Download Sigma FSP Servo System Catalog

Sigma FSP Servo System Catalog
Sigma FSP Servo System Catalog
Sigma FSP Amplifier – Sigma II Servomotor
Table of Contents
Product Overview............................................................................................2 ~ 4
100/200V FSP – Servo System
FSP–SGMAH Sigma II Servo System..........................................................5 ~ 22
FSP–SGMPH Sigma II Servo System........................................................23 ~ 40
FSP–SGMPH Sigma II Gearmotor System................................................41 ~ 51
FSP Servo Amplifier.................................................................................. 89 ~ 114
200V FSP – Servo System
FSP–SGMGH Sigma II Servo System .......................................................53 ~ 64
FSP–SGMGH Sigma II Gearmotor System ...............................................65 ~ 75
FSP–SGMSH Sigma II Servo System........................................................77 ~ 88
FSP Servo Amplifier.................................................................................. 89 ~ 114
400V FSP – Servo System
FSP–SGMGH Sigma II Servo System ................................................... 115 ~ 126
FSP–SGMSH/UH Sigma II Servo System .............................................127 ~ 140
FSP Servo Amplifier................................................................................141 ~ 158
1
Product Overview
Yaskawa has a full lineup of servomotors and amplifiers. Choose the best drives for your needs and specifications.
Servomotor
Medium
Capacity
SGMSH
(3000rpm/5000rpm max)
SGMUH
(6000rpm max)
2
Robots
General Purpose
High speed rotation required
without load.
High Speed Series
High torque required at low
inertia.
High Speed Series
High torque at 6000rpm.
Machine Tool Feeds
(1500rpm/3000rpm max)
Short L-length. Good for
installation in compact
spaces.
Material Handling Equipment
SGMGH
Flat Series
Packaging Machines
(3000rpm/5000rpm max)
Large torque required at low
inertia.
PCB Drilling Machines
SGMPH
High Speed Series
PCB Drilling Machines
Small
Capacity
(3000rpm/5000rpm max)
Applications
Chip Mounters
SGMAH
Description
Chip Mounters
Series
Product Overview
Servomotor
Servo Amplifier
Type FSP-***
Peak Torque
SGMAH
up to
1,010oz • in
SGMPH
up to
2,027oz • in
SGMGH
up to
1,988in • lb
SGMSH
up to
422in • lb
SGMUH
up to
190in • lb
Capacity
110V
Single-phase
230V
Single-phase
Three-phase
480V
Three-phase
30W
A3BMC
A3AMC
—
—
50W
A5BMC
A5AMC
—
—
100W
01BMC
01AMC
—
—
200W
02BMC
02AMC
—
—
400W
—
04AMC
—
—
750W
—
08AMC-S
—
—
100W
01BMC
01AMC
—
—
200W
02BMC
02AMC
—
—
400W
—
04AMC
—
—
750W
—
08AMC-S
—
—
1500W
—
15AMC-S
—
—
0.45kW
—
08AMC-S
—
05DMC
0.85kW
—
—
10AMC
10DMC
1.3kW
—
15AMC-S
—
15DMC
1.8kW
—
—
20AMC
20DMC
2.9kW
—
—
30AMC
30DMC
4.4kW
—
—
—
50DMC
1.0kW
—
—
10AMC
10DMC
1.5kW
—
15AMC-S
—
15DMC
2.0kW
—
—
20AMC
20DMC
3.0kW
—
—
30AMC
30DMC
4.0kW
—
—
—
50DMC
5.0kW
—
—
—
50DMC
1.0 kW
—
—
—
10DMC
1.5 kW
—
—
—
15DMC
3.0kW
—
—
—
30DMC
Page
5, 89
23, 89
53, 89,
115,
141
77, 89,
127,
141
127,
141
3
Product Overview
Selecting Your Sigma Servo System
For your convenience, each motor series in this selection guide includes a diagram to help
you select and identify the components necessary for your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
(A)
Digital Operator (E)
3CN
Peripheral
Signal
Cable (E)
FSP Servo
Amplifier
(B)
Connector
Encoder Signal (D)
Encoder side
Connector (D)
Motor side
Connector (D)
2CN
1CN
Encoder Cable (C)
I/O Signal
Connector
(D)
Motor Cable (C)
Regenerative Unit (E)
1. First, select the Sigma servomotor suited for your application using the Yaskawa Servomotor Sizing
Software available at www.yaskawa.com. Using the tab indicators in this catalog, locate the section
describing the type of servomotor you selected.
2. Then select a compatible amplifier using the FSP Servo Amplifier Selection Table in the appropriate
servomotor section of this catalog.
3. Yaskawa offers pre-wired power and encoder cables with correctly matched, high quality connectors
attached to permit correct interconnection. Refer to the Pre-wired Cable Selection Table to select the
correct cable assembly from the list of standard cable lengths.
4. Solder-type connectors without cables are also available. Refer to the appropriate Servomotor Connector
Selection Table to select the connector kit to be used with the selected servomotor or encoder (with or
without brake).
5. Refer to the Peripheral Device Selection Table to select peripheral equipment to be used with the servo
amplifier (i.e., digital operator, regenerative unit, software, etc.).
6. Specify technical product manual (YEA-SIA-FSP-3) on your FSP Servo System purchase order. One
manual is available at no charge with each purchase order. The manual can also be downloaded at no
charge from Yaskawa’s Web site at www.yaskawa.com.
Each table includes a column labeled “Item Class,” which classifies the availability of the specified option. Following are
descriptions of the codes used:
Stock:
Normally 3 to 5 days lead time for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical
lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales
representative.
Limited
Typically, small quantities are available from stock. These items will likely change to stock items as the order demand
Stock:
increases. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales
representative.
NonNormal delivery: 12 to 16 weeks.
Stock:
4
100/200V FSP Servo Systems
Super High Power Rate Series
SGMAH
Servomotors
SGMAH Servomotors - With Incremental / Absolute Encoder
Rated Output: 30W, 50W, 100W,
200W, 400W, 750W
For Additional Information
SGMAH Ratings & Specifications
SGMAH Dimensions
SGMAH Selection/Ordering Information
FSP Ratings & Specifications
FSP Dimensions
Page(s)
6
8
17
91
98
- 16
- 22
- 97
- 104
Design Features
1. Compact
Small sized motor
Five frame sizes (including NEMA 23 and 34 flanges): up to 1,010oz • in peak torque
Smaller installation space for more compact machine designs.
2. High Speed
High power rating
High power is achieved by minimizing the inertia of the motor
This increases the acceleration/deceleration rate and reduces positioning time
Maximum rotation speed of 5000rpm
Increases maximum rotation speed and shortens positioning time
Rated speed of 3,000rpm
3. Encoders (reduced wiring serial encoder)
13-bit (2048 ppr x 4) incremental encoder (standard)
16-bit (16384) absolute encoder (option)
4. Enclosure
Totally enclosed, self-cooled IP55 (not including shaft)
Optional shaft seals are available.
5. Application Emphasis
Compact, high torque to inertia ratio
Chip mounters
PCB drilling machines
Robots
Conveyors
Packaging
6. Low Noise
Adopting the IGBT power element eliminates irritating “metallic” sounds
7. Certified International Standards
UL, cUL recognized (File #: E165827), CE compliance
5
100/200V FSP Servo Systems
Servomotor Ratings and Specifications
Continuous
Class B
15µm or less
1500Vac
10MΩ minimum at
500VDC
Enclosure: Totally-enclosed, self-cooled
Ambient Temperature: 0 to 40ºC
Ambient Humidity:
20 to 80%
(non-condensing)
Rated Rotation Speed: 3000rpm
Maximum Rotation Speed: 5000rpm
Excitation:
Drive Method:
Mounting:
Applicable Encoder:
Permanent magnet
Direct drive
Flange-mounted
13-bit incremental
or 16-bit absolute
encoder
200Vac
100Vac
System
Voltage
Specifications are the same for either absolute or incremental encoders.
*
MOTORS
SGMAH-
Rated
Output
Instantaneous
Peak
Torque*
Rated
Torque*
Continuous
Rated
Current
Maximum
Peak
Current
Rated
Angular
Acceleration
Rated Power
Rate*
W (hp)
oz • in
N•m
oz • in
N•m
Arms
Arms
rad/s2
kW/s
A3B
30 (0.04)
13.5
0.0955
40.5
0.286
0.66
2.0
57500
5.49
A5B
50 (0.07)
22.5
0.159
67.7
0.477
0.95
2.9
72300
11.5
01B
100 (0.13)
45.0
0.318
135
0.955
2.4
7.2
87400
27.8
02B
200 (0.27)
90.2
0.637
270
1.91
3.0
9.0
60100
38.2
A3A
30 (0.04)
13.5
0.0955
40.5
0.286
0.44
1.3
57500
5.49
A5A
50 (0.07)
22.5
0.159
67.7
0.477
0.64
2.0
72300
11.5
01A
100 (0.13)
45.0
0.318
135
0.955
0.91
2.8
87400
27.8
02A
200 (0.27)
90.2
0.637
270
1.91
2.1
6.5
60100
38.2
04A
400 (0.53)
180
1.27
541
3.82
2.8
8.5
73600
93.7
08A
750 (1.01)
338
2.39
1014
7.16
4.4
13.4
35500
84.8
Values when the servomotor is combined with an FSP servo amplifier.
System
Voltage
Moment of Inertia
MOTORS
SGMAH-
100Vac
*
6
Motor without Brake
oz • in • s2 × 10-3
200Vac
SGMAH
Servomotors
Time Rating:
Insulation:
Vibration:
Withstand Voltage:
Insulation Resistance:
kg • m2
Holding Brake (at 20°C)
Motor with Brake
× 10-4
Capacity
Torque
Coil
Resistance
Rated
Current
Allowable
Load
Inertia*
oz • in • s2 × 10-3
kg • m2 × 10-4
W
N•m
Ω
A
kg • m2 × 10-4
0.355
0.251
6
0.0955
96
0.25
0.63
A3B
0.235
0.0166
A5B
0.312
0.0220
0.432
0.0305
6
0.159
96
0.25
0.78
01B
0.515
0.0364
0.635
0.0449
6
0.318
96
0.25
1.20
02B
1.50
0.106
2.321
0.164
6.9
0.637
83.5
0.29
3.69
A3A
0.235
0.0166
0.355
0.0251
6
0.0955
96
0.25
0.63
A5A
0.312
0.0220
0.432
0.0305
6
0.159
96
0.25
0.78
01A
0.515
0.0364
0.635
0.0449
6
0.318
96
0.25
1.20
02A
1.50
0.106
2.321
0.164
6.9
0.637
83.5
0.29
3.69
04A
2.45
0.173
3.271
0.231
6.9
1.27
83.5
0.29
3.82
08A
9.52
0.672
11.5
0.811
7.7
2.39
75.2
0.32
13.4
·
·
Values apply to motors without brake.
JL (allowable load inertia) shows the range requiring no exterior regenerative unit. When these values are exceeded,
application may be restricted or a regenerative unit may be required.
100/200V FSP Servo Systems
Speed / Torque Curves
SGMAH-A5A
5000
5000
4000
4000
4000
3000
A B
2000
0
3000
A
2000
B
1000
0
0.1
0
3000
0
0 0.15 0.3 0.45 0.6
0.2 0.3 0.4
20
40
TORQUE (oz ｷ in)
TORQUE (N ｷ m)
20
40
60
0
100
60
A
2000
0
0 0.25
0
TORQUE (oz ｷ in)
4000
4000
2000
1000
3000
A
2000
SPEED (rpm)
5000
4000
SPEED (rpm)
5000
B
B
1000
0
0
0.5
0
100V
1
1.5
TORQUE (N ｷ m)
0
2
100
200
TORQUE (oz ｷ in)
300
3000
0
1
0
2
3
TORQUE (N ｷ m)
4000
SPEED (rpm)
4000
SPEED (rpm)
4000
3000
A
2000
B
0.1
0.2
0
0.3 0.4
20
40
TORQUE (oz ｷ in)
60
400
800
1200
TORQUE (oz ｷ in)
3000
A
2000
0 0.15 0.3 0.45 0.6
TORQUE (N ｷ m)
0
6
B
1000
1000
0
4
TORQUE (N ｷ m)
SGMAH-01B
5000
0
B
2
0
200
400
600
TORQUE (oz ｷ in)
5000
1000
A
00
8
4
5000
2000
150
2000
SGMAH-A5B
A B
50
100
TORQUE (oz ｷ in)
1000
SGMAH-A3B
3000
1
SGMAH08A
5000
A
0.5 0.75
TORQUE (N ｷ m)
80
SGMAH-04A
SGMAH-02A
3000
B
1000
TORQUE (N ｷ m)
SPEED (rpm)
SPEED (rpm)
5000
1000
SPEED (rpm)
SGMAH-01A
SGMAH
Servomotors
SGMAH-A3A
SPEED (rpm)
SPEED (rpm)
200V
0
100
TORQUE (N ｷ m)
20
40
60
0
0 0.25
0.5 0.75
1
TORQUE (N ｷ m)
80
0
TORQUE (oz ｷ in)
50
100
TORQUE (oz ｷ in)
150
SGMAH-02B
5000
A : CONTINUOUS
DUTY ZONE
SPEED (rpm)
4000
3000
A
B
A : CONTINUOUS DUTY ZONE
B : INTERMITTENT
B : INTERMITTENT
DUTY ZONE
DUTY ZONE
2000
1000
00
0.5
1
1.5
2
TORQUE (N ｷ m)
0
100
200
TORQUE (oz ｷ in)
300
7
100/200V FSP Servo Systems
Dimensions in inches (mm)
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, without Brake
30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
11.81 (300) ±1.18 (30)
Encoder plug
55100-0600
ENCODER CABLE, Φ0.24 (Φ6)
UL20276
U
MOTOR CABLE, Φ0.28 (Φ7)
UL1818 or UL3535
1.38 (35)
0.0016 (0.04)
0.79 (20)
A
T
Cross-section Y-Y
Φ0.0016 (Φ0.04) A
L
0.87 (22)
W
Motor Plug
350779-1
11.81 (300) ±1.18 (30)
LL
0.98 (25)
LM
0.30 (7.5)
1.57 (40)
0.85 (21.5)
0.098 (2.5)
0.16 (4)
QK
Φ0.315 (F8)
ΦLB**
Y
1.57 (40)
0.20 (5)
0.43 (11)
0.60 (15.2)
ΦS*
0.37 (9.5)
SGMAH
Servomotors
•
2-Φ0.17 (4.3)
Y
Serial encoder
Φ1.81 (Φ46)
A
0.0008 (0.002)
Type
QK
SGMAH-†
A3
A3
A5
A5
01
01
U
W
T
L
LL
ΦS*
LM
Output
W (hp)
ΦLB**
Without Keyway
F2
3.72
2.74
1.44
(94.5)
(69.5)
(36.5)
0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2)
F4
0.24
(6)
Without Keyway
F2
4.02
3.03
1.73
1.18
(30)
(102)
(77)
(44)
0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2)
F4
Without Keyway
F2
4.7
3.72
2.42
0.31
(119.5)
(94.5)
(61.5)
(8)
0.55 (14) 0.07 (1.8) 0.12 (3)
0.12 (3)
F4
†
Some motor dimensions vary for motors with the optional shaft seal: See p.15 for details.
Approximate Allowable
Allowable
Mass
Radial Load Thrust Load
lb (kg)
lb (N)
lb (N)
30
(0.04)
0.66
(0.3)
50
(0.07)
0.88
(0.4)
100
(0.13)
1.10
(0.5)
15
(68)
17
(78)
Connector Specifications
Specified Tolerances
Dimension
*Φ S
Unit
in
mm
5
Diameter
Tolerance
0.2362
0.3150
6.000
8.000
+0.0000-0.0003
+0.0000-0.0004
+0.000 -0.008
+0.000 -0.009
Encoder Connection
Encoder Plug
6
3
4
1
2
Pin
Output
Wire Color
1
2
3
4
5
6
PG 5V
PG 0V
Battery +
Battery −
Data +
Data -
Red
Black
Orange
White/Orange
Light Blue
White/Light Blue
Note: Pins Number 3 and 4 are connectors
used for 16-bit absolute encoder option only.
Plug:
55100-0600 (Molex)
Mating connector:
Socket:
54280-0600
8
**ΦLB
Diameter
Tolerance
1.181
+0.0000 -0.0008
30.000
+0.000 -0.021
Motor Connection
Motor Plug
1
4
Pin
Output
Wire Color
1
2
3
4
Phase U
Phase V
Phase W
FG (Frame Ground)
Red
White
Blue
Green/Yellow
Plug
350779-1 (AMP)
Pin:
350561-3 or 350690-3 (Nos. 1 to 3)
Ground pin: 770210-1 (No 4)
Mating connector:
Cap:
350780-1
Socket:
350570-3 or 350689-3
12
(54)
100/200V FSP Servo Systems
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, without Brake
Encoder cable, Φ0.24 (Φ6)
UL20276
11.85 (300) ±1.18 (30)
Encoder plug
55100-0600
SGMAH
Servomotors
200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
U
W
Motor cable
UL1818, UL3534 or UL3535
T
Motor plug
350779-1
1.38 (35)
Cross-section Y-Y
11.85 (300) ±1.18 (30)
0.51 (13)
0.0016 (0.04)
A
0.0016 (0.04)
A
L
LR
0.12 (3)
LL
1.04 (26.5)
LM
LC
0.85 (21.5)
0.43 (11)
LG
0.79 (20)
0.37(9.5)
ΦLA
QK
ΦS*
Y
Y
A
Serial encoder
Type
SGMAH-†
02
F4
04A F4
08A F4
L
LL
4.98
3.8
(126.5) (96.5)
6.08
4.9
(154.5) (124.5)
7.28
5.71
(185)
(145)
LM
2.46
(62.5)
3.56
(90.5)
4.37
(111)
LC
ΦLB**
•
0.0008 (0.02)
LR
LG
LC
ΦLA ΦLZ ΦS*
ΦLB**
QK
U
4-ΦLZ
W
T
Output
W (hp)
1.18 0.24 2.36 2.76 0.22
(30) (6) (60) (70) (5.5)
0.55
(14)
1.97
(50)
0.79 0.12
(20) (3)
0.2
(5)
0.2
(5)
1.57 0.31 3.15 3.54 0.28
(40) (8) (80) (90) (7)
0.63
(16)
2.76
(70)
1.18 0.12
(30) (3)
0.2
(5)
0.2
(5)
200
(0.27)
400
(0.53)
750
(1.01)
Approximate
Mass
lb (kg)
2.43 (1.1)
3.75 (1.7)
7.5
(3.4)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
55 (245)
17 (74)
88 (392)
33 (147)
*Please see the following table for dimension tolerances.
†Some motor dimensions vary for motors with the optional shaft seal: See p.16 for details.
Specified Tolerances
Dimension
Unit
in
mm
*ΦS
Diameter
0.5512
0.6299
14.000
16.000
**ΦLB
Tolerance
+0.0000-0.0004
+0.0000-0.0004
+0.000 -0.011
+0.000 -0.011
Diameter
1.9685
2.7559
50.000
70.000
Tolerance
+0.0000 -0.0010
+0.0000 -0.0012
+0.000 -0.025
+0.000 -0.030
9
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
11.85 (300) ±1.18 (30)
Encoder plug
55100-0600
Motor cable Φ0.28 (Φ7)
UL1828 or UL3535
L
LL
LM
A
A
1.57 (40)
0.098 (2.5)
0.60 (15.2)
Cross-section Y - Y
Φ0.0016 (Φ0.04)
0.98 (25)
0.85 (21.5)
0.43 (11)
0.37(9.5)
0.0016 (0.04)
0.20 (5)
0.79 (20)
T
Motor plug
350779-1
1.38 (35)
11.85 (300) ±1.18 (30)
0.87 (22)
U
W
UL20276
0.30 (25)
Φ0.315
(Φ8)
QK
0.16 (4)
1.57 (40)
Encoder cable, Φ0.24 (Φ6)
Holding brake (de-energized operation)
DC Power supply = 24V
Brake holding torque = Motor rated torque
ΦS*
Y
ΦLB**
Y
2−Φ0.17
(Φ4.3)
Φ1.81 (Φ46)
A
0.0008 (0.02)
Serial encoder
Type
U
SGMAH-†
A3
A3
A5
A5
01
01
F2C
F4C
F2C
F4C
F2C
F4C
W
0.047
(1.2)
0.07
(1.8)
T
L
LL
LM
0.12
(3)
4.96
(126)
5.26
(133.5)
6.3
(160)
3.98
(101)
4.27
(108.5)
5.31
(135)
1.44
(36.5)
1.73
(44.0)
2.42
(61.5)
0.079
(2)
0.12
(3)
ΦS*
ΦLB**
0.24
(6)
1.18
(30)
0.31
(8)
†Some motor dimensions vary for motors with the optional shaft seal:
QK
0.55
(14)
0.55
(14)
Output
W
(hp)
Approximate
Mass
lb (kg)
30
(0.04)
50
(0.07)
100
(0.13)
1.32
(0.6)
1.54
(0.7)
1.76
(0.8)
Allowable
Radial Load
lb (N)
15
(68)
Allowable
Thrust Load
lb (N)
12
(54)
18
(78)
See p.15 for details.
Specified Tolerances
Dimension
*Φ S
Unit
in
mm
**ΦLB
Diameter
Tolerance
0.2362
0.3150
6.000
8.000
+0.0000-0.0003
+0.0000-0.0004
+0.000 -0.008
+0.000 -0.009
Diameter
Tolerance
1.181
+0.0000 -0.0008
30.000
+0.000 -0.021
Connector Specifications:
5
3
Motor Plug
1
SGMAH
Servomotors
•
1
2
3
4
5
6
Motor Connection
Phase U
Red
Phase V
White
Phase W
Blue
FG (Frame Ground)
Green/Yellow
Brake Terminal
Red
Brake Terminal
Black
Plug:
350715-1 (AMP)
Pin:
350561-3 or 350690-3 (except No. 4)
Ground pin: 770210-1 (No. 4)
Mating connector:
Cap:
350781-1
Socket:
350570-3 or 350689-3
10
Encoder Plug
5
6
3
4
1
2
1
2
3
4
5
6
Encoder Connection
PG 5V
Red
PG 0V
Black
Battery +
Orange
Battery −
White/Orange
Data +
Light Blue
Data White/Light Blue
Note: Pins number 3 and 4 are connectors used for
16-bit absolute encoder option only.
Plug:
55100-0600 (Molex)
Mating connector:
Socket:
54280-0600
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
11.85 (300) ±1.18 (30)
Encoder plug
55100-0600
Motor cable Φ0.28 (Φ7)
1.38 (35)
UL1828 or UL3535
UL20276
U
Motor Plug
350715-1
T
Cross-Section Y-Y
11.85 (300) ±1.18 (30)
0.51 (13)
0.79 (20)
Φ0.0016 (Φ0.04)
LR
LM
0.37 (9.5)
1.04 (26.5)
0.0016 (0.04) A
L
LL
A
LC
0.12 (3)
LG
0.85 (21.5)
QK
0.43 (11)
Encoder cable, Φ0.24 (Φ6)
SGMAH
Servomotors
200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
W
•
ΦLA
Y
LC
ΦS*
ΦLB**
Y
A
Holding brake (de-energized operation)
DC Power supply = 24V
Brake holding torque = Motor rated torque
4-ΦLZ
0.0008 (0.02)
Serial encoder
Type
SGMAH-†
02
U
W
T
F4C
04A F4C
0.12
(3)
0.2 (5)
08A F4C
†
L
LL
LM
6.54 5.35
(166) (136)
7.64 6.46
(194) (164)
9.04 7.46
(229.5) (189.5)
LR
2.46
(62.5) 1.18
3.56 (30)
(90.5)
4.37 1.57
(111) (40)
ΦLZ
ΦS*
ΦLB**
QK
2.36
(60)
2.76 0.22
(70) (5.5)
0.55
(14)
1.97
(50)
0.79
(20)
3.15
(80)
3.54
(90)
0.64
(16)
2.76
(70)
1.18
(30)
LG
LC
0.24
(6)
0.31
(8)
ΦLA
0.28
(7)
Output
W (hp)
Approximate
Mass
lb (kg)
200
(0.27)
400
(0.53)
750
(1.01)
3.53
(1.6)
4.85
(2.2)
9.48
(4.3)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
55
(245)
17
(74)
88
(392)
33
(147)
Some motor dimensions vary for motors with the optional shaft seal: See p.16 for details.
Specified Tolerances
Dimension
Unit
in
mm
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.5512
0.6299
14.000
16.000
+0.0000-0.0004
+0.0000-0.0004
+0.000 -0.011
+0.000 -0.011
1.9685
2.7558
50.000
70.00
+0 -0.0010
+0 -0.0012
+0 -0.025
+0 -0.03
11
100/200V FSP Servo Systems
(3) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
200W (0.27hp), 400W (0.54hp) with NEMA 23* Flange/Pilot
Encoder cable, Φ0.24 (Φ6)
11.85 (300) ±1.18 (30)
UL20276
Motor cable
UL1818, UL3534 or
UL3535
Encoder plug
55100-0600
Motor plug
350779-1
1.38 (35)
11.85 (300) ±1.18 (30)
0.0016 (0.04) A
Φ0.0016 (0.04) A
1.32 (33.5)
0.79 (20)
L
LL
LM
LR
0.06
(1.6)
0.43 (11)
0.51 (13)
0.37(9.5)
L
02
4.67
AN21 (118.5)
04
5.77
AN21 (146.5)
ΦLA
LC
A
Serial encoder
Type
SGMAH-
LC
0.85 (21.5)
ΦLB**
LG
ΦS*
SGMAH
Servomotors
•
4-ΦLZ
0.0008 (0.02)
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
Output
W (hp)
3.9
(98.5)
5.0
(126.5)
2.56
(65)
3.66
(93)
0.79
(20)
0.24
(6)
2.36
(60)
2.63
(66.7)
0.18
(4.5)
0.50
(12.7)
1.5
(38.1)
200
(0.27)
400
(0.53)
Approximate
Mass
lb (kg)
2.43 (1.1)
3.75 (1.7)
Allowable
Radial
Load
lb (N)
Allowable
Thrust
Load
lb (N)
55 (245)
17 (74)
Specified Tolerances
Dimension
Unit
in
mm
*ΦS
Diameter
0.5000
12.7
**ΦLB
Tolerance
+0 -0.00043
+0 -0.011
Diameter
1.5000
38.1
Tolerance
+0.0000 -0.00098
+0.000 -0.025
*For servo application torques: shaft diameter is 0.5in (12.7mm) rather than 0.25 (6.35mm), as is in typical NEMA 23.
12
100/200V FSP Servo Systems
(3) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
750W (1.01hp) with NEMA 34* Flange/Pilot
11.85 (300) ±1.18 (30)
Encoder cable, Φ0.24 (Φ6)
UL20276 Φ6
SGMAH
Servomotors
•
Encoder plug
55100-0600
Motor cable Φ0.27 (Φ7)
UL3443
1.38 (35)
Motor plug
350779-1
11.85 (300) ±1.18 (30)
Φ0.0016 (Φ0.04) A
LR
0.08 (2)
0.43 (11)
0.63 (16)
LC
LG
A
13-bit serial incremental encoder
0.85 (21.5)
ΦLA
LC
ΦS*
0.28 (7)
0.91(23)
1.04
(26.5)
0.37 (9.5)
L
LL
LM
0.0016 (0.04) A
ΦLD***
ΦLB**
0.51 (13)
4-ΦLZ
0.0008 (0.02)
Type
SGMAH-
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
ΦLD***
Output
W (hp)
Approx
Mass
lb (kg)
Allowable
Radial
Load
lb (N)
Allowable
Thrust
Load
lb (N)
08AA N21
7.20
(183)
5.75
(146)
4.43
(112.5)
1.46
(37)
0.31
(8)
3.35
(85)
3.87
(98.4)
0.28
(7)
0.63
(16)
2.87
(73)
2.60 (66)
750
(1.01)
7.5
(3.4)
88 (392)
33 (147)
Specified Tolerances
Dimension
*ΦS
**ΦLB
**Φ*LD
Unit
in
Diameter
Tolerance
Diameter
Tolerance
Diameter
Tolerance
0.625
+0.0000-0.00043
2.874
+0.0000 -0.0012
2.598
+0.00012 -0
mm
15.875
+0.000 -0.011
73.000
+0.000 -0.030
66.000
+0.003 -0
*For servo application torques: shaft diameter is 0.625in (15.875mm) rather than 0.375 (9.525mm), as is in typical NEMA 34.
13
100/200V FSP Servo Systems
SGMAH
Servomotors
L
2.27 (57.7)
8-32 UNC - 2 places
0.73 (18.6)
0.06 (1.5)
∅ LA
∅ LB
2.27 (57.7)
∅S
∅ 0.206 (5.2)
4 places
Motor Type
0.19 (4.8)
Dimensions* - Inch (mm)
L
∅S
∅ LB
∅LA
SGMAH-A3
w/NEMA 23 Adaptor
3.72 (94.5)
0.2362 +.000 / -.0003
(6.0 +.000 / -.006)
1.500 +.002 / -.002
(38.1 +.05 / -.05)
2.625 (66.7)
SGMAH-A5
w/NEMA 23 Adaptor
4.02 (102)
0.2362 +.000 / -.0003
(6.0 +.000 / -.006)
1.500 +.002 / -.002
(38.1 +.05 / -.05)
2.625 (66.7)
SGMAH-01
w/NEMA 23 Adaptor
4.70 (119.5)
0.3150 +.000 / -.0004
(8.0 +.000 / -.009)
1.500 +.002 / -.002
(38.1 +.05 / -.05)
2.625 (66.7)
*Dimensions include a field installed SGM-N23 adapter flange on the listed motor.
14
100/200V FSP Servo Systems
•
Dimension Modifications for Motors with Optional Shaft Seal
SGMAH
Servomotors
30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
LR
LE
LD
ΦLB
ΦLP
QK
ΦS
•
Shaft seal
Type SGMAH-
QK
ΦLB*
0.55 (14)
1.18 (30)
A3
A5
01
ΦS*
0.236 (6)
LE
LR
LD
ΦLP
0.10 (2.5)
0.98 (25)
0.30 (7.5)
1.14 (28)
0.315 (8)
*Tolerances for diameters LB and S are the same as those for motors without shaft seals.
15
100/200V FSP Servo Systems
•
200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
LR
SGMAH
Servomotors
LE
LD
ΦLB
ΦLP
ΦS
QK
Shaft seal
Type SGMAH02
04
08
QK
ΦLB*
ΦS*
0.55 (14)
1.97 (50)
0.55 (14)
0.98 (25)
2.76 (70)
0.63 (16)
LE
0.12 (3)
LR
LD
ΦLP
1.18 (30)
0.39 (10)
1.89 (48)
1.57 (40)
0.43 (11)
2.60 (66)
*Tolerances for diameters LB and S are the same as those for motors without shaft seals.
Torque Reduction Factor for SGMAH motors equipped with a shaft seal:
Servo Motor Model
A3
A5
01
02
04
08
Torque Reduction
Factor
70%
80%
90%
90%
95%
95%
For example: The SGMAH-A3 continuous and peak torque rating should be reduced to 70%
of the listed catalog specification.
To specify a motor with a shaft seal, refer to the motor part number explanation on the
following page.
16
100/200V FSP Servo Systems
Selecting: SGMAH – FSP Sigma II Servo System
SGMAH
Servomotors
First, select the Sigma II servomotor suited for your application using SigmaSize, the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
5CN
Shaft Keyway
For Monitor (D)
3CN
Peripheral
Signal
Cable (E)
FSP Servo
Amplifier
(B)
Connector
Encoder (D)
Encoder side
Connector (D)
SGMAH
Servomotor
(A)
Shaft Seal
Motor side
Connector (D)
2CN
1CN
Encoder Cable (C)
Motor Cable (C)
I/O Signal
Connector
(D)
Specify a technical manual, if it is needed, on your
servo system purchase order:
Regenerative Unit (E)
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SGMAH - 01 A A F 4 1
Accessories
1: Standard
C: Standard with 24VDC Brake*
S: Standard with Shaft Seal*
E: Standard with Brake & Shaft Seal*
Shaft Specifications
4: Straight Shaft with Keyway*
2: Straight Shaft without Keyway
Revision Level
F: Standard
N: NEMA flange (200W, 400W & 800W
only without holding brake)
Encoder Specifications
A: 13-bit (2048 x 4) Incremental Encoder
1: 16-bit (16384 x 4) Absolute Encoder
* Keyways, shaft seals, and holding brakes not available on motors with NEMA flanges (revision level = N).
Sigma II Servomotor Type
Rated Output
A3: 30W (0.04hp)
A5: 50W (0.07hp)
01: 100W (0.13hp)
02: 200W (0.25hp)
04: 400W (0.5hp)
08: 750W (1hp)
Power Supply
A: 200V
B: 100V
17
100/200V FSP Servo Systems
Servomotor & Amplifier Selection
SGMAH
Servomotors
Use the table below to select the recommended SGMAH Sigma II servomotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Motors Used with 13-bit Incremental Encoders (5000rpm Maximum)
Description
200V,
Single-Phase
Straight Shaft
without Keyway
200V,
Single-Phase,
Straight Shaft with
Keyway
200V,
Single-Phase,
Straight Shaft
without Keyway
NEMA flange
100V,
Single-Phase,
Straight Shaft
without Keyway
100V,
Single-Phase,
Straight Shaft
with Keyway
100V,
Single-Phase,
Straight Shaft
without Keyway
NEMA flange
Peak
Torque
(oz • in)
Rated
Torque
(oz • in)
40.5
13.5
67.7
22.6
135
45.1
270
90.1
542
181
1010
338
135
45.1
270
542
1010
90.1
181
338
40.5
13.5
67.7
22.6
135
45.1
270
90.1
135
45.1
270
90.1
Motor Inertia
(oz • in • s2×10-3)
Motor
MODEL NUMBER (A)
0.235
0.355
0.312
0.432
0.515
0.635
0.515
0.635
1.50
2.321
2.45
3.271
9.52
11.5
0.515
0.635
1.50
2.45
9.52
0.235
0.355
0.312
0.432
0.515
0.635
0.515
0.635
1.50
2.321
0.515
0.635
SGMAH-A3AAF21
SGMAH-A3AAF2C
SGMAH-A5AAF21
SGMAH-A5AAF2C
SGMAH-01AAF21
SGMAH-01AAF2C
SGMAH-01AAF41
SGMAH-01AAF4C
SGMAH-02AAF41
SGMAH-02AAF4C
SGMAH-04AAF41
SGMAH-04AAF4C
SGMAH-08AAF41
SGMAH-08AAF4C
SGMAH-01AAF21**
SGMAH-01AAF2C**
SGMAH-02AAN21***
SGMAH-04AAN21***
SGMAH-08AAN21****
SGMAH-A3BAF21
SGMAH-A3BAF2C
SGMAH-A5BAF21
SGMAH-A5BAF2C
SGMAH-01BAF21
SGMAH-01BAF2C
SGMAH-01BAF41
SGMAH-01BAF4C
SGMAH-02BAF41
SGMAH-02BAF4C
SGMAH-01BAF21**
SGMAH-01BAF2C**
1.50
SGMAH-02BAN21***
Amplifier
Amplifier MODEL
NUMBER (B)*
Single-Phase
FSP–
Amplifier
Item Class
*****
A3AMC
NS
A5AMC
NS
01AMC
S
01AMC
S
02AMC
S
04AMC
S
08AMC-S
S
01AMC
S
02AMC
04AMC
08AMC-S
S
S
S
A3BMC
NS
A5BMC
NS
01BMC
S
01BMC
S
02BMC
S
01BMC
S
02BMC
S
Notes: 24VDC brakes for SGMAH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
Motor power and encoder cables are factory pre-wired with approximately 13” lead length with amplifier mating connectors.
Use the tables on the following pages to specify mating connectors or pre-wired cables available in various lengths.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
* For more detailed FSP amplifier specifications and dimensions, refer to pages 89 to 105.
** NEMA 23 adapter flange (see "Peripheral Device Selection")
*** NEMA 23 flange and pilot (See p.8)
**** NEMA 34 flange and pilot (See p.8)
***** Servomotors are stock, FSP–
MC amplifier status is shown.
18
100/200V FSP Servo Systems
Pre-wired Cable Selection
Motor
Size
(kW)
Cable Description (C)
Power Cable
without Brake
JZSP-CMM00-
Power Cable with
Brake
Shielded Power
Cable without
Brake***
Shielded Power
Cable with Brake***
Encoder Cable
(incremental and
absolute)
Part Number*
JZSP-CMM10BAHCE-
–
(A)
BAHBCE-
(A)
AFAHCE–
(A)
Comments
SGMAH
Servomotors
Use the table below to select pre-wired cables for your SGMAH Sigma II servomotor.
Item
Class
(A)
(A)
Use the following key to
specify required cable length
(last two digits of the part
number):
03: 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
Stock**
Limited
Stock
Connects these full length
encoder feedback cables to
the FSP amplifier
Encoder feedback
adapter cable for
incremental and
absolute*****
–
AFAD-P2(A)
All
Encoder feedback
adapter cable for
absolute encoders.
Cable has built in
absolute encoder
battery and case.
–
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full length
encoder feedback cables to
the FSP amplifier
AFADABS-P2(A)
Stock
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
Encoder Cable
(for applications
from >20 to <50m
maximum)
Only for Solder
Connections
FR-RMCT-SB
UL20276-SB
These cables are available
in any length.
For example, to order one
FR-RMCT-SB cable, 16m
long, specify:
quantity: 16
part no.: FR-RMCT-SB
Stock
Limited
Stock
Table continued on next page.
19
100/200V FSP Servo Systems
Cable Description (C)
Motor
Size
(kW)
SGMAH
Servomotors
Input/Output 1CN
Cable & Transition
Terminal Block
Part Number*
JUSP-TA50P
35mm DIN rail mountable;
the cable length is 0.5
meters.
JUSP–WA50P–
35mm DIN Rail mountable
D50: 0.5 meters (standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Input/Output 1CN
Cable with Pigtail
Leads
JZSP-CKI01- (A)
Input/Output 1CN
Cable with Female
D-Sub output
Connector****
JZSP-CKI0D-
Input/Output 1CN
SMC4000 to FSP
Interface Cable
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
prepared alarm and
reset inputs.
requires jumper in
SMC4000
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
flying leads for
additional amplifier
I/O
Input/Output 1CN
MP2000 series
controller to FSP
Interface Cable
*
**
***
****
*****
20
All
Comments
(A)
Use the following key to
specify required cable length
(last digit of part number):
1: 1m (standard)
2: 2m
3: 3m
Use the following key to
specify required cable length
(last two digits of the part
number):
D50:
01:
02:
03:
Item
Class
Stock
0.5m
1m (standard)
2m
3m
SMCCBL2
SMCCBLH
Use the Following key to
determine the desired length
specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
Stock**
SMCCBLB
JEPMC–W2040–
Use the Following key to
determine the desired length
specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
“(A)” at the end of the cable part number is the revision level. Revision level may be changed prior to this catalog reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
Use these power cables where it is important to meet CE (EMC) requirements.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
100/200V FSP Servo Systems
Connector Selection
Connector Description (D)
Motor Size
(kW)
Motor Power
Mating Connector
(without Brake)
Part Number
Comments
Item
Class
JZSP-CMM9-1
These connector kits
include pin and socket.
Requires use of Amp
Crimp Tool (90548-1).
(See below).
Motor Power
Mating Connector
(with Brake)
Amp Crimp Tool
SGMAH
Servomotors
Use the table below to select mating connectors or kits for your SGMAH Sigma II servomotor.
Stock
JZSP-CMM9-2
—
90548-1
All
Crimp tool for Motor
Power Connector
(JZSP-CMM9- )
2CN Amplifier
Mating Connector
DE9406973*
—
Motor Encoder
Mating Connector
JZSP-CMP9-2
—
Limited
Stock
Stock
1CN Mating
Connector
JZSP-CKI9
for FSP I/O
50-pin
3CN Peripheral
Mating Connector
—
YSC-1
—
5CN Analog Monitor
Connector
—
DE9404559
—
*
Alternative part number is DTCR6973
21
100/200V FSP Servo Systems
Peripheral Device Selection
SGMAH
Servomotors
Use the table below to select peripheral devices for your SGMAH Sigma II servomotor.
Component Description (E)
Part Number
JZSP-BA01-1
Absolute Encoder Battery
JZSP-BA01
Software Interface Cable
—
FSPGUI1, or
download at
www.yaskawa.com
Flexworks
For 200V:
DC Reactor
(for suppressing harmonics
in the power supply)
Individual External
Regenerative Unit
NEMA Flange Adapter
*
22
YS-12
For 100V:
FSP-A3AMC
FSP-A5AMC
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-A3BMC
FSP-A5BMC
FSP-01BMC
FSP-02BMC
50 Ω, 70W for A3, A5, 01, 02,
04, AND 08 AMPS
—
—
—
X5071
X5070
X5069
X5079
—
—
X5063
X5062
Comments
3.6V, 1000mAh (lithium battery)
with 5cm leads for wiring to 1CN
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
Pre-wired 2.0m cable with
9-pin connector
Item Class
Stock
—
—
Limited
Stock
—
This is a general purpose
regenerative unit.*
RH120-50ohmJ
SGM-N23
Caution: Proper set-up is
necessary to avoid equipment
damage.
For 30, 50, and 100W SGMAH
motors only. Complies to NEMA 23
mounting standard.
Stock
Refer to the FSP servo amplifier section , page 102 of this catalog for additional specifications, and the FSP Series Servo System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
100/200V FSP Servo Systems
Flat Series
SGMPH Servomotors - With Incremental / Absolute Encoder
Rated Output: 100W, 200W, 400W,
750W, 1500W
SGMPH Ratings & Specifications
SGMPH Speed/Torque Curves
SGMPH Dimensions
SGMPH Selection/Ordering Information
FSP Ratings & Specifications
FSP Dimensions
Page(s)
24
25
26
35
91
98
- 34
- 40
- 97
- 104
Design Features
1. Compact
The length is about 1/2 of conventional motors
Enhanced withstand load since motor output shaft bearing size is upgraded
Up to 5000rpm maximum speed
2. Enhanced Environmental Resistance
Water resistance (not including the shaft), IP67 standard
Optional shaft seals available
Reinforced lead-out cable access
3. Encoders (reduced wiring serial encoder)
13-bit (2,048ppr x 4) incremental encoder (standard)
16-bit (16,384ppr x 4) absolute encoder (option)
4. Application Emphasis
Chip mounters
PCB drilling machines
Robots
Conveyor
Packaging
5. Certified International Standards
UL, cUL recognized, (File #: E165827), CE compliance
23
SGMPH
Servomotors
For Additional Information
100/200V FSP Servo Systems
Servomotor Ratings and Specifications
Applied
Voltage
Time Rating:
Insulation:
Vibration:
Withstand Voltage:
Insulation Resistance:
100Vac
200Vac
SGMPH
Servomotors
200Vac
100Vac
*
24
Excitation:
Permanent magnet
Drive Method:
Direct drive
Mounting:
Flange-mounted
Applicable Encoder:
13-bit Incremental and
16-bit Absolute encoder
Enclosure: Totally-enclosed, self-cooled
Ambient Temperature: 0 to 40ºC
Ambient Humidity:
20 to 80%
(non-condensing)
Rated Rotation Speed: 3000rpm
Maximum Rotation Speed:5000rpm
Rated
Output
Rated
Torque
Instantaneous Peak
Torque
Continuous
Rated
Current*
Maximum
Peak
Current*
Rated
Angular
Acceleration
Rated
Power Rate
W (hp)
oz • in
N•m
oz • in
N•m
A rms
A rms
rad/s2
kW/s
01A
02A
04A
08A
15A
01B
100 (0.13)
200 (0.27)
400 (0.54)
750 (1.01)
1500 (2.01)
100 (0.13)
45.1
90.2
180
338
675
45.1
0.318
0.637
1.27
2.39
4.77
0.318
135
270
541
1014
2025
135
0.955
1.91
3.82
7.16
14.3
0.955
0.89
2.0
2.6
4.1
7.5
2.2
2.8
6.0
8.0
13.9
23.0
7.1
64800
33000
38500
11400
11900
64800
20.6
21.0
49.0
27.1
56.7
20.6
02B
200 (0.27)
90.2
0.637
270
1.91
2.7
8.4
33000
21.0
Holding Brake (at 20°C)
Coil
Rated
Capacity Resistance
Current
Allowable
Load
Inertia *
Values are calculated when the servomotor is combined with an FSP servo amplifier.
System Voltage
*
MOTORS:
SGMPH-
Continuous
Class B
15µm or less
1500Vac
500VDC
10MΩ or more
Moment of Inertia
MOTORS
SGMPH-
Motor without Brake
oz • in • s2
× 10-3
Motor with Brake
KG • m2 × 10-4
oz • in • s2 × 10-3
KG • m2 × 10-4
W
Ω
A
KG • m2 × 10-4
01A
02A
04A
08A
15A
01B
0.695
2.73
4.69
29.7
56.9
0.695
0.0491
0.193
0.331
2.10
4.02
0.0491
1.106
4.274
6.234
42.09
69.29
1.106
0.0781
0.302
0.44
2.975
4.895
0.0781
8.1
7.6
7.2
7.5
10
8.1
71
75.8
75.8
76.8
57.6
71
0.34
0.32
0.32
0.31
0.42
0.34
1.20
3.69
3.82
13.4
24.1
1.20
02B
2.73
0.193
4.274
0.302
7.6
75.8
0.32
3.69
Allowable load inertia (JL) shows the range requiring no exterior regenerative unit. When these values are exceeded,
application may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined
with an FSP servo amplifier.
MOTORS
SGMPH-
Servomotor
Capacity
W
01
02
04A
08A
15A
100
200
400
750
1500
Holding Brake
Holding Torque
oz-in
N•m
45
0.318
90.2
0.637
180
1.27
338
2.39
675
4.77
100/200V FSP Servo Systems
Speed / Torque Curves
200V
SGMPH-02A
SGMPH-04A
5000
5000
4000
4000
4000
B
A
2000
3000
A
2000
B
1000
1000
1000
0
0.5
1
1.5
50
100
TORQUE (oz/in)
0
150
100
200
TORQUE (oz/in)
300
5000
4000
4000
SPEED (rpm)
SPEED (rpm)
1
B
A
2
3
4
0
200
400
TORQUE (oz/in)
600
SGMPH-15A
5000
3000
A
2000
B
1000
1000
0
0
TORQUE (N m)
SGMPH-08A
2000
0
2
TORQUE (N m)
TORQUE (N m)
3000
B
A
2000
0
0
0 0.25 0.5 0.75 1.0
0
3000
SGMPH
Servomotors
3000
SPEED (rpm)
5000
SPEED (rpm)
SPEED (rpm)
SGMPH-01A
0
2
4
6
0
8
0
4
8
0
12
16
TORQUE (N m)
TORQUE (N m)
0
400
800
1200
TORQUE (oz/in)
800
1600
2400
TORQUE (oz/in)
100V
SGMPH-02B
5000
5000
4000
4000
SPEED (rpm)
SPEED (rpm)
SGMPH-01B
3000
A
2000
B
1000
3000
2000
A
B
1000
0
0
0
0 0.25 0.5 0.75 1.0
TORQUE (N m)
0
50
100
TORQUE (oz/in)
0.5
1
1.5
2
TORQUE (N m)
150
0
100
200
TORQUE (oz/in)
300
A : CONTINUOUS DUTY ZONE
B : INTERMITTENT DUTY ZONE
25
100/200V FSP Servo Systems
Dimensions in inches (mm)
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
Note:
•
1. The keyway complies with JIS B1301-1976 (precision). A straight key is supplied.
2. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available).
3. The quoted allowable radial load is the value at a position 5mm (0.2in) from the shaft end.
100W (0.13hp)
Encoder cable
UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
Encoder plug
U
Motor plug
Motor cable
W
SRUC 17GMRCN087
T
Cross-section Y-Y
SRUC 06JMSCN236
0.71 (18)
SGMPH
Servomotors
Hexagonal nut
11.81 (300) ±1.18 (30)
Opposite Side width: 0.55 (14)
L
0.0016 (0.04) A
LR
LL
LC
LM
Φ0.0016 (Φ0.04) A
0.83 (21)
0.42 (10.5) 0.12 (3)
LG
ΦLA
ΦLB**
Y
Y
LC
QK
0.55
(14)
4 - ΦLZ
ΦS*
0.35 (9.0)
0.51
(13)
A
0.0008 (0.002)
Serial encoder
(absolute or incremental)
Key
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
3.43
(87)
2.44
(62)
1.67
(42.5)
0.98
(25)
0.24
(6)
2.36
(60)
2.76
(70)
0.21
(5.3)
0.315
(8)
1.97
(50)
Type SGMPH01
01
E41D
E41D
QK
U
W
T
Output
W (hp)
0.55
(14)
0.071
(1.8)
0.12
(3)
0.12
(3)
100
(0.13)
Torque
in•lb
(N•m)
Time
Rating
Rated
Speed
(rpm)
Approx
Mass
lb (kg)
2.81
(0.318)
Continuous
3000
1.54
(0.7)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
17.5
(78)
11.0
(49)
Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting surface.
†
Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*Φ S
Dimension
Encoder Plug
1
2
3
11
10
12
13
17
5
16
15
14
4
6
9
8
7
SRUC 17GMRCN087
(Interconnectron)
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.3150
8.000
+0.0000-0.0004
+0.000 -0.009
1.9685
50.000
+0.0000 -0.0010
+0.000 -0.025
Incremental Terminal Specifications
Pin No.
Description
Color
1*
Battery —
2*
Battery * (3.6V)
—
3
Data +
Blue
4
Data−
Blue/White
5 - 7, 10 - 17
Free
—
8
+5V (Power Supply)
Red
9
0V (Power Supply)
Black
Connector Case
FG (Frame Ground)
Shield wire
*Note: Incremental Terminal pins number 1 and 2 are connectors
used for 16-bit absolute encoder option only.
Mating Connector: SPNA17HFRON16900E3
(Interconnectron)
26
Motor Plug
1
6
2
5
3
4
SRUC 06JMSCN236
(Interconnectron)
Motor Wiring Specifications
Pin
Number
Description
Color
1
2
3
6
Phase U
Phase V
Phase W
FG (Frame Ground)
Red
White
Blue
Green/Yellow
Mating Connector: SPNA06KFSDN169
(Interconnectron)
100/200V FSP Servo Systems
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
•
200W (0.27hp), 400W (0.53hp)
Encoder cable
UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
U
Encoder plug
W
SRUC 17GMRCN087
Motor cable
Motor plug
T
SRUC 06JMSCN236
Cross-section Y-Y
0.28 (7)
LR
0.0016 (0.04)
0.33 (8.5) LG
0.35
(9.0)
Φ0.0016 (Φ0.04) A
0.12 (3)
4 - ΦLZ
QK
0.55
(14)
Y
ΦS*
LC
ΦLB**
0.51
(13)
0.83 (21)
A
0.71 (18)
maximum
L
LL
LM
SGMPH
Servomotors
Hexagonal nut
Opposite side width: 0.55 (14)
LC
11.81 (300) ±1.18 (30)
Y
ΦLA
A
Serial encoder
(absolute or incremental)
0.0008 (0.02)
Key
Type SGMPH-
02
04
E41D
E41D
L
3.82
(97)
4.61
(117)
LL
LM
LR
2.64 1.89
(67) (48.1) 1.18
3.46 2.68 (30)
(87) (68.1)
LG
0.31
(8)
LC
3.15
(80)
ΦLA
ΦLZ
ΦS*
ΦLB**
3.54
(90)
0.28
(7)
0.551
(14)
2.76
(70)
QK
U
Voltage Output
W
T
0.63 0.12 0.20 0.20
(16) (3)
(5)
(5)
V
W (hp)
Torque
in•lb
(N•m)
200
200
(0.27)
400
(0.53)
5.64
(0.637)
11.2
(1.27)
Rated Approx
Speed Mass
(rpm) lb (kg)
Time
Rating
Continuous
3000
3.09
(1.4)
4.63
(2.1)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
55.1
(245)
15.4
(68)
Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the mounting surface.
†Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.5512
14.000
+0.0000-0.0004
+0.000 -0.011
2.7559
70.000
+0.0000 -0.0012
+0.000 -0.030
Interconnectron Connector Specifications: See p.26.
27
100/200V FSP Servo Systems
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
•
750W (1.01hp)
Encoder cable
UL20276 F0.24 (6)
U
11.81 (300) ±1.18 (30)
Encoder plug
W
SRUC 17GMRCN087
Motor plug
MOTOR CABLE
T
SRUC 06JMSCN236
Cross-section Y - Y
11.81 (300) ±1.18 (30)
0.28
(7)
0.0016 (0.04)
LR
LC
1.50 (38)
Φ0.0016 (Φ0.04) A
0.14
(3.5)
QK
0.51 0.75
(13) (19)
Y
ΦS*
Y
LC
ΦLB**
0.35
(9.0)
A
1.1 (28)
maximum
SGMPH
Servomotors
L
LL
LM
0.41 (10.5)
LG
Hexagonal nut
Opposite side width: 0.67 (17)
ΦLA
4 - ΦLZ
A
0.0008 (0.002)
Serial encoder
(absolute or incremental)
Key
Type SGMPH08
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
QK
U
W
T
Voltage Output
V
W (hp)
750
4.98 3.41 2.63 1.57 0.39 4.72 5.71 0.39 0.63 4.33 0.87 0.12 0.20 0.20
200
(1.01)
(126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
†Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
E41D
Torque
in•lb
(N•m)
Time
Rating
Rated Approx
Speed Mass lb
(rpm)
(kg)
21.1
(2.39)
Contin3000
uous
9.26
(4.2)
Specified Tolerances
*ΦS
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.6299
16.000
+0.0000-0.0004
+0.000 -0.011
4.3307
110.000
+0.0000 -0.0014
+0.000 -0.035
Interconnectron Connector Specifications: See p.26.
28
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
88.1
(392)
33.0
(147)
100/200V FSP Servo Systems
(1) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
•
1500W (2.0hp)
Encoder cable
UL20276 Φ0.24 (6)
U
11.81 (300) ±1.18 (30)
W
Encoder plug
SRUC 17GMRCN087
T
Motor plug
SRUC 06JMSCN020
Cross-section Y - Y
11.81 (300) ±1.18 (30)
LL
Hexagonal nut
Opposite side width: 0.67 (17)
A
LR
LC
1.50 (38)
LM
0.41 (10.5)
LG
4 - ΦLZ
Φ0.0016 (Φ0.04) A
0.14 (3.5)
1.1 (28)
0.28
(7)
SGMPH
Servomotors
0.0016 (0.04)
L
maximum
Motor cable
ΦLA
0.35
(9.0)
0.51 0.75
(13) (19)
QK
ΦS*
Y
LC
ΦLB**
Y
A
0.0008 (0.002)
Serial encoder
(absolute or incremental)
Key
ΦLA ΦLZ
ΦS*
ΦLB**
6.08 4.51 3.73 1.57 0.39 4.72 5.71 0.39
(154.5) (114.5) (94.7) (40) (10) (120) (145) (10)
0.75
(19)
4.33
(110)
Type SGMPH-
15
L
E41D
LL
LM
LR
LG
LC
QK
U
W
Voltage Output
V
W (hp)
T
0.87 0.14 0.24 0.24
(22) (3.5) (6)
(6)
Torque
in•lb
(N•m)
Time
Rating
42.1
(4.77)
Continuous
1500
(2.0)
200
Rated Approx
Speed Mass
(rpm) lb (kg)
3000
14.55
(6.6)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
110
(490)
33.0
(147)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
†
Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*ΦS
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.7480
19.000
+0.0000-0.0005
+0.000 -0.013
4.3307
110.000
+0.0000 -0.0014
+0.000 -0.035
Interconnection Connector Specifications
Encoder Plug
1
2
3
4
11
10
12
13
17
15
14
5
16
6
9
8
7
SRUC 17GMRCN087
(Interconnectron)
Incremental Terminal Specifications
Pin Number
Description
Color
1*
Battery —
2*
Battery * (3.6V)
—
3
Data +
Blue
4
Data−
Blue/White
5 - 7, 10 - 17
Free
—
8
+5V (Power Supply)
Red
9
0V (Power Supply)
Black
Connector Case FG (Frame Ground)
Shield wire
*Note: Incremental Terminal pins number 1 and 2 are connectors
used for 16-bit absolute encoder option only.
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
Motor Plug
1
6
2
5
3
4
SRUC 06JMSCN020
(Interconnectron)
Motor Wiring Specifications
Pin No.
Description
Color
1
2
3
6
Phase U
Phase V
Phase W
FG (Frame Ground)
Red
White
Blue
Green/Yellow
Mating Connector: SPNA06KFSDN169
(Interconnectron)
29
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
Note:
•
1. The keyway complies with JIS B1301-1976 (precision). A straight key is supplied.
2. The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
3. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available).
100W (0.13hp)
11.81 (300) ±1.18 (30)
Encoder plug
UL20276 Φ0.24 (6)
SRUC 17GMRCN087
U
W
Encoder cable
Motor plug
MOTOR cable
Φ0.0016 (Φ0.04) A
ΦLA
QK
Y
ΦLB**
0.90
(23)
ΦS*
Y
Serial encoder
(Absolute or Incremental)
4 - ΦLZ
LC
0.51
(13)
A
A
Magnetic brake: Non-excitation operation
DC power supply: 24V
0.0008 (0.002)
Key
LC
ΦLA
ΦLZ
ΦS*
ΦLB**
4.57 3.58 1.67 0.98 0.24 2.36
(116) (91) (42.5) (25) (6) (60)
2.76
(70)
0.22 0.315
(5.5) (8)
1.968
(50)
Type SGMPH-
01
L
E4CD
LL
LM
LR
LG
maximum.
0.0016 (0.04)
0.12 (3)
LG
0.35
(9.0)
LC
0.83 (21)
LR
0.71 (18)
SGMPH
Servomotors
L
LL
LM
0.41 (10.5)
Cross-section Y - Y
Hexagonal nut
Opposite side width: 0.67 (17)
11.81 (300) ±1.18 (30)
0.28 (7)
T
SRUC 06JMSCN236
QK
U
W
T
Voltage Output
(V)
W (hp)
Torque
in•lb
(N•m)
Time
Rating
Rated Approx
Speed Mass
(rpm) lb (kg)
100
(0.13)
2.81
(0.318)
Continuous
3000
0.55 0.071 0.12 0.12
(14) (1.8) (3)
(3)
200
1.5
(0.7)
Allowable
Radial
Load
lb (N)
Allowable
Thrust
Load
lb (N)
17.5
(78)
11.0
(49)
Note: The quoted allowable radial load is the value at a position 0.79in (20mm) from the motor mounting surface.
†Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.3150
8.000
+0.0000-0.0004
+0.000 -0.009
1.9685
50.000
+0.0000 -0.0010
+0.000 -0.025
Interconnection Connector Specifications
Encoder Plug
1
2
3
4
11
10
12
13
17
15
14
5
16
6
9
8
7
SRUC 17GMRCN087
(Interconnectron)
Motor Plug
Incremental Terminal Specifications
Pin Number
Description
Color
1*
Battery 2*
Battery * (3.6V)
3
Data +
Blue
4
Data−
Blue/White
5 - 7, 10 - 17
Free
8
+5V (Power Supply)
Red
9
0V (Power Supply)
Black
Connector Case
FG (Frame Ground)
Shield wire
*Note: Incremental Terminal pins number 1 and 2 are connectors
used for 16-bit absolute encoder option only.
6
3
4
2
5
SRUC 06JMSCN236
(Interconnectron)
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
30
1
Motor Wiring Specifications
Pin Number
Description
Color
1
2
3
4
5
6
Phase U
Phase V
Phase W
Holding Brake
Holding Brake
FG (Frame Ground)
Red
White
Blue
Black
Black
Green/Yellow
Mating Connector: SPNA06KFSDN169
(Interconnectron)
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
•
200W (0.27hp), 400W (0.53hp)
Encoder cable
UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
U
Encoder plug
Motor cable
W
SRUC 17GMRCN087
T
Motor plug
SRUC 06JMSCN236
0.71 (18)
maximum
Φ0.0016 (Φ0.04) A
0.51
(13)
0.90
(23)
SGMPH
Servomotors
0.35
(9.0)
HEXAGONAL NUT
Opposite side width: 0.67 (17)
0.0016 (0.04) A
LC
0.83 (21)
11.81 (300) ±1.18 (30)
L
LR
LL
LM
LG
0.12 (3)
0.28 (7)
0.33 (8.5)
Cross-section Y-Y
QK
Serial encoder
(Absolute or Incremental)
ΦLA
ΦS*
Y
LC
ΦLB**
Y
ΦLZ
A
Magnetic brake: Non-excitation operation
DC power supply: 24V
0.0008 (0.002)
Key
Type SGMPH-
02
04
E4CD
E4CD
L
LL
LM
LR
LG
LC
ΦLA ΦLZ
5.06
3.88
1.89
(128.5) (98.5) (48.1) 1.18 0.31 3.15 3.54
5.85
4.67
2.68 (30) (8) (80) (90)
(148.5) (118.5) (68.1)
ΦS*
ΦLB**
0.28 0.551
(7)
(14)
2.756
(70)
QK
U
W
T
0.63 0.12 0.20 0.20
(16) (3) (5) (5)
Voltage Output
V
W (hp)
Torque
in•lb
( N•m)
Time
Rating
Rated
Speed
(rpm)
Approx
Mass
lb (kg)
200
(0.27)
400
(0.53)
5.64
(0.637)
11.2
(1.27)
Continuous
3000
4.2
(1.9)
5.7
(2.6)
200
400
Allowable Allowable
Radial
Thrust
Load lb
Load
(N)
lb (N)
55.1
(245)
15.29
(68)
Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the motor mounting surface.
†Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.5512
14.000
+0.0000-0.0004
+0.000 -0.011
2.7559
70.000
+0.0000 -0.0012
+0.000 -0.030
Interconnectron Connector Specifications: See p.29.
31
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
750W (1.01hp)
11.81 (300) ±1.18 (30)
Encoder plug
U
SRUC 17GMRCN087
Motor cable
Motor plug
SRUC 06JMSCN236
11.81 (300) ±1.18 (30)
SGMPH
Servomotors
0.28 (7)
Hexagonal nut
Opposite side width: 0.55 (14)
LC
LR
0.0016 (0.04) A
1.5 (38)
Φ0.0016 (Φ0.04)
0.14 (3.5)
A
4 - ΦLZ
QK
0.51
(13)
1.0
(25.5)
Y
ΦS*
Y
ΦLC
ΦLB**
0.35
(9.0)
Cross-section Y - Y
1.1 (28)
L
LL
LM
0.41 (10.5)
LG
T
maximum.
Encoder cable
UL20276 Φ0.24 (6)
W
•
ΦLA
A
Serial encoder
(Absolute or Incremental)
Magnetic brake: Non-excitation operation
DC power supply: 24V
0.0008 (0.002)
Key
Type SGMPH-
08
E4CD
L
LL
LM
LR
LG
LC
ΦLA
ΦLZ ΦS* ΦLB**
6.42 4.84 2.63 1.57 0.39 4.72 5.71 0.39
(163) (123) (66.7) (40) (10) (120) (145) (10)
0.63
(16)
4.33
(110)
QK
U
W
T
0.87 0.12 0.20 0.20
(22) (3)
(5)
(5)
Voltage
V
Output
W (hp)
Torque
in•lb
(N•m)
Time
Rating
Rated
Speed
(rpm)
Approx
Mass
lb (kg)
200
750
(1.01)
21.15
(2.39)
Continuous
3000
12.6
(5.7)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
†
Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*Φ S
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.6299
16.000
+0.0000-0.0004
+0.000 -0.011
4.3307
110.000
+0.0000 -0.0014
+0.000 -0.035
Interconnectron Connector .Specifications: See p.29.
32
Allowable Allowable
Radial
Thrust
Load lb
Load
(N)
lb (N)
88.1
(392)
33.0
(147)
100/200V FSP Servo Systems
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake
•
1500W (2.0hp)
Encoder cable
UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
U
Encoder plug
W
SRUC 17GMRCN087
T
Motor plug
Motor cable
SRUC 06JMSCN020
Cross-section Y - Y
11.81 (300) ±1.18 (30)
0.0016 (0.04)
0.41 (10.5)
LR
LC
1.50 (38)
LG
0.14 (3.5)
Φ0.0016 (Φ0.04) A
QK
1.00
(25.5)
ΦLB**
ΦS*
Y
LC
0.35
(9.0) 0.51
(13)
1.1 (28)
Maximum
0.28 1.30 (33)
(7)
Hexagonal nut
Opposite side width: 0.55 (14)
A
SGMPH
Servomotors
L
LL
LM
Y
Serial encoder
(Absolute or Incremental)
A
Magnetic brake: Non-excitation operation
DC power supply: 24V
0.0008 (0.002)
Key
Type SGMPH-
15
E4CD
L
LL
7.40
(188)
5.83
(148)
ΦLA
ΦLZ
ΦS*
ΦLB**
3.73 1.57 0.39 4.72 5.71
(94.7) (40) (10) (120) (145)
0.39
(10)
0.75
(19)
4.33
(110)
LM
LR
LG
LC
QK
U
W
T
0.87 0.14 0.24 0.24
(22) (3.5) (6)
(6)
Voltage Output
V
W (hp)
Torque
in•lb
( N•m)
Time
Rating
Rated Approx
Speed Mass
(rpm) lb (kg)
1500
(2.02)
42.1
(4.77)
Continuous
3000
200
17.9
(8.1)
Allowable Allowable
Radial
Thrust
Load
Load
lb (N)
lb (N)
110
(490)
33.0
(147)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
†
Some motor dimensions vary for motors with the optional shaft seal: See p.34 for details.
Specified Tolerances
*ΦS
Dimension
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.7480
19.000
+0.0000-0.0005
+0.000 -0.013
2.7559
70.000
+0.0000 -0.0014
+0.000 -0.035
Interconnection Connector Specifications
Incremental Terminal Specifications
Encoder Plug
Pin Number
Description
Color
1
2
3
4
11
10
12
13
17
15
14
5
16
6
9
8
7
SRUC 17GMRCN087
(Interconnectron)
1*
Battery —
2*
Battery * (3.6V)
—
3
Data +
Blue
4
Data −
Blue/White
5 - 7, 10 - 17
Free
—
8
+5V (Power Supply)
Red
9
0V (Power Supply)
Black
Connector Case
FG (Frame Ground)
Shield wire
*Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only.
Motor Plug
1
6
2
5
3
4
SRUC 06JMSCN020
(Interconnectron)
Motor Wiring Specifications
Pin
No.
Description
Color
1
2
3
4
5
6
Phase U
Phase V
Phase W
Holding Brake
Holding Brake
FG (Frame Ground)
Red
White
Blue
Black
Black
Green/Yellow
Mating Connector: SPNA06KFSDN169
(Interconnectron
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
33
100/200V FSP Servo Systems
Dimension Modifications for Motors with Optional Shaft Seal
LR
LE
LD
ΦLB
LP
ΦS
QK
SGMPH
Servomotors
Shaft Seal
Type SGMPH01
02
04
08
15
QK
0.55 (14)
ΦLB*
ΦS*
1.97 (50)
0.31 (8)
LE
0.64 (16)
2.76 (70)
0.55 (14)
0.87 (22)
4.33 (110)
0.63 (16)
0.75 (19)
0.12 (3)
0.14 (3.5)
ΦLP
LR
0.98 (25)
LD
0.28 (7)
1.54 (39)
1.18 (30)
0.39 (10)
1.93 (49)
1.57 (40)
0.41 (10.5)
3.03 (77)
*Refer to the following table for tolerances for diameters LB and S.
Specified Tolerances
* ΦS
Dimension
Unit
in
mm
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.3150
0.5512
0.6299
0.7480
8.000
14.000
16.000
19.000
+0.0000-0.0004
+0.0000-0.0004
+0.0000-0.0004
+0.0000-0.0005
+0.000 -0.009
+0.000 -0.011
+0.000 -0.011
+0.000 -0.013
1.9685
2.7559
4.3307
+0.0000 -0.0010
+0.0000 -0.0014
+0.0000 -0.0014
50.000
70.000
110.000
+0.000 -0.025
+0.000 -0.035
+0.000 -0.035
Torque Reduction Factor for SGMPH motors equipped with a shaft seal:
Servomotor Model
Torque Reduction
Factor
01
02
04
08
15
90%
90%
95%
95%
95%
For Example: The SGMPH-01 continuous and peak torque rating should be reduced to 90%
of the listed catalog specification.
To specify a motor with a shaft seal, refer to the motor part number explanation on the
following page.
34
100/200V FSP Servo Systems
Selecting: SGMPH–FSP Sigma II Servo System
First, select the Sigma II servomotor suited for your application using SigmaSize, the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
5CN
Shaft Keyway
3CN
FSP Servo
Amplifier
(B)
Peripheral
Device
(E)
SGMPH
Servomotor
(A)
Connector
Encoder (D)
Encoder side
Connector (D)
Shaft Seal
SGMPH
Servomotors
For Monitor (D)
Motor side
Connector (D)
2CN
1CN
Encoder Cable (C)
Motor Cable (C)
I/O Signal
Connector
(D)
Specify a technical manual, if it is needed, on your
servo system purchase order:
Regenerative Unit (E)
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SGMPH - 01 A A E 4 1D
Sigma Servomotor Type
Rated Output
01: 100W (0.13hp)
02: 200W (0.25hp)
04: 400W (0.5hp)
08: 750W (1hp)
15: 1.5kW (2hp)
Power Supply
A: 200V UL Recognized
B: 100V UL Recognized
Accessories
1D: Standard
CD: Standard with 24VDC Holding Brake
SD: Standard with Shaft Seal
ED: Standard with Brake & Shaft Seal
Shaft Specifications
4: Straight Shaft with Keyway
Revision Level
Encoder Specifications
A: 13-Bit (2048 x 4) Incremental Encoder
1: 16-Bit (16,384 x 4) Absolute Encoder
35
100/200V FSP Servo Systems
Servomotor & Amplifier Selection
Use the table below to select the appropriate SGMPH Sigma II servomotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Description
Peak
Torque
(oz • in)
135
SGMPH
Servomotors
200V
13-Bit Incremental
Encoder
Straight Shaft with
Keyway
270
542
Rated
Torque
(oz • in)
1010
2027
135
SGMPH-01AAE41D
1.46
SGMPH-01AAE4CD
2.96
SGMPH-02AAE41D
200V 1-Phase
FSP-
Amplifier
Item Class**
01AMC
02AMC
4.35
SGMPH-02AAE4CD
4.92
SGMPH-04AAE41D
6.31
SGMPH-04AAE4CD
29.9
SGMPH-08AAE41D
04AMC
338
08AMC-S
35.7
SGMPH-08AAE4CD
57.1
SGMPH-15AAE41D
67.8
SGMPH-15AAE4CD
0.917
SGMPH-01BAE41D
676
Stock
15AMC-S
01BMC
45.1
5000rpm
Pre-wired with
Heavy Duty
Connectors
0.917
181
Straight Shaft with
Keyway
270
Motor MODEL # (A)
90.1
100V, 1-Phase
13-Bit Incremental
Encoder
Amplifier MODEL # (B)*
45.1
5000rpm
Pre-wired with
Heavy Duty
Connectors
Motor Inertia
(oz • in • s2x10-3)
1.46
SGMPH-01BAE4CD
2.96
SGMPH-02BAE41D
90.1
02BMC
4.35
SGMPH-02BAE4CD
Notes: 24VDC brakes for SGMPH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies. Motor power
and encoder cables are factory pre-wired with approximately 13” lead length with heavy duty mating connectors.
Use the tables on the following page to specify mating connectors and/or various cable lengths.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
* For more detailed FSP amplifier specifications and dimensions, refer to pages 89 to 105.
** Servomotors are stock, FSP–
MC stock status is shown.
36
100/200V FSP Servo Systems
Pre-wired Cable Selection
Use the table below to select pre-wired cables for your SGMPH Sigma II servomotor.
Part Number*
Power Cable with
Interconnectron Connectors
(without Brake)
0.1, 0.2,
0.4, 0.8
B4ICE-
(A)
1.5
B5ICE-
(A)
Power Cable with
Interconnectron Connectors
(with Brake)
(IP67)
0.1, 0.2,
0.4, 0.8
B4IBCE-
(A)
1.5
B5IBCE-
(A)
Encoder Cable with
Interconnectron Connector
(incremental or absolute)
(IP67)
AFPHCE-
(A)
Comments
These UL and CE
compliant cables are
available in five lengths.
Use two digits in the
part number’s last
place:
03: 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
Item
Class
Stock**
Limited
Stock
Stock**
Connects these full
length encoder
feedback cables to the
FSP amplifier
Encoder feedback adapter
cable for incremental and
absolute****
–
AFAD-P2(A)
All
(Encoder feedback
cables for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full
length encoder
feedback cables to the
FSP amplifier
Encoder feedback adapter
cable for absolute
encoders. Cable has built in
absolute encoder battery
and case.
–
AFADABS-P2(A)
(Encoder feedback
cables for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Stock
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
FR-RMCT-SB
Encoder Cable
(for applications
from >20 to <50m)
Only for Solder
Connections
UL20276-SB
These cables are
available in any length.
For example, to order
one FR-RMCT-SB
cable, 16m long,
specify:
quantity:16
part no.: FR-RMCT-SB
Table continued on next page.
37
SGMPH
Servomotors
Motor
Size
(kW)
Cable Description (C)
100/200V FSP Servo Systems
Cable Description (C)
Input/Output 1CN Cable &
Transition
Terminal Block
Input/Output 1CN Cable
with Pigtail Leads
Motor
Size
(kW)
Part Number*
JUSP-TA50P
35mm DIN rail
mountable; the cable
length is 0.5 meters.
JUSP–WA50P–
35mm DIN Rail
mountable
D50: 0.5 meters
(standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
JZSP-CKI01- (A)
Use the following key to
specify required cable
length (last digit of part
number):
1: 1m (standard)
2: 2m
3: 3m
SGMPH
Servomotors
Input/Output 1CN Cable
Cable with Female
D-Sub output Connector***
JZSP-CKI0D-
Input/Output 1CN
SMC4000 to FSP Interface
Cable
SMCCBL2
Input/Output 1CN
SMC4000 to FSP Interface
Cable with prepared alarm
and reset inputs. requires
jumper in SMC4000
Input/Output 1CN
SMC4000 to FSP Interface
Cable with flying leads for
additional amplifier I/O
Input/Output 1CN MP2000
series controller to FSP
Interface Cable
*
**
***
****
38
Comments
SMCCBLH
SMCCBLB
JEPMC–W2040–
Item
Class
Stock
Use the following key to
specify required cable
length (last two digits of
the part number):
D50:
01:
02:
03:
0.5m
1m (standard)
2m
3m
Stock**
Use the Following key
to determine the
desired length
specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
Limited
Stock
Use the Following key
to determine the
desired length
specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
The “(A)” at the end of the cable part number is the revision level. Revision level may be changed prior to catalog reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others)
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
100/200V FSP Servo Systems
Connector Selection
Use the table below to select mating connectors or kits for your SGMPH Sigma II servomotor.
Motor Size
(kW)
Interconnectron
Connector for Motor
Power Cable (with or
without Brake)
(IP67)
Part Number
FIN07S-B2
0.1, 0.2,
0.4, 0.8,
1.5
2CN Amplifier
Mating Connector
DE9406973*
Comments
Item
Class
Solder Cup
SGMPH
Servomotors
Connector Description (D)
—
Stock
Interconnectron
Connector for Encoder
Cable
(incremental or
absolute encoder)
(IP67)
FIN17C-A2
Gauge: 24 - 18AWG
Requires Crimp Tool
B150 and positioner
2CN Amplifier
Mating Connector
JZSP-CKI9
–
All
Interconnectron
Crimp Tool
—
B150
—
Positioner
—
B055/A
—
Limited
Stock
*Alternative Part # is DTCR6973.
39
100/200V FSP Servo Systems
Peripheral Device Selection
Use the table below to select peripheral devices for your SGMPH Sigma II servomotor.
Component Description (E)
Part Number
JZSP-BA01-1
Absolute Encoder Battery
JZSP-BA01
Software Interface Cable
—
FSPGUI1 or
download at
www.yaskawa.com
Flexworks
SGMPH
Servomotors
For:
Individual External
Regenerative Unit
For:
For 200V:
DC Reactor
(for suppressing harmonics
in the power supply)
*
40
YS-12
For 100V:
FSP-01A
FSP-02A
FSP-04A
FSP-08A
-S
FSP-15D
FSP-15A
-S
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-15AMC-S
FSP-01BMC
FSP-02BMC
Comments
3.6V, 1000mAh (lithium battery) with
5cm leads for wiring to 1CN
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
Pre-wired 2.0m cable with
9-pin connector
Item Class
Stock
–
These are general purpose
regenerative units.*
Caution: Proper set-up is necessary
RH500N25_ohmΚ to avoid equipment damage.
RH12050ohmJ
X5071
X5070
X5069
X5079
X5078
X5063
X5062
—
Limited
Stock
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection.
Refer to the FSP servo amplifier section of this catalog for additional specifications, and the FSP Series Servo System User’s
Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
100/200V FSP Servo Systems
SGMPH Gearmotors - With Incremental / Absolute Encoder
Rated Output : 100W, 200W, 400W,
750W, 1500W
For Additional Information
SGMPH Gearmotor Ratings & Specifications
SGMPH Gearmotor Dimensions
SGMPH Gearmotor Selection/Ordering Information
FSP Ratings & Specifications
FSP Dimensions
Page(s)
42
44
46
91
98
- 43
- 45
- 51
- 97
- 104
Design Features
SGMPH
Gearmotors
1. Compact Construction
Easy to install - pre-engineered and pre-assembled
Ideal for cyclic and reversing applications
Fits in limited mounting space
Planetary gear geometry allowing high output torques in a compact package
2. Torque
40.9 to 3540in • lb peak torque
Cost-effective solution for low speed and high torque applications
Gear ratios - 5:1 to 100:1 in some sizes
High torsional stiffness and low backlash
Lubrication is self-replenishing to ensure long life
3. Encoders
13-Bit (2,048ppr x 4) incremental encoder (standard)
16-Bit (16,384ppr x 4) absolute encoder (option)
4. Enclosure
Motor is totally enclosed, self-cooled IP67 (not including shaft)
5. Application Emphasis
PCB drilling machines
Robots
Conveyors
Packaging machines
6. Certified International Standards
UL, cUL recognized (File #: E165827), CE compliance
41
100/200V FSP Servo Systems
Gearmotor Ratings and Specifications
GEARMOTOR
Part Number
SG05SA-PE01
SG10SA-PE01
SG25SA-PE01
SG50SA-PE01
SG1ASA-PE01
SG05SA-PE02
SG10SA-PE02
SG25SA-PE02
SG50SA-PE02
SG1ASA-PE02
SG05SA-PE04
SG10SA-PE04
SG25SA-PE04
SG50SA-PE04
SG1ASA-PE04
SG05SA-PE08
SG10SA-PE08
SG25SA-PE08
SG50SA-PE08
SG05SA-PE15
SG10SA-PE15
SG25SA-PE15
SG50SA-PE15
Rated
Torque
(in • lb)
Peak
Torque
(in • lb)
Rated Maximum
Speed
Speed
(rpm)
(rpm)
13.67
27.34
66.95
133.89
267.78
27.34
54.68
133.89
267.78
535.56
54.81
109.61
268.38
536.75
1073.50
102.34
204.67
501.13
1002.25
205.16
410.31
1004.63
2009.25
40.93
81.84
200.39
283.00
637.00
81.84
163.69
283.00
708.00
1593.00
164.42
283.00
708.00
1610.25
2832.00
306.04
612.07
1498.63
2997.25
614.50
1228.99
3009.13
3540.00
600
300
120
60
30
600
300
120
60
26
600
300
120
52
20
600
300
104
40
520
260
80
40
1000
500
200
100
50
1000
500
200
100
48
1000
500
200
96
36
1000
500
192
72
960
480
144
72
Speed
N1
(rpm)
Torque
T1
(in • lb)
Torque
T2
(in • lb)
900
450
180
90
45
1000/600
500/300
200/120
100/60
50/30
640
320
128
64
32
640
320
128
64
640
320
128
64
8.59
17.17
42.04
84.08
168.16
17.17
34.34
84.08
168.16
336.32
34.34
68.68
168.16
336.32
672.65
51.51
103.02
252.24
504.48
103.02
206.04
504.48
1008.97
34.34
68.68
168.16
336.32
672.65
81.8/36.2*
163.7/72.4*
283/177*
708/354.7*
1593/704.4*
77.27
154.53
378.36
756.73
1513.45
51.51
103.02
252.24
504.48
103.02
206.04
504.48
1008.97
Amplifier Model
Number
Analog Input
FSP-
01 MC
02 MC
04 MC
08 MC-S
15 MC-S
SGMPH
Gearmotors
* Values for 100V Gearmotor
Note: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000
cycles per hour or less. Contact your Yaskawa representative when duty cycles exceed 60%, and when the
gearmotor runs for more than 1,000 cycles per hour.
2. Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature.
3. For right-angle gearmotors, please consult the factory for availability.
Torque
A = Continuous Duty
B = Intermittent Duty
Peak Torque
T2
B
Rated Torque
A
T1
Rated Speed
N1
Maximum Speed
42
Speed
100/200V FSP Servo Systems
Gearmotor Mechanical Ratings
SG05SA-PE01
SG10SA-PE01
SG25SA-PE01
SG50SA-PE01
SG1ASA-PE01
SG05SA-PE02
SG10SA-PE02
SG25SA-PE02
SG50SA-PE02
SG1ASA-PE02
SG05SA-PE04
SG10SA-PE04
SG25SA-PE04
SG50SA-PE04
SG1ASA-PE04
Gearhead
Backlash
(arc min)
<10
Gearhead
Maximum Radial
Load (lbf)
Gearhead
Maximum Axial
Load (lbf)
Gearhead
Inertia
(in • lb • s2)
Gearmotor
Weight
(lb)
146
158
0.000052
3.24
326
349
0.00025
6.39
540
428
0.0016
12.79
326
349
0.00025
<10
<10
SG05SA-PE08
SG10SA-PE08
SG25SA-PE08
SG50SA-PE08
<10
SG05SA-PE15
SG10SA-PE15
SG25SA-PE15
SG50SA-PE15
<10
7.28
540
1035
428
900
0.0016
0.0049
7.94
14.34
27.79
326
349
0.00025
8.82
540
1035
1687
428
900
1350
0.0016
0.0049
0.0047
15.88
29.33
50.83
540
428
0.0016
19.18
1035
1687
900
1350
0.0049
0.0047
34.84
56.34
1035
900
0.0048
34.40
1687
1350
0.0047
60.75
SGMPH
Gearmotors
GEARMOTOR
Part Number
CONVENTIONAL GEARMOTOR
TORSIONAL ANGLE
YASKAWA
Sigma II
GEARMOTOR
REDUCER’S BACKLASH
TORQUE
2% OF RATED TORQUE
43
100/200V FSP Servo Systems
Dimensions in inches (mm)
Q
QK
T
W
KD
Motor leads extend 11.81in (300mm) from motor
U
LL
LL3
LR
T
LC
(4) Holes 90° apart
MT threaded
MD deep
LE
øLA
øGD
øLB
øS
GEARMOTOR
LL3
LL
LE
LR
LB
GD
S
LC
1.988
(50)
5.177
(131.5)
0.158
(4)
0.965
(24.5)
1.378
(35)
1.969
(50)
0.472
(12)
2.362
(60)
3.465
(88)
6.858
(174.2)
1.417
(36)
2.047
(52)
2.756
(70)
0.630
(16)
SG1ASA-PE01 A
4.193 7.500
(106.5) (190.5)
1.811
(46)
2.677
(68)
3.543
(90)
SG05SA-PE02 A
SG10SA-PE02 A
2.677
(68)
6.181
(157)
SG25SA-PE02 A
3.465
(88)
6.969
(177)
1.417
(36)
2.047
(52)
SG50SA-PE02 A
4.193 7.697
(106.5) (195.5)
1.811
(46)
SG1ASA-PE02 A
5.295 9.036
(134.5) (229.5)
SG05SA-PE01 A
SG10SA-PE01 A
SG25SA-PE01 A
SG50SA-PE01 A
SGMPH
Gearmotors
SG05SA-PE04 A
SG10SA-PE04 A
2.677
(68)
6.969
(177)
0.197
(5)
0.236
(6)
0.197
(5)
LA
MT
MD
Q
QK
1.732 M4 0.315
(44) x 0.7
(8)
0.709
(18)
2.756
(70)
2.441 M5 0.394
(62) x 0.8 (10)
0.866
(22)
3.543
(90)
2.756
(70)
0.630
(16)
2.677
(68)
3.543
(90)
2.756
(70)
3.543
(90)
1.417
(36)
KD
W
T
U
0.551
(14)
0.158
(4)
0.158
(4)
0.098
(2.5)
1.102
(28)
0.984
(25)
0.197
(5)
0.197
(5)
0.118
(3)
3.150 M6 0.472
(80) x 1.0 (12)
1.417
(36)
1.260
(32)
0.236
(6)
0.236
(6)
0.138
(3.5)
3.150
(80)
2.441 M5 0.394
(62) x 0.8 (10)
1.102
(28)
0.984
(25)
0.197
(5)
0.197
(5)
0.118
(3)
0.866
(22)
3.543
(90)
3.150 M6 0.472
(80) x 1.0 (12)
1.417
(36)
1.260
(32)
0.236
(6)
0.236
(6)
0.138
(3.5)
4.724
(120)
1.260
(32)
4.724
(120)
4.252
(108)
M8
x
1.25
0.630
(16)
2.284
(58)
1.969
(50)
0.394
(10)
0.315
(8)
0.197
(5)
2.047
(52)
2.756
(70)
0.630
(16)
3.150
(80)
2.441 M5 0.394
(62) x 0.8 (10)
1.102
(28)
0.984
(25)
0.197
(5)
0.197
(5)
0.118
(3)
1.811
(46)
2.677
(68)
3.543
(90)
0.866
(22)
3.543
(90)
3.150 M6 0.472
(80) x 1.0 (12)
1.417
(36)
1.260
(32)
0.236
(6)
0.236
(6)
0.138
(3.5)
M8
x
1.25
0.315
(8)
0.197
(5)
0.236
(6)
0.138
(3.5)
0.315
(8)
0.197
(5)
0.079
(2)
0.158
(4)
0.079
(2)
SG25SA-PE04 A
4.193 8.484
(106.5) (215.5)
SG50SA-PE04 A
5.295 9.823
(134.5) (249.5)
0.236
(6)
2.756
(70)
3.543
(90)
4.724
(120)
1.260
(32)
4.252
(108)
0.630
(16)
2.284
(58)
1.969
(50)
0.158
(4)
0.394
(10)
SG1ASA-PE04 A
6.024
(153)
10.551
(268.0)
0.315
(8)
3.819
(97)
4.724
(120)
6.102
(155)
1.575
(40)
5.512 M10 0.787
(140) x 1.5 (20)
3.228
(82)
2.756
(70)
0.236
(6)
0.472
(12)
3.150
(80)
7.815
(198.5)
0.197
(5)
1.811
(46)
2.677
(68)
3.543
(90)
0.866
(22)
3.150 M6 0.472
(80) x 1.0 (12)
1.417
(36)
1.260
(32)
0.079
(2)
0.236
(6)
SG25SA-PE08 A
5.295
(134.5)
9.803
(249)
0.236
(6)
2.756
(70)
3.543
(90)
4.724
(120)
1.260
(32)
M8
x
1.25
0.630
(16)
2.284
(58)
1.969
(50)
0.158
(4)
0.394
(10)
SG50SA-PE08 A
6.024
(153)
10.532(
267.5)
0.315
(8)
3.819
(97)
4.724
(120)
6.102
(155)
1.575
(40)
5.512 M10 0.787
(140) x 1.5 (20)
3.228
(82)
2.756
(70)
0.236
(6)
0.472
(12)
4.016
(102)
9.626
(244.5)
0.236
(6)
2.756
(70)
3.543
(90)
4.724
(120)
1.260
(32)
4.252
(108)
M8
x
1.25
0.630
(16)
2.284
(58)
1.969
(50)
0.158
(4)
0.394
(10)
6.024
(153)
11.634
(295.5)
0.315
(8)
3.819
(97)
4.724
(120)
6.012
(155)
1.575
(40)
5.512 M10 0.787
(140) x 1.5 (20)
3.228
(82)
2.756
(70)
0.236
(6)
0.472
(12)
SG05SA-PE08 A
SG10SA-PE08 A
SG05SA-PE15 A
SG10SA-PE15 A
SG25SA-PE15 A
SG50SA-PE15 A
44
4.724
(120)
4.252
(108)
100/200V FSP Servo Systems
Tolerances for Standard (SG) Gearmotors
Unit
in
mm
Diameter
ΦLB
Tolerance
0.472, 0.630
+0.00047 +0.00004
0.866
+0.00059 +0.00008
1.25984, 1.57480 +0.00071 +0.00008
12, 26
+0.012 +0.001
22
+0.015 +0.002
32, 40
+0.018 +0.002
Diameter
1.378
2.047, 2.677
3.5433, 4.724
35
52, 68
90, 120
W
Tolerance
Width
Tolerance
+0.00000 -0.00063 0.158, 0.197, 0.236 +0.00000 -0.00118
+0.00000 -0.00075
0.39370
+0.00000 -0.00142
+0.00000 -0.00087
0.47244
+0.00000 -0.00169
+0.000 -0.016
4, 5, 6
+0.000 -0.030
+0.000 -0.019
10
+0.000 -0.036
+0.000 -0.022
12
+0.000 -0.043
SGMPH
Gearmotors
ΦS
Dimension
45
100/200V FSP Servo Systems
Selecting: SGMPH Gearmotor System
First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
5CN
Shaft w/Keyway
For Monitor (D)
3CN
Peripheral
Signal
Cable (E)
FSP Servo
Amplifier
(B)
1CN
SGMPH
Gearmotor
(A)
Connector for
Encoder Signal (D)
Encoder side
Connector (D)
Motor side
Connector (D)
2CN
Encoder Cable (C)
I/O Signal
Connector
(D)
Regenerative Unit (E)
Motor Cable (C)
Specify a technical manual, if it is needed, on your
servo system purchase order:
SGMPH
Gearmotors
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SG 05 S A-PE 02 A A C
Sigma II Gearmotor Series
G: Standard (<10 arc min)
Reduction Ratio
05: 5:1
10: 10:1
25: 25:1
50: 50:1
1A: 100:1
Construction
S: Standard
Revision Level
Motor Series
PE: SGMPH
46
Accessories
C: 24VDC Brake
Blank:Standard YEA stock motor
options
Encoder Specifications
A: 13-Bit Incremental Encoder
1: 16-Bit Absolute Encoder
Power Supply
A: 200V
B: 100V
Motor Output
01: 100W (0.13hp)
02: 200W (0.25hp)
04: 400W (0.5hp)
08: 750W (1hp)
15: 1.5kW (2hp)
100/200V FSP Servo Systems
Gearmotor & Amplifier Selection
Use the table below to select the appropriate SGMPH Sigma II gearmotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Gearhead only
Rated
Torque
(in • lb)
Peak
Torque
(in • lb)
Rated
Speed
(rpm)
Maximum
Speed
(rpm)
SG05SA-PE01AA
13.67
40.93
600
1000
SG10SA-PE01AA
27.34
81.84
300
500
SG25SA-PE01AA
66.95
200.39
120
200
SG50SA-PE01AA
133.89
283.00
60
100
SG1ASA-PE01AA
267.78
637.00
30
50
MODEL #
SG05SA-PE02AA
27.34
81.84
600
1000
SG10SA-PE02AA
54.68
163.69
300
500
Inertia
(in • lb • s2)
0.000052
0.00025
Gear
Ratio
Amplifier
MODEL #
(B)*
FSP-
Gear
Motor
Item
Class
Amplifier
Item
Class
Normal
leadtime
3-4
weeks for
assembly
Stock
5:1
10:1
25:1
01AMC
50:1
0.0016
100:1
0.00025
10:1
5:1
SG25SA-PE02AA
133.89
283.00
120
200
SG50SA-PE02AA
267.78
708.00
60
100
0.0016
50:1
25:1
SG1ASA-PE02AA
535.56
1593.00
26
48
0.0049
100:1
SG05SA-PE04AA
54.81
164.42
600
1000
0.00025
5:1
SG10SA-PE04AA
109.61
283.00
300
500
SG25SA-PE04AA
268.38
708.00
120
200
SG50SA-PE04AA
536.75
1610.25
52
96
SG1ASA-PE04AA
1073.50
2832.00
20
36
SG05SA-PE08AA
102.34
306.04
600
1000
SG10SA-PE08AA
204.67
612.07
300
500
SG25SA-PE08AA
501.13
1498.63
104
192
0.0049
25:1
SG50SA-PE08AA
1002.25
2997.25
40
72
0.0047
50:1
0.0016
0.0047
0.0016
10:1
25:1
50:1
5:1
10:1
205.16
614.50
520
960
SG10SA-PE15AA
410.31
1228.99
260
480
SG25SA-PE15AA
1004.63
3009.13
80
144
0.0047
25:1
SG50SA-PE15AA
2009.25
3540.00
40
72
0.0047
50:1
13.67
40.93
600
1000
SG10SA-PE01BA
27.34
81.84
300
500
SG25SA-PE01BA
66.95
200.39
120
200
SG50SA-PE01BA
133.89
283.00
60
100
SG1ASA-PE01BA
267.78
637.00
30
50
SG05SA-PE02BA
27.34
81.84
600
1000
SG10SA-PE02BA
54.68
163.69
300
500
SG25SA-PE02BA
133.89
283.00
120
200
SG50SA-PE02BA
267.78
708.00
60
100
0.0016
50:1
SG1ASA-PE02BA
535.56
1593.00
26
48
0.0049
100:1
0.00025
0.0016
08AMC
5:1
10:1
SG05SA-PE01BA
0.000052
04AMC
100:1
SG05SA-PE15AA
0.0048
02AMC
15AMC
5:1
10:1
25:1
01BMC
50:1
100:1
5:1
0.00025
10:1
25:1
02BMC
Notes:24VDC Brakes for SGMPH Sigma II gearmotors are standard. Contact a local source for 24VDC power supplies.
Use the tables on the following page to specify mating connectors or pre-wired cables in different lengths.
* For more detailed 100/200V FSP amplifier specifications and dimensions, refer to pages 91 - 101.
47
SGMPH
Gearmotors
Gearmotor (A)
100/200V FSP Servo Systems
.
Pre-wired Cable Selection
Use the table below to select pre-wired cables for your SGMPH Sigma II gearmotor.
Motor Size
(kW)
Cable Description (C)
Part Number*
Power Cable with
Interconnectron Connectors
(without Brake)
0.1, 0.2,
0.4, 0.8
B4ICE-
(A)
1.5
B5ICE-
(A)
Power Cable with
Interconnectron Connectors
(with Brake)
0.1, 0.2,
0.4, 0.8
B4IBCE-
(A)
1.5
B5IBCE-
(A)
Encoder Cable with
Interconnectron Connector
(incremental or absolute)
(IP67)
AFPHCE-
(A)
Comments
Item
Class
These UL and CE
compliant cables are
available in five
lengths.Use the following
key to specify needed
cable length (last two
digits of the part number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Stock**
Connects these full length
encoder feedback cables
to the FSP amplifier
Encoder feedback adapter
cable for incremental and
absolute****
AFAD-P2(A)
–
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
SGMPH
Gearmotors
Connects these full length
encoder feedback cables
to the FSP amplifier
Encoder feedback adapter
cable for absolute encoders.
Cable has built in absolute
encoder battery and case.
–
All
AFADABS-P2(A)
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
FR-RMCT-SB
Encoder Cable
(for applications
from >20 to <50m)
Only for Solder
Connections
UL20276-SB
Input/Output 1CN Cable &
Transition
Terminal Block
These cables are available
in any length.
For example, to order one
FR-RMCT-SB cable, 16m
long, specify:
quantity: 16
part no.: FR-RMCT-SB
JUSP-TA50P
35mm DIN rail mountable;
the cable length is 0.5
meters.
JUSP–WA50P–
35mm DIN Rail mountable
D50: 0.5 meters
(standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Table continued on next page.
48
Stock
100/200V FSP Servo Systems
Motor Size
(kW)
Input/Output 1CN Cable with
Pigtail Leads
JZSP-CKI01- (A)
Input/Output 1CN Cable
Cable with Female
D-Sub output Connector***
JZSP-CKI0D-
Input/Output 1CN SMC4000
to FSP Interface Cable
Input/Output 1CN SMC4000
to FSP Interface Cable with
prepared alarm and reset
inputs. requires jumper in
SMC4000
Input/Output 1CN SMC4000
to FSP Interface Cable with
flying leads for additional
amplifier I/O
Input/Output 1CN MP2000
series controller to FSP
Interface Cable
*
**
***
****
Part Number*
Comments
Item
Class
Use the following key to
specify required cable
length (last digit of part
number):
1:
1m (standard)
2:
2m
3:
3m
Use the following key to
specify required cable
length (last two digits of
the part number):
D50:
01:
02:
03:
0.5m
1m (standard)
2m
3m
Stock**
SMCCBL2
All
SMCCBLH
SMCCBLB
JEPMC–W2040–
Use the following key to
determine the desired
length specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
Use the following key to
determine the desired
length specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
SGMPH
Gearmotors
Cable Description (C)
The “(A)” at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this
catalog reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others)
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
49
100/200V FSP Servo Systems
Connector Selection
Use the table below to select mating connectors or kits for your SGMPH Sigma II gearmotor.
Connector Description (D)
Motor Size
(kW)
Interconnectron
Connector for Motor
Power Cable (with or
without Brake)
Part Number
FIN07S-B2
0.1, 0.2,
0.4, 0.8,
1.5
2CN Amplifier
Mating Connector
DE9406973*
Comments
Item
Class
IP67 Mated
Solder Cup
—
Stock
Interconnectron
Connector for Encoder
Cable
(incremental or
absolute encoder)
FIN17C-A2
IP67 Mated
Gauge: 24 - 18 AWG
Requires Crimp Tool
B150 and positioner.
1CN Amplifier
Mating Connector
JZSP-CKI9
—
All
SGMPH
Gearmotors
Interconnectron
Crimp Tool
—
B150
—
Positioner
—
B055/A
—
3CN Peripheral
Mating Connector
—
YSC-1
—
5CN Connector
and 1m Cable with
Pigtails
*Alternative Part # is DTCR6973.
50
—
DE9404559
Can use 5CN for
analog speed and
torque monitor
service checks.
Limited
Stock
Stock
100/200V FSP Servo Systems
Peripheral Device Selection
Use the table below to select peripheral devices for your SGMPH Sigma II gearmotor.
Component Description (E)
Software Interface Cable
—
Part Number
YS-12
JZSP-BA01-1
Absolute Encoder Battery
JZSP-BA01
FSPGUI1 or
download at
www.yaskawa.com
Flexworks
For:
Individual External
Regenerative Unit
For:
For 200V:
DC Reactor
(for suppressing harmonics
in the power supply)
Item Class
Stock
–
These are general purpose
regenerative units.*
Caution: Proper set-up is necessary
RH500N25_ohmΚ to avoid equipment damage.
X5071
X5070
X5069
X5079
—
X5078
X5063
X5062
RH12050ohmJ
Limited
Stock
Specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the FSP
servo amplifier section of this catalog ( page 103) for additional specifications, and the FSP Series Servo System User’s Manual
(YEA-SIA-FSP-3) for proper resistor sizing guidelines.
SGMPH
Gearmotors
*
For 100V:
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-15AMC-S
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-15AMC-S
FSP-01BMC
FSP-02BMC
Comments
Pre-wired 2.0m cable with
9-pin connector
3.6V, 1000mAh (lithium battery) with
5cm leads for wiring to 1CN
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
51
100/200V FSP Servo Systems
NOTES:
SGMPH
Gearmotors
52
200V FSP Servo Systems
General Purpose
SGMGH
Servomotors
SGMGH Servomotors - With Incremental / Absolute Encoder
Rated Output: 0.45kW, 0.85kW,
1.3kW, 1.8kW, 2.9kW
For Additional Information
SGMGH Ratings & Specifications
SGMGH Speed/Torque Curves
SGMGH Dimensions
SGMGH Selection/Ordering Information
FSP Ratings & Specifications
FSP Dimensions
Page(s)
54
55
56
58
91
98
- 57
- 64
- 97
- 104
Design Features
1. Compact
Small sized motor
Compatible with previous generation G series motors
Five types of rated outputs ranging from 79 to 400in • lb of peak torque
Optional built-in holding brake available
2. Higher Speed and acceleration
Up to 3000rpm maximum
High torque to inertia ratio
3. Encoders
17-bit (32,768 ppr x 4) incremental encoder (standard)
17-bit absolute encoder (optional)
4. Enhanced Environmental Resistance
Totally enclosed, self-cooled IP67 (excluding shaft)
Shaft seal (optional)
5. Application Emphasis
Machine tools and woodworking machines
Packaging machines
Gantry Robots
Press Automation
Thermoforming
6. Certified International Standards
UL, cUL recognized (File #: E165827) CE compliance
53
200V FSP Servo Systems
Servomotor Ratings and Specifications
SGMGH
Servomotors
Time Rating:
Insulation:
Vibration:
Withstand Voltage:
Insulation Resistance:
*
Continuous
Class F
15µm or less
1500Vac
10MΩ minimum
at 500VDC
Enclosure: Totally-enclosed, self-cooled
IP67 (except for shaft opening)
Ambient Temperature: 0 to 40ºC
Ambient Humidity:
20 to 80%
(non-condensing)
Rated Speed*:
1500rpm
Maximum Rotational Speed*:
0.45 to 7.5kW: 3000rpm
11 and 15kW: 2000rpm
Excitation:
Permanent magnet
Drive Method: Direct drive
Mounting:
Flange-mounted
Values when the servomotor is combined with an FSP servo amplifier.
Rated
Output*
MOTORS:
SGMGH-
Rated
Torque*
kW (hp)
N•m
0.45 (0.6)
0.85(1.1)
1.3 (1.7)
1.8 (2.4)
2.9 (3.9)
2.84
5.39
8.34
11.5
18.6
Instantaneous Peak
Torque*
lbf • in (KG •
cm)
25 (29)
48 (55)
74 (85)
102 (117)
165 (190)
N•m
05A
09A
13A
20A
30A
A
A
A
A
A
*
Values when the servomotor is combined with an FSP servo amplifier.
Torque
Constant
MOTORS
SGMGH-
lbf • in
Arms
(N • m
Arms
05A A
09A A
13A A
20A A
30A A
)
7.26
(0.82)
7.35
(0.83)
7.43
(0.84)
6.46
(0.73)
7.35
(0.83)
8.92
13.8
23.3
28.7
45.1
Holding Brake (at 20°C)
Moment of Inertia
lb • in • s2
× 10-3
KG • m2
× 10-4
6.41
7.24
12.3
13.9
18.2
20.5
28.1
31.7
40.7
46.0
Capacity
Torque
Coil.
Resistance
W
N•m
Ω
18.5
12.7
43.1
58.7
31.1
Instantaneous
Maximum
Current*
A rms
Arms
3.8
7.1
10.7
16.7
23.8
11
17
28
42
56
Rated
Current
Additional
Inertia
Allowable
Load
Inertia
Rated
Power
Rate*
Rated
Angular
Acceleration*
Inertia
Time
Constant
Inductive
Time
Constant
A
lb • in • s2
× 10-3
KG • m2
× 10-4
kW/s
rad/s2
ms
ms
36.2
11.2
3930
5.0
5.1
69.5
20.9
3880
3.1
5.3
103
33.8
4060
2.8
6.3
159
41.5
3620
2.2
12.8
230
75.3
4050
1.9
12.5
4.41
9.85
lbf • in (KG •
cm)
79 (91)
122 (141)
207 (238)
254 (293)
404 (460)
Rated
Current*
0.41
0.77
1.85
7.75
* Values when the servomotor is combined with an FSP servo amplifier at an armature winding temperature of 20°C.
These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 05A A to 13A A: 15.75 × 15.75 × 0.79 (in)
(400 × 400 × 20 (mm))
Type 20A A to 30A A: 21.65 × 21.65 × 1.18 (in)
(550 × 550 × 30 (mm))
**
54
200V FSP Servo Systems
Speed / Torque Curves
SGMGH-05A
SGMGH-09A
A
A
B
1000
0
0
2
4
6
8
TORQUE (N · m)
20
40
2000
A
B
1000
0
0
10
5
60
80
0
A
50
100
150
0
B
1000
0
10
20
30
A
200
A
10
B
20
30
200
300
0
400
1000
0
20
0
200
40
60
TORQUE (N · m)
400
2000
A
0
0
800
0
600
TORQUE (lb · in)
B
1000
80 100
20
40
TORQUE (N · m)
200
60
400
80
600
800
3000
SPEED (rpm)
SPEED (rpm)
B
B
TORQUE (lb · in)
3000
A
A
1000
TORQUE (lb · in)
2000
100 150 200 250
50
2000
0
0
40 50
TORQUE (N · m)
100
TORQUE (lb · in)
3000
30
3000
B : INTERMITTENT
DUTY ZONE
1000
0
300
20
A : CONTINUOUS DUTY ZONE
2000
0
0
40
TORQUE (N · m)
100
10
TORQUE (lb · in)
SPEED (rpm)
SPEED (rpm)
2000
0
0
B
TORQUE (N · m)
3000
A
A
1000
0
0
20
SGMGH-30A
3000
SPEED (rpm)
15
TORQUE (lb · in)
SGMGH-20A
SPEED (rpm)
10
2000
TORQUE (N · m)
TORQUE (lb · in)
0
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000
A
3000
3000
3000
0
SGMGH-13A
A
SGMGH
Servomotors
200V
50
100
TORQUE (N · m)
500
1000
TORQUE (lb · in)
2000
0
150
1500
A
1000
0
0
B
50
100
150
TORQUE (N · m)
500
1000
TORQUE (lb · in)
200
1500
SPEED (rpm)
3000
2000
1000
0
A
B
0
50 100 150 200 250
0
500 1000 1500 2000
TORQUE (N · m)
TORQUE (lb · in)
55
200V FSP Servo Systems
Dimensions in inches (mm)
(1) 17-Bit Incremental/Absolute Encoder
SGMGH
Servomotors
L
LL
LR
LM
0.0016 A
LE
LC
0.0016 A
3.94(100)
S*
LR
A
ΦL
LH
W
LE
Q
IE
KL1
3.46 (88)
S
LB**
LC
QK
U
LG
T
LT
A
4 - LZ
MTG Holes
0.0008
KB1
KB2
Flange Dimensions
Type
SGMGH-
L
LL
LM
LR
7.72 5.43 3.62
05A A61 (196)
(138) (92)
8.62 6.34 4.53 2.28
09A A61 (219)
(161) (115) (58)
9.57 7.28 5.47
13A A61 (243)
(185) (139)
9.65 6.54 4.69
20A A61 (245)
(166) (119) 3.11
10.67 7.56 5.71 (79)
30A A61 (271) (192) (145)
LT
KB1
KB2
2.56
(65)
1.81 3.46
(46) (88)
4.41
(112)
3.5
1.85 (89)
(47) 4.53
(115)
4.61
(117)
5.51
(140)
6.46
(164)
5.71
(145)
6.73
(171)
IE
KL1
FLA FLB**
LC
LE
LG
Shaft End Dimension
FLH
FLZ
FS*
QK
W
T
U
0.87
(22)
0.20 0.20 0.12
(5)
(3)
1.57 0.98 (5)
(40) (25)
0.24 0.24 0.14
(6)
(6) (3.5)
5.51 7.87 4.5 7.09 0.13 0.71 9.06 0.53 1.38
(140) (200) (114.3) (180) (3.2) (18) (230) (13.5) (35)
2.99 2.36 0.39 0.31 0.20
(76) (60) (10) (8)
(5)
4.29 5.71 4.33 5.12 0.24 0.47 6.5 0.35
(109) (145) (110) (130) (6) (12) (165) (9)
—
0.75
(19)
Q
Approximate
Mass
lbf (kg)
Allowable Allowable
Radial
Thrust
Load
Load
lbf (N)
lbf (N)
12.1
(5.5)
16.8
(7.6)
21.2
(9.6)
30.9
(14)
39.7
(18)
110
(490)
22
(98)
154
(686)
265
(1176)
331
(1470)
77
(343)
Specified Tolerances
Dimension
Unit
in
mm
Encoder Plug
M
L
K
B
N P
A
D
R
S
J
H
C
G
E
F
MS3102A20-29P
56
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.7480, 0.8661
1.3780
1.6535
2.1700
19.000, 22.000
35.000
42.000
55.000
+0.0000-0.0005
+0.0004-0.0000
+0.0000 -0.0006
+0.0012+0.0004
+0.000 -0.013
+0.010 -0.000
+0.000 -0.016
+0.030 +0.011
4.3307
+0.0000 -0.0014
4.5000
+0.0000 -0.0010
7.8700
110.000
+0.0000 -0.0018
+0.000 -0.035
114.300
+0.000 -0.025
200.000
+0.0000 -0.046
Connector Wiring on the Encoders
A
—
K
—
B
—
L
—
C
Data +
M
—
D
Data N
—
E
—
P
—
F
—
R
—
G
0V
S
Battery - (Note*)
+5Vdc
H
T
Battery + (Note*)
J
FG (Frame Ground) *Note: Used with an absolute encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A
Motor Plug
Connector Wiring on the Motor Side
D
A
C
B
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
110
(490)
200V FSP Servo Systems
(2) 17-Bit Incremental/Absolute Encoder, with Brake
LT
LL
LM
LR
0.0016 A
LE
LG
LC
LR
LE
Q
W
QK
T
S
LB**
KL2
KL1
A
A
ΦL
LH
LC
100 (3.94)
S*
0.0016 A
0.0008
4 - LZ
KB1
MTG Holes
KB2
Flange Dimensions
Type
L
SGMGH-
LL LM LR LT KB1 KB2 KL1 KL2
ΦLA ΦLB** LC
LE
Shaft End Dimension
LG ΦLH ΦLZ ΦS*
Q
QK
W
T
U
Approximate
Mass
lbf (kg)
13A A6C 11.06
(281)
20A A6C 11.65
(296)
30A A6C 12.68
(322)
Note:
1.
2.
Allowable
Radial
Load
lbf (N)
16.5
2.2 6.1
(7.5)
(56) (155)
110
0.20 0.20 0.12
0.75
(490)
(5)
(5)
(3)
(19)
1.57 0.98
5.71 4.33 5.12 0.24 0.47 6.5 0.35
7.83 5.98 2.28
3.11 7.01 4.72
21.2
(40) (25)
(145) (110) (130) (6) (12) (165) (9)
(199) (152) (58)
(79) (178) (120)
(9.6)
1.85 4.06 7.95
3.46
8.78 6.93
0.87
0.24 0.24 0.14
26.5
154
(47) (103) (202)
(88)
(223) (176)
(22)
(6) (6) (3.5)
(12)
686)
41.9
265
3.11 7.72
8.54 6.69
(19)
(1176)
(79) (196) 5.75
(217) (170) 3.11
7.87 4.5 7.09 0.13 0.71 9.06 0.53 1.38 2.99 2.36 0.39 0.31 0.20
(114.3 (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8) (5)
(146)
(200)
(79)
9.57 7.72
4.13 8.74
51.8
331
)
(243) (196)
(105) (222)
(23.5)
(1470)
Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
9.21 6.93 5.08
05A A6C (234)
(176) (129)
09A A6C 10.12
(257)
SGMGH
Servomotors
0.5 to 3.0kW (0.7 to 2.9hp)
U
•
Allowable
Thrust
Load
lbf (N)
22
(98)
77
(343)
110
(490)
Specified Tolerances
Dimension
*ΦS
Unit
Diameter
0.7480, 0.8661
in
1.3780
19.000, 22.000
35.000
mm
**ΦLB
Tolerance
+0.00000.0005
+0.00040.0000
+0.000 -0.013
+0.010 -0.000
Diameter
Tolerance
4.3307
+0.0000 -0.0014
4.5000
+0.0000 -0.0010
110.000
114.300
+0.000 -0.035
+0.000 -0.025
Motor Plug
F
D
Connector Wiring on the Motor Side
A
E
G
B
C
A
B
C
D
U Phase
V Phase
W Phase
FG (Frame Ground)
E
F
G
Brake Terminal
Brake Terminal
—
57
200V FSP Servo Systems
Selecting: SGMGH Sigma II Servo System
SGMGH
Servomotors
First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
Shaft Keyway
5CN
SGMGH
Servomotor
(A)
For Monitor (D)
3CN
Peripheral
Signal
Connector (D)
FSP
Amplifier
(B)
1CN
I/O Signal
Connector
(D)
Connector for
Encoder Signal (D)
Encoder side
Connector (D)
2CN
Encoder Cable (C)
Motor Cable (C)
Motor side
Connector (D)
Shaft
Seal
Specify a technical manual, if it is needed, on your
servo system purchase order:
Regenerative Unit (E)
Sigma II Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order, but it must
be requested).
Model Number Designation
SGMGH - 09 A C A 6 C
Sigma Servomotor Type
Rated Output *
05: 500W (0.7hp)
09: 850W (1.14hp)
13: 1.3kW (1.7hp)
20: 2.0kW (2.7hp)
30: 3.0kW (4.0hp)
Power Supply
A: 200V
Accessories
1: Standard
C: 24VDC Brake
S: Shaft Seal
E: Brake and Shaft Seal
Shaft Specifications
6: Straight Shaft with Keyway
Rated Speed
A: 1500rpm
Encoder Specifications
C: 17-Bit Incremental Encoder
2: 17-Bit Absolute Encoder
* 4.4kW motor available in 400 volt.
58
200V FSP Servo Systems
Servomotor & Amplifier Selection
SGMGH
Servomotors
Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Description
200V
Three-Phase
Peak
Torque
(in • lb)
Rated
Torque
(in • lb)
79
25
122
48
207
74
254
102
404
165
17-bit
Incremental Encoder
Straight Shaft with
Keyway
3000rpm maximum
MS Connectors
Motor Inertia
(in • lb • s2 x 10-3)
Motor
MODEL # (A)
6.41
SGMGH-05ACA61
8.26
SGMGH-05ACA6C
12.30
SGMGH-09ACA61
14.15
SGMGH-09ACA6C
18.2
SGMGH-13ACA61
20.1
SGMGH-13ACA6C
28.1
SGMGH-20ACA61
35.9
SGMGH-20ACA6C
40.7
SGMGH-30ACA61
48.5
SGMGH-30ACA6C
Amplifier
MODEL # (B)*
Analog/Digital Input
FSP-
Motor &
Amplifier
Item Class
08AMC–S
10AMC
15AMC–S
Stock
20AMC
30AMC
Note: 24VDC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
* For more detailed FSP amplifier specifications and dimensions, refer to pages 89 to 105.
59
200V FSP Servo Systems
Pre-wired Cable Selection
SGMGH
Servomotors
Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor.
Cable Description (C)
Motor
Size
(kW)
0.5,
0.9,
1.3
2.0,
3.0
Power Cable with
Connectors
(IP67)
Encoder Cable
(incremental or
absolute)
Part Number*
without Brake
with Brake
B1E-
(A)
B1BE-
(A)
B2E-
(A)
B2BE-
(A)
AFGHCE-
(A)
(IP67)
Encoder
feedback
adapter cable for
incremental and
absolute*****
Encoder
feedback
adapter cable for
absolute
encoders. Cable
has built in
absolute
encoder battery
and case.
Encoder Cable
(for applications
up to 20m) for
solder
connections
Encoder Cable
(for applications
from >20 to
<50m) for solder
connections
Comments
Item
Class
Use the following key to
specify needed cable
length (last two digits of the
part number):
03: 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
Stock***
Connects these full length
encoder feedback cables
to the FSP amplifier
–
AFAD-P2(A)
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full length
encoder feedback cables
to the FSP amplifier
All
–
AFADABS-P2(A)
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Stock
Built-in battery is:
JZSP-BA01
0.2 meter length
FR-RMCT-SB
UL20276-SB
These cables are available
in any length.
For example, to order one
FR-RMCT-SB cable, 16m
long, specify:
quantity: 16
part no.: FR-RMCT-SB
Table continued on next page.
60
200V FSP Servo Systems
Motor
Size
(kW)
Part Number*
without Brake
with Brake
JUSP-TA50P
Input/Output
1CN Cable &
Transition
Terminal Block
JUSP–WA50P–
Input/Output
1CN Cable with
Pigtail Leads
JZSP-CKI01- (A)
Input/Output
1CN Cable
Cable with
Female
D-Sub output
Connector****
Input/Output
1CN SMC4000
to FSP Interface
Cable
Input/Output
1CN SMC4000
to FSP Interface
Cable with
prepared alarm
and reset inputs.
requires jumper
in SMC4000
Input/Output
1CN SMC4000
to FSP Interface
Cable with flying
leads for
additional
amplifier I/O
Input/Output
1CN MP2000
series controller
to FSP Interface
Cable
*
**
***
****
*****
JZSP-CKI0D-
All
Comments
Item
Class
35mm DIN rail mountable;
the cable length is 0.5
meters.
35mm DIN Rail mountable
D50: 0.5 meters
(standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Use the following key to
specify needed cable
length (last digit of part
number):
1:
1m (standard)
2:
2m
3:
3m
Use the following key to
specify required cable
length (last two digits of
the part number):
D50: 0.5m
01:
1m (standard)
02:
2m
03:
3m
SGMGH
Servomotors
Cable Description (C)
Stock**
SMCCBL2
SMCCBLH
Use the following key to
determine the desired
length specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
SMCCBLB
JEPMC–W2040–
Use the following key to
determine the desired
length specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
“(A)” at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
When ordering these cables for motors with brakes, order the standard power cable and the additional cable for the brake.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449, Weidmuller
#919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
61
200V FSP Servo Systems
Connector Selection
SGMGH
Servomotors
Use the table below to select mating connectors for each SGMGH Sigma II servomotor.
Connector Description (D)
Motor
Size (kW)
0.5, 0.9,
1.3
MS Connector for
Motor Power Cable*
Part Number
without Brake
with Brake
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3106B22-22S
MS3108B22-22S
MS3106B20-15S
MS3108B20-15S
MS3057-12A
MS3106B24-10S
MS3108B24-10S
MS3057-12A
MS3057-16A
Item
Class
Comments
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
2.0, 3.0
MS3106B20-29S
MS3108B20-29S
MS Connector for
Encoder Cable
(incremental or
absolute encoder)
MS3057-12A
1CN Mating
Connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
JZSP-CKI9
—
DE9406973**
—
Stock
All
2CN Encoder
Mating Connector
3CN Peripheral
Mating Connector
—
YSC-1
—
5CN Connector and
1m Cable with
Pigtails
—
DE9404559
Can use 5CN for analog
speed and torque monitor
service checks
*
**
62
Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type
connector MS3108B18-10S is compatible with cable clamp MS3057-10A. MS connectors listed in the table are nonenvironmental.
Alternate part number: DTCR6973
200V FSP Servo Systems
Peripheral Device Selection
Component (E)
Software Interface Cable
Part Number
—
YS-12
JZSP-BA01-1
Item Class
Pre-wired 2.0m cable with 9-pin
connector
3.6V, 1000mAh (lithium battery)
with 5cm leads for wiring to 1CN
JZSP-BA01
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
FSPGUI1 or
download at
www.yaskawa.com
–
Absolute Encoder Battery
Flexworks
Description
SGMGH
Servomotors
Use the table below to select peripheral devices for each SGMGH Sigma II servomotor.
Stock
These are general purpose
regenerative units.*
External Regenerative Unit
(Optional)
JUSP-RA04
Order the Motion document:
PI#99004 for setup instructions for
this unit.
Caution: Proper setup is
necessary to avoid equipment
damage.
DC Reactor
(for suppressing harmonics
in the power supply)
*
For 200V: FSP-08AMC–S
FSP-10AMC
X5079
X5061
FSP-15AMC-S
FSP-20AMC
FSP-30AMC
X5060
—
Limited Stock
X5059
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel
connection. Refer to the FSP servo amplifier section of this catalog for additional specifications, and the FSP Series Servo
System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
63
200V FSP Servo Systems
CE Pre-wired Cable Selection
SGMGH
Servomotors
Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor.
Part Number*
Motor
Size (kW)
Cable Description (C)
without Brake
0.5, 0.9,
1.3
B1CE-
with Brake
(A)
B1BCE-
(A)
Power Cable
with
Connectors
*
B2CE-
2.0, 3.0
IP67
Comments
(A)
B3BCE-
(A)
Use the following key
to specify needed
cable length (last two
digits of the part
number):
03:
05:
10:
15:
20:
3m
5m
10m (standard)
15m
20m
Item
Class
Limited
Stock
“(A)” at the end of the cable number is the revision level, which may be changed prior to this catalog’s reprinting.
CE Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II servomotor.
Connector Description (D)
Connector for
Motor Power
Cable*
Motor
Size
(kW)
Part Number
without Brake
with Brake
0.5, 0.9, CE05-8A18-10SD-B-BAS
1.3
CE3057-10A-1(D265)
CE05-8A20-15SD-B-BAS
CE05-8A22-22SD-B-BAS
CE05-8A24-10SD-B-BAS
CE3057-12A-1(D265)
CE3057-16A-1(D265)
2.0, 3.0
CE3057-12A-1(D265)
CE05-8A10SL-3SC-B-BAS
and
CE3057-4A-1 (D265)
Connector for
Holding Brake
All
Connector for
Encoder Cable
(incremental or
absolute encoder)
*
**
64
CE02-6A20-29NSW and CE20BA-S
and
CE3057-12A-3(D265)
Comments**
Item
Class
L-type connector
Cable clamp
L-type connector
Cable clamp
L-type connector for
holding brake
and
Cable clamp
(diameters 0.142 to
0.220in)
Limited
Stock
L-type connector
(plug and back shell)
and
Cable clamp
(diameters 0.265 to
0.394in)
Choose the connector and the associated cable clamp for a complete assembly. Connectors listed in this table are environmentally sealed.
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
200V FSP Servo Systems
SGMGH Gearmotors (1500rpm) - With Incremental/Absolute
Encoder
Rated Output: 0.45kW, 0.85kW,
1.3kW,1.8kW, 2.9kW
SGMGH Gearmotor Ratings & Specifications
SGMGH Gearmotor Dimensions
SGMGH Gearmotor Selection/Ordering
FSP Ratings & Specifications
FSP Dimensions
Page(s)
66
68
69
91
98 -
- 67
SGMGH
Gearmotors
For Additional Information
- 75
- 97
- 104
Design Features
1. Compact
Fits in limited mounting space
High torque to inertia ratio
2. Torque
383 to 30,090in • lb peak torque
Uses time-proven, Sigma motor technology
3. Encoders
17-Bit (32,768 ppr x 4) incremental encoder (standard)
17-Bit absolute encoder (option)
4. Enhanced Environmental Resistance
Totally enclosed, self-cooled IP67 (not including shaft)
5. Application Emphasis
Machine tools, woodworking machines, and thermoforming machines
Roll feeders
Press automation
Gantry robots
PCB drilling machines
Packaging machines
6. Certified International Standards
cUL recognized (File #: E165827), CE compliance
65
200V FSP Servo Systems
Gearmotor Ratings and Specifications
Rated
Torque
(in • lb)
GEARMOTOR
Part Number
SGMGH
Gearmotors
SG05SA-GA05AC
SG10SA-GA05AC
SG25SA-GA05AC
SG50SA-GA05AC
SG05SA-GA09AC
SG10SA-GA09AC
SG25SA-GA09AC
SG50SA-GA09AC
SG05SA-GA13AC
SG10SA-GA13AC
SG25SA-GA13AC
SG05SA-GA20AC
SG10SA-GA20AC
SG05SA-GA30AC
Peak
Torque
(in • lb)
Rated
Speed
(rpm)
Maximum
Speed
(rpm)
Standard SGMGH Gearmotors
383
300
600
637
150
300
1770
60
120
3540
30
60
592
300
600
1,185
150
300
2901
60
120
3540
30
60
1000
300
600
1593
150
300
3540
60
120
1232
300
600
2464
150
300
1936
300
600
122
244
597
1194
231
463
1133
2266
358
716
1753
494
987
798
Speed
N1
(rpm)
Torque
T1
(in • lb)
Torque
T2
(in • lb)
440
220
88
44
560
280
112
60
550
275
110
560
280
500
61
122
298
597
116
232
568
1135
179
358
877
244
494
399
206
412
1009
2018
498
996
2438
3540
721
1442
3531
1052
2103
1361
Torque
A = Continuous Duty
B = Intermittent Duty
Peak Torque
T2
B
Rated Torque
A
T1
Rated Speed
N1
Maximum Speed
66
Speed
200V FSP Servo Systems
Gearmotor Mechanical Ratings
Gearhead
Backlash
(arc min)
GEARMOTOR
Part Number
Gearhead
Maximum.Radial Load
(lbf)
Gearhead
Maximum Axial Load
(lbf)
Gearhead
Inertia
(lb • n • s2)
Gearmotor
Weight
(lb)
<10
540
428
0.0016
21.14
1035
1687
540
1035
900
1350
428
900
0.0049
0.0047
0.0016
0.0048
36.80
58.30
25.84
36.65
1687
1350
0.0047
63.00
1035
900
0.0048
41.05
1687
1350
0.0047
67.40
1687
1350
0.022
69.49
1687
1350
0.022
78.29
SGMGH
Gearmotors
Standard SGMGH Gearmotors
SG05SA-GA05AC
SG10SA-GA05AC
SG25SA-GA05AC
SG50SA-GA05AC
SG05SA-GA09AC
SG10SA-GA09AC
SG25SA-GA09AC
SG50SA-GA09AC
SG05SA-GA13AC
SG10SA-GA13AC
SG25SA-GA13AC
SG05SA-GA20AC
SG10SA-GA20AC
SG05SA-GA30AC
CONVENTIONAL GEARMOTOR
TORSIONAL ANGLE
YASKAWA
SIGMA II
GEARMOTOR
FR
REDUCER’S BACKLASH
TORQUE
2% OF RATED TORQUE
FA
FR: Radial Force
FA: Axial Force
67
200V FSP Servo Systems
Dimensions in inches (mm)
U
W
LL
LL3
KD
ΦGD
4 - ΦMT
LC1
LR
Q
P
QK
LE
ΦS
MD
LC
T
ΦLB
LL1
ΦLA
SGMGH
Gearmotors
•
Standard SGMGH Gearmotors
GEARMOTOR
SG05SA-GA05AC
SG10SA-GA05AC
SG25SA-GA05AC
LL1
5.43
(138)
SG50SA-GA05AC
SG05SA-GA09AC
SG10SA-GA09AC
SG25SA-GA09AC
SG50SA-GA09AC
SG05SA-GA13AC
SG10SA-GA13AC
SG25SA-GA13AC
SG05SA-GA20AC
SG10SA-GA20AC
SG05SA-GA30AC
6.34
(161)
7.28
(185)
6.54
(166)
7.56
(192)
LL3
LL
3.15 10.83
(80) (275)
5.30 12.62
(134.5) (320.5)
6.02 13.35
(153) (339)
3.15 11.73
(80) (298)
4.02 12.24
(102) (311)
6.02 14.25
(153) (362)
4.02 13.19
(102) (335)
6.02 15.20
(153) (386)
13.92
4.82 (353.5)
(122.5) 14.94
(379.5)
ΦLB ΦGD ΦS
LE
LR
0.20
(5)
0.24
(6)
0.32
(8)
0.20
(5)
0.24
(6)
0.32
(8)
0.24
(6)
1.81 2.68 3.54
(46) (68) (90)
2.76 3.54 4.72
(70) (90) (120)
3.82 4.72 6.10
(97) (120) (155)
1.81 2.68 3.54
(46) (68) (90)
2.76 3.54 4.72
(70) (90) (120)
3.82 4.72 6.10
(97) (120) (155)
2.76 3.54 4.72
(70) (90) (120)
P
LC
LC1 ΦLA ΦMT* MD*
Q
QK
KD
W
0.47
(12)
0.63
(16)
0.79
(20)
0.47
(12)
0.63
(16)
0.79
(20)
0.63
(16)
1.42
(36)
2.28
(58)
3.23
(82)
1.42
(36)
2.28
(58)
3.23
(82)
2.28
(58)
1.26
(32)
1.97
(50)
2.76
(70)
1.26
(32)
1.97
(50)
2.76
(70)
1.97
(50)
0.08
(2)
0.16
(4)
0.24
(6)
0.08
(2)
0.16
(4)
0.24
(6)
0.16
(4)
0.24
(6)
0.39
(10)
0.47
(12)
0.24
(6)
0.39
(10)
0.47
(12)
0.39
(10)
5.51 M10 x 0.79
(140) 1.5 (20)
3.23
(82)
2.76
(70)
0.24
(6)
0.47
(12)
0.87
3.15 M6 x
(22)
(80) 1.0
1.26
4.25 M8 x
(32)
(108) 1.25
1.58
5.51 M10 x
(40)
(140) 1.5
0.87
3.15 M6 x
(22)
(80) 1.0
5.12
(130)
1.26
4.25 M8 x
(32)
(108) 1.25
N/A
N/A
1.58
5.51 M10 x
(40)
(140) 1.5
1.26
4.25 M8 x
(32)
(108) 1.25
0.32 3.82 4.72 6.10 1.58
(8) (97) (120) (155) (40)
7.48
(190)
T
U
0.24 0.14
(6) (3.5)
0.32 0.20
(8)
(5)
0.24 0.14
(6) (3.5)
0.32 0.20
(8)
(5)
Note:* For Standard (SG) Gearmotors only: 4 x ΦMT threaded holes to a depth of dimension MD, set 90° apart.
Specified Tolerances for Standard (SG) Gearmotor Models:
Dimension
Unit
in
mm
68
ΦS
ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.472, 0.630 +0.00047 +0.00004
1.378
+0.00000 -0.00063
0.866
+0.00059 +0.00008 2.047, 2.677
+0.00000 -0.00075
1.260, 1.575 +0.00071 +0.00008 3.54331, 4.72441 +0.00000 -0.00087
12, 16
+0.012 +0.001
35
+0.000 -0.016
22
+0.015 +0.002
52, 68
+0.000 -0.019
32, 40
+0.018 +0.002
90, 120
+0.000 -0.022
W
Width
0.158, 0.197, 0.236
0.39370
0.47244
4, 5, 6
10
12
Tolerance
+0.00000 -0.00118
+0.00000 -0.00142
+0.00000 -0.00169
+0.000 -0.030
+0.000 -0.036
+0.000 -0.043
200V FSP Servo Systems
Selecting: SGMGH Gearmotor System
First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Shaft Keyway
5CN
3CN
Peripheral
Signal
Connector (D)
FSP
Amplifier
(B)
1CN
I/O Signal
Connector
(D)
Regenerative Unit (E)
Connector for
Encoder Signal (D)
Encoder side
Connector (D)
2CN
Encoder Cable (C)
Motor Cable (C)
Motor side
Connector (D)
SGMGH
Gearmotors
SGMGH
Gearmotor
(A)
For Monitor (D)
Shaft
Seal
Specify a technical manual, if it is needed, on your
servo system purchase order:
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SG 05 S A - GA 05 A 2 C
Sigma II Gearmotor Series
SG: Standard (<10 arc minute)
Reduction Ratio
04: 4:1 25:
05: 5:1 28:
07: 7:1 40:
10: 10:1 50:
16: 16:1 70:
20: 20:1
25:1
28:1
40:1
50:1
70:1
Construction
S: Standard
Orientation
A: For SG: Standard
Motor Series
G: SGMGH
Accessories
C: 24Vdc Brake
Blank:Standard YEA motor (stock)
Encoder Specifications
C: 17-Bit Incremental Encoder
2: 17-Bit Absolute Encoder
Power Supply
A: 200V
Motor Output
05: 0.45kW (0.6hp)
09: 0.85kW (1.14hp)
13: 1.3kW (1.7hp)
20: 1.8kW (2.4hp)
30: 2.9kW (3.9hp)
Design Revision
A: SGMGH (1500rpm)
69
200V FSP Servo Systems
Gearmotor & Amplifier Selection
Use this table below to select the appropriate SGMGH Sigma II gearmotor and amplifier. .
Description
200V, 3-phase
17-bit
Incremental
Encoder
SGMGH
Gearmotors
Straight Shaft
with Keyway
MS connectors
Rated
Torque
(in • lb)
Peak
Torque
(in • lb)
122
244
597
1194
231
463
1133
2266
358
716
1753
494
987
798
383
637
1770
3540
592
1185
2901
3540
1000
1593
3540
1232
2464
1936
Rated
Maximum
Gear
Gearmotor
Speed
Speed
Ratio
Model Number (A)
(rpm)
(rpm)
Standard SGMGH Gearmotors
300
600
5:1
SG05SA-GA05AC
150
300
10:1
SG10SA-GA05AC
SG25SA-GA05AC
60
120
25:1
SG50SA-GA05AC
30
60
50:1
SG05SA-GA09AC
300
600
5:1
150
300
10:1
SG10SA-GA09AC
SG25SA-GA09AC
60
120
25:1
SG50SA-GA09AC
30
60
50:1
SG05SA-GA13AC
300
600
5:1
SG10SA-GA13AC
150
300
10:1
SG25SA-GA13AC
60
120
25:1
SG05SA-GA20AC
300
600
5:1
SG10SA-GA20AC
150
300
10:1
SG05SA-GA30AC
300
600
5:1
Amplifier
Motor and
MODEL #
Amplifier
FSP- (B)* Item Class
08AMC–S
10AMC
15AMC–S
Gearmotor:
3-4 weeks
Amplifier:
Stock
20AMC
30AMC
Notes: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less.
2.
3.
4.
5.
*
70
Contact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour.
Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature.
For right-angle gearmotors, please consult the factory for availability.
24VDC brakes for SGMGH Sigma II gearmotors are standard. Contact a local source for 24VDC power supplies.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
For more detailed FSP amplifier specifications and dimensions, refer to pages 89 to 105.
200V FSP Servo Systems
Use the table below to select pre-wired cables for your SGMGH Sigma II gearmotor.
Pre-wired Cable Selection
Part Number*
Motor
Size
(kW)
without
Brake
with Brake
0.5,
0.9, 1.3
B1E(A)
B1BE(A)
2.0, 3.0
B2E(A)
B2BE(A)
Power Cable with
Connectors
(IP67)
Encoder Cable
(incremental or
absolute)
AFGHCE-
(A)
Comments
Item
Class
Use the following key to
specify needed cable length
(last two digits of the part
number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Stock***
SGMGH
Gearmotors
Cable Description (C)
Connects these full length
encoder feedback cables to
the FSP amplifier
Encoder feedback
adapter cable for
incremental and
absolute*****
–
AFAD-P2(A)
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full length
encoder feedback cables to
the FSP amplifier
Encoder feedback
adapter cable for
absolute encoders.
Cable has built in
absolute encoder
battery and case.
AFADABS-P2(A)
–
All
Stock
(Encoder feedback cables
for SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
Encoder Cable
(for applications
from >20 to <50m)
Only for Solder
Connections
FR-RMCT-SB
UL20276-SB
JUSP-TA50P
Input/Output 1CN
Cable & Transition
Terminal Block
JUSP–WA50P–
These cables are available
in any length.
For example: to order one
FR-RMCT-SB cable, 16m
long, specify:
quantity:16
part no.:FR-RMCT-SB.
35mm DIN rail mountable;
the cable length is 0.5
meters.
Stock**
35mm DIN Rail mountable
D50: 0.5 meters (standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Table continued on next page.
71
200V FSP Servo Systems
Cable Description (C)
Motor
Size
(kW)
Input/Output
1CN Cable with
Pigtail Leads
SGMGH
Gearmotors
Input/Output 1CN
MP2000 series
controller to FSP
Interface Cable
*
**
***
****
*****
72
without
Brake
Comments
with Brake
JZSP-CKI01- (A)
Input/Output 1CN
Cable Cable with
Female
D-Sub output
Connector****
Input/Output 1CN
SMC4000 to FSP
Interface Cable
Input/Output 1CN
SMC4000 to FSP
Interface Cable
with prepared
alarm and reset
inputs. requires
jumper in
SMC4000
Input/Output 1CN
SMC4000 to FSP
Interface Cable
with flying leads for
additional amplifier
I/O
Part Number*
JZSP-CKI0D-
Use the following key to
specify needed cable length
(last digit of part number):
1:
1m (standard)
2:
2m
3:
3m
Use the following key to
specify cable length (last
two digits of the part
number):
D50:
01:
02:
03:
0.5m
1m (standard)
2m
3m
SMCCBL2
All
SMCCBLH
Item
Class
Stock**
Use the Following key to
determine the desired
length specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
SMCCBLB
JEPMC–W2040–
Use the Following key to
determine the desired
length specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
”(A)” at the end of the cable number indicates the revision level. The revision level may be changed prior to this catalog’s reprinting.
When ordering these cables for motors with brakes, order the standard B5E power cable and the additional cable for the brake.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
200V FSP Servo Systems
Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II gearmotor.
MS Connector for
Motor Power Cable *
MS Connector for
Encoder Cable
(incremental or
absolute encoder)
Motor
Size (kW)
MS3057-12A
1CN Mating
Connector
JZSP-CKI9
5CN Connector and
1m Cable with
Pigtails
*
**
Comments
Item
Class
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
—
Stock
All
2CN Amplifier
Mating Connector
3CN Peripheral
Mating Connector
Part Number
without Brake
with Brake
MS3106B18-10S
MS3106B20-15S
0.5, 0.9, MS3108B18-10S
MS3108B20-15S
1.3
MS3057-10A
MS3057-12A
MS3106B22-22S
MS3106B24-10S
2.0, 3.0 MS3108B22-22S
MS3108B24-10S
MS3057-12A
MS3057-16A
MS3106B20-29S
MS3108B20-29S
—
—
DE9406973*
–
YSC-1
—
DE9404559
Can use 5CN for analog
speed and torque monitor
service checks.
Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type
connector MS3108B18-10S is compatible with cable clamp MS3057-10A.
Alternate Part Number: DTCR6973
73
SGMGH
Gearmotors
Connector Description (D)
200V FSP Servo Systems
Peripheral Device Selection
Use the table below to select peripheral devices for your SGMGH Sigma II gearmotor.
Component (E)
Software Interface Cable
Part Number
—
YS-12
JZSP-BA01-1
Absolute Encoder Battery
JZSP-BA01
FSPGUI1 or
download at
www.yaskawa.com
Flexworks
Description
Pre-wired 2.0m cable with
9-pin connector
3.6V, 1000mAh (lithium battery)
with 5cm leads for wiring to 1CN
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
Item Class
–
Stock
SGMGH
Gearmotors
These are general purpose
regenerative units.*
External Regenerative Unit
(Optional)
JUSP-RA04
Order the Motion document:
PI#99004 for setup instructions for
this unit.
Caution: Proper setup is
necessary to avoid equipment
damage.
DC Reactor
(for suppressing harmonics in
the power supply)
*
74
For 200V: FSP-08AMC–S
FSP-10AMC
FSP-15AMC-S
FSP-20AMC
FSP-30AMC
X5079
X5061
X5060
—
Limited
Stock
X5059
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel
connection. Refer to the FSP servo amplifier section of this catalog for additional specifications, and the FSP Series Servo
System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
200V FSP Servo Systems
CE Pre-wired Cable Selection
Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II gearmotor.
Part Number*
without Brake
0.5, 0.9,
1.3
B1CE-
2.0, 3.0
*
B2CE-
Item
Class
Use the following key to
specify needed cable
length (last two digits of
the part number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Limited
Stock
with Brake
(A)
B1BCE-
(A)
Power Cable
with
Connectors
(IP67)
Comments
(A)
B3BCE-
(A)
SGMGH
Gearmotors
Motor
Size
(kW)
Cable Description (C)
The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this
catalog’s reprinting.
CE Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II gearmotor.
Connector Description (D)
Motor
Size
(kW)
0.5,
0.9, 1.3
Connector for
Motor Power
Cable*
2.0, 3.0
Connector for
Holding Brake
Connector for
Encoder Cable
(incremental or
absolute
encoder)
*
**
Part Number
without Brake
with Brake
CE05-8A18-10SD-BBAS
CE05-8A20-15SD-B-BAS
CE3057-10A-1(D265)
CE3057-12A-1(D265)
CE05-8A22-22SD-BBAS
CE05-8A24-10SD-B-BAS
CE3057-12A-1(D265)
CE3057-16A-1(D265)
CE05-8A10SL-3SC-B-BAS
and
CE3057-4A-1 (D265)
All
CE02-6A20-29NSW and CE20BA-S
and
CE3057-12A-3(D265)
Comments**
Item
Class
L-type connector
Cable clamp
L-type connector
Cable clamp
L-type connector for holding
brake
and
Cable clamp
(diameters 0.142 to 0.220in)
Limited
Stock
L-type connector
(plug and back shell)
and
Cable clamp
(diameters 0.265 to 0.394in)
Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for
IP67 environments.
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
75
200V FSP Servo Systems
NOTES:
SGMGH
Gearmotors
76
200V FSP Servo Systems
Super High Power Rate Series
SGMSH Servomotors - With Incremental / Absolute Encoder
Rated Output: 1.0kW, 1.5kW, 2.0kW,
3.0kW,
For Additional Information
SGMSH Ratings & Specifications
SGMSH Speed/Torque Curves
SGMSH Dimensions
SGMSH Selection/Ordering Information
FSP Ratings & Specifications
FSP Dimensions
Page(s)
78
79
80
82
91
98
- 81
- 88
- 97
- 104
Design Features
SGMSH
Servomotors
1. Compact
Small sized motor
Six frame sizes: up to 422in • lb peak torque
2. High Speed
Rated Speed: 3000rpm
Maximum Speed: 5000rpm
3. Encoders
17-bit (32,768 ppr x 4) incremental encoder (standard)
17-bit absolute encoder (option)
4. Enclosure
Totally enclosed, self-cooled IP67 (excluding shaft)
IP67 with shaft seal (option)
5. Application Emphasis
High torque to inertia ratio
Chip mounters
PCB drilling machines
Robots
Conveyors
Packaging
6. Certified International Standards
UL, cUL recognized (File #: E165827), CE compliance
77
200V FSP Servo Systems
Continuous
Class F
15µm or less
1500Vac
10MΩ minimum
at 500VDC
Rated
Output*
200Vac
Time Rating:
Insulation:
Vibration:
Withstand Voltage:
Insulation Resistance:
Amplifier System
Voltage
Servomotor Ratings and Specifications
MOTORS:
SGMSH-
Enclosure: Totally-enclosed, self-cooled
IP67 (except for shaft opening)
Ambient Temperature: 0 to 40ºC
Ambient Humidity:
20 to 80%
(non-condensing)
Rated Speed:
3000rpm
Rated
Torque*
Instantaneous Peak
Torque*
Rated
Current*
Instantaneous
Maximum
Current*
kW
(hp)
N•m
KG • cm
(lb • in)
N•m
KG • cm
(lb • in)
Arms
Arms
10A A
1.0 (1.3)
3.18
32.4 (28.2)
9.54
97.2 (84.4)
5.7
17
15A A
1.5 (2.0)
4.9
50 (43.4)
14.7
150 (130)
9.7
28
20A A
2.0 (2.7)
6.36
65 (56.4)
19.1
195 (169)
12.7
42
30A A
3.0 (4.0)
9.8
100 (87)
29.4
300 (260)
18.8
56
Holding Brake (at 20°C)
Torque
Constant
MOTORS
SGMGH-
Maximum Rotational Speed:
5000rpm
Excitation:
Permanent magnet
Drive Method: Direct drive
Mounting:
Flange-mounted
Painting Color: Muncell notation N1.5
lbf • in
Arms
(N • m
SGMSH
Servomotors
Arms
)
Moment of Inertia
lbf • in • s2.
× 10-3
KG • m2 ×
10-4
10A A
5.6
(0.64)
1.54
1.74
15A A
5.0
(0.56)
2.19
2.47
20A A
4.8
(0.55)
2.82
3.19
30A A
5.1
(0.57)
6.20
7.00
Capacity
Torque
Coil
Resistance
W
N•m
Ω
7.0
9.85
7.84
20.0
82.3
58.7
Rated
Current
Additional
Inertia
A
lbf • in • s2.
× 10-3
0.29
0.41
0.289
1.89
Allowable
Load
Inertia
Rated
Power
Rate*
Rated
Angular
Acceleration*
Inertia
Time
Constant
Inductive
Time
Constant
KG • m2
× 10-4
kW/s
rad/s2
ms
ms
8.7
57.9
18250
0.87
7.1
12.4
97.2
19840
0.71
7.7
16.0
127
19970
0.58
8.3
35.0
137
14000
0.74
13.0
* These items and torque-speed characteristics quoted in combination with an FSP servo amplifier at an
armature winding temperature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling
purposes:
Type 10A A to 20A A: (11.81 × 11.81 × 0.47 (in)) (300 × 300 × 12 (mm))
Type 30A A: (15.75 × 15.75 × 0.79 (in)) (400 × 400 × 20 (mm))
78
200V FSP Servo Systems
Speed / Torque Curves
200V
SGMSH-15A
A
5000
5000
4000
4000
SPEED (rpm)
3000
A
2000
B
1000
0
0
0
2
4
6
TORQUE (N · m)
20
8
1000
0
10
5
0
80
0
5000
5000
4000
4000
2000
B
1000
0
0
5
10
50
15
3000
50
100
100
A
1000
0
20
150
B
A
2000
10
0
20
30
TORQUE (N · m)
TORQUE (N · m)
0
15
SGMSH-30A
A
SPEED (rpm)
SPEED (rpm)
SGMSH-20A
A
10
TORQUE (lb · in)
TORQUE (lb · in)
3000
B
A
2000
TORQUE (N · m)
60
40
3000
A
0
150
100
200
TORQUE (lb · in)
SGMSH
Servomotors
SPEED (rpm)
SGMSH-10A
A : CONTINUOUS DUTY ZONE
5000
5000
4000
4000
3000
A
2000
SPEED (rpm)
SPEED (rpm)
B : INTERMITTENT DUTY ZONE
B
1000
0
0
10
20
30
3000
0
10
0
100
TORQUE (N · m)
0
100
200
300
TORQUE (lb · in)
400
B
1000
0
40
A
2000
20
30
40 50
TORQUE (N · m)
200
300
400
500
TORQUE (lb · in)
79
200V FSP Servo Systems
Dimensions in inches (mm)
(1) 17-bit Incremental or Absolute Encoder
L
LR
LL
LM
LT
0.0016 A
LE
0.0016 A
LC
S
3.94 (100)
LG
LR
LE
Q
QK
LA
LC
LH
KL2
LB
S
0.0008
KB1
4 - LZ
MTG Holes
0.16 (4)
A
0.28 (7)
KL1
0.31 (8)
KB2
Type
L
SGMSH-
Shaft End
Dimension
Flange Dimensions
LL LM LR LT KB1 KB2 KL1 KL2
ΦLAΦLB LC LE LG ΦLHΦLZ ΦS Q QK
7.64 5.87 4.06
2.99 5.04
(194) (149) (103)
(76) (128)
1.77
8.66
6.89
5.08
4.02
6.06 3.78 3.43
15A A61
(220) (175) (129 ) (45) 1.81 (102) (154) (96) (87)
(46) 4.92 6.97
9.57 7.8 5.98
20A A61
(243) (198) (152)
(125) (177)
10.31
7.83
6.02
2.48
4.8 7.01 4.49 3.43
30A A61
(262) (199) (153 ) (63)
(122) (178) (114) (87)
Approximate Allowable
Radial
Mass
Load
lbf (kg)
lbf (N)
10.1 (4.6)
10A A61
SGMSH
Servomotors
Note:
Allowable
Thrust
Load
lbf (N)
4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26
154
(115) (95) (100) (3) (10) (130) (7) (24) (40) (32) 12.8 (5.8) (686)
44
(196)
15.4 (7.0)
5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96
220
(145) (110) (130) (6) (12) (165) (9) (28) (55) (50) 24.3 (11) (980)
88
(392)
1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
Specified Tolerances
Dimension
Encoder Plug
M
A
B
N P C
K
D
R
S
J
E
H
G F
L
T
MS3102A20-29P
*ΦS
**ΦLB
Unit
Diameter
Tolerance
Diameter
Tolerance
in
mm
0.9449, 1.1024
24.000, 28.000
+0.0000-0.0005
+0.000 -0.013
3.7402, 4.3307
95.000, 110.000
+0.0000 -0.0014
+0.000 -0.035
Connector Wiring on the Incremental Encoders
A
B
C
D
E
F
G
H
J
—
K
—
—
L
—
Data +
M
—
Data −
N
—
—
P
—
—
R
S
T
—
0V
+5Vdc
Battery − (Note*)
Battery + (Note*)
FG (Frame Ground)
*Note: Used with an absolute encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A
80
Motor Plug
D
A
C
B
MS3102A22-22P
Connector Wiring on the Motor
Side
A
B
C
U Phase
V Phase
W Phase
200V FSP Servo Systems
(2) 17-bit Incremental or Absolute Encoder, with Brake
L
LL
LT
LR
0.0016 A
LE
3.94 (100)
LA
LB
LC
LH
0.31 (8)
LZ
MTG Holes
0.16 (4)
40.0008
0.28 (7)
A
S
KL2
KL1
LC
S
LG
LR
LE
Q
QK
0.0016 A
LM
KB1
KB2
9.37
(238)
10.39
15A A6C
(264)
11.3
20A A6C
(287)
11.81
30A A6C
(300)
10A A6C
Note:
1.
2.
LL LM LR
Shaft End
Dimension
Flange Dimensions
LT KB1 KB2 KL1 KL2
ΦLA ΦLB LC LE LG ΦLH ΦLZ ΦS
7.6
(193)
8.62
(219)
9.53
(242)
9.33
(237)
5.79
(147)
6.81
(173)
7.72
(196)
7.52
(191)
1.77
2.64 6.77
(45)
(67) (172)
4.53 3.74
1.77
3.66 7.8 3.94
(45) 1.81 (93) (198) (100) 3.43 (115) (95)
(87)
1.77 (46) 4.57 8.7
(45)
(116) (221)
2.48
4.45 8.5 4.69
5.71 4.33
(63)
(113) (216) (119)
(145) (110)
Q
QK
Approximate
Mass
lbf (kg)
3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26
(100) (3) (10) (130) (7) (24) (40) (32)
5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96
(130) (6) (12) (165) (9) (28) (55) (50)
13.2
(6.0)
16.5
(7.5)
18.7
(8.5)
30.9
(14)
Allowable Allowable
Radial
Thrust
Load
Load
lbf (N)
lbf (N)
154
(686)
44
(196)
220
(980)
88
(392)
Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
Specified Tolerances
Dimension
*ΦS
Unit
in
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.9449, 1.1024
+0.00000.0005
3.7402, 4.3307
+0.0000 -0.0014
Motor Plug
F
E
D
Connector Wiring on the Motor Side
A
G
B
C
MS3102A20-15P
A
B
C
D
U Phase
V Phase
W Phase
FG (Frame Ground)
E
F
G
—
Brake Terminal
Brake Terminal
—
—
81
SGMSH
Servomotors
Type
L
SGMSH-
200V FSP Servo Systems
Selecting: SGMSH Sigma II Servo System
First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is
letter-coded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
Shaft Keyway
5CN
SGMSH
Servomotor
(A)
For Monitor (D)
3CN
Peripheral
Signal
Connector (D)
FSP
Amplifier
(B)
1CN
I/O Signal
Connector
(D)
SGMSH
Servomotors
Regenerative Unit (E)
Connector for
Encoder Signal (D)
2CN
Shaft Seal
Motor side
Connector (D)
Encoder side
Connector (D)
Encoder Cable (C)
Motor Cable (C)
Specify a technical manual, if it is needed, on your
servo system purchase order:
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SGMSH - 10 A C A 6 1
Sigma Servomotor Type
Rated Output *
10: 1.0kW (1.3hp)
15: 1.5kW (2.0hp)
20: 2.0kW (2.7hp)
30: 3.0kW (4.0hp)
Power Supply
A: 200V
* 4.0kW and 5.0kW motor available at 400 volts.
82
Accessories
1: Standard
C: 24VDC Brake
S: Shaft Seal
E: Shaft Seal and Brake
Shaft Specifications
6: Straight Shaft with Keyway
Rated Speed
A: 3000rpm
Encoder Specifications
C: 17-bit Incremental
Encoder
2: 17-bit Absolute Encoder
200V FSP Servo Systems
Servomotor & Amplifier Selection
Use the table below to select the appropriate SGMSH Sigma II servomotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Description
Peak Torque
(in • lb)
Rated Torque
(in • lb)
200V,
Three-Phase
84.4
28.2
17-bit
Incremental Encoder
130
43
Straight Shaft with
Keyway
169
56.4
5000rpm maximum
260
87
Motor Inertia
(in • lb • s2 X 10-3)
Motor
MODEL # (A)
1.54
1.76
2.19
2.41
2.82
3.04
6.2
SGMSH-10ACA61
SGMSH-10ACA6C
SGMSH-15ACA61
SGMSH-15ACA6C
SGMSH-20ACA61
SGMSH-20ACA6C
SGMSH-30ACA61
8.1
SGMSH-30ACA6C
Amplifier
MODEL # (B)*
Analog/Digital Input
FSP-
Motor &
Amplifier
Item Class
10AMC
15AMC–S
20AMC
Stock
30AMC
MS Connectors
Note: 24VDC brakes for SGMSH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
SGMSH
Servomotors
* For more detailed FSP amplifier specifications and dimensions, refer to pages 99 - 112.
83
200V FSP Servo Systems
Pre-wired Cable Selection
Use the table below to select pre-wired cables for your SGMSH Sigma II servomotor.
Cable Description (C)
Power Cable with
L-type Connectors
(IP67)
Motor
Size
(kW)
Part Number*
Comments
without
Brake
with Brake
1.0, 1.5,
2.0
B1E-
(A)
B1BE-
(A)
3.0
B2E-
(A)
B2BE-
(A)
Encoder Cable
(incremental or
absolute)
AFGHCE-
(a)
Item
Class
Use the following key to specify
needed cable length (last two
digits of the part number):
03: 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
(IP67)
Connects these full length
encoder feedback cables to the
FSP amplifier
Encoder feedback
adapter cable for
incremental and
absolute*****
–
AFAD-P2(A)
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
SGMSH
Servomotors
Encoder feedback
adapter cable for
absolute encoders.
Cable has built in
absolute encoder
battery and case.
Connects these full length
encoder feedback cables to the
FSP amplifier
All
–
AFADABS-P2(A)
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
FR-RMCT-SB
Encoder Cable
(for applications
from >20 to <50m)
Only for Solder
Connections
UL20276-SB
84
These cables are available in
any length.
For example, to order one FRRMCT-SB cable, 16m long,
specify:
quantity: 16
part no.: FR-RMCT-SB
Stock**
200V FSP Servo Systems
Part Number*
without
Brake
Comments
with Brake
JUSP-TA50P
Input/Output 1CN
Cable & Transition
Terminal Block
Input/Output 1CN
Cable with Pigtail
Leads
Input/Output 1CN
Cable Cable with
Female
D-Sub output
Connector***
Input/Output 1CN
SMC4000 to FSP
Interface Cable
JUSP–WA50P–
JZSP-CKI01- (A)**
Use the following key to specify
required cable length (last digit
of part number):
1: 1m (standard)
2: 2m
3: 3m
Input/Output 1CN
SMC4000 to FSP
Interface Cable
with flying leads for
additional amplifier
I/O
SMCCBLB
****
Stock**
SMCCBL2
SMCCBLH
*
**
***
Use the following key to specify
cable length (last two digits of
the part number):
D50: 0.5m
01:
1m (standard)
02:
2m
03:
3m
All
Input/Output 1CN
SMC4000 to FSP
Interface Cable
with prepared
alarm and reset
inputs. requires
jumper in
SMC4000
Input/Output 1CN
MP2000 series
controller to FSP
Interface Cable
35mm DIN rail mountable; the
cable length is 0.5 meters.
35mm DIN Rail mountable
D50: 0.5 meters (standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
JZSP-CKI0D-
Item
Class
JEPMC–W2040–
Use the Following key to
determine the desired length
specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
Use the Following key to
determine the desired length
specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
SGMSH
Servomotors
Cable Description (C)
Motor
Size
(kW)
Limited
Stock
“(A)” at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
85
200V FSP Servo Systems
Connector Selection
Use the table below to select mating connectors for your SGMSH Sigma II servomotor.
Connector Description (D)
Motor
Size
(kW)
1.0,
1.5, 2.0
MS Connector for
Motor Power Cable *
3.0
MS Connector for
Encoder Cable
(incremental or
absolute encoder)
Part Number
without Brake
with Brake
Comments
MS3106B18-10S
MS3106B20-15S
MS3108B18-10S
MS3108B20-15S
MS3057-10A
MS3057-12A
MS3106B22-22S
MS3106B24-10S
MS3108B22-22S
MS3108B24-10S
MS3057-12A
MS3057-16A
MS3106B20-29S
MS3108B20-29S
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
MS3057-12A
Cable clamp
Item
Class
Stock
1CN Mating
Connector
SGMSH
Servomotors
JZSP-CKI9
—
JZSP-CMP9-1
—
—
YSC-1
—
—
DE9404559
—
All
2CN Encoder Mating
Connector
3CN Peripheral
Mating Connector
5CN Connector and
1m Cable with
Pigtails
*
86
Choose either a straight or L-type connector and the associated cable clamp for a complete assembly.
200V FSP Servo Systems
Peripheral Device Selection
Use the table below to select peripheral devices for your SGMSH Sigma II servomotor.
Component (E)
Software Interface Cable
Part Number
—
YS-12
3.6V, 1000mAh (lithium battery)
with 5cm leads for wiring to 1CN
JZSP-BA01
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABS-P2(A)
FSPGUI1 or
download at
www.yaskawa.com
Item Class
Pre-wired 2.0m cable with
9-pin connector
JZSP-BA01-1
Absolute Encoder Battery
Flexworks
Description
–
Stock
These are general purpose
regenerative units.*
External Regenerative Unit
(Optional)
JUSP-RA04
Order the Motion document:
PI#99004 for setup instructions for
this unit.
DC Reactor
(for suppressing harmonics in
the power supply)
*
FSP-10AMC
X5061
FSP-15AMC-S
FSP-20AMC
X5060
FSP-30AMC
X5059
—
Limited
Stock
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or
parallel connection. Refer to the FSP servo amplifier section of this catalog for additional specifications, and the
FSP Series Servo System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
87
SGMSH
Servomotors
Caution: Proper setup is
necessary to avoid equipment
damage.
200V FSP Servo Systems
CE Pre-wired Cable Selection
Use the table below to select shielded pre-wired cables for your SGMSH Sigma II
servomotor. These are suitable for IP67 environments.
Cable Description (C)
without
Brake
1.0,
1.5, 2.0
Power Cable with
Connectors
(IP67)
*
Part Number*
Motor
Size
(kW)
B1CE-
(A)
B2CE-
(A)
3.0
Comments
Item
Class
Use the following key to
specify required cable
length (last digit of part
number):
03. 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
Limited
Stock
with Brake
B1BCE-
(A)
B3BCE-
(A)
The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this
catalog’s reprinting.
CE/IP67 Connector Selection
Use the table below to select mating connectors for your SGMSH Sigma II servomotor.
SGMSH
Servomotors
Connector Description (D)
Connector for
Motor Power
Cable**
Connector for
Encoder Cable
(incremental or
absolute
encoder)
*
**
88
Motor
Size
(kW)
Part Number*
Comments
without Brake
with Brake
1.0, 1.5,
2.0
CE05-8A18-10SD-B-BAS CE05-8A20-15SD-B-BAS L-type
connector
CE3057-10A-1(D265)
CE3057-12A-1(D265)
Cable clamp
3.0
CE05-8A22-22SD-B-BAS CE05-8A24-10SD-B-BAS L-type
connector
CE3057-12A-1(D265)
CE3057-16A-1(D265)
Cable clamp
All
CE02-6A20-29NSW
and
CE20BA-S
L-type connector
(plug and back
shell)
CE3057-12A-3(D265)
Cable clamp
(for diameters
0.265 to 0.394in)
Item
Class
Limited
Stock
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
Choose the connector and the associated cable clamp for a complete assembly. The connectors listed
in the table are suitable for IP67 environments.
100/200V FSP Servo Systems
Sigma FSP Series Amplifier
For Speed, Torque, & Position Control with Incremental or Absolute Encoder
For Additional Information
Page(s)
FSP Ratings & Specifications
FSP Dimensions
Connection Diagram, Single Phase
Connection Diagram, Three Phase
Connector Terminal Block Unit
Terminal Block Pin Numbers
Cable Specs and Peripherals
SGMAH Sigma II Servo System
SGMPH Sigma II Servo System
SGMPH Gearmotor
SGMGH Sigma II Servo System
SGMGH Gearmotor
SGMSH Sigma II Servo System
92 - 96
99 - 106
107
108
109
110
111-115
5 -22
23 -40
41 -51
53 -64
65 -75
77 -88
1. Flexible Servo Architecture
Traditional torque, speed, and pulse input modes (SGDH modes)
Additional Programmable position mode for simple indexing applications
Electronic gearing, indexing superimposed on gear ratio
Electronic am table with shift and offset while in motion
Dynamic positioning, change target speed or position while in motion
2. Improved Performance
Patented Non-linear Control Technology reduces tracking error 90% in some applications
Adaptive feed forward dramatically reduces settling time and overshoot
High speed input and output for integrating motion (125 usec)
Registration input (CN1-46) for latching position in hardware (62.5 usec)
3. Easy Operation
FlexWorks set-up software provides a project setup Wizard
Choose amplifier mode
Define user units
Get default motion profile values
Define end of motion parameters
Define digital I/O
In addition, Flexworks provides
Programming by pull down menu
Digital oscilloscope tuning
Advanced FFT mechanical analysis
Sigma FSP automatically recognizes Yaskawa Sigma II motors
RMS torque monitor of front panel
4. CN10 side port for future* expanded capabilities (MECHATROLINK)
5. Certified International Standards
UL, cUL listed, CE compliance
*Contact Yaskawa Rep
89
FSP
Servo Amplifiers
Design Features
100/200V FSP Servo System
FSP
Servo Amplifiers
90
100/200V FSP Servo Systems
Model Number Designation
FSP - 0 8 A MC FSP Servo Amplifier
Rated Output
A3: 0.03kW
A5: 0.05kW
01: 0.10kW
02: 0.20kW
04: 0.40kW
08: 0.75kW
10: 1.00kW
15: 1.50kW
20: 2.00kW
30: 3.00kW
Options:
: No options
C: Electronic Cam (ECAM)
S: Single Phase Amplifier
(08 and 15 only)
Control Type: See Table Below
Power Supply
A: 200V
B: 100V
Control
Type
MC
MH
Details
•
Flexible ServoPack with standard Yaskawa serial encoder
feedback for use with Sigma II motors.
•
Flexible ServoPack with A-B quadrature encoder feedback with
Hall effect commutation.*
No Yaskawa serial encoder feedback.
Servo Amplifier - Motor combinations supported by Yaskawa can
be found at www.Yaskawa.com under the FSP product section:
Special Purpose Motors.
•
•
IMPORTANT:
* Parameter settings for motor combinations that are not in this catalog can only be set at the factory. For further
information, see the Special Purpose Motor Program at www.yaskawa.com under the FSP product section.
FSP-xxxMC
FSP-xxxMH
Rotary
SGMAH, SGMPH, SGMGH, SGMSH, SGMUH
- NO SGMCS
Linear
SGLGW, SGLFW, SGLTW, Sigma Trac
with Serial Converter
SPM - Special Purpose Motor
Requires FSP-xxxMH model and Supported
Motor Data File
NS115 Mechatrolink II Planned for Mid 2007**
Expanded I/O (8in/8out) Planned for Mid
2007**
NS115 Mechatrolink II Planned for Mid 2007**
Expanded I/O (8in/8out) Planned for Mid
2007**
- No NS300, NS500, NS600, MP940
- No NS300, NS500, NS600, MP940
Sigma FSP
Servomotors
(one size up
or down by
power)
Option
Modules
Software
FlexWorks only
- NO Yaskawa Serial Encoder
FlexWorks only
** Consult www.yaskawa.com for recent updates
91
FSP
Servo Amplifiers
Sigma FSP Combinations **
100/200V FSP Servo System
FSP Amplifier Ratings and Specifications
100V
200V
Applicable Servomotor
FSP-
A3
A5
01
02
04
08
10
15
20
30
SGMAH- B
A3
A5
01
02
—
—
—
—
—
—
SGMPH- B
—
—
01
02
—
—
—
—
—
—
SGMAH- A
A3
A5
01
02
04
08
—
—
—
—
SGMPH- A
—
—
01
02
04
08
—
15
—
—
SGMGH- A
(1500rpm)
—
—
—
—
—
05
09
13
20
30
SGMSH- A
—
—
—
—
—
—
10
15
20
30
0.03
0.05
0. 10
0.20
0. 40
0.75
1.0
1.5
2.0
3.0
0.66
0.95
2.4
3.0
—
—
—
—
—
—
2.0
2.9
7.2
9.0
—
—
—
—
—
—
0.44
0.64
0.91
2.1
2.8
5.7
7.6
11.6
18.5
24.8
1.3
2.0
2. 8
6.5
8. 5
13.9
17
28
42
56
100V
200V
Basic Specifications
Maximum Applicable
Servomotor
Capacity [kW]
FSP
Servo Amplifiers
92
Continuous
Output Current
[Arms]]
Maximum
Output Current
[Arms]
Continuous
Output Current
[Arms]]
Maximum
Output Current
[Arms]
100/200V FSP Servo Systems
Ratings and Specifications (cont’d)
Main
Circuit
Control
Circuit
Conditions
04
08
10
15
Single-phase 100 to 115VAC +10 to -15%, 50/60Hz *
200V
Single/Three-phase 200 to 230VAC +10 to -15%, 50/60Hz *
100V
Single-phase 100 to 115VAC +10 to -15%, 50/60Hz *
200V
Single-phase 200 to 230.5VAC +10 to -15%, 50/60Hz
Feedback
20
30
Single or three-phase full-wave rectification IGBT-PWM (sine wave driven)
For Yaskawa servomotors: Serial encoder: 13- (incremental only), 16-, or 17-bit
(incremental/absolute)
For Special Purpose Motors: A-B quadrature, max frequency 800 kHz post
quadrature
Ambient/Storage
Temperature **
Ambient/Storage
Humidity
Vibration/Shock
Resistance
0 to +55°C/-20 to +85°C (When enclosed, internal temperatures must not exceed
this range)
Configuration
Base mounted (Rack mounted optional)
FSPApprox.
Mass
[kg (lb)]
02
100V
Control Method
Basic Specifications
A3-01
For 100V
For 200V
90% relative humidity or less (with no condensation)
4.9 m/s2 /19.6 m/s2
A3-01
0.8
(1.76)
02
04
08
1.1
(2.43)
0.8
(1.76)
10
15
20
30
—
1.1
(2.43)
1.7
(3.75)
2.8
(6.17)
3.8
(8.38)
FSP
Servo Amplifiers
Input Power
Supply*
FSP-Amplifier Model FSP-
93
100/200V FSP Servo System
Ratings and Specifications (cont’d)
FSP-
A3 A5 01
Speed
Regulation ***
Performance
Speed Control Range
Load
Regulation
Voltage
Regulation
Temperature
Regulation
±2%
Speed
Reference
Input
Torque Reference Input
Contact Speed Reference
Speed and Torque Control Modes
Input Signals
Reference
Voltage****
Input Impedance
Circuit Time
Constant
Rotation
Direction
Selection
Speed Selection
Bias Setting
Feed Forward
Compensation
Positioning Completed
Width Setting
Reference
Pulse
Performance
Position Control Mode
Input Signals
FSP
Servo Amplifiers
94
Circuit Time
Constant
10
15
20
30
25 ± 25°C: ±0.1% max. (at rated speed)
Torque Control Tolerance
(Repeatability)
Input Impedance
08
Rated Voltage ±10%: 0% (at rated speed)
400Hz (at JL = JM)
Reference
Voltage****
04
0 to 100% load: 0.01% maximum (at rated speed)
Frequency Characteristics
Soft Start Time Setting
02
1:5000 (The lowest speed of the speed control range is the
point just before the motor stops under full-load condition.)
0 to 10s (Can be set individually for acceleration and
deceleration)
±6VDC (Variable setting range: ±2 to ±10VDC ) at rated torque
(positive torque reference with positive reference), input
voltage: ±12V (maximum).
About 14k
—
±3VDC (Variable setting range: ±1 to ±10VDC ) at rated
torque (positive torque reference with positive reference),
input voltage: ±12V (maximum)
About 14k
About 47µs
With P control signal
With forward/reverse current limit signal (speed 1 to 3
selection), servomotor stops or another control method is
used when both are OFF.
0 to 450rpm (setting resolution: 1rpm)
0 to 100% (setting resolution: 1%)
0 to 250 reference units (setting resolution: 1 reference unit)
Type
Sign + pulse train, 90° phase difference 2-phase pulse (A
phase + B phase), or CCW + CW pulse train
Form
Line driver (+5V level), open collector (+5V or +12V level)
Frequency
Control Signal
Built-in Open-Collector
Power Supply*****
500/200kpps maximum (line driver/open collector).
Clear Signal (input pulse form identical to reference pulse)
+12V (1kbuilt-in resistor)
100/200V FSP Servo Systems
Ratings and Specifications (cont’d)
02
04
08
10
15
A -, B -, C - phase line driver
S - phase line driver (only with an absolute encoder)
Frequency
Dividing Ratio
Any
Signal
allocation can
be modified
Fixed Output
Signal
allocation can
be modified
Regeneration
Overtravel Stop
Electronic Gear
Protection
LED Display
CN5 Analog
Monitoring
Communications
01
Output Form
Dynamic Brake
Internal Functions
A3 A5
Connected
Devices
1:N
Communications
Axis Address
Setting
Functions
Others
20
30
Servo ON, P control (or Control Mode switching, forward/
reverse motor rotation by internal speed setting, zero
clamping, reference pulse prohibited), forward run prohibited
(P-OT), reverse run prohibited (N-OT), alarm reset, forward
current limit, and reverse current limit (or internal speed
selection)
Servo alarm, 3-bit alarm codes.
Positioning completed (speed coincidence), during servomotor
rotation, servo ready, during current limiting, during speed
limiting, brake released, warning, selecting three of the NEAR
signals.
Operated at main power OFF, servo alarm, servo OFF, or
overtravel.
External regenerative resistor.
Built-in.
Dynamic brake stops at P-OT or N-OT, deceleration to a stop,
or free run to a stop.
0.01 ≤ A/B ≤ 100
Overcurrent, overload, regenerative error, main circuit voltage
error, heat sink overheat, power open phase, overflow,
overspeed, encoder error, encoder disconnected, overrun,
CPU error, parameter error
Charge, Power, five 7-segment LEDs (built-in digital operator
functions)
Built-in analog monitor connector to observe speed, torque
and other reference signals.
Speed: 1V/1000rpm
Torque: 1V/rated torque
Pulses remaining: 0.05V/reference unit or 0.05V/100 reference
units
RS-422A port such as for a personal computer (RS-232C ports
under certain conditions)
Up to N = 14 for RS-422A ports
Set with parameters.
Status display, parameter setting, monitor display, alarm traceback display, JOG and auto-tuning operations, speed/torque
reference signal, and other graphing functions
Reverse rotation connection, home position search, automatic
servomotor ID, DC reactor connection terminal for high power
supply frequency control
Notes: *
The power voltage must not exceed 230V +10% (253V). If it is likely that it will exceed this limit, use a step-down
transformer. For types FSP-08AMC-S and FSP-15AMC-S, voltage is 200 to 230V + 10% -5%.
** Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet
must not exceed the specified range.
*** Speed regulation is defined as follows:
( no-load motor speed - full-load motor speed )
Speed regulation = ------------------------------------------------------------------------------------------------------------------------- x100%
rated motor speed
**** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and
shaft end).
*****The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier.
95
FSP
Servo Amplifiers
Sequence
Sequence
I/O Signals
Position
FSP-
100/200V FSP Servo System
Programmable Mode Specifications
The FSP-series is equipped with four control modes, Torque, Speed, Position, and
Programmable. For details on the Torque, Speed, and Position modes, see the FSP User’s
Manual (YEA-SIA-FSP-3).
Programmable Mode Functions
In this mode the FSP Amp controls sequence and motion profiles. Sequence timing can be
controlled by a host through digital I/O.
Configurable Single Axis Control Functions
Units
Default Motion Profile
Quick Stop
Torque Slope
In Position Window
Position, speed, acceleration units
Speed, accel, jerk smoothing time
Quick stop deceleration
Rate of change of commanded torque
Motion end window (Pn2C0)
Functions programmable in user program or set by serial communication
commands in programmable mode
Inputs
Outputs
Homing
PTP Motion
The 7 sequence inputs are programmable in this mode (unless configured
for an embedded function)
The 3 sequence outputs are programmable in this mode (unless
configured for an embedded function)
Homing to external switch, encoder index pulse, external switch and
encoder index pulse, home to a hard stop, and set motor position to zero
Point-to-point motion based on programmable motion profile
FSP
Servo Amplifiers
Electronic Gear
Motion synchronized to master encoder by electronic gear ratio
Phase Shift to Electronic
Motion superimposed on gear ratio using programmable motion profile
Gear
High speed latch of motor encoder and master encoder with
Position Latch
programmable registration distance (62.5 microseconds)
Registration
Programmable registration distance from latched motor encoder position
Motion synchronized to master encoder or virtual axis by electronic cam
Electronic CAM
profile
Motor torque set by analog input or program command (125 microsecond
Torque Mode
torque loop update)
Motor speed set by analog input, pulse reference input, or program
Speed Mode
command with and without position loop closed (infinite jog)
Multiple axes start of motion synchronized by serial or serial
communication
Multi_Axis Synch
Fast input for synchronizing motion to external events (new_move_enable
125 usec)
Input Synch
Fast output for synchronizing external events to motion
(fast_output_setting 125 usec)
Output Synch
System Properties
96
Torque limits and Global Gain Factor (Pn1AO)
100/200V FSP Servo Systems
Programmable motion profile functions
Basic PTP Motion
Profile Change On The
Fly
Phase Shift
Soft Gear Engagement
Custom Profiles
Target position, speed, accel, jerk smoothing time
Target position, speed, and accel programmable while in motion
Phase shift position, speed, and acceleration programmable while
synchronized to the master by electronic gear
Acceleration for synchronizing motion to master encoder by electronic
gear ratio
Custom profile based on table with ECAM engaged to virtual master
O
Math Functions
Integer Math Operators
*,/,MOD,+,-,AND,XOR,OR
Program Flow
Basic Program Flow
Condition Branching
Subroutines
Interupts
Timing
Auto-Run
Fault Management
RUN, END, LABEL, GO_TO, LOOP
IF, IF_INPUT, INPUT_CASE
CALL, LABEL, RETURN
8 user prioritized Interrupts based on external events or logical conditions
(EXT_INT, INT, INT_RETURN)
DELAY, WAIT_EXACT, WAIT_FOR_START, WAIT_INPUT, WAIT_STOP,
WAIT_VAR
Run program at power up at specified label (Pn2CC)
ALARM_RESET, FAULT_MANAGER, FAULT_MANAGER_RETURN,
FAULT_MESSAGE_CLEAR
ECAM
Resolution
Interpolation
Design
Synchronization
Scaling
Shifting
4 ECAM profiles per project
ECAM to master encoder or virtual master
Cyclic or Non-Cyclic synchronization
16 segments per profile
Configurable segment resolution, up to 256 table points with table
interpolation
Straight line, sinusoidal, or table interpolation between segments
FlexWorks ECAM Editor or import point table from CSV file
Engage and disengage cam based on logical condition or external event
Master and motor ECAM profile scaling (profile x B/A)
Master and motor ECAM profile shifting with ECAM engaged (profile +/C)
FSP
Servo Amplifiers
Profiles
Master
Cyclic
Segments
97
100/200V FSP Servo System
Variables
User Variables
Arrays
System Variables
Functionality
10 variables, each 32 bits
Read and Write to 512 point array
See table In Chapter 9 of the FlexWorks User’s Manual: YEA-SIA-FSP-4
Use variables in math, as arguments in commands, and in expressions
Programming System Properties
Program line maximum execution time
2 ms
Time between motion commands stored in the Motion Command Buffer 125 usec
100 lines (if ECAM is
installed)
Total number of programming lines
180 lines (if ECAM is not
installed)
Serial Communication
Baud Rate
Bit Structure
Amplifier Address
Protocol
Master Message
Functions
Checksum
FSP
Servo Amplifiers
98
19200 autodetect
Start - 1 bit, data - 7 bit ASCII code, stop - 1 bit, even number parity - 1 bit,
start stop synchronization - 1 bit
15 units, 1-F address in hexadecimal
N Protocol see FlexWorks User’s Manual: YEA-SIA-FSP-4
Broadcast, polling, program, immediate, and sequential mode commands
Send programming commands, configure ECAM profile, clear program or
sequential buffer, read or write to the array, read and write parameters,
read system variables, read version number, poll for amplifier status, read
or write user variables
Enabled or disabled by Pn2C6
100/200V FSP Servo Systems
Dimensions in inches (mm)
FSP Servo Amplifier (Standard)
FSP-A3A
FSP-A3B
to -02A
to -01B
(200V Single-phase, 30 to 200W) and
(100V Single-phase, 30 to 100W)
FSP
Servo Amplifiers
•
•
99
100/200V FSP Servo System
•
•
FSP
Servo Amplifiers
100
FSP-04A
FSP-02B
(200V Single-phase, 400W) and
(100V Single-phase, 200W)
100/200V FSP Servo Systems
FSP-10A
FSP-08A
(200V Three-phase, 1.0kW)
-S (200V* Single-phase, 750W)
FSP
Servo Amplifiers
•
•
* Rating 200 to 230Vac +10% -5%
101
100/200V FSP Servo System
•
•
FSP-20A
FSP-15A
, 30A
(200V Three-phase, 2.0kW, 3.0kW)
-S (200V Single-phase, 1.5 kW)*
2-Φ0.24 (Φ6) holes
Heat sink
Air flow
0.315 (8)
SERVOPACK
FSP
88888
MODE/SET
CHARGE
DATA/
POWER
1.54
(39)
YASKAWA
CN3
CN3
CN1
9.84 (250)
CN1
CN2
7.72 (196)
CN2
B2
B3
U
V
W
Air
flow
Ground terminal
2 x M4 screws
0.24 (6)
14-pin terminal
M4 mounting screws
0.16 (4)
2.95 (75)
7.09 (180)
4.33 (110)
0.24
(6)
Mounting Hole Diagram
4 x M5 screw holes
(Mounting pitch)
9.39 (238.5) ±0.020 (0.5)
0.28 (7)
5.57 (141.5)
(100°)
FSP
Servo Amplifiers
1.57
(40)
Cooling fan
0.22
(5.5)
Approximate mass: 8.38lb (3.8kg)
0.20
(5)
3.94 (100)
±0.020 (0.5)
(Mounting pitch)
* Rating: 200 to 230Vac +10%, -5%
102
0.20
(5)
100/200V FSP Servo Systems
Regenerative Resistor Units (JUSP-RA04)
Type JUSP-RA04
Regenerative resistors for servo amplifiers are internally
or externally mounted, as shown in the following table.
They can be mounted externally on all servo amplifiers,
but are especially effective when regenerative energy
exceeds the servo amplifier’s capacity.
13.8 (350)
13.2 (335)
External Regenerative Resistors
When mounted externally, be sure to remove the jumper
between B2 and B3, which deactivates the internal
regenerative resistor.
3.62 (92)
7.09 (180)
Important: External regeneration resistor sizing and
amplifier set-up will be important for proper operation.
M4 Ground terminal
M5 Main
circuit terminal
Current resistance
220W 25Ω (configurable x4)
Approximate mass: 8.82lb (4kg)
Use Yaskawa’s SigmaSize software available at
www.yaskawa.com and the FSP Series Servo System
User’s Manual: YEA-SIA-FSP-3.
Applicable Servo
Amplifier
200V
Singlephase
200V
Threephase
100V
Singlephase
*
FSP-A3AMC
FSP-A5AMC
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-15AMC-S
FSP-10AMC
FSP-20AMC
FSP-30AMC
FSP-A3BMC
FSP-A5BMC
FSP-01BMC
FSP-02BMC
Regenerative Resistor
Internal
Minimum
Mounted in a
Regeneration
Allowable
Servo Amplifier
Power
Resistance
Capacity
Resistance Wattage*
(Ω)
(W)
(Ω)
(W)
—
—
—
50
25
50
25
12.5
60
140
60
12
28
12
20
40
140
28
12
—
—
—
40
40
Capacity prior to derating. If regeneration power
requirements exceed internal capacity of the amp, install
an external regeneration resistor (reference “Minimum
Allowable Resistance”. Be sure to derate wattage of
external resistor to 20% or less (natural convection) and to
50% or less with forced air cooling.
103
FSP
Servo Amplifiers
8.66 (220)
11.8 (30)
•
100/200V FSP Servo System
Single Regeneration Resistance Units
Consult Appendix E of the FSP Series Servo System User's Manual (No. YEA-SIA-FSP-3) for a more
detailed description of the selection procedure.
Part# RH500N25_OHMK
Part# RH120 50OHM J
3.15 (80)
0.18 (4.5)
5.91 (150)
9.84 (250)
9.21 (234)
0.63 (16)
0.12 (3)
0.79 (20)
0.14 (3.5)
7.17 (182)
6.77 (172)
2 - M3
0.18 (4.5)
0.87 (22)
2.36 (60)
2 - Φ0.18 (Φ4.5)
8.58 (218)
∅ 0.18 (4.5)
1.57 (40)
Lead wire:L = 17.72 (450)
Rated power:300W
Resistance value:25Ω
•
1.65 (42)
Lead wire:L = 11.81 (300)
Rated power:70W
Resistance value:50Ω
Regenerative Resistor Specifications
Tolerance
J: ±7%, K: ±10%
Temperature Characteristics
±260PPM/°C (20Ω or higher)
Withstand Voltage
∆R at 2000Vac applied for one minute: ±(0.1% + 0.05Ω)
Insulation Resistance
20MΩ or higher at 500VDC
Short-term Overload
∆R with ten times the rated power applied for five seconds (±2% + 0.05Ω)
Service Life
∆R in 1000 hours at rated power 90 minutes ON and 30 minutes OFF (±5% +0.05Ω)
Inflammability
Fire does not occur with 10 times the rated power applied for one minute.
Ambient Temperature Range
-25 to 150°C
FSP
Servo Amplifiers
104
100/200V FSP Servo Systems
Control of Harmonic Frequency in the Power Supply Circuit
If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals
(+) 1 and (+) 2 on the servo amplifier’s main circuit. Use the following table as a guide for selection of
the appropriate reactor.
Reactor Specifications
100V
200V
FSP-A3BMC
FSP-A5BMC
FSP-01BMC
FSP-02BMC
FSP-A3AMC
FSP-A5AMC
FSP-01AMC
FSP-02AMC
FSP-04AMC
FSP-08AMC-S
FSP-15AMC-S
FSP-10AMC
FSP-20AMC
FSP-30AMC
Impedance
(mH)
—
—
10.0
4.7
—
—
40.0
20.0
10.0
4.0
2.5
2.0
1.5
1.0
Rated Current
(A)
—
—
1.8
3.5
—
—
0.85
1.65
3.3
5.3
10.5
4.8
8.8
14.0
Reactor Model
—
—
X5063
X5062
—
—
X5071
X5070
X5069
X5079
X5078
X5061
X5060
X5059
FSP
Servo Amplifiers
Applicable Servo Amplifier
105
100/200V FSP Servo System
•
DC Reactor Dimensional Drawings
ΦJ
B
1
4 − ΦH
Reactor
Model
X5063
X5062
X5061
X5060
X5059
X5068
X5069
X5070
X5071
X5078
X5079
FSP
Servo Amplifiers
106
2
G
C D
E
F
A
Dimensions
in (mm)
A
1.38
(35)
1.57
(40)
1.38
(35)
1.57
(40)
1.97
(50)
1.97
(50)
1.25
(40)
1.57
(40)
1.38
(35)
1.97
(50)
1.97
(50)
B
2.05
(52)
2.32
(59)
2.05
(52)
2.32
(59)
2.91
(74)
2.91
(74)
2.32
(59)
2.32
(59)
2.05
(52)
2.91
(74)
2.91
(74)
C
3.54
(90)
3.94
(100)
3.15
(80)
4.13
(105)
4.92
(125)
4.92
(125)
4.13
(105)
3.94
(100)
3.15
(80)
4.92
(125)
4.92
(125)
D
4.13
(105)
4.72
(120)
3.73
(95)
4.92
(125)
5.51
(140)
6.1
(155)
4.92
125
4.72
(120)
3.74
(95)
6.1
(155)
5.51
(140)
E
1.38
(35)
1.57
(40)
1.38
(35)
1.77
(45)
1.38
(35)
2.09
(53)
1.77
45
1.38
(35)
1.18
(30)
2.36
(60)
1.38
(35)
F
1.77
(45)
1.97
(50)
1.77
(45)
2.36
(60)
1.77
(45)
2.6
(66)
2.36
60
1.77
(45)
1.57
(40)
2.76
(70)
1.77
(45)
G
1.97
(50)
2.17
(55)
1.97
(50)
2.56
(65)
2.36
(60)
2.95
(75)
2.56
65
1.97
(50)
1.77
(45)
3.15
(80)
2.36
(60)
ΦH
0.16
(4)
0.16
(4)
0.16
(4)
0.16
(4)
0.20
(5)
0.20
(5)
0.16
4
0.16
(4)
0.16
(4)
0.20
(5)
0.20
(5)
ΦJ
0.17
(4.3)
0.17
(4.3)
0.17
(4.3)
0.17
(4.3)
0.21
(5.3)
0.25
(6.4)
0.21
5.3
0.17
(4.3)
0.17
(4.3)
0.21
(5.3)
0.17
(4.3)
Approximate
Mass
lb (kg)
1.323
(0.6)
1.984
(0.9)
1.102
(0.5)
2.21
(1.0)
2.43
(1.1)
4.19
(1.9)
2.205
(1.0)
1.764
(0.8)
1.102
(0.5)
4.41
(2.0)
2.65
(1.2)
100/200V FSP Servo Systems
Connection Diagram, Single-phase
Single-phase 200 to 230Vac or Single-phase 100 to 115Vac
(50/60Hz)
(50/60Hz)
1MCCB
Power Power
OFF
ON
Noise filter
Alarm
processing
1MC
B1
1MC
Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay.
SUP
1MC
B2
B3
A (1) Servomotor
B (2)
M
C (3)
U
L1
V
W
L2
D (4)
L1C
L2C
1
FSP Servo Amplifier
2
P
Torque reference:
±1 to ±10V/rated motor speed (set by parameter)
P
PULS
CW
A phase
P
SIGN
CCW
B phase
P
CLR
V-REF
SG
5
T-REF
9
+5V
SEN signal input
(When using an absolute encoder).
0V
+24V
P control with 2Ry ON
Forward run prohibited with
P-LS OPEN
Reverse run prohibited with
N-LS OPEN
Alarm reset with 3Ry ON
Forward current limit ON with 6Ry ON
6
SG 10
LPF*
LPF*
LPF*
LPF*
PULS
7 150Ω
/PULS
8
37
A/D
ALO1 Alarm code maximum output:
Operating voltage: 30VDC
ALO3
Operating current: 20mADC
39
ALO3
38
SIGN 11
33
34
PAO
/PAO
CLR 15
P /CLR 14
35
36
PBO
/PBO
PL1 3 1kΩ
PL2 13
PL3 18
BAT (+)
21
PBAT (-)
22
SEN
4
P
SG 2
+24V
/S-ON
(PT0)
2RY /P-CON
(PT1)
P-OT
P-LS
(PT2)
N-OT
N-LS
(PT3)
1Ry
Servo ON with 2Ry ON
Be sure to properly prepare the
end of the shielded wire.
/SIGN 12
Open-collector
reference
power supply
Backup battery 2.8 to 4.5V
(When using an absolute encoder).
PG
1CN
Reference speed:
±2 to ±10V/rated motor speed (set by parameter)
Position reference
2CN
47 3.3kΩ
40
41
42
43
3Ry /ALM-RST
(PT4) 44
/P-CL
6Ry
(PT5) 45
7RY
Reverse current limit ON with &ARy ON
/N-CL
(PT6) 46
+12V
19
20
Used only with
an absolute encoder
1
PCO
/PCO
PSO
/PSO
Amount of S-phase rotation
Serial data output
Applicable line receiver
SG SN75175 or MC3486 manufactured by T/I, or the equivalent
Speed coincidence detection
25 /V-CMP+ (ON when speed coincides)
(/COIN+)
/V-CMP26
Positioning completed
(PO1-)
(ON when positioning is
Proportional control (P control) (/COIN-)
completed)
Forward run
27 /T-GON+
prohibited
(PO2+) T-GON output
28 /T-GON- (ON at levels above the setting)
Reverse run
(PO2-)
prohibited
29 /S-RDY+
Servo ready output
Alarm reset
(PO3+)
30 /S-RDY- (ON when ready)
Forward current
(PO3-)
limit ON
31
Servo alarm output
ALM+
Reverse current
(OFF with an alarm)
32 ALMlimit ON
Servo ON
Connector shell
FG
Connect shield to connector shell
*The time constant for the primary filter is 47µs
48
49
PG dividing ratio output
Applicable line receiver
SN75175 or MC3486 manufactured by T/I, or the equivalent
Photocoupler maximum output:
Operating voltage: 30VDC
Operating current: 50mADC
P: Indicates twisted wire pairs.
PI1 = PGMINP1
PO1+ = PGMOUT1+
107
FSP
Servo Amplifiers
Be sure to
ground
Optical
encoder
100/200V FSP Servo System
Connection Diagram, Three-phase
Three-phase 200 to 230Vac
(50/60Hz)
R
S
T
1MCCB
Power Power
OFF
ON
Noise filter
Alarm
processing
1MC
1MC
B1
1MC
Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay.
SUP
B2
B3
A (1) Servomotor
B (2)
M
C (3)
U
L1
V
W
L2
L3
D (4)
L1C
FSP Servo Amplifier
L2C
1
2
Be sure to
ground
P
Torque reference:
±1 to ±10V/rated motor speed (set by parameter)
P
Position reference
V-REF
SG
5
T-REF
9
P
SIGN
CCW
B phase
CLR
+5V
SEN signal input
(When using an absolute encoder).
0V
+24V
P control with 2Ry ON
Forward run prohibited with
P-LS OPEN
Reverse run prohibited with
N-LS OPEN
FSP
Servo Amplifiers
Alarm reset with 3Ry ON
6
SG 10
LPF*
LPF*
LPF*
LPF*
PULS
7 150Ω
/PULS
8
37
A/D
ALO1 Alarm code maximum output:
Operating voltage: 30VDC
ALO3
Operating current: 20mADC
39
ALO3
38
/SIGN 12
33
34
PAO
/PAO
CLR 15
P /CLR 14
35
36
PBO
/PBO
P
PL1 3 1kΩ
PL2 13
PL3 18
BAT (+)
21
PBAT (-)
22
SEN
4
P
SG 2
+24V
/S-ON
(PI0)
2RY /P-CON
(PI1)
P-OT
P-LS
(PI2)
1Ry
Servo ON with 2Ry ON
47
40
41
42
N-OT
(PI3) 43
3Ry ALM-RST
(PI4) 44
N-LS
6Ry
Forward current limit ON with 6Ry ON
7RY
Reverse current limit ON with &ARy ON
P-CL
(PI5) 45
N-CL
(PI6) 46
+12V
19
20
Used only with
an absolute encoder
3.3kΩ
PG dividing ratio output
Applicable line receiver
SN75175 or MC3486 manufactured by T/I, or the equivalent
PCO
/PCO
PSO
/PSO
Amount of S-phase rotation
Serial data output
Applicable line receiver
SG SN75175 or MC3486 manufactured by T/I, or the equivalent
/V-CMP+ Speed coincidence detection
25 (/COIN+) (ON when speed coincides)
Servo ON
26 /V-CMPPositioning completed
(PO1-)
(ON when positioning is
Proportional control (P control)
completed)
(/COIN-)
Forward run
27 /T-GON+
T-GON
output
prohibited
(PO2+)
28
/T-GON- (ON at levels above the setting)
Reverse run
prohibited
(PO2-)
29 /S-RDY+
Servo ready output
Alarm reset
(PO3+) (ON when ready)
30
/S-RDYForward current
(PO3-)
limit ON
31
Servo alarm output
ALM+
Reverse current
(OFF with an alarm)
32 ALMlimit ON
Connector shell
*The time constant for the primary filter is 47µs
48
49
1
FG
Connect shield to connector shell
108
PG
Be sure to properly prepare the
end of the shielded wire.
SIGN 11
Open-collector
reference
power supply
Backup battery 2.8 to 4.5V
(When using an absolute encoder).
2CN
1CN
Reference speed:
±2 to ±10V/rated motor speed (set by parameter)
PULS
CW
A phase
Optical
encoder
Photocoupler maximum output:
Operating voltage: 30VDC
Operating current: 50mADC
P: Indicates twisted wire pairs.
100/200V FSP Servo Systems
Connector Terminal Block Converter Unit JUSP-TA50P
Servo Amplifier
88888
CN1
+10%
Length of cable supplied: 19.69 (500) -0%
50-pin connector plug
MR-50RMD2
1
2
1.77 (45)
50-pin terminal block
M3.5 screws
49
50
9.74 (247.5)
Connector Terminal Block Converter Unit
JUSP-TA50P* (cable included)
Mounting Hole Diagram
0.14 (3.5)
10.28 (261.2)
0.27 (7.0)
FSP
Servo Amplifiers
0.27 (7.0)
1.77 (45)
0.14 (3.5)
1.16
(29.5)
0.61 (15.5)
10.01 (254.2)
*Terminal specifications : See the following page
109
100/200V FSP Servo System
JUSP-TA50P Terminal Block Pin Numbers and
Signal Names
FSP Servo Amplifier
Signal Name*
SG
SG
PL1
SEN
V-REF
SG
PULS
/PULS
T-REF
SG
SIGN
/SIGN
PL2
/CLR
CLR
PL3
PCO
/PCO
BAT (+)
BAT (-)
FSP
Servo Amplifiers
/V-CMP+
/V-CMP- (PO1-)
/TGON+ (PO2+)
/TGON- (PO2-)
/S-RDY+ (PO3+)
/S-RDY- (PO3-)
ALM+
ALMPAO
/PAO
BPO
/PBO
ALO1
ALO2
ALO3
/S-ON (PI0)
/P-CON (PI1)
P-OT (PI2)
N-OT (PI3)
/ALM-RST (PI4)
/P-CL (PI5)
/N-CL (PI6)
+24V IN
PSO
/PSO
Connector Case
CN1 Pin
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
JUSP-TA50P Terminal Block Unit
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
Connector
Number
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
A14
B14
A15
B15
A16
B16
A17
B17
A18
B18
A19
B19
A20
B20
A21
B21
A22
B22
A23
B23
A24
B24
A25
B25
Terminal Block
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Cable: Supplied with the terminal block
P: Indicates twisted pair wires.
*Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from
the factory. Use the connection diagrams on the previous pages for more functional details.
110
100/200V FSP Servo Systems
Cable Specifications and Peripheral Devices
Ratings and specifications for peripheral devices, as well as cable specifications for servo
amplifiers are summarized in the tables below.
CAUTION
Wiring Precautions
•
Do not bundle or run power and signal lines together in the same duct.
•
Use twisted pair or shielded multi-core twisted pair wires for signal and
encoder (PG) feedback lines.
The maximum lengths for signal lines are as follows:
• Maximum of 9.84ft (300cm) for reference input lines.
• Maximum of 65.6ft (20m) for PG feedback lines.
• Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m).
Keep power and signal lines at least 11.81” (30cm) apart.
•
Cable Specifications
The following tables provide wire size specifications:
Main circuit power input terminals
L1, L2
(Single Phase)
Servomotor connection terminals
U, V, W
Control power supply terminals
200V
FSP
Terminal Symbol
Wire Size AWG [in2 (mm2)]
A3A
A5A
CN1
PG signal connector
CN2
200V
FSP
Terminal
Symbol
L1, L2
(Single Phase)
Servomotor connection terminals
U, V, W
L1C, L2C
Control I/O signal connector
CN1
PG signal connector
CN2
Ground terminal
14 AWG
[0.003 (2.0)]
Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed
copper twisted wires
Finished cable dimensions:
maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for
CN2.
14 AWG [HIV 0.003 (2.0)]
Main circuit power input terminals
Control power supply terminals
04A
16 AWG [HIV 0.002 (1.25)]
Ground terminal
External Terminal Name
02A
16 AWG [HIV 0.002 (1.25)]
L1C, L2C
Control I/O signal connector
01A
Wire Size AWG [in2 (mm2)]
08A
-S
15A
-S
14 AWG [0.003 (2.0)]
12 AWG [0.0054 (3.5)]
16 AWG [HIV 0.002 (1.25)]
14 AWG [0.003 (2.0)]
Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed copper
twisted wires
Finished cable dimensions:
maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2.
14 AWG [HIV 0.003 (2.0)]
111
FSP
Servo Amplifiers
External Terminal Name
100/200V FSP Servo System
Cable Specifications (cont’d)
External Terminal Name
FSP Terminal
Symbol
Main circuit power input terminals
L1, L2, L3
(Three-phase)
Servomotor connection terminals
U, V, W
Control power supply terminals
200V
Wire Size AWG [in2 (mm2)]
10A
14 AWG [HIV
0.003 (2.0)]
Control I/O signal connector
CN1
PG signal connector
CN2
Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned,
annealed copper twisted wires. See page 113 for details.
Finished cable dimensions: maximum Φ0.63in (16mm)
for CN1 and Φ0.27in (6.8mm) for CN2.
FSP Terminal
Symbol
Main circuit power input terminals
L1, L2
(Single Phase)
Servomotor connection terminals
U, V, W
L1C, L2C
Control I/O signal connector
CN1
PG signal connector
CN2
Ground terminal
FSP
Servo Amplifiers
112
14 AWG [HIV 0.003 (2.0)]
External Terminal Name
1.
2.
3.
4.
12 AWG [HIV 0.005 (3.5)]
16 AWG [HIV 0.002 (1.25)]
Control power supply terminals
Notes:
30A
L1C, L2C
Ground terminal
100V
20A
Wire Size AWG [in2 (mm2)]
A3B
A5B
01B
16 AWG [HIV 0.002 (1.25)]
02B
14 AWG [0.003 (2.0)]
16 AWG [HIV 0.002 (1.25)]
Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned,
annealed copper twisted wires. See page 113 for details.
Finished cable dimensions:
maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm)
for CN2.
14 AWG [HIV 0.003 (2.0)]
Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.
Use cables with a minimum withstand voltage of 600V for main circuits.
If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly
deteriorate.
100/200V FSP Servo Systems
The following table shows types of cables. It is used in conjunction with the preceding
tables.
Cable Type
Name
PVC
IV
HIV
Composition
Standard polyvinyl chloride cable
600V PVC cable
Temperature-resistant vinyl cable
Temperature Rating of Conductor
°C
—
60
75
The following table specifies the appropriate cables for CN1 and CN2 servo amplifier
connectors.
Wire sizes were selected with the expectation of three cables per bundle, at an ambient
temperature of 40°C, at the rated current level.
Signal
Control I/O Signal
Connector
CN1
PG Signal
Connector
CN2
Description
Specification
Cable
Use twisted pair or shielded twisted pair wire.
Applicable wire
(AWG): 24, 26, 28
Finished cable Dimension Φ0.63 (Φ16.0) maximum
Use encoder cable manufactured by Yaskawa when interfacing with Yaskawa
Cable
motors.
FSP
Servo Amplifiers
Connector Name
113
100/200V FSP Servo System
Peripheral Device Types and Capacities
Amplifier Model
Main
Circuit
Power Capacity
Supply (kW)
Singlephase
100V
Singlephase
200V
Threephase
200V
FSP-
Control
Power
Required Capacity per
(W) Servo Amplifier
(kVA)
Recommended
Noise Filter**
Power Supply
Rated
Main
Power
(Arms)
Maximum MCCB or
Inrush
Fuse
Current Capacity*
(Arms)
(Arms)
Model
0.03
0.05
0.10
A3BMC
A5BMC
01BMC
0.15
0.25
0.40
1.1
1.8
2.0
4
Fn2070-6/07
(or FS5827-4-07)
0.20
02BMC
0.60
5.2
6
Fn2070-10/07
0.03
0.05
0.10
0.20
A3AMC
A5AMC
01AMC
02AMC
0.20
0.25
0.40
0.75
0.82
1.1
2.0
3.4
4
Fn2070-6/07
(or FS5827-4-07)
0.40
04AMC
1.2
5.5
8
0.75
08AMC-S
2.1
11.0
11
1.5
15AMC-S
4.0
19.0
19
1.0
10AMC
2.3
7.0
7
2.0
20AMC
4.3
12.0
3.0
30AMC
13
15
5.9
17.0
28
13
56
17
Specifications
Motor
Magnetic
Contactor
Single-phase
250Vac
6A (4A)
Single-phase
250Vac
10A
(10A) or
equivalent
Single-phase
250Vac
6A (4A)
Single-phase
250Vac
10A (7A)
(20A) or
Single-phase equivalent
Fn2070-16/07
250Vac
(or FS5827-15-07)
16A (15A)
Single-phase
35A or
Fn350-30/33
250Vac
equivalent
(or FS5827-25-07)
30A (25A)
Three-phase (20A) or
equivalent
480Vac
Fn258L-16/07
16A
(35A) or
Three-phase
equivalent
480Vac
Fn258L-30/07
30A
Fn2070-10/07
(or FS5827-7-07)
* Size per local code requirements. Typical fuse interrupting characteristics at 25°C: 200% for 2s minimum; 700% for 0.01s minimum.
** The Fn
noise filter is manufactured by Schaffner Corporation. Specifications are available at: www.schaffner.com.
FSP
Servo Amplifiers
114
Table of Contents
Table of Contents
Peripheral Device Manufacturers
J.S.T. Corporation
1957 South Lakeside Drive
Waukegan, Illinois 60085
TDK Corporation of America
1600 Feehanville Dr.
Mount Prospect, Illinois 60056
Phone: (847) 473-1957
http://www.jst.com
Phone: (847) 803-6100
Fax:
(847) 803-6296
Schaffner EMC Inc.
52 Mayfield Ave.
Edison, New Jersey 08837
Tokin America
32950 Alvarado-Niles Rd.
Suite 500
Union City, California 94507
Phone: 1-800 367-5566
(732) 225-9533
Fax:
(732) 225-4789
http://www.shaffner.com
Phone: (510) 324-4110
Fax:
(510) 324-1762
http://www.tokin.com
115
Table of Contents
116
400V FSP Servo Systems
SGMGH Servomotors - With Incremental / Absolute Encoder
Rated Output: 0.45kW, 0.85kW,
1.3kW, 1.8kW, 2.9kW,
4.4kW
For Additional Information
SGMGH Ratings & Specifications
SGMGH Speed/Torque Curves
SGMGH Dimensions
SGMGH Selection/Ordering Information
FSP (400V) Ratings & Specifications
FSP Dimensions
Page(s)
116
117
118
120
141
149
- 119
- 126
- 146
- 153
Design Features
1. Compact
Small sized motor
Compatible with previous generation G series motors
Ten types of rated outputs ranging from 0.79 to 1988in • lb of peak torque
Optional built-in holding brake available
2. Higher Speed and acceleration
Up to 3000rpm maximum
High torque to inertia ratio
3. Encoders
17-bit (32,768 ppr x 4) incremental encoder (standard)
17-bit absolute encoder (optional)
4. Enhanced Environmental Resistance
Totally enclosed, self-cooled IP67 (excluding shaft)
Shaft seal (optional)
5. Application Emphasis
Machine tools and woodworking machines
Packaging machines
Gantry robots
Press automation
Thermoforming
6. Certified International Standards
UL, cUL recognized (File #: E165827) CE compliance
115
SGMGH
Servomotors
General Purpose
400V FSP Servo Systems
Servomotor Ratings and Specifications
Continuous
Class F
15µm or less
1500Vac
10MΩ minimum
at 500VDC
Enclosure: Totally-enclosed, self-cooled
IP67 (except for shaft opening)
Ambient Temperature: 0 to 40ºC
Ambient Humidity:
20 to 80%
(non-condensing)
Rated Speed*:
1500rpm
Maximum Rotational Speed*:
0.45 to 7.5kW: 3000rpm
11 and 15kW: 2000rpm
Excitation:
Permanent
magnet
Direct drive
Flange-mounted
Drive Method:
Mounting:
Amplifier
System
Voltage
* Values when the servomotor is combined with an FSP servo amplifier.
400Vac
SGMGH
Servomotors
Time Rating:
Insulation:
Vibration:
Withstand Voltage:
Insulation Resistance:
*
Rated
Output*
MOTORS:
SGMGH-
Rated
Torque*
Instantaneous Peak
Torque*
Instantaneous
Maximum
Current*
Arms
Arms
kW (hp)
N•m
lbf • in
(KG • cm)
N•m
05D A
0.45 (0.6)
2.84
25 (29)
8.92
79 (91)
1.9
5.5
09D A
0.85 (1.1)
5.39
48 (55)
13.8
122 (141)
3.5
8.5
13D A
1.3 (1.7)
8.34
74 (85)
23.3
207 (238)
5.4
14.0
20D A
1.8 (2.4)
11.5
102 (117)
28.7
254 (293)
8.4
20.0
30D A
2.9 (3.9)
18.6
165 (190)
45.1
400 (460)
11.9
28.0
44D A
4.4 (5.9)
28.4
252 (290)
71.1
630 (725)
16.4
40.5
Values when the servomotor is combined with an FSP servo amplifier.
Holding Brake (at 20°C)
Torque
Constant
MOTORS
SGMGH-
lbf • in
Arms
(N • m
A
A
A
A
A
A
)
Moment of Inertia
lb • in • s2
-3
KG • m2
-4
× 10
× 10
14.5 (1.64)
6.42
7.24
14.6 (1.65)
12.3
13.9
14.9 (1.68)
18.2
20.5
12.9 (1.46)
28.1
31.7
14.7 (1.66)
40.7
46.0
16.0 (1.82)
59.8
67.5
Arms
05D
09D
13D
20D
30D
44D
lbf • in
(KG • cm)
Rated
Current*
Capacity
Torque
Coil.
Resistance
Rated
Current
W
N•m
Ω
A
58.7
0.41
Additional
Inertia
lb • in • s2
-3
× 10
4.41
9.85
18.5
12.7
43.1
31.1
0.77
1.85
7.75
Allowable
Load
Inertia
Rated
Power
Rate*
Rated
Angular
Acceleration*
Inertia
Time
Constant
Inductive
Time
Constant
KG • m2
× 10-4
kW/s
rad/s2
ms
ms
36.2
11.2
3930
5.6
4.5
69.5
20.9
3880
3.1
5.3
103
33.8
4060
2.9
6.1
159
41.5
3620
2.4
11.1
230
75.3
4050
2.0
12.3
338
120
4210
1.4
15.2
* Values when the servomotor is combined with an FSP servo amplifier at an armature winding temperature of 20°C.
These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 05D A to 13D A: 15.75 × 15.75 × 0.79 (in)
(400 × 400 × 20 (mm))
Type 20D A to 44D A: 21.65 × 21.65 × 1.18 (in)
(550 × 550 × 30 (mm))
**
116
400V FSP Servo Systems
400V
SGMGH-05D
A
SGMGH-09D
B
A
1000
0
0
2
4
6
8
TORQUE (N · m)
20
40
60
2000
A
B
1000
0
10
0
5
80
0
A
50
100
0
B
1000
10
20
30
40
TORQUE (N · m)
0
100
200
TORQUE (lb · in)
300
20
30
50
100 150 200 250
TORQUE (lb · in)
SGMGH-44D
A
A
3000
SPEED (rpm)
2000
0
10
TORQUE (N · m)
3000
A
B
0
0
20
150
SGMGH-30D
SPEED (rpm)
SPEED (rpm)
15
A
1000
TORQUE (lb · in)
3000
0
10
2000
TORQUE (N · m)
TORQUE (lb · in)
SGMGH-20D
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000
A
3000
3000
3000
0
SGMGH-13D
A
SGMGH
Servomotors
Speed / Torque Curves
2000
A
B
1000
0
0
10
0
100
20
30
40 50
2000
A
1000
0
0
TORQUE (N · m)
200
300
400
B
0
20
40
TORQUE (N · m)
200
400
60
600
80
800
TORQUE (lb · in)
A : CONTINUOUS DUTY ZONE
B : INTERMITTENT DUTY ZONE
117
400V FSP Servo Systems
Dimensions in inches (mm)
(1) 17-Bit Incremental/Absolute Encoder
SGMGH
Servomotors
L
LL
LR
LM
0.0016 A
LE
LC
0.0016 A
3.94 (100)
S*
LR
LH
W
LE
A
ΦL
Q
IE
KL1
3.46 (88)
S
LB**
LC
QK
U
LG
T
LT
A
4 - LZ
MTG Holes
0.0008
KB1
KB2
Flange Dimensions
Type
SGMGH-
L
05D A61
09D A61
13D A61
20D A61
30D A61
44D A61
Note:
1.
2.
3.
LL
LM
LR
LT
KB1
KB2
IE
KL1
ΦLA ΦLB** LC
LE
LG
Shaft End Dimension
ΦLH ΦLZ ΦS*
Q
QK
W
T
U
Allowable Allowable
Approximate
Radial
Thrust
Mass
Load
Load
lbf (kg)
lbf (N)
lbf (N)
7.72 5.43 3.62
2.56 4.61
12.1
(196) (138) (92)
(65) (117)
(5.5)
0.75
0.20 0.20 0.12
(5)
(3)
8.62 6.34 4.53 2.28 1.81 3.46 5.51
16.8
4.29 5.71 4.33 5.12 0.24 0.47 6.5 0.35 (19) 1.57 0.98 (5)
(219) (161) (115) (58) (46) (88) (140)
(7.6)
(109) (145) (110) (130) (6) (12) (165) (9)
(40) (25)
9.57 7.28 5.47
4.41 6.46
0.87
0.24 0.24 0.14
21.2
(243) (185) (139)
(112) (164)
(22)
(6)
(6) (3.5)
(9.6)
—
9.65 6.54 4.69
3.5 5.71
30.9
(245) (166) (119)
(89) (145)
(14)
10.67 7.56 5.71 3.11 1.85 4.53 6.73
39.7
5.51 7.87
4.5 7.09 0.13 0.71 9.06 0.53 1.38 2.99 2.36 0.39 0.31 0.20
(271) (192) (145) (79) (47) (115) (171)
(18)
(140) (200) (114.3) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8)
(5)
12.01 8.9 7.05
5.87 8.07
50.7
(305) (226) (179)
(149) (205)
(23)
SGMGH-05D A to 44D A do not contain eyebolts.
Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
110
(490)
22
(98)
154
(686)
265
(1176)
77
(343)
331
(1470)
Specified Tolerances
Dimension
Unit
in
mm
Encoder Plug
M
A
B
N P C
K
D
R
S
J
E
H
G F
L
T
MS3102A20-29P
118
A
B
C
D
E
F
G
H
J
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.7480, 0.8661
1.3780
1.6535
2.1700
19.000, 22.000
35.000
42.000
55.000
+0.0000-0.0005
+0.0004-0.0000
+0.0000 -0.0006
+0.0012+0.0004
+0.000 -0.013
+0.010 -0.000
+0.000 -0.016
+0.030 +0.011
4.3307
+0.0000 -0.0014
Connector Wiring on the Encoders
—
K
—
—
L
—
Data +
M
—
Data N
—
—
P
—
—
R
—
0V
S
Battery − (Note*)
+5Vdc
T
Battery + (Note*)
FG (Frame Ground) *Note: Used with an absolute encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A
4.5000
+0.0000 -0.0010
7.8700
110.000
+0.0000 -0.0018
+0.000 -0.035
114.300
+0.000 -0.025
200.000
+0.0000 -0.046
Motor Plug
D
A
C
B
Connector Wiring on the Motor Side
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
110
(490)
400V FSP Servo Systems
(2) 17-Bit Incremental/Absolute Encoder, With Brake
0.5 to 4.4kW (0.7 to 5.9hp)
L
W
LL
U
LR
0.0016
LM
0.04
0.0016
LE
0.04
A
A
LC
S
LR
LE
QK
LA
S
LC
LH
LB
IE
KL2
KL1
3.94 (100)
LG
T
LT
SGMGH
Servomotors
•
A
0.0008
0.02
KB1
KB3
Q
4 - LZ
MTG Holes
KB2
Flange Dimensions
Type
SGMGH-
L
05D A6C
09D A6C
13D A6C
20D A6C
30D A6C
44D A6C
Note:
1.
2.
LL
LM
LR
LT
KB1
KB2
KB3
KL1
KL2
ΦLA ΦLB**
LC
LE
LG
Shaft End Dimension
LH
ΦLZ
ΦS*
Q
QK
W
T
U
Approximate
Mass
lbf (kg)
16.5
2.56 6.1 4.29
9.21 6.93 5.08
(7.5)
(65) (155) (109)
(234) (176) (129)
0.75
0.20 0.20 0.12
(3)
5.71 4.33 5.12 0.24 0.47 6.5 0.35 (19) 1.57 0.98 (5) (5)
10.12 7.83 5.98 2.28
3.46 7.01 5.20 4.29
21.2
(145) (110) (130) (6) (12) (165) (9)
(40) (25)
(257) (199) (152) (58)
(88) (178) (132) (109)
(9.6)
11.06 8.78 6.93
4.41 7.95 6.14
0.87
0.24 0.24 0.14
26.5
(281) (223) (176)
(22)
(6) (6) (3.5)
(12)
3.46
1.85 (112) (202) (156)
(88)
(47) 3.50 7.72 5.39
11.65 8.54 6.69
41.9
(296) (217) (170)
(89) (196) (137)
(19)
12.68 9.57 7.72 3.11
4.53 8.74 6.42 5.51
51.8
7.87 4.5 7.09 0.13 0.71 9.06 0.53 1.38 2.99 2.36 0.39 0.31 0.20
(322) (243) (196) (79)
(115) (222) (163) (140)
(23.5)
(200) (114.3) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8)
(5)
14.02 10.91 9.06
5.87 10.08 7.72
62.8
(356) (277) (230)
(149) (256) (196)
(28.5)
Dimensions are the same when using other incremental encoders (with or without optional shaft seal)..
Tolerances on the dimensions LB of flange type and S of shaft extensions are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
Allowable
Radial
Load
lbf (N)
Allowable
Thrust
Load
lbf (N)
110
(490)
22
(98)
154
686)
265
(1176)
77
(343)
331
(1470)
110
(490)
Specified Tolerances
Dimension
Unit
in
mm
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.7480, 0.8661
1.3780
19.000, 22.000
35.000
+0.0000-0.0005
+0.0004-0.0000
+0.000 -0.013
+0.010 -0.000
4.3307
4.5000
110.000
114.300
+0.0000 -0.0014
+0.0000 -0.0010
+0.000 -0.035
+0.000 -0.025
Plug for Holding Brake
C
A
B
MS3102A10SL-3P
Plug for Motor
Connector Wiring on the Brake, Motor Side
A
Brake Terminal
B
Brake Terminal
C
—
Non-Environmental Mating Connector:
MS3108A10SL-3S (L Type)
Cable Clamp: MS3057-4A
Do
oA
Co
oB
Connector Wiring on the Motor Side
A
U Phase
B
V Phase
C
W Phase
D
FG (Frame Ground)
119
400V FSP Servo Systems
Selecting: SGMGH Sigma II Servo System
SGMGH
Servomotors
First, select the Sigma II servomotor suited for your application using SigmaSize: The Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
Shaft Keyway
5CN
SGMGH
Servomotor
(A)
For Monitor (D)
3CN
Peripheral
Signal
Connector (D)
FSP
Amplifier
(B)
1CN
I/O Signal
Connector
(D)
Connector for
Encoder Signal (D)
Encoder side
Connector (D)
2CN
Encoder Cable (C)
Motor Cable (C)
Motor side
Connector (D)
Shaft
Seal
Specify a technical manual, if it is needed, on your
servo system purchase order:
Regenerative Unit (E)
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SGMGH - 09 D C A 6 C
Sigma Servomotor Type
Rated Output
05: 500W (0.7hp)
09: 850W (1.14hp)
13: 1.3kW (1.7hp)
20: 2.0kW (2.7hp)
30: 3.0kW (4.0hp)
44: 4.4kW (6.0hp)
Power Supply
D: 400V
120
Accessories
1: Standard
C: 24VDC Brake
S: Shaft Seal
E: Brake and Shaft Seal
Shaft Specifications
6: Straight Shaft with Keyway
Rated Speed
A: 1500rpm
Encoder Specifications
C: 17-Bit Incremental Encoder
2: 17-Bit Absolute Encoder
400V FSP Servo Systems
Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
Description
400V
Three-Phase
17-bit
Incremental
Encoder
Straight Shaft
with
Keyway
3000rpm
maximum
Peak
Torque
(in • lb)
Rated
Torque
(in • lb)
79
25
122
48
207
74
254
102
404
165
629
252
MS Connectors
Motor Inertia
(in • lb • s2 x 10-3)
Motor
MODEL Number (A)
6.41
SGMGH-05DCA61
8.26
SGMGH-05DCA6C
12.30
SGMGH-09DCA61
14.15
SGMGH-09DCA6C
18.2
SGMGH-13DCA61
20.1
SGMGH-13DCA6C
28.1
SGMGH-20DCA61
35.9
SGMGH-20DCA6C
40.7
SGMGH-30DCA61
48.5
SGMGH-30DCA6C
59.8
SGMGH-44DCA61
67.6
SGMGH-44DCA6C
Amplifier
MODEL # (B)*
Analog/Digital Input
FSP-
Motor and
Amplifier
Item Class
05DMC
10DMC
15DMC
Stock
20DMC
30DMC
30DMC
Note: 24VDC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
For technical information, request Yaskawa manual number YEA-SIA-FSP-3.
* For more detailed FSP amplifier specifications and dimensions, refer to page 143 - 148.
121
SGMGH
Servomotors
Servomotor & Amplifier Selection
400V FSP Servo Systems
Pre-wired Cable Selection
SGMGH
Servomotors
Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor.
Motor
Size
(kW)
Cable Description (C)
Power Cable with
Connectors
(IP67)
Part Number*
0.5,
0.9, 1.3
BAE-
(A)
2.0,
3.0, 4.4
BBE-
(A)
Power Cable for
Holding Brake
(IP67)
B7BCE-
Encoder Cable
(incremental or
absolute)
AFGHCE-
(A)
Comments
Item
Class
Use the following key to specify
needed cable length (last two
digits of the part number):
03: 3m
05: 5m
10: 10m (standard)
15: 15m
20: 20m
(A)
(IP67)
Connects these full length
encoder feedback cables to the
FSP amplifier
Encoder feedback
adapter cable for
incremental and
absolute*****
AFAD-P2(A)
–
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full length
encoder feedback cables to the
FSP amplifier
Encoder feedback
adapter cable for
absolute encoders.
Cable has built in
absolute encoder
battery and case.
–
All
AFADABS-P2(A)
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable (for
applications up to
20m) Only for Solder
Connections
FR-RMCT-SB
Encoder Cable (for
applications from >20
to <50m) Only for
Solder Connections
UL20276-SB
JUSP-TA50P
Input/Output 1CN
Cable & Transition
Terminal Block
122
JUSP–WA50P–
These cables are available in
any length.
For example, to order one
FR-RMCT-SB cable, 16m long,
specify:
quantity: 16
part no.: FR-RMCT-SB
35mm DIN rail mountable; the
cable length is 0.5 meters.
35mm DIN Rail mountable
D50: 0.5 meters (standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Stock**
400V FSP Servo Systems
Motor
Size
(kW)
Input/Output
1CN Cable with
Pigtail Leads
Part Number*
JZSP-CKI01- (A)
Input/Output 1CN
Cable Cable with
Female
D-Sub output
Connector***
JZSP-CKI0D-
Input/Output 1CN
SMC4000 to FSP
Interface Cable
SMCCBL2
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
prepared alarm and
reset inputs. requires
jumper in SMC4000
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
flying leads for
additional amplifier
I/O
Input/Output 1CN
MP2000 series
controller to FSP
Interface Cable
*
**
***
****
SMCCBLH
Comments
Item
Class
Use the following key to
specify needed cable length
(last digit of part number):
1: 1m (standard)
2: 2m
3: 3m
Use the following key to specify
required cable length (last two
digits of the part number):
D50: 0.5m
01:
1m (standard)
02:
2m
03:
3m
SGMGH
Servomotors
Cable Description (C)
Stock**
Use the following key to
determine the desired length
specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
SMCCBLB
All
JEPMC–W2040–
Use the following key to
determine the desired length
specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
(A)” at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
123
400V FSP Servo Systems
Connector Selection
SGMGH
Servomotors
Use the table below to select mating connectors for each SGMGH Sigma II servomotor.
Connector Description
(D)
Motor Size (kW)
0.5, 0.9, 1.3
MS Connector for
Motor Power Cable*
2.0, 3.0, 4.4
Part Number
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3106B22-22S
MS3108B22-22S
MS3057-12A
MS3108A10SL-3S
MS3057-4A
MS Connector for
Brake Power Cable
MS3106B20-29S
MS3108B20-29S
MS Connector for
Encoder Cable
(incremental or
absolute encoder)
MS3057-12A
Comments
Item
Class
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
Stock
1CN Mating
Connector
JZSP-CKI9
—
All
2CN Amplifier
Mating Connector
DE9406973*
—
3CN Peripheral
Mating Connector
—
YSC-1
—
5CN Connector
and 1m Cable with
Pigtails
—
DE9404559
Can use 5CN for analog
speed and torque monitor
service checks.
*
124
Alternative part number is DTCR6973
400V FSP Servo Systems
Use the table below to select peripheral devices for each SGMGH Sigma II servomotor.
Component (E)
Software Interface Cable
Part Number
—
YS-12
JZSP-BA01-1
Item Class
Pre-wired 2.0m cable with
9-pin connector
3.6V, 1000mAh (lithium battery)
with 5cm leads for wiring to 1CN
JZSP-BA01
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABSP2(A)
FSPGUI1 or
download at
www.yaskawa.com
–
Absolute Encoder Battery
Flexworks
Description
Stock
These are general purpose
regenerative units.*
External Regenerative Unit
(Optional)
JUSP-RA04
Order the Motion document:
PI#99004 for setup instructions for
this unit.
Caution: Proper setup is
necessary to avoid equipment
damage.
DC Reactor
(for suppressing
harmonics in the power
supply)
For 400V:
For 400V:
For 400V:
For 400V:
*
FSP-05DMC
FSP-10DMC
FSP-15DMC
FSP-20DMC
FSP-30DMC
FSP-50DMC
X5074
X5075
—
X5076
Limited
Stock
X5077
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel
connection. Refer to the FSP servo amplifier section of this catalog for additional specifications, and the FSP Series Servo
System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
125
SGMGH
Servomotors
Peripheral Device Selection
400V FSP Servo Systems
CE Pre-wired Cable Selection
SGMGH
Servomotors
Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor.
Cable Description
(C)
Power Cable with
Connectors
(IP67)
Motor Size
(kW)
Part Number*
0.5, 0.9, 1.3
BACE-
(A)
2.0, 3.0, 4.4
BBCE-
(A)
All
B7BCE-
(A)
Power Cable for
Holding Brake
(IP67)
*
Comments
Use the following key to
specify needed cable length
(last two digits of the part
number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Item
Class
Limited
Stock
Limited
Stock
The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog’s reprinting.
CE Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II servomotor.
Connector
Description (D)
Motor Size
(kW)
Part Number
CE05-8A18-10SD-B-BAS
0.5, 0.9, 1.3
Connector for Motor
Power Cable*
CE3057-10A-1(D265)
CE05-8A22-22SD-B-BAS
2.0, 3.0, 4.4
CE3057-12A-1(D265)
Comments**
Item
Class
L-type connector
Cable clamp
(for diameters 0.413 to 0.555in)
L-type connector
Cable clamp
(for diameters 0.492 to 0.630in)
Limited
Stock
CE05-8A10SL-3SC-B-BAS
and
CE3057-4A-1 (D265)
Connector for
Holding Brake
Connector for
Encoder Cable
(incremental or
absolute encoder)
*
**
126
All
CE02-6A20-29NSW and
CE20BA-S
or
CE3057-12A-3(D265)
L-type connector for holding brake
and
Cable clamp
(for diameters 0.142 to 0.220in)
L-type connector
(plug and back shell)
or
Cable clamp
(for diameters 0.265 to 0.394in)
Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67
environments.
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
400V FSP Servo Systems
p
Higher rpm Power Rate Series
SGMSH/UH Servomotors - With Incremental / Absolute
Encoder
Rated Output: 1.0kW, 1.5kW, 2.0kW,
3.0kW, 4.0kW, 5.0kW
SGMSH/UH Ratings & Specifications
SGMSH/UH Speed/Torque Curves
SGMSH Dimensions
SGMUH Dimensions
SGMSH/UH Selection/Ordering Information
SGMSH/UH Optional CE Selection
FSP Ratings & Specifications
FSP Dimensions
Page(s)
128
129
130–131
132–133
134–139
140
142
144–148
SGMSH/UH
Servomotors
For Additional Information
Design Features
1. Compact
Small sized motor
Eight frame sizes: up to 422in • lb peak torque
2. Higher Speed
Rated Speed: 3000rpm
Maximum Speed: Up to 6000rpm (SGMUH only)
3. Encoders
17-bit (32,768 ppr x 4) incremental encoder (standard)
17-bit absolute encoder (option)
4. Enclosure
Totally enclosed, self-cooled IP67 (excluding shaft)
IP67 with shaft seal (option)
5. Application Emphasis
High torque to inertia ratio
Chip mounters
PCB drilling machines
Robots
Conveyors
Packaging
6. Certified International Standards
UL, cUL recognized (File #: E165827), CE compliance
127
400V Sigma II Servo System
400V FSP Servo Systems
Servomotor Ratings and Specifications
Time Rating:
Continuous
Insulation:
Class F
Vibration:
15µm or less
Withstand Voltage: 1500Vac, 1800Vac*
Insulation Resistance:10MΩ minimum
at 500VDC
Rated
Output*
MOTORS:
SGMUH-**
400Vac
SGMSH-
SGMSH/UH
Servomotors
**
Instantaneous
Peak Torque***
Rated Torque***
Type
SGMSHSGMUH-
Rated
Current*
Instantaneous
Maximum
Current*
Number
kW (hp)
N•m
lb • in (KG • cm)
N•m
lb • in (KG • cm)
A (rms)
A (rms)
10D A
1.0 (1.3)
3.18
28.2 (32.4)
9.54
84.4 (97.2)
2.8
8.5
15D A
1.5 (2.0)
4.9
43.4 (50)
14.7
130 (150)
4.7
14
20D A
2.0 (2.7)
6.36
56.4 (65)
19.1
169 (195)
6.2
19.5
30D A
3.0 (4.0)
9.8
87 (100)
29.4
260 (300)
8.9
28
40D A
4.0 (5.4)
12.6
112 (129)
37.8
336 (387)
12.5
38
50D A
5.0 (6.7)
15.8
140 (161)
47.6
422 (486)
13.8
42
10D A
1.0 (1.3)
1.59
14.1 (16.2)
6.5
57.6 (66.18)
2.7
8.5
15D A
1.5 (1.95)
2.45
21.7 (25)
11
97.5 (112)
4.1
14
30D A
3.0 (4.0)
4.9
43.5 (50)
21.5
190 (218.3)
8.1
28
Only the Sigma II SGMUH models are available with a maximum speed of 6000rpm.
Holding Brake (at 20°C)
MOTORS:
Torque
Constant
Moment of Inertia
lbf • in • s2
× 10-3
KG • m2
× 10-4
1.54
1.74
10.2
2.19
2.47
9.9
2.82
3.19
Number
lbf • in
Arms
10D A
11.2
15D A
20D A
Capacity
Torque
Coil
Resistance
W
N•m
W
7.0
7.84
82.3
30D A
10.5
6.20
7.00
40D A
9.38
8.50
9.60
50C A
10.62
10.9
12.3
10D A
7.2
1.54
1.74
15D A
7.4
2.19
2.47
—
—
—
30D A
7.2
6.2
7.0
—
—
—
***
Maximum Rotational Speed:
5000, 6000rpm*
Excitation:
Permanent magnet
Drive Method: Direct drive
Mounting:
Flange-mounted
Painting Color: Muncell notation N1.5
SGMUH models only.
Type
Amplifier Systems
Voltage
*
Enclosure: Totally-enclosed, self-cooled
IP67 (except for shaft opening)
Ambient Temperature:0 to 40ºC
Ambient Humidity: 20 to 80%
(non-condensing)
Rated Speed:
3000rpm, 6000rpm*
Rated
Current
Additional
Inertia
A
lbf • in • s2 × 10-3
0.29
0.219
Allowable
Load
Inertia
Rated
Power
Rate*
Rated
Angular
Acceleration*
Inertia
Time
Constant
Inductive
Time
Constant
KG • m2 × 10-4
kW/s
rad/s2
ms
ms
8.7
57.9
18250
0.97
6.3
12.4
97.2
19840
0.80
6.8
16.0
127
19970
0.66
7.3
35.0
137
14000
0.76
16.3
48.0
166
13160
—
—
61.5
202
12780
—
—
8.7
14.5
9130
0.87
7.1
9.85
20.0
58.7
0.41
1.89
—
—
—
—
—
—
—
12.4
24.3
9910
0.70
7.7
—
—
35
34.3
7000
0.72
17.3
These items and torque-speed characteristics quoted in combination with an FSP servo amplifier at an armature winding
temperature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 10D A to 20D A: (11.81 × 11.81 × 0.47 (in)) (300 × 300 × 12 (mm))
Type 30D A to 50D A: (15.75 × 15.75 × 0.79 (in)) (400 × 400 × 20 (mm))
128
400V FSP Servo Systems
Speed / Torque Curves
400V
SGMSH-15D
5000
4000
4000
4000
3000
A
2000
B
1000
0
2
4
6
TORQUE (N · m)
20
40
8
60
3000
A
2000
B
1000
0
0
10
SPEED (rpm)
5000
0
5
10
3000
1000
0
15
80
0
50
SGMSH-30D
A
100
150
TORQUE (lb · in)
SGMSH-40D
0
4000
4000
2000
1000
0
0
10
20
3000
2000
10
0
TORQUE (N · m)
0
100
B
1000
0
30
A
SPEED (rpm)
5000
SPEED (rpm)
5000
B
20
30
200
0
3000
100
200
A
0
40
300
SGMUH-15D
400
5000
4000
4000
2000
1000
0
0
4
8
12
TORQUE (N · m)
0
40
80
TORQUE (lb · in)
SPEED (rpm)
5000
4000
SPEED (rpm)
5000
B
2000
1000
0
0
5
10
15
50
100
TORQUE (lb · in)
B
0
10
0
100
A
3000
20
30
40 50
TORQUE (N · m)
200
300
500
400
A
B
2000
1000
0
0
TORQUE (N · m)
0
A
SGMUH-30D
A
6000
A
150
TORQUE (lb · in)
6000
3000
20
1000
6000
A B
15
100
A
2000
TORQUE (lb · in)
SGMUH-10D
3000
50
TORQUE (N · m)
TORQUE (lb · in)
10
SGMSH-50D
A
4000
A
5
0
TORQUE (N · m)
5000
3000
A
B
A
2000
TORQUE (N · m)
TORQUE (lb · in)
SPEED (rpm)
SGMSH-20D
5000
0
SPEED (rpm)
A
SGMSH/UH
Servomotors
A
SPEED (rpm)
SPEED (rpm)
SGMSH-10D
10
20
30
TORQUE (N · m)
0
100
200
TORQUE (lb · in)
300
A : CONTINUOUS DUTY ZONE
B : INTERMITTENT DUTY ZONE
129
400V Sigma II Servo System
400V FSP Servo Systems
SGMSH Dimensions in inches (mm)
(1) 17-bit Incremental or Absolute Encoder
L
LR
LL
LM
LT
0.0016 A
LE
0.0016 A
LC
S
3.94 (100)
LG
LR
LE
Q
QK
LA
LC
LH
KL2
LB
S
0.0008
KB1
4 - LZ
MTG Holes
0.16 (4)
A
0.28 (7)
SGMSH
Servomotors
KL1
0.31 (8)
KB2
Type
SGMSH10D A61
15D A61
20D A61
30D A61
40D A61
50D A61
Note:
L
LL
LM
LR
LT
ΦLA ΦLB** LC
7.64
(194)
8.66
(220)
9.57
(243)
10.31
(262)
11.77
(299)
13.35
(339)
5.87 4.06
(149) (103)
6.89 5.08
(175) (129 )
7.8 5.98
(198) (152)
7.83 6.02
(199) (153 )
9.29 7.48
(236) (190)
10.87 9.06
(276) (230)
2.99
(76)
1.77
4.02
(45)
(102)
4.92
1.81 (125)
(46) 4.8
(122)
2.48
6.26
(63)
(159)
7.83
(199)
5.04
(128)
6.06
(154)
6.97
(177)
7.01
(178)
8.46
(215)
10.04
(255)
Shaft End
Dimension
Flange Dimensions
KB1 KB2 KL1 KL2
LE
LG ΦLH ΦLZ ΦS*
Approximate Allowable
Allowable
Mass
Radial Load Thrust Load
lbf (kg)
lbf (N)
lbf (N)
QK
Q
10.1 (4.6)
3.78 3.43 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26
(96) (87) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32)
12.8 (5.8)
154
(686)
15.4 (7.0)
24.3 (11)
4.49 3.43 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96
(114) (87) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50)
30.9 (14)
37.5 (17)
220
(980)
265
(1176)
1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
Specified Tolerances
Dimension
Unit
in
mm
Encoder Plug
M
B
N P C
K
D
R
S
J
E
H
G F
L
A
MS3102A20-29P
A
B
C
D
E
F
G
H
J
*ΦS
**ΦLB
Diameter
Tolerance
Diameter
Tolerance
0.9449, 1.1024
24.000, 28.000
+0.0000-0.0005
+0.000 -0.013
3.7402, 4.3307
95.000, 110.000
+0.0000 -0.0014
+0.000 -0.035
Connector Wiring on the Incremental Encoders
—
—
K
—
—
L
—
Data +
M
—
Data −
N
—
—
P
—
—
R
0V
S
Battery − (Note*)
+5Vdc
T
Battery + (Note*)
FG (Frame
*Note: Used with an absolute
Ground)
encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A
130
44
(196)
Motor Plug
D
C
A
B
Connector Wiring on the Motor Side
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
88
(392)
400V FSP Servo Systems
(2) 17-bit Incremental or Absolute Encoder, with Brake
L
W
LL
0.04
0.0016
LE
0.04
A
A
LC
LR
LE
QK
S
3.94 (100)
LG
W = 0.31 (8)
T = 0.28 (7)
U = 0.16 (4)
U
0.0016
LM
T
LT
LR
LA
IE
KL1
KL3
KL2
LB
S
LC
LH
0.0008
0.02
KB1
KB3
Q
SGMSH
Servomotors
A
4 - LZ
MTG Holes
KB2
Type
SGMSH-
LM
LR
9.37 7.6 5.79
10D A6C (238) (193) (147)
15D A6C 10.39 8.62 6.81
(264) (219) (173)
1.77
(45)
1.77
(45)
20D A6C
30D A6C
40D A6C
50D A6C
Note:
Shaft End
Dimension
Flange Dimensions
L
LL
LT KB1 KB2 KB3 KL1 KL2 KL3
ΦLA ΦLB** LC
LE
LG
ΦLH ΦLZ ΦS*
Q
Allowable Allowable
Approximate
Radial
Thrust
Mass
Load
Load
lb
(kg)
f
QK
lbf (N)
lbf (N)
2.99 6.77 4.72
13.2
(76) (172) (120)
(6.0)
4.02 7.80 5.75 378
16.5
3.35 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26
154
(102) (198) (146) (96)
(7.5)
(85) (115) (95) (100) (3)
(10) (130) (7)
(24)
(40) (32)
(686)
4.92
11.3 9.53 7.72 1.77
18.7
(125) 8.7 6.65
(287) (242) (196) (45) 1.81 ) (221) (169)
(8.5)
3.46
(46)
(88)
11.81 9.33 7.52
4.80 8.50 6.69 4.49
3.86
30.9
220
(300) (237) (191)
(122) (216) (170) (114)
(98)
(14)
(980)
5.71 4.33 5.12 0.24 0.47 6.5 0.35
1.1
2.17 1.96
10.79 8.98 2.48
37.5
—
—
—
—
— (145) (110) (130) (6)
(12) (165) (9)
(28) (55) (50)
(17)
13.27 (274) (228) (63)
265
(337) 12.36 10.55
(1176)
44.1
—
—
—
—
—
(314) (268)
(20)
1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
44
(196)
88
(392)
Specified Tolerances
Dimension
*Φ S
Unit
in
mm
Plug for Holding Brake
C
A
B
MS3102A10SL-3P
Diameter
0.9449, 1.1024
24.000, 28.000
**ΦLB
Tolerance
+0.0000-0.0005
+0.000 -0.013
Connector Wiring on the Brake, Motor Side
A
B
C
Brake Terminal
Brake Terminal
Diameter
3.7402, 4.3307
95.000, 110.000
Motor Plug
D
A
C
B
—
Non-Environmental Mating Connector:
MS3108A10SL-3S (L Type)
MS3106A10SL-3S (Straight Type)
Cable Clamp: MS3057-4A
Tolerance
+0.0000 -0.0014
+0.000 -0.035
Connector Wiring on the Motor Side
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
131
400V Sigma II Servo System
400V FSP Servo Systems
SGMUH Dimensions in inches (mm)
(1) 17-bit Incremental or Absolute Encoder
L
LR
LL
LM
LT
0.0016 A
LE
0.0016 A
LC
S
3.94 (100)
LG
LR
LE
Q
QK
LA
LC
LH
KL2
LB
S
0.0008
KB1
4 - LZ
MTG Holes
0.16 (4)
A
0.28 (7)
SGMUH
Servomotors
KL1
0.31 (8)
KB2
Type
SGMUH10D A61
15D A61
30D A61
Note:
1.
2.
L
LL
LM
LR
LT
Shaft End
Dimension
Flange Dimensions
KB1 KB2 KL1 KL2
ΦLA ΦLB** LC
LE
LG ΦLH ΦLZ ΦS*
Approximate Allowable Allowable
Mass
Radial Load Thrust Load
lbf (kg)
lbf (N)
lbf (N)
QK
Q
7.64 5.87 4.06
2.99 5.04
10.1 (4.6)
(194) (149) (103) 1.77
(76) (128) 3.78
5.12 4.33 4.57
0.39 5.91 0.35 0.94 1.57 1.26
(45)
(96)
(130)
(110)
(116)
(10)
(150)
(9)
(24)
(40)
(32)
8.66 6.89 5.08
1.81 4.02 6.06
3.46
0.14
12.8 (5.8)
(220) (175) (129)
(46) (102) (154)
(88)
(3.5)
10.31 7.95 6.14 2.36
5.00 7.13 4.49
6.50 5.12 6.10
0.47 7.48 0.43 1.1 2.17 1.96
(262) (202) (156) (60)
(127) (181) (114)
(165) (130) (155)
(12) (190) (11) (28) (55) (50) 24.3 (11)
Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
110
(490)
22
(98)
154
(686)
44.1
(196)
Specified Tolerances
Dimension
Unit
Encoder Plug
M
L
K
B
N P
A
D
R
S
J
H
C
G
E
F
MS3102A20-29P
132
*ΦS
Diameter
**ΦLB
Tolerance
in
0.9449, 1.1024
+0.0000-0.0005
mm
24.000, 28.000
+0.000 -0.013
Diameter
Tolerance
4.3307
5.12
110.000
130
+0.0005 -0.00035
+0.00055 -0.00043
+0.013 -0.009
+0.014 -0.011
Connector Wiring on the Incremental Encoders
A
B
C
D
E
F
G
H
—
K
—
—
L
—
Data +
M
—
Data −
N
—
—
P
—
—
R
—
0V
S
Battery − (Note*)
+5Vdc
T
Battery + (Note*)
FG (Frame
*Note: Used with an absolute
J
Ground)
encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057-12A
Motor Plug
D
A
C
B
Connector Wiring on the Motor Side
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
400V FSP Servo Systems
(2) 17-bit Incremental or Absolute Encoder, with Brake
L
W
LL
0.04
0.0016
LE
0.04
A
A
LC
LR
LE
QK
S
3.94 (100)
LG
W = 0.31 (8)
T = 0.28 (7)
U = 0.16 (4)
U
0.0016
LM
T
LT
LR
LA
IE
KL1
KL3
KL2
LB
S
LC
LH
A
4 - LZ
MTG Holes
SGMUH
Servomotors
0.0008
0.02
KB1
KB3
Q
KB2
Type
SGMUH-
Shaft End
Dimension
Flange Dimensions
L
LL
LM
LR
LT
KB1
KB2
KB3
KL1
KL2
KL3
ΦLA ΦLB** LC
LG ΦLH ΦLZ ΦS*
LE
Q
Approximate
Mass
lbf (kg)
QK
Allowable Allowable
Radial
Thrust
Load
Load
lbf (N)
lbf (N)
13.2
9.37
7.6
5.79
2.99 6.77 4.72
10D A6C (238) (193) (147)
(6.0)
(76) (172) (120) 3.78
3.35 5.12 4.33 4.57 0.14 0.39 5.91 0.35 0.94 1.57 1.26
1.77
(45). 1.81 4.02 7.80 5.75 (96) 3.46 (85) (130) (110) (116) (3.5) (10) (150) (9) (24) (40) (32)
16.5
15D A6C 10.39 8.62 6.81
(46) (102) (198) (146)
(88)
(264) (219) (173)
(7.5)
9.33 7.52 2.36
4.80 8.50 6.69 4.49
3.86 6.50 5.12 6.10 0.24 0.47 7.48 0.43 1.1 2.17 1.96
30.9
30D A6C 11.81
(300) (237) (191) (60)
(122) (216) (170) (114)
(98) (165) (130) (155) (6) (12) (190) (11) (28) (55) (50)
(14)
Note:
1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
110
(490)
22
(98)
154
(686)
44
(196)
Specified Tolerances
Dimension
*ΦS
Unit
Diameter
0.9449, 1.1024
+0.0000-0.0005
mm
24.000, 28.000
+0.000 -0.013
Connector Wiring on the
Brake, Motor Side
A
B
MS3102A10SL-3P
Tolerance
in
Plug for Holding Brake
C
**ΦLB
A
Brake Terminal
B
Brake Terminal
C
—
Non-Environmental Mating Connector:
MS3108A10SL-3S (L Type)
MS3106A10SL-3S (Straight Type)
Cable Clamp: MS3057-4A
Diameter
Tolerance
4.3307
5.12
110.000
130
+0.0005 -0.00035
+0.00055 -0.00043
+0.013 -0.009
+0.014 -0.011
Motor Plug
D
A
C
B
Connector Wiring on the
Motor Side
A
B
C
D
U Phase
V Phase
W Phase
Ground Terminal
133
400V Sigma II Servo System
400V FSP Servo Systems
Selecting : SGMSH/UH Sigma II Servo System
First, select the Sigma series servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at www.yaskawa.com. (You may also request SigmaSize
software via e-mail, at: [email protected]).
Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E)
Optional Holding Brake
Shaft Keyway
5CN
SGMSH/UH
Servomotor
(A)
For Monitor (D)
SGMSH/UH
Servomotors
3CN
Peripheral
Signal
Connector (D)
FSP
Amplifier
(B)
1CN
I/O Signal
Connector
(D)
Regenerative Unit (E)
Connector for
Encoder Signal (D)
2CN
Shaft Seal
Motor side
Connector (D)
Encoder side
Connector (D)
Encoder Cable (C)
Motor Cable (C)
Specify a technical manual, if needed, on your servo
system purchase order:
FSP Series Servo System User’s Manual: YEA-SIA-FSP-3
(Manual is provided at no charge with a purchase order,
but it must be requested).
Model Number Designation
SGMSH - 10 D C A 6 1
Sigma Servomotor Type
SGMSH: 5000rpm
SGMUH: 6000rpm
Rated Output
10: 1.0kW (1.3hp)
15: 1.5kW (2.0hp)
20: 2.0kW (2.7hp)
30: 3.0kW (4.0hp)
40: 4.0kW (5.4hp)
50: 5.0kW (6.7hp)
Power Supply
D: 400V
Accessories
1: Standard
C: 24VDC Brake
S: Shaft Seal
E: Shaft Seal and Brake
Shaft Specifications
6: Straight Shaft with Keyway
Rated Speed
A: Revision Level
Encoder Specifications
C: 17-bit Incremental
Encoder
2: 17-bit Absolute Encoder*
*SGMUH is not available with absolute encoder
134
400V FSP Servo Systems
Servomotor and Amplifier Selection
Use the table below to select the appropriate SGMSH or SGMUH Sigma series servomotor and
amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor
construction/features.)
SGMSH-10DCA61
SGMSH-10DCA6C
SGMSH-15DCA61
SGMSH-15DCA6C
SGMSH-20DCA61
SGMSH-20DCA6C
SGMSH-30DCA61
SGMSH-30DCA6C
SGMSH-40DCA61
SGMSH-40DCA6C
SGMSH-50DCA61
SGMSH-50DCA6C
14.1
1.54
SGMUH-10DCA61
10DMC
97.5
21.7
2.48
SGMUH-15DCA61
15DMC
190
43.4
6.2
SGMUH-30DCA61
30DMC
28.2
130
43
169
56.4
Straight Shaft with
Keyway
260
87
5000rpm maximum
336
112
MS Connectors
422
140
400V,
Three-Phase
57.6
17-bit
Incremental
Encoder
Amplifier
MODEL # (B)*
Analog/Digital Input
FSP-
1.54
1.76
2.19
2.41
2.82
3.04
6.2
8.1
8.5
10.4
10.9
12.8
84.4
400V,
Three-Phase
Motor
MODEL # (A)
Motor and
Amplifier
Item Class
10DMC
15DMC
20DMC
SGMSH/UH
Servomotors
Description
Motor Inertia
Peak Torque Rated Torque
(in • lb)
(in • lb)
(in • lb • s2 X 10-3)
30DMC
50DMC
Stock
17-bit
Incremental
Encoder
Straight Shaft with
Keyway
6000rpm maximum
MS Connectors
Note: 24VDC brakes for SGMUH and SGMSH Sigma series servomotors are standard. Contact a local source for 24VDC power
supplies.
For technical information, request Yaskawa manual number YEA–SIA–FSP-3.
* For more detailed FSP amplifier specifications and dimensions, refer to pages 143 to 148.
135
400V Sigma II Servo System
400V FSP Servo Systems
Pre-wired Cable Selection
Use the table below to select pre-wired cables for your SGMSH/UH Series Sigma series servomotor.
Motor Size
(kW)
Cable Description (C)
Power Cable with
L-type Connectors
(IP67)
Part Number*
1.0, 1.5,
2.0
BAE-
(A)
3.0
4.0, 5.0
BBE-
(A)
Cable with Holding
Brake
B7BCE-
(A)
(IP67)
SGMSH/UH
Servomotors
Encoder Cable
(incremental or
absolute)
AFGHCE-
(A)
(IP67)
Encoder feedback
adapter cable for
incremental and absolute****
–
AFAD-P2(A)
Comments
Use the following key to specify
needed cable length (last two
digits of the part number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
These cables are available in five
lengths. (last two digits of the part
number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Connects these full length encoder
feedback cables to the FSP amplifier
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
0.2 meter length
Connects these full length encoder
feedback cables to the FSP amplifier
Encoder feedback
adapter cable for
absolute encoders.
Cable has built in
absolute encoder battery and case.
All
–
AFADABS-P2(A)
Item Class
Stock**
(Encoder feedback cables for
SGDH amp)
JZSP-CMP00-XX(A)
A1ICE-XX(A)
JZSP-CMP02-XX(B)
Built-in battery is:
JZSP-BA01
0.2 meter length
Encoder Cable
(for applications
up to 20m)
Only for Solder
Connections
Encoder Cable
(for applications
from >20 to <50m)
Only for Solder
Connections
Input/Output 1CN
Cable & Transition
Terminal Block
FR-RMCT-SB
These cables are available in any
length.
UL20276-SB
For example, to order one
FR-RMCT-SB cable, 16m long,
specify:
quantity: 16
part no.: FR-RMCT-SB
JUSP-TA50P
35mm DIN rail mountable; the
cable length is 0.5 meters.
JUSP–WA50P–
35mm DIN Rail mountable
D50: 0.5 meters (standard)
01: 1 meter (standard)
02: 2 meters
03: 3 meters
Table continued on next page.
136
400V FSP Servo Systems
Motor Size
(kW)
Input/Output 1CN
Cable with Pigtail
Leads
JZSP-CKI01- (A)
Input/Output 1CN
Cable with Female
D-Sub output
Connector***
Input/Output 1CN
SMC4000 to FSP
Interface Cable
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
prepared alarm and
reset inputs. requires
jumper in SMC4000
Input/Output 1CN
SMC4000 to FSP
Interface Cable with
flying leads for additional amplifier I/O
Input/Output 1CN
MP2000 series controller to FSP Interface Cable
*
**
***
****
Part Number*
JZSP-CKI0D-
Comments
Item Class
Use the following key to
specify required cable length
(last digit of part number):
1:
1m (standard)
2:
2m
3:
3m
Use the following key to specify
required cable length (last two
digits of the part number):
D50: 0.5m
01: 1m (standard)
02: 2m
03: 3m
Not all terminals used. YEA
recommends 1CN with pigtail
JZSP–CKF01– (A). See page 89
for wiring details.
Stock**
SMCCBL2
SMCCBLH
SGMSH/UH
Servomotors
Cable Description (C)
Use the following key to determine
the desired length specification.
=
02: 2 Feet
05: 5 Feet
10: 10 Feet
15: 15 Feet
SMCCBLB
All
JEPMC–W2040–
Use the following key to determine
the desired length specification.
=
A5: 0.5 meters
01: 1 meter
03: 3 meters
Limited
Stock
(A) at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
50-pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
For systems using the absolute encoder and this part number, the absolute encoder battery must be connected at the amplifier
1CN connector.
137
400V Sigma II Servo System
400V FSP Servo Systems
Connector Selection
Use the table below to select mating connectors for your SGMSH/UH Sigma series servomotor.
Connector Description (D)
Motor
Size
(kW)
1.0,
1.5, 2.0
MS Connector for
Motor Power Cable*
3.0,
4.0, 5.0
MS Connector for
Brake Power Cable
All
SGMSH/UH
Servomotors
MS Connector for
Encoder Cable
(incremental or
absolute encoder)
Part Number
MS3106B18-10S
MS3108B18-10S
MS3057-10A
MS3106B22-22S
MS3108B22-22S
MS3057-12A
MS3108A-10SL-3S
MS3057-4A
MS3106B20-29S
MS3108B20-29S
MS3057-12A
Comments
Item
Class
Straight-type connector
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
L-type connector
Cable clamp
Straight-type connector
L-type connector
Cable clamp
Stock
1CN Mating
Connector
JZSP-CKI9
—
DE9406973*
—
—
YSC-1
—
—
JZSP-CA01
—
All
2CN Amplifier
Mating Connector
3CN Peripheral
Mating Connector
5CN Connector
and 1m Cable with
Pigtails
*
138
Alternative Part Number: DTCR6973
400V FSP Servo Systems
Peripheral Device Selection
Use the table below to select peripheral devices for your SGMSH/UH Sigma series servomotor.
Part Number
JZSP-BA01
Absolute Encoder Battery
JZSP-BA01
FSPGUI1 or
download at
www.yaskawa.com
Flexworks
Description
3.6V, 1000mAh (Lithium Battery)
with 5cm leads for wiring to 1CN
3.6V, 1000mAh (Lithium Battery)
replacement battery for use in
absolute adapter cable AFADABS-P2(A)
Item Class
–
Stock
Software Interface Cable
—
YS-12
Pre-wired 2.0m cable with
9-pin connector
These are general purpose
regenerative units.*
External Regenerative Unit
(Optional)
JUSP-RA04
Order the Motion document:
PI#99004 for setup instructions
for this unit.
Caution: Proper setup is
necessary to avoid equipment
damage.
DC Reactor
(for suppressing harmonics in
the power supply)
FSP-10DMC
FSP-15DMC
FSP-20DMC
FSP-30DMC
Large Capacity Amplifiers
*
X5075
X5076
—
Limited
Stock
Check factory for
availability
For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or
parallel connection. Refer to the FSP servo amplifier section of this catalog for additional specifications, and the FSP
Series Servo System User’s Manual (YEA-SIA-FSP-3) for proper resistor sizing guidelines.
139
SGMSH/UH
Servomotors
Component (E)
400V Sigma II Servo System
400V FSP Servo Systems
CE Pre-wired Cable Selection
Use the table below to select shielded pre-wired cables for your SGMSH/UH Sigma II
servomotor. These are suitable for IP67 environments.
Use the standard encoder cable listed on page 148.
Motor Size
(kW)
Part Number*
1.0, 1.5, 2.0
BACE-
(A)
3.0,4.0,
5.0
BBCE-
(A)
All
B7BCE-
(A)
Cable Description (C)
Power Cable with
Connectors
(IP67)
Power Cable for
Holding Brake
SGMSH/UH
Servomotors
(IP67)
*
Comments
Use the following key to specify
needed cable length (last two
digits of the part number):
03:
3m
05:
5m
10:
10m (standard)
15:
15m
20:
20m
Item Class
Limited
Stock
The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this
catalog’s reprinting.
CE/IP67 Connector Selection
Use the table below to select mating connectors for your SGMSH/UH Sigma series servomotor.
Connector Description (D)
Motor Size
(kW)
1.0, 1.5, 2.0
Connector for Motor
Power Cable*
3.0, 4.0, 5.0
All
*
**
140
Comments**
CE05-8A18-10SD-B-BAS
L-type connector
CE3057-10A-1(D265)
Cable clamp
(for diameters 0.413 to 0.555in)
CE05-8A22-22SD-B-BAS
L-type connector
CE3057-12A-1(D265)
Cable clamp
(for diameters 0.492 to 0.630in)
CE05-8A10SL-3SC-B-BAS
and
CE3057-4A-1 (D265)
Connector for
Holding Brake
Connector for
Encoder Cable
(incremental or
absolute encoder)
Part Number
CE02-6A20-29NSW
and
CE20BA-S
CE3057-12A-3(D265)
L-type connector for holding
brake
Item Class
Limited
Stock
Cable clamp
(for diameters 0.142 to 0.220in)
L-type connector
(plug and back shell)
Cable clamp
(for diameters 0.265 to 0.394in)
Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable
for IP67 environments.
Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
400V FSP Servo Systems
FSP Servo Amplifier-
For Speed, Torque, & Position Control
With Incremental or Absolute Encoder
Wide input voltage
Range 380-480 VAC
For Additional Information
FSP Ratings & Specifications
FSP Dimensions
Peripherals
SGMGH Sigma II Servo System
Page(s)
143
149
156
115
-
146
153
158
126
1. Flexible Servo Architecture
Traditional torque, speed, and pulse input modes (SGDH modes)
Additional programmable position mode for simple indexing applications
Electronic gearing, indexing superimposed on gear ratio
Electronic Cam table with shift and offset while in motion
Dynamic Positioning, change target speed or position while in motion
2. Improved Performance
Patented Non-linear Control Technology reduces tracking error 90% in some applications
Adaptive feed forward dramatically reduces settling time and overshoot
High speed input and output for integrating motion (125 usec)
Registration input (CN1-46) for latching position in hardware (62.5 usec)
3. Easy Operation
FlexWorks set-up software provides a project setup Wizard
Choose amplifier mode
Define user units
Get default motion profile values
Define end of motion parameters
Define digital I/O
In addition, Flexworks provides
Programming by pull down menu
Digital Oscilloscope tuning
Advanced FFT mechanical analysis
Sigma FSP automatically recognizes Yaskawa Sigma II motors
RMS torque monitor of front panel
4. CN10 side port for future* expanded capabilities (MECHATROLINK)
5. Certified International Standards
UL, cUL listed, CE compliance
* Contact Yaskawa Rep.
141
FSP
Servo Amplifiers
Design Features
400V FSP Servo Systems
Model Number Designation
FSP
1 5 D MC -
FSP Servo Amplifier
Rated Output
05: 0.50kW
10: 1.00kW
15: 1.50kW
20: 2.00kW
30: 3.00kW
50: 5.00kW
Options:
: No options
C: Electronic Cam (ECAM)
Control Type: See Table Below
Power Supply
D: 400V
Control
Type
MC
MH
Details
•
Flexible ServoPack with standard Yaskawa serial encoder
feedback for use with Sigma II motors.
•
Flexible ServoPack with A-B quadrature encoder feedback with
Hall effect commutation.*
No Yaskawa serial encoder feedback.
Servo Amplifier - Motor combinations supported by Yaskawa can
be found at www.Yaskawa.com under the FSP product section:
Special Purpose Motors.
•
•
IMPORTANT:
*Parameter settings for motor combinations that are not in this catalog can only be set at the factory. For further
information, see the Special Purpose Motor Program at www.yaskawa.com under the FSP product section.
Sigma FSP Combinations **
Sigma FSP
FSP
Servo Amplifiers
Servomotors
(one size up
or down by
power)
Option
Modules
Software
FSP-xxxMC
FSP-xxxMH
Rotary
SGMAH, SGMPH, SGMGH, SGMSH, SGMUH
- NO SGMCS
Linear
SGLGW, SGLFW, SGLTW, Sigma Trac
with Serial Converter
SPM - Special Purpose Motor
Requires FSP-xxxMH model and Supported
Motor Data File
NS115 Mechatrolink II Planned for Mid 2007**
Expanded I/O (8in/8out) Planned for Mid
2007**
NS115 Mechatrolink II Planned for Mid 2007**
Expanded I/O (8in/8out) Planned for Mid
2007**
- No NS300, NS500, NS600, MP940
- No NS300, NS500, NS600, MP940
FlexWorks only
FlexWorks only
** Consult www.yaskawa.com for recent updates
142
- NO Yaskawa Serial Encoder
400V FSP Servo Systems
FSP Amplifier Ratings and Specifications
05
10
15
20
30
50
SGMGH- D
05
09
13
20
30
44
SGMSH- D
–
10
15
20
30
40
50
SGMUH- D
–
10
15
–
30
–
Maximum Applicable
Servomotor Capacity [kW]
0.45
1.00
1.50
2.00
3.00
5.00
Continuous Output Current
[Arms]
1.9
3.5
5.4
8.4
11.9
16.5
Maximum Output Current
[Arms]
5.5
8.5
14
20
28
40.5
Control Circuit
Single-phase 380 to 480VAC +10 to -15%, 50/60Hz
24VDC ±15%, 0.7A
Single or three-phase full-wave rectification IGBT-PWM (sine wave driven)
Feedback
For Yaskawa servomotors: Serial encoder: 17-bit (incremental/absolute)
For Special Purpose Motors: A-B quadrature, max frequency 800 kHz post quadrature
Ambient/Storage
Temperature *
0 to +55°C/-20 to +85°C (When enclosed, internal temperatures must not exceed this
range.)
Ambient/Storage
Humidity
90% relative humidity or less (with no condensation)
Vibration/Shock
Resistance
4.9 m/s2 /19.6 m/s2
Configuration
FSPApprox. Mass [kg (lb)]
Base mounted (Rack mounted optional)
05
10
1.7
(3.75)
15
20
2.8
(6.17)
30
50
3.8
(8.38)
5.5
(12.1)
FSP
Servo Amplifiers
Input
Power
Supply
Main Circuit
Control Method
Conditions
Basic Specifications
Applicable
Servomotor
FSP-
143
400V FSP Servo Systems
Ratings and Specifications (cont’d)
FSP-05~50
Speed
Regulation **
Load Regulation
0 to 100% load: 0.01% maximum (at rated speed)
Voltage
Regulation
Rated Voltage ±10%: 0% (at rated speed)
Temperature
Regulation
25 ± 25°C: ±0.1% max. (at rated speed)
Torque Control Tolerance
(Repeatability)
±2%
Soft Start Time Setting
0 to 10 sec (Can be set individually for acceleration and deceleration)
Torque
Reference
Input
Speed
Reference
Input
400Hz (at JL = JM)
Reference
Voltage***
±6VDC (Variable setting range: ±2 to ±10VDC ) at rated torque (positive
torque reference with positive reference), input voltage: ±12V (maximum)
Input Impedance
About 14kΩ
Circuit Time
Constant
Reference
Voltage***
±3VDC (Variable setting range: ±1 to ±10VDC ) at rated torque (positive
torque reference with positive reference), input voltage: ±12V (maximum)
Input Impedance
About 14kΩ
Circuit Time
Constant
About 47µs
Rotation Direction
Selection
With P control signal
Speed Selection
With forward/reverse current limit signal (speed 1 to 3 selection),
servomotor stops or another control method is used when both are OFF
—
Bias Setting
0 to 450 rpm (setting resolution 1rpm)
Feed Forward
Compensation
0 to 100% (setting resolution: 1%)
Positioning Completed Width
Setting
0 to 250 reference units (setting resolution: 1rpm)
Reference
Pulse
Performance
Input Signals
Position Control Mode
FSP
Servo Amplifiers
144
1:5000 (The lowest speed of the speed control range is the point just
before the motor stops under full-load condition)
Frequency Characteristics
Contact
Speed
Reference
Input Signals
Speed and Torque Control Modes
Performance
Speed Control Range
Type
Sign + pulse train, 90° phase difference 2-phase pulse (A phase + B
phase), or CCW + CW pulse train
Form
Line Driver (+5V level), open collector (+5V or +12V level)
Frequency
500/200 kpps maximum (line driver/open collector)
Control Signal
Clear Signal (input pulse form identical to reference pulse)
Built-in Open-Collector
Power Supply****
12V (1kΩ built-in resistor)
400V FSP Servo Systems
Ratings and Specifications (cont’d)
A -, B -, C - phase line driver
S - phase line driver (only with an absolute encoder)
Frequency
Dividing Ratio
Any
Servo ON, P control (or Control Mode switching, forward/reverse motor
rotation by internal speed setting, zero clamping, reference pulse prohibited),
forward run prohibited (P-OT), reverse run prohibited (N-OT), alarm reset,
forward current limit, and reverse current limit (or internal speed selection)
Fixed Output
Servo alarm, 3-bit alarm codes.
Signal
allocation can
be modified
Positioning completed (speed coincidence), during servomotor rotation, servo
ready, during current limiting, during speed limiting, brake released, warning,
selecting three of the NEAR signals.
Dynamic Brake
Operated at main power OFF, servo alarm, servo OFF, or overtravel.
Regeneration
External regenerative resistor.
Overtravel Stop
Dynamic brake stops at P-OT or N-OT, deceleration to a stop, or free run to a
stop.
Electronic Gear
0.01
Protection
Overcurrent, overload, regenerative error, main circuit voltage error, heat sink
overheat, power open phase, overflow, overspeed, encoder error, encoder
disconnected, overrun, CPU error, parameter error.
LED Display
Charge, Power, five 7-segment LEDs (built-in digital operator functions)
CN5 Analog
Monitoring
Built-in analog monitor connector to observe speed, torque and other
reference signals.
Speed: 1V/1000rpm
Torque: 1V/rated torque
Pulses remaining: 0.05V/reference unit or 0.05V/100 reference units
≤
A/B
≤
Built-in.
100
Connected
Devices
RS-422A port such as for a personal computer (RS-232C ports under certain
conditions)
1:N
Communications
Up to N = 14 for RS-422A ports
Axis Address
Setting
Set with parameters.
Functions
Status display, parameter setting, monitor display, alarm trace-back display,
JOG and auto-tuning operations, speed/torque reference signal, and other
graphing functions
Others
Reverse rotation connection, home position search, automatic servomotor ID,
DC reactor connection terminal for high power supply frequency control
Notes: * Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range.
** Speed regulation is defined as follows:
( no-load motor speed - full-load motor speed )
Speed regulation = ------------------------------------------------------------------------------------------------------------------------- x100%
rated motor speed
*** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load
and shaft end).
****The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier.
145
FSP
Servo Amplifiers
Communications
Internal Functions
Output Form
Signal allocation can
be modified
Sequence
Output
I/O Signals
Position
Output
FSP-05~50
400V FSP Servo Systems
Programmable Mode Specifications
The FSP-series is equipped with four control modes, Torque, Speed, Position, and
Programmable. For details on the Torque, Speed, and Position modes, see the FSP User’s
Manual.
Programmable Mode Functions
In this mode the FSP Amp controls sequence and motion profiles. Sequence timing can be
controlled by a host through digital I/O.
Configurable Single Axis Control Functions
Units
Default Motion Profile
Quick Stop
Torque Slope
In Position Window
Position, speed, acceleration units
Speed, accel, jerk smoothing time
Quick stop deceleration
Rate of change of commanded torque
Motion end window (Pn2C0)
Functions programmable in user program or set by serial communication
commands in programmable mode
Inputs
Outputs
Homing
PTP Motion
The 7 sequence inputs are programmable in this mode (unless configured
for an embedded function)
The 3 sequence outputs are programmable in this mode (unless
configured for an embedded function)
Homing to external switch, encoder index pulse, external switch and
encoder index pulse, home to a hard stop, and set motor position to zero
Point to point motion based on programmable motion profile
FSP
Servo Amplifiers
Electronic Gear
Motion synchronized to master encoder by electronic gear ratio
Phase Shift to Electronic
Motion superimposed on gear ratio using programmable motion profile
Gear
High speed latch of motor encoder and master encoder with
Position Latch
programmable registration distance (62.5 microseconds)
Registration
Programmable registration distance from latched motor encoder position
Motion synchronized to master encoder or virtual axis by electronic cam
Electronic CAM
profile
Motor torque set by analog input or program command (125 microsecond
Torque Mode
torque loop update)
Motor speed set by analog input, pulse reference input, or program
Speed Mode
command with and without position loop closed (infinite jog)
Multiple axes start of motion synchronized by serial or serial
communication
Multi_Axis Synch
Fast input for synchronizing motion to external events (new_move_enable
125 usec)
Input Synch
Fast output for synchronizing external events to motion
(fast_output_setting 125 usec)
Output Synch
System Properties
146
Torque limits and Global Gain Factor (Pn1AO)
400V FSP Servo Systems
Programmable motion profile functions
Basic PTP motion
Profile Change On The
Fly
Phase Shift
Soft Gear Engagement
Custom Profiles
Math Functions
Integer math operators
Program Flow
Basic Program Flow
Condition Branching
Subroutines
Interupts
Timing
Auto-Run
Fault Management
Target position, speed, accel, jerk smoothing time
Target position, speed, and accel programmable while in motion
Phase shift position, speed, and acceleration programmable while
synchronized to the master by electronic gear
Acceleration for synchronizing motion to master encoder by electronic
gear ratio
Custom profile based on table with ECAM engaged to virtual master
*,/,MOD,+,-,AND,XOR,OR
RUN, END, LABEL, GO_TO, LOOP
IF, IF_INPUT, INPUT_CASE
CALL, LABEL, RETURN
8 user prioritized Interrupts based on external events or logical conditions
(EXT_INT, INT, INT_RETURN)
DELAY, WAIT_EXACT, WAIT_FOR_START, WAIT_INPUT, WAIT_STOP,
WAIT_VAR
Run program at power up at specified label (Pn2CC)
ALARM_RESET, FAULT_MANAGER, FAULT_MANAGER_RETURN,
FAULT_MESSAGE_CLEAR
ECAM
Resolution
Interpolation
Design
Synchronization
scaling
shifting
4 ECAM profiles per project
ECAM to master encoder or virtual master
Cyclic or Non-Cyclic synchronization
16 segments per profile
Configurable segment resolution, up to 256 table points with table
interpolation
Straight line, sinusoidal, or table interpolation between segments
FlexWorks ECAM Editor or import point table from CSV file
Engage and disengage cam based on logical condition or external event
Master and motor ECAM profile scaling (profile x B/A)
Master and motor ECAM profile shifting with ECAM engaged (profile +/C)
FSP
Servo Amplifiers
Profiles
Master
Cyclic
Segments
147
400V FSP Servo Systems
Variables
User Variables
Arrays
System Variables
Functionality
10 variables, each 32 bits
Read and Write to 512 point array
See table in chapter 9 of the FlexWorks User’s Manual: YEA-SIA-FSP-4
Use variables in math, as arguments in commands, and in expressions
Programming System Properties
Program line maximum execution time
2 ms
Time between motion commands stored in the Motion Command Buffer 125 usec
100 lines (if ECAM is
installed)
Total number of programming lines
180 lines (if ECAM is not
installed)
Serial Communication
Baud Rate
Bit Structure
Amplifier Address
Protocol
Master Message
Functions
Checksum
FSP
Servo Amplifiers
148
19200 autodetect
Start - 1 bit, data - 7 bit ASCII code, stop - 1 bit, even number parity - 1 bit,
start stop synchronization - 1 bit
15 units, 1-F address in hexadecimal
N Protocol, see FlexWorks User’s Manual: YEA-SIA-FSP-4
Broadcast, polling, program, immediate, and sequential mode commands
Send programming commands, configure ECAM profile, clear program or
sequential buffer, read or write to the array, read and write parameters,
read system variables, read version number, poll for amplifier status, read
or write user variables
Enabled or disabled by Pn2C6
400V FSP Servo Systems
Dimensions in inches (mm)
FSP Servo Amplifier
, -10D
, -15D
(400V Three-phase, 0.5kW to 1.5kW)
FSP
Servo Amplifiers
• FSP-05D
149
400V FSP Servo Systems
• FSP-20
FSP
Servo Amplifiers
150
, 30
(400V Three-phase, 2.0kW, 3.0kW)
400V FSP Servo Systems
• FSP-50D
(400V Three-phase, 5.0kW)
0.27
39.0
9.94
1.54
7
136 5.36
3.25
5
0.20
FSP
Servo Amplifiers
250
9.85
83
151
400V FSP Servo Systems
Control of Harmonic Frequency in the Power Supply Circuit
If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals
(+) 1 and (+) 2 on the servo amplifier’s main circuit. Use the following table as a guide for selection of
the appropriate reactor.
Reactor Specifications
Applicable Servo Amplifier
Impedance
(mH)
Rated Current
(A)
Reactor Model
4.7
1.5
X5074
3.3
4.5
X5075
2.2
8.6
X5076
1.5
14.1
X5077
FSP-05DMC
400V
FSP-10DMC
FSP-15DMC
FSP-20DMC
FSP-30DMC
FSP-50DMC
• DC Reactor Dimensional Drawings
ΦJ
B
1
4 − ΦH
Reactor
Model
FSP
Servo Amplifiers
X5074
X5075
X5076
X5077
152
2
G
C D
E
F
A
Dimensions
in (mm)
A
1.18
(30)
1.57
(40)
1.97
(50)
B
1.85
(47)
2.32
(59)
2.91
(74)
C
2.76
(70)
3.94
(100)
4.92
(125)
D
3.35
85
4.72
(120)
5.51
(140)
E
F
G
1.10
1.50
1.77
28
38
(45)
1.57
1.97
2.17
(40)
(50)
(55)
1.38
1.77
2.36
(35)
(45)
(60)
Consult factory
ΦH
0.16
(4)
0.20
(5)
ΦJ
0.17
(4.3).
Approximate
Mass
lb (kg)
0.661
(0.3)
1.984
(0.9)
2.43
(1.1)
400V FSP Servo Systems
• 400V, 500W to 5kW Models
Three-phase 380 to 480Vac
(50/60Hz)
R
S
T
1MCCB
Power Power
OFF
ON
Noise filter
Alarm
processing
1MC
1MC
B1
1MC
Be sure to attach a surge suppressor to the excitation
coil of the magnetic contactor and relay.
SUP
B2
B3
V
W
L2
L3
D (4)
L1C
FSP Servo Amplifier
L2C
1
2
Be sure to
ground
Reference speed:
±2 to ±10V/rated motor speed (set by parameter)
P
PULS
CW
A phase
P
SIGN
CCW
B phase
P
Position reference
V-REF
SG
5
T-REF
9
SG 10
+5V
0V
PULS
7 150Ω
/PULS
8
BAT (+)
21
P BAT (-)
22
SEN
4
P
SG 2
Forward run prohibited with
P-LS OPEN
Reverse run prohibited with
N-LS OPEN
3Ry
Alarm reset with 3Ry ON
Forward current limit ON with 6Ry ON
Reverse current limit ON with &ARy ON
37
A/D
ALO1 Alarm code maximum output:
Operating voltage: 30VDC
ALO3
Operating current: 20mADC
39
ALO3
38
/SIGN 12
+24V
/S-ON
(PI0)
2RY /P-CON
(PI1)
P-OT
P-LS
(PI2)
N-OT
N-LS
(PI3)
P control with 2Ry ON
LPF*
LPF*
PL1 3 1kΩ
PL2 13
PL3 18
1Ry
0V
LPF*
LPF*
P /CLR 14
Open-collector
reference
power supply
+24V
6
CLR 15
Backup battery 2.8 to 4.5V
(When using an absolute encoder).
PG
Be sure to properly prepare the
end of the shielded wire.
SIGN 11
CLR
SEN signal input
(When using an absolute encoder).
2CN
1CN
P
Torque reference:
±1 to ±10V/rated torque (set by parameter)
Optical
encoder
47
40
41
42
43
ALM-RST
(PI4) 44
P-CL
6Ry
(PI5) 45
N-CL
7RY
(PI6) 46
+12V
PAO
/PAO
35
36
PBO
/PBO
19
20
Used only with
an absolute encoder
48
49
1
3.3kΩ
PG dividing ratio output
Applicable line receiver
SN75175 or MC3486 manufactured by T/I, or the equivalent
PCO
/PCO
PSO
/PSO
SG
Amount of S-phase rotation
Serial data output
Applicable line receiver
SN75175 or MC3486 manufactured by T/I, or the equivalent
Speed coincidence detection
25 /V-CMP+ (ON when speed coincides)
(/COIN+)
Servo ON
26 /V-CMPPositioning completed
(PO1-)
(ON when positioning is
Proportional control (P control) (/COIN-)
completed)
Forward run
27 /T-GON+
prohibited
(PO2+) T-GON output
28 /T-GON- (ON at levels above the setting)
Reverse run
prohibited
(PO2-)
29 /S-RDY+
Servo ready output
Alarm reset
30 (PO3+) (ON when ready)
/S-RDYForward current
(PO3-)
limit ON
31
Servo alarm output
ALM+
Reverse current
(OFF with an alarm)
32 ALMlimit ON
Connector shell
FG
Connect shield to connector shell
*The time constant for the primary filter is 47µs
33
34
Photocoupler maximum output:
Operating voltage: 30VDC
Operating current: 50mADC
P: Indicates twisted wire pairs.
153
FSP
Servo Amplifiers
24VDC ±15%
Servo ON with 2Ry ON
A (1) Servomotor
B (2)
M
C (3)
U
L1
400V FSP Servo Systems
Connector Terminal Block Converter Unit
JUSP-TA50P
Servo Amplifier
88888
CN1
+10%
Length of cable supplied: 19.69 (500) -0%
50-pin connector plug
MR-50RMD2
1
2
1.77 (45)
50-pin terminal block
M3.5 screws
49
50
9.74 (247.5)
Connector Terminal Block Converter Unit
JUSP-TA50P* (cable included)
Mounting Hole Diagram
0.14 (3.5)
0.27 (7.0)
10.28 (261.2)
*terminal specifications : see the following page
154
0.27 (7.0)
1.77 (45)
0.14 (3.5)
1.16
(29.5)
FSP
Servo Amplifiers
0.61 (15.5)
10.01 (254.2)
400V FSP Servo Systems
JUSP-TA50P Terminal Block Pin Numbers and
Signal Names
FSP Servo Amplifier
SG
SG
PL1
SEN
V-REF
SG
PULS
/PULS
T-REF
SG
SIGN
/SIGN
PL2
/CLR
CLR
PL3
PCO
/PCO
BAT (+)
BAT (-)
/V-CMP+
/V-CMP- (PO1-)
/TGON+ (PO2+)
/TGON- (PO2-)
/S-RDY+ (PO3+)
/S-RDY- (PO3-)
ALM+
ALMPAO
/PAO
BPO
/PBO
ALO1
ALO2
ALO3
/S-ON (PI0)
/P-CON (PI1)
P-OT (PI2)
N-OT (PI3)
/ALM-RST (PI4)
/P-CL (PI5)
/N-CL (PI6)
+24V IN
PSO
/PSO
Connector Case
*
CN1 Pin
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
Connector
Number
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
A14
B14
A15
B15
A16
B16
A17
B17
A18
B18
A19
B19
A20
B20
A21
B21
A22
B22
A23
B23
A24
B24
A25
B25
Terminal Block
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
FSP
Servo Amplifiers
Signal Name*
JUSP-TA50P Terminal Block Unit
Cable: Supplied with the terminal block
P: Indicates twisted pair wires.
Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the
factory. Use the connection diagrams on the previous pages for more functional details.
155
400V FSP Servo Systems
Cable Specifications and Peripheral Devices
Ratings and specifications for peripheral devices, as well as cable specifications for servo
amplifiers are summarized in the tables below.
CAUTION
Wiring Precautions
• Do not bundle or run power and signal lines together in the
same duct.
Keep power and signal lines at least 11.81” (30cm) apart.
• Use twisted pair or shielded multi-core twisted pair wires for
signal and encoder (PG) feedback lines.
• The maximum lengths for signal lines are as follows:
•
•
Maximum of 9.84ft (300cm) for reference input lines.
Maximum of 65.6ft (20m) for PG feedback lines.
Cable Specifications
The following table provides wire size specifications:
FSP Terminal
Symbol
External Terminal Name
for
400V
Main circuit power input terminals
L1, L2, L3
(Three-phase)
Servomotor connection terminals
U, V, W
Control power supply terminals
L1C, L2C
Control I\O signal connector
CN1
PG signal connector
CN2
Wire Size AWG [in2 (mm2)]
05D
15D
16 AWG [HIV 0.0019 (1.25)]
20D
30D
14 AWG [0.003 (2.0)]
14 AWG [HIV 0.003 (2.0)]
FSP
Servo Amplifiers
The following table shows types of cables. It is used in conjunction with the preceding
tables.
Cable Type
156
HIV 3.5
(0.005)
Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed copper
twisted wires. See page 157 for details.
Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and
Φ0.27in (6.8mm) for CN2.
Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.
Use cables with a minimum withstand voltage of 600V for main circuits.
If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate.
Name
PVC
IV
HIV
50D
16 AWG [HIV 0.0019 (1.25)]
Ground terminal
Notes: 1.
2.
3.
4.
10D
Composition
Standard polyvinyl chloride cable
600V PVC cable
Temperature-resistant vinyl cable
Temperature Rating of Conductor
°C
60
75
400V FSP Servo Systems
The following table specifies the cables for CN1 and CN2 servo amplifier connectors.
Wire sizes were selected with the expectation of three cables per bundle, at an ambient
temperature of 40°C, at the rated current level.
Connector Name Signal
Control I/O Signal Connector
CN1
PG Signal Connector
CN2
Description
Specification
Cable
Use twisted pair or shielded twisted pair wire.
Applicable wire
(AWG): 24, 26, 28
Finished cable Dimension Φ0.63 (Φ16.0) maximum
Use encoder cable manufactured by Yaskawa when interfacing with
Yaskawa motors.
Cable
Peripheral Device Types and Capacities
Amplifier Model
Main
Circuit
Power Capacity
FSPSupply (kW)
Three-p
hase
400V
0.45
1.0
1.5
2.0
05DMC
10DMC
15DMC
20DMC
3.0
30DMC
5.0
50DMC
Control
Power
Required Capacity per
Servo Amplifier
(W)
(kVA)
15
Recommended
Noise Filter**
Power Supply
Rated
Input
(Arms)
1.2
2.3
3.2
4.9
2.0
3.5
4.8
6.0
6.8
8.5
10.3
14.9
Maximum MCCB or
Fuse
Inrush
Current Capacity*
(Arms)
(Arms)
28
56
58
1.7
3.4
4.6
7.1
9.8
14.9
Model
Motor
Magnetic
Specifications Contactor
Three-phase
10A or
480Vac
equivalent
7A (6A)
Three-phase
Fn258L-16/07
20A or
480Vac
(or
equivalent
FS5826-10-07)
16A (10A)
Three-phase
FS5559-35/33 (or
40A or
480Vac
FS5827-30-07)
equivalent
35A (30A)
Fn258L-7/07
(or FS5826-6-07)
FSP
Servo Amplifiers
* Size per local code requirements . Typical fuse interrupting characteristics at 25°C: 200% for 2s minimum; 700% for 0.01s minimum.
** The Fn
noise filter is manufactured by Schaffner Corporation. Specifications are available at: www.schaffner.com
157
400V FSP Servo Systems
Peripheral Device Manufacturers
J.S.T. Corporation
1957 South Lakeside Drive
Waukegan, Illinois 60085
TDK Corporation of America
1600 Feehanville Dr.
Mount Prospect, Illinois 60056
Phone: (847) 473-1957
http://www.jst.com
Phone: (847) 803-6100
Fax: (847) 803-6296
Schaffner EMC Inc.
52 Mayfield Ave.
Edison, New Jersey 08837
Tokin America
32950 Alvarado-Niles Rd.
Suite 500
Union City, California 94507
Phone: 1-800 367-5566
(732) 225-9533
Fax: (732) 225-4789
http://www.shaffner.com
FSP
Servo Amplifiers
158
Phone: (510) 324-4110
Fax:
(510) 324-1762
http://www.tokin.com
Sigma FSP Servo System Catalog
Yaskawa . . . A World of Automation Solutions
Yaskawa Electric America, Inc.
Chicago-Corporate Headquarters
2121 Norman Drive South
Waukegan, Illinois 60085
1-800-YASKAWA
http://www.yaskawa.com
Yaskawa Electric America, Inc. December, 2006
Yaskawa Electric Europe
Am Kronberger Hang 2, 65824
Schwalbach, Germany
49-6196-569-300
http://www.yaskawa.de
Yaskawa Electric Corporation
New Pier Takeshiba
South Tower, 1-16-1 Kaigan
Minatoku, Tokyo 105 Japan
81-3-5402-4511
http://www.yaskawa.co.jp
YEA-KAA-FSP-6 Printed In U.S.A.