(For Linear Servomotors) S G D V - R70 A 21 A th digit. 7th digit. 5th6th digits

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1 MECHATROLINK- Communications Reference Type PACKs SGDV- (For Rotary Servomotors) SGDV- 5 (For Linear Servomotors) Designations S G D V - R70 A A v Series SGDV PACK st+nd+ rd digits 4th digit 5th6th digits 7th digit 8th+9th+ th digits thth digits th digit stndrd digits Current 4th digit Power Supply Voltage 8th+9th+th digits Options (hardware) Voltage Code Applicable Servomotor Max. Capacity kw Threephase 00 V Threephase 400 V R70* 0.05 R90* 0. R6* 0. R8* 0.4 R R5* R6.0 0* R9 0.5 R5.0 5R4.5 8R Code F A D 5th+6th digits Code 5 7th digit A, B Single-phase 0 VAC Three-phase 00 VAC Three-phase 400 VAC Interface MECHATROLINK- communications Reference Type (for rotary servomotors) MECHATROLINK- communications Reference Type (for linear servomotors) Design Revision Order Code Code 00 Standard Code 0 Standard 000 Base-mounted (standard) 00 Rack-mounted 00 Varnished 00 Rack-mounted and Varnished 008 Single-phase 00 VAC input (: SGDV-0AA008000) 00 Dynamic brake (400 V PACKs only) th+th digits th digit Options (software) Options (parameter) *: These amplifiers can be powered with single or three-phase. *: Single-phase 00 VAC PACKs are also available. (: SGDV-0AA008000) *: PACKs of 6 kw or more are duct-ventilated. Note: If the option codes digits 8 to are all zeros, they are omitted. 5 YASKAWA

2 Features Real-time communications MECHATROLINK- communications enable high-speed control for 6 stations at a transmission speed of 0 Mbps in a transmission cycle from 5 μs to 4 ms (user setting). Such a high transmission speed allows real-time transmission of various data required for control. Cost savings The 6 stations can be connected to a single MECHATROLINK- transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. High-precision motion control The SGDV PACK when connected to the host controller in the MECHATROLINK- network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Ratings Single-phase 00 V PACK SGDV- R70A R90A R6A R8A 5R5A 0A* Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Built-in or external Main Circuit Control Circuit Three-phase 00 V PACK Overload Characteristics Detecting time (s) SGMJV Torque reference (percent of rated torque) (%) Detecting time (s) SGMAV-A5, 0, C SGMAV-0, 04, 06, 08, SGMEV Torque reference (percent of rated torque) (%) *: The rated voltage is 0 to 0 VAC for the SGDV-0AA PACK. PACK SGDV- R70A R90A R6A R8A R8A 5R5A 7R6A 0A 80A 00A 0A 470A 550A 590A 780A Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors None or external Built-in or external External Main Circuit Control Circuit Three-phase 400 V PACK SGDV- R9D R5D 5R4D 8R4D 0D 70D D 60D 80D 70D Applicable Servomotor Max. Capacity kw Continuous Output Current Arms Max. Output Current Arms Regenerative Resistors Built-in or external External Main Circuit Three-phase 00 to 0 VAC+% to -5% 50/60 Hz Single-phase 00 to 0 VAC+% to -5% 50/60 Hz Three-phase 80 to 480 VAC+% to -5% 50/60 Hz Control Circuit 4 VDC ±5% Note: The entire over voltage category is. Single-phase 00 to 0 VAC+% to -5% 50/60 Hz Single-phase 00 to 0 VAC+% to -5% 50/60 Hz Note: Overload characteristics shown above do not guarantee continuous duty of 0% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics. *: The dotted line indicates the characteristics of a combination of SGDV-00A PACKs and SGMGV-0A servomotors. Detecting time (s) * SGMGV-0A, -05A, -09A, -A -0A, -0A, -AA, -EA SGMGV- D SGMSV- SGMGV-44A, -55A, -75A 80% torque Rated Approx. Rated torque + Max. torque (percent of torque rated torque) Max. torque 54

3 SGDV- /5 -V -V Ser Items Control Method Feedback Operating Conditions Rotary Servomotors With Linear Servomotors Ambient Temperature Storage Temperature Ambient Humidity Storage Humidity Vibration Resistance Shock Resistance Protection Class Pollution Degree IGBT PWM control, sine-wave driven Serial encoder: -bit (incremental encoder) : 7-bit (incremental/absolute encoder) : 0-bit (incremental/absolute encoder) Absolute linear scale (The signal resolution varies depending on the absolute linear scale.) Incremental linear scale (The signal resolution varies depending on the incremental linear scale or serial converter unit.) 0 to +55 C 0 to +85 C 90%RH or less With no freezing or condensation 90%RH or less 4.9 m/s 9.6 m/s IP An environment that satisfies the following conditions. Free of corrosive or flammable gases Free of exposure to water, oil, or chemicals Free of dust, salts, or iron dust Altitude 00 m or less Others Do not use PACKs in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity UL508C Applicable Standards (Pending) EN5078, EN550/A group classa, EN600-6-, EN6800-, EN , EN954-, IEC6508- to 4 Mounting Standard: Base-mounted Optional: Rack-mounted, Duct-ventilated Speed Control Range :5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.) Load Fluctuation 0% to 0% load: ±0.0% max. (at rated speed) Performance Speed Regulation Voltage Fluctuation Rated voltage: ±% : 0% (at rated speed) Temperature Fluctuation 5±5 C : ±0.% max. (at rated speed) Torque Control Tolerance (Repeatability) ± % Soft Start Time Setting 0 to s (can be set individually for acceleration and deceleration.) Interface Digital operator (JUSP-OP05A--E), personal computer (can be connected with SigmaWin+) RS-4A Communications :N communications RS-4A port: N=5 max. available Communications Axis address setting Set by parameters USB Interface Personal computer (can be connected with SigmaWin+.) Communications Communications Standard Compliant with USB. standard ( Mbps) Display CHARGE indicator Number of points: Output voltage: ± VDC (linearity effective range ±8 V) Analog Monitor Resolution: 6 bit Accuracy: ±0 mv (Typ) Max. output current: ± ma Settling time (±%):. ms (Typ) Dynamic Brake (DB) Activated when a servo alarm or overtravelling (OT) occurs, or when the power supply for the main circuit or servomotor is OFF. Regenerative Processing Included (For more information, refer to the previous page.) Overtravelling (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc. Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc. Input /HWBB, /HWBB: Baseblock signal for power module Safety Functions Output EDM: Status monitor (fixed output) of built-in safety circuit Applicable Standards (Pending) EN954 category, IEC6508 SIL Option Module Fully-closed Module *: Speed regulation is defined as follows: Speed regulation= No-load motor speed Total load motor speed 0% Rated motor speed The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. *: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function. 55 YASKAWA

4 ies SGDV- /5 Rotary Servomotors Items Encoder Output Pulses Sequence Input I/O Signal Sequence Output Panel Operator MECHATROLINK Communications Command Method Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Fixed Input SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) Input Signals which can External latch signals (/EXT to ) be allocated Function Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external torque limit (/P-CL), reverse external torque limit (/N-CL) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) Number of Channels channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Output Signals which can Rotation detection (/TGON) be allocated Function Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Torque limit detection (/CLT) Positive and negative logic can be changed. Display Unit One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK- Transmission Speed 0 Mbps Transmission Cycle 5 μs, 50 μs, 500 μs,750 μs, ms to 4 ms (increments of 0.5 ms) Number of Words for Can be switched between 6-bytes/station, -bytes/station and 48-bytes/station. Link Transmission Station Address 0H to EFH (max. number of slaves: 6) Performance Position control, speed control, and torque control through MECHATROLINK communications MECHATROLINK commands Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) Linear Servomotors Items Encoder Output Pulses Sequence Input I/O Signal Sequence Output Panel Operator MECHATROLINK Communications Command Method Phase A, phase B, phase C: line driver output The number of dividing pulse: Any setting ratio is available. Fixed Input SEN signal Number of Channels 7 channels Homing deceleration switch signal (/DEC) Input Signals which can External latch signals (/EXT to ) be allocated Function Forward run prohibited (P-OT), reverse run prohibited (N-OT) Forward external force limit (/P-CL), reverse external force limit (/N-CL) Positive and negative logic can be changed. Fixed Output Servo alarm (ALM) Number of Channels channels Positioning completion (/COIN) Speed limit detection (/VLT) Speed coincidence detection (/V-CMP) Brake (/BK) Output Signals which Servomotor movement detection (/TGON) can be allocated Function Warning (/WARN) Servo ready (/S-RDY) Near (/NEAR) Force limit detection (/CLT) Positive and negative logic can be changed. Display Unit One 7-segment LED (red) and three LED indicators for MECHATROLINK communications (green) Switch Rotary switch: 6 positions, DIP switch: 4 poles Communications Protocol MECHATROLINK- Transmission Speed 0 Mbps Transmission Cycle 5 μs, 50 μs, 500 μs,750 μs, ms to 4 ms (increments of 0.5 ms) Number of Words for Can be switched between 6-bytes/station, -bytes/station and 48-bytes/station. Link Transmission Station Address 0H to EFH (max. number of slaves: 6) Performance Position control, speed control, and force control through MECHATROLINK communications MECHATROLINK commands Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other commands.) 56

5 SGDV- /5 -V -V Ser Power Supply Capacities and Power Losses The following table shows PACK's power supply capacities and power losses at the rated output. Main Circuit Power Supply Applicable Servomotor Max. Capacity kw PACK SGDV- Power Supply Capacity kva Output Current Arms Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit Power Loss W Total Power Loss W Single-phase 00 V Three-phase 00 V Three-phase 400 V 0.05 R70A R90A R6A R8A R5A A R70A R90A R6A R8A R8A R5A R6A A A A A A (80)* A A (50)* A R9D R5D R4D R4D D D D ( 80)* D D ( 50)* D *: For the optional JUSP-RA04-E regenerative resistor unit. *: For the optional JUSP-RA05-E regenerative resistor unit. *: For the optional JUSP-RA8-E regenerative resistor unit *4: For the optional JUSP-RA9-E regenerative resistor unit. Notes: SGDV-R70A, -R90A, -R6A, and -R8A PACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional). SGDV-470A, -550A, -590A, -780A, -D, -60D, -80D, -70D PACKs do not have built-in regenerative resistors. Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). For selection details, refer to page 64. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead or short bar that is short-circuiting the PACK main circuit terminal B and B. (SGDV-R8A, -5R5A, -7R6A, -0A, -80A, -00A, -0A, or 400-V class PACKs.) Install an external regenerative resistor (optional). For selection details, refer to page YASKAWA

6 REF YASKAWA ALARM SVON READ WRITE DIGITAL OPERATOR JZSP-CVS06-0-E REF ALARM SVON READ YASKAWA WRITE DIGITAL OPERATOR ies SGDV- /5 Selecting Cables Cables for CN CN CN5 CN6 CN7 CN8 (MECHATROLINK- Communications Reference Type PACKs) CN5 CN6 CN Cable for Analog Monitor Digital Operator Converter Cable MECHATROLINK- Communication Cable Connect to the MECHATROLINK- Digital Operator CN7 CN Connection Cable for Personal Computer Cable for I/O Signals LED Indicator for External Device CN8 Cable for Safety Function Device Name Length Order No. Details Soldered Connector Kit JZSP-CSI9--E () CN Cables for I/O Signals Connector Terminal Converter Unit 0.5 m JUSP-TA6P-E m JUSP-TA6P--E m JUSP-TA6P--E Terminal Block and Connection Cable () Cable with Loose wire at One End m JZSP-CSI0--E m JZSP-CSI0--E m JZSP-CSI0--E () With Connection Cable ( m) Digital Operator JUSP-OP05A--E (4) CN CN7 Connection Cables for Personal Computer CN6A CN6B MECHATROLINK- Communication Cable CN5 Cables for Analog Monitor CN8 Cable for Safety Function Device Digital Operator Converter Cable Cables with Connectors at Both Ends Cables with Connectors at Both Ends (With Ferrite Core) Cable with Loose Wire at One End Cables with Connector Connector kit 0. m Cable with Connectors at Both Ends JZSP-CVS05-A-E (5) JZSP-CVS07-A-E (6) Cable with Connectors at Both Ends.5 m JZSP-CVS06-0-E (7) 0. to to 0.5 to JEPMC-W60- -E (8) JEPMC-W60- -E (9) JEPMC-W604- -E () PACK End m JZSP-CA0-E () m JZSP-CVH0-0-E JZSP-CVH0-0-E-G Contact Tyco Electronics AMP K.K. Product name : Industrial Mini I/O D-shape Type Plug Connector Kit : With Lock Screws JZSP-CVS07-A-E JZSP-CVS05-A-E () * : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series PACKs. * : A converter cable with lock screws is required to securely connect the digital operator cable. * : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use PACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected. *4 : Use the connector kit when you make cables yourself. 58

7 SGDV- /5 -V -V Ser Selecting Cables () Connector Kit for CN Use the following connector and cable to assemble the cable. The CN connector kit includes one case and one connector. Connector Kit Case JZSP-CSI9--E 6-5A0-008* set * : Manufactured by Sumitomo M Ltd. Cable Size Connector Qty Qty 6-000PE* (Soldered) External Dimensions of Case (Units: mm) (5.) Item Cable Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG4, 6, 8, 0 Cable Finished Diameter 6 dia. max. External Dimensions of Connector (Units: mm).54.7 Pin No.5 Pin No.4 Pin No.6 Pin No Pin No. Pin No. Pin No. Pin No. 5.8 Pin No. () Connector Terminal Converter Unit for CN Configurations Pin No External Dimensions of Terminal Block (Units: mm) Terminal Block (40P) Connector Plug (40P) M.5 Screw FCN-64P040-AU 5 Dimensional Drawings of Cable PACK End Connector (6P) EL(Sumitomo M Ltd.) Shell 6-5A0-008(Sumitomo M Ltd.) Cable () AWG#8, 8P SSRFPVV-SB B A B0 A0 Can be fixed on DIN rail Dia Terminal Converter Unit-end Connector (40P) FCN-6J040-AU(Fujitsu Ltd.) Cover FCN-60C040-B(Fujitsu Ltd.) 45 4 Cable Length (L) Approx. Mass JUSP-TA6P-E 0.5 m 0 g JUSP-TA6P--E m 00 g JUSP-TA6P--E m 400 g (.9) (6.8) 9.5 PACK +50 CN Cable Length: mm B A : JUSP- TA6 P B0 A L 47 Note: The pin number in the PACK connector and the pin number in the terminal block are the same. Pin numbers to 6 are used in the terminal block. Do not use a pin number of 7 or higher. If assembling cables, refer to Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0- -E Cable on the next page. 59 YASKAWA

8 ies SGDV- /5 Selecting Cables 7. () Cable with Loose Wires at One End for CN External Dimensions of Cable (Units: mm) PACK End Connector EL (by Sumitomo M Ltd.) Shell 6-5A0-008 JZSP-CSI0--E JZSP-CSI0--E JZSP-CSI0--E (4) Digital Operator (: JUSP-OP05A--E) (Units: mm) 70 Cable (Ivory) SSRFPVV-SB AWG#8 P UL076 VW-SC 4 L (6. Dia.) Cable Length m m m Dia. Wire Markers -M Screws, Depth 5 (For mounting digital operator) Cable with Loose Wires at One End for CN Connection Diagram of JZSP-CSI0- -E Cable PACK End Pin No. Signal Wire Marking Color Color Dots /SO+ /SO ALM+ ALM 5 +4VIN P-OT N-OT /DEC /EXT /EXT /EXT /S BAT (+) BAT ( ) SG PAO /PAO PBO /PBO PCO /PCO /SO+ /SO /SO+ /SO Orange Orange Gray Gray Orange Orange Gray Gray (5) Digital Operator Converter Cable for CN (: JZSP-CVS05-A-E) A converter cable is required to use operators (model: JUSP-OP05A) for Host Controller End Lead Marker : Represents twisted-pair wires. series digital series PACKs. REF External Dimensions (Units: mm) ALARM SVON READ YASKAWA WRITE DIGITAL OPERATOR Connector: HDR-E4MAG+(Honda Tsushin Kogyo Co., Ltd.) Case: HDR-E4LPA5(Honda Tsushin Kogyo Co., Ltd.) Nameplate 57 (.7) (9.5) (9) Connector (4-pole): 4-60PL (Sumitomo M Ltd.) Cover: FA45806 (Yasco Components Co., Ltd.) (6) Digital Operator Converter Cable for CN (: JZSP-CVS07-A-E) A converter cable is required when connecting the digital operator cable while using MECHATROLINK Communications PACK. External Dimensions (Units: mm) 00 M (5) (4. Dia) JZSP-CVS05-A-E Connector (4-pole): HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPA5 (Honda Tsushin Kogyo Co., Ltd.) (8) (4.8 Dia.) () JZSP-CVS07-A-E Cable: 0AWG 7P-SB-U UL076 (Sanyo Co., Ltd) Connector: HDR-E4FAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPHD+ (Honda Tsushin Kogyo Co., Ltd.) Connector: HDR-E4MAG+ (Honda Tsushin Kogyo Co., Ltd.) Cover: HDR-E4LPH (Honda Tsushin Kogyo Co., Ltd.) 60

9 SGDV- /5 -V -V Ser Selecting Cables (7) Connection Cable for Personal Computer for CN7 (: JZSP-CVS06-0-E) External Dimensions (Units: mm), to 0 JZSP-CVS06-0-E (0) (55) IMPORTANT Use a cable specified by Yaskawa. When using other cables, operation cannot be guaranteed. (8) MECHATROLINK- Communications Cable for CN6 (: JEPMC-W60--E) External Dimensions (Units: mm) Cables with Connectors at Both Ends (9) MECHATROLINK- Communications Cable for CN6 (: JEPMC-W60--E) External Dimensions (Units: mm) Cables with Connectors at Both Ends (With Ferrite Core) L L Cable Length (L) Cable Length (L) JEPMC-W60-A-E 0. m JEPMC-W60--E m JEPMC-W60-A5-E 0.5 m JEPMC-W60-0-E 0 m JEPMC-W60-0-E m JEPMC-W60-0-E 0 m JEPMC-W60-0-E m JEPMC-W60-50-E JEPMC-W60-0-E m JEPMC-W60-75-E 75 m JEPMC-W60-04-E 4 m JEPMC-W60-05-E 5 m JEPMC-W60--E m JEPMC-W60-0-E 0 m JEPMC-W60-0-E 0 m JEPMC-W60-50-E () MECHATROLINK- Communications Cable for CN6 (: JEPMC-W604- -E) External Dimensions (Units: mm) Cable with Loose Wire at One End JEPMC-W604-A5-E L JEPMC-W604-0-E JEPMC-W604-0-E JEPMC-W E JEPMC-W604--E JEPMC-W604-0-E JEPMC-W E Cable Length (L) 0.5 m m m 5 m m 0 m IMPORTANT Use a MECHATROLINK- communications cable specified by Yaskawa. When using other cables, noise resistance may be reduced, and operation cannot be guaranteed. 6 YASKAWA

10 ies SGDV- /5 Selecting Cables () Cable for Analog Monitor for CN5 (: JZSP-CA0-E) External Dimensions (Units: mm) Socket: DF-4DS-C* Contact: DF-48SCF* * : Manufactured by Hirose Electric Corporation. 4 View from Cable End White Pin No. Cable Color Signal Standard Settings Analog Monitor Motor speed : V/00 min- White Analog Monitor, 4 ( cables) GND(0V) Torque reference : V/0% rated torque Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. () Cable with Connector for CN8 (: JZSP-CVH0-0-E) External Dimensions (Units: mm) () Pin No. Signal Lead Color Marking Color (0) Connector Kit: (Tyco Electronics AMP K.K.) (8) () Not used Not used /HWBB White 4 /HWBB+ White 5 /HWBB Gray 6 /HWBB+ Gray 7 EDM Orange 8 EDM+ Orange (: JZSP-CVH0-0-E-G) External Dimensions (Units: mm) (0) Connector Kit: (Tyco Electronics AMP K.K.) (8) () () Pin No. Signal Lead Color Marking Color Not used Not used /HWBB White 4 /HWBB+ Brown 5 /HWBB 6 /HWBB+ Yellow 7 EDM Grey 8 EDM+ 6

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