Download Sigma FSP Servo System Catalog
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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.