
Resistor and External
*3
Dynamic Brake Resistor )
Combined Magnetic Way, SGLFM- 20A 35A 50A 1ZA
017 018 019 020 181 182 183 184
JZDP--
SGD7S- 1R6A, 2R1F 3R8A 5R5A 120A 200A
Applicable
SERVOPACKs SGD7W- 1R6A 5R5A −
SGD7C-
• 125 mm × 125 mm × 13 mm: SGLFW-20A090A and -20A120A
• 254 mm × 254 mm × 25 mm: SGLFW-35A120A and -35A230A
• 400 mm × 500 mm × 40 mm: SGLFW-50A200B, 50A380B, and -1ZA200B
• 600 mm × 762 mm × 50 mm: SGLFW-1ZA380B
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
328
Linear Servomotors

SGLFW-20A090A SGLFW-20A120A SGLFW-35A120A

6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5 5
4 4 4
A B
3 3 3
2 A B A B
2 2
1 1 1
0 0 0
0 20 40 60 80 100 0 20 40 60 80 100 120 140 0 50 100 150 200 250
SGLFW-35A230A SGLFW-50A200B SGLFW-50A380B

6 6 6
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5 5
4 4 4
3 3 3
A B 2 A B 2 A B
2
1 1 1
0 0 0
SGLFW
0 100 200 300 400 500 0 200 400 600 800 0 500 1000 1500
SGLFW-1ZA200B SGLFW-1ZA380B
6 6
Motor speed (m/s)
Motor speed (m/s)
5 5
4 4
3 3
A B A B
2 2
1 1
0 0
0 500 1000 1500 0 1000 2000 3000
Force (N) Force (N)
329
Linear Servomotors

perature of 40°C.
SGLFW-20A SGLFW-35A
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
50 100 150 200 250 300 350 400 450 50 100 150 200 250 300 350
(%) (%)
SGLFW-50A and -1ZA

10000
1000
Detection time (s)
100
10
1
50 100 150 200 250 300
(%)
330
Linear Servomotors
External Dimensions
SGLFW-20
 Moving Coils: SGLFW-20AA
50 min. L1
30 30 L2 (25)
Polarity sensor 36
(32) 2
Magnetic Way
(7.5)
17.5
(12)
5.5
(22) (22)
(44)
(20)
20
22
40
28
0.5 5
9.7 dia.
(10)
12.5
22.5
(12.5)
(6) 7.7
The Moving Coil moves in
34 (4.2 with magnet cover) 50 the direction indicated by
0.1 0± Refer to the
2 × #4-40 UNC 50 following figures and . the arrow when current flows in
45±0.1 (Gap: 0.8 with magnet cover) screws L3 7 the following phase sequence: U, V, W.
(Gap: 1 without magnet cover) 50
0± 30 min.
(4.2
50 12
dia
(6.
.)
1d
ia.)
SGLFW
SGLFW-20A090A SGLFW-20A120A
2 × M4 × 8 3 × M4 × 8
20
20
22.5
22.5
12.5
12.5
30 36 30 36
72 Unit: mm
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]

20A090A 91 36 72 0.7
20A120A 127 72 108 0.9
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models with-
out polarity sensors.
1 Phase U Red
Inverse power (V)
1 2 3 4 Su, Sv, and Sw polarity sen-

Vv

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
331
Linear Servomotors
 Magnetic Ways: SGLFM-20A

(L3)
Moving Coil 9.9°
2 × N × 4.8 dia.
(4.5)
(17.5)
22 (22)
35
N S N S
44
N S N S
(40)
4.5
(22.5)
6 4
Reference mark (Reference mark)
10 (34) 54 (54)
(Gap: 1) LA L2 (30.8)
45±0.1 L1
Reference mark
Unit: mm
Magnetic Way Approx. Mass

L1 L2 (L3) LA N
Model SGLFM- [kg]
20324A 324 -0.1
-0.3 270 (54 × 5) (331.6) 0
30.8 -0.2 6 0.9
20540A 540 -0.1
-0.3 486 (54 × 9) (547.6) 0
30.8 -0.2 10 1.4
20756A 756 -0.1
-0.3 702 (54 × 13) (763.6) 30.8 0
-0.2 14 2
332
Linear Servomotors
SGLFW-35
 Moving Coils: SGLFW-35AA

50 min. L1
30 30 L2 25
36
(32) 2 Magnetic Way Polarity sensor
(10.5)
(7.5)
5.5
(30) (30)
30 25
(60)
35
37
(35)
43
18
55 5
9.7 dia.
0.5
(8.5)
12.5
(12.5)
(6) 7.7 (4 without magnet cover) 0
5 Refer to the following
34 Refer to the following table. 2 #4-40 UNC 500 figures  and .
screws L3 7
0 30 min.
450.1 5
(Gap: 0.8 with magnet cover) 500 12 The Moving Coil moves in
(4 .2
(Gap: 1 without magnet cover) the direction indicated by
dia.
(6.
)
(10.2 with magnet cover) the arrow when current flows in
1
dia
(10 without magnet cover) the following phase sequence: U, V, W.
.)
SGLFW-35A120A SGLFW-35A230A
SGLFW
6 M4 8 12 M4 8
35
35
18
18
30
30
30
12.5
36
12.5
30 36
8.5
8.5
72 180 (365) Unit: mm

35A120A 127 72 108 1.3
35A230A 235 180 216 2.3

1 Phase U Red
Inverse power (V)

Vv

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
333
Linear Servomotors
 Moving Coils: SGLFW-35AAD

50 min. L1
30 30 L2 25
(32) 2 36
(10.5)
Magnetic Way Polarity sensor
(7.5)
5.5
(30) (30)
30 25
(35)
(60)
37
43
55
35
18
0.5 (4.2 with magnet cover)
12.5
9.7 dia.
(8.5)
(12.5)
(6) 7.7 (4 without magnet cover)
34 50 Refer to the following
Refer to the following table. 2  #4-40 UNC 0
screws 50 figures  and . L3 7
450.1 30 min.
(Gap: 0.8 with magnet cover) 50
0 12
50
(4 .2
dia.
The Moving Coil moves in
(6.
)
the direction indicated by
1
dia
the arrow when current flows in
.)
the following phase sequence: U, V, W.
SGLFW-35A120AD SGLFW-35A230AD
6 M4 8 12 M4 8
35
35
18
18
30
30
30 30 36
12.5
12.5
36
8.5
8.5
72 180 (365) Unit: mm

35A120AD 127 72 108 1.3
35A230AD 235 180 216 2.3

Inverse power (V)
5 6 1 1 Phase U 5 Not used Su, Sv, and Sw polarity sen-

2 Phase V 6 Not used sor output signals and the
Vv
2 4 Phase W Ground inverse power of each motor Sv
4
Extension: ARRA06AMRPN182 the Moving Coil moves in the Vw Sw
Pins: 021.279.1020 direction indicated by the
From Interconnectron GmbH arrow in the dimensional 0 180 360 540
Mating Connector Electrical angle (°)
drawings of the Moving Coil.
Plug: APRA06BFRDN170
Socket: 020.105.1020
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
334
Linear Servomotors

(L3)
9.9°
Moving Coil 2 × N × 4.8 dia.
(4.5)
(30)
(25)
60
51
N S N S N S N S
(55)
(30)
30
4.5
6 4
Reference mark (Reference mark)
10 (34) 54 (54)
(Gap: 1) LA L2 (32.2)
45±0.1 Reference mark
L1
(There are two, approx.
4-dia. indentations.)
Unit: mm

L1 L2 (L3) LA N
Model SGLFM- [kg]
SGLFW
35324A 324 -0.1
-0.3 270 (54 × 5) (334.4) 0
32.2 -0.2 6 1.2
35540A 540 -0.1
-0.3 486 (54 × 9) (550.4) 0
32.2 -0.2 10 2
35756A 756 -0.1
-0.3 702 (54 × 13) (766.4) 32.2 0
-0.2 14 2.9
335
Linear Servomotors
SGLFW-50
 Moving Coils: SGLFW-50AB

50 min. L1
30 55 L2 40
(40) 3 Polarity sensor 60
Magnetic Way
(15)
7
(37.5) (37.5)
37.75 33.75
(75)
23.5
(48)
71.5
(64.5)
12 dia.
0.5 (4.2 with magnet cover) 50
0 5
(9) (4 without magnet cover) 50 Refer to the following figures  and .
43 50 min. 25 L3 10
0
(4.
5
2
0
50
dia
580.1 (Gap: 0.8 with magnet cover) The Moving Coil moves in the direction indicated
) .
(Gap: 1 without magnet cover) by the arrow when current flows in the following phase
(7.
sequence: U, V, W.
4
(10.2 with magnet cover) 2 #4-40 UNC

dia

.)
screws
SGLFW-50A200B SGLFW-50A380B
6 × M5 × 9.5 12 × M5 × 9.5
23.5
23.5
48
48
55 60
12
14
14
12
55 60 300 (60 × 5)
120 Unit: mm
Moving Coil Model

L1 L2 L3 Approx. Mass [kg]
SGLFW-
50A200B 215 120 180 3.5
50A380B 395 300 360 6.9
1 Phase U Red
Inverse power (V)

Vv

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
336
Linear Servomotors
 Moving Coils: SGLFW-50ABD

50 min. L1
30 55 L2 40
(40) 3 Polarity sensor 60
Magnetic Way
(15)
7
37.75 33.75
(37.5) (37.5)
(64.5)
71.5
(48)
(75)
23.5
0.5
12 dia.
0
(9) 5 5 Refer to the following figures  and .
Refer to the following table. 500
43
(4.2 with magnet cover) 50 min. 25 L3 10
(4 without magnet cover) 50
(4.
580.1 00 55
2d
5
i a .)
(7.
4d
(Gap: 1 without magnet cover) 2 #4-40 UNC
i a .)
screws
SGLFW-50A200BD SGLFW-50A380BD
6 × M5 × 9.5 12 × M5 × 9.5
23.5
23.5
48
48
SGLFW
55 60
12
14
14
12
55 60 300 (60 × 5)
120 Unit: mm
Moving Coil Model

L1 L2 L3 Flatness Approx. Mass [kg]
SGLFW-
50A200BD 215 120 180 0.2 3.5
50A380BD 395 300 360 0.3 6.9

Inverse power (V)
5 6 1 1 Phase U 5 Not used Su, Sv, and Sw polarity sen-

2 Phase V 6 Not used sor output signals and the
Vv
2 4 Phase W Ground inverse power of each motor Sv
4
Extension: ARRA06AMRPN182 the Moving Coil moves in the Vw
Pins: 021.279.1020 direction indicated by the
Sw
From Interconnectron GmbH arrow in the dimensional 0 180 360 540

Mating Connector drawings of the Moving Coil. Electrical angle (°)
Plug: APRA06BFRDN170
Socket: 020.105.1020
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
337
Linear Servomotors

(L3)
8.6°
Moving Coil 2 × N × 5.8 dia.
(5)
(37.75) (33.75)
37.5 (37.5)
(71.5)
75
65
N S N S N S N S
9 5 5
14 (43) 67.5 Reference mark (67.5) (Reference
mark)
(Gap: 1) LA L2 (39.4)
58±0.1 Reference mark L1
Unit: mm


L1 L2 (L3) LA N
Model SGLFM- [kg]
50405A 405 -0.1
-0.3 337.5 (67.5 × 5) (416.3) 0
39.4 -0.2 6 2.8
50675A 675 -0.1
-0.3 607.5 (67.5 × 9) (686.3) 0
39.4 -0.2 10 4.6
50945A 945 -0.1
-0.3 877.5 (67.5 × 13) (956.3) 39.4 0
-0.2 14 6.5
338
Linear Servomotors
SGLFW-1Z
 Moving Coils: SGLFW-1ZAB

50 min. L1
(40) 3 Magnetic Way 30 55 L2 40
Polarity sensor 60
(15)
7
(62.5)
57.5
35.5 35.5
96
98
(125)
96
119
61.5
50
(62.5)
0±
50
2 × #4-40
UNC screws
14
(12)
0.5 Refer to the following indicated by the arrow when current flows
(9) figures  and . in the following phase sequence: U, V, W.
(4.

2d
43 50 min. 25 L3 10
ia.
)

58±0.1 (Gap: 1 without magnet cover) 50
0±
50 (8.
4d
(14 without magnet cover) ia.
)
SGLFW
SGLFW-1ZA200B SGLFW-1ZA380B
9  M5 × 9.5 18 × M5 × 9.5
35.5 35.5
35.5 35.5
96
96
12
12
14
14
55 60 55 60
120 300 (60 × 5) Unit: mm

1ZA200B 215 120 180 6.4
1ZA380B 395 300 360 11.5
1 Phase U Red
Inverse power (V)

Vv

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
339
Linear Servomotors
 Moving Coils: SGLFW-1ZA200BD

50 min. 215
Magnetic Way Polarity sensor 30 55 120 (60 × 2) 40
(40) 3
60
(15)
7
(62.5)
57.5
35.5
(112)
Proximity sensor
(96) cable
(125)
119
UL20276, AWG28
35.5
5 0
61.5 0±
(62.5)
50
2 × #4-40 UNC
screws Refer to the direction indicated by the arrow when
0.5 (5.2 with magnet cover) following current flows in the following phase
(4.
(9) figure . sequence: U, V, W.
2d
(5 without magnet cover) 50 min. 25 180 10
ia.
430.05 0.2
)
(Gap: 0.8 with magnet cover) 50
0±
(8.
58±0.1 (Gap: 1 without magnet cover) 50 Servomotor Main Circuit Cable
4
dia
UL2517, AWG15
.)
Polarity sensor
(14.2 with magnet cover) connector
SGLFW-1ZA200BD
9 × M5 × 9.5L
Tightening torque: 750 to 850 Ncm
35.5
96
35.5

12
55 60
14
120 Unit: mm

Inverse power (V)
1 1 Phase U 4 Not used Su, Sv, and Sw polarity sen-

6 2 2 Phase V 5 Not used sor output signals and the
3 Phase W 6 Ground Vv
inverse power of each motor Sv
5 3
Extension: SROC06JMSCN169 phase Vu, Vv, and Vw when
4 Pins: 021.423.1020 the Moving Coil moves in the Vw Sw
From Interconnectron GmbH direction indicated by the
arrow in the dimensional 0 180 360 540
Mating Connector Electrical angle (°)
Plug: SPUC06KFSDN236 drawings of the Moving Coil.
Socket: 020.030.1020
5 1 2 Phase U 7
Not used
3 Phase V 8
4 Phase W 9
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
340
Linear Servomotors
 Magnetic Ways: SGLFM-1ZA

(L3)
2 × N, 7-dia. mounting holes
8.6°
Moving Coil
(6.5)
11.5 dia. 1.5
(62.5)
(57.5)
125
112
(119) N S N S N S N S
62.5
(61.5)
6.5
9 5
(Reference
14 (43) 67.5 Reference mark (67.5) mark)
LA L2 (43.2)
(Gap1)
58±0.1 L1
Reference mark
1.5
11.5 dia.

Unit: mm
SGLFW
L1 L2 (L3) LA N
Model SGLFM- [kg]
1Z405A 405
-0.1
-0.3 337.5 (67.5 × 5) (423.9) 0
43.2 -0.2 6 5
1Z675A 675
-0.1
-0.3 607.5 (67.5 × 9) (693.9) 0
43.2 -0.2 10 8.3
1Z945A 945
-0.1
-0.3 877.5 (67.5 × 13) (963.9) 43.2 0
-0.2 14 12
341
Linear Servomotors
Selecting Cables
SERVOPACK

Linear Servomotor
Main Circuit Cable
Sensor Cable
Linear Encoder (between Serial Converter
(Not provided by Yaskawa.) Unit and polarity sensor)
Polarity sensor
Linear Servomotor

342
Linear Servomotors

Length
(L)
1m JZSP-CLN11-01-E
L end
5m JZSP-CLN11-05-E
SGLFW-20A, -35A
*1
1m JZSP-CLN21-01-E
L end
5m JZSP-CLN21-05-E
SGLFW-50A, -1ZA
*1
1m JZSP-CLN14-01-E
5m JZSP-CLN14-05-E
SGLFW-AD
SGLFW
15 m JZSP-CLN14-15-E *2
343
MEMO
344
SERVOPACKs
Features
SERVOPACKs (Single-axis)
Analog Voltage/Pulse Train Reference Type ..... 346

• 3.1 kHz response frequency and improved vibration
suppression
MECHATROLINK-II Communications
Reference Type ............................................... 356
• High-precision motion control.
suppression
MECHATROLINK-III Communications
Reference Type ............................................... 366
• Real-time communication (communication speed: 100 Mbps).
• High-precision motion control.
suppression
INDEXER Module-Mounted Type .................... 376

• Simple connection to the host controller with the I/O
module.
• Reliable high-speed, high-precision positioning.
• Motion control without use of motion controllers.
DeviceNet Module-Mounted Type ................... 390

• Compliant with the communication specifications of
the DeviceNet open field network.
• Monitor information from servo drive with the host controller. Analog
• Full range of positioning functions featured.
M-II
FT82/FT83 Specification
M-III
(SGM7D Motor Drive Type) .............................. 402
• High torque, high precision, and a user-friendly design. INDEXER
• FT83 SERVOPACKs with built-in INDEXER.
DeviceNet
FT82
SERVOPACKs (Two-axis)
FT83
MECHATROLINK-III Communications M-III
Reference Type ............................................... 432
• Two axes can be controlled with a SERVOPACK.
• The regenerative energy of multiple axes can be SERVOPACK
External Dimensions
used as the drive energy.
Peripheral Devices
SERVOPACKs DC Power Input
(Two-axis, with built-in Controllers)
Bus Connection Reference Type ....................... 440

• Build small-scale equipment system without PLC
using one SERVOPACK.
• Expand functionality by mounting an option unit.
• Reduce burden of designing software when part of
the equipment changes.
Common
SERVOPACK External Dimensions .................. 456
Peripheral Devices ........................................... 468
For SGM7M Servomotor
Σ-V SERVOPACKs with DC Power Input .......... 500
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
Model Designations
SGD7S - R70 A 00 A 001 000 B

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th
Σ-7 Series digit digit digits digit
digits digits digits
Σ-7S SERVOPACKs
Maximum Applicable Hardware Options

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Voltage Code Specification Code Specification Applicable
Code Specification
Models
R70*1 0.05 kW A 200 VAC
None
R90*1 0.1 kW F 100 VAC Without options All models
1R6*1 0.2 kW 000
SGD7S-R70A
2R8*1 0.4 kW
5th+6th digits Interface*4 Rack-mounted
to -330A
3R8 0.5 kW SGD7S-R70F
001
5R5*1 0.75 kW Code Specification to -2R8F
Three- 7R6 1.0 kW Analog voltage/pulse SGD7S-470A
00 Duct-ventilated
phase, 120*2 train reference to -780A
1.5 kW
200 002 Varnished All models
180 2.0 kW
VAC 7th digit Design Revision Order Single-phase,
200*3 3.0 kW 200-VAC
008 SGD7S-120A
330 5.0 kW A power supply input
470 6.0 kW SGD7S-R70A
550 7.5 kW to -2R8A
No dynamic brake
020*5 SGD7S-R70F
590 11 kW to -2R8F
780 15 kW External dynamic SGD7S-3R8A
R70 0.05 kW brake resistor to -780A
Single-
R90 0.1 kW
phase,
0.2 kW 11th+12th+13th digits FT/EX Specification
100 VAC 2R1
2R8 0.4 kW
Code Specification
None
None
000
BTO Specification*6
14th digit (Available in Japan only)
Code Specification
None None
B BTO Specification
*1. You can use these models with either a single-phase or three-phase power supply input.
*2. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-
120A00A008).
*3. The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
*4. The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
*5. Refer to the following manual for details.
Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Prod-
uct Manual (Manual No.: SIEP S800001 73)
*6. The BTO specification indicates if the SERVOPACK is customized by using the MechatroCloud BTO service.
You need a BTO number to order SERVOPACKs with customized specifications.
Refer to page M-15 for the details on the BTO service.
346
SERVOPACKs
Ratings and Specifications
Ratings
 Three-phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0
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
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84.0
Main Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Circuit Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15 25
Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Control
Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.25 0.25 0.3
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9 7.5
Main Circuit Power Loss [W] 5.0 7.0 11.9 22.5 28.5 38.9 49.2 72.6 104.2 114.2 226.6
Control Circuit Power Loss [W] 12 12 12 12 14 14 14 15 16 16 19
Power
Built-in Regenerative
Loss* − − − − 8 8 8 10 16 16 36
Resistor Power Loss [W]
Total Power Loss [W] 17.0 19.0 23.9 34.5 50.5 60.9 71.2 97.6 136.2 146.2 281.6
Σ-7S Analog
Built-In Resistance
− − − − 40 40 40 20 12 12 8
Regenerative [Ω]
Regenerative Resistor
Capacity [W] − − − − 40 40 40 60 60 60 180
Resistor
Minimum Allowable
40 40 40 40 40 40 40 20 12 12 8
External Resistance [Ω]
Overvoltage Category III
* This is the net value at the rated load.
Model SGD7S- 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 6.0 7.5 11 15
Continuous Output Current [Arms] 46.9 54.7 58.6 78.0
Instantaneous Maximum Output Current [Arms] 110 130 140 170
Main Circuit
Input Current [Arms]*1 29 37 54 73
Control *1
Input Current [Arms] 0.3 0.3 0.4 0.4
Power Supply Capacity [kVA]*1 10.7 14.6 21.7 29.6
Main Circuit Power Loss [W] 271.7 326.9 365.3 501.4
Control Circuit Power Loss [W] 21 21 28 28
Power Loss*1 External Regenerative Resistor
180*2 350*3 350*3 350*3
Unit Power Loss [W]
Total Power Loss [W] 292.7 347.9 393.3 529.4
Resistance [Ω] 6.25*2 3.13*3 3.13*3 3.13*3
External
Regenerative
Capacity [W] 880*2 1760*3 1760*3 1760*3
Resistor Unit Minimum Allowable External
5.8 2.9 2.9 2.9
Resistance [Ω]
*1. This is the net value at the rated load.
*2. This value is for the optional JUSP-RA04-E Regenerative Resistor Unit.
347
SERVOPACKs
 Single-phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A
Maximum Applicable Motor 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
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Input Current [Arms]* 0.8 1.6 2.4 5.0 8.7 16
Control
Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.25
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.2 1.9 4.0
Main Circuit Power Loss [W] 5.0 7.1 12.1 23.7 39.2 71.8
Control Circuit Power Loss [W] 12 12 12 12 14 16
Power Loss* Built-in Regenerative
− − − − 8 16
Total Power Loss [W] 17.0 19.1 24.1 35.7 61.2 103.8
Built-In Resistance [Ω] − − − − 40 12
Regenerative
Regenerative Resistor Capacity [W] − − − − 40 60
Resistor
Minimum Allowable External
40 40 40 40 40 12
Resistance [Ω]
 270 VDC
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11.0 16.9 17.0 28.0
Power Supply 270 VDC to 324 VDC, -15% to +10%
Main Circuit
Input Current [Arms]*1 0.5 1.0 1.5 3.0 3.8 4.9 6.9 11
Control *1
Input Current [Arms] 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2*2
*1 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
Power Supply Capacity [kVA]
Main Circuit Power Loss [W] 4.4 5.9 9.8 17.5 23.0 30.7 38.7 55.8
Power Loss*1 Control Circuit Power Loss [W] 12 12 12 12 14 14 14 15
Total Power Loss [W] 16.4 17.9 21.8 29.5 37.0 44.7 52.7 70.8
*2. The value is 0.25 Arms for the SGD7S-120A00A008.
Model SGD7S- 180A 200A 330A 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 2.0 3.0 5.0 6.0 7.5 11.0 15.0
Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0
Instantaneous Maximum Output Current [Arms] 42.0 56.0 84.0 110 130 140 170
Main Circuit
Input Current [Arms]* 14 20 34 36 48 68 92
Control
Input Current [Arms]* 0.25 0.25 0.3 0.3 0.3 0.4 0.4
Power Supply Capacity [kVA]* 4.0 5.9 7.5 10.7 14.6 21.7 29.6
Main Circuit Power Loss [W] 82.7 83.5 146.2 211.6 255.3 243.6 343.4
Power Loss* Control Circuit Power Loss [W] 16 16 19 21 21 28 28
Total Power Loss [W] 98.7 99.5 165.2 232.6 276.3 271.6 371.4
348
SERVOPACKs

Model SGD7S- R70F R90F 2R1F 2R8F
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4
Instantaneous Maximum Output Current [Arms] 2.1 3.2 6.5 9.3
Main Circuit
Input Current [Arms]* 1.5 2.5 5 10
Control
Input Current [Arms]* 0.38 0.38 0.38 0.38
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.4
Power Loss* Control Circuit Power Loss [W] 12 12 12 12
Regenerative Minimum Allowable External
40 40 40 40
Resistor Resistance [Ω]
SERVOPACK Overload Protection Characteristics

The overload detection level is set for hot start conditions with a SERVOPACK surrounding air tem-
Σ-7S Analog
perature of 55°C.
An overload alarm (A.710 or A.720) will occur if overload operation that exceeds the overload pro-
tection characteristics shown in the following diagram (i.e., operation on the right side of the appli-
cable line) is performed.
The actual overload detection level will be the detection level of the connected SERVOPACK or Ser-
vomotor that has the lower overload protection characteristics.
In most cases, that will be the overload protection characteristics of the Servomotor.
10000 10000
SERVOPACK Model: SERVOPACK Model:
SGD7S-R70A, -R90A, SGD7S-3R8A, -5R5A, -7R6A,
1000 1000
Detection time (s)
Detection time (s)
-1R6A, -2R8A, -R70F, -120A, -180A, -200A, -330A,

-R90F, -2R1F, and -2R8F -470A, -550A, -590A,
100 100 and -780A
10 10
Instantaneous maximum Instantaneous maximum

1 output current 1 output current
100 230 × 100% 100 200 × 100%
Continuous output current Continuous output current
(Continuous output current) (Instantaneous maximum (Continuous output current) (Instantaneous maximum
output current) output current)
SERVOPACK output current SERVOPACK output current
(continuous output current ratio) (%) (continuous output current ratio) (%)
For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque (or
effective force) within the continuous duty zone of the torque-motor speed characteristic (or force-motor
speed characteristics) of the Servomotor.
349
SERVOPACKs
Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Serial encoder: 17 bits (absolute encoder)
With Rotary Servomotor 20 bits or 24 bits (incremental encoder/absolute encoder)
Feedback
22 bits (absolute encoder)

• Absolute linear encoder (The signal resolution depends on the
absolute linear encoder.)
With Linear Servomotor
• Incremental linear encoder (The signal resolution depends on the
incremental linear encoder or Serial Converter Unit.)
-5°C to 55°C
With derating, usage is possible between 55°C and 60°C.
Surrounding Air Temperature*1
Refer to the following section for derating specifications.
Derating Specifications (page 353)
Storage Temperature -20°C to 85°C
Surrounding Air Humidity 95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Class SERVOPACK Model: SGD7S-

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A,
Degree of Protection IP20
R70F, R90F, 2R1F, 2R8F
120A00A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
• Must be no corrosive or flammable gases.
Pollution Degree
• Must be no exposure to water, oil, or chemicals.
• Must be no dust, salts, or iron dust.
1,000 m or less.
With derating, usage is possible between 1,000 m and 2,000 m.
Altitude*1
Do not use the SERVOPACK in the following locations: Locations
Others subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
Refer to the following section for international standards.
Applicable Standards
International Standards (page 566)
Mounting SERVOPACK Model: SGD7S-

Base-mounted All Models
Mounting R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
Rack-mounted 7R6A, 120A, 180A, 200A, 330A,
R70F, R90F, 2R1F, 2R8F
Duct-ventilated 470A, 550A, 590A, 780A
1:5000 (At the rated torque, the lower limit of the speed control range
Speed Control Range
must not cause the Servomotor to stop.)
Performance
±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

Coefficient of Speed
0% of rated speed max. (for a voltage fluctuation of ±10%)
Fluctuation*2
±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)
Torque Control Precision
±1%
(Repeatability)
Soft Start Time Setting 0 s to 10 s (Can be set separately for acceleration and deceleration.)
350
SERVOPACKs

Item Specification
Phase A, phase B, phase C: Line-driver output
Encoder Divided Pulse Output
Number of divided output pulses: Any setting is allowed.
Number of input points: 1
Overheat Protection Input
Input voltage range: 0 V to +5 V
Allowable voltage range: 5 VDC ±5%
Fixed Input (Input method: Sink inputs or source inputs)
Input Signal: Absolute Data Request (SEN)
(Input method: Sink inputs or source inputs)
Input Signals
Sequence Input Signals
• /S-ON (Servo ON) signal

• /P-CON (Proportional Control) Signal
• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) signals
• /ALM-RST (Alarm Reset) signal
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
Input Signals That Can Be Torque Limit) signals
Allocated • /SPD-D (Motor Direction) signal
• /SPD-A and /SPD-B (Internal Set Speed Selection) signals
• /C-SEL (Control Selection) signal
• /ZCLAMP (Zero Clamping) signal
• /INHIBIT (Reference Pulse Inhibit) signal
I/O Signals
• /G-SEL (Gain Selection) signal
Σ-7S Analog
• /P-DET (Polarity Detection) signal
• SEN (Absolute Data Request) signal
• /PSEL (Reference Pulse Input Multiplication Switch) Signal
• FSTP (Forced Stop Input) signal
A signal can be allocated and the positive and negative logic can be changed.
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Fixed Output (A photocoupler output (isolated) is used.)
Output signal: Servo Alarm (ALM)
Sequence Output Signals
(A photocoupler output (isolated) is used for three of the outputs.)

(An open-collector output (non-isolated) is used for the other three outputs.)
Output Signals
• /COIN (Positioning Completion) Signal
• /V-CMP (Speed Coincidence Detection) Signal
Output Signals That Can Be • /TGON (Rotation Detection) Signal
Allocated • /S-RDY (Servo Ready) signal
• /CLT (Torque Limit Detection) Signal
• /VLT (Speed Limit Detection) Signal
• /BK (Brake) signal
• /WARN (Warning) Signal
• /NEAR (Near) signal
• /PSELA (Reference Pulse Input Multiplication Switching Output) signal
• ALO1, ALO2, and ALO3 (Alarm Code) signals
Interfaces Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
Communications
RS-422A
(CN3)
Communications
1:N Communications Up to N = 15 stations possible for RS-422A port
Axis Address Setting Set with parameters.

Interface Personal computer (with SigmaWin+)
Communications
(CN7)
USB
Communications
Conforms to USB2.0 standard (12 Mbps).
Standard
Displays/Indicators CHARGE indicator and five-digit seven-segment display

351
SERVOPACKs

Item Specification
Panel Operator Four push switches
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Analog Monitor (CN5)
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or when the
Dynamic Brake (DB)
power supply to the main circuit or servo is OFF.
Built-in (An external resistor must be connected to the SGD7S-470A
Regenerative Processing to -780A.)
Built-In Regenerative Resistor (page 492)
Stopping with dynamic brake, deceleration to a stop, or coasting to a
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive
Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Functions
Safety
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable Standards*3 ISO13849-1 PLe (Category 3) and IEC61508 SIL3
Fully-Closed Modules and Safety Modules
Option Module
Note: You cannot use a Fully-Closed Module and a Safety Module together.
• Maximum input voltage: ±12 V (forward motor rotation for positive reference).
Reference Voltage
• 6 VDC at rated speed (default setting). Input gain setting can be changed.
Signal
Speed Control
Input
Input Impedance Approx. 14 kΩ

Circuit Time Constant 30 μs
Rotation Direction
Internal Set
With Proportional Control signal

Control
Selection
Speed
With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection).

Speed Selection
Servomotor stops or another control method is used when both signals are OFF.
Feedforward Compensation 0% to 100%
Output Signal Positioning
0 to 1,073,741,824 reference units
Completed Width Setting
One of the following is selected:
Reference Pulse
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse
Form
trains with 90° phase differential
Controls
Position Control
Reference pulses
Input Form Line driver or open collector

• Line Driver
Input Signals
Sign + pulse train or CW + CCW pulse trains: 4 Mpps

Maximum Input Two-phase pulse trains with 90° phase differential: 1 Mpps
Frequency • Open Collector
Sign + pulse train or CW + CCW pulse trains: 200 kpps
Two-phase pulse trains with 90° phase differential: 200 kpps
Input Multiplication
1 to 100 times
Switching
Position deviation clear
Clear Signal
Line driver or open collector
• Maximum input voltage: ±12 V (forward torque output for positive
Torque Control
Input Signal
reference).
Reference Voltage
• 3 VDC at rated torque (default setting). Input gain setting can be
changed.
352
SERVOPACKs
*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-
PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m
max. Also, the applicable range cannot be increased by derating.
*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:
Coefficient of speed fluctuation = No-load motor speed - Total-load motor speed × 100%
Rated motor speed
*3. Always perform risk assessment for the system and confirm that the safety requirements are met.
Derating Specifications
If you use the SERVOPACK at a surrounding air temperature of 55°C to 60°C or at an altitude of
1,000 m to 2,000 m, you must apply the derating rates given in the following graphs.
 SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
Σ-7S Analog
0m 1000 m 2000 m
Surrounding air temperature Altitude Surrounding air temperature and altitude
 SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A,

-590A, and -780A
100% 100% 100%

Effective torque
80%
Effective torque
Effective torque
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
353
SERVOPACKs
Selecting Cables
 System Configurations
CN5 Analog Monitor Cable
Digital Operator
Converter Cable Digital Operator
CN3 ＳＶＯＮＣＯＩＮ
ＶＣＭＰ
ＴＧＯＮ REF ＣＨＡＲＧＥ
Computer Cable
ALARM ＳＣＲＯＬＬＭＯＤＥ／ＳＥＴ
CN7 ＲＥＳＥＴ
ＪＯＧ
SVON
ＤＡＴＡ
JZSP-CVS06-02-E
READ WRITE
SERVO SERVO
DIGITAL OPERATOR ＪＵＳＰ−ＯＰ０５Ａ−１−Ｅ
Host controller
I/O Signal Cable
CN1
CN8 Safety Function Device Cable
354
SERVOPACKs
 Selection Table
1. Use the cable specified by Yaskawa for the Computer Cable. Operation may not be depend-
able with any other cable.
2. Use the cable specified by Yaskawa for the MECHATROLINK Communications Cables. Opera-
Important
tion may not be dependable due to low noise resistance with any other cable.

Length
Code Name Order Number Appearance
(L)
L
 Analog Monitor Cable 1m JZSP-CA01-E
JZSP-CVS05-A3-E*1
Digital Operator Converter
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
 Computer Cable 2.5 m JZSP-CVS06-02-E
Σ-7S Analog
Soldered Connector Kit JZSP-CSI9-1-E
Connector- 0.5 m JUSP-TA50PG-E L

Terminal
Block Con- 1m JUSP-TA50PG-1-E
verter Unit 1 16
I/O Signal 2m JUSP-TA50PG-2-E

1 19 32

33 50
(with cable) 1 49
Cables 2 50
Cable with
1m JZSP-CSI01-1-E
Loose Wires
L
at One End
2m JZSP-CSI01-2-E
(loose wires
on peripheral
3m JZSP-CSI01-3-E
device end)
1m JZSP-CVH03-01-E L
Cables with
Safety Connectors*3 3m JZSP-CVH03-03-E
Function
 Contact Tyco Electronics Japan G.K.
Device
Product name: Industrial Mini I/O D-shape Type 1 Plug Con-
Cables Connector Kit*4
nector Kit
Model number: 2013595-1
*1. This Converter Cable is required to use the Σ-III-series Digital Operator (JUSP-OP05A) for Σ-7-series SERVO-
PACKs.
*2. This Converter Cable is required to prevent the cable from disconnecting from the Digital Operator.
*3. When using safety functions, connect this Cable to the safety function devices.
When not using safety functions, connect the enclosed Safety Jumper Connector (JZSP-CVH05-E) to the SER-
VOPACK.
*4. Use the Connector Kit when you make cables yourself.
355
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
Model Designations
SGD7S - R70 A 10 A 001 000 B

Σ-7 Series digit digit
digits digits digits digits digit
Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
R70*1 0.05 kW A 200 VAC
None
1R6*1 0.2 kW 000
5th+6th digits Interface*4 SGD7S-R70A
2R8*1 0.4 kW to -330A
Three- 3R8 Rack-mounted
0.5 kW Code Specification SGD7S-R70F
phase, 001
200 5R5*1 0.75 kW MECHATROLINK-II to -2R8F
10 SGD7S-470A
VAC 7R6 1.0 kW communications reference Duct-ventilated
to -780A
120*2 1.5 kW
002 Varnished All models
Single-phase,
200*3 3.0 kW 200-VAC
A 008 SGD7S-120A
330 5.0 kW power supply input
470 6.0 kW SGD7S-R70A
550 7.5 kW to -2R8A
No dynamic brake
020*5 SGD7S-R70F
590 11 kW to -2R8F
Single- R90 0.1 kW
phase,
100 VAC 2R1 0.2 kW 11th+12th+13th digits FT/EX Specification
2R8 0.4 kW
Code Specification
None
None
000
BTO Specification*6
Code Specification
None None
B BTO Specification
120A10A008).
356
SERVOPACKs
Ratings

Control
Power
Loss* − − − − 8 8 8 10 16 16 36
Built-In Resistance
− − − − 40 40 40 20 12 12 8
[Ω]
Regenerative
Regenerative
− − − −
Σ-7S M-II
Resistor Capacity [W] 40 40 40 60 60 60 180
Resistor
Minimum Allowable
40 40 40 40 40 40 40 20 12 12 8

Main Circuit
Control *1
180*2 350*3 350*3 350*3
Unit Power Loss [W]
Resistance [Ω] 6.25*2 3.13*3 3.13*3 3.13*3
External
Regenerative
Capacity [W] 880*2 1760*3 1760*3 1760*3
5.8 2.9 2.9 2.9
Resistance [Ω]
357
SERVOPACKs

Main Circuit
Control
− − − − 8 16
Regenerative
Resistor
40 40 40 40 40 12
Resistance [Ω]
 270 VDC
Main Circuit
Control
Input Current [Arms]*1 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2*2
Power Supply Capacity [kVA]*1 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
*1 Control Circuit Power Loss [W] 12 12 12 12 14 14 14 15
Power Loss

Main Circuit
Control
358
SERVOPACKs

Main Circuit
Control
40 40 40 40

perature of 55°C.
Σ-7S M-II
10000 10000
1000 1000
Detection time (s)
Detection time (s)
-1R6A, -2R8A, -R70F, -120A, -180A, -200A, -330A,

-R90F, -2R1F, and -2R8F -470A, -550A, -590A,
100 100 and -780A
10 10

100 230 × 100% 100 200 × 100%
359
SERVOPACKs
Specifications
Item Specification
Feedback

• Absolute linear encoder (The signal resolution depends on the
absolute linear encoder.)
-5°C to 55°C

R70F, R90F, 2R1F, 2R8F
120A10A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
Pollution Degree
1,000 m or less.
Altitude*1
Do not use the SERVOPACK in the following locations: Locations
Others subject to static electricity noise, strong electromagnetic/magnetic

R70F, R90F, 2R1F, 2R8F
Speed Control Range
Performance

Fluctuation*2
±1%
(Repeatability)
360
SERVOPACKs

Item Specification

Input Signals
Input Signals That Can Be • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) signals
Allocated • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
Torque Limit) signals
• /DEC (Origin Return Deceleration Switch) signal
• /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
I/O Signals


(A photocoupler output (isolated) is used.)
Output Signals
• /COIN (Positioning Completion) signal
• /V-CMP (Speed Coincidence Detection) signal
Σ-7S M-II
Output Signals That Can Be • /TGON (Rotation Detection) signal
Allocated • /S-RDY (Servo Ready) signal
• /CLT (Torque Limit Detection) signal
• /VLT (Speed Limit Detection) signal
• /WARN (Warning) signal
Communications
RS-422A

(CN3)
Communications
41 to 5F hex (maximum number of slaves: 30)

Axis Address Setting
Selected with the combination of a rotary switch (S2) and DIP switch (S3).
Communications
(CN7)
USB
Communications
Standard
Displays/Indicators CHARGE, PWR, and COM indicators, and one-digit seven-segment display
Communications Protocol MECHATROLINK-II
MECHATROLINK-II
Communications

Station Address Settings
10 Mbps, 4 Mbps
Baud Rate
A DIP switch (S3) is used to select the baud rate.
Transmission Cycle 250 μs or 0.5 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmission 17 or 32 bytes/station
Bytes A DIP switch (S3) is used to select the number of transmission bytes.
Performance Position, speed, or torque control with MECHATROLINK-II communications
Reference
Method
MECHATROLINK-I or MECHATROLINK-II commands (sequence,

Reference Input
motion, data setting, data access, monitoring, adjustment, etc.)
MECHATROLINK-II Communica- Rotary switch (S2) positions: 16
tions Setting Switches Number of DIP switch (S3) pins: 4
361
SERVOPACKs

Item Specification
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in (An external resistor must be connected to the SGD7S-470A
Regenerative Processing to -780A.)
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive
Prohibit) signal
Overcurrent, overvoltage, low voltage, overload, regeneration error,
Protective Functions
etc.
Functions
Safety
Applicable Standards*3 ISO13849-1 PLe (Category 3), IEC61508 SIL3
Option Module Note: You cannot use a Fully-Closed Module and a Safety Module
together.
No-load motor speed - Total-load motor speed
Coefficient of speed fluctuation = × 100%
Rated motor speed
362
SERVOPACKs
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m

-590A, and -780A
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque
Σ-7S M-II
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
363
SERVOPACKs
Selecting Cables
Analog Monitor Cable

CN5
MECHATROLINK-II Communications Cable

CN6
To next MECHATROLINK-II station
Digital Operator Digital Operator

Converter Cable
CN3
CN7 Computer Cable

JZSP-CVS06-02-E
I/O Signal Cable

CN1 To external devices,
such as LED indicators
CN8 Safety Function Device Cable
 Selection Table
Important

Length
(L)
L
JZSP-CVS05-A3-E *1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
364
SERVOPACKs

Length
(L)
Connector- 0.5 m JUSP-TA26P-E L

Terminal
1m JUSP-TA26P-1-E
Block Con-
verter Unit
I/O Signal B1 B20

A20
2m JUSP-TA26P-2-E
A1
(with cable) 1 39
Cables 2 40
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
0.5 m JEPMC-W6002-A5-E
1m JEPMC-W6002-01-E
3m JEPMC-W6002-03-E
Cables with 5m JEPMC-W6002-05-E L
Connectors 10 m JEPMC-W6002-10-E
on Both Ends 20 m JEPMC-W6002-20-E
30 m JEPMC-W6002-30-E
40 m JEPMC-W6002-40-E
MECHATRO
Σ-7S M-II
50 m JEPMC-W6002-50-E
LINK-II
 Communi- 0.5 m JEPMC-W6003-A5-E
cations 1m JEPMC-W6003-01-E
Cables Cables with 3m JEPMC-W6003-03-E
Connectors 5m JEPMC-W6003-05-E L
(with ferrite 20 m JEPMC-W6003-20-E
cores) 30 m JEPMC-W6003-30-E
40 m JEPMC-W6003-40-E
50 m JEPMC-W6003-50-E
Terminators JEPMC-W6022-E
Cables with
Function
 Contact Tyco Electronics Japan G.K.
Device
Cables *4 Product name: Industrial Mini I/O D-shape Type 1 Plug Con-
Connector Kit
nector Kit
PACKs.
VOPACK.
365
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
SGD7S - R70 A 20 A 001 000 B

Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
R70*1 0.05 kW A 200 VAC
None
1R6*1 0.2 kW 000
SGD7S-R70A
2R8*1 0.4 kW 5th+6th digits Interface*4 to -330A
Three- 3R8 Rack-mounted
0.5 kW Code Specification SGD7S-R70F
phase, 001
200 5R5*1 0.75 kW to -2R8F
MECHATROLINK-III
VAC 7R6 1.0 kW 20 SGD7S-470A
communications reference Duct-ventilated
to -780A
120*2 1.5 kW
002 Varnished All models
180 2.0 kW
7th digit Design Revision Order Single-phase,
200*3 3.0 kW 200-VAC
A 008 SGD7S-120A
470 6.0 kW SGD7S-R70A
550 7.5 kW to -2R8A
No dynamic brake
020*5 SGD7S-R70F
590 11 kW to -2R8F
Single- R90 0.1 kW
phase, 11th+12th+13th digits FT/EX Specification
100 VAC
2R1 0.2 kW
2R8 0.4 kW Code Specification
None
None
000
BTO Specification*6
Code Specification
None None
B BTO Specification
120A20A008).
366
SERVOPACKs
Ratings

Control
Power
Loss* − − − − 8 8 8 10 16 16 36
Built-In Resistance
− − − − 40 40 40 20 12 12 8
Regenerative [Ω]
Capacity [W] − − − − 40 40 40 60 60 60 180
Resistor
Σ-7S M-III
Minimum Allowable
40 40 40 40 40 40 40 20 12 12 8

Main Circuit
Control *1
180*2 350*3 350*3 350*3
Unit Power Loss [W]
Resistance [Ω] 6.25*2 3.13*3 3.13*3 3.13*3
External
Regenerative
Capacity [W] 880*2 1760*3 1760*3 1760*3
5.8 2.9 2.9 2.9
Resistance [Ω]
367
SERVOPACKs

Main Circuit
Control
− − − − 8 16
Regenerative
Resistor
40 40 40 40 40 12
Resistance [Ω]
 270 VDC
Main Circuit
Control
*1 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
Power Loss*1 Control Circuit Power Loss [W] 12 12 12 12 14 14 14 15

Main Circuit
Control
368
SERVOPACKs

Main Circuit
Control
40 40 40 40

perature of 55°C.
Σ-7S M-III
10000 10000
1000 1000
Detection time (s)
Detection time (s)
-1R6A, -2R8A, -R70F, -120A, -180A, -200A, -330A,

-R90F, -2R1F, and -2R8F -470A, -550A, -590A,
100 100 and -780A
10 10

100 230 × 100% 100 200 × 100%
369
SERVOPACKs
Specifications
Item Specification
Drive Method IGBT-based PWM control, sine wave current drive
Feedback

• Absolute linear encoder (The signal resolution depends on the abso-
lute linear encoder.)
-5°C to 55°C

R70F, R90F, 2R1F, 2R8F
120A20A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
Pollution Degree
1,000 m or less.
Altitude*1
Do not use the SERVOPACK in the following locations: Locations sub-
Others ject to static electricity noise, strong electromagnetic/magnetic fields,
or radioactivity

R70F, R90F, 2R1F, 2R8F
Speed Control Range
Performance
Fluctuation*2
±1%
(Repeatability)
370
SERVOPACKs

Item Specification

Input Signals
I/O Signals


Output Signals
Output Signals That Can • /TGON (Rotation Detection) signal
Σ-7S M-III
Be Allocated • /S-RDY (Servo Ready) signal
Communications
RS-422A

(CN3)
Communications
03 to EF hex (maximum number of slaves: 62)

Axis Address Setting
The rotary switches (S1 and S2) are used to set the station address.
Communications
(CN7)
USB
Communications
Standard
CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-seg-

Displays/Indicators
ment display
Communications Protocol MECHATROLINK-III
MECHATROLINK-III
Communications

Baud Rate 100 Mbps
125 μs, 250 μs, 500 μs, 750 μs,
Transmission Cycle
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Performance Position, speed, or torque control with MECHATROLINK-III communications
Reference
Method
MECHATROLINK-III commands (sequence, motion, data setting, data

Reference Input
access, monitoring, adjustment, etc.)
Profile MECHATROLINK-III standard servo profile
371
SERVOPACKs

Item Specification
MECHATROLINK-III Rotary switch (S1 and S2) positions: 16
Communications Setting Switches Number of DIP switch (S3) pins: 4
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in (An external resistor must be connected to the SGD7S-470A to
Regenerative Processing -780A.)
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Pro-
hibit) signal
Functions
Safety
Option Module Note: You cannot use a Fully-Closed Module and a Safety Module
together.
Rated motor speed
372
SERVOPACKs
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m

-590A, and -780A
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque
Σ-7S M-III
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
373
SERVOPACKs
Selecting Cables

CN5
CN6 MECHATROLINK-III Communications Cable

To next MECHATROLINK-III station
Digital Operator
CN3

JZSP-CVS06-02-E
I/O Signal Cable

CN8 Safety Function Device Cable
 Selection Table
Important

Length
(L)
L
JZSP-CVS05-A3-E *1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
374
SERVOPACKs

Length
(L)

Terminal
1m JUSP-TA26P-1-E
Block Con-
verter Unit
I/O Signal B1 B20

A20
2m JUSP-TA26P-2-E
A1
(with cable) 1 39
Cables 2 40
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
1m JEPMC-W6012-01-E
2m JEPMC-W6012-02-E
Connectors 4m JEPMC-W6012-04-E
on Both Ends 5m JEPMC-W6012-05-E
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
MECHA- 30 m JEPMC-W6012-30-E
Σ-7S M-III
TROLINK-III 50 m JEPMC-W6012-50-E
 Communi-
cations Cables with 10 m JEPMC-W6013-10-E
L
Cables Connectors 20 m JEPMC-W6013-20-E
(with core) 50 m JEPMC-W6013-50-E
1m JEPMC-W6014-01-E
Cable with 3m JEPMC-W6014-03-E L
Loose Wires 5m JEPMC-W6014-05-E
at One End 10 m JEPMC-W6014-10-E
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E
Cables with
Function
 Contact Tyco Electronics Japan G.K.
Device
nector Kit
PACKs.
VOPACK.
375
SERVOPACKs
Σ-7S Single-axis INDEXER Module-Mounted SERVOPACKs
Configuration
A Σ-7S Single-axis INDEXER Module-Mounted SERVOPACK is a Command Option Attachable-Type
SERVOPACK with an INDEXER Module mounted on the side of the SERVOPACK. Positioning with
single-axis control can be performed by using program table operation and other functions.
Model Numbers of Sets

SGD7SE0A10
Command Option Attachable-Type SERVOPACKs

SGD7S-E0A
INDEXER Module
SGDV-OCA03A
Note: Firmware version 6 or later is required.
Fully-Closed Module*
SGDV-OFA01A
* Attach a Fully-Closed Module if fully-closed loop control is required.
376
SERVOPACKs
Purchase Order Number
Purchasing a Module in a Set with the SERVOPACK

To order SERVOPACKs with a INDEXER Module attached, use the following model numbers.
SGD7S *1 R 70 A E0 A 000 100

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th
Σ-7 Series digit digit digits
Σ-7S SERVOPACKs

Motor Capacity
Code Specification
R70*2 A 200 VAC Models
0.05 kW
F 100 VAC None Without options All models
R90*2 0.1 kW
1R6*2 SGD7S-R70A
0.2 kW to -330A
2R8*2 Rack-mounted
0.4 kW 5th+6th digits Interface SGD7S-R70F
001
3R8 0.5 kW to -2R8F
Code Specification
Three- 5R5*2 0.75 kW Duct-ventilated
SGD7S-470A
E0 Command Option Attachable Type to -780A
phase, 7R6 1.0 kW
120*3 1.5 kW
VAC Single-phase,
180 2.0 kW 7th digit Design Revision Order 008 200-VAC SGD7S-120A
200*4 power supply input
3.0 kW
A SGD7S-R70A
330 5.0 kW to -2R8A
No dynamic brake
470 6.0 kW SGD7S-R70F
020*5
Σ-7S INDEXER
550 7.5 kW to -2R8F
External dynamic SGD7S-3R8A
590 11 kW brake resistor to -780A
780 15 kW
R70 0.05 kW
Single- 11th+12th+13th digits Option Module
R90 0.1 kW
phase,
100 VAC 2R1 0.2 kW Code Specification
2R8 0.4 kW 100 INDEXER Module
INDEXER Module +
101 Fully-Closed Module
*1. The model number of a SERVOPACK with an Option Module is not hyphenated after SGD7S.
120AE0A008).
Note: Contact your Yaskawa representative for information on combining options.
377
SERVOPACKs
Purchasing a Module Separately

When ordering SERVOPACKs and Option Modules separately, use the following model numbers.
 SERVOPACK
SGD7S - R70 A E0 A 001 000 B

Σ-7S SERVOPACKs

Motor Capacity
Code Specification
*1 Models
R70 0.05 kW A 200 VAC
None
1R6*1 0.2 kW 000
5th+6th digits Interface*4 SGD7S-R70A
2R8*1 0.4 kW to -330A
Rack-mounted
Code Specification 001
5R5*1 0.75 kW Command Option to -2R8F
E0 SGD7S-470A
Three- 7R6 1.0 kW Attachable Type Duct-ventilated
phase, 120*2 to -780A
1.5 kW
200 7th digit Design Revision Order 002 Varnished All models
180 2.0 kW
VAC Single-phase,
200*3 3.0 kW A 200-VAC
008 SGD7S-120A
470 6.0 kW SGD7S-R70A
550 7.5 kW to -2R8A
No dynamic brake
020*5 SGD7S-R70F
590 11 kW to -2R8F
Single- R90 0.1 kW
phase, 11th+12th+13th digits FT/EX Specification
100 VAC 2R1 0.2 kW
None
None
000
14th digit BTO Specification*6
Code Specification
None None
B BTO Specification
120AE0A008).
Σ-7-Series AC Servo Drive S-7S/S-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Prod-
One Option Case Kit is required for each SERVOPACK.

Option Case Kit model: SGDV-OZA01A
Important
 INDEXER Module
SGDV-OCA03A
 Fully-Closed Module
SGDV-OFA01A
378
SERVOPACKs
SERVOPACK Ratings
 Three-Phase, 200 VAC

Control
Power
Loss* − − − − 8 8 8 10 16 16 36
Built-In Resistance
− − − − 40 40 40 20 12 12 8
Regenerative [Ω]
Capacity [W] − − − − 40 40 40 60 60 60 180
Resistor
Σ-7S INDEXER
Minimum Allowable
40 40 40 40 40 40 40 20 12 12 8

Main Circuit
Control
Input Current [Arms]*1 0.3 0.3 0.4 0.4
*1 10.7 14.6 21.7 29.6
Power Loss [W] 180*2 350*3 350*3 350*3
*2 *3 *3
Resistance [Ω] 6.25 3.13 3.13 3.13*3
Regenerative Capacity [W] 880*2 1760*3 1760*3 1760*3
Resistor
5.8 2.9 2.9 2.9
Resistance [Ω]
379
SERVOPACKs

Main Circuit
Control
− − − − 8 16
Regenerative
Resistor
40 40 40 40 40 12
Resistance [Ω]
 270 VDC
Main Circuit
Control
Power Loss

Main Circuit
Control
380
SERVOPACKs

Main Circuit
Control
40 40 40 40
INDEXER Module Power Loss

The power supply for an INDEXER Module is supplied from the control power supply of the SERVO-
PACK. The power loss is given in the following table.
Item Specification
Power Supply Method 5.05 VDC
Σ-7S INDEXER
Maximum Operating Voltage 5.25 VDC
Maximum Operating Current 500 mA
Maximum Power Loss 2.6 W

perature of 55°C.
10000 10000
1000 1000
Detection time (s)
Detection time (s)
-1R6A, -2R8A, -R70F, -120A, -180A, -200A, -330A,

-R90F, -2R1F, and -2R8F -470A, -550A, -590A,
100 100 and -780A
10 10

100 230 × 100% 100 200 × 100%
381
SERVOPACKs
Specifications
The specifications when the INDEXER Module is combined with a Command Option Attachable-
Type SERVOPACK are given in the following table.
Item Specification
Feedback


R70F, R90F, 2R1F, 2R8F
120AE0A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
Pollution Degree
Altitude 1,000 m max.
Do not use the SERVOPACK in the following locations: Locations subject
Others to static electricity noise, strong electromagnetic/magnetic fields, or
radioactivity

R70F, R90F, 2R1F, 2R8F
Speed Control Range
Performance

Fluctuation*1
±1%
(Repeatability)
Encoder Divided Pulse Phase A, phase B, phase C: Line-driver output Number of divided
I/O Signals
Output output pulses: Any setting is allowed.

382
SERVOPACKs

Item Specification
SERVOPACK
Input Signals:
• Alarm Reset (/ALM-RST)
• Forward Drive Prohibited (P-OT)
• Reverse Drive Prohibited (N-OT)
• Origin Return Deceleration Switch (/DEC)
• Registration (/RGRT)
• Servo ON (/S-ON)
Input Signals: /MODE 0/1 (Mode Switch Input) signal

Mode 0 Mode 1
• /START-STOP (Program Table • /HOME (Origin Return Input) sig-
Fixed Input Operation Start-Stop Input) signal nal
• /PGMRES (Program Table Opera- • /JOGP (Forward Jog Input) signal
tion Reset Input) signal • /JOGN (Reverse Jog Input) signal
INDEXER Module
• /SEL0 (Program Step Selection • /JOG0 (Jog Speed Table Selec-

Input 0) signal tion Input 0) signal
Σ-7S INDEXER
• /SEL4 (Program Step Selection
I/O Signals
Input 4) signal
Input 5) signal
Input 6) signal
Input 7) signal
Output signal: Servo Alarm (/ALM)
SERVOPACK

Output Signals for Output Signals:
Which Allocations • Warning Output (/WARN)

Can Be Changed • Brake Output (/BK)
• Servo Ready Output (/S-RDY)
• Alarm Code Output (/ALO1, /ALO2, and /ALO3)
INDEXER Module
Output Signals:
• Positioning Completion Output (/INPOSITION)
• Programmable Output 0 (/POUT0)
Fixed Output • Programmable Output 1 (/POUT1)
383
SERVOPACKs

Item Specification
Digital Operator (JUSP-OP05A-1-E) and personal computer (with Sig-
Communications Communications
Interfaces
maWin+)
RS-422A
(CN3)
Communications

Interfaces Interface Personal computer (with SigmaWin+)
(CN7)
USB
Communications
Standard
SERVOPACK CHARGE and PWR indicators, and one-digit seven-segment display

Indicators
Displays/
Refer to the following manual for details.

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Command Option Attach-
INDEXER Module
able Type with INDEXER Module Product Manual
(Manual No.: SIEP S800001 64)
• Program table positioning in which steps are executed sequentially by
commands given through contact input or serial communications
Program Table Method • Positioning in which station numbers are specified by commands
Operating Methods
given through contact input or serial communications

Max. Number of Steps 256
Max. Number of Tables 256
Max. Number of Stations 256
Serial command by 1-channel ASCII code
Serial Communications Communications specifications: RS-422/485 (50 m max.)
Method Connection topology: Multi-drop connection (16 axes max.)
Baud rate: 9600, 19200, 38400 bps
Other Functions Registration (positioning by external signals), origin return
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in (An external resistor must be connected to the SGD7S-470A to -
780A.)
Regenerative Processing
Stopping with a dynamic brake (DB), coasting to a stop, performing a
hard stop, or performing a smooth stop (decelerating to a stop) for a
Overtravel (OT) Prevention CCW-OT (CCW Drive Prohibit Input) signal or CW-OT (CW Drive Prohibit
Input) signal.
Functions
Safety
Fully-Closed Module
Applicable Option Modules
Note: You cannot use a Safety Module if you are using an INDEXER Module.
Rated motor speed
384
SERVOPACKs
Reference Methods
The INDEXER Module has two reference methods: digital I/O and serial commands. These
command methods are described in the following sections.
Digital I/O is used with a program table (mode 0) or a jog speed table (mode 1). You can use a
program table (mode 0) to execute the program steps that you select with I/O signal patterns
(binary format). If the jog speed table (mode 1) is being used, the jog speed selected with the
input signal pattern (binary format) can be executed.
• Program Table
PGMSTEP POS SPD RDST RSPD ACC* DEC* EVENT LOOP NEXT
0 I+400000 2000 500000 1000 200 100 T5000 1 1
1 I+100000 1000 200000 2000 100 50 IT0 1 END
...
...
...
...
...
...
...
...
...
...
256 n I+400000 2000 500000 1000 100 50 IT100 1 n+1
steps
n+1 I+100000 1000 200000 2000 NT0 1 END
... ...
... ...
...
...
...
...
...
...
...
...
254 I+400000 2000 500000 1000 100 50 SEL3T200 1 127
255 I+100000 1000 200000 2000 100 50 DT0 1 END
Speed
Σ-7S INDEXER
Time
Start signal T=100 ms
Positioning Completion signal
385
SERVOPACKs
• Jog Speed Table

JSPD JOG3 JOG2 JOG1 JOG0 Jog Speed
0 0 0 0 0 1000
1 0 0 0 1 2000
2 0 0 1 0 4000
16
... ... ...
... ... ...
... ... ...
... ... ...
... ... ...
... ... ...

combi-
nations
15 1 1 1 1 5500
Note: 1: Signal is ON (active), 0: Signal is OFF (inactive).
JSPD4
JSPD12
JSPD5
JSPD13
JSPD7
JSPD15
JSPD6
JSPD14
Speed JSPD2
JSPD10
JSPD3
JSPD11
JSPD1
JSPD9
JSPD0
JSPD8
JSPD8
/JOGP *1
/JOGN*2
/JOG0
/JOG1
/JOG2
/JOG3
*1. Forward operation at the jog speed is performed while the /JOGP signal is ON.
*2. Reverse operation at the jog speed is performed while the /JOGN signal is ON.
386
SERVOPACKs
With serial commands, ASCII command strings are sent to the INDEXER Module through RS-
422 or RS-485 communications and these commands are interpreted and executed immedi-
ately. You can use general-purpose serial communications (RS422/RS485) to perform indepen-
dent control of up to 16 axes from one host controller (e.g., PC or HMI).
RS-422/RS-485, 16 axes max.
Computer
1SVON # Servo turned ON.

1POSI=400000 # Set relative position to 400,000.
1SPD=2000 # Set speed to 2,000.
1ACC=200 # Set acceleration rate to 200.
Σ-7S INDEXER
1DEC=100 # Set deceleration rate to 100.
1ST # Start operation.
:
Speed Positioning speed (SPD)
Path when an S-curve filter is set
Target position
(POS)
Acceleration rate (ACC) Deceleration rate (DEC)

Time
387
SERVOPACKs
Selecting Cables
 Σ-7S Single-axis Command Option  Command Option Module:
Attachable-Type SERVOPACKs INDEXER Module
Analog Monitor Cable

CN5
Digital Operator Digital Operator CN11

Converter Cable I/O Signal Cable
CN3
ＳＶＯＮＣＯＩＮＴＧＯＮ REF ＣＨＡＲＧＥ
ＶＣＭＰ

ＲＥＳＥＴ
CN12
ＪＯＧ
ＤＡＴＡ
SVON
CN7 Computer Cable SERVO

READ WRITE
DIGITAL OPERATOR JUSP−OP05A−1−E

SERVO
Serial Command Cable
JZSP-CVS06-02-E
I/O Signal Cable

CN1
To external devices,
CN8 Safety Function Device Cable
 Selection Table
Use the cable specified by Yaskawa for the Computer Cable. Operation may not be dependable
with any other cable.
Important

Length
(L)
L
JZSP-CVS05-A3-E *1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
388
SERVOPACKs

Length
(L)

Terminal
1m JUSP-TA26P-1-E
Block Con-
verter Unit
I/O Signal B1 B20

A1 A20
(with cable) 2m JUSP-TA26P-2-E 1 39
Cables 2 40
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
Cables with
Function
Device
Connector Kit
nector Kit
Connector Kit DP9420007-E
Cables with 1m JZSP-CVI01-1-E
Σ-7S INDEXER
Loose Wires 2m JZSP-CVI01-2-E
I/O Signal
 at One End 3m JZSP-CVI01-3-E
Cables
Cables with 0.5 m JUSP-TA36V-E
Terminal 1m JUSP-TA36V-1-E
Block on One
End 2m JUSP-TA36V-2-E
Contact Yaskawa Controls Co., Ltd.
Serial Com- for the cable.
 Connector Kit*4 JZSP-CHI9-1
mand Cable
PACKs.
VOPACK.
389
SERVOPACKs
Σ-7S Single-axis DeviceNet Module-Mounted SERVOPACKs
Configuration
A Σ-7S Single-axis DeviceNet Module-Mounted SERVOPACK is a Command Option Attachable-
Type SERVOPACK with a DeviceNet Module mounted on the side of the SERVOPACK. Positioning
and origin returns can be performed by sending commands from the host controller (DeviceNet
master).
Model Numbers of Sets
SGD7SE0A5 (driven by control power supply)
SGD7SE0A6 (driven by external power supply)
Command Option Attachable-Type SERVOPACKs

SGD7S-E0A
DeviceNet Modules with Option Case Kit

SGDV-OCA04A (driven by control power supply)
SGDV-OCA05A (driven by external power supply)
Fully-Closed Module*
SGDV-OFA01A
* Attach a Fully-Closed Module if fully-closed loop control is required.
390
SERVOPACKs
Purchase Order Number
Purchasing a Module in a Set with the SERVOPACK

To order SERVOPACKs with a DeviceNet Module attached, use the following model numbers.
SGD7S *1 R 70 A E0 A 000 500

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th
Σ-7 Series digit digit digits
Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
R70*2 0.05 kW A 200 VAC
None Without options All models
R90*2 0.1 kW F 100 VAC
SGD7S-R70A
1R6*2 0.2 kW to -330A
Rack-mounted
2R8*2 0.4 kW SGD7S-R70F
001
3R8 0.5 kW to -2R8F
5th+6th digits Interface
5R5*2 SGD7S-470A
Three- 0.75 kW Duct-ventilated
Code Specification to -780A
phase, 7R6 1.0 kW
E0 Command Option Attachable Type 002 Varnished All models
200
120*3 1.5 kW Single-phase,
VAC
180 2.0 kW 008 200-VAC SGD7S-120A
power supply input
200*4 3.0 kW 7th digit Design Revision Order
SGD7S-R70A
330 5.0 kW to -2R8A
A No dynamic brake
470 6.0 kW 020*5 SGD7S-R70F
to -2R8F
550 7.5 kW
Σ-7S DeviceNet
590 11 kW brake resistor to -780A
780 15 kW
R70 0.05 kW 11th+12th+13th digits Option Module
Single-
phase, R90 0.1 kW Code Specification
100 2R1 0.2 kW DeviceNet Module
VAC 500
2R8 0.4 kW driven by control power supply
DeviceNet Module
501 driven by control power supply
+Fully-Closed Module
DeviceNet Module
600
driven by external power supply
DeviceNet Module
601 driven by external power supply
+Fully-Closed Module
120AE0A008).
The DeviceNet Module is equipped with an Option Case Kit. (Option Case Kits do not need to be ordered
separately.)
391
SERVOPACKs
Purchasing a Module Separately

When ordering SERVOPACKs and Option Modules separately, use the following model numbers.
 SERVOPACK
SGD7S - R70 A E0 A 001 000 B
Σ-7S SERVOPACKs
Motor Capacity
Voltage Code Specification Code Applicable
Specification Code Specification
*1
Models
R70 0.05 kW A 200 VAC
None
000
1R6*1 0.2 kW
SGD7S-R70A
2R8*1 0.4 kW 5th+6th digits Interface*4 to -330A
Rack-mounted
Code Specification 001
5R5*1 0.75 kW to -2R8F
Command Option
E0 SGD7S-470A
Three- 7R6 1.0 kW Attachable Type Duct-ventilated
to -780A
phase, 120*2 1.5 kW
VAC Single-phase,
200*3 3.0 kW A 008 200-VAC SGD7S-120A
470 6.0 kW SGD7S-R70A
to -2R8A
550 7.5 kW No dynamic brake
020*5 SGD7S-R70F
590 11 kW to -2R8F
brake resistor to -780A
R70 0.05 kW
Single- R90 0.1 kW 11th+12th+13th digits FT/EX Specification
phase,
100 VAC 2R1 0.2 kW
Code Specification
2R8 0.4 kW
None
None
000
14th digit BTO Specification*6

Code Specification
None None
B BTO Specification
120AE0A008).
Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake
Product Manual (Manual No.: SIEP S800001 73)
 DeviceNet Modules
SGDV-OCA04A (driven by control power supply)
SGDV-OCA05A (driven by external power supply)
The DeviceNet Module is equipped with an Option Case Kit. (Option Case Kits do not need to be
ordered separately.)
Important
 Fully-Closed Module
SGDV-OFA01A
392
SERVOPACKs
SERVOPACK Ratings

Control
Power
Loss* − − − − 8 8 8 10 16 16 36
Built-In Resistance
− − − − 40 40 40 20 12 12 8
Regenerative [Ω]
Capacity [W] − − − − 40 40 40 60 60 60 180
Resistor
Minimum Allowable
40 40 40 40 40 40 40 20 12 12 8
Σ-7S DeviceNet

Main Circuit
Control
Input Current [Arms]*1 0.3 0.3 0.4 0.4
*1 10.7 14.6 21.7 29.6
Power Loss [W] 180*2 350*3 350*3 350*3
*2 *3 *3
Resistance [Ω] 6.25 3.13 3.13 3.13*3
Regenerative Capacity [W] 880*2 1760*3 1760*3 1760*3
Resistor
5.8 2.9 2.9 2.9
Resistance [Ω]
393
SERVOPACKs

Main Circuit
Control
− − − − 8 16
Regenerative
Resistor
40 40 40 40 40 12
Resistance [Ω]
 270 VDC
Main Circuit
Control
Power Loss

Main Circuit
Control
394
SERVOPACKs

Main Circuit
Control
40 40 40 40
DeviceNet Module Ratings

The power supply method and power loss of a DeviceNet Module depend on the model of the
DeviceNet Module.
 SGDV-OCA04A (Interface: Driven by Control Power Supply)

The specifications of the SGDV-OCA04A DeviceNet Module are given in the following table.
Σ-7S DeviceNet
Specification
Item
DeviceNet Communications Section Control Section
Supplied from the control power supply
Supplied from the DeviceNet
Power Supply Method of a Command Option Attachable-Type
communications cable.
SERVOPACK.
Minimum Operating
11 VDC
Voltage
Maximum Operating Included in the current consumption of
25 VDC
Voltage the Command Option Attachable-Type
Maximum Operating SERVOPACK.
25 mA
Current
Maximum Power Loss 625 mW
 SGDV-OCA05A (Interface: Driven by External Power Supply)

The specifications of the SGDV-OCA05A DeviceNet Module are given in the following table.
Specification
Item
DeviceNet Communications Section Control Section
Power Supply Method Supplied from the DeviceNet communications cable.
Minimum Operating
11 VDC
Voltage
Maximum Operating
25 VDC
Voltage
Maximum Operating 100 mA for 24-VDC power supply
Current 200 mA for 11-VDC power supply
Maximum Power Loss 2.4 W
395
SERVOPACKs

perature of 55°C.
10000 10000
1000 1000
Detection time (s)
Detection time (s)

-1R6A, -2R8A, -R70F, -120A, -180A, -200A, -330A,
-R90F, -2R1F, and -2R8F -470A, -550A, -590A,
100 100 and -780A
10 10

100 230 × 100% 100 200 × 100%
396
SERVOPACKs
Specifications
The specifications when the DeviceNet Module is combined with a Command Option Attach-
able-Type SERVOPACK are given in the following table.
Item Specification
Feedback


R70F, R90F, 2R1F, 2R8F
120AE0A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
Pollution Degree
Σ-7S DeviceNet
Altitude 1,000 m max.
Others ject to static electricity noise, strong electromagnetic/magnetic fields, or
radioactivity

R70F, R90F, 2R1F, 2R8F
Speed Control Range
Performance

Fluctuation*1
±1%
(Repeatability)
Encoder Divided Pulse Phase A, phase B, phase C: Line-driver output
I/O Signals
Output Number of divided output pulses: Any setting is allowed.

397
SERVOPACKs

Item Specification
Sequence Input

Signals
Input Signals
Fixed Input • CCW-OT (CCW Drive Prohibit Input) signal
• CW-OT (CW Drive Prohibit Input) signal
• /HOME (Origin Signal Input) signal
I/O Signals
• EXSTOP (External Stop Input) Signal

Positive or negative logic can be changed in the parameters.
Sequence Output

Signals
Fixed Output Output Signals

• ALM (Servo Alarm Output) signal
• /WARN (Warning Signal Output) signal
• /S-RDY (Servo Ready Output) signal
Digital Operator
Communications
(CN3)
Interfaces Digital Operator (JUSP-OP05A-1-E)

(CN7)
USB
Communications
Standard
Indicators
Displays/

Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Command Option Attach-
DeviceNet Module
able Type with DeviceNet Module Product Manual (Manual No.: SIEP
S800001 70)
Operation Specifications Positioning via DeviceNet communications.
Reference
Method
DeviceNet communications
Reference Inputs
Commands: Movement references (positioning or speed) and origin returns
Acceleration/Decel-
Functions Functions
Linear, asymmetrical, exponential, and S-curve acceleration/deceleration

Position
Control
eration Methods
Operating Methods Simple positioning, origin returns, continuous operation, and switching to positioning
Operating Methods
Fully-Closed Loop Control Supported.

Position Data Position data can be latched on phase C, the origin signal, or an external
Built-in
Latching signal.
Communications
DeviceNet I/O communications and explicit messages
Communications
Methods
Multidrop or T-branching*2
DeviceNet
Topology
Baud Rate 125 kbps, 250 kbps, or 500 kbps (Set on rotary switch (DR).)
Cables Special cables (OMRON DCA1-5CN02F1 Cable with Connectors or the equivalent.)
Maximum Number of Nodes 64 nodes (including the master, Maximum number of slaves: 63)
Node Address Setting 0 to 63 (Set on NA x10 and x1 rotary switches.)
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in (An external resistor must be connected to the SGD7S-470A to -780A.)
Regenerative Processing Refer to the following section for details.
398
SERVOPACKs

Item Specification
Stopping with a dynamic brake (DB), coasting to a stop, performing a
Overtravel (OT) Prevention hard stop, or smooth stop (decelerating to a stop) for a CCW-OT (CCW
Drive Prohibit Input) signal or CW-OT (CW Drive Prohibit Input) signal.
Functions
Safety
Fully-Closed Module
Note: You cannot use a Safety Module if you are using a DeviceNet Module.
Rated motor speed
*2. Externally connected terminating resistance is required.
The following table gives the specifications of the DeviceNet Module.

Specification
Item
SGDV-OCA04A SGDV-OCA05A
Mounted to the side of a Command Option Attachable-Type SER-
Mounting Location
VOPACK.
Supplied from the control power
Supplied from the DeviceNet
Control Section supply of a Command Option
Power Supply communications cable.
Attachable-Type SERVOPACK.
Method
Σ-7S DeviceNet
DeviceNet Communi-
Supplied from the DeviceNet communications cable.
cations Section
Included in the current consump-
Control Section tion of the Command Option For 24-VDC power supply: 100
Current Attachable-Type SERVOPACK. mA max., for 11-VDC power
Consumption
DeviceNet Communi- supply: 200 mA max.
25 mA max.
cations Section
399
SERVOPACKs
Selecting Cables
Attachable-Type SERVOPACKs DeviceNet Module

CN5
Host controller
DeviceNet (DeviceNet device)
Communications Cable
Digital Operator Digital Operator
CN6
Converter Cable
CN3
ＶＣＭＰ

ＲＥＳＥＴ
ＪＯＧ
ＤＡＴＡ
SVON

READ WRITE

SERVO
JZSP-CVS06-02-E
I/O Signal Cable

CN1
400
SERVOPACKs
 Selection Table
Use the cable specified by Yaskawa for the Computer Cable. Operation may not be dependable
with any other cable.
Important

Length
(L)
L
L
*1
JZSP-CVS05-A3-E
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
Σ-7S DeviceNet
Terminal
1m JUSP-TA26P-1-E
Block Con-
verter Unit
I/O Signal B1 B20

A1 A20
(with cable) 2m JUSP-TA26P-2-E 1 39
Cables 2 40
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
Cables with
Function
Device
nector Kit
The communications cable must be an ODVA-Compliant
DeviceNet communications cable. We recommend the fol-
 DeviceNet Communications Cable lowing Cable.
OMRON DCA1-5CN02F1 Cable with Connectors or the
equivalent.
PACKs.
VOPACK.
401
SERVOPACKs
Σ-7S Single-axis FT82 SERVOPACKs

SGM7D Motor Drive
Model Designations
SGD7S - 2R8 A 00 A 001 F82 B

Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
A 200 VAC
Three- 2R8*1 0.4 kW None
phase, F 100 VAC Without options All models
200 000
120*2 1.5 kW
VAC 001 Rack-mounted All models
5th+6th digits Interface
Single- 002 Varnished All models
phase, Code Specification
2R8 0.4 kW Single-phase,
100 Analog voltage/pulse train 008 200-VAC power SGD7S-120A
00
VAC reference supply input
MECHATROLINK-II SGD7S-2R8A
10 No dynamic brake
communications reference
*4 SGD7S-2R8F
MECHATROLINK-III 020
20 External dynamic
communications reference SGD7S-120A
brake resistor
Command Option Attachable
E0
Type*3
11th+12th+13th digits FT/EX Specification
A
Application function
option for special
*5
F82 motors,
SGM7D motor drive
BTO Specification*6
Code Specification
None None
B BTO Specification
120A0A008).
*3. This interface is supported only by an INDEXER Module (model: SGDV-OCA03A).
Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for SGM7D Motor Product Manual
402
SERVOPACKs
Σ-7S Single-axis FT82 SERVOPACKs SGM7D Motor Drive
Ratings

Model SGD7S- 2R8A 120A
Maximum Applicable Motor Capacity [kW] 0.4 1.5
Continuous Output Current [Arms] 2.8 11.6
Instantaneous Maximum Output Current [Arms] 9.3 28
200 VAC to 240 VAC, -15% to +10%,
Power Supply
Main Circuit 50 Hz/60 Hz
Input Current [Arms]* 2.5 7.3
200 VAC to 240 VAC, -15% to +10%,
Power Supply
Control 50 Hz/60 Hz
Power Supply Capacity [kVA]* 1.0 3.2
Main Circuit Power Loss [W] 22.5 72.6
Control Circuit Power Loss [W] 12 15
Power Loss*
Built-in Regenerative Resistor Power Loss [W] − 10
Total Power Loss [W] 34.5 97.6
Built-In Regenerative Resistance [Ω] − 20
Resistor Capacity [W] − 60
Σ-7S FT82 Specification

Minimum Allowable External Resistance [Ω] 40 20
 Single-Phase, 200 VAC

200 VAC to 240 VAC, -15% to +10%,
Power Supply
Input Current [Arms]* 5.0 16
200 VAC to 240 VAC, -15% to +10%,
Power Supply
Control 50 Hz/60 Hz
Power Loss*
Capacity [W] − 60
Resistor
403
SERVOPACKs

Model SGD7S- 2R8F
Maximum Applicable Motor Capacity [kW] 0.4
Continuous Output Current [Arms] 2.8
Instantaneous Maximum Output Current [Arms] 9.3
100 VAC to 120 VAC, -15% to +10%,
Power Supply
Input Current [Arms]* 10
100 VAC to 120 VAC, -15% to +10%,
Power Supply
Control 50 Hz/60 Hz
Input Current [Arms]* 0.38
Power Supply Capacity [kVA]* 1.4
Main Circuit Power Loss [W] 26.2
Power Loss* Control Circuit Power Loss [W] 12
Total Power Loss [W] 38.2
Regenerative
Minimum Allowable External Resistance [Ω] 40
Resistor

perature of 55°C.
10000 10000
SERVOPACK Model:
1000 1000
Detection time (s)
Detection time (s)
SERVOPACK Model: SGD7S-120A

SGD7S-2R8A and -2R8F
100 100
10 10

100 230 × 100% 100 200 × 100%
404
SERVOPACKs
Specifications
 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification
Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder)
-5°C to 55°C
Degree SERVOPACK Models

SGD7S-2R8A, -120A (three-phase, 200-VAC input), and
-2R8F
IP10 SGD7S-120A00A008 (single-phase, 200-VAC input)
2
Pollution Degree

1,000 m or less.
Altitude*1
or radioactivity
Mounting Base-mounted or rack-mounted
Speed Control Range
Performance
0% of rated speed max. (for a load fluctuation of ±10%)
Fluctuation*2
±1%
(Repeatability)
405
SERVOPACKs

Item Specification
Input Signal: SEN (Absolute Data Request) signal
Input Signals
Input Signals That Can Be Torque Limit) signals
Allocated • /SPD-D (Motor Direction) signal
• /INHIBIT (Reference Pulse Inhibit) signal
I/O Signals

Output signal: ALM (Servo Alarm) signal

Output Signals
Output Signals That Can • /TGON (Rotation Detection) Signal
• /WARN (Warning) Signal
• ALO1, ALO2, and ALO3 (Alarm Code) signals
Communications
RS-422A

(CN3)
Communications

Communications
(CN7)
USB
Communications
Standard
Displays/Indicators CHARGE indicator and five-digit seven-segment display

406
SERVOPACKs

Item Specification
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for
Overtravel (OT) Prevention
the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal
Functions
Safety
Fully-closed Modules and Safety Modules
Note: You cannot use a Fully-closed Module and a Safety Module together.
• Maximum input voltage: ±12 V (forward motor rotation for positive reference).
Speed Control Input Signal
Reference Voltage
• 6 VDC at rated speed (default setting). Input gain setting can be changed.
Speed Control


Rotation Direction Selection With Proportional Control signal
Internal Set
With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection).

Speed Selection
Servomotor stops or another control method is used when both signals are OFF.

Output Signal Positioning
Completed Width Setting
Reference Pulse
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains
Controls
Form
with 90° phase differential
Position Control
Reference pulses

• Line Driver
Input Signals

Maximum Input Two-phase pulse trains with 90° phase differential: 1 Mpps
Frequency • Open Collector
Two-phase pulse trains with 90° phase differential: 200 kpps
Input Multiplica-
1 to 100 times
tion Switching
Clear Signal
• Maximum input voltage: ±12 V (forward torque output for positive reference).
Torque Control
Input Signal
Reference Voltage
• 3 VDC at rated torque (default setting). Input gain setting can be changed.
max. Also, the applicable surrounding range cannot be increased by derating.
Rated motor speed
407
SERVOPACKs
 FT82 SERVOPACK with MECHATROLINK-II Communications References

Item Specification
-5°C to 55°C

-2R8F
2
Pollution Degree
1,000 m or less.
Altitude*1
or radioactivity
Speed Control Range
Performance
Coefficient of Speed 0% of rated speed max. (for a voltage fluctuation of ±10%)

Fluctuation*2 ±0.1% of rated speed max. (for a temperature fluctuation of 25°C
±25°C)
±1%
(Repeatability)
408
SERVOPACKs

Item Specification

Input Signals
Input Signals That Can Be • /DEC (Origin Return Deceleration Switch) signal
Allocated • /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
I/O Signals


Output Signals

Communications
RS-422A

(CN3)
Communications

Communications
(CN7)
USB
Communications
Standard
Displays/Indicators CHARGE, PWR, and COM indicators, and one-digit seven-segment display
Communications Protocol MECHATROLINK-II
MECHATROLINK-II
Communications

10 Mbps, 4 Mbps
Baud Rate
A DIP switch (S3) is used to select the baud rate.
Transmission Cycle 250 μs or 0.5 ms to 4.0 ms (multiples of 0.5 ms)
Position, speed, or torque control with MECHATROLINK-II communica-
Reference
Performance
Method
tions
MECHATROLINK-I or MECHATROLINK-II commands (sequence,
Reference Input
motion, data setting, data access, monitoring, adjustment, etc.)
MECHATROLINK-II Rotary switch (S2) positions: 16
409
SERVOPACKs

Item Specification
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
hibit) signal
Functions
Safety
Rated motor speed
410
SERVOPACKs
 FT82 SERVOPACK with MECHATROLINK-III Communications References

Item Specification
Drive Method IGBT-based PWM control, sine wave current drive
-5°C to 55°C

-2R8F
2
Pollution Degree
1,000 m or less.
Altitude*1

or radioactivity
Speed Control Range
Performance
Coefficient of Speed 0% of rated speed max. (for a load fluctuation of ±10%)

±25°C)
±1%
(Repeatability)
411
SERVOPACKs

Item Specification

Input Signals
Input Signals That Can Be • /DEC (Origin Return Deceleration Switch) signal
Allocated • /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
I/O Signals


Output Signals

RS-422A

Communications
(CN3)

(CN7)
USB
Communications
Standard
CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-seg-

Displays/Indicators
ment display
MECHATROLINK-III
Communications

Baud Rate 100 Mbps
125 μs, 250 μs, 500 μs, 750 μs,
Transmission Cycle
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Reference
Method

Reference Input
412
SERVOPACKs

Item Specification
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
hibit) signal
Functions
Safety

Rated motor speed
413
SERVOPACKs
 Command Option Attachable-type FT82 SERVOPACKs with INDEXER

Modules
The specifications when the INDEXER Module is combined with a Command Option Attachable-
type SERVOPACK are given in the following table.
Item Specification

2
Pollution Degree
Altitude 1,000 m or less.
or radioactivity
Speed Control Range
Performance

±25°C)
±1%
(Repeatability)
I/O Signals

414
SERVOPACKs

Item Specification
SERVOPACK
Input signals:
• P-OT (Forward Drive Prohibit) signal
• N-OT (Reverse Drive Prohibit) signal
• /DEC (Origin Return Deceleration) switch
• /RGRT (Registration Input) signal
Positive or negative logic can be changed in the parameters.

Fixed Inputs /MODE 0/1 (Mode Switch Input) signal
Mode 0 Mode 1
• /START-STOP (Program Table
INDEXER Module
Operation Start-Stop Input) sig- • /HOME (Origin Return Input) signal

nal • /JOGP (Forward Jog Input) signal
• /PGMRES (Program Table Oper- • /JOGN (Reverse Jog Input) signal
ation Reset Input) signal • /JOG0 (Jog Speed Table Selec-
• /SEL0 (Program Step Selection Input 0) signal tion Input 0) signal
• /SEL1 (Program Step Selection Input 1) signal • /JOG1 (Jog Speed Table Selec-

I/O Signals

• /SEL7 (Program Step Selection Input 7) signal
Fixed Outputs (A photocoupler output (isolated) is used.)
Output signal: ALM (Servo Alarm Output) signal
SERVOPACK

Output Signals for Output signals:
Which Allocations Can • /WARN (Warning Output) signal
Be Changed • /BK (Brake Output) signal

• /S-RDY (Servo Ready Output) signal
• /ALO1, /ALO2, and /ALO3 (Alarm Code Output) signals
Signal allocations and positive or negative logic can be changed in the
parameters.
Output signals:
INDEXER Module
• /INPOSITION (Positioning Completion Output) signal

• /POUT0 (Programmable Output 0) signal
Fixed Outputs • /POUT1 (Programmable Output 1) signal
415
SERVOPACKs

Item Specification
Digital Operator (JUSP-OP05A-1-E), Personal computer (with Sig-
Communications
Interfaces
maWin+)
RS-422A
(CN3)
Communications

Communications
(CN7)
USB
Communications
Standard

Indicators
Displays/

INDEXER Module Σ-7-Series Σ-7S Command Option Attachable-type SERVOPACK with
INDEXER Module Product Manual (Manual No.: SIEP S800001 64)
• Program table positioning in which steps are executed sequentially
by commands given through contact input or serial communications
Program Table Method
• Positioning in which station numbers are specified by commands
Operating Methods
given through contact input or serial communications

Max. Number of Steps 256
Max. Number of Tables 256
Max. Number of Stations 256
Serial command by 1-channel ASCII code
Serial Communications Communications specifications:RS-422/485 (50 m max.)
Method Connection topology:Multi-drop connection (16 axes max.)
Baud rate:9600, 19200, 38400 bps
Other Functions Registration (positioning by external signals), origin return
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
hibit) signal
Functions
Safety
Fully-Closed Module
Note: You cannot use a Safety Module if you are using an INDEXER Module.
Rated motor speed
416
SERVOPACKs
 SGD7S-2R8A and -2R8F
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
 SGD7S-120A
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque

0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
417
SERVOPACKs
Selecting Cables
 Σ-7S Single-axis Analog Voltage/Pulse  Σ-7S Single-axis MECHATROLINK-II
Train Reference SERVOPACKs Communications Reference
SERVOPACKs

CN5 Analog Monitor Cable CN5
MECHATROLINK-II Communications Cable

CN6
To next MECHATROLINK-II station
Digital Operator
ＶＣＭＰ
Digital Operator Digital Operator
Converter Cable
CN3
Computer Cable
CN7 ＲＥＳＥＴ
ＪＯＧ
SVON
ＤＡＴＡ
JZSP-CVS06-02-E
Computer Cable
READ WRITE
SERVO SERVO
CN7
JZSP-CVS06-02-E
Host controller
I/O Signal Cable
CN1 I/O Signal Cable
CN1
CN8 Safety Function Device Cable

 Σ-7S Single-axis MECHATROLINK-III

SERVOPACKs

CN5
CN6 MECHATROLINK-III Communications Cable

Digital Operator
Digital Operator
Converter Cable
CN3

JZSP-CVS06-02-E
I/O Signal Cable

418
SERVOPACKs

Attachable-Type SERVOPACKs INDEXER Module

CN5
Digital Operator Digital Operator CN11

Converter Cable I/O Signal Cable
CN3
ＶＣＭＰ

ＲＥＳＥＴ
ＪＯＧ
ＤＡＴＡ
CN12
SVON

READ WRITE

SERVO
Serial Command Cable
JZSP-CVS06-02-E
I/O Signal Cable

CN1

 Selection Table
Important

Length
(L)
L
JZSP-CVS05-A3-E*1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
419
SERVOPACKs

Length
(L)

Terminal
verter Unit 1 16

1 19 32

33 50
(with cable) 1 49
Cables 2 50
Cable with
1m JZSP-CSI01-1-E
Loose Wires
L
at One End
2m JZSP-CSI01-2-E
(loose wires
on peripheral
3m JZSP-CSI01-3-E
device end)

Terminal
1m JUSP-TA26P-1-E
Block Con-
verter Unit
I/O Signal B1 B20

A20
2m JUSP-TA26P-2-E
A1
(with cable) 1 39
Cables 2 40
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
1m JEPMC-W6002-01-E
3m JEPMC-W6002-03-E
30 m JEPMC-W6002-30-E
40 m JEPMC-W6002-40-E
MECHA-
50 m JEPMC-W6002-50-E
TROLINK-II
 Communi- 0.5 m JEPMC-W6003-A5-E
cations 1m JEPMC-W6003-01-E
Cables Cables with 3m JEPMC-W6003-03-E
40 m JEPMC-W6003-40-E
50 m JEPMC-W6003-50-E
420
SERVOPACKs

Length
(L)
1m JEPMC-W6012-01-E
2m JEPMC-W6012-02-E
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
MECHA- 30 m JEPMC-W6012-30-E
TROLINK-III 50 m JEPMC-W6012-50-E
 Communi-
L
1m JEPMC-W6014-01-E
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E

Cables with
Function
 Contact Tyco Electronics Japan G.K.
Device
Connector Kit
nector Kit
Connector Kit DP9420007-E
Cables with 1m JZSP-CVI01-1-E

Loose Wires 2m JZSP-CVI01-2-E
I/O Signal
 at One End 3m JZSP-CVI01-3-E
Cables
Cables with 0.5 m JUSP-TA36V-E
Terminal 1m JUSP-TA36V-1-E
Block on One
End 2m JUSP-TA36V-2-E
Contact Yaskawa Controls Co., Ltd.
Serial Com- for the cable.
 Connector Kit*4 JZSP-CHI9-1
mand Cable
PACKs.
VOPACK.
421
SERVOPACKs
Σ-7S Single-axis FT83 SERVOPACKs

SGM7D Motor Drive with built-in INDEXER
Model Designations
SGD7S - 2R8 A 00 A 001 F83 B

Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
A 200 VAC
Three- 2R8*1 0.4 kW None
phase, F 100 VAC Without options All models
200 000
120*2 1.5 kW
VAC 001 Rack-mounted All models
Single- 002 Varnished All models
phase, 5th+6th digits Interface
2R8 0.4 kW Single-phase,
100 008 200-VAC power SGD7S-120A
Code Specification
VAC supply input
Analog voltage/pulse
00 SGD7S-2R8A
train reference No dynamic brake
SGD7S-2R8F
020*3
7th digit Design Revision Order External dynamic
SGD7S-120A
A brake resistor
Code Specification
Application function
option for special
*4
F83 motors,
SGM7D motor drive,
indexing
BTO Specification*5
Code Specification
None None
B BTO Specification
120A00A008).
Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for SGM7D Motor Product Manual
422
SERVOPACKs
Σ-7S Single-axis FT83 SERVOPACKs SGM7D Motor Drive with built-in INDEXER
Ratings

200 VAC to 240 VAC, -15% to +10%,
Power Supply
200 VAC to 240 VAC, -15% to +10%,
Power Supply
Control 50 Hz/60 Hz
Power Loss*
Resistor Capacity [W] − 60

 Single-Phase, 200 VAC

200 VAC to 240 VAC, -15% to +10%,
Power Supply
Input Current [Arms]* 5.0 16
200 VAC to 240 VAC, -15% to +10%,
Power Supply
Control 50 Hz/60 Hz
Power Loss*
Capacity [W] − 60
Resistor
423
SERVOPACKs

Model SGD7S- 2R8F
Maximum Applicable Motor Capacity [kW] 0.4
Continuous Output Current [Arms] 2.8
Instantaneous Maximum Output Current [Arms] 9.3
Main Circuit
Input Current [Arms]* 10
Control
Input Current [Arms]* 0.38
Power Supply Capacity [kVA]* 1.4
Main Circuit Power Loss [W] 26.2
Power Loss* Control Circuit Power Loss [W] 12
Total Power Loss [W] 38.2
40

perature of 55°C.
10000 10000
SERVOPACK Model:
1000 1000
Detection time (s)
Detection time (s)
SERVOPACK Model: SGD7S-120A

SGD7S-2R8A and -2R8F
100 100
10 10

100 230 × 100% 100 200 × 100%
424
SERVOPACKs
Specifications
 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification
Serial encoder: 24 bits (incremental encoder/absolute
Feedback
encoder)
Surrounding Air Temperature*1 0°C to 55°C

2
Pollution Degree
Altitude*1 1,000 m max.
Do not use the SERVOPACK in the following locations:
Others Locations subject to static electricity noise, strong electro-
magnetic/magnetic fields, or radioactivity

1:5000 (At the rated torque, the lower limit of the speed
Speed Control Range
control range must not cause the Servomotor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to
Performance
100%)
Coefficient of Speed Fluctuation*2 0% of rated speed max. (for a load fluctuation of ±10%)
±0.1% of rated speed max. (for a temperature fluctuation of
25°C ±25°C)
Torque Control Precision (Repeatability) ±1%
0 s to 10 s (Can be set separately for acceleration and
Soft Start Time Setting
deceleration.)
I/O Signals

425
SERVOPACKs

Item Specification
Input Signal: SEN (Absolute Data Request) signal
(Input method: Line driver or open collector)
Input Signals
• /RGRT (Registration Input) signal
• CLR (Clear) signal
Input Signals
• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive
Prohibit) signals
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse
External Torque Limit) signals

SERVOPACKs
• /SPD-D (Motor Direction) signal

I/O Signals

Input Signals for Which • /INHIBIT (Reference Pulse Inhibit) signal
Allocations Can Be Changed • /P-DET (Polarity Detection) signal
• /MODE 0/1 (Mode Switch Input) signal
• /START-STOP (Program Table Operation Start-Stop Input)
signal
• /JOGP (Forward Jog Input) signal
• /JOGN (Reverse Jog Input) signal
• /HOME (Origin Return Input) signal
• /PGMRES (Program Table Operation Reset Input) signal
• /JOG0 (Jog Speed Table Selection Input 0) signal
A signal can be allocated and the positive and negative logic
can be changed.
426
SERVOPACKs

Item Specification
Output Signals

• /TGON (Rotation Detection) Signal
SERVOPACKs
I/O Signals
• /S-RDY (Servo Ready) signal

Output Signals That Can Be • /BK (Brake) signal
Allocated • /WARN (Warning) Signal
• /ALO1, /ALO2, and /ALO3 (Alarm Code) signals
• /POSRDY (Origin Return Completed Output) signal
• DEN (Position Reference Distribution Completed) signal

Interfaces Digital Operator (JUSP-OP05A-1-E)

Digital Operator
Communications

(CN3)

(CN7)
USB
Communications Standard Conforms to USB2.0 standard (12 Mbps).

Indicators
Displays/
SERVOPACK CHARGE indicator and five-digit seven-segment display

• Program table positioning in which steps are executed in
Operating Methods
sequence with commands from contact inputs

Program Table
• Positioning by specifying station numbers with commands
from contact inputs
Max. Number of Steps 256 steps (32 steps max. if input signals are used)
Other Functions Registration (positioning with external signals) and origin returns.
Number of points: 2
Resolution: 16 bits
Activated when a servo alarm or overtravel (OT) occurs, or
Dynamic Brake (DB)
when the power supply to the main circuit or servo is OFF.
Built-in
427
SERVOPACKs

Item Specification
Stopping with dynamic brake, deceleration to a stop, or
Overtravel (OT) Prevention coasting to a stop for the P-OT (Forward Drive Prohibit) or
N-OT (Reverse Drive Prohibit) signal
Functions
Safety
Applicable Option Modules Note: You cannot use a Fully-closed Module and a Safety Module
together.
0 s to 10 s (Can be set separately for acceleration and
deceleration.)
• Maximum input voltage: ±12 V (forward motor rotation for
Input Signal
positive reference).
Reference Voltage
• 6 VDC at rated speed (default setting).
Speed Control
Input gain setting can be changed.

Rotation Direction Selection With Proportional Control signal
Speed Control
Internal Set
With Forward/Reverse External Torque Limit signals (speed

1 to 3 selection).
Speed Selection
Servomotor stops or another control method is used when
both signals are OFF.
Output Signal Positioning Completed
Width Setting
Controls
Reference Pulse Form Sign + pulse train, CW + CCW pulse trains, and two-phase
pulse trains with 90° phase differential
Position Control

Reference Pulses
• Line Driver
Input Signals

Two-phase pulse trains with 90° phase differential: 1 Mpps
Maximum Input Frequency • Open Collector
Two-phase pulse trains with 90° phase differential: 200
kpps
Input Multiplication
1 to 100 times
Switching
Clear Signal
• Maximum input voltage: ±12 V (forward torque output for
Torque Control
Input Signal
positive reference).
Reference Voltage
• 3 VDC at rated torque (default setting).
Input gain setting can be changed.
Rated motor speed
428
SERVOPACKs
Selecting Cables

CN5
Digital Operator
ＶＣＭＰ
Computer Cable
CN7 ＲＥＳＥＴ
ＪＯＧ
SVON
ＤＡＴＡ
JZSP-CVS06-02-E
READ WRITE
SERVO SERVO
Host controller
I/O Signal Cable
CN1
CN8 Safety Function Device Cable
429
SERVOPACKs
 Selection Table
Important

Length
(L)
L
JZSP-CVS05-A3-E *1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L

Terminal
verter Unit 1 16
I/O Signal 1 19 32

33 50
(with cable) 2m JUSP-TA50PG-2-E 1 49
Cables 2 50
Cable with
1m JZSP-CSI01-1-E
Loose Wires
L
at One End
2m JZSP-CSI01-2-E
(loose wires
on peripheral
3m JZSP-CSI01-3-E
device end)
Cables with 1m JZSP-CVH03-01-E L

Function
Device
nector Kit
PACKs.
VOPACK.
430
MEMO
431
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
SGD7W - 1R6 A 20 A 001 000 B

-7 Series digit digit digits digit
-7W SERVOPACKs

Motor Capacity per Axis
Code Specification
Models
Three- 1R6*1 0.2 kW A 200 VAC
None
phase, 2R8*1 0.4 kW Without options
200 5th+6th digits Interface*3 000
5R5 *1*2
0.75 kW All models
VAC 001 Rack-mounted
002 Varnished
MECHATROLINK-III
20 SGD7W-1R6A
communications reference No dynamic brake
to -2R8A
020 *4
7th digit Design Revision Order External dynamic SGD7W-5R5A
A brake resistor to -7R6A
700*5 HWBB option All models
Code Specification
None
None
000
BTO Specification*6
Code Specification
None None
B BTO Specification
*2. If you use the Servomotor with a single-phase 200-VAC power supply input, derate the load ratio to 65%.
An example is given below. If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis
so that average load ratio for both axes is 65%.
((90% + 40%)/2 = 65%)
Σ-7-Series AC Servo Drive Σ-7W/Σ-7C SERVOPACK with Hardware Option Specifications HWBB Function Prod-
432
SERVOPACKs
Ratings

Model SGD7W- 1R6A 2R8A 5R5A 7R6A
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75 1.0
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5 7.6
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9 17.0
Main Circuit
Input Current [Arms]* 2.5 4.7 7.8 11
Control
Power Supply Capacity [kVA] * 1.0 1.9 3.2 4.5
Power Loss* Built-in Regenerative Resistor
8 8 16 16
Power Loss [W]
Total Power Loss [W] 49 68 112 127
Resistance
40 40 12 12
Built-In Regenerative [Ω]
Regenerative Resistor Capacity
40 40 60 60
Resistor [W]
40 40 12 12
Resistance [Ω]

Model SGD7W- 1R6A 2R8A 5R5A*1
Σ-7W M-III
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9
Main Circuit
Input Current [Arms]*2 5.5 11 12
Control
Input Current [Arms]*2 0.25 0.25 0.25
Power Supply Capacity [kVA]*2 1.3 2.4 2.7
Main Circuit Power Loss [W] 24.1 43.6 54.1
Control Circuit Power Loss [W] 17 17 17
Power Loss*2 Built-in Regenerative Resistor
8 8 16
Power Loss [W]
Total Power Loss [W] 49 69 87
Resistance
40 40 12
40 40 60
Resistor [W]
40 40 12
Resistance [Ω]
*1. If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An
example is given below.
If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis so that average load ratio for
both axes is 65% ((90% + 40%)/2 = 65%).
*2. This is the net value at the rated load. However, a load ratio of 65% was used for the SGD7W-5R5A.
433
SERVOPACKs
 270 VDC
Model SGD7W- 1R6A 2R8A 5R5A 7R6A
Main Circuit
Control
Power Supply Capacity [kVA]* 1.2 2 3.2 4.6
Power
Loss*

perature of 55°C.
10000 10000
SERVOPACK Model:
1000 1000
Detection time (s)
Detection time (s)
SERVOPACK Model: SGD7W-5R5 and -7R6

SGD7W-1R6 and -2R8
100 100
10 10

100 230 × 100% 100 200 × 100%
434
SERVOPACKs
Specifications
Item Specification
Feedback

-5°C to 55°C
Surrounding Air Temperature

2
Pollution Degree
1,000 m or less.
Altitude
or radioactivity
Σ-7W M-III
Speed Control Range
Performance

Fluctuation* ±0.1% of rated speed max. (for a temperature fluctuation of 25°C
±25°C)
±1%
(Repeatability)
435
SERVOPACKs

Item Specification

Input Signals
I/O Signals


Output Signals
Communications
RS-422A

(CN3)
Communications

Axis Address Settings
Communications
(CN7)
USB
Communications
Standard
CHARGE, PWR, CN, L1, and L2 indicators, and two, one-digit seven-
Displays/Indicators
segment displays
MECHATROLINK-III

Communications

Extended Address Setting Axis 1: 00 hex, Axis 2: 01 hex
Baud Rate 100 Mbps
Transmission Cycle 250 μs, 500 μs, 750 μs, 1.0 ms to 4.0 ms (multiples of 0.5 ms)
Bytes A DIP switch (S3) is used to select the baud rate.
Reference
Method

Reference Input
436
SERVOPACKs

Item Specification
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Regenerative Processing Built-in
hibit) signal
Option Module Option Module cannot be attached.
* The coefficient of speed fluctuation for load fluctuation is defined as follows:
Rated motor speed
 SGD7W-1R6A, -2R8A, -5R5A, and -7R6A
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
Σ-7W M-III
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
437
SERVOPACKs
Selecting Cables

CN5
MECHATROLINK-III
CN6 Communications Cable
To next
MECHATROLINK-III station
Digital Operator Digital
Conversion Cable Operator
CN3

JZSP-CVS06-02-E
I/O Signal Cable

 Selection Table
Important

Length
(L)
L
JZSP-CVS05-A3-E *1
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
438
SERVOPACKs

Length
(L)
Soldered Connector Kit DP9420007-E

Terminal
Block Con- 1m JUSP-TA36P-1-E
verter Unit
I/O Signal B1 B20
 2m JUSP-TA36P-2-E
A1 A20
(with cable) 1 39
Cables 2 40
Cable with 1m JZSP-CSI03-1-E

Loose Wires 2m JZSP-CSI03-2-E L
at One End
(loose wires
on peripheral 3m JZSP-CSI03-3-E
device end)
1m JEPMC-W6012-01-E
2m JEPMC-W6012-02-E
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
MECHATRO 30 m JEPMC-W6012-30-E
LINK-III 50 m JEPMC-W6012-50-E
 Communi-
L
Σ-7W M-III
1m JEPMC-W6014-01-E
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E
PACKs.
439
SERVOPACKs
Σ-7C Two-axis Bus Connection Reference

SERVOPACKs with built-in Controllers
Model Designations
SGD7C - 1R6 A MA A 001

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th
-7 Series digit digit
-7C SERVOPACKs

Motor Capacity per Axis
Code Specification
Models
Three- 1R6*1 0.2 kW A 200 VAC
None
phase, 2R8*1 0.4 kW Without options
200 *1*2 5th+6th digits Interface*3 000
5R5 0.75 kW All models
VAC 001 Rack-mounted
002 Varnished
MA Bus connection references
SGD7C-1R6A
No dynamic brake
7th digit Design Revision Order *4
to -2R8A
020
A External dynamic SGD7C-5R5A
brake resistor to -7R6A
700*5 HWBB option All models
*2. If you use the Servomotor with a single-phase 200-VAC power supply input, derate the load ratio to 65%.
An example is given below. If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis
so that average load ratio for both axes is 65%.
((90% + 40%)/2 = 65%)
Σ-7-Series AC Servo Drive Σ-7W/Σ-7C SERVOPACK with Hardware Option Specifications HWBB Function Prod-
440
SERVOPACKs
Σ-7C Two-axis Bus Connection Reference SERVOPACKs with built-in Controllers
Ratings

Model SGD7C- 1R6A 2R8A 5R5A 7R6A
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75 1.0
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5 7.6
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9 17.0
Main Circuit
Control
Power Loss* Built-in Regenerative Resistor
8 8 16 16
Power Loss [W]
Resistance
40 40 12 12
40 40 60 60
Resistor [W]
Minimum Allowable External Resis-
40 40 12 12
tance [Ω]

Model SGD7C- 1R6A 2R8A 5R5A*1
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9
Σ-7C
Main Circuit
Input Current [Arms]*2 5.5 11 12
Control
Input Current [Arms]*2 0.25 0.25 0.25
Power Supply Capacity [kVA]*2 1.3 2.4 2.7
Main Circuit Power Loss [W] 24.1 43.6 54.1
Control Circuit Power Loss [W] 17 17 17
Power Loss*2 Built-in Regenerative Resistor
8 8 16
Power Loss [W]
Total Power Loss [W] 49 69 87
Resistance
40 40 12
40 40 60
Resistor [W]
40 40 12
Resistance [Ω]
*1. If you use the SGD7C-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An
both axes is 65% ((90% + 40%)/2 = 65%).
*2. This is the net value at the rated load. However, a load ratio of 65% was used for the SGD7W-5R5A.
441
SERVOPACKs
 270 VDC
Model SGD7C- 1R6A 2R8A 5R5A 7R6A
Main Circuit
Control
Power Supply Capacity [kVA]* 1.2 2 3.2 4.6
Power
Loss*

perature of 55°C.
10000 10000
SERVOPACK Model:
1000 1000
Detection time (s)
Detection time (s)
SGD7C-5R5 and -7R6

SERVOPACK Model:
SGD7C-1R6 and -2R8
100 100
10 10

100 230 × 100% 100 200 × 100%
442
SERVOPACKs
General Specifications
Item Specification
With Rotary Servo- 20 bits or 24 bits
motor (incremental encoder/absolute encoder)
Feedback
With Linear Servo- lute linear encoder.)
motor • Incremental linear encoder (The signal resolution depends on the
Surrounding Air Tem-
0°C to 55°C
perature
Surrounding Air
10% to 95% relative humidity (with no freezing or condensation)
Humidity
Storage Humidity 10% to 95% relative humidity (with no freezing or condensation)
Environ- Protection Class IP20
mental 2
Conditions • Must be no corrosive or flammable gases.
Pollution Degree
• Must be no excessive dust, salts, or iron dust.
1,000 m max.
Altitude Note: With derating, usage is possible between 1,000 m and 2,000 m. Refer to
the following section for the derating specifications.
Power Frequency
30 A/m (50 Hz/60 Hz), IEC 61000-4-8, Level 4
Magnetic Field
Others Must be no exposure to electrostatic noise or radiation.
Σ-7C
443
SERVOPACKs
If you use the SERVOPACK at an altitude of 1,000 m to 2,000 m, you must apply the derating
rates given in the following graph.
 SGD7C-1R6A, -2R8A, -5R5A, and -7R6A
100%
80%
Effective torque
0%
0m 1000 m 2000 m
Altitude
444
SERVOPACKs
Servo Section Specifications

Item Specification
Speed Control Range
Perfor- 0% of rated speed max. (for a load fluctuation of ±10%)
Fluctuation*
mance ±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)
Torque Control Preci-
±1%
sion (Repeatability)
Overheat Protection Number of input points: 2
Input Input voltage range (0 V to 5 V)
Input method: Sink inputs or source inputs
Input Signals:
Input • P-OT (Forward Drive Prohibit Input) and N-OT (Reverse Drive Prohibit
Sequence Signals Input) signals
Input That Can • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
Signals Be Allo- Torque Limit) signals
cated • /DEC (Origin Return Deceleration Switch) signal
A signal can be allocated and the positive and negative logic can be
changed.
I/O Signals Fixed
Outputs
Output signal: ALM (Servo Alarm Output) signal
Number of outputs points: 5
(Photocoupler outputs (isolated) are used.)
Output Signals:
Sequence • /COIN (Positioning Completion) signal
Output Output • /V-CMP (Speed Coincidence Detection) signal
Signals Signals • /TGON (Rotation Detection) signal
That Can • /S-RDY (Servo Ready) signal
Be Allo- • /CLT (Torque Limit Detection) signal
cated • /VLT (Speed Limit Detection) signal
Σ-7C
A signal can be allocated and the positive and negative logic can be
changed.
USB
Communi- Communi- Commu-
cations cations nica-
(CN7) tions
Standard
Displays/Indicators CHARGE and PWR indicators, and two, one-digit seven-segment displays
Reference Method Reference with built-in controller
Dynamic Brake (DB)
Regenerative Processing Built-in
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit Input) or N-OT (Reverse Drive
Prohibit Input) signal
Protective Functions Overcurrent, overvoltage, undervoltage, overload, regeneration error, etc.
Applicable Option Modules None

Rated motor speed
445
SERVOPACKs
Controller Section Specifications

This section provides the specifications of the Controller Section.
 Hardware Specifications
Item Specification
Flash Memory Capacity: 24 MB (15 MB of user memory)
SDRAM Capacity: 256 MB
MRAM Capacity: 4 MB
Seconds, minutes, hour, day, week, month, year, day of
Calendar
week, and timing
Ethernet One port, 10Base-T or 100Base-TX
• MECHATROLINK-III, 1 circuit with 1 port
MECHATROLINK
• Master
• USB 2.0, Type A host, 1 port
USB
• Compatible devices: USB storage
• Seven-segment display
Indicators and • Status indicators
Displays • USB Status Indicator
• Ethernet status indicators
• DIP switches: Mode switches
Switches
• STOP/SAVE switch
• MECHATROLINK-III connector (CN6)
• USB connector (CN10)
Connectors
• Ethernet connector (CN12)
• Controller Section I/O connector (CN13)
446
SERVOPACKs
 Performance Specifications
Item Specification Remarks

4 axes
SVC4 Circuit number selected from 1 to 16.
Controlled Axes
1 circuit
Number of
SVD 2 axes Circuit number selected from 1 to 16.

4 axes
SVR4 Circuit number selected from 1 to 16.
1 circuit
Maximum Number of
6 axes –
Controlled Axes
Scan Time Settings
0.5 ms to 32.0 ms (in

H Scan Σ-7-Series Σ-7C SERVOPACK Product
0.25-ms increments)
Manual (Manual No.: SIEP S800002 04)
2.0 ms to 300 ms (in
L Scan −
0.5-ms increments)
H Scan Default 4 ms −
L Scan Default 200 ms −
Calendar Supported. −
Peripheral
Devices
Communications Interface Ethernet −
USB Supported. −
DRAM 256 MB with ECC −

Up to 1 MB can be used to back up table
Capacity
Memory
MRAM 4 MB
data.
Total capacity including definition data,
Program Capacity 15 MB
ladder programs, table data, etc.
Number of Startup Drawings
64
(DWG.A)
Ladder Programs
Number of Interrupt Drawings

64
(DWG.I)
Number of High-Speed Scan
1000 Number of steps per drawing: 4,000
Drawings (DWG.H)
Number of Low-Speed Scan
2000
Drawings (DWG.L)
Number of User Function
2000
Drawings
Σ-7C
Total of all programs listed below:
• Motion main programs
Number of Programs 512 • Motion subprograms
• Sequence main programs
• Sequence subprograms
Number of Groups 16 −
−
Motion Programs
Number of Tasks 32
Number of Nesting Levels for
8 −
IF Instructions
Number of Nesting Levels for
8 −
MSEE Instructions
Select from the following four options:
• Main: 4 forks, Sub: 2 forks
Number of Parallel Forks Per
8 • Main: 8 forks
Task
• Main: 2 forks, Sub: 4 forks
• Sub: 8 forks
Number of Simultaneously
10 axes −
Controlled Axes Per Task
447
SERVOPACKs

S Registers 64 Kwords −
M Registers 1 Mword −
G Registers 2 Mwords −
Registers
I/O Registers 64 Kwords −

Motion Registers 32 Kwords −
C Registers 16 Kwords −
# Registers 16 Kwords −
D Registers 16 Kwords −
Bit (B) Supported. 0 or 1
Integer (W) Supported. -32,768 to 32,767
Double-Length Integer (L) Supported. -2,147,483,648 to 2,147,483,647
Data Types
-9,223,372,036,854,775,808 to
Quadruple-Length Integer (Q) Supported.
9,223,372,036,854,775,807
Single-Precision Real Number (F) Supported. ± (1.175E-38 to 3.402E+38) or 0
Double-Precision Real Num-
Supported. ±(2.225E-308 to 1.798E+308) or 0
ber (D)
Addresses (A) Supported. 0 to 16,777,214
Index Registers
Subscript i Supported. Special registers for offsetting addresses.

Subscript j Supported. Subscripts i and j function identically.
Array Registers Supported. Used to handle registers as arrays.
256 Kwords total in 4
Trace Memory −
Data Tracing
groups
Traceable Data Points 16 points per group −
>, <, =, <>, >=, <=
and differential detec-
Trigger Types −
tion of the above con-
ditions
Built-in RAM disk or
Log Storage Location −
USB memory device
CSV file format or
Data Logging
Log File Formats −

binary file format
Data Logging Points 64 points per group −
Built-in RAM
1 to 4,000 −
Number of Disk
Log Files 1 to 32,767 or unlim- The ultimate upper limit is 10,000 files
USB Memory
ited even if unlimited is selected.
Trigger Types >, <, =, <>, >=, <= −
448
SERVOPACKs
 Communications Function Module Specifications

Abbreviation 218IFD
Transmission Interface 10Base-T/100Base-TX −
Common
Number of Communications Ports (Connectors) 1 −

Items
TCP/UDP/IP/ARP/ICMP/
Transmission Protocols −
IGMP
Maximum Number of Communications 20 + 2 (I/O message
−
Connections communications)
Maximum Number of Communications 10 + 2 (I/O message
−
Channels communications)
Not supported for no-
Automatic Reception Supported.
protocol communications.
Maximum Number of Automatic Reception
10 −
Connections
Automatic Reception Status Monitor Supported. −
Write: 100 words
Maximum Size of Message Communications
MEMOBUS −
Read: 125 words
Write: 2,043 words
Extended MEMOBUS −
Read: 2,044 words
Write: 256 words
MELSEC (A-Compatible 1E) −
Read: 256 words
Write: 960 words
MELSEC (QnA-Compatible 3E) −
Read: 960 words
Write: 100 words
MODBUS/TCP −
Read: 125 words
Write: 996 words
OMRON −
Read: 999 words
Ethernet Communications
TOYOPUC Write: 1,022 words −
No-protocol Write: 2,046 words −
Write: 100 words

MEMOBUS −
Read: 125 words
Write: 1,024 words
Extended MEMOBUS −
Maximum Size of I/O Message
Read: 1,024 words

Write: 256 words
Σ-7C
MELSEC (A-Compatible 1E) −
Read: 256 words
Communications
Write: 256 words

MELSEC (QnA-Compatible 3E) −
Read: 256 words
Write: 100 words
MODBUS/TCP −
Read: 125 words
Write: 996 words
OMRON −
Read: 999 words
You can select controls (start/
Execution Conditions −
stop) from a ladder program.
Execution Status Monitor Supported. −
MotomanSync-MP Supported. −
FTP Server Supported. −
FTP Client Supported. −
Receive Buffer Mode Selection for No-
Supported. −
protocol Communications
Communications Platform Ethernet −
Engineering
Controller Searches Supported. −

Tools
MPE720 Ver.7 and

Supported Engineering Tools −
SigmaWin+ Ver.7
449
SERVOPACKs
 Motion Control Function Module Specifications

Module Item Specification
*1 2
Number of Controlled Axes
Reference Update Cycle (High-
Speed Scan Cycle Performed 500 μs to 32.0 ms
SVD by the CPU)
Registers for two axes are assigned from the registers for each circuit.
Register Ranges
Σ-7-Series Σ-7C SERVOPACK Motion Control User’s Manual
Number of Controlled Axes *1 4
by the CPU)
Registers for four axes are assigned from the registers for each
circuit. Refer to the following manuals for details.
Register Ranges
Communications Inter-
Master
face
Communications Cycle
MECHATROLINK-III communications
(Reference Update 500 μs to 32.0 ms

Cycle)
SVC4 125 μs, 250 μs, 500 μs, or 1 ms
Transmission Cycle*2
Communications Cable MECHATROLINK-III Communications Cable
Maximum Number of
8
Connectable Stations
Cascade connections, star connections, or mixed star-cascade
Topology
connections
Terminating Resistance Not required.
SERVOPACKs, Stepping Motor Drivers, Inverters, I/O Modules,
Connectable Slave
and Machine Controllers that support MECHATROLINK-III com-
Devices
munications
MECHATROLINK-III Servo Standard, MECHATROLINK-III I/O
Supported Profiles Standard, MECHATROLINK-III Inverter Standard, and
MECHATROLINK-III Stepping Motor Standard
Number of Controlled Axes*1 4
SVR4 by the CPU)
Registers for four axes are assigned from the registers for each
circuit. Refer to the following manuals for details.
Register Ranges
*1. A maximum of six axes can be controlled with the Motion Control Function Module in a Σ-7C SERVOPACK. Do
not control more than a total of six axes with one Motion Control Function Module.
*2. The transmission cycle is the cycle in which the SVC4 and the slave devices perform communications on the
MECHATROLINIK-III transmission path.
 M-EXECUTOR Specifications
 Registerable Programs
Program Type Number of Registered Programs
Motion Programs 32*
Startup 1
Interrupt Not possible.
Sequence Programs
H scan 32*
L scan 32*
* The combined total of motion programs and sequence programs must not exceed 32.
450
SERVOPACKs
 Program Control Methods

You can use the following control methods for the programs that are registered in the M-EXECU-
TOR:
Item Motion Programs Sequence Programs
Startup: Event execution
Execution Method Sequential execution H scan: Scan execution
L scan: Scan execution
The same number is used for the definition number and system work
number.
Definition No. System Work Number

System Work No.1 1
…No.2 2
…
No.32 32
Direct designation or indirect des-

Program Designation Method Direct designation
ignation
Register the program in the defini- Execution is started when the pro-
Program Execution Method tions and start execution by turn- gram is registered in the defini-
ing ON the start signal. tions.
Interpolation Override Setting Supported. Not supported.
I/O Link Definitions Supported. Not supported.
Motion Program Status Reporting
Supported.
in S Registers
Up to 8
Main: 4 forks, Sub: 2 forks
Number of Parallel Forks Main: 8 forks No forks
Main: 2 forks, Sub:4 forks
Sub: 8 forks
Error Diagram Execution When an
Supported.
Operation Error Occurs
 USB Memory Specifications

Σ-7C
USB memory Refer to the following section for details.
Supported Media
device  Recommended USB Memory Device (page 451)
Applicable FAT FAT16/32 −
Maximum Number of Nested
10 −
Directories
Uses the calendar in the Controller Section.
Last update time- Refer to the following manual for details.
File Information
stamp supported. Σ-7-Series Σ-7C SERVOPACK Product Manual
Maximum Length for File
256 characters −
Name and Directory Names
Current Directory Function 16 −
Maximum Number of Simulta-
16 −
neously Open Files
Formatting Not supported. Use a formatted USB memory device.
 Recommended USB Memory Device

The following USB memory device is recommended. It can be purchased from Yaskawa.
Model Specification Manufacturer
SFU24096D1BP1TO-C-QT-111-CAP 4-GB USB memory Swissbit Japan Inc.
451
SERVOPACKs
 IO16 Function Module Specifications

The following table gives the specifications of the IO16 Function Module. There are 16 digital inputs
and 16 digital outputs in the IO16 Function Module.
Item Specification
Number of Inputs 16
Input Method Sink/source
Isolation Method Photocouplers
Input Voltage 24 VDC ±20%
Input Current 5 mA (typical)
ON Voltage/Current 15 V min./2 mA min.
Digital Inputs
OFF Voltage/Current 5 V max./1 mA max.
ON/OFF Time 0.01 ms + Digital filter setting
Digital Filter Setting 0 to 65,535 μs
Number of Commons 2 (8 points per common)
DI_00 is also used for interrupt signals.
Others
DI_01 is also used as the pulse latch input.
Number of Outputs 16
Output Method Transistor open-collector sink outputs
Isolation Method Photocouplers
Output Voltage 24 VDC (20 V to 30 V)
Output Current 50 mA max.
Digital Outputs Leakage Current When
0.1 mA max.
OFF
ON/OFF Time 0.01 μs (for output current of 85 mA)
Number of Commons 2 (8 points per common)
Output Protection Thermistor (automatic recovery after blow out)
Others DO_00 is also used as the Match Output.
 Counter Specifications
The following table gives the specifications of counter. The counter uses a pulse input on one chan-
nel.
Item Specification
Number of Inputs 1 (phase A, B, or Z input)
Phases A and B: 5-V differential input, not isolated, maxi-
mum frequency: 4 MHz
Input Circuits
Phase Z: 5-V, 12-V, or 24-V photocoupler input, maximum
frequency: 500 kHz
Input Modes Phases A and B, sign, and incrementing/decrementing
Pulses are latched for phase Z or DI_01.
Pulse Input Response Times for Phase-Z Input
ON: 1 μs max.
Latch Input OFF: 1 μs max.
Response Times for DI_01 Input
ON: 60 μs max.
OFF: 0.5 ms max.
Match detection, counter preset and clear, electronic gear
Other Functions
conversion, phase-C (phase-Z), and digital filter
452
SERVOPACKs
 System Register Specifications

This section shows the overall structure of the system registers.
Refer to the following manuals for details.
Σ-7-Series Σ-7C SERVOPACK Product Manual (Manual No.: SIEP S800002 04)
Σ-7-Series Σ-7C SERVOPACK Troubleshooting Manual (Manual No.: SIEP S800002 07)
Register Addresses Contents

SW00000 to SW00029 System Service Registers
SW00030 to SW00049 System Status
SW00050 to SW00079 System Error Status
SW00080 to SW00089 User Operation Error Status
SW00090 to SW00103 System Service Execution Status
SW00104 to SW00109 Reserved.
SW00110 to SW00189 Detailed User Operation Error Status
SW00200 to SW00503 System I/O Error Status
SW00504 and SW00505 Reserved.
SW00506 and SW00507 Security Status
SW00650 to SW00667 USB-Related System Status
SW00694 to SW00697 Message Relaying Status
SW00698 to SW00789 Interrupt Status
SW00800 to SW01095 Module Information
SW02688 to SW03199 PROFINET Controller (266IF-01) IOPS Status
SW03200 to SW05119 Motion Program Information
SW05120 to SW05247 Used by the system (system memory read).
SW08192 to SW09215 Expansion Motion Program Information
SW09560 to SW10627 Expansion System I/O Error Status
Σ-7C
SW13700 to SW14259 Expanded Unit and Module Information
SW15998 to SW16011 Expansion System Service Execution Status
SW16200 to SW17999 Alarm History Information
SW20000 to SW22063 Product Information
SW24000 to SW24321 Data Logging Execution Status
SW24400 to SW24719 FTP Client Status and Controls
SW25000 to SW25671 Automatic Reception Status for Ethernet Communications
SW27600 to SW29775 Maintenance Monitor
453
SERVOPACKs
Selecting Cables
CN6 MECHATROLINK-III Communications Cable

CN7 Computer Cable Computer

JZSP-CVS06-02-E SigmaWin+
Engineering Tool
Host PLC
CN12 Ethernet Communications Cable
HUB
I/O Signal Cable

CN1
I/O Devices
Computer
I/O Signal Cable

CN13 System Integrated
I/O Devices Engineering Tool
MPE720 Ver.7
 Selection Table
Important

Length
(L)
L
 Computer Cable 2.5 m JZSP-CVS06-02-E
Soldered Connector Kit DP9420007-E

Terminal
verter Unit
I/O Signal B1 B20
 2m JUSP-TA36P-2-E
A1 A20
(with cable) 1 39
Cables 2 40

Loose Wires 2m JZSP-CSI03-2-E L
at One End
(loose wires
device end)
454
SERVOPACKs

Length
(L)

Terminal
verter Unit 1 16

1 19 32

33 50
(with cable) 1 49
Cables 2 50
Cable with
1m JZSP-CSI01-1-E
Loose Wires
L
at One End
2m JZSP-CSI01-2-E
(loose wires
on peripheral
3m JZSP-CSI01-3-E
device end)
1m JEPMC-W6012-01-E
2m JEPMC-W6012-02-E
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
 Communi-
L
1m JEPMC-W6014-01-E
at One End
Σ-7C
10 m JEPMC-W6014-10-E
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E
Use a commercially available cable that meets the following
conditions:
 Ethernet communications cables • Ethernet specification: 100Base-TX
• Category 5 or higher
• Twisted-pair cable with RJ-45 connectors
455
SERVOPACKs
SERVOPACK External Dimensions
Front Cover Dimensions and Connector Specifications

The front cover dimensions and panel connectors depend on the SERVOPACK interface. Refer to
the following figures.
Front Cover Dimensions

 Σ-7S Analog Voltage/Pulse Train  Σ-7S MECHATROLINK-II Communications
Reference SERVOPACKs Reference SERVOPACKs
(16) (7)
(20)
(15)
Front cover
Front cover (12 (1
CN6A/B 20
0 )
CN3 )
CN7 CN3
CN7
CN1
CN1
CN8 CN8
CN2 CN2
 Σ-7S MECHATROLINK-III  Σ-7W MECHATROLINK-III

Communications Reference Communications Reference
SERVOPACKs SERVOPACKs
(7) (7)
(15)
(15)
Front
Front cover cover
(12 (12
CN6A 0 CN6A 0°)
CN6B ) CN6B
CN3 CN3
CN7 CN7
CN1 CN1
CN8 CN2A
CN2 CN2B
 Σ-7S Command Option Attachable-Type  Σ-7C Bus Connection Reference

SERVOPACKs* SERVOPACKs
(7)
(18)
(15)
(12)
Front Front
cover cover
(12 (12
0° 0°)
)
CN6
CN3
CN7
CN7
CN12
CN1
CN1
CN8 CN13
CN2 CN2A
CN2B
* A Command Option Module must be attached to the Command Option Attachable-Type SERVOPACK. To find the
dimensions of the SERVOPACK with a Command Option Module attached, add the dimensions of the Command
Option Module (refer to page 467 and following pages).
456
SERVOPACKs
Connector Number
SERVOPACK Model Manufacturer
No. of Pins
CN1 10250-59A3MB 50 3M Japan Ltd.
Σ-7S CN2 3E106-0220KV 6 3M Japan Ltd.
Analog Voltage/Pulse HDR-EC14LFDTN-
CN3 14 Honda Tsushin Kogyo Co., Ltd.
Train Reference SLD-PLUS
SERVOPACK CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
CN2 3E106-0220KV 6 3M Japan Ltd.
Σ-7S HDR-EC14LFDTN-
MECHATROLINK-II CN3 14 Honda Tsushin Kogyo Co., Ltd.
SLD-PLUS
Communications
CN6A/B 1903815-1 8 Tyco Electronics Japan G.K.
Reference SERVOPACK
Σ-7S CN3
HDR-EC14LFDTN-
14 Honda Tsushin Kogyo Co., Ltd.
MECHATROLINK-III SLD-PLUS
Communications CN6A,
Reference SERVOPACK 1981386-1 8 Tyco Electronics Japan G.K.
CN6B
Σ-7S Command Option
HDR-EC14LFDTN-

Attachable-Type SERVO- CN3 14 Honda Tsushin Kogyo Co., Ltd.
SLD-PLUS
PACK
CN2A,
3E106-2230KV 6 3M Japan Ltd.
Σ-7W CN2B
MECHATROLINK-III HDR-EC14LFDTN-
CN3 14 Honda Tsushin Kogyo Co., Ltd.
Communications SLD-PLUS
Reference SERVOPACK CN6A,
1981386-1 8 Tyco Electronics Japan G.K.
CN6B
CN2A,
3E106-2230KV 6 3M Japan Ltd.
CN2B
Σ-7C Bus Connection CN6 1981386-1 8 Tyco Electronics Japan G.K.
Reference SERVOPACK
CN12 26-51024KB13-1 8 UDE Corp.
CN13 10250-52A3PL 50 3M Japan Ltd.
Note: The above connectors or their equivalents are used for the SERVOPACKs.
457
SERVOPACKs
Σ-7S SERVOPACKs: Base-mounted

All of the dimensional drawings show Analog Voltage/Pulse Train Reference SERVOPACKs as typical examples.
 Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A
2M4
5
160 0.5 (mounting pitch)
Two sets of terminals
Exterior
160
168
168
8
18 (4) 25 10 0.5
Ground terminals
(mounting pitch)
2  M4
40 (75) 140 40
Mounting Hole Diagram Approx. Mass: 0.8 kg
Unit: mm
 Three-phase, 200 VAC: SGD7S-2R8A

Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F
2M4
5
Exterior
160
168
168
8
18 (4) 5 20 0.5
Ground terminals
(mounting pitch)
2  M4 40 (75) 170 40
Mounting Hole Diagram Approx. Mass: 1.0 kg
Unit: mm
 Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A

Single-phase, 100 VAC: SGD7S-2R8F
5
3M4
160
Exterior
168
168
58 0.5
8
18 (4) 6
Ground terminals (mounting pitch)
2  M4 70 (75) 180 70
Mounting Hole Diagram
Approx. Mass: 1.6 kg
Unit: mm
458
SERVOPACKs
 Three-phase, 200 VAC: SGD7S-120A

5 80 0.5
(mounting pitch)
5
3M4

Exterior
160
168
168
8
(4)
Ground terminals 18 12.5
2  M4 (75) 180
90 90
Unit: mm
 Three-phase, 200 VAC: SGD7S-180A and -200A

Single-phase, 200 VAC: SGD7S-120AA008
3M4
5
188
Exterior
188
180

(4) 75 0.5 82.5 0.5
8
Terminals (mounting pitch)

14M4 Ground (mounting
terminals 12.5 pitch)
Terminal Details 2M4 100 (75) 180 100
Unit: mm

4×M5
Exterior
6
250 ± 0.5 (mounting pitch)
258
250
258
13×M4
(5) 84 ± 0.5
8
Terminal Details (mounting pitch)

Ground 110 (75) 210 13
terminals 110
2 × M4

Unit: mm
459
SERVOPACKs

4×M6
6
302.5 ± 0.5 (mounting pitch)
Exterior
315
315
Terminals
4×M5
Terminals
Ground 8×M5 142 ± 0.5
terminals 14 (mounting pitch)
2×M5 170 (75) 210 170

Unit: mm
7.5
4×M6

Exterior
Terminals
4×M6
390
390
Terminals
8×M6
Ground 200 ± 0.5

terminals 30 (mounting pitch)
2×M6 260 (75) 210 260

Unit: mm
460
SERVOPACKs
Σ-7S SERVOPACKs: Rack-mounted

Hardware Option Code: 001
All of the dimensional drawings show Analog Voltage/Pulse Train Reference SERVOPACKs as typi-
cal examples.
 Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A
2 36
17.5
7.5
2 × M4
7
Exterior
166 min.
195
160
195
168
Ground (2)
terminals 40 (25) 18 24.5 20
2 × M4 (75) 140 40

Unit: mm
 Three-phase, 200 VAC: SGD7S-2R8A

Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F
17.5
2 36
7.5
7
2 × M4

166 min.
Exterior
195
195
160
168
(2)
Ground (25) 18 24.5
terminals 40 20
2 × M4 (75) 170 40

Unit: mm
 Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A

Single-phase, 100 VAC: SGD7S-2R8F
17.5
7.5
18.5 36
2 × M4
7
Exterior
166 min.
195
195
160
168
Ground (2)
terminals 36.5
2 × M4 70 (25) 18 24.5
70
(75) 180
Approx. mass:1.6 kg
Unit: mm
461
SERVOPACKs

93
17.5
7.5
15.5 65 4 × M4
7
180±0.5 (mounting pitch)
Exterior
166 min.
195
168
160
195
(2)
13 70 50±0.5
(3) 90 (25) 18 24.5 23 (mounting pitch)
Ground (75) 180 93
terminals
2 × M4

Unit: mm

103
17.5
20.5 65 4 × M4
7.5
7
186 min.
Exterior
215
215
188
180
50±0.5
(2) (mounting pitch)
18 70 28
(3) 24.5
100 103
(75) 180
Ground
terminals Mounting Hole Diagram
2 × M4
Unit: mm

17.5
4 × M5
7.5
7
256 min.
Exterior
285
285
250
(2) 50±0.5
7
(2.5) 111 (2.5) 24.5 30.5 (mounting pitch)

116 (75) 210 (6) 116
Ground
terminals
2 × M4

Unit: mm
462
SERVOPACKs
Σ-7S SERVOPACKs: Duct-ventilated

All of the dimensional drawings show Analog Voltage/Pulse Train Reference SERVOPACKs as typi-
cal examples.

4 × M6
17.5
7.5
7.5
Exterior
320 min.
315
350
350
Cutout
Terminals
4 × M5
Terminals
8 × M5 170 139 (71) 8.5 145 ± 0.5
Ground (mounting pitch)
terminals (75) 210
2 × M5 4 162 min.
170

Unit: mm

4 × M6
7.5
30

64

330 min.
Exterior
(292.5)
390
390
Cutout
Terminals
4 × M6
Terminals
8 × M6 260 (75) 136 (75) 4.5 235 ± 0.5
Ground (mounting pitch)
terminals 8 244 min.
2 × M6
260

Unit: mm
463
SERVOPACKs
Σ-7W SERVOPACKs: Base-mounted
 Three-phase, 200 VAC: SGD7W-1R6A and -2R8A

3×M4
5
160 ±0.5 (mounting pitch)
Exterior
168
168
160
60 ±0.5
8
Ground 18 (4) 5 (mounting pitch)

terminals 65
3 × M4 70 (75) 180
70
Unit: mm

3×M4
5
Exterior
168
160
168
(4) 90 ±0.5 (mounting pitch)

8
18 5
Ground
terminals 95
3 × M4 100 (75) 180 100
Unit: mm
464
SERVOPACKs
Σ-7W SERVOPACKs: Rack-mounted

14.5 40
17.5
2 × M4
7

Exterior
166 min.
195
160
195
168
(2) 36.5
18.5 36
Ground 70 (26) 17 24.5 70
terminals
3 × M4 (75) 180 Mounting Hole Diagram
Unit: mm

103
20.5 65
4 × M4
17.5
7
166 min.
Exterior
195
160
195
168

(2) 50±0.5
18 70 (26) 17 24.5 28 (mounting pitch)
(3) 100 103
(75) 180
Ground
terminals Mounting Hole Diagram
3 × M4
Unit: mm
465
SERVOPACKs
Σ-7C SERVOPACKs: Base-Mounted
 Three-phase, 200 VAC: SGD7C-1R6A and -2R8A

4 × M4
5
Exterior
160
168
168
Two
sets of
terminals
100 (26) 17 (4) 5 90 ±0.5

Ground terminals (76) (180) (mounting pitch)
3 × M4 screws 100

Unit: mm

4 × M4
5
Exterior
168
160
168
Two
sets of
terminals
135 5 125 ±0.5 (mounting pitch)

(26) 17 (4)
Ground terminals
(76) 180 135
3 × M4 screws

Unit: mm
466
SERVOPACKs
Σ-7C SERVOPACKs: Rack-Mounted


17.5
5 80 4 - M4
7
Exterior
166 min.
160
195
168
195
Two sets of
terminals
(2)
Ground terminals 100 50 ±0.5
(26) 17 24.5 15
3 × M4 screws
(mounting pitch)
(76) 180 100
Unit: mm

12.5 110
17.5
180 ±0.5 (mounting pitch) 4 - M4
Exterior
166 min.

195
160
168
195
Two sets of
terminals
(2)
15 80 ±0.5
135 (26) 17 24.5 (mounting pitch)
Ground terminals 135
3 × M4 screws (76) 180

Unit: mm
Command Option Module External Dimensions

 INDEXER Module  DeviceNet Module
(24)
(8)
CN11
CN12
CN6
(28)
160
160
(100)
(60)
(89)
(75) 97
(10)
Approx. Mass: 0.2 kg (24)

20
Unit: mm 20 (43) 97

Unit: mm
467
SERVOPACKs
Peripheral Devices
Power supply
Three-phase, 200 VAC*1
R S T
Molded-case
circuit breaker
(page 469)
*6
Noise Filter
(page 469)
MECHATROLINK
*1, 6
Communications Cables
SERVOPACK*1 Digital Operator

To other (page 469)
MECHATROLINK-III
Magnetic Contactor stations*2
(page 469)
Computer
Digital Operator cable
Engineering Tool
SERVOPACK
Main Circuit Wires
(page 476) (page 497)
*6
Computer Cable
*6 Host controller
Control Power Supply Cable I/O Signal Cables
External
Regenerative
Resistor
External Regenerative Resistor Cable
(page 492) *6
Safety Function Device Cable
200 VAC
Holding Brake Power Safety function device

Supply Unit*3, *4, *5
When not using a safety function,
leave the Safety Jumper Connector
connected to the SERVOPACK.
Battery Case
(Used for an absolute encoder.)
*5
Brake relay Ground (page 494)
cable
Encoder Cable
(Wires required for a Servomotor Servomotor Main Circuit Cable

with a Brake)
Surge Absorbers (page 469)

AC/DC Reactors for harmonic suppression (page 469)
Surge Absorbers for Holding Brakes (Varistors) and Diodes (page 490)
Servomotor
*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference, Three-phase
200 VAC SERVOPACK as an example. The shapes of the connectors may be different for other interfaces.
*2. The connected devices depend on the interface.
For MECHATROLINK-II communications references: Other MECHATROLINK-II stations
For analog voltage/pulse train references: There is no CN6 connector.
*3. A Holding Brake Power Supply Unit is required to use a Servomotor with a Holding Brake. Holding Brake Power
Supply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers.
Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent
may result in burning in the brake.
*4. If you use a Servomotor with a Holding Brake, select a brake relay according to the power supply voltage and
current of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake
relay using the selection method of the brake relay manufacturer.
*5. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold-
ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply
from other power supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is
shared, the I/O signals may malfunction.
*6. For SERVOPACK cables, refer to the selection table for each type of SERVOPACK.
468
SERVOPACKs
Peripheral Devices
Peripheral Device Selection Table
 Σ-7S SERVOPACKs
Main Maximum SERVO-
Digital
Circuit Applicable PACK Noise AC DC Magnetic Surge
Opera-
Power Motor Capacity Model: Filter*1 Reactor*2 Reactor*2 Contactor Absorber
tor
Supply [kW] SGD7S-
0.05 R70A
0.1 R90A
0.2 1R6A HF3010C-SZC SC-03
0.4 2R8A X5061
0.5 3R8A
0.75 5R5A
Three- 1.0 7R6A SC-4-1
phase, HF3020C-SZC LT-
1.5 120A
200 X5060 C32G801WS
VAC 2.0 180A
SC-5-1
3.0 200A HF3030C-SZC X5059
5.0 330A HF3050C-SZC X5068
– SC-N1
6.0 470A -47EDD X008025
JUSP-
7.5 550A HF3060C-SZC X008026 SC-N2
OP05A-
11 590A X008027 SC-N2S 1-E
HF3100C-SZC
15 780A X008028 SC-N3
0.05 R70A
X5071
0.1 R90A
HF2010A-UPF SC-03
Single- 0.2 1R6A X5070
phase, 0.4 2R8A X5069
200 HF2020A-UPF-
VAC 0.75 5R5A X5079 SC-4-1
2BB LT-
120A HF2030A-UPF- C12G801WS
1.5 X5078 SC-5-1
008 2BB
Single- 0.05 R70F

X5053
phase, 0.1 R90F HF2010A-UPF SC-03
–
Peripheral Devices
100 0.2 2R1F X5054
VAC 0.4 2R8F HF2020A-UPF X5056 SC-4-1
Device Inquiries
Noise Filters
Surge Absorbers Yaskawa Controls Co., Ltd.
AC/DC Reactors for harmonic suppression
Magnetic Contactors Fuji Electric FA Components & Systems Co., Ltd.
*1. Some Noise Filters have large leakage currents. The grounding conditions also affect the size of the leakage
current. If necessary, select an appropriate leakage detector or leakage breaker taking into account the ground-
ing conditions and the leakage current from the Noise Filter.
*2. The last digit of an RoHS-compliant serial number is R. Consult with Yaskawa Controls Co., Ltd. for RoHS-com-
pliant reactors.
Note: 1. Consult the manufacturer for details on peripheral devices.
2. For Digital Operator Converter cables, refer to the selection table for each type of SERVOPACK.
• Dimensional drawings, ratings, and specifications of peripheral devices
469
SERVOPACKs
Peripheral Devices
 Σ-7W SERVOPACKs
Maximum Appli-
Main SERVO-
cable Motor Digital
Circuit PACK Noise AC DC Magnetic Surge
Capacity Opera-
Power Model: Filter*1 Reactor*2 Reactor*2 Contactor Absorber
per Axis tor
Supply SGD7W-
[kW]
0.2 1R6A HF3010C-SZC SC-03
Three- X5061
phase, 0.4 2R8A LT-
SC-4-1
200 0.75 5R5A HF3020C-SZC C32G801WS
VAC X5060
1.0 7R6A SC-5-1 JUSP-
– OP05A-
0.2 1R6A HF2010A-UPF X5069 SC-03
Single- 1-E
HF2020A-UPF-
phase, 0.4 2R8A X5079 SC-4-1 LT-
2BB
200 C12G801WS
VAC HF2030A-UPF-
0.75 5R5A X5078 SC-5-1
2BB
Device Inquiries
Noise Filters
pliant reactors.
2. Refer to the following section for information on Digital Operator Converter Cables.
 Selection Table (page 438)
470
SERVOPACKs
Peripheral Devices
 Σ-7C SERVOPACKs
Maximum Appli-
Main SERVO-
cable Motor
Circuit PACK Noise AC DC Magnetic Surge
Capacity
Power Model: Filter*1 Reactor*2 Reactor*2 Contactor Absorber
per Axis
Supply SGM7C-
[kW]
0.2 1R6A HF3010C-SZC SC-03
Three- X5061
phase, 0.4 2R8A LT-
SC-4-1
200 0.75 5R5A HF3020C-SZC C32G801WS
VAC X5060
1.0 7R6A SC-5-1
–
0.2 1R6A HF2010A-UPF X5069 SC-03
Single-
HF2020A-UPF-
phase, 0.4 2R8A X5079 SC-4-1 LT-
2BB
200 C12G801WS
VAC HF2030A-UPF-
0.75 5R5A X5078 SC-5-1
2BB
Device Inquiries
Noise Filters
pliant reactors.
Peripheral Devices
471
SERVOPACKs
Peripheral Devices
Molded-case Circuit Breakers and Fuses
Using an AC Power Supply

Use a molded-case circuit breaker and fuse to protect the power supply line. They protect the
power line by shutting OFF the circuit when overcurrent is detected. Select these devices based on
the information in the following tables.
Note: The following tables also provide the net values of the current capacity and inrush current. Select a fuse and
a molded-case circuit breaker that meet the following conditions.
• Main circuit and control circuit: No breaking at three times the current value given in the table for 5 s.
• Inrush current: No breaking at the current value given in the table for 20 ms.
Current Capacity Inrush Current Rated Voltage
Maximum Power Supply
SERVOPACK Control Control
Main Circuit Applicable Capacity per Main Main
Model: Power Power Fuse MCCB
Power Supply Motor Capacity SERVOPACK Circuit Circuit
SGD7S- Supply Supply [V] [V]
[kW] [kVA]* [Arms]* [A0-p]
[Arms] [A0-p]
0.05 R70A 0.2 0.4
0.1 R90A 0.3 0.8
0.2 1R6A 0.5 1.3
0.4 2R8A 1.0 2.5
0.2
0.5 3R8A 1.3 3.0
34
0.75 5R5A 1.6 4.1
1.0 7R6A 2.3 5.7
Three-phase,
1.5 120A 3.2 7.3
200 VAC
2.0 180A 4.0 10
0.25
3.0 200A 5.9 15
5.0 330A 7.5 25
6.0 470A 10.7 29 0.3 68
7.5 550A 14.6 37
34 250 240
11 590A 21.7 54
0.4 114
15 780A 29.6 73
0.05 R70A 0.2 0.8
0.1 R90A 0.3 1.6
0.2 1R6A 0.6 2.4 0.2
Single-phase,
0.4 2R8A 1.2 5.0
200 VAC
0.75 5R5A 1.9 8.7
120A0 34
1.5 4.0 16 0.25
08
0.05 R70F 0.2 1.5
Single-phase, 0.1 R90F 0.3 2.5
0.38
100 VAC 0.2 2R1F 0.6 5
0.4 2R8F 1.4 10
472
SERVOPACKs
Peripheral Devices
Maximum Current Capacity Inrush Current Rated Voltage
Power Supply
Applicable SERVOPACK Control Control
Main Circuit Capacity per Main Main
Motor Capacity Model: Power Power Fuse MCCB
Power Supply SERVOPACK Circuit Circuit
per Axis SGD7W- Supply Supply [V] [V]
[kVA]*1 [Arms]*1 [A0-p]
[kW] [Arms] [A0-p]
0.2 1R6A 1.0 2.5
Three-phase, 0.4 2R8A 1.9 4.7
200 VAC 0.75 5R5A 3.2 7.8
1.0 7R6A 4.5 11 0.25 34 34 250 240
0.2 1R6A 1.3 5.5
Single-phase,
0.4 2R8A 2.4 11
200 VAC
0.75 5R5A*2 2.7 12

*2. If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An
both axes is 65% ((90% + 40%)/2 = 65%).
 Σ-7C SERVOPACKs
Maximum Current Capacity Inrush Current Rated Voltage
Power Supply
Applicable SERVOPACK Control Control
Main Circuit Capacity per Main Main
Motor Capacity Model: Power Power Fuse MCCB
Power Supply SERVOPACK Circuit Circuit
per Axis SGM7C- Supply Supply [V] [V]
[kVA]*1 [Arms]*1 [A0-p]
[kW] [Arms] [A0-p]
0.2 1R6A 1.0 2.5
Three-phase, 0.4 2R8A 1.9 4.7
200 VAC 0.75 5R5A 3.2 7.8
1.0 7R6A 4.5 11 0.25 34 34 250 240
0.2 1R6A 1.3 5.5
Single-phase,
0.4 2R8A 2.4 11
200 VAC
0.75 *2 2.7 12
5R5A

*2. If you use the SGM7C-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An
Peripheral Devices
both axes is 65% ((90% + 40%)/2 = 65%).
473
SERVOPACKs
Peripheral Devices
Using a DC Power Supply

This section gives the power supply specifications for using a DC power supply input. Use the
Fuses given in the following tables to protect the power supply line and SERVOPACK. They protect
the power line by shutting OFF the circuit when overcurrent is detected.
Note: The following tables provide the net values of the current capacity and inrush current.
Current Capacity Inrush Current External Fuse
Main Power Supply
Circuit Capacity per Main Main Current Voltage
Model: Power Power
Power
SGD7S-
SERVOPACK Circuit Circuit Order Number*2 Rating Rating
Supply [kVA] *1 *1 Supply Supply
[Arms] [A0-p] [A] [Vdc]
[Arms] [A0-p]
R70A 0.2 0.5
R90A 0.3 1.0 3,5URGJ17/16UL 16
0.2
1R6A 0.5 1.5
2R8A 1.0 3.0 3,5URGJ17/20UL 20
3R8A 1.3 3.8
5R5A 1.6 4.9 0.2
34 3,5URGJ17/40UL 40
7R6A 2.3 6.9
120A 0.2
270 120A 3.2 11 34 400
VDC 008
0.25 3,5URGJ17/63UL 63
180A 4.0 14
200A 5.9 20
330A 7.5 34 68*3 3,5URGJ17/100UL 100
470A 10.7 36 0.3 (5 Ω
external) 3,5URGJ23/160UL 160
550A 14.6 48
590A 21.7 68 114*3
0.4 (3 Ω 3,5URGJ23/200UL 200
780A 29.6 92 external)
*2. These Fuses are manufactured by MERSEN Japan.
*3. If you use a DC power supply input with any of the following SERVOPACKs, externally connect an inrush current
limiting circuit and use the power ON and OFF sequences recommended by Yaskawa: SGD7S-330A, -470A, -
550A, -590A, or -780A.
There is a risk of equipment damage.
For information on the power ON and OFF sequences, refer to the product manual for the type of references
used by your SERVOPACK.
Current Capacity Inrush Current External Fuse
Main Power Supply
Circuit Capacity per Main Main Current Voltage
Model: Power Power
Power
SGD7W-
SERVOPACK Circuit Circuit Order Number*2 Rating Rating
Supply [kVA] *1 *1 Supply Supply
[Arms] [A0-p] [A] [Vdc]
[Arms] [A0-p]
1R6A 1 3.0
3,5URGJ17/40UL 40
270 2R8A 1.9 5.8
0.25 34 34 400
VDC 5R5A 3.2 9.7
3,5URGJ17/63UL 63
7R6A 4.5 14
*2. These Fuses are manufactured by MERSEN Japan.
474
SERVOPACKs
Peripheral Devices
DC power supply
(converter)
Fuse U
+ B1/ +
V M
− 2
W
SERVOPACK
Fuse U
B1/ +
V M
2
W
SERVOPACK
Note: If you connect more than one SERVOPACK to the same DC power supply, connect Fuses for each SERVO-
PACK.
Peripheral Devices
475
SERVOPACKs
Peripheral Devices
SERVOPACK Main Circuit Wires

This section describes the main circuit wires for SERVOPACKs.
These specifications are based on IEC/EN 61800-5-1, UL 61800-5-1, and CSA C22.2 No.274.
1. To comply with UL standards, use UL-compliant wires.
2. Use copper wires with a rated temperature of 75° or higher.
Important
3. Use copper wires with a rated withstand voltage of 300 V or higher.
Note: To use 600-V heat-resistant polyvinyl chloride-insulated wire (HIV), use the following table as reference for the
applicable wires.
• The specified wire sizes are for three bundled leads when the rated current is applied with a surrounding
air temperature of 40°C.
• Select the wires according to the surrounding air temperature.
Three-phase, 200-VAC Wires for Σ-7S SERVOPACKs

SERVOPACK Tightening
Screw
Model: Terminals Wire Size Torque
Size
SGD7S- [Nm]
Main Circuit Power Supply Cable L1, L2, L3
Servomotor Main Circuit Cable* U, V, W
AWG16 (1.25 mm2) − −
R70A Control Power Supply Cable L1C, L2C
External Regenerative Resistor Cable B1/ , B2
Ground cable AWG14 (2.0 mm2) min. M4 1.2 to 1.4
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
1R6A Control Power Supply Cable L1C, L2C
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
476
SERVOPACKs
Peripheral Devices

Screw
Size
SGD7S- [Nm]
AWG16 (1.25 mm2) − −
AWG14 (2.0 mm2)
− −
120A Control Power Supply Cable L1C, L2C
2
AWG16 (1.25 mm )
Main Circuit Power Supply Cable L1, L2, L3 2
AWG14 (2.0 mm )
Servomotor Main Circuit Cable* U, V, W AWG10 (5.5 mm2)
M4 1.0 to 1.2
2
AWG16 (1.25 mm )
AWG12 (3.5 mm )
Servomotor Main Circuit Cable* U, V, W AWG10 (5.5 mm2)
M4 1.0 to 1.2
2
AWG16 (1.25 mm )
AWG8 (8.0 mm2)
M4 1.0 to 1.2
330A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm2)
External Regenerative Resistor Cable B1/ , B2 AWG14 (2.0 mm2)
Main Circuit Power Supply Cable L1, L2, L3 AWG8 (8.0 mm2)
Servomotor Main Circuit Cable* U, V, W AWG6 (14 mm2)
Peripheral Devices
Ground cable AWG14 (2.0 mm2) min.
M5 2.2 to 2.4
Servomotor Main Circuit Cable* U, V, W AWG4 (22 mm2)
AWG4 (22 mm2)
M6 2.7 to 3.0
AWG3 (30 mm )
* If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
477
SERVOPACKs
Peripheral Devices
Single-phase, 200-VAC Wires for Σ-7S SERVOPACKs

Screw
Size
SGD7S- [Nm]
Main Circuit Power Supply Cable L1, L2
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
AWG16 (1.25 mm2) − −
AWG14 (2.0 mm )
− −
5R5A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm2)
Main Circuit Power Supply Cables L1, L2
AWG14 (2.0 mm2)
Servomotor Main Circuit Cables* U, V, W
1.0 to 1.2
120A008 Control Power Supply Cables L1C, L2C 2 M4
AWG16 (1.25 mm )
External Regenerative Resistor Cables B1/ , B2
Ground cable AWG14 (2.0 mm2) min. 1.2 to 1.4
478
SERVOPACKs
Peripheral Devices
Single-phase, 100-VAC Wires for Σ-7S SERVOPACKs

Screw
Size
SGD7S- [Nm]
AWG16 (1.25 mm2) − −
R70F Control Power Supply Cable L1C, L2C
AWG16 (1.25 mm2) − −
R90F Control Power Supply Cable L1C, L2C
AWG16 (1.25 mm2) − −
2R1F Control Power Supply Cable L1C, L2C
Main Circuit Power Supply Cable L1, L2 2
AWG14 (2.0 mm )
− −
2R8F Control Power Supply Cable L1C, L2C AWG16 (1.25 mm2)
Peripheral Devices
479
SERVOPACKs
Peripheral Devices
DC Power Supply Wires for Σ-7S SERVOPACKs

Screw
Model: Terminals*1 Wire Size Torque
Size
SGD7S- [N⋅m]
Servomotor Main Circuit Cables U, V, W*2 AWG16 (1.25 mm2) – –
Control Power Supply Cables L1C, L2C 2 – –
AWG16 (1.25 mm )
R70A 2
Main Circuit Power Supply Cables B1/ , -2 AWG16 (1.25 mm ) – –
Ground Cable 2 M4 1.2 to 1.4
AWG14 (2.0 mm ) min.
Servomotor Main Circuit Cables *2 2 – –
U, V, W AWG16 (1.25 mm )
AWG16 (1.25 mm )
R90A
Main Circuit Power Supply Cables B1/ , -2 AWG16 (1.25 mm2) – –
U, V, W AWG16 (1.25 mm )
AWG16 (1.25 mm )
1R6A
Main Circuit Power Supply Cables B1/ , -2 2 – –
AWG16 (1.25 mm )
U, V, W AWG16 (1.25 mm )
AWG16 (1.25 mm )
2R8A 2
U, V, W AWG16 (1.25 mm )
AWG16 (1.25 mm )
3R8A
AWG16 (1.25 mm )
Ground Cable AWG14 (2.0 mm2) min. M4 1.2 to 1.4
Servomotor Main Circuit Cables U, V, W*2 AWG16 (1.25 mm2) – –
AWG16 (1.25 mm )
5R5A 2
U, V, W AWG16 (1.25 mm )
AWG16 (1.25 mm )
7R6A
U, V, W AWG14 (2.0 mm )
120A Control Power Supply Cables L1C, L2C AWG16 (1.25 mm ) 2 – –
(three-phase, 2
200-VAC input) Main Circuit Power Supply Cables B1/ , - 2 AWG14 (2.0 mm ) – –
Servomotor Main Circuit Cables *2 2 M4 1.0 to 1.2
U, V, W AWG14 (2.0 mm )
120A008 Control Power Supply Cables L1C, L2C AWG16 (1.25 mm2) M4 1.0 to 1.2
(single-phase, 2
200-VAC input) Main Circuit Power Supply Cables B1/ , - 2 AWG14 (2.0 mm ) M4 1.0 to 1.2
Servomotor Main Circuit Cables *2 2 M4 1.0 to 1.2
U, V, W AWG10 (5.5 mm )
Control Power Supply Cables L1C, L2C 2 M4 1.0 to 1.2
AWG16 (1.25 mm )
180A
Main Circuit Power Supply Cables B1/ , -2 AWG10 (5.5 mm2) M4 1.0 to 1.2
480
SERVOPACKs
Peripheral Devices

Screw
Model: Terminals*1 Wire Size Torque
Size
SGD7S- [N⋅m]
Servomotor Main Circuit Cables U, V, W*2 AWG10 (5.5 mm2) M4 1.0 to 1.2
AWG16 (1.25 mm )
200A 2
Main Circuit Power Supply Cables B1/ , -2 AWG10 (5.5 mm ) M4 1.0 to 1.2
Servomotor Main Circuit Cables U, V, W AWG8 (8.0 mm2) M4 1.0 to 1.2
AWG16 (1.25 mm )
330A 2
Main Circuit Power Supply Cables B1/ , -2 AWG8 (8.0 mm ) M4 1.0 to 1.2
Servomotor Main Circuit Cables U, V, W 2 M5 2.2 to 2.4
AWG6 (14 mm )
AWG16 (1.25 mm )
470A
Main Circuit Power Supply Cables B1/ , -2 AWG8 (8.0 mm2) M5 2.2 to 2.4
AWG4 (22 mm )
AWG16 (1.25 mm )
550A 2
Main Circuit Power Supply Cables B1/ , -2 AWG6 (14 mm ) M5 2.2 to 2.4
AWG4 (22 mm )
Control Power Supply Cables L1C, L2C AWG16 (1.25 mm2) M6 2.7 to 3.0
590A
Main Circuit Power Supply Cables B1/ , -2 2 M6 2.7 to 3.0
AWG3 (30 mm )
AWG3 (30 mm )
AWG16 (1.25 mm )
780A
Main Circuit Power Supply Cables B1/ , -2 2 M6 2.7 to 3.0
AWG3 (30 mm )
*1. Do not wire the following terminals: L1, L2, L3, B2, B3, - 1, and - terminals.
Peripheral Devices
*2. If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
481
SERVOPACKs
Peripheral Devices
Three-phase, 200-VAC Wires for Σ-7W SERVOPACKs

Screw
Size
SGD7W- [Nm]
UA, VA,
Servomotor Main Circuit Cable* WA, UB,
VB, WB AWG16 (1.25 mm2) − −
1R6A
Control Power Supply Cable L1C, L2C
AWG14 (2.0 mm )
UA, VA,
VB, WB − −
2R8A AWG16 (1.25 mm2)
AWG14 (2.0 mm )
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
5R5A
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
7R6A
482
SERVOPACKs
Peripheral Devices
Single-phase, 200-VAC Wires for Σ-7W SERVOPACKs

Screw
Size
SGD7W- [Nm]
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
1R6A
AWG14 (2.0 mm )
UA, VA,
VB, WB − −
2R8A AWG16 (1.25 mm2)
AWG14 (2.0 mm )
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
5R5A
Peripheral Devices
483
SERVOPACKs
Peripheral Devices
DC Power Supply Wires for Σ-7W SERVOPACKs

Screw
Model: Terminal*1 Wire Size Torque
Size
SGD7W- [N⋅m]
UA, VA,
Servomotor Main Circuit Cables WA, UB, AWG16 (1.25 mm2) – –
VB, WB*2
1R6A Control Power Supply Cables L1C, L2C AWG16 (1.25 mm2) – –
AWG16 (1.25 mm )
UA, VA,
VB, WB*2
AWG16 (1.25 mm )
UA, VA,
VB, WB*2
UA, VA,
VB, WB*2
AWG14 (2.0mm )
*1. Do not wire the following terminals: L1, L2, L3, B2, B3, - 1, and - terminals.
*2. If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
484
SERVOPACKs
Peripheral Devices
Three-phase, 200-VAC Wires for Σ-7C SERVOPACKs

Screw
Size
SGM7C- [Nm]
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
1R6A
AWG14 (2.0 mm )
UA, VA,
VB, WB − −
2R8A AWG16 (1.25 mm2)
AWG14 (2.0 mm )
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
5R5A
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
7R6A
Peripheral Devices
485
SERVOPACKs
Peripheral Devices
Single-phase, 200-VAC Wires for Σ-7C SERVOPACKs

Screw
Size
SGM7C- [Nm]
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
1R6A
AWG14 (2.0 mm )
UA, VA,
VB, WB − −
2R8A AWG16 (1.25 mm2)
AWG14 (2.0 mm )
UA, VA,
VB, WB AWG16 (1.25 mm2) − −
5R5A
Wire Types
The following table shows the wire sizes and allowable currents for three bundled leads.
Allowable Current at Surrounding Air Temperatures
HIV Specifications*
[Arms]
Nominal Cross-sectional Configuration
30°C 40°C 50°C
Area [mm2] [Wires/mm]
0.9 7/0.4 15 13 11
1.25 7/0.45 16 14 12
2.0 7/0.6 23 20 17
3.5 7/0.8 32 28 24
5.5 7/1.0 42 37 31
8.0 7/1.2 52 46 39
14.0 7/1.6 75 67 56
22.0 7/2.0 98 87 73
38.0 7/2.6 138 122 103
* This is reference data based on JIS C3317 600-V-grade heat-resistant polyvinyl chloride-insulated wires (HIV).
486
SERVOPACKs
Peripheral Devices
Crimp Terminals and Insulating Sleeves

If you use crimp terminals for wiring, use insulating sleeves. Do not allow the crimp terminals to
come close to adjacent terminals or the case.
To comply with UL standards, you must use UL-compliant closed-loop crimp terminals and insulat-
ing sleeves for the main circuit terminals. Use the tool recommended by the crimp terminal manu-
facturer to attach the crimp terminals.
The following tables give the recommended tightening torques, closed-loop crimp terminals, and
insulating sleeves in sets. Use the set that is suitable for your model and wire size.
Σ-7S SERVOPACKs with Three-Phase, 200-VAC and DC Power

Supply
Crimp Insulating
Crimp Recom- Terminal Crimping Die Sleeve
Main Tightening Tool
SERVOPACK Screw Terminal mended Model Model
Circuit Torque
Model: SGD7S- Size Horizontal Wire
Terminals [Nm] (Tokyo Dip
Width Size (From J.S.T. Mfg. Co., Ltd.)
Co., Ltd.)
R70A, R90A, Connector −
1R6A, 2R8A,
1.2 to 10 mm AWG14 YHT-
3R8A, 5R5A, M4 R2-4 − −
7R6A, or 120A 1.4 max. (2.0 mm2) 2210
AWG10
5.5-S4 − TP-005
(5.5 mm2)
Termi-
1.0 to 7.7 mm AWG14 YHT-
nal M4 −
1.2 max. (2.0 mm2) 2210
180A or 200A block 2-M4 TP-003
AWG16
−
(1.25 mm2)
M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
AWG8 YPT- TD-121
8-4NS TP-008
(8.0 mm2) 60N TD-111
Termi-
1.0 to 9.9 mm AWG14
−
Peripheral Devices
nal M4
1.2 max. (2.0 mm2) YHT-
330A block R2-4 TP-003
AWG16 2210
−
(1.25 mm2)
M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
AWG4 TD-123
22-S5 TP-022
(22 mm2) TD-112
AWG6 YPT- TD-122
R14-5 TP-014
(14 mm2) 60N TD-111
AWG8 TD-121
Termi- R8-5 TP-008
2.2 to 13 mm (8.0 mm2) TD-111
nal M5
2.4 max. AWG10
470A or 550A block R5.5-5 − TP-005
(5.5 mm2)
AWG14 YHT-
−
(2.0 mm2) 2210
R2-5 TP-003
AWG16
−
(1.25 mm2)
M5 R2-5 − −
2.4 max. (2.0 mm2) 2210
487
SERVOPACKs
Peripheral Devices

Crimp Insulating
Circuit Torque
Co., Ltd.)
AWG3 TD-124
38-S6 TP-038
(30 mm2) TD-112
AWG4 YPT- TD-123
R22-6 TP-022
(22 mm2) 60N TD-112
AWG8 TD-121
Termi- R8-6 TP-008
2.7 to 18 mm (8.0 mm2) TD-111
nal M6
3.0 max. AWG10
590A or 780A block R5.5-6 − TP-005
(5.5 mm2)
AWG14 YHT-
−
(2.0 mm2) 2210
R2-6 TP-003
AWG16
−
(1.25 mm2)
M6 R2-6 − −
3.0 max. (2.0 mm2) 2210
Σ-7S SERVOPACKs with Single-Phase, 200-VAC Power Supply

Crimp Insulating
Circuit Torque
Co., Ltd.)
R70A, R90A, Connector −
1R6A, 2R8A, or 1.2 to 10 mm AWG14 YHT-
5R5A M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
AWG14
−
Terminal 1.0 to 7.7 mm (2.0 mm2) YHT-
M4 2-M4 TP-003
block 1.2 max. AWG16 2210
120A008 −
(1.25 mm2)
M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
Σ-7S SERVOPACKs with Single-Phase, 100-VAC Power Supply

Crimp Insulating
Circuit Torque
Co., Ltd.)
Connector −
R70F, R90F,
2R1F, or 2R8F M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
488
SERVOPACKs
Peripheral Devices
Σ-7W SERVOPACKs with Three-Phase, 200-VAC and DC Power

Supply
Crimp Insulating
Circuit Torque
Model: SGD7W- Size Horizontal Wire
Co., Ltd.)
Connector −
1R6A, 2R8A,
5R5A, or 7R6A M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
Σ-7W SERVOPACKs with Single-Phase, 200-VAC Power Supply

Crimp Insulating
Circuit Torque
Model: SGD7W- Size Horizontal Wire
Co., Ltd.)
Connector −
1R6A, 2R8A, or
5R5A M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
Σ-7C SERVOPACKs with Three-Phase, 200-VAC and DC Power

Supply
Crimp Insulating
Circuit Torque
Model: SGM7C- Size Horizontal Wire
Co., Ltd.)
Connector −
1R6A, 2R8A,
5R5A, or 7R6A M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
Peripheral Devices
Σ-7C SERVOPACKs with Single-Phase, 200-VAC Power Supply
Crimp Insulating
Circuit Torque
Model: SGM7C- Size Horizontal Wire
Co., Ltd.)
Connector −
1R6A, 2R8A, or
5R5A M4 R2-4 − −
1.4 max. (2.0 mm2) 2210
489
SERVOPACKs
Peripheral Devices
Surge Absorbers (Varistors) and Diodes for Holding Brake

Power Supplies
Surge Absorbers (varistors) and Diodes for holding brake power supplies help prevent damage to
brake coils caused by voltage surges.
If you use a Servomotor with a Holding Brake and switch the brake power supply circuit on the DC
side, connect a Surge Absorber (varistor) or Diode that is suitable for the brake power supply volt-
age and current.
• When you select a Surge Absorber, varistor, or Diode for your application, consider the service
life and test all operations, including the brake timing, before you use the Servomotor.
• If you connect an SSR (i.e., a semiconductor relay) to switch the brake circuit, use a Diode.
Note
• If you connect a Diode, more time is required to brake than with a Surge Absorber. (Refer to the
following figure.) If you use a diode, consider this in the application.
Diode
Current Holding the Voltage
brake (Diode)
Diode
0 0
Time Time
Surge Absorber
Holding the
brake (varistor)
Surge Absorber
 Surge Absorbers (Varistors) for Holding Brake Power Supplies

Use the following table as reference in selecting a Surge Absorber. Elements were selected for a
Surge Absorber surrounding air temperature range of -20°C to 60°C and an ON/OFF switching fre-
quency of 10 times or less per minute. The information in this table is for reference only, and does
not ensure operation in combination with the holding brake.
Holding Brake Power Supply
24 VDC
Voltage
Nippon Chemi-Con Corporation Semitec Corporation
Manufacturer
Order Number
1 A max. TNR5V121K Z5D121
Brake Rated Current
 Diodes for Holding Brake Power Supplies

Select a Diode for the holding brake power supply with a rated current that is greater than that of
the holding brake and with the recommended withstand voltage given in the following table.
Diodes are not provided by Yaskawa.
Holding Brake Power Supply Unit Specifications
Withstand Voltage
Rated Output Voltage Input Voltage
24 VDC 200 V 100 V to 200 V
490
SERVOPACKs
Peripheral Devices
Regenerative Resistors
Types of Regenerative Resistors

The following regenerative resistors can be used.
• Built-in regenerative resistors: Some models of SERVOPACKs have regenerative resistors built
into them.
• External regenerative resistors: These resistors are used when the smoothing capacitor and built-
in regenerative resistor in the SERVOPACK cannot consume all of the regenerative power.
Use Yaskawa’s SigmaSize+, an AC Servo drive capacity selection program, to determine if a
regenerative resistor is required.
Note: If you use an External Regenerative Resistor, you must change the setting of the Pn600 (Regenerative Resis-
tor Capacity) or Pn603 (Regenerative Resistance) parameters.
Selection Table
SERVOPACK Model Built-In Regener- External Regener-
Contents
SGD7S- SGD7W- SGD7C- ative Resistor ative Resistor
R70A,
R90A, There is no built-in regenerative resistor, but nor-
1R6A, mally an external regenerative resistor is not
2R8A, Basically not required.
− − None
R70F, required Install an external regenerative resistor when the
R90F, smoothing capacitor in the SERVOPACK cannot
2R1F, process all the regenerative power.*1
2R8F
3R8A,
5R5A,
1R6A, 1R6A, A built-in regenerative resistor is provided as a
7R6A,
2R8A, 2R8A, Standard fea- Basically not standard feature. Install an external regenerative
120A,
5R5A, 5R5A, ture*2 required resistor when the built-in regenerative resistor
180A,
7R6A 7R6A cannot process all the regenerative power.*1
200A,
330A
A built-in regenerative resistor is not provided.
470A,
An External Regenerative Resistor is required. If
550A,
− − None Required.*3 the External Regenerative Resistor is not con-
590A,
Peripheral Devices
nected to the SERVOPACK, a Regeneration
780A
Alarm (A.300) will occur.
*1. Use Yaskawa’s SigmaSize+, an AC Servo drive capacity selection program, to select an external regenerative
resistor.
*2. Refer to the following section for the specifications of built-in regenerative resistors.
*3. Regenerative Resistor Units are available. Refer to the following sections for details.
Regenerative Resistor Units (page 493)
491
SERVOPACKs
Peripheral Devices
Built-In Regenerative Resistor

The following table gives the specifications of the built-in regenerative resistors in the SERVOPACKs
and the amount of regenerative power (average values) that they can process.
Built-In Regenerative Regenerative Power
SERVOPACK Model Minimum
Resistor Processing Capacity of
Allowable
Built-In Regenerative
Resistance Capacity Resistance
SGD7S- SGD7W- SGD7C- Resistor
[Ω] [W] [Ω]
[W]
R70A, R90A,
1R6A, 2R8A, R70F, − − − − − 40
R90F, 2R1F, 2R8F
3R8A, 5R5A, 7R6A 1R6A, 2R8A 1R6A, 2R8A 40 40 8 40
120A − − 20 60 12 20
120A008,
5R5A, 7R6A 5R5A, 7R6A 12 60 12 12
180A, 200A
330A − − 8 180 36 8
470A − − (6.25)*1 (880)*1 (180)*1 5.8
550A, 590A, 780A − − (3.13)*2 (1760)*2 (350)*2 2.9
*1. Values in parentheses are for the optional JUSP-RA04-E Regenerative Resistor Unit.
*2. Values in parentheses are for the optional JUSP-RA05-E Regenerative Resistor Unit.
External Regenerative Resistors

Model Specification Mass Wire Size Manufacturer Inquiries
RH120 70 W, 1 Ω to 100 Ω 282 g AWG16 (1.25 mm ) 2
RH150 90 W, 1 Ω to 100 Ω 412 g AWG16 (1.25 mm2)

RH220 120 W, 1 Ω to 100 Ω 500 g AWG16 (1.25 mm2)
RH220B 120 W, 1 Ω to 100 Ω 495 g AWG14 (2.0 mm2) Iwaki Musen Kenkyusho Yaskawa Controls
RH300C 200 W, 1 Ω to 10 kΩ 850 g AWG14 (2.0 mm2) Co., Ltd. Co., Ltd.
RH450 150 W, 1 Ω to 100 Ω 880 g AWG14 (2.0 mm2)

RH450FY 150 W, 2 Ω to 100 Ω 1.3 kg AWG14 (2.0 mm2)
RH500 300 W, 2 Ω to 50 Ω 1.4 kg AWG14 (2.0 mm2)
Note: 1. Consult Yaskawa Controls Co., Ltd. if you require a RoHS-compliant resistor.
2. Consult Yaskawa Controls Co., Ltd. for the model numbers and specifications of resistors with Thermal
Protector.
RH120 10Ω J
Model Resistance Resistance Tolerance
Code Specification
K ±10%
J ±5%
H* ±3%
* There is no RH450FY model that has a resistance tolerance of H (±3%).
492
SERVOPACKs
Peripheral Devices
Regenerative Resistor Units

SERVOPACK Model: Regenerative Resistor
Specifications Allowable Power Loss
SGD7S- Unit Model
470A JUSP-RA04-E 6.25 Ω, 880 W 180 W
550A, 590A, or 780A JUSP-RA05-E 3.13 Ω, 1,760 W 350 W
Note: If you use only the above Regenerative Resistor Units, you do not need to change the setting of the Pn600
(Regenerative Resistor Capacity) or Pn603 (Regenerative Resistance) parameters.
 External Dimensions
 JUSP-RA04-E  JUSP-RA05-E
4×M5 4×M5
Protective
cover Protective
cover
335
350
335
350
External External
180 (1.6) 250 Ground (1.6)
terminals terminals
220 Ground terminal 92 300 terminal 95
4×M5 2×4×M5
(M4 screw) (M4 screw)
Cement resistor Cement resistor
30
30
Unit: mm Unit: mm
Approx. mass: 4.0 kg Approx. mass: 6.6 kg
Peripheral Devices
493
SERVOPACKs
Peripheral Devices
Batteries for Servomotors with Absolute Encoders

If you use an absolute encoder, you can use an Encoder Cable with a Battery Case connected
to it to supply power and retain the absolute position data.
You can also retain the absolute position data by supplying power from a battery on the host
controller.
Note: A Battery Case is not required if you use a Servomotor with a Batteryless Absolute Encoder and connect a
battery to the host controller.
Using Encoder Cables with Battery Cases

A Battery Case is attached to an Encoder Cable with a Battery Case. To replace the battery,
obtain a Lithium Battery (JZSP-BA01) and mount it in the Battery Case.
1. You cannot attach the Battery Case to an Incremental Encoder Cable.

2. Install the Battery Case where the surrounding air temperature is between -5°C and 60°C.
Important
Encoder Cable with Battery Case

Note: The cable and connector to connect the Encoder
Cable and Battery Case are not included.
SERVOPACK
Connector
Mount a Lithium Battery.
Battery Case (JUSP-BA01-E) Lithium Battery (JZSP-BA01)
 Selection Table
Name Order Number Remarks
The Encoder Cable and Battery are not included.
Battery Case (case only) JUSP-BA01-E
(This is a replacement part for a damaged Battery Case.)
This is a special battery that is mounted into the Battery
Lithium Battery JZSP-BA01
Case.
 Lithium Battery Dimensional Drawing

1 Red
Connectors
2 Black
Battery
ER3V (3.6 V, 1,000 mAh, from Toshiba Battery Co., Ltd.)
When Installing a Battery on the Host Controller

Use a battery that meets the specifications of the host controller.
Use the recommended Battery given in the following table or the equivalent.
494
SERVOPACKs
Peripheral Devices
Inrush Current Suppression Devices

Inrush current suppression devices prevent equipment from being damaged by inrush current.
They are used only when using a SERVOPACK of 5 kW or higher (SGD7S-330A, -470A, -550A, -
590A, or -780A) with a DC power supply input.
Selection Table
 External Inrush Current Suppression Resistors

External Inrush Current
Main SERVO- Suppression Resistor
Circuit PACK
Resis- Rated Manufacturer Inquiries
Power Model: Order Num-
Supply SGD7S- tance Power
ber
[Ω] [W]
330A
470A RH120-5ΩJ 5 Iwaki Musen Yaskawa
270 VDC 550A 70 Kenkyusho Controls
590A Co., Ltd. Co., Ltd.
RH120-3ΩJ 3
780A
 Inrush Current Suppression Resistor Short Relays

Recommended Inrush Current
Main SERVO- Main Cir- Suppression Resistor Short Relay
Contact
Circuit PACK cuit DC Volt- Manufac-
Specifica- Current
Power Model: Current age turer
tion Model Rating
Supply SGD7S- [Arms] Rating
[A]
[Vdc]
330A 34
G9EA-1-B 60
470A 36
OMRON
270 VDC 550A 48 NO G9EA-1-B-CA 400 100
Corporation
590A 68 G9EA-1-B-CA*1
Peripheral Devices
200
780A 92 G9EC-1-B*2
*1. Connect two Relays in parallel. Also, maintain the same resistance between the DC power supply and SERVO-
PACK for the wiring for each Relay.
*2. This Relay is applicable only when the temperature of the Relay installation environment is 50°C or less.
495
SERVOPACKs
Peripheral Devices
Software
SigmaSize+: AC Servo Capacity Selection Program

You can use the SigmaSize+ to select Servomotors and SERVOPACKs. There are two versions of
the software: A cloud version* and a stand-alone version.
The software supports all standard servo products sold by Yaskawa.
* SigmaSize+ is available in Japan only. Contact your Yaskawa representative for information on this program.
 Features
• Provides a vast amount of new product information.
• Lets you select servo products with a wizard.
• You can access and reuse previously entered data.
 Examples of the Servo Selection Interface

Mechanism Selection View Machine Specification Entry View
Speed Diagram Entry View Operating Conditions Selection View
Servomotor Selection View SERVOPACK Selection View
 System Requirements
Item System Requirement
Browser Internet Explorer version 10 or later
OS Windows Vista or Windows 7 (32-bit or 64-bit edition)*
CPU Pentium 200 MHz min.
Memory 64 MB min. (96 MB or greater recommended)
Available Hard Disk Space 20 MB min.
* 64-bit OS is applicable only for the stand-alone version.
496
SERVOPACKs
Peripheral Devices
SigmaWin+: AC Servo Drive Engineering Tool

The SigmaWin+ Engineering Tool is used to set up and optimally tune Yaskawa Σ-series Servo
Drives.
 Features
• Set parameters with a wizard.
• Display SERVOPACK data on a computer just like you would on a oscilloscope.
• Estimate moments of inertia and measure vibration frequencies.
• Display alarms and alarm diagnostics.
Setting Parameters with a Wizard Displaying SERVOPACK Data on a Computer Just Like You
Would on a Oscilloscope
Estimating Moments of Inertia and Displaying Alarms and Alarm Diagnostics

Measuring Vibration Frequencies
Peripheral Devices
System Requirement
Item
Ver.5 Ver.7
Japanese, English, and Chinese (simpli-
Supported Languages English and Japanese
fied)
Windows XP, Windows Vista, or Win- Windows 10, Windows 8, Windows 8.1,
OS
dows 7 (32-bit or 64-bit edition) or Windows 7 (32-bit or 64-bit edition)
.NET Framework 4.5,
Software Environment –
.NET Framework 4.6
CPU Pentium 200 MHz min. 1 GHz min. (recommended)
64 MB min.
Memory 1 GB min. (recommended)
(96 MB or greater recommended)
For Standard Setup:
Available Hard Disk
350 MB min. (400 MB or greater recom- 500 MB min.
Space
mended for installation)
Browser used to dis-
– Internet Explorer 9 or higher
play Help
497
SERVOPACKs
Peripheral Devices
MPE720 System Integrated Engineering Tool

MPE720 Ver.7 is a system integrated Engineering Tool that provides the complete development
functionality to set up, adjust, program, maintain, and inspect not only Controller programs but also
all of the devices necessary to design machine installations, including Servo Drives, AC Drives, and
Distributed I/O Devices.
It is installed in a PC and operated on a PC interface through a connection between the PC and
Machine Controller.
 Features
 Complete Adjustment and Maintenance of Equipment Drive Devices

MPE720 Ver.7 connected to the Σ-7C or MP series machine controllers can be used to set up,
adjust, and maintain Servo Drives, AC Drives, and I/O Devices connected to a network. There is no
need to change connections, which increases efficiency.
 Greater Efficiency with the Best Programming Method

Ladder Programming Motion Programming
• The new user interface lets just about anyone • Positioning and interpolation can be pro-
easily use the MPE720. grammed with one instruction.
• An improved EXPRESSION instruction simpli- • Programs can be very easily edited using
fies programming calculation in ladder dia- expressions in a text format.
grams. • New variable programming can provide PC-like
• Support is provided for all types of control, programming.
including position, speed, torque, and phase
control.
Item Specification
CPU 1 GHz or more recommended (manufactured by Intel or other companies)
Memory Capacity 1 GB or more recommended*
Available Hard Disk 700 MB or more (includes standard workspace memory after installation of
Space MPE720)
Display Resolution 1280 × 800 pixels or more recommended
CD Drive 1 (only for installation)
Communications Ports RS-232C, Ethernet, MP2100 bus, and USB
OS Windows 10, Windows 8, Windows 8.1, or Windows 7 (32-bit or 64-bit)
.NET Environment .NET Framework 4.5
Supported Languages English and Japanese
* Expand memory if other application programs are run simultaneously with MPE720 on the same computer. Per-
formance may be slow due to the use of memory by multiple application programs that are run simultaneously.
498
MEMO
499
Peripheral Devices
SERVOPACKs For SGM7M Servomotor
Σ-V SERVOPACKs with DC Power Input
Model Designations
SGDV - 2R9 E S1 A 000 00 0

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th 13th
Σ-V Series digits digit digits digit digits digits digit
SGDV SERVOPACKs
with DC Power Input
Maximum Applicable 4th digit Voltage

1st+2nd+3rd digits 8th+9th+10th digits Options (hardware)
Motor Capacity
Voltage Code Specification Code Specification Code Specification
1R7 0.011 kW E 48 VDC* None
24 VDC/ Standard
48 VDC 000
2R9 0.033 kW
5th+6th digits Interface 11th+12th digits Options (software)

None
S1 Analog Voltage Reference Standard
00
P1 Pulse Train Reference
MECHATROLINK-II 13th digit Options (parameter)
11
Code Specification
MECHATROLINK-III
21 None
Communications Reference Standard
0
A, B…
* Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be
24 VDC.
500
SERVOPACKs
Ratings
Model SGDV- 1R7 2R9
Instantaneous Max. Output Current [Arms] 4.1 8.6
Main Circuit Power Supply 24 VDC±15% 48 VDC±15% 24 VDC±15% 48 VDC±15%
Control Power Supply 24 VDC ±15%
Overvoltage Category I
* You can use either 24 or 48 VDC for the main circuit power supply. If using a 24-VDC input, the torque-motor
speed characteristics of the servomotor will be less than the characteristics of a 48-VDC input. For details, refer to
the following section.
Torque-Motor Speed Characteristics (page 7)

perature of 40°C.
SGM7M-B3E, -B5E, -B9E SGM7M-A1E, -A2E, -A3E
10000 10000
1000
1000
Detection time (s)
Detection time (s)
100
SGM7M-B9E
Σ -V DC Power Input
100
10
10
1
SGM7M-B3E, -B5E
0.1 1
0 50 100 150 200 250 0 60 120 180 240 300
(%) (%)
speed characteristics) of the Servomotor given in Torque-Motor Speed Characteristics (page 7).
501
SERVOPACKs
Specifications
 Analog Voltage Reference/Pulse Train Reference

Item Specification
Drive Method Sine-wave current drive with PWM control
Feedback Encoder: 20-bit (incremental/absolute)
Surrounding Air Temperature 0°C to +55°C
Storage Temperature -20°C to +85°C
Ambient Humidity 90% RH or less
With no freezing or condensation
Operating Conditions
Storage Humidity 90% RH or less

An environment that satisfies the following 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
Free of static electricity, strong electromagnetic fields, magnetic fields or
Others
exposure to radioactivity
Mounting Base-mounted
1:5000 (The lower limit of the speed control range must be lower than the
Speed Control Range
point at which the rated torque does not cause the servomotor to stop.)
0% to 100% load: ±0.01% max. (at rated speed)
Regulation*
Performance
Load Regulation
Speed
Voltage Regulation Rated voltage ±10%: 0% (at rated speed)

Temperature Regulation 25 ± 25°C: ±0.1% max. (at rated speed)
Torque Control Tolerance
±1%
(Repeatability)
Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)
502
SERVOPACKs

Item Specification
Phase A, B, C: line driver
Encoder output pulse: any setting ratio
Encoder Output Pulse AC Servo Drives DC Power Input Σ-V Series USER’S MANUAL Design
and Maintenance Rotational Motor Analog Voltage Reference and
Pulse Train Reference (Manual No.: SIEP S800000 81)
Number of
7 ch
Channels
• Servo ON (/S-ON)
• Proportional control (/P-CON)
• Forward run prohibited (P-OT), reverse run prohibited
(N-OT)
Sequence Input
• Alarm reset (/ALM-RST)

• Forward external torque limit (/P-CL), reverse external
Input Signals which can be torque limit (/N-CL)
allocated • Internal set speed selection (/SPD-D, /SPD-A, /SPD-B)
Functions
• Control selection (/C-SEL)
• SEN signal (/SEN)
• Zero clamping (/ZCLAMP)
I/O Signals
• Reference pulse inhibit (/INHIBIT)

• Gain selection (/G-SEL)
• Reference pulse input multiplication switching (/PSEL)
Signal allocations can be performed, and positive and
negative logic can be changed.
Fixed Output Servo alarm (ALM)
Number of
3 ch
Channels
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
Sequence Output
• Rotation detection (/TGON)

• Servo ready (/S-RDY)
Output Signals which • Torque limit detection (/CLT)
can be allocated • Speed limit detection (/VLT)
Functions • Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
• Reference pulse input multiplication switching
output (/PSELA)
Signal allocations can be performed, and positive
and negative logic can be changed.
Connect the Σ-V digital operator (model: JUSP-OP05A-1-E) through
an applicable analog monitor unit (model: JUSP-PC001-E) and a con-
Communi-
Function
Digital Operator
cations
nection cable (model: JZSP-CF1S05-A3-E), or a relay cable (model:

JZSP-CF1S00-A3-E).
Personal Computer Supports SigmaWin+.
Communications (USB) Based on the USB 1.1 standard (12 Mbps).
LED Display ALM (red), RDY (green)
Number of points: 2
Output voltage: ± 10 VDC (linearity effective range ± 8 V)
Analog Monitor Output through the analog monitor unit (model: JUSP-PC001-E), the
connection cable (model: JZSP-CF1S05-A3-E), and the analog moni-
tor cable (model: JZSP-CA01-E).
Dynamic Brake (DB) Not supported.
Regenerative Processing Not supported.
Overtravel Prevention (OT) Deceleration to a stop or free run to a stop at P-OT or N-OT
Protective Function Overcurrent, overvoltage, overload, and so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
503
SERVOPACKs

Item Specification
Performance
• Max. input voltage: ±12 V

Input Signals
(forward speed reference with positive reference)

Reference Voltage
• Factory setting: 6 VDC at rated speed
Input gain setting can be varied.
Speed Control

Analog Voltage Reference

Rotation Direction
Internal Set Speed Control
With P control signal

Selection
With forward/reverse external torque limit signal (speed 1 to 3 selec-

tion).
Speed Selection
Servomotor stops or another control method is used when both are
OFF.
• Max. input voltage: ±12 V

Torque Control
Input Signals
(forward torque reference with positive reference)

Reference Voltage
• Factory setting: 3 VDC at rated torque
Input gain setting can be varied.
Feedforward
Performance
0% to 100%
Compensation
Positioning Completed
0 to 1073741824 reference units
Width Setting
Select one of them:
Type Sign + pulse train, CW + CCW pulse train, or two-phase pulse train
Pulse Train Reference
with 90° phase differential

Position Control
Form For line driver, open collector

Line driver
Reference Pulse
Sign + pulse train, CW + CCW pulse train: 4 Mpps

Input Signals
Max. Input Pulse Two-phase pulse train with 90° phase differential: 1 Mpps
Frequency Open Collector
Sign + pulse train, CW + CCW pulse train: 200 kpps
Two-phase pulse train with 90° phase differential: 200 kpps
Reference Pulse
Input Multiplication 1 to 100 times
Switching
Position error clear
Clear Signal
For line driver, open collector

Rated motor speed
504
SERVOPACKs
 MECHATROLINK-II Communication Reference

Item Specification

Protection Class IP10 An environment that satisfies the following conditions.
Pollution Degree 2 • Free of exposure to water, oil, or chemicals
Free of static electricity, strong electromagnetic fields, magnetic fields
Others
or exposure to radioactivity
1:5000 (The lower limit of the speed control range must be lower than
Speed Control Range the point at which the rated torque does not cause the servomotor to
stop.)
Regulation*
Load Regulation 0% to 100% load: ±0.01% max. (at rated speed)

Speed
Performance

±1%
(Repeatability)
0 to 10 s (Can be set individually for acceleration and deceleration.)
AC Servo Drives S-V Series /DC Power Input S-V Series/S-V Series for
Large-Capacity Models USER’S MANUAL MECHATROLINK-II Com-
mands (Manual No.: SIEP S800000 54)
Number of
3 ch
Channels
Sequence Input
• Homing deceleration switch (/DEC)

• External latch (/EXT 1)
Input Signals which can • Forward run prohibited (P-OT), reverse run prohib-
be allocated ited (N-OT)
Functions
• Forward external torque limit (/P-CL), reverse exter-
nal torque limit (/N-CL)
I/O Signals

Number of
3 ch
Channels
Sequence Output

Output Signals which • Servo ready (/S-RDY)
can be allocated • Torque limit detection (/CLT)
Functions • Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
505
SERVOPACKs

Item Specification
nications
Commu-
Function

LED Display ALM (red), RDY (green), COM (green)

Number of pins: four pins × 2 switches
MECHATROLINK-II DIP Switch AC Servo Drives DC Power Input Σ-V Series USER’S
MANUAL Design and Maintenance Rotational Motor
Communications Setting Switches (SW1, SW2)
MECHATROLINK-II Communications Reference
Number of points: 2
Gain adjustment, alarm history, JOG operation, origin search, and so
Utility Function
on.
Communication Protocol MECHATROLINK-II
41H to 5FH (Max. number of stations: 30)
MECHATROLINK-II
Station Address
Communication
Can be selected by the combination of the DIP switch (SW1, SW2).

10 Mbps, 4 Mbps
Baud Rate
Can be selected by the DIP switch (SW2).
250 μs, 0.5 ms to 4.0 ms (Multiples of 0.5 ms)
Transmission Cycle
Can be selected by the DIP switch (SW2).
Number of Transmission 17 bytes per station or 32 bytes per station
Bytes Can be selected by the DIP switch (SW2).
Position, speed, or torque control with MECHATROLINK-II communi-
Reference
Control Method
Method
cation
MECHATROLINK-I, MECHATROLINK-II commands (sequence,
Reference Input
motion, data setting/reference, monitoring, or adjustment)

Rated motor speed
506
SERVOPACKs
 MECHATROLINK-III Communication Reference

Item Specification

An environment that satisfies the following condi-
Protection Class IP10 tions.
Pollution Degree 2 • Free of exposure to water, oil, or chemicals
Free of static electricity, strong electromagnetic fields, magnetic fields
Others
or exposure to radioactivity
1:5000 (The lower limit of the speed control range must be lower than
Speed Control Range 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)

Regulation*
Load Regulation
Speed

±1%
(Repeatability)
Number of
3 ch
Channels
Sequence Input
• Homing deceleration switch (/DEC)
• External latch (/EXT 1)
Input Signals which can • Forward run prohibited (P-OT), reverse run prohib-
be allocated ited (N-OT)
Functions
• Forward external torque limit (/P-CL), reverse
external torque limit (/N-CL)
I/O Signals

Number of
3 ch
Channels
Sequence Output

Output Signals which • Servo ready (/S-RDY)
can be allocated • Torque limit detection (/CLT)
Functions • Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
507
SERVOPACKs

Item Specification
nications
Commu-
Function

LED Display ALM (red), RDY (green), LK1 (green), LK2 (green), CON (green)
Number of pins: Eight pins
AC Servo Drives DC Power Input Σ-V Series USER’S
DIP Switch
(S1)
MECHATROLINK-III Communications Reference
MECHATROLINK-III (Manual No.: SIEP S800000 83)
Communications Setting Switches Number of pins: Four pins
AC Servo Drives DC Power Input Σ-V Series USER’S
DIP Switch
(S2)
MECHATROLINK-III Communications Reference
Number of points: 2
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Communication Protocol MECHATROLINK-III
MECHATROLINK-III
03H to EFH (Max. number of stations: 62)

Communication
Station Address
Can be selected by the DIP switch (S1).
Baud Rate 100 Mbps
125 μs, 250 μs, 500 μs, 750 μs, and 1.0 ms to 4.0 ms (increments of
Transmission Cycle
0.5 ms)
Number of Transmission 16, 32, or 48 bytes per station
Bytes Can be selected by the DIP switch (S2).
Position, speed, or torque control with MECHATROLINK-III communi-
Control Method
cation
Reference
Method
MECHATROLINK commands (sequence, motion, data setting/refer-

Reference Input
ence, monitoring, or adjustment)
MECHATROLINK-III standard servo profile
Profile
MECHATROLINK-II-compatible profile
Rated motor speed
Power Supply Capacities and Power Losses

The following table shows the SERVOPACK’s power supply capacities and power losses.
Maximum
Power Sup- Main Cir-
Applicable Control
Main Circuit SERVOPACK ply Capacity Output cuit Total
Servomo- Circuit
Power Sup- Model per SERVO- Current Power Power
tor Capac- Power
ply SGDV- PACK [Arms] Loss Loss [W]
ity Loss [W]
[W] [W]
[W]
11 1R7E 108 1.7 3.4 10.6
24 VDC
30 2R9E 165 2.9 6.9 14.1
7.2
11 1R7E 169 1.7 3.4 10.6
48 VDC
30 2R9E 411 2.9 6.9 14.1
508
SERVOPACKs
Selecting Cables
 Analog Voltage Reference/Pulse Train Reference
Host Controller
I/O Signal Cables
CN1 Digital Operator
Digital Operator
Digital Operator Relay Cable
CN5
Analog Monitor Unit
Analog Monitor Unit Connection Cable

CN7 Computer Cable
CN3 Insulated AC/DC Converter for

Power Supply Cable Control Circuit Power Supply
Insulated AC/DC Converter for

Main Circuit Power Supply
 MECHATROLINK-II Communication Reference
MECHATROLINK-II Communication Cable

CN6
Connect to the MECHATROLINK-II
I/O Signal Cables
CN1 LED Indicator for
External Device
Computer Cable Analog Monitor Unit

CN7
CN5
Power Supply Cable Insulated AC/DC Converter for
CN3 Control Circuit Power Supply

509
SERVOPACKs
 MECHATROLINK-III Communication Reference
MECHATROLINK-III Communication Cable

CN6
Connect to the MECHATROLINK-III
CN1 I/O Signal Cables LED Indicator for

External Device
CN7 Computer Cable

Analog Monitor Unit
CN5

CN3
Power Supply Cable Control Circuit Power Supply

 Selection Table
Important

AC SERVO DRIVES Σ-V SERIES PRODUCT CATALOG (Catalog No.: KAEP S800000 42)
Length
(L)

Terminal
I/O Signal verter Unit
 Cables (with cable) 2m JUSP-TA26P-2-E 1
B1
A1
B20
A20
39
2 40

Loose Wires L
at One End 2m JZSP-CSI02-2-E
(loose wires
device end)
1m JZSP-CF1I02-1-E ２
Cable with ３
I/O Signal 2m JZSP-CF1I02-2-E


４
Loose Wires
５
Cables ７
at One End
８
3m JZSP-CF1I02-3-E １０
１１
510
SERVOPACKs

Length
(L)
1m JZSP-CF1G00-01-E
2m JZSP-CF1G00-02-E
3m JZSP-CF1G00-03-E
4m JZSP-CF1G00-04-E
SERVOPACK end Power Supply end
Cable with 5m JZSP-CF1G00-05-E
Power Supply

ＦＧ
Loose Wires Ｌ２
Cable
Ｃ２
at One End 6m JZSP-CF1G00-06-E ＦＧ
Ｌ１
Ｃ１
7m JZSP-CF1G00-07-E
8m JZSP-CF1G00-08-E
9m JZSP-CF1G00-09-E
10 m JZSP-CF1G00-10-E
With Connection Cable (1 m) ＳＶＯＮＣＯＩＮ
ＶＣＭＰ
Digital Operator* JUSP-OP05A-1-E

ＲＥＳＥＴ
ＪＯＧ
ＤＡＴＡ
SVON
READ WRITE
SERVO SERVO
Digital Opera- SERVOPACK end Digital Operator end
tor Relay 0.3 m JZSP-CF1S00-A3-E

Cable
Cables for
Digital Opera-
 tor/Analog
Analog Monitor Unit* JUSP-PC001-E
Monitor Unit
SERVOPACK end Analog Monitor Unit end
Analog Moni-
tor Unit Con- 0.3 m JZSP-CF1S05-A3-E
nection Cable
Analog Monitor Unit end

Analog Moni-
1m JZSP-CA01-E
tor Cable
Analog Monitor Unit* JUSP-PC001-E
Cables for
 Analog Moni- Analog Moni- SERVOPACK end Analog Monitor Unit end
tor Unit tor Unit Con- 0.3 m JZSP-CF1S06-A3-E

nection Cable
Analog Moni- Analog Monitor

1m JZSP-CA01-E Unit end
tor Cable
511
SERVOPACKs

Length
(L)
1m JEPMC-W6002-01-E
3m JEPMC-W6002-03-E
30 m JEPMC-W6002-30-E
40 m JEPMC-W6002-40-E
LINK-II 0.5 m JEPMC-W6003-A5-E
 Communica- 1m JEPMC-W6003-01-E
tions Cables
3m JEPMC-W6003-03-E
Cables with
40 m JEPMC-W6003-40-E
50 m JEPMC-W6003-50-E
1m JEPMC-W6012-01-E
2m JEPMC-W6012-02-E
Cables with 3m JEPMC-W6012-03-E
L
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
30 m JEPMC-W6012-30-E
MECHATRO
 Communica- Cables with 10 m JEPMC-W6013-10-E
tions Cables Connectors 20 m JEPMC-W6013-20-E L
(with ferrite
1m JEPMC-W6014-01-E
Cable with 3m JEPMC-W6014-03-E
L
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E
L
 Computer Cable 2.5 m JZSP-CVS06-02-E
512
SERVOPACKs
Front Cover Dimensions and Connector Specifications

The front cover dimensions and panel connectors depend on the SERVOPACK interface. Refer to
the following figures.
Front Cover Dimensions

 Analog Voltage Reference SGDV-1R7ES1A, -2R9ES1A
Pulse Train Reference SGDV-1R7EP1A, -2R9EP1A

Exterior
116
116
100
2×M4
4
14 7
(75) 80
30 30
Mounting Hole Diagram Unit: mm
 MECHATROLINK-II Communication Reference SGDV-1R7E11A, -2R9E11A

Exterior
116
116
100
2×M4
4
14 7
(75) 80
30
30
 MECHATROLINK-III Communication Reference SGDV-1R7E21A, -2R9E21A

Exterior
116
100
116
2×M4
4
14 7
(75) 80
30 30
513
SERVOPACKs

Base-mounted
 Analog Voltage Reference/Pulse Train Reference
Connector Number
CN1 Model Manufacturer
No. of Pins
CN1 10226-52A2PL 26 3M Japan Ltd.
CN2 CN5 CN2 3E106-0220KV 6 3M Japan Ltd.

CN4
CN3 43045-0600 6 Molex Japan LLC
CN3
°)
(220
CN7
Japan Aviation Elec-
CN5 DA3R018HB1 18
tronics Industry Ltd.
(38)
(4)
Hirose Electric Corpo-
CN7 UX60SC-MB-5S8 (80) 5
ration
(36)
Note: The above connectors or their equivalents are
80 (3)
used for the SERVOPACKs.
 MECHATROLINK-II Communication Reference
CN6A/CN6B Connector Number

Model Manufacturer
No. of Pins
CN1
CN2
CN4
CN7 CN4 43045-0400 4 Molex Japan LLC
CN3 CN5
CN5 DF11-6DP-2DS (52) 6
°)
ration
(220
CN6A/ Tyco Electronics

(4) 1903815-1 8
CN6B Japan G.K.
(38)
UX60SC-MB-5S8 Hirose Electric Corpo-

CN7 5
(80) ration
(36)
80 (3) Note: The above connectors or their equivalents are
 MECHATROLINK-III Communication Reference

CN6A Connector Number
Model Manufacturer
No. of Pins
CN6B
CN1
CN2
CN4
CN7
CN3 CN5
°)

(220
CN5 DF11-6DP-2DS (52) 6

ration
(4) CN6A/ Tyco Electronics
1981386-1 8
(38)
CN6B Japan G.K.

UX60SC-MB-5S8 Hirose Electric Corpo-
(36) CN7 5
(80) ration
80 (3)
Note: The above connectors or their equivalents are
514
SERVOPACKs
Peripheral Devices
MECHATROLINK
SERVOPACK Communications Cables*1, *6
Connect to the
MECHATROLINK-III*2
Power supply
Single-phase, 100 VAC/200 VAC
R T
Molded-case
circuit breaker
(page 520) Host Controller
I/O Signal Cables*6
Noise Filter
Insulated AC/DC
(page 521) Battery Case
Converter for Control
Power Supply (Used for an
absolute
Servomotor encoder.)
Main Circuit (page 494)
Cable
Magnetic Contactor (page 519) Computer
(page 522)
Computer Cable*6
Power Supply Cable
Linear Analog
Ground
100 VAC/200 VAC Encoder Analog Monitor Monitor Analog
cable
Cable Unit Connection Unit*6 Monitor
Insulated AC/DC Cable*6 Cable*6
Converter for Main
Circuit Power Supply
Holding Brake
Power Supply
Unit*3, *4, *5
Magnetic Contactor
(page 522)
(Wires required for a Servomotor with a Brake)
Servomotor
*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference, Three-phase
200 VAC SERVOPACK as an example. The shapes of the connectors may be different for other interfaces.
*2. The connected devices depend on the interface.
For MECHATROLINK-II communications references: Other MECHATROLINK-II stations
For analog voltage/pulse train references: There is no CN6 connector.
*3. A Holding Brake Power Supply Unit is required to use a Servomotor with a Holding Brake. Holding Brake Power
Supply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers.
Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent
may result in burning in the brake.
*4. If you use a Servomotor with a Holding Brake, select a brake relay according to the power supply voltage and
current of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake
relay using the selection method of the brake relay manufacturer.
*5. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold-
ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply
from other power supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is
shared, the I/O signals may malfunction.
*6. For SERVOPACK cables, refer to the following sections for details.
Selecting Cables (page 509)
515
SERVOPACKs
Wiring Main Circuit
 Typical Main Circuit Wiring Examples

This section shows an example of the typical wiring for the main circuit.
WARNING
High voltage may still remain in the SERVOPACK after the power has been turned OFF. To
avoid electric shocks, do not touch the power supply terminals. Be sure that the remaining volt-
age has been discharged before wiring and inspecting.
• Turn ON the power supplies for the control and for the main circuit at the same time, or first
turn ON the control power and then the power for the main circuit power. When turning OFF
the power, first turn OFF the power for the main circuit and then control power.
Important • Use separate power supplies for the main circuit AC/DC power supply and control AC/DC
power supply. Use power supplies with double or reinforced insulation and that have also been
certified for safety standards.
• Do not connect the following devices to the control power line: motors, solenoids, or other devices
with large load fluctuations, and contactors or other devices that generate surge voltage. If con-
nected, internal elements may deteriorate or a fuse may melt.
 SERVOPACKs with Analog Voltage Reference/Pulse Train Reference

R T SERVOPACK
SGDV-ES1
SGDV-EP1
1QF
Insulated AC/DC CN4

converter for main U
1FLT circuit power supply V M
1KM CN3
W
L1
L2
ENC
C1
C2
Insulated AC/DC 1QF : Molded-case circuit breaker
converter for control +24 V
CN1 1FLT : Noise filter
power supply 1Ry
8 ALM 1KM : Magnetic contactor
(for main circuit power supply)
(For servo alarm 1Ry : Relay
1Ry display) 1D 1PL : Indicator lamp
11 COM_SG
1SA : Surge absorber
0V
Main circuit Main circuit 1PL 1D : Flywheel diode
power supply power supply
On Off 1KM
1Ry
1KM 1SA
516
SERVOPACKs
 SERVOPACKs with MECHATROLINK-II or -III Communications Reference

R T SERVOPACK
SGDV-E11
SGDV-E21
1QF
Insulated AC/DC CN4

converter for main U
1FLT circuit power supply V M
1KM CN3
W
L1
L2
ENC
C1
C2
Insulated AC/DC 1QF : Molded-case circuit breaker
converter for control +24 V
CN1 1FLT : Noise filter
power supply 1Ry
4 ALM 1KM : Magnetic contactor
(for main circuit power supply)
(For servo alarm 1Ry : Relay
1Ry display) 1D 1PL : Indicator lamp
5 COM_SG
1SA : Surge absorber
0V
Main circuit Main circuit 1PL 1D : Flywheel diode
On Off 1KM
1Ry
1KM 1SA
 General Precautions for Wiring
• Use a molded-case circuit breaker (1QF) or a fuse to protect the servo system.
Always use a molded-case circuit breaker or a fuse to protect the servo system from accidents
involving different power voltages or other accidents.
Important • Install a ground fault detector.
The SERVOPACK does not have a built-in protective circuit for grounding. For a safer system,
install a ground fault detector to protect against overloads and short circuits, or install a ground
fault detector that is combined with a molded-case circuit breaker.
• Do not turn the power OFF and ON more than necessary.
• Do not use the SERVOPACK for applications that require the power to be frequently turned
OFF and ON. Such applications will cause elements in the SERVOPACK to deteriorate.
• As a guideline, wait at least one hour before restarting the power after turning OFF the
power during operation.
To ensure safe, stable application of the servo system, observe the following precautions when wir-
ing.
Observe the following precautions when wiring the main circuit.
• Use shielded twisted-pair wires or shielded, multi-core, twisted-pair wires for I/O signal cables and
the encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor
main circuit cables, and 10 m for control power and main circuit power cables.
Observe the following precautions when grounding.
• Use a cable that is as thick as possible.
• Ground the SERVOPACK to a resistance of 100 Ω 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.
517
SERVOPACKs
 Precautions When Using More Than One SERVOPACK

This section shows an example of wiring and precautions when more than one SERVOPACK is
used.
 Wiring Example
Wire the circuit so that each alarm detection relay (1 Ry, 2 Ry, 3 Ry) can be separately activated to
issue an alarm. After a SERVOPACK alarm is activated, the ALM output signal transistor is turned
OFF.
R T
1QF
1FLT
Insulated AC/DC converter

for main circuit power supply
1KM
Relay terminal CN3 SERVOPACK

Servomotor
L1
Relay M
terminal L2
Insulated AC/DC converter
for control power supply +24 V
C1 CN1 1Ry
C2 8 ALM
(For servo alarm display)

1Ry 11 COM_SG 1D
Relay
2Ry 1PL terminal
0V
CN3 SERVOPACK
Servomotor
3Ry L1
Relay
L2 M
terminal
Main circuit Main circuit
On Off 1KM C1 +24 V
CN1 2Ry
1Ry 2Ry 3Ry
C2 8 ALM
1SA 2D
1KM 11 COM_SG
0V
CN3 SERVOPACK
Servomotor
L1
L2 M
1QF : Molded-case circuit breaker 1PL : Indicator lamp

C1 +24 V
1FLT : Noise filter 1SA : Surge absorber CN1 3Ry
1KM : Magnetic contactor 1D : Flywheel diode C2 8 ALM
(for main circuit power supply) 2D : Flywheel diode
1Ry : Relay 3D : Flywheel diode
2Ry : Relay 11 COM_SG 3D
3Ry : Relay
0V
 Precautions
1. Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) and a single
noise filter. Always select a molded-case circuit breaker and a noise filter that have a large
enough capacity to handle all SERVOPACKs used. When selecting a breaker and a filter, also
consider load conditions.
2. When using SERVOPACKs with DC power, four signals for the sequencing of one SERVO-
PACK are connected at only one location (COM_SG) for common signal grounding. If alarm
signals for multiple SERVOPACKs are connected in series, an alarm signal may not be
received correctly when an alarm is issued.
518
SERVOPACKs
SERVOPACK Main Circuit Wire
 For 48 VDC and 24 VDC

SERVOPACK Model SGDV-
Cables Terminal Symbol Remarks
1R7E 2R9E
Selecting Cables
Power Supply Cable L1, L2, C1, C2, JZSP-CF1G00--E
(page 509)
JZSP-CF1M00--E (For motors without brakes)
JZSP-CF1M10--E (For motors with brakes)
Servomotor Main JZSP-CF1M20--E (Flexible type cable for motors Selecting Cables
U, V, W,
Circuit Cable without brakes) (page 15)
JZSP-CF1M30--E (Flexible type cable for motors
with brakes)
If assembling a main circuit cable for the SERVOPACK, observe the following conditions.
• The specified wire sizes are for use when the three lead cables are bundled and when the rated
electric current is applied with a surrounding air temperature of 40°C
• Use a wire with a minimum withstand voltage of 100 V.
Important • Use insulated wire with an outer diameter of 1.85 mm or smaller. The wire size is restricted due
to the specifications of the contact used.
• If cables are bundled in PVC pipes or metal ducts, remember to consider resulting reduction of
the allowable current.
• Use heat-resistant wire for high surrounding air or panel temperatures.
• Use a cable with a maximum length of 10 m for the main circuit’s power and one with a maxi-
mum length of 50 m for the motor’s main circuit.
SERVOPACK Model SGDV-

Cables Remarks
1R7E 2R9E
Connector 43025-0600 (by Molex Japan LLC) 6 poles
Contact 43030-0001 (by Molex Japan LLC) –
CN3 Wire for Main Circuit Power Rated voltage: 300 V; rated
For Main Circuit UL1007, AWG20
(L1, L2, ) temperature: 80˚C
Power
Wire for Control Power Rated voltage: 300 V; rated
UL1007, AWG20-24
(C1, C2, ) temperature: 80˚C
Connector
43025-0400 (by Molex Japan LLC) 4 poles
(SERVOPACK End)
Contact
43030-0001 (by Molex Japan LLC) –
(SERVOPACK End)
Connector
CN4 43020-0401 (by Molex Japan LLC) 4 poles
(for a servomotor without brake)
For Motor Main
Connector
Circuit 43020-0601 (by Molex Japan LLC) 6 poles
(for a servomotor with brake)
Contact
43031-0001 (by Molex Japan LLC) –
(Servomotor End)
Wire for Servomotor Main Circuit Rated voltage: 300 V; rated
UL1007, AWG20
(U, V, W, brake power, ) temperature: 80˚C
519
SERVOPACKs
Molded-case Circuit Breaker and Fuse Capacity

 Input Power Capacity
Input Current Capacity
Main Cir-
Main Cir- Power Supply Main Cir-
cuit
cuit SERVOPACK Capacity per cuit Con-
Servomotor Model Instanta- Control
Power Model SERVOPACK tinuous
neous Circuit
Supply W Rated
Maximum A
Current
Current
A
A
SGMMV-B3E2A
1.5
SGDV-1R7E1A SGMMV-B5E2A 108 5.5
SGMMV-B9E2A 2.0
24 VDC
SGMMV-A1E2A 1.5
SGDV-2R9E1A SGMMV-A2E2A 165 2.5 8.5
SGMMV-A3E2A 3.5
0.3
SGMMV-B3E2A 121 3.0
SGDV-1R7E1A SGMMV-B5E2A 135 1.0 3.5
SGMMV-B9E2A 169 4.5
48 VDC
SGMMV-A1E2A 165 1.0 4.5
SGDV-2R9E1A SGMMV-A2E2A 290 1.5 7.5
SGMMV-A3E2A 411 2.0 10.5
Note: The power supply capacities indicated in the table are values at an instantaneous maximum load. The main
circuit’s power supply capacity and the input current capacity are indicated in net values.
 Molded-case Circuit Breaker and Fuse Capacity

Current Capacity of MCCB or Fuse
SERVOPACK (Main + Control Circuit)
Power Supply Output Voltage Model Power Supply Voltage Power Supply Voltage
SGDV- at 100 VAC at 200 VAC
Arms Arms
Main Circuit 24 VDC 5.5 2.9
Power Supply 48 VDC 1R7E 9.0 4.8
Control Circuit 2R9E
24 VDC – –
Power Supply
Note: Select an MCCB or a fuse that satisfies the following braking characteristics.
• No braking at the inrush current value of the used power supply for 20 ms.
520
SERVOPACKs
 AC/DC Power Supply

Use an AC/DC power supply that is appropriate for the voltage of the main circuit and the model of
the SERVOPACK and servomotor. The recommended AC/DC power supplies are shown in the fol-
lowing table.
Main Circuit Recommended AC/DC Power Supply*
SERVOPACK
Power Sup- Servomotor Model
Model Model Manufacturer
ply
SGMMV-B3E2A
SGDV-1R7E1A SGMMV-B5E2A HWS150-24
SGMMV-B9E2A
24 VDC
SGMMV-A1E2A
SGDV-2R9E1A SGMMV-A2E2A HWS300-24
SGMMV-A3E2A TDK-Lambda
SGMMV-B3E2A Corp.
SGDV-1R7E1A SGMMV-B5E2A HWS300-48
SGMMV-B9E2A
48 VDC
SGMMV-A1E2A
SGDV-2R9E1A SGMMV-A2E2A HWS300P-48
SGMMV-A3E2A
* Use double-insulated power supplies certified for the following international safety standards: UL60950 or EN60950.
Noise Filters
 Noise Filter Selection
Use of the following noise filter is recommended for the AC side.
Power Supply SERVOPACK Model Recommended Noise Filter
AC Side Voltage SGDV- Model Specifications Leakage Current
100 VAC/ 0.734 mA
1R7E, 2R9E FN2070-6-07 Single-phase 250V 6A
200 VAC 230 VAC/50 Hz
Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model.
Some noise filters have large amounts of leakage current. The grounding measures taken also
affect the extent of the leakage current. If necessary, select an appropriate leakage current detec-
tor or leakage current breaker taking into account the grounding measures that are used and
Important leakage current from the noise filter. Contact the manufacturer of the noise filter for details.
 External Dimensions (Units: mm)

FN Type (by Schaffner EMC, Inc.)
Model FN2070-6-07
Top View Side View
113.5±1
32.4±0.5
38±0.5
103±0.3
94±1 0.9±0.1
57.5±1
25±0.2
4.4±0.1
Dimensional
Drawings 6±0.1 8.4±0.5
45.4±1.2
Connection Lead P/N/E

+5
140 -0
521
SERVOPACKs
Magnetic Contactors
 Magnetic Contactor Selection

A magnetic contactor is required when external sequence circuit is used to turn the power of a SER-
VOPACK OFF and ON.
The magnetic contactor shown in the following table is recommended on the AC side of the main
circuit’s power supply.
Be sure to attach a surge absorber (surge absorber unit etc.) to the excitation coil of the magnetic
contactor.
Power Sup- Magnetic Contactor
SERVOPACK Model
ply AC Side
SGDV- Model Specifications
Voltage
100 VAC/
1R7E, 2R9E SC-03 (RoHS)
200 VAC
Note: Contact Fuji Electric FA Components & Systems Co., Ltd.
 External Dimensions (Units: mm)
 SC-03
Mounting Hole Dimensions
90 (Mounting Rail Height: 15) 43
80 (28) Coil Terminal Aux. Terminal 34
61 Main Terminal M3.5 M3.5 30
8.5 M3.5 14.5
is available.) (20.5)
Aux. Contact Structure

18.5
1/L1 3/L2 5/L3 13

23
1a
A1 A2

(48 Mounting

81
2/T1 4/T2 6/T3 14

52
43
60
1/L1 3/L2 5/L3 21

1b A1 A2

2/T1 4/T2 6/T3 22

For front mounting,
aux. contact blocks 7.7 10 35
are attached.
 Mounting methods: The following methods , ,  are available.

···34 × (48 to) 52
···30 × 48
···35 × 60
 Mounting screw: 2-M4

Use the two mounting holes on the diagonal line to mount a contactor.
Approx. Mass : 0.32 kg
522
Option Modules
Features
Feedback Option Module
Fully-Closed Module ........................................ 524

• High-precision and high-response positioning by
using feedback from detector (such as an external
encoder) installed on the machine.
• High resolution with external encoders (linear
scales).
Safety Option Module
Safety Module .................................................. 534

• Safety functions equivalent to these stipulated in
international standard: IEC Safe Torque Off (STO),
Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safely-Limited
Speed (SLS)
• Two safety functions (A and B) provided.
Stopping functions can be allocated individually to
these safety functions.
• Monitoring times can be changed using parameters.
Fully-Closed Module
Safety Module
Option Modules
Fully-Closed Module
With a Fully-Closed Module, an externally installed encoder is used to detect the position of the
controlled machine and the machine’s position information is fed back to the SERVOPACK to imple-
ment controls. High-precision positioning is possible because the actual machine position is fed
back directly. To perform fully-closed loop control, a Fully-Closed Module and SERVOPACK are
required.
Model Designations
 Purchasing a Module in a Set with the SERVOPACK
To order SERVOPACKs with a Fully-Closed Module attached, use the following model numbers.
SGD7S *1
R 70 A 00 A 000 001
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+
Σ-7 Series digit digit 13th digits
Σ-7S Models

Motor Capacity
Code Specification Models
R70*2 0.05 kW A 200 VAC
000 Without options All models
R90*2 0.1 kW F 100 VAC
SGD7S-R70A
1R6*2 0.2 kW to -330A
2R8*2 0.4 kW Rack-mounted
5th+6th digits Interface SGD7S-R70F
3R8 0.5 kW 001 to -2R8F
5R5*2 0.75 kW Code Specification SGD7S-470A
Duct-ventilated
7R6 1.0 kW Analog voltage/pulse to -780A
Three- 00
phase, 120 1.5 kW train reference 002 Varnished All models
200 180 2.0 kW MECHATROLINK-II Single-phase,
VAC 10
communications reference 008 200-VAC SGD7S-120A
200 3.0 kW
MECHATROLINK-III power supply input
330 5.0 kW 20
communications reference SGD7S-R70A
470 6.0 kW
to -2R8A
550 7.5 kW No dynamic brake
SGD7S-R70F
590 11 kW 7th digit Design Revision Order 020*3 to -2R8F
780 15 kW A External dynamic SGD7S-3R8A
Single- R70 0.05 kW brake resistor to -780A
phase, R90 0.1 kW
100 2R1 0.2 kW 11th+12th+13th digits Option Module
VAC
001 Fully-Closed Module
 Purchasing a Module Separately

When ordering a SERVOPACK and a Fully-Closed Module separately, use the following Fully-Closed Module model number.
SGDV-OFA01A
1. One Option Case Kit is required for each SERVOPACK.
2. Refer to the following pages when using these Command Option Modules with Fully-Closed
Important
Module.
• INDEXER Module: Page 376
• DeviceNet Module: Page 390
3. Fully-Closed Module cannot be used with Safety Modules.
524
Option Modules
Specifications
Item Specification
Surrounding Air Temperature 0˚C to +55˚C
Storage Temperature −20˚C to +85˚C
Surrounding Air Humidity 90% relative humidity max.
There must be no freezing or condensation.
Storage Humidity 90% relative humidity max.

Degree of Protection IP10 • Must be no corrosive or flammable gases.
Pollution Degree 2 • Must be no dust, salts, or iron dust.
Altitude 1000 m max.
Others Locations subject to static electricity noise, strong electromagnetic/magnetic
System Configuration
Refer to the section for the relevant Servomotor for information on Servomotor Main Circuit Cables.
To select an External Linear Encoder, refer to Recommended Linear Encoders (pages 306 to 308).
The connection devices and cables for each type of encoder are also given. Prepare the required
items.
SERVOPACK
Fully-Closed Module
Servomotor Main
Circuit Cable
Serial Converter
Fully-Closed Module
Unit Cable
External Linear Encoder Cable
External Linear Encoder

Note: 1. Refer to the following section for information on peripheral devices.
Peripheral Devices (page 468)
2. If you purchase a Fully-Closed Module by itself, refer to the following manual for the method to mount it to
the SERVOPACK.
Σ-V Series/Σ-V Series for Large-Capacity Models/Σ-7 Series Installation Guide Fully-Closed Module (Manual
No.: TOBP C720829 03)
525
Option Modules
 Connections to Linear Encoder from Dr. JOHANNES HEIDENHAIN GmbH
 Connections for a 1 Vp-p Analog Voltage Output Signal

multiplied by 8 bits (256 divisions) in the Serial Converter Unit.

SERVO- Fully-Closed Encoder Cable
PACK Module
Connection to encoder in Rotary Servomotor
Linear Encoder from

Serial Converter Serial Converter Unit Linear*1Encoder Dr. JOHANNES HEIDENHAIN GmbH
CN2 CN31 Unit Cable Cable
Cable from
*1. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is lon-
ger than 3 m.
male).
No. Item Model

Fully-Closed Module Without options: SGD7S0A0001
(Purchased as a set with the With options:SGD7S0A1
Note: When a hardware option is mounted,  is replaced with a
 SERVOPACK) three-digit number that specifies the type of option.
Fully-Closed Module Fully-Closed Module SGDV-OFA01A

(Purchased alone) Option Case Kit*1 SGDV-OZA01A
 Serial Converter Unit Cable JZSP-CLP70--E*3
 Serial Converter Unit*2 JZDP-H003-000
 Linear Encoder Cable JZSP-CLL30--E*3
*1. One Option Case Kit is required for each SERVOPACK.
The set includes the module cover, PCB mounting plate, and two mounting screws.
*2. Refer to the following manual for the specifications of the Serial Converter Units.
*3. The boxes () in the model number are replaced with the cable length when ordering.
(1 m = 01, 3 m = 03, 5 m = 05, 10 m = 10, 15 m = 15, and 20 m = 20)
526
Option Modules
 Connections When Using a Yaskawa Serial Interface for the Output Signals
• LIC4100, LIC2100, LC115, or LC415 Linear Encoder with EIB3391Y Interpolator

PACK Module
Linear Encoder from
LC4100 LIC2100
Encoder Cable from LC115 LC415
CN2 CN31 Dr. JOHANNES HEIDENHAIN GmbH*
EIB3391Y
Interpolator
Products from Dr. JOHANNES HEIDENHAIN GmbH
* Use an Encoder Cable from Dr. JOHANNES HEIDENHAIN GmbH. Contact Dr. JOHANNES HEIDENHAIN GmbH
• ECA4412/RCN10/ROC310 Rotary Encoder with EIB3391Y Interpolator

PACK Module
Rotary Encoder from
ECA4412
RCN10
Encoder Cable from
ROC310
CN2 CN31 Dr. JOHANNES HEIDENHAIN GmbH*
EIB3391Y
Interpolator
Products from Dr. JOHANNES HEIDENHAIN GmbH
* Use an Encoder Cable from Dr. JOHANNES HEIDENHAIN GmbH. Contact Dr. JOHANNES HEIDENHAIN GmbH
Fully-Closed Module
527
Option Modules
 Connections to Linear Encoder from Renishaw Plc
 Connections for a 1 Vp-p Analog Voltage Output Signal

multiplied by 8 bits (256 divisions) in the Serial Converter Unit.

PACK Module
Linear Encoder from

Serial Converter Serial Converter Unit Linear Encoder Cable Renishaw plc*2
CN2 CN31 Unit Cable
*1. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc.
However, the BID and DIR signals are not connected.
*2. If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may sometimes be falsely
detected.
No. Item Model

Fully-Closed Module Without options: SGD7S0A0001
(Purchased as a set with the With options:SGD7S0A1
Note: When a hardware option is mounted,  is replaced
 SERVOPACK) with a three-digit number that specifies the type of option.
Fully-Closed Module Fully-Closed Module SGDV-OFA01A

(Purchased alone) Option Case Kit*1 SGDV-OZA01A
 Serial Converter Unit Cable JZSP-CLP70--E*3
 Serial Converter Unit*2 JZDP-H005-000
 Linear Encoder Cable JZSP-CLL00--E*3
*1. When ordering a SERVOPACK and a Fully-Closed Module separately, use this Fully-Closed Module model num-
ber.
*2. Refer to the following manual for the specifications of the Serial Converter Units.
*3. The boxes () in the model number are replaced with the cable length when ordering.
(1 m = 01, 3 m = 03, 5 m = 05, 10 m = 10, 15 m = 15, and 20 m = 20)
528
Option Modules
 Connections When Using a Yaskawa Serial Interface for the Output Signals
• EVOLUTE Series or RESOLUTE Series Linear Encoder

PACK Module
Linear Encoder from

Renishaw plc
EVOLUTE Series
Encoder Cable from RESOLUTE Series
CN2 CN31 Renishaw plc*
* Use an Encoder Cable from Renishaw plc. Contact Renishaw plc for detailed Encoder Cable specifications.
• RESOLUTE Series Rotary Encoder

PACK Module
RESOLUTE-Series
Rotary Encoder from
Encoder Cable from
Renishaw plc
CN2 CN31 Renishaw plc*
* Use an Encoder Cable from Renishaw plc. Contact Renishaw plc for detailed Encoder Cable specifications.
Fully-Closed Module
529
Option Modules
 Connections to Linear Encoder from Magnescale Co., Ltd.

 SL70 Linear Encoder and PL101-RY Sensor Head with Interpolator

PACK Module
SL70 Linear
Encoder from
Encoder Cable* Magnescale Co., Ltd.
CN2 CN31 JZSP-CMP00--E
PL101-RY Head with
Interpolator
* The boxes () in the model number are replaced with the cable length when ordering.
(3 m = 03, 5 m = 05, 10 m = 10, 15 m = 15, and 20 m = 20)
 SmartSCALE Linear Encoder (SQ10 Scale + MQ10-FLA Interpolator)

PACK Module
SQ10 Linear Encoder

from Magnescale
Encoder Cable from Co., Ltd.
CN2 CN31 Magnescale Co., Ltd.*
MQ10-FLA
Interpolator
* Use a Encoder Cable from Magnescale Co., Ltd. The maximum cable length in this case is 15 m.
Contact Magnescale Co., Ltd. for detail Encoder Cable specifications.
 SR-75, SR-77, SR-85, and SR-87 Linear Encoders

PACK Module
Linear Encoder from

SR75-LF SR85-LF
SR75-MF SR85-MF
SR77-LF SR87-LF
Encoder Cable from SR77-MF SR87-MF
* Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable
specifications.
 SmartSCALE Linear Encoders (SQ47 and SQ57)

PACK Module
Linear Encoder from

Encoder Cable from SQ47/SQ57
* Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable
specifications.
530
Option Modules
 RU77-4096ADF/RU77-4096AFFT01 Absolute Rotary Encoders

PACK Module
Rotary Encoder from

RU77-4096ADF
Encoder Cable from RU77-4096AFFT01
* To connect the SERVOPACK and Rotary Encoder, use a CE28-Series Extension Cable for RU77 from Magnescale Co., Ltd.
Note: The RU77 is a single-turn absolute rotary encoder.
 Connections to Linear Encoders from Mitutoyo Corporation
 ST78A/ST13 Linear Encoders

Linear Encoders from
SERVO- Fully-Closed Encoder Cable Mitutoyo Corporation
PACK Module ST781A ST788A
ST782A ST789A
Serial Converter ST783A ST1831
Unit Cable* ST784A ST1832
CN2 CN31 JZSP-CLP70-E
Cable from Mitutoyo Corporation
* The boxes () in the model number are replaced with the cable length when ordering.
(1 m = 01, 3 m = 03, 5 m = 05, 10 m = 10, 15 m = 15, and 20 m = 20)
 Connections to Linear Encoders from Fagor Automation S. Coop.

PACK Module
Linear Encoder from

Encoder Cable from
Fully-Closed Module
Fagor Automation S. Coop.
CN2 CN31 Fagor Automation S. Coop.*
Products from Fagor Automation S. Coop.

* To connect the SERVOPACK and Rotary Encoder, use a Encoder Cable from Fagor Automation S. Coop.
Contact Fagor Automation S. Coop. or the representative for detailed Encoder Cable specifications.
531
Option Modules
External Dimensions
Refer to pages 456 to 467 for the external dimensions of the individual SERVOPACKs.
160
(23)
CN31 (9.8)
Unit: mm
20 (75) 97 Approx. Mass: 0.1 kg
 Connectors  Encoder Signal Functions (CN31)

Device Number Pin Signal Function
Model Manufacturer
Label of Pins 1 PG5 V Encoder power supply +5 V
CN31 3E106-0220KV 6 3M Japan Ltd. 2 PG0 V Encoder power supply 0 V
Note: The above connectors or their equivalents are used 3 − −
for the Fully-Closed Module. 4 − −
5 PS Serial data (+)
6 /PS Serial data (-)
Shell Shield −
532
MEMO
533
Fully-Closed Module
Option Modules
Safety Module
This Safety Module implements safety functions that conform to EN ISO 13849-1 (the harmonized
EU Machinery Directive) and are specified in the individual IEC 61800-5-2 standard. You can com-
bine it with an SGD7S SERVOPACK to design optimum safety in a machine system according to
industry needs.
Model Designations
 Purchasing a Module in a Set with the SERVOPACK
To order SERVOPACKs with a Safety Module attached, use the following model numbers.
SGD7S *1
R 70 A 00 A 000 010
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+
Σ-7 Series digit digit 13th digits
Σ-7S Models

Motor Capacity
Code Specification
Models
R70*2 0.05 kW A 200 VAC
000 Without options All models
R90*2 0.1 kW F 100 VAC
SGD7S-R70A
1R6*2 0.2 kW to -330A
2R8*2 0.4 kW Rack-mounted
5th+6th digits Interface SGD7S-R70F
3R8 0.5 kW 001 to -2R8F
Code Specification
5R5*2 0.75 kW SGD7S-470A
Analog voltage/pulse Duct-ventilated
Three- 7R6 1.0 kW 00 to -780A
train reference
phase, 120 1.5 kW 002 Varnished All models
200 MECHATROLINK-II
180 2.0 kW 10 Single-phase,
VAC communications reference
200 3.0 kW 008 200-VAC SGD7S-120A
MECHATROLINK-III power supply input
330 5.0 kW 20
communications reference
470 6.0 kW SGD7S-R70A
550 7.5 kW to -2R8A
7th digit Design Revision Order No dynamic brake
590 11 kW 020*3 SGD7S-R70F
A to -2R8F
780 15 kW
R70 0.05 kW brake resistor
Single- to -780A
phase, R90 0.1 kW
100 2R1 0.2 kW 11th+12th+13th digits Option Module
VAC 2R8 0.4 kW
Code Specification
010 Safety Module
 Purchasing a Module Separately

When ordering SERVOPACKs and Safety Modules separately, use the following Safety Module
model number.
SGDV-OSA01A
1. One Option Case Kit is required for each SERVOPACK.
2. INDEXER Modules, DeviceNet Modules, and Fully-Closed Modules cannot be used with
Important Safety Modules.
3. The encoders without Yaskawa’s serial converter units cannot be connected to SERVOPACKs
with a Safety Module.
534
Option Modules
Applicable Standards and Functions
 Applicable Safety Standards

Applicable Products
Safety Standard Applicable Standard SERVOPACK +
SERVOPACK
Safety Module
EN ISO13849-1: 2015
Safety of Machinery  
IEC 60204-1
IEC 61508 Series
Functional Safety IEC 62061  
IEC 61800-5-2
EMC IEC 61326-3-1  
: Applicable
 Support for Functions Defined in IEC61800-5-2

Safety functions are implemented by using the hard wire base block (HWBB) in the SERVOPACK.
Applicable Products
Safety Function Description SERVOPACK +
SERVOPACK
Safety Module
This safety function is equivalent
Safe BaseBlock
to an STO function. (It shuts OFF
Function  
the power supply from the SER-
(SBB function)
VOPACK to the motor.)
to an SS1 function. (It monitors
Safe BaseBlock with the deceleration operation of the
Delay Function motor for the specified time and – 
(SBB-D function) then shuts OFF the power supply
from the SERVOPACK to the
motor.)
to an SS2 function. (It monitors
Safe Position Monitor
the deceleration operation of the
with Delay Function – 
motor for the specified time and
(SPM-D function)
then monitors the position after
the motor stops.)
to an SLS function. (It monitors
Safely-Limit Speed the deceleration operation of the
with Delay Function motor for the specified time and –  Safety Module
(SLS-D function) then monitors the speed of the
motor to confirm that it remains in
the allowable range.)
: Applicable
535
Option Modules
Specifications
 Basic Specifications
Item Specification
Surrounding Air Temperature 0˚C to +55˚C
Storage Temperature −20˚C to +85˚C
Surrounding Air Humidity 90% relative humidity max.
There must be no freezing or condensation.
Storage Humidity 90% relative humidity max.

Degree of Protection IP10 • Must be no corrosive or flammable gases.
Pollution Degree 2 • Must be no dust, salts, or iron dust.
Altitude 1000 m max.
Others Locations subject to static electricity noise, strong electromagnetic/magnetic
 Compliance with UL Standards, EU Directives, and Other Safety Stan-

dards (in Combination with SERVOPACK)
Item Specification
North American Safety Stan- UL61800-5-1
dards CSA C22.2 No.274
Machinery Directive
EN ISO 13849-1: 2015
(2006/42/EC)
European Directives
EN 55011/A2 group 1, class A

EMC Directive EN 61000-6-2
(2014/30/EU) EN 61000-6-4
EN 61800-3 (Category C2, Second Environment)
Low Voltage Directive EN 50178
(2014/35/EU) EN 61800-5-1
RoHS Directive
EN 50581
(2011/65/EU)
EN ISO 13849-1: 2015
Safety of Machinery
IEC 60204-1
Standards
Safety
IEC 61508 series

Functional Safety IEC 62061
IEC 61800-5-2
EMC Directive IEC 61326-3-1
IEC 61800-5-2 IEC 60204-1
Safe Torque Off (STO) Stop Category 0
Safety Function Safe Stop 1 (SS1) Stop Category 1
Safe Stop 2 (SS2) Stop Category 2
Safely-Limited Speed (SLS)
Number of Blocks 2
Safety Function A Input signals: 2 channels (redundant signals), output signals: 1 channel
Safety Function B Input signals: 2 channels (redundant signals), output signals: 1 channel
536
Option Modules

Item Specification
Safe Performance
Safety Integrity Level SIL2, SILCL2
Probability of Dangerous PFH = 8.0×10-9 [1/h] (SBB)
Failure per Hour PFH = 3.4×10-8 [1/h] (SBB-D, SPM-D, SLS-D)
Performance Level PLd (Category 2)
Mean Time to Dangerous
MTTFd: High
Failure of Each Channel
Average Diagnostic Coverage DCave: Medium
Proof Test Interval 10 years
External Dimensions
Refer to pages 456 to 467 for the external dimensions of the individual SERVOPACKs.
(24)
(9.5)
Safety function A
I/O connector: CN21
Safety function B
160
I/O connector: CN22

(12)
(54)
Unit: mm
20 (75) 97 Approx. Mass: 0.1 kg
Connectors
Device Label Model Number of Pins Manufacturer
Note: 1. The above connectors or their equivalents are used for SERVOPACKs.
2. Refer to the user’s manual of the Safety Module for installation standards.
Safety Module
537
Option Modules
Cables for Safety Module
CN21
Safety Function Device Cable
CN22
 Safety Function Device Cable

Order Number Length (L) Inquires
JZSP-CVH03-01-E 1m
Yaskawa Controls Co., Ltd.
JZSP-CVH03-03-E 3m
Note: 1. When using safety functions, connect this Cable to the safety function devices.
When not using safety functions, connect the enclosed Safety Jumper Connector (JZSP-CVH05-E) to the
SERVOPACK.
2. If you make your own cable, use the following Connector Kit. Contact Tyco Electronics Japan G.K. for
details.
 Connector Kit
If you make your own cable, use the Connector Kit.
Order Number Product Name Inquires
INDUSTRIAL MINI I/O D-SHAPE TYPE1 PLUG
2013595-1 Tyco Electronics Japan G.K.
CONNECTOR KIT
538
Appendices
Capacity Selection for Servomotors .................................................540
Capacity Selection for Regenerative Resistors ................................548
International Standards .....................................................................566
Warranty .............................................................................................568
Capacity Selection for

Servomotors
International Standards
Warranty
Appendices
Capacity Selection for Servomotors
Selecting the Servomotor Capacity

Use Yaskawa’s SigmaSize+, an AC servo drive capacity selection program, to select the Servomo-
tor capacity. With the SigmaSize+, you can find the optimum Servomotor capacity by simply select-
ing and entering information according to instructions from a wizard.
Refer to the following selection examples to select Servomotor capacities with manual calculations
rather than with the above software.
Capacity Selection Example for a Rotary Servomotor:

For Speed Control
1. Mechanical Specifications
Servomotor
Linear motion section
L Coupling
Gear
Ball screw
Item Code Value Item Code Value

Gear and Coupling
Load Speed υL 15 m/min JG 0.40 × 10-4 kgm2
Moment of Inertia
Linear Motion Number of Feeding
m 250 kg n 40 operations/min
Section Mass Operations
Ball Screw Length B 1.0 m Feeding Distance 0.275 m
Ball Screw Diameter dB 0.02 m Feeding Time tm 1.2 s max.
Ball Screw Lead PB 0.01 m Friction Coefficient μ 0.2
Ball Screw Material Density ρ 7.87 × 10 kg/m 3 3 Mechanical Efficiency η 0.9 (90%)
Gear Ratio R 2 (gear ratio: 1/2)
External Force on
F 0N
Linear Motion Section
2. Operation Pattern
L
t = 60 = 60 = 1.5 (s)
15 40
Motor Speed If ta = td,
(m/min)
ta tc td Time (s)
60 0.275
tm ta = tm  60L = 1.2  = 1.2  1.1 = 0.1 (s)
15
t
tc = 1.2  0.1 2 = 1.0 (s)
3. Motor Speed
υL 15
• Load shaft speed nL = =
PB 0.01
= 1,500 (min-1)
• Motor shaft speed nM = nL · R = 1,500 × 2 = 3,000 (min-1)
4. Load Torque
(9.8 μ m + F) PB (9.8 × 0.2 × 250 + 0) × 0.01
TL = = = 0.43 (Nm)
2πR η 2π × 2 × 0.9
540
Appendices
5. Load Moment of Inertia

• Linear motion section
2 2
PB 0.01
JL1 = m = 250 × = 1.58 × 10-4 (kgm2)
2πR 2π × 2
• Ball screw
π ρ 1 π 1
JB = B dB4 2 = × 7.87 × 103 × 1.0 × (0.02)4 2 = 0.31 × 10-4 (kgm2)
32 R 32 2
• Coupling JG = 0.40 × 10-4 (kg⋅m2)
• Load moment of inertia at motor shaft
JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) × 10-4 = 2.29 × 10-4 (kgm2)
6. Load Moving Power

2πnM TL 2π × 3,000 × 0.43
PO = = = 135 (W)
60 60
7. Load Acceleration Power

2 2
2π J 2π 2.29 × 10-4
Pa = nM L = × 3,000 × = 226 (W)
60 ta 60 0.1
8. Servomotor Provisional Selection

 Selection Conditions
• TL ≤ Motor rated torque
• (Po + Pa) < Provisionally selected Servomotor rated output < (Po + Pa)
2
• nM ≤ Rated motor speed
• JL ≤ Allowable load moment of inertia
The following Servomotor meets the selection conditions.

• SGM7J-02A Servomotor
 Specifications of the Provisionally Selected Servomotor
Item Value
Rated Output 200 (W)

Rated Motor Speed 3,000 (min-1)
Rated Torque 0.637 (Nm)
Instantaneous Maximum Torque 2.23 (Nm)
Motor Moment of Inertia 0.263 × 10-4 (kgm2)
Allowable Load Moment of Inertia 0.263 × 10-4 × 15 = 3.94 × 10-4 (kgm2)
9. Verification of the Provisionally Selected Servomotor

• Verification of required acceleration torque:
2nM (JM + JL) 23,000 (0.263 +2.29)  10-4
TP = + TL = + 0.43
60ta 60 0.1
≈ 1.23 (Nm) < Maximum instantaneous torque...Satisfactory
• Verification of required deceleration torque:
2nM (JM + JL) 23,000 (0.263 + 2.29) 10-4
TS =  TL =  0.43
60td 60 0.1
541
Appendices
• Verification of effective torque value:

TP2  ta + TL2  tc + Ts2  td (1.23)2 0.1 + (0.43)2 1.0 + (0.37)2 0.1
Trms = =
t 1.5
≈ 0.483 (Nm) < Rated torque...Satisfactory
10. Result
It has been verified that the provisionally selected Servomotor is applicable.
The torque diagram is shown below.
(Nm) Torque
Motor Speed
1.23
0.43
0
-0.37
0.1 1.0 0.1
1.5
Capacity Selection Example for a Rotary Servomotor:

For Position Control
Linear motion section Servomotor
L
Coupling
Ball screw

Load Speed υL 15 m/min Coupling Outer Diameter dC 0.03 m
Linear Motion Section Number of Feeding
m 80 kg n 40 rotation/min
Mass Operations
Ball Screw Length B 0.8 m Feeding Distance 0.25 m
Ball Screw Diameter dB 0.016 m Feeding Time tm 1.2 s max.
Electrical Stopping
Ball Screw Lead PB 0.005 m δ ±0.01 mm
Precision
Ball Screw Material
ρ 7.87 × 103 kg/m3 Friction Coefficient μ 0.2
Density
External Force on
F 0N Mechanical Efficiency η 0.9 (90%)
Linear Motion Section
Coupling Mass mC 0.3 kg
2. Speed Diagram
L 60 60
15
Reference pulses t= = = 1.5 (s)
40
Motor Speed Load speed
(m/min) If ta = td and ts = 0.1 (s),
ta tc td ts Time (s)
ta = tm  ts  60 60 0.25 0.1 (s)
tm
L = 1.2  0.1  =
15
t
tc = 1.2  0.1  0.1 2 = 0.9 (s)
542
Appendices
3. Motor Speed
• Load shaft speed υ 15
nL = L = = 3,000 (min-1)
PB 0.005
• Motor shaft speed Direct coupling gear ratio 1/R = 1/1
Therefore, nM = nL ⋅ R = 3,000 × 1 = 3,000 (min-1)
4. Load Torque
(9.8 μ m + F ) PB (9.8 × 0.2 × 80 + 0) × 0.005
TL = = = 0.139 (Nm)
2πR η 2π × 1 × 0.9

• Linear motion section
PB 2 0.005
2
JL1 = m = 80 × = 0.507 × 10-4 (kgm2)

2πR 2π × 1
• Ball screw JB = π ρ B dB4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kgm2)
32 32
1 1
• Coupling Jc = m d 2= × 0.3 × (0.03)2 = 0.338 × 10-4 (kgm2)
8 C C 8
• Load moment of inertia at motor shaft
JL = JL1 + JB + Jc = 1.25 × 10-4 (kgm2)
6. Load Moving Power

2πnM TL 2π × 3,000 × 0.139
PO = = = 43.7 (W)
60 60
7. Load Acceleration Power

2 2
2π J 2π 1.25 × 10-4
Pa = nM L = × 3,000 × = 123.4 (W)
60 ta 60 0.1
8. Servomotor Provisional Selection

• TL ≤ Motor rated torque

(Po + Pa)
• < Provisionally selected Servomotor rated output < (Po + Pa)
2
• nM ≤ Rated motor speed
• JL ≤ Allowable load moment of inertia

• SGM7J-01A Servomotor
Item Value
Rated Output 100 (W)
Rated Motor Speed 3,000 (min-1)
Rated Torque 0.318 (Nm)
Instantaneous Maximum Torque 1.11 (Nm)
Motor Moment of Inertia 0.0659 × 10-4 (kgm2)
Allowable Load Moment of Inertia 0.0659 × 10-4 × 35 = 2.31 × 10-4 (kgm2)
Encoder Resolution 16,777,216 pulses/rev [24 bits]
543
Appendices

2nM (JM + JL) 23,000 (0.0659 + 1.25) 10-4
TP = + TL = + 0.139
60ta 60 0.1
≈ 0.552 (Nm) < Maximum instantaneous torque...Satisfactory
2nM (JM + JL) T 23,000 (0.0659 + 1.25) 10-4
TS =  L =  0.139
60td 60 0.1
TP2  ta + TL2  tc + Ts2  td (0.552)2 0.1 + (0.139)2 0.9 + (0.274)2 0.1

Trms = =
t 1.5
It has been verified that the provisionally selected Servomotor is applicable in terms of capacity.
Position control is considered next.
10. Positioning Resolution

The electrical stopping precision δ is ±0.01 mm, so the positioning resolution Δ is 0.01 mm.
The ball screw lead PB is 0.005 m, so the number of pulses per motor rotation is calculated with the
following formula.
P 5 mm/rev
The number of pulses per revolution (pulses) = B = = 500 (pulses/rev) < Encoder resolution [16777216 (pulses/rev)]
 0.01 mm
The number of pulses per motor rotation is less than the encoder resolution (pulses/rev), so the provi-
sionally selected Servomotor can be used.
11. Reference Pulse Frequency

The load speed υL is 15 m/min, or 1,000 × 15/60 mm/s and the positioning resolution (travel dis-
tance per pulse) is 0.01 mm/pulse, so the reference pulse frequency is calculated with the following
formula.
1,000 υL 1,000 × 15
vs = = = 25,000 (pps)
60 × Δ 60 × 0.01
The reference pulse frequency is less than the maximum input pulse frequency,* so the provisionally
selected Servomotor can be used.
*Refer to the specifications in the SERVOPACK manual for the maximum input pulse frequency.
It has been verified that the provisionally selected Servomotor is applicable for position control.
544
Appendices
Capacity Selection Example for Direct Drive Servomotors

DT Item Code Value Item Code Value

Acceleration/ tp
Turntable Mass W 12 kg Deceleration = tpsa 0.1 s
Time = tpsd
Turntable Turntable Operating
DT 300 mm tf 2s
Diameter Frequency
Servomotor
Rotational Angle
θ 270 deg Load Torque TL 0 Nm
per Cycle
Positioning Time t0 0.35 s Settling Time ts 0.1 s
2. Motor Speed of Direct Drive Servomotor

θ 60 270 60
NO = × = × = 300 (min-1)
360 (t0 - tp - ts) 360 (0.35 - 0.1 - 0.1)
Motor speed (min-1)
300
Time (s)
0.1 0.1 0.1
tpsa tpsd ts
0.35
ts t0
2.0
One cycle (tf)

JL = 1 × DT2 × W = 1 × (300 × 10-3)2 × 12 = 0.135 (kgm2)
8 8
5. Load Acceleration/Deceleration Torque

NO /60
Ta = JL × 2π × = 0.135 × 2π × 300/60 = 42.4 (Nm)
tp 0.1
6. Provisional Selection of Direct Drive Servomotor

• Load acceleration/deceleration torque < Instantaneous maximum torque of Direct Drive
Servomotor
• Load moment of inertia < Allowable load moment of inertia ratio (JR) × Moment of inertia of
Direct Drive Servomotor (JM)

• SGMCV-17CEA11
Item Value
Rated Torque 17 (Nm)
Instantaneous Maximum Torque 51 (Nm)
Moment of Inertia (JM) 0.00785 (kgm2)
Allowable Load Moment of Inertia Ratio (JR) 25
545
Appendices

TMa = (JL + JM)  NO = (0.135 + 0.00785)  300

9.55  tpsa 9.55  0.1
(0.135 + 0.00785)  300
TMd = - ( L + M)  O = -
J J N
9.55  psd
t 9.55  0.1
≈ -44.9 (Nm) < Maximum instantaneous torque...Satisfactory
TMa2 tpsa + TL2 tc + TMd2 tpsd 44.92 0.1 + 02 0.05 + (-44.9)2 0.1
Trms =  =
tf 2
tc =Time of constant motor speed = t0 - ts - tpsa - tpsd
8. Result
The torque diagram is shown below.
Torque (Nm)
44.9
Time (s)
0.1 0.05 0.1 0.1
-44.9
2.0
Servomotor Capacity Selection Example for Linear Servomotors

Load
Table
Moving Coil
Magnetic Way

Load Mass mW 1 kg Acceleration Time ta 0.02 s
Table Mass mT 2 kg Constant-speed Time tc 0.36 s
Motor Speed v 2 m/s Deceleration Time td 0.02 s
Feeding Distance l 0.76 m Cycle Time t 0.5 s
Friction Coefficient μ 0.2 External Force on Linear Motion Section F 0N
FP
v Force (N)
Motor speed (m/s)
FL
Time (s)
FS
ta tc td
t
546
Appendices
3. Steady-State Force (Excluding Servomotor Moving Coil)

FL = {9.8 × μ × (mW + mT)} + F = 9.8 × 0.2 × (1 + 2) + 0 = 5.88 (N)
4. Acceleration Force (Excluding Servomotor Moving Coil)

v
FP = (mW + mT) × + FL = (1 + 2) × 2 + 5.88 = 305.88 (N)
ta 0.02
5. Provisional Selection of Linear Servomotor

• FP ≤ Maximum force × 0.9
• Fs ≤ Maximum force × 0.9
• Frms ≤ Rated force × 0.9
The following Servomotor Moving Coil and Magnetic Way meet the selection conditions.
• SGLGW-60A253CP Linear Servomotor Moving Coil
• SGLGM-60C Linear Servomotor Magnetic Way
Item Value
Maximum Force 440 (N)
Rated Force 140 (N)
Moving Coil Mass (mM) 0.82 (kg)
Servomotor Magnetic Attraction (Fatt) 0 (N)

• Steady-State Force
FL = μ {9.8 × (mW + mT + mM) + Fatt} = 0.2 {9.8 × (1 + 2 + 0.82) + 0} = 7.5 (N)
• Verification of Acceleration Force
FP = (mW + mT + mM)  + FL = (1 + 2 + 0.82)  2 + 7.5

ta 0.02
= 389.5 (N) ≤ Maximum force  0.9 (= 396 N)… Satisfactory
• Verification of Deceleration Force
FS = (mW + mT + mM)   FL = (1 + 2 + 0.82)  2  7.5

ta 0.02

= 374.5 (N) ≤ Maximum force  0.9 (= 396 N)… Satisfactory
• Verification of Effective Force
FP2 ∙ ta + FL2 ∙ tc + Fs2 ∙ td 389.52 0.02 + 7.52 0.36 + 374.52 0.02
Frms = =
t 0.5
= 108.3 (N) ≤ Rated force  0.9 (= 132.3 N)… Satisfactory
7. Result
547
Appendices
Capacity Selection for Regenerative Resistors
If the regenerative power exceeds the amount that can be absorbed by charging the smoothing
capacitor, a regenerative resistor is used.
Regenerative Power and Regenerative Resistance

The rotational energy of a driven machine such as a Servomotor that is returned to the SERVOPACK
is called regenerative power. The regenerative power is absorbed by charging a smoothing capaci-
tor. When the regenerative power exceeds the capacity of the capacitor, it is consumed by a regen-
erative resistor. (This is called resistance regeneration.)
The Servomotor is driven in a regeneration state in the following circumstances:
• While decelerating to a stop during acceleration/deceleration operation.
• While performing continuous downward operation on a vertical axis.
• During continuous operation in which the Servomotor is rotated by the load (i.e., a negative load).
You cannot use the resistance regeneration provided by the SERVOPACK for continuous regen-
eration. For continuous operation with a negative load, you must design a system that also
includes a Power Regenerative Converter or Power Regenerative Unit (for example, Yaskawa
Important model D1000 or R1000). If regenerative power is not appropriately processed, the regenerative
energy from the load will exceed the allowable range and damage the SERVOPACK.
Examples of negative loads are shown below.
• Motor Drive to Lower Objects without a Counterweight • Motor Drive for Feeding
Servomotor Tension
Servomotor
Negative load that feeds a material at
a constant speed under tension Servomotor
Types of Regenerative Resistors

The following regenerative resistors can be used.
• Built-in regenerative resistor: A regenerative resistor that is built into the SERVOPACK. Not all
SERVOPACKs have built-in regenerative resistors.
• External Regenerative Resistor: A regenerative resistor that is connected externally to a SERVO-
PACK. These resistors are used when the smoothing capacitor and built-in regenerative resistor in
the SERVOPACK cannot consume all of the regenerative power.
SERVOPACK Model Built-In Regenerative Resistor External Regenerative Resistor
R70A, R90A, 1R6A, 2R8A,
None Basically not required
R70F, R90F, 2R1F, 2R8F
SGD7S- 3R8A, 5R5A, 7R6A, 120A,
Standard feature *1 Basically not required
180A, 200A, 330A
470A, 550A, 590A, 780A None Required *2
SGD7W- 1R6A, 2R8A, 5R5A, 7R6A Standard feature *1 Basically not required
SGD7C- 1R6A, 2R8A, 5R5A, 7R6A Standard feature *1 Basically not required
*1. Refer to the following section for the specifications of the regenerative resistors built into SERVOPACKs.
*2. An optional external Regenerative Resistor Unit is required.
548
Appendices
Selecting External Regenerative Resistor

Use Yaskawa’s SigmaSize+, an AC servo drive capacity selection program, to determine if you need
an External Regenerative Resistor.
You can use one of the following two methods to manually calculate whether an External Regenera-
tive Resistor is required. Refer to the following information if you do not use the SigmaSize+.
Simple Calculation (page 549)
Calculating the Regenerative Energy (page 554)
Simple Calculation
When driving a Servomotor with a horizontal shaft, check if an External Regenerative Resistor is
required using the following calculation method.
Note: If you use the SGD7S-470A, -550A, -590A, or -780A, always connect an External Regenerative Resistor.
 SERVOPACKs without Built-in Regenerative Resistors:

SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
The total amount of energy that can be charged in the capacitors is given in the following table. If
the rotational energy (ES) of the Servomotor and load exceeds the value in the following table, then
connect an External Regenerative Resistor.
Processable Regenerative Energy
Applicable SERVOPACK Remarks
(Joules)
R70A, R90A, 1R6A 24.2 Value when main circuit input voltage
2R8A 31.7 is 200 VAC
SGD7S-
R70F, R90F, 2R1F 28.6 Value when main circuit input voltage
2R8F 48.4 is 100 VAC
Calculate the rotational energy (ES) of the servo system with the following equation:
ES = J × (nM)2/182 (Joules)
• J = JM + JL
• JM: Servomotor moment of inertia (kg⋅m2)
• JL: Load moment of inertia at motor shaft (kg⋅m2)
• nM: Servomotor operating motor speed (min-1)
549
Appendices
 SERVOPACKs with Built-in Regenerative Resistors:

SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, and -330A
SGD7W-1R6A, -2R8A, -5R5A, and -7R6A
SGD7C-1R6A, -2R8A, -5R5A, and -7R6A
Use the following equation to calculate the allowable frequency for regenerative operation. The fol-
lowing operating conditions were used: Operation cycle from a speed of 0 to the maximum motor
speed to 0 (min-1) with acceleration and deceleration operation. If the frequency of the operation
cycle (1/T) is lower than the allowable frequency in the calculation results, an External Regenerative
Resistor is not necessary. Finally, do the calculation with the actual operating speed and load
moment of inertia to determine if an External Regenerative Resistor is required.
Load moment of inertia = 0 (Servomotor only)
Speed reference
0 t
Maximum motor speed

Servomotor motor speed
0
Regenerative
operation
Maximum torque
Servomotor-generated torque
0 t
Maximum torque
T
(Operation cycle)
Allowable frequency = 1/T (times/min)
• Operating Conditions for Calculating the Allowable Regenerative Frequency

Allowable frequency for regenerative operation for Servomotor without load* Maximum motor speed 2
Allowable frequency × (time/min)
(1+ n) Operating motor speed
• n = JL/JM
• JM: Servomotor moment of inertia (kg⋅m2)
• JL: Load moment of inertia at motor shaft (kg⋅m2)
* Assign the related value given in the table in Allowable Frequency for Regenerative Operation for Servomotor with-
out Load (pages 551 to 553).
550
Appendices
 Allowable Frequency for Regenerative Operation for Servomotor without Load

• Rotary Servomotors
Allowable Frequencies in Allowable Frequencies in
Regenerative Operation Regenerative Operation
(Operations/Min) (Operations/Min)
SERVOPACK SERVOPACK
Servomotor Model Model: SGD7W Servomotor Model Model: SGD7W
SERVOPACK and SGD7C SERVOPACK and SGD7C
Model: SGD7S (Simultaneous Model: SGD7S (Simultaneous
Operation of Operation of
Two Axes) Two Axes)
A1A − − 01A − 200
SGM7M- A2A − − C2A − 46
A3A − − SGM7P- 04A − 29
A5A − 300 08A 11 11
01A − 180 15A 7.5 −
C2A − 130 03A 39 39
SGM7J- 02A − 46 05A 29 29
04A − 25 09A 6.9 6.9
06A 30 30 13A 6.1 −
08A 15 15 20A 7.4 −
A5A − 560 SGM7G- 30A 9.5 −
01A − 360 44A 6.4 −
C2A − 260 55A 24 −
02A − 87 75A 34 −
04A − 56 1AA 39 −
06A 77 77 1EA 31 −
08A 31 31 A1A − −
SGM7A- 10A 31 − SGMMV- A2A − −
15A 15 − A3A − −
20A 19 −
25A 15 −
30A 6.9 −
40A 11 −
50A 8.8 −
70A 86 −
551
Appendices
• Direct Drive Servomotors

SERVOPACK SERVOPACK
Two Axes) Two Axes)
01G − − 02A − 150
1AF 120 − 05A − 83
1CI 74 − 07A − 62
1ZI 91 − 04B − 75
02K – − 08C − 21
03H – − 10B − 48
05G – − 14B 65 65
06J 350 − 16D 13 13
06L – − SGM7F- 17C 30 30
06K – − 25C 31 31
08G 430 − 35D 19 19
08K – − 45M 25 25
09J 250 − 80M 19 −
12L – − 1AM 8.9 −
SGM7D- 18G 350 − 80N 22 −
18J 210 − 1EN 11 −
20J 200 − 2ZN 9.1 −
24G 270 − 04B − 75
28I 52 − 08C − 21
2BI 89 − 10B − 48
2DI 110 − 14B 65 65
SGMCV-
30F 210 − 16D 13 13
30L 63 − 17C 30 30
38J 150 − 25C 31 31
34G 220 − 35D 19 19
45G 190 − 02B − 62
58F 170 − 05B − 34
70I 100 − 07B − 22
90F 140 − 04C − 22
02B – 62 08D − 6.1
05B – 34 10C − 19
07B – 22 14C − 22
04C – 22 17D − 7
08D – 6.1 SGMCS- 25D − 9.3
SGM7E- 10C – 19 16E 3.7 3.7
14C – 22 35E 9.7 9.7
17D – 7 45M 25 25
25D – 9.3 80M 19 −
16E 3.7 3.7 80N 8.9 −
35E 9.7 9.7 1AM 22 −
1EN 11 −
2ZN 9.1 −
552
Appendices
• Linear Servomotors
SERVOPACK SERVOPACK
Two Axes) Two Axes)
30A050C − 190 30A070A − 38
30A080C − 120 30A120A − 21
40A140C − 56 30A230A 22 11
SGLGW-
Using a 40A253C − 32 45A200A 16 16
Stan- 40A365C − 22 10 *1 −
dard- 45A380A
60A140C − 49 SGLFW2- 17*2 −
Force
Mag- 60A253C − 27 90A200A 14 −
netic 60A365C 37 37 90A380A 11 −
Way
90A200C 34 − 90A560A 18 −
90A370C 33 − 1DA380A 21 −
90A535C 24 − 1DA560A 32 −
SGLGW- 40A140C − 80 20A170A 15 15
Using a 40A253C − 45 20A320A 8.3 8.3
High- 40A365C 62 62 20A460A 7.1 −
Force
Mag- 60A140C − 64 35A170A 10 10
netic 60A253C 71 71 35A170H 8.5 8.5
Way 60A365C 49 49 35A320A 7 −
20A090A − 27 35A320H 5.9 −
SGLTW-
20A120A − 21 35A460A 7.6 −
35A120A − 14 40A400B 13 −
35A230A 16 16 40A600B 19 −
SGLFW-
50A200B 10 10 50A170H 15 15
50A380B 6.9 − 50A320H 11 −
1ZA200B 7.8 − 80A400B 28 −
1ZA380B 6.6 − 80A600B 180 −
*1. This value is in combination with the SGD7S-120A.
*2. This value is in combination with the SGD7S-180A.
553
Appendices
Calculating the Regenerative Energy

This section shows how to calculate the regenerative resistor capacity for the acceleration/deceler-
ation operation shown in the following figure.
nM: Motor speed
Motor speed
0
tD
TL: Load torque
Motor torque
0
Regenerative torque
T
• Calculation Procedure for Regenerative Resistor Capacity

Step Item Code Formula
Calculate the rotational energy of the Servo-
1 ES ES = JnM2/182
motor.
EL = (π/60) nMTLtD
Calculate the energy consumed by load loss
2 EL Note: If the load loss is unknown, calculate
during the deceleration period
the value with EL set to 0.
(Value calculated from the graphs in  Servo-
Calculate the energy lost from Servomotor
3 EM motor Winding Resistance Loss on page 556)
winding resistance.
× tD
Calculate the energy that can be absorbed Calculate from the graphs in  SERVOPACK-
4 EC
by the SERVOPACK. absorbable Energy on page 555
Calculate the energy consumed by the
5 EK EK = ES − (EL + EM + EC)
regenerative resistor.
Calculate the required regenerative resistor
6 WK WK = EK/(0.2 × T)
capacity (W).
Note: 1. The 0.2 in the equation for calculating WK is the value when the regenerative resistor’s utilized load ratio is
20%.
2. The units for the various symbols are given in the following table.
Code Description Code Description

ES to EK Energy in joules (J) TL Load torque (N⋅m)
WK Required regenerative resistor capacity (W) tD Deceleration stopping time (s)
2
J = JM + JL (kgm ) T Servomotor repeat operation cycle (s)
nM Servomotor motor speed (min-1)
If the value of WK does not exceed the capacity of the built-in regenerative resistor of the SERVO-
PACK, an External Regenerative Resistor is not required. If the value of WK exceeds the capacity of
the built-in regenerative resistor, install an External Regenerative Resistor with a capacity equal to
the value for W calculated above.
554
Appendices
 SERVOPACK-absorbable Energy
The following figures show the relationship between the SERVOPACK’s input power supply voltage
and its absorbable energy.
 Σ-7S SERVOPACKs
Model: SGD7S- Model: SGD7S-
80 180
R70A, R90A, and 1R6A 120A (single-phase)
2R8A 160 120A (three-phase),
70 180A, and 200A
3R8A
330A
5R5A and 7R6A 140
60
Absorbable energy (J)

120
50
100
40
80
30
60
20
40
10 20
0 0
170 180 190 200 210 220 230 240 250 260 270 170 180 190 200 210 220 230 240 250 260 270
Input voltage (Vrms) Input voltage (Vrms)
Model: SGD7S- Model: SGD7S-

600 70
470A R70F, R90F, and 2R1F
550A 2R8F
500 590A 60
780A
50
400
40
300
30
200
20
100
10
0 0
170 180 190 200 210 220 230 240 250 260 270 80 90 100 110 120 130 140
 Σ-7W SERVOPACKs  Σ-7C SERVOPACKs

SGD7W- SGD7C-
120 120
1R6A 1R6A
2R8A 2R8A
100 5R5A and 7R6A 100 5R5A and 7R6A
80 80
60 60
40 40
20 20
0 0
170 180 190 200 210 220 230 240 250 260 270 170 180 190 200 210 220 230 240 250 260 270
555
Appendices
 Servomotor Winding Resistance Loss

The following figures show the relationship for each Servomotor between the Servomotor’s gener-
ated torque and the winding resistance loss.
 SGM7M Rotary Servomotors

Contact your Yaskawa representative for information on the SGM7M Rotary Servomotors.
 SGM7J Rotary Servomotors

Model: SGM7J- Model: SGM7J-
400 450
A5A 400 04A

350
01A 06A
C2A 350 08A
300
Winding Resistance Loss (W)

02A
300
250
250
200
200
150
150
100
100
50 50
0 0
0 100 200 300 0 100 200 300
Torque (%) Torque (%)
 SGM7A Rotary Servomotors

Model: SGM7A- Model: SGM7A-
400 600
A5A 04A
350
01A 500 06A
C2A 08A
300
02A 10A
400
250
200 300
150
200
100
100
50
0 0
0 100 200 300 0 100 200 300
Model: SGM7A-
Model: SGM7A- 1600
1400
15A 30A
1400 40A
1200 20A
50A
25A 1200
1000 70A
1000
800
800
600
600
400
400
200 200
0 0
0 100 200 300 0 100 200 300
556
Appendices
 SGM7P Rotary Servomotors

Model: SGM7P-
450
400 01A
02A
350 04A
08A
300 15A
250
200
150
100
50
0
0 100 200 300
Torque (%)
 SGM7G Rotary Servomotors

Model: SGM7G- Model: SGM7G-
600 800
700
500
03A 09A
600
05A 13A
400 20A
500
300 400
300
200
200
100
100
0 0
0 100 200 300 400 0 50 100 150 200 250 300
Model: SGM7G- Model: SGM7G-

1400 1400
30 1A
44 1E
1200 1200
55
75
1000 1000
800 800
600 600
400 400
200 200
0 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300
 SGMMV Rotary Servomotors

Contact your Yaskawa representative for information on the SGMMV Rotary Servomotors.
557
Appendices
 SGM7D Direct Drive Servomotors

Model: SGM7D- Model: SGM7D-
320 180
300
30F 08G

58F, 1AF 18G
120
200 90F 01G
05G
100 60
0 0
0 100 200 300 0 100 200 300 325

280 70
240 60
24G
34G 03H
45G
160 40
80 20
0 0
0 100 200 300 350 0 100 200 300 325

240 600
28I 1CI
70I 2DI
160 400
1ZI 2BI
80 200
0 0
0 75 150 225 250 0 100 200 300
558
Appendices

110 280
240
90
20J

09J
18J
06J
38J
60 160
30 80
0 0
0 100 200 300 325 0 150 300 450 500

260 220
240
180
02K 06L

06K 12L
160 30L
08K
120
80
60
0 0
0 75 150 225 275 0 75 150 225 250
559
Appendices
 SGM7E Direct Drive Servomotors

Model: SGM7E- Model: SGM7E-
700 1000
10C
600
04C 16E
800

14C 35E
500
07B 25D
05B 600 08D
400
02B 17D
300
400
200
200
100
0 0
0 100 200 300 0 100 200 300
 SGM7F Direct Drive Servomotors

Model: SGM7F- Model: SGM7F-
700 600
600 500
04B
500 10B
07A 400
14B
05A
400
02A 300
300
200
200
100
100
0 0
0 100 200 300 0 100 200 300
Model: SGM7F- 700 Model: SGM7F-

700
600 600
08C
16D
17C
500 35D
25C
400 400
300
200 200
100
0 0
0 100 200 300 0 120 240 360
Model: SGM7F-
3000
1EN
2500
2ZN
1AM
2000
80M
80N
1500 45M
1000
500
0
0 100 200 300
Torque (%)
560
Appendices
 SGMCV Direct Drive Servomotors

Model: SGMCV- Model: SGMCV-
600 700
600
500 08C
04B

17C
10B 500
400 25C
14B
400
300
300
200
200
100 100
0 0
0 100 200 300 0 100 200 300
700 Model: SGMCV-
600
16D
35D
400
200
0
0 120 240 360
Torque (%)
 SGMCS Direct Drive Servomotors

Model: SGMCS- Model: SGMCS-
700 1000
10C
600
04C 16E
800
14C 35E
500
07B 25D
05B 600 08D
400
02B 17D
300
400
200
200
100
0 0
0 100 200 300 0 100 200 300

Model: SGMCS-
3000
1EN
2500
2ZN
1AM
2000
80M
80N
1500 45M
1000
500
0
0 100 200 300
Torque (%)
561
Appendices
 SGLGW Linear Servomotors

Model: SGLGW-30A Model: SGLGW-40A
250 1200
365C
080C
1000
200

253C
800
050C
150
600
140C
100
400
50
200
0 0
0 100 200 300 400 0 100 200 300 400
Force (%) Force (%)

2500 1400
365C
365C-M 1200
2000
1000
253C
253C-M
1500
800
140C
140C-M 600
1000
400
500
200
0 0
0 100 200 300 400 500 0 100 200 300 400
Force (%) Force (%)

3000 6000
365C-M
535C
2500 5000
253C-M
2000 4000
370C
1500 3000
140C-M 200C
1000 2000
500 1000
0 0
0 100 200 300 400 500 0 100 200 300 400 500
Force (%) Force (%)
562
Appendices
 SGLFW2 Linear Servomotors

Model: SGLFW2-30A Model: SGLFW2-45A
900 2000
800 1800
070A 200A
120A 1600
700 380A
230A

1400
600
1200
500
1000
400
800
300
600
200 400
100 200
0 0
0 100 200 300 400 0 100 200 300 400
Force (%)
Model: SGLFW2-90A Model: SGLFW2-1DA

5000 7000
4500
200A 6000
4000 380A

380A
560A 560A
3500 5000
3000
4000
2500
2000 3000
1500 2000
1000
1000
500
0 0
0 100 200 300 400 0 100 200 300 400
Force (%) Force (%)
563
Appendices
 SGLFW Linear Servomotors

Model: SGLFW-20A Model: SGLFW-35A
300 800
120A
700
250
230A

600
200
500
090A
150 400
120A
300
100
200
50
100
0 0
0 100 200 300 400 500 0 100 200 300 400
Force (%) Force (%)
Model: SGLFW-50A Model: SGLFW-1ZA

1200 1800
1600
1000
Winding Resistance Loss (W) 1400

380B 380B
800 1200
1000
600 200B
200B 800
400 600
400
200
200
0 0
0 100 200 300 0 100 200 300
Force (%) Force (%)
564
Appendices
 SGLTW Linear Servomotors

Model: SGLTW-20A Model: SGLTW-35A
2500 3500
3000
2000 460A

460A 2500
1500 320A
2000
320A
1500
1000 170A
170A
1000
500
500
0 0
0 100 200 300 400 0 100 200 300 400
Force (%) Force (%)

900 7000
800
6000
320H
700 600B

5000
600
400B
170H 4000
500
400 3000
300
2000
200
1000
100
0 0
0 50 100 150 200 250 0 200 400 600
Force (%) Force (%)

1200 10000
9000
1000
8000
320H
600B
7000
800 400B
6000
170H
600 5000
4000
400
3000
200 2000
1000
0 0
0 50 100 150 200 250 0 200 400 600
Force (%) Force (%) Regenerative Resistors
565
Appendices
 : Certified,  : Applied, – : Not Certified

UL/CSA
EU Directives KC Mark
Standards
Product Model
RoHS Safety
Directive Standards
SGD7S    *2 
   *2 
SERVOPACKs SGD7W 
   *2 
SGD7C 
INDEXER SGDV-
   *3 
Module OCA03A*1
Communications
Options SGDV-
DeviceNet
OCA04A*1,    *3 
Module
OCA05A*1
Fully-Closed SGDV-
Feedback Option    *3 
Module OFA01A*1
Safety SGDV-
Safety Option    *2 
Module OSA01A*1
*1. Use this model number to purchase the Option Module separately.
*2. Refer to the following section for details.
Safety Option Module (page 534)
*3. Optional modules are not certified individually, but they do comply with safety standards when combined with
the SERVOPACK.
UL/CSA Standards EU Directives
Product Model
RoHS Directive
SGM7M   
SGM7J   
SGM7A   
Rotary Servomotors
SGM7P   
SGM7G   
SGMMV   
SGM7D −  
SGM7E   
Direct Drive Servomotors SGM7F *2  
SGMCV   
SGMCS  *3 *1
SGLGW
 *5 *1
(SGLGM)*4
SGLFW2
  
(SGLFM2)*4
Linear Servomotors
SGLFW
 *5 *1
(SGLFM)*4
SGLTW
*6 *5 *1
(SGLTM)*4
*1. Estimates are provided for RoHS-compliant products. The model numbers have an “-E” suffix.
*2. Certification for the SGM7F-07A is pending. Another models are certified.
*3. CE Marking certification has not yet been received for SGMCS-M and SGMCS-N Direct Drive Servomo-
tors. CE Marking certification has been received for the following Direct Drive Servomotors: SGMCS-B,
SGMCS-C, SGMCS-D, and SGMCS-E. Contact your Yaskawa representative if the CE Marking
label is required.
*4. The model numbers of the Magnetic Ways of Linear Servomotors are given in parentheses.
*5. CE Marking certification has been received. Contact your Yaskawa representative if the CE Marking label is
required.
*6. Certification has not yet been received for SGLTW-35AH and SGLTW-50AH Linear Servomotors.
566
MEMO
567
Appendices
Warranty
 Details of Warranty
 Warranty Period
The warranty period for a product that was purchased (hereinafter called "delivered 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 charge if a defect attributable to Yaskawa occurs during
the above warranty period. 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.
• 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
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Use of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from
Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters
 Limitations of Liability
• 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.
• 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.
• 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.
• 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.
 Suitability for Use

• 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.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used
by the customer.
• 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.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or
environments not described in product catalogs or manuals
• 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
• Systems, machines, and equipment that may present a risk to life or property
• 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
• Other systems that require a similar high degree of safety
• 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.
• 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.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent
accidental harm to third parties.
 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.
568
SERIES
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone +81-4-2962-5151 Fax +81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax +1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone +55-11-3585-1100 Fax +55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone +49-6196-569-300 Fax +49-6196-569-398
http://www.yaskawa.eu.com E-mail: info@yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone +82-2-784-7844 Fax +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone +65-6282-3003 Fax +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
Phone +86-21-5385-2200 Fax +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) 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
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
http://www.yaskawa.com.tw
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.
© 2014 YASKAWA ELECTRIC CORPORATION
LITERATURE NO. KAEP S800001 23G <6>-3

Published in Japan September 2018
18-9-18

Sigma-7 Series Catalogue

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AC SERVO DRIVES

Everyone’s preferred choice

１ Ultimate system performance pages M-4 to M-7

Superlative performance with improved

Refer to pages M-6 and M-7 for examples

2 Ultimate ease of use page M-8

No tuning required with the series upgraded tuning-less

You can check the level of performance of actual operations with

3 Ultimate environmental performance page M-9

Each product has improved specifications to meet even the most

There is no need to change your system design because the sizes of

6 Ultimate lineup page M-12

Compatible products made by our partner

5 Ultimate support page M-11

Full support is available from selection to maintenance.

Services* that take full advantage of the latest technology, such

4 Ultimate safety and security page M-10

It is absolutely essential to ensure the safety of systems and protect against

Ripple compensation Enhanced vibration suppression function

High-resolution, 24-bit encoder

SERVOMOTOR encoders with a resolution that are 16 times

Solution for 50-W or greater models.

High efficiency and low heat generation

About 20% reduction in

“Pick and place” refers to the actions involved in picking up an object

Issue 1 We need to reduce takt times.

Case 1 Case 2 Servo gain can be increased

Without anti-resonance With anti-resonance With improved anti-resonance

Position deviation Two different low-frequencies

Positioning Completion signal Positioning Completion signal

Problem Solution Just the

Highest performance in the industry

No need to adjust servo gains Series Series

When the allowable load moment of inertia ratio is 30 times:

4000 Previous speed 4000

Solution Example Robot

Satisfies specifications for use overseas Waterproof protective structure upgrade

Solution Example Regenerative energy effectively used to help save energy

Regenerative power used to be converted By replacing the existing amplifiers

Safety door switch EN ISO13849-1 PLe (CAT3)

The safety function works even for a single problem.

Protect systems from high temperatures

Temperature monitoring display

Maintenance throughout a product’s service life is improved and simplified with

Selection Design Trial Production Production Operation Maintenance

SigmaSize+ SigmaWin+ SigmaTouch!*

Single or multiple orders possible after specifying parameters*

Product management and maintenance service*

Service Life Monitor

Motion Network Field Network

Installation interchangeability with the models in A parameter conversion mode is provided.

Mounting holes on top Mounting holes on top

Mounting holes on bottom Mounting holes on bottom

Note: A special attachment is required for SGD7S-470A to -780A

● Installation interchangeability with the ● Easily-replaceable system configuration

Note: MechatroCloud is available in Japan only.

MechatroCloud is a cloud service offered by the Motion Troubleshooting

it is now easier and more convenient to use Yaskawa’s

assembly time Text can be added here.

Ready - to - use SERVOPACKs will be

Refer to page M-16 for an example of how BTO can be used.

Note:“YouTube” is a trademark or a registered trademark of Google Inc.

The names of the axes are printed

these are no mistakes made when Done Done Done Done

（SGD7S E0A 60 )3 DeviceNet3（SGDV-OCA05A） −