LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement. LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement

Transcription

1 LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement

2 Simply the world s best, easiest to use Digital Torque Amplifier. Plug -and-play Linear or Rotary Motors Status, Diagnostic Display Main Power VAC 1, VDC VAC Control Power Internal/External Regeneration Linear/Rotary Motor Select Encoder Output Resolution Dynamic Braking On/Off AC/DC Power Motor Direction Stand-alone Servo interface 0 ± 10V Analog + I/O Serial Motor Encoder Connection Sigma II Servo Motors 100W - 1.5Kw Serial Encoders

3 Table of Contents Table of Contents Product Overview LEGEND Digital Torque System SGMAH SGMPH SGMPH Gearmotors SGMGH SGMGH Gearmotors SGMSH SGDG LEGEND Digital Torque Amplifier

4 Product Overview Yaskawa provides a full lineup of servomotors for your LEGEND Digital Torque Amplifier. Choose the best drives for your needs and specifications. Servomotor Series Description Applications Small-capacity SGMAH (3000rpm/5000rpm max) SGMPH (3000rpm/5000rpm max) SGMGH (1500rpm/3000rpm max) High Speed Series Large torque required at low inertia. Flat Series Short L-length. Good for installation in compact spaces. General Purpose High speed rotation required without load. Chip Mounters PCB Drilling Machines Robots Material Handling Equipment Medium-capacity SGMSH (3000rpm/5000rpm max) High Speed Series High torque required at low inertia. Chip Mounters PCB Drilling Machines Packaging Machines 4

5 Product Overview Peak Torque Servomotor Capacity Digital Torque Amplifier Type SGDG-*** Vac Page 30W 50W 01GT up to 1,010oz in 100W 200W 400W 04GT W 10GT 100W 01GT up to 2,027oz in 200W 400W 750W 04GT 10GT W 15GT 0.45kW 10GT up to 207in lb 0.85kW kW 15GT 1.0kW 10GT up to 130in lb kW 15GT 5

6 Product Overview Single-phase 30W to 1500W (90 to 253V ac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Noise Filter (optional) Used to eliminate external noise from the power line. Host Controller Connect the SGDG digital torque amplifier to a Yaskawa host controller or one made by other vendors. (Analog input) Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used only for SGM* servomotor with a holding brake. SGDG Digital Torque Amplifier Type SGDG-01GT to -04GT SGMPH Servomotor 6

7 Product Overview Three-phase 0.5kW to 1.3kW (170 to 253V ac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Noise Filter (optional) Used to eliminate external noise from the power line. Magnetic Contactor Host Controller Connect the SGDG digital torque amplifier to a Yaskawa host controller or one made by other vendors. (Analog input, pulse train input available) Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used for SGM* servomotor with a brake SGDG Digital Torque Amplifier Type SGDG-10GT to -15GT SGMSH Servomotor 7

8 Product Overview NOTES: 8

9 Selecting Your LEGEND System Product Overview 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 letter-coded and cross-referenced in the option tables on the following pages. 1CN I/O Signal Connector (D) SGDG Digital Torque Amplifier (B) Connector Encoder Signal (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Motor side Connector (D) Regenerative Unit (E) 1. First, select the AC servomotor suited for your application using the Yaskawa Servomotor Sizing Software or the Sigma Servomotor Data Sheets. Using the tab indicators in this guide, locate the section describing the type of servomotor you selected. 2. Then select a compatible amplifier using the LEGEND Digital Torque Amplifier Selection Table in the appropriate servomotor section of this guide. 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., regenerative unit, etc.). 6. Specify technical product manual YEA-SIA-LGD-1.2 on your LEGEND AC 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 Each table includes a column labeled Item Class, which classifies the availability of the specified option. Following are descriptions of the codes used: Stock: Limited 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. Typically, small quantities are available from stock. These items will likely change to stock items as the order demand increases. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales representative. Non-Stock: Normal delivery: 12 to 16 weeks. 9

10 Product Overview NOTES: 10

11 Super High Power Rate Series SGMAH - With Incremental Encoder Rated Output: 30W, 50W, 100W, 200W, 400W, 750W SGMAH For Additional Information SGMAH Ratings & Specifications SGMAH Speed/Torque Curves SGMAH Dimensions SGMAH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions Page(s) Design Features 1. Compact Small sized motor Five frame sizes (including NEMA 23 and 34 Flanges): up to 1010oz 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. Encoder (reduced wiring serial encoder) 13-bit (2048 x 4) incremental encoder standard 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 11

12 SGMAH Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC 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: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Applicable Encoder: 13-bit incremental System Voltage 100V ac 200V ac MOTOR SGMAH- 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/s 2 kw/s A3 30 (0.04) A5 50 (0.07) (0.13) (0.27) A3 30 (0.04) A5 50 (0.07) (0.13) (0.27) (0.53) (1.01) * Values when the servomotor is combined with an SGDG digital torque amplifier. System Voltage MOTORS SGMAH- Motor without Brake Moment of I nertia Motor with Brake Ca pacity Holding Brake (at 20 C) To rque Coil Resista nce Rated Current Allo wable Load In ertia* oz in s kg f m oz in s kg f m W N m Ω A kg f m A V ac A V ac A A * Values apply to motors without brake. J L (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. 12

13 Speed / Torque Curves 200V Single Phase SPEED (rpm) SGMAH-A3A* SGMAH-A5A* SGMAH-01A* SGMAH-A SGMAH-A5 SGMAH SPEED (rpm) A B A B 1000 A B 1000 A B TORQUE (N m) TORQUE (N m ) TORQUE (oz in ) TORQUE (oz in) SPEED (rpm) A C A B D B TORQUE (N m) TORQUE (oz in ) SGMAH 100V SPEED (rpm) SPEED (rpm) SGMAH-02A* SGMAH-04A*/** SGMAH-08A*/** SGMAH SGMAH SGMAH A 1000 B TORQUE (N m) TORQUE (oz in ) SPEED (rpm) A C A B A B A B B D TORQUE (N m) TORQUE (oz in) SGMAH-A3B SGMAH-A5B SGMAH-01B SGMAH-A SGMAH-A SGMAH SPEED (rpm) SPEED (rpm) SPEED (rpm) A B A B A B A B A B 2000 A B TORQUE (N m) TORQUE (oz in) A B TORQUE (N m) TORQUE (oz i n) TORQUE (N m ) TORQUE (oz in) TORQUE (N m) TORQU E (o z in ) SPEED (rpm) SGMAH A 1000 SGMAH-02B A B B TORQUE (N m) TORQUE (oz in) A : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE *The peak torque available for these motors with LEGEND AC amps and 100VAC Systems are shown A : 200V CONTINUOUS DUTY ZONE in dashed lines. The Continuous Duty rating curve is the same B as : shown, 200V INTERMITTENT except with speed DUTY limitations ZONE (up to the crossover C : 400V point CONTINUOUS wi th derated Peak DUTY Torque ZONE Rating ( dashed lines). **The D speed : 400V torque INTERMITTENT shown is applicable DUTY ZONE for either 200VAC Single- Phase or 200VAC Three- Phase 13

14 SGMAH Dimensions in inches (mm) (1) 13-Bit Incremental Encoder, without Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) ENCODER CABLE, Φ0.24 (Φ6) UL (300) ±1.18 (30) MOTOR CABLE, Φ0.28 (Φ7) UL1818 or UL (35) Encoder plug Motor Plug W U (300) ±1.18 (30) (0.04) A T Cross-section Y-Y 0.37 (9.5) 0.87 (22) 0.79 (20) L LL LM (2.5) 0.60 (15.2) LG LR 0.30 (7.5) QK Φ0.315 (F8) Φ (Φ0.04) A LC 0.85 (21.5) 0.43 (11) 0.16 (4) Y ΦS* ΦLB** LC Y ΦLA Serial encoder A (0.002) 2-ΦLZ Typ e SG MAH- QK U W T L LL LM LR LG LC ΦLA ΦLZ ΦS* Φ LB** Output W (hp) A3 F2 Without Keyway A3 F (14) (1.2) (2) (2) (94.5) (69.5) (36.5) A5 F2 Without Keyway A5 F (14) (1.2) (2) (2) (102) (77) (44) (25) (5) (40) (46) 01 F2 Without Keyway F (14) 0.07 (1.8) 0.12 (3) 0.12 (3) (119.5) (94.5) (61.5) Some motor dimensions vary for motors with the optional shaft seal: see p. 18 for details (4.3) 0.24 (6) 0.31 (8) 1.18 (30) 30 (0.04) 50 (0.07) 100 (0.13) Approx. Mass lb (kg) 0.66 (0.3) 0.88 (0.4) 1.10 (0.5) Allowable Radial Load lb (N) 15 (68) 17 (78) A ll owabl e Thrust Load lb (N) 12 (54) Specified Tolerance s Dimension *ΦS **ΦLB Unit Diameter Tolerance Diam eter Tol era nce in mm Encoder Plug Encoder Connection Pin Outp ut Wire Color 1 PG 5V Red 2 PG 0V Black Data + Li ght Blue 6 Data - Wh ite /Li ght Blu e Plug: (Molex) Mating connector: Socket: Motor Plug 1 4 Motor Connection Pin Output Wire Color 2 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow Plug (AMP) Pin: or (Nos. 1 to 3) Ground pin: (No 4) Mating connector: Cap: Socket: or

15 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30 ) Motor cable UL1818, UL3534 or UL (35) Encoder plug Motor plug W U T Cross- section Y-Y SGMAH (300) ±1.18 (30) (0.04 ) A (0.04) A 1.04 (26.5) 0.37(9.5) 0.51 (13) 0.79 (20) L LL LM LG LR 0.12 (3) QK 0.43 (11) LC 0.85 (21.5) Φ LA Y ΦS * Y ΦLB** LC Serial encoder A (0.02) 4-ΦLZ Type SGMAH- 02A F4 04A F4 08A F4 L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** QK U W T 4.98 (126.5) 6.08 (154.5) 7.28 (185) 3.8 (96.5) 4.9 (124.5) 5.71 (145) 2.46 (62.5) (30) (90.5) (111) (40) 0.24 (6) 0.31 (8) 2.36 (60) 3.15 (80) 2.76 (70) 3.54 (90) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.63 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) 0.12 (3) 0.12 (3) 0.2 (5) 0.2 (5) 0.2 (5) 0.2 (5) Output W (hp) 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 Radi al Load lb ( N) Allowable Thrust Load lb (N) 55 (245) 17 (74) 88 (392) 33 (147) * Please see the following table for dimension tolerances. Specified Tolerances Dimension *ΦS ** ΦLB Unit Diameter To lerance Diameter Tolerance in mm

16 200W (0.27hp), 400W (0.54hp) with NEMA 23* Flange/Pilot SGMAH Encoder cable, Φ0.24 (Φ6) UL (300) ±1. 18 (30) Motor cable UL1818, UL3534 or UL (35) (300) ±1.18 (30) Encoder plug Motor plug (0.04) A 1.32 (33.5) 0.37(9.5) 0.51 (13) 0.79 (20) L LL LM LG LR (1.6) Φ (0.04) A 0.43 (11 ) LC 0.85 (21.5) ΦLA ΦS * ΦLB** LC Serial encoder A (0.02 ) 4-ΦLZ Type SGMAH- 02 AN21 04 AN21 L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** 4.67 (118.5) 5.77 (146.5) 3.9 (98.5) 5.0 (126.5) 2.56 (65) (20) (93) 0.24 (6) 2.36 (60) 2.63 (6 6.7) 0.18 (4.5) 0.50 (12.7) 1.5 (38.1) Output W (h p) 200 (0.27) 400 (0.53) Approximate Mass lb ( kg ) 2.43 (1.1) 3.75 (1.7) Allowable Radia l Load lb (N) Allo wable Thrust Load lb (N) 55 (245) 17 (74) Specified Tolerances Dimension *ΦS ** ΦLB Unit Diameter To lerance Diameter Tolerance in mm * For servo application torques: shaft diameter is 0.5in (12.7mm) rather than 0.25 (6.35mm), as is in typical NEMA

17 750W (1.01hp) with NEMA 34* Flange/Pilot 0.28 (7) (23) (26.5) 0.37 (9.5) (300) ±1.18 (30) Encoder cable, Φ0.24 (Φ6) UL20276 Φ6 Motor cable Φ0.27 (Φ7) UL (13) L LL LM 1.38 (35) (300) ±1.18 (30 ) 0.63 (16) LG LR 0.08 (2) Encoder plug Motor plug (0.04) A Φ (Φ0.04) A 0.43 (11) LC 0.85 (21.5) ΦLA SGMAH ΦS* ΦLD*** ΦLB** LC 13-bit serial incremental encoder A (0. 02) 4-ΦLZ Type SGMAH- 08AAN21 L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB ** ΦLD* ** 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) Output W (hp) 750 (1.01) Approx Mass lb (kg) 7.5 (3.4) Allowable Radial Load lb (N) Allowable Thrust Load lb (N) 88 (392) 33 (147) Specified Tolerances Dimension *ΦS **ΦLB **Φ*LD Unit Diamet er Tolerance Diam eter Toleran ce Dia meter Tolerance in mm ? * For servo application torques: shaft diameter is in (15.875mm) rather than (9.525mm), as is in typical NEMA

18 (2) 13-Bit Incremental Encoder, with Brake SGMAH Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30) Motor cable Φ0.28 (Φ7) UL1828 or UL (35) Encoder plug Motor plug W U T Cross-section Y - Y (300) ±1.18 (30) (0.04) A 0.37(9.5) 0.87 (22) 0.79 (20) 0.60 (15.2) L LL LM 0.20 (5) 0.98 (25) (2.5) 0.30 (25) QK Φ0.315 (Φ8) Φ (Φ0.04) A 1.57 (40) 0.85 (21.5) 0.43 (11) 0.16 (4) Y Y ΦS* ΦLB** 2 Φ0.17 (Φ4.3) 1.57 (40) Φ1.81 (Φ46) Serial encoder Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque =Motor rated torque A (0.02) Type SG MAH- U W T L LL LM Φ S* ΦLB** QK A3 F2C 4.96 A3 F4C A5 F2C (1.2) (2) (126) 5.26 A5 F4C (133.5) 01 F2C F4C (1.8) (3) (3 ) (160) 3.98 (101) 4.27 (1 08.5) 5.31 (135) (36.5) (44.0) (61.5) (6) 1.18 (30) 0.31 (8) 0.55 (14) 0.55 (14) Output W (hp) 30 (0.04) 50 (0.07) 100 (0.13) Approximate Mass lb (kg) Allowable Radial Load lb (N) (0.6 ) (0.7 ) (0.8 ) A llowabl e Thrust Load lb (N) (68) 12 (54) 18 (78) Connector Specifications: Motor Plug Specified Tolerances Dimension *ΦS ** ΦLB Unit Diameter To lerance Diameter Tolerance in mm Motor Connection 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow 5 Brake Terminal Red 6 Brake Terminal Black Plug: (AMP) Pin: or (except No. 4) Ground pin: : (No. 4) Mating connector: Cap: Socket: or Encoder Plug Encoder Connection 1 PG 5V Red 2 PG 0V Black Data + Light Blue 6 Data - White/Light Blue Plug: (Molex) Mating connector: Socket:

19 200W (0.27hp), 300W (0.40hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (26.5) (300) ±1.18 (30) Motor cable Φ0.28 (Φ7) UL1828 or UL (35) (300) ±1.18 (30) 0.51 (13) 0.37 (9.5) 0.79 (20) L LL LM LR 0.12 (3) LG QK Encoder plug Motor Plug (0.04) A Φ (Φ0.04) A W U T Cross-Section Y-Y LC 0.85 (21.5) 0.43 (11) ΦLA SGMAH Y Y ΦLB** ΦS* LC A (0.02) Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque 4-ΦLZ Serial encoder Type SGMAH- 02A F4C 04A F4C 08A F4C U W T L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB ** QK 0.12 (3) 0.2 (5) 6.54 (166) 5.35 (136) (194) (164) (229.5) (189.5) 2.46 (62.5 ) (30) (90.5 ) (111 ) (40) (6 ) (8 ) 2.36 (60) 3.15 (80) (7 0) (9 0) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.64 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) Output W (hp) 200 (0.27 ) 400 (0.53 ) 750 (1.01 ) Appr ox imate Mass lb (kg) A ll owabl e Radi al Load lb (N) 3.53 (1.6) (245 ) (2.2) (4.3) (392 ) Allowable Thrust Load lb (N) 17 (74) 33 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter To le rance Diameter To lera nce in mm

20 Dimension Modifications for Motors with Optional Shaft Seal SGMAH 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) LE LR LD QK ΦS ΦLP ΦLB Shaft seal Type SGMAH- QK ΦLB* ΦS* LE LR LD ΦLP A3 A (14) 1.18 (30) (6) 0.10 (2.5) 0.98 (25) 0.30 (7.5) 1.14 (28) * Tolerances f or diameters LB and S are the same as those for motors without shaft seals. 20

21 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) LR LE LD SGMAH QK ΦS ΦLP ΦLB Shaft seal Type SGMAH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.55 (14) 1.18 (30) 0.39 (10) 1.89 (48) (3) (25) 2.76 (70) 0.63 (16) 1.57 (40) 0.43 (11) 2.60 (66) * Tolerances for diameters LB and S are the same as those for mot ors without shaft seals. Torque Reduction Factor for SGMAH motors equipped with a shaft seal: Servo Motor Model A3 A 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. 21

22 SGMAH Selecting Your SGMAH LEGEND System First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGDG Digital Amplifier Torque Amplifier (B) (B) 1CN I/O Signal Connector (D) Regenerative Unit (E) Connector Encoder (D) Optional Holding Brake SGMAH Servomotor (A) Shaft Keyway Shaft Seal Encoder side Motor side Connector (D) Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation LEGEND AC 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 SGMAH - 01 A A F 4 1 Accessories 1: Standard C: Standard with 24V DC 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 ( for 200W, 400W, and 800W without brake only) Encoder Specifications A: 13-bit (2048 x 4) Incremental Encoder * Keyway s, Shaf t Seals and Holding Brakes are not available on motors with NEMA flanges. 22

23 Servomotor & Amplifier Selection Use the table below to select the recommended SGMAH LEGEND AC servomotor and amplifier. Description System Voltage Construction 200V Straight Shaft without Keyway 200V Straight Shaft with Keyway 200V Straight Shaft without Keyway NEMA Flange 100V Straight Shaft without Keyway 100V Straight Shaft with Keyway Motors Used with 13-bit Incremental Encoders (5000rpm* Maximum) Peak Torque* (oz in) Rated Torque * (oz in) Motor Inertia (oz in s ) Mot or M ODEL NUMBER (A) Amplifier Amplifier MODEL NUMBER (B )* Motor & Single-Phase SGDG 3-Phase SGDG SGMAH-A3AAF SGMAH-A3AAF2C SGMAH-A5AAF SGMAH-A5AAF2C 01GT SGMAH-01AAF SGMAH-01AAF2C SGMAH-01AAF SGMAH-01AAF4C 1.50 SGMAH-02AAF SGMAH-02AAF4C 04GT 2.45 SGMAH-04AAF SGMAH-04AAF4C 10GT 9.52 SGMAH-08AAF GT 11.5 SGMAH-08AAF4C SGMAH-01AAF21** GT SGMAH-01AAF2C** SGMAH-02AAN21*** 04GT SGMAH-04AAN21*** 10GT 1010* 338* 9.52 SGMAH-08AAN21**** 10GT* SGMAH-A3BAF SGMAH-A3BAF2C 01GT SGMAH-A5BAF SGMAH-A5BAF2C SGMAH-01BAF SGMAH-01BAF2C SGMAH-01BAF SGMAH-01BAF4C 1.50 SGMAH-02BAF GT SGMAH-02BAF4C Amplifier Item Class 100V SGMAH-01BAF21** SGMAH-01BAF2C** Straight Shaft Stock without Keyway NEMA Flange SGMAH-02BAAN21*** Notes: 24V DC brakes for SGMAH AC servomotors are standard. Contact a local source for 24V DC 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 User s Manual number YEA-SIA-LGD-1.2. * Reference the previously listed speed/torque (force) curves for performance with the applied system voltage and phase(s). For more detailed SGDG amplifier specifications and dimensions, refer to pages 95 to 99. ** Use NEMA 23 adapter flange (see periphial device selection) *** NEMA 23 flange and pilot (see SGMAH Dimension) **** NEMA 34 flange and pilot (see SGMAH Dimension) Stock Stock Stock Stock SGMAH 23

24 Pre-wired Cable Selection SGMAH Use the table below to select pre-wired cables for your SGMAH AC servomotor. Power Cable without Brake Power Cable with Brake Cable Description (C) Motor Size (kw) Part Number* JZSP-CMM00- (A) JZSP-CMM10- (A) Shielded Power Cable without BAHCE- (A) Brake*** Shielded Power Cable with Brake*** BAHBCE- (A) Encoder Cable JZSP-CMP00- (A) Encoder Cable (for applications up to 20m) FR-RMCT-SB Only for Solder Connections Encoder Cable (for applications from >20 to <50m All maximum) UL20276-SB Only for Solder Connections Comments These 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 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 Item Class Stock** Limited Stock Input/Output 1CN Cable & Transition Terminal Block JUSP-TA36P 35mm DIN rail mountable; the cable length is 0.5 meters. Stock Input/Output 1CN Cable with Pigtail Leads CKI-SGDG- Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. *** Use these power cables where it is important t o meet CE (EMC) requirements. 24

25 Connector Selection Use the table below to select mating connectors or kits for your SGMAH AC servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class SGMAH Motor Power Mating Connector (without Brake) JZSP-CMM9-1 These connector kits include pin and socket. Requires use of Amp Crimp Tool ( ). (See below). Stock Motor Power Mating Connector (with Brake) JZSP-CMM9-2 Amp Crimp Tool All Crimp tool for Motor Power Connector (JZSP-CMM9- ) Limited Stock 2CN Amplifier Mating Connector JZSP-CMP9-1 Motor Encoder Mating Connector XXX X molex JZSP-CMP9-2 Stock 1CN Mating Connector DP for SGDG I/O 36-pin 25

26 Peripheral Device Selection SGMAH Use the table below to select peripheral devices for your SGMAH AC servomotor. External Regenerative Unit* Component Description (E) Part Number Comments NEMA Flange Adapter 50Ω, 60W for 100 W and 400W amps. 25Ω 300W for 400W* and 1.5kW amps JUSP RG08D RH500N25_ohmK SGM-N23 This is a general purpose regenerative unit. Caution: Proper setup is necessary to avoid equipment damage. For 30, 50, and 100W SGMAH motors only. Complies to NEMA 23 mounting standard. Item Class Stock Note Refer to the SGDG digital torque amplifier section of this catalog for additional specifications, and the LEGEND Digital Torque Amplifier User s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines. * For SGDG 04 applications requiring additional regenerative capacity beyond the JUISP RG08D capacity, specify SGDG 04GTY22P and QTY 2 of RH500N25_ohmK. Resistors must be used in series to provide 600W (before derating) of increased capacity. 26

27 Flat Series SGMPH - With Incremental Encoder Rated Output: 100W, 200W, 400W, 750W, 1500W For Additional Information SGMPH Ratings & Specifications SGMPH Speed/Torque Curves SGMPH Dimensions SGMPH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions Page(s) SGMPH 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, IP67 standard (not including the shaft) Optional shaft seal available Reinforced lead-out cable access 3. Encoder (reduced wiring serial encoder) 13-bit (2,048ppr x 4) incremental encoder standard 4. Application Emphasis Chip mounters PCB drilling machines Robots Conveyor Packaging 5. Certified International Standards UL, cul recognized, (File #: E165827), CE compliance 27

28 Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 500V DC 10MΩ or more 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 SGMPH Applied Voltage 200V ac 100V ac M O TO RS : SGMPH- Rate d Ou tput Rate d Torque Instantaneous Peak Torq ue Continuous Rated Current * Maximum Pe ak Current * Rat ed Angular Acceleration Rated Power Rate W (hp) oz in N m oz in N m A rms A rms rad/s 2 kw/s (0.13) (0.27) (0.54) (1.01) (2.01) (0.13) (0.27) * Values are calculated when the servomotor is combined with an SGDG servo amplifier. Moment of Inertia Holding Brake (at 20 C) System Voltage MOTORS SGMPH- Motor without Brake Motor with Brake Capacit y Co il Resistance Rated Current Allowable Load Inertia * oz in s kg f m oz in s kg f m W Ω A kg f m V ac V ac * Allowable load inertia (J L ) shows the range requiring no exterior regenerative unit. When t hese values are exc eeded, application may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined with an SGDG servo amplifier. Servomotor Holding Brake MOTORS Capacity SGMPH- Holding Torque W oz-in kg f cm

29 Speed / Torque Curves 200V Single-Phase SPEED (rpm) SGMPH-01A* SGMPH-02A* SGMPH-04A* A B SPEED (rpm) A B SPEED (rpm) A B TORQUE (N m) TORQ UE (N m) TORQ UE (N m) SPEED (rpm) TOR QUE (oz in) SGMPH-08A* A B SPEED (rpm) TORQUE (oz in) SGMPH15A* A B TOR QUE (oz in) SGMPH 200V Three-Phase SPEED (rpm) 100V Single-Phase SPEED (rpm) TORQUE (N m) TO RQ UE (oz in ) A A SGMPH-04A B TOR QUE (N m) TO RQ UE (o z in) SGMPH-01B B TOR QUE (N m) TORQUE (oz in) SPEED (rpm) SPEED (rpm) TORQ UE (N m) TORQ UE (oz in ) A TO RQU E (N m) TO RQU E (o z in) A B SGMPH-02B B TORQUE (N m) TO RQ UE (o z in) *The * The peak peak torque torque available available for for these these motors motors with with LEGEND AC AC amps amps and and 100VAC 100VAC Systems are are shown shown in in dashed lines. lines. The The Continuous Duty Duty rating rating curve curve is is the the same same as as shown, except with with speed limitations (up (up to to the the crossover point with with derated Peak Torque Rating (dashed lines)). lines). ** 200VAC Single-phase SGMPH-08A SPEED (rpm) A SGMPH15A B TO RQ UE (N m) TORQ UE (oz in ) A : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE 29

30 Dimensions in inches (mm) (1) 13-Bit Incremental Encoder, w/o Brake Note: 1. The keyway complies with JIS B (precision). A straight key is supplied. 2. Co nfo rms to the IP67 encl osure, exclud ing th e sha ft (o pti onal shaft seal avai labl e). 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) (300) ±1.18 (30) Encoder plug S RUC 17GMRCN087 U Motor cable Motor Plug SR UC 06JMSC N236 T Cross-section Y-Y W SGMPH (300) ±1.18 (30) L LL LR LM 0.42(10.5) 0.12 (3) LG (0.04) A Φ (Φ0.04) A Hexagonal nut Opposite Side width: 0.55 (14) ΦLA LC 0.83 (21) 0.71 (1 8) 0.37 (9.5) 0.51 (13) 0.55 (14) QK Y Y ΦS* ΦLB** 4 - ΦLZ LC Serial encoder (absolute or incremental) A (0.002) Type SGMPH- L LL LM LR LG LC Φ LA ΦLZ ΦS* ΦLB** Key QK U W T Output W (hp) Torqu e in lb (N m) Time Rating Ra ted Sp eed (rpm) Approx Mass lb (kg) Al lowab le Radia l L oad lb (N) Allow able Th rust Load lb (N) 01 E41D 01 E41D 3.43 (87 ) (62) 1.67 (42.5) 0.98 (25) 0.24 (6) 2.36 (60 ) (70) 0.21 (5.3) (8) 1.97 (50) (14) (1.8) (3) 0.12 (3) 100 (0.13) Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting surface (0.318) Con ti nuous (0.7 ) 17.5 (78) 11.0 (49) Encoder Plug SRUC 17GMRCN087 (Interconnectron) Specified Tolerances Dimension *ΦS **ΦLB 8 9 Unit Diameter Tolerance Diam eter Tol era nce in mm Incremental Terminal Specifications Pin No. De scription Co lor 3 Data + Blue 4 Data Blue /W hite 1, 2, 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Conne ctor Case FG (Frame Grou nd) Shield w ire Mating Connector: SPNA17HFRON16900E3 (Interconnectron) Motor Plug SRU C 06JMSC N236 (Inte rconn ectro n) Motor Wiring Specifications Pin Number Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 6 FG (Frame Ground) Green/Yellow Mating Connector: SPNA06KFSDN169 (Interconnectron) 30

31 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable (300) ±1.18 (30) L LL LM LR (0.04) A Hexagonal nut Opposite side width: 0.55 (14) LC 0.83 (21) 0.33 (8.5) LG 0.12 (3) Φ (Φ0.04) A 4 - ΦLZ LC W Motor Plug SRU C 06JMSC N236 T Cross-section Y-Y 0.28 (7) 0.37 (9.5) 0.51 (13) 0.55 (14) QK Y 0.71 (18) maximum SGMPH ΦLB** Y ΦS* ΦLA Serial encoder (absolute or incremental) A (0.02) Type SGMPH- L LL LM LR LG LC ΦLA Φ LZ ΦS* Φ LB** Key QK U W T 02 E D (97) (67) (48.1) E (30) (8) (80 ) (9 0) (7) (14) (70 ) (16) (3) (5) (5) D (1 17) (87) (68.1) Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the mounting surface. Voltage V Output W (hp) 200 (0.27) 400 (0.53) Torq ue in lb (N m) Ti me Rating (0.637) Continuous 11.2 (1.2 7) Rated Spee d (rpm) Approx Mass lb (kg) Allow able Rad ial Load lb (N) (1.4) (2 45) (2.1) Allo wable Thrust Load lb (N) 15.4 (68) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter To lerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

32 750W (1.01hp) Encoder cable UL20276 F0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 W U MOTOR CABLE Motor Plug SRU C 06JMSCN 236 T Cross-section Y - Y SGMPH 0.37 (9.5) 0.28 (7) 0.51 (13) 0.75 (19) (300) ±1.18 (30) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) QK Y (0.04) A Φ (Φ0.04) A ΦLB** Hexagonal nut Opposite side width: 0.67 (17) LC 1.50 (38) 1.1 (28) maximum LC Y ΦS* 4 - ΦLZ ΦLA Serial encoder (absolute or incremental) A (0.002) L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** Key QK U W T Voltage V 08 E D (126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5 ) (5) 200 Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Output W (hp) 750 (1.01) Torque in lb (N m) 21.1 (2.39) Time Rating Typ e SGMPH- Continuous Rated Speed (rpm) 3000 Approx Mass lb (kg) 9.26 (4.2) Allowable Radial Load lb (N) 88.1 (392) Allowabl e Thrust Load lb (N) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diamete r Tolerance in mm Interconnection Connector Specifications: See page

33 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) U Encoder plug SRUC17GMRCN087 W Motor cable (300) ±1.18 (30) L Motor Plug SRUC06JMSCN (0.04) A T Cross-section Y - Y Hexagonal nut Opposite side width: 0.67 (17) LL LM LR (10.5) (7) LG 0.14 (3.5) 0.37 (9.5) (13) (19) QK Y Φ (Φ0.04) A ΦLB** ΦLA 4 - ΦLZ LC 1.50 (38) 1.1 (28) maximum LC SGMPH Y ΦS* A Serial encoder (absolute or incremental) (0.002) Typ e SG MPH- L LL LM LR LG LC ΦLA ΦLZ ΦS* Φ LB** Key QK U W T Voltage V Output W (hp) 15 E41D (1 54.5) (114.5) (94.7) (4 0) (10) (120 ) (145) (10 ) (1 9) (110) (22) (3.5 ) (6) (6) (2.0) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Torque in lb (N m) 42.1 (4.77) Time Rating Co nti nuous Rated Speed (rp m) Approx Mass lb (kg) (6.6) Al lowa ble Radi al Load lb (N) 11 0 (49 0) Allo wable Thrust Loa d lb (N) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diam eter Tol era nce in mm Interconnection Connector Specifications Encoder Plug SRUC 17GMRCN087 (Interconnectron) 8 9 Incremental Terminal Specifications Pin Number Description Color 3 Data + Blue 4 Data Blue/White 1, 2, 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire Mating Connector: SPNA17HFRON16900E3 (Interconnectron) Motor Plug S RUC 06JM SCN020 (In terco nne ctron) Motor Wiring Specifications Pin No. Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 6 FG (Frame Ground) Green/Yellow Mating Connector: SPNA06KFSDN169 (Interconnectron) 33

34 (2) 13-Bit Incremental Encoder, with Brake Note: 1. The keyway complies with JIS B (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) (300) ±1.18 (30) Encoder cable UL20276 Φ0.24 (6) Encoder plug SRUC17GMRCN087 U MOTOR cable Motor Plug SRUC06JMSCN236 W T Cross-section Y - Y (300) ±1.18 (30) Hexagonal nut Opposite side width: 0.67 (17) SGMPH 0.37 (9.5) 0.28 (7) L LL LM 0.41 (10.5) LG LR 0.12 (3) QK Y (13) (23) (0.04) A Φ (Φ0.04) A ΦLA ΦLB** 4 - ΦLZ LC 0.83 (21) 0.71 (18) maximum. LC Y ΦS* Serial encoder (Absolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V A (0.002) Type SGMPH- L LL LM LR LG LC Φ LA ΦLZ Φ S* Φ LB* * Ke y QK U W T Vo lta ge (V) Ou tpu t W (hp) To rq ue in l b (N m) Time Rating Rated Speed (rpm) Approx Mass lb (kg) All owabl e R adial Lo ad lb (N ) All owabl e Thrust Lo ad lb (N) 01 E4 CD (116 ) (91 ) (4 2.5 ) (25) (6) (60 ) (70) (5.5) (8) (50 ) (14 ) (1.8) (3 ) (3) Note: The quoted allowable radial load is the value at a position 0.79in (20mm) from the motor mounting surface. 100 (0.13) (0.318) Continuous (0.7) 17.5 (7 8) 11.0 (4 9) SRUC 17GMRCN087 (Interconnectron) 8 9 Specified Tolerances Dimension *ΦS **ΦLB Interconnection Connector Specifications Encoder Plug Unit Diameter Tolerance Diam eter Tol era nce in mm Incremental Terminal Specifications Pin Number Description Color 3 Data + Blue 4 Data Blue/White 1, 2, 5-7, Free V (Power Supply) Red 9 0V (Power Supply) Black Conne ctor Case FG (Frame Gro und) Shie ld wire Mating Connector: SPNA17HFRON16900E3 (Interconnectron) MotorPlug SRUC06JMSCN236 (Interconnectron) Motor Wiring Specifications Pin Number Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Holding Brake Black 5 Holding Brake Black 6 FG (Frame Ground) Green/Yellow Mating Connector: SPNA06KFSBN16918 (Interconnectron) 34

35 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) U Encoder plug SRUC 17GM RCN087 W Motor cable Motor Plug SRUC 06JMS CN236 T Cross-section Y-Y 0.37 (9.5) 0.51 (13) 0.28 (7) 0.33 (8.5) 0.90 (23) (300) ±1.18 (30) L LL LR LM LG 0.12 (3) QK Y Φ (Φ0.04) A (0.04) A HEXAGONAL NUT Opposite side width: 0.67 (17) LC 0.83 (21) ΦLB** 0.71 (18) maximum LC SGMPH Y ΦS* ΦLZ ΦLA Serial encoder (Absolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V A (0.002) Type SG MPH - L LL LM LR LG LC ΦLA Φ LZ ΦS* Φ LB** Ke y QK U W T Voltage V Output W (hp) Torque in lb ( N m) Ti me Rating Rated Speed (rpm) Approx Mass lb (kg) Allowabl e Radi al Load lb (N) Al lowable Thrust Load lb (N) 02 E4 CD 04 E4 CD 5.06 (128.1) 5.85 (148.5) 3.88 (98.5) 4.67 (1 18.5) 1.89 (48.1) 1.18 (30) 2.68 (68.1) (8) 3.15 (80) 3.54 (90) Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the motor mounting surface (7 ) (14 ) (7 0) 0.63 (16) 0.12 (3) 0.20 (5) 0.20 (5 ) (0.27) 400 (0.53) 5.64 (0.637) Con tin uou s (1.27 ) (1.9) (24 5) (2.6) 15.4 (68 ) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter To lerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

36 750W (1.01hp) (300) ±1.18 (30) Encoder cable Encoder plug UL20276 Φ0.24 (6) SRUC17GMRCN087 U Motor cable Motor Plug SRUC06JMSCN236 W T (300) ±1.18 (30) Cross-section Y - Y 0.28 (7) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) (0.04) A Φ (Φ0.04) A Hexagonal nut Opposite side width: 0.55 (14) LC 4 - ΦLZ 1.5 (38) 1.1 (28) maximum. SGMPH 0.37 (9.5) 0.51 (13) 1.0 (25.5) QK Y Y ΦS* ΦLB** ΦLC ΦLA Serial encoder (Absolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V A (0.002) Type SGMPH- L LL LM LR LG LC ΦLA Φ LZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb (N m) Time Rati ng Rated Speed (rpm) Approx Mass lb (kg) Al lowable Radial Load lb (N) Allowabl e Thrust Load lb (N) 08 E4 CD 6.42 (16 3) 4.84 (123) 2.63 (6 6.7 ) 1.57 (40) 0.39 (1 0) 4.72 (12 0) 5.71 (145 ) 0.39 (10) (16) 4.33 (110 ) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface (22) 0.12 (3) 0.20 (5) 0.20 (5) (1.0 1) (2.39) C ontinu ous (5.7 ) 88.1 (392) 33.0 (14 7) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tole rance Diamet er Tolerance in mm Interconnection Connector Specifications: See page

37 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable (300) ±1.18 (30) L LL LM LG LR 0.14 (3.5) (0.04 ) A Φ (Φ0.04) A LC 1.50 (38 ) 1.1 (28) Maximum ΦS* ΦLB** W Motor Plug SRUC 06JMSCN020 T Cross-section Y - Y 0.28 (7) 1.30 (33) 0.41 (10.5) Hexagonal nut Opposite side width: 0.55 (14) 0.37 (9.5) 0.51 (13) 1.00 (25.5) QK Y LC SGMPH Y Serial encoder (Absolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V A (0.002) Type SGMPH- L LL LM LR LG LC Φ LA ΦLZ Φ S* Φ LB** Key QK U W T Voltage V Ou tput W (hp) Torque in l b ( N m) Time Rating Ra ted Sp eed (rpm) Approx Mass lb (kg) Al lowab le Radia l L oad lb (N) All owabl e Thrust Loa d lb (N) 15 E4CD (1 88) 5.83 (148) (94.7) (40) 0.39 (10) 4.72 (12 0) 5.71 (145) 0.39 (1 0) 0.75 (19) 4.33 (110) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface (22) 0.14 (3.5 ) (6) 0.24 (6) (2.02) 42.1 (4.77) Continuous (8.1) 110 (490 ) 33.0 (147) SRUC 17GMRCN087 (Interconnectron) 8 9 Specified Tolerances Dimension *ΦS **ΦLB Interconnection Connector Specifications Encoder Plug Unit Diameter Tolerance Diam eter Tol era nce in mm Incremental Terminal Specifications Pin Number Description Color 3 Data + Blue 4 Data Blue/White 1, 2, 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire Mating Connector: SPNA17HFRON16900E3 (Interconnectron) Motor Plug S RUC 06JM SCN020 (In terco nne ctron) Motor Wiring Specifications Pin No. Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Holding Brake Black 5 Holding Brake Black 6 FG (Frame Ground) Green/Yellow Mating Connector: SPNA06KFSDN169 (Interconnectron 37

38 Dimension Modifications for Motors with Optional Shaft Seal LE LR LD QK ΦS* LP ΦLB** SGMPH Shaft Seal Type SGMPH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.31 (8) 0.98 (25) 0.28 (7) 1.54 (39) (3) 0.64 (16) 2.76 (70) 0.55 (14) (30) 0.39 (10) 1.93 (49) (16) 0.87 (22) 4.33 (110) (19) 0.14 (3.5) 1.57 (40) 0.41 (10.5) 3.03 (77) *Refer t o t he following t able f or tolerances f or diamet ers LB and S. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Torque Reduction Factor for SGMPH motors equipped with a shaft seal: Servomotor Model Torque Reduction Factor 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.

39 Selecting Your SGMPH LEGEND System LEGEND System Components First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGDG Digital Torque Amplifier (B) 1CN I/O Signal Connector (D) Regenerative Unit (E) Connector Encoder (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake SGMPH Servomotor (A) Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested). SGMPH Model Number Designation 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 SGMPH - 01 A A E 4 1D Accessories 1D: Standard CD: Standard with 24V DC 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 39

40 Servomotor & Amplifier Selection Use the table below to select the appropriate SGMPH AC servomotor and amplifier. Description System Volta ge and Construction Peak Torqu e* (oz in) Rated To rque* (oz in ) Motor Inertia (oz in s 2 x10-3 ) Motor MODEL # (A) Amplifier MODEL # (B )* 1-Phase SGDG- 3-Phase SGDG- Mo tor & Amplifier Item Class SGMPH-01AAE41D 1.46 SGMPH-01AAE4CD 01GT 2.96 SGMPH-02AAE41D SGMPH 200V 13-Bit Incremental Encoder Straigh t Shaft with Keyway 5000 rpm* Pre-wired with Heavy Duty Connectors SGMPH-02AAE4CD 4.92 SGMPH-04AAE41D 6.31 SGMPH-04AAE4CD 29.9 SGMPH-08AAE41D 35.7 SGMPH-08AAE4CD 04GT 10GT 10GT Stock 2027 * 676* 57.1 SGMPH-15AAE41D 67.8 SGMPH-15AAE4CD 1 5GT* 15GT 100V, 1-Phase 13-Bit Incremental Encoder Straigh t Shaft with Keyway SGMPH-01BAE41D 1.46 SGMPH-01BAE4CD 04GT 5000 rpm* Pre-wired with Heavy Duty Connectors SGMPH-02BAE41D 4.35 SGMPH-02BAE4CD Notes: 24V DC brakes for SGMPH LEGEND AC servomotors are standard. Contact a local source for 24V DC 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 User s Manual number YEA-SIA-LGD-1.2. * Reference the previously listed speed/torque (force) c urves for performance with the applied system v oltage and phase(s). For more detailed SGDG amplifier specifications and dimensions, refer to pages 95 to

41 Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH AC servomotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) (IP67) Encoder Cable with Interconnectron Connector (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE- (A) 1.5 B5ICE- (A) 0.1, 0.2, 0.4, 0.8 B4IBCE- (A) 1.5 B5IBCE- (A) A1ICE- (A) FR-RMCT-SB UL20276-SB 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 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** SGMPH All Input/Output 1CN Cable & Transition Terminal Block JUSP-TA36P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads.CKI-SGDG-- Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. 41

42 * Connector Selection Use the table below to select mating connectors or kits for your SGMPH AC servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) (IP67) FIN07S-B2 Solder Cup SGMPH 2CN Amplifier Mating Connector Interconnectron Connector for Encoder Cable (IP67) 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 FIN17C-A2 Gauge: 24-18AWG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector DP All Interconnectron Crimp Tool B150 Limited Stock Positioner B055/A 42

43 Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH AC servomotor. External Regenerative Unit* Component Description (E) Part Number Comments 50Ω, 60W, or 100W and 400W 25Ω, 300W for 400W* and 1.5kW amp JUSP RG08D RH500N25_ohmK This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage. Item Class Stock * For SGDG 04 application requiring additional regenerative capacity beyond the JUSP RG08D capacity, specify SGDG 04GTY22P and QTY 2 of RH5000N25_ohmK. Resistors must be used in series to provide 600W (before derating) of increased capacity. SGMPH 43

44 NOTES: SGMPH 44

45 SGMPH Gearmotors - With Incremental Encoder Rated Output : 100W, 200W, 400W, 750W, 1500W For Additional Information SGMPH Gearmotor Ratings & Specifications SGMPH Gearmotor Dimensions SGMPH Gearmotor Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions Page(s) Design Features 1. Compact Fits in limited mounting space 2. Torque 40.9 to 3540in lb peak torque Cost-effective solution for low speed and high torque applications Uses improved Sigma II motor technology 3. Encoders 13-Bit incremental encoder standard 4. Enclosure Totally enclosed, self-cooled IP67 (not including shaft) 5. Application Emphasis Compact, high torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance SGMPH Gearmotors 45

46 Gearmotor Ratings and Specifications Rated Peak Rated Maximum Speed Torque Torque GEARMOTOR Torque** Torque** Speed** Speed ** N1 T1 T2 Part Number (in lb) (in lb) (rpm) (rpm) (rpm) (in lb) (in lb) SG05SA-PE SG10SA-PE SG25SA-PE SG50SA-PE SG1ASA-PE SG05SA-PE / /36.2* SG10SA-PE / /72.4* SG25SA-PE / /177* SG50SA-PE / /354.7* SG1ASAPE / /704.4* SG05SA-PE SG10SA-PE SG25SA-PE SG50SA-PE SG1ASA-PE SG05SA-PE SG10SA-PE SG25SA-PE SG50SA-PE SG05SA-PE SG10SA-PE SG25SA-PE SG50SA-PE SGMPH Gearmotors * Values for 100V Gearmotor ** To achieve the speed/torque performance listed, use only the gearmotor/amp combinations and system supply as specified on page 51. 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. Peak Torque Torque A = Continuous Duty B = Intermittent Duty T2 Rated Torque T1 B A Rated Speed N1 Maximum Speed Speed 46

47 Gearmotor Mechanical Ratings GEARMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum Radial Load (lb f ) LEGEND System Components Gearhead Maximum Axial Load (lb f ) Gearhead Inertia (in lb s 2 ) Gearmotor Weight (lb) SG05SA-PE01 SG10SA-PE SG25SA-PE01 <10 SG50SA-PE SG1ASA-PE SG05SA-PE02 SG10SA-PE SG25SA-PE02 < SG50SA-PE SG1ASA-PE SG05SA-PE04 SG10SA-PE SG25SA-PE04 < SG50SA-PE SG1ASA-PE SG05SA-PE SG10SA-PE08 <10 SG25SA-PE SG50SA-PE SG05SA-PE15 SG10SA-PE15 SG25SA-PE15 SG50SA-PE15 < SGMPH Gearmotors REDUCER S BACKLASJ TORSIONAL ANGLE CONVENTIONAL GEARMOTOR YASKAWA Sigma II GEARMOTOR F R TORQUE F A 2% OF RATED TORQUE F R : Radial Force F A : Axial Force 47

48 Dimensions in inches (mm) Motor leads extend 11.81in (300mm) from motor Q QK T KD W U T LL LL3 LE LR (4) Holes 90 apart MT threaded MD deep LC øgd øla øs ølb SGMPH Gearmotors GEARMOTOR LL3 LL LE LR LB GD S LC LA MT MD Q QK KD W T U SG05SA-P E01 A M SG10SA-P E01 A (50) (131.5) (4) (24.5) (35) (50) (12) (60) (44) x 0.7 (8) (18) (14) (4) (4) (2.5) SG25SA-P E01 A M SG50SA-P E01 A (88) (172) (36) (52) (70) (16) (70) (62) x 0.8 (10) (28) (25) (5) (5) (3) SG1AS A-P E01 A (106.5) (190.5) (46) (68) (90) (22) (90) (80) M6 x (12) (36) (32) (6) (6) (3.5) SG05SA-P E02 A (2) SG10SA-P E02 A (68) (157) (5) M SG25SA-P E02 A (36) (52) (70) (16) (80) (62) x 0.8 (10) (28) (25) (5) (5) (3) (88) (177) SG50SA-P E02 A (106.5) (195.5) (46) (68) (90) (22) (90) (80) M6 x (12) (36) (32) (6) (6) (3.5) M8 (229.5) (6) (70) (90) (120) (32) (120) (108) x (16) (58) (50) (4) (10) (8) (5) SG1AS A-P E02 A (134.5) SG05SA-P E04 A SG10SA-P E04 A (68) SG25SA-P E04 A (106.5) (177) (5) (215.5) SG50SA-P E04 A (134.5) (2.50) (6) SG1AS A-P E04 A (153) ( 268.0) (8) SG05SA-P E08 A SG10SA-P E08 A (80) (198.5) (5) SG25SA-P E08 A SG50SA-P E08 A SG05SA-P E15 A SG10SA-P E15 A (134.5) (153) (102) SG25SA-P E15 A SG50SA-P E15 A (153) (249) ( 267.5) (244.5) (295.5) (6) (8) (6) (8) (36) (46) (70) (97) (46) (70) (97) (70) (97) (52) (68) (90) (120) (68) (90) (120) (90) (120) (70) (90) (120) (155) (90) (120) (155) (120) (155) (16) (22) (32) (40) (22) (32) (40) (32) (40) (80) (90) (120) (62) (80) (108) (140) (80) (108) (140) (108) (140) M5 x 0.8 M6 x 1.0 M8 x 1.25 M10 x 1.5 M6 x 1.0 M8 x 1.25 M10 x 1.5 M8 x 1.25 M10 x (10) (12) (16) (20) (12) (16) (20) (16) (20) (28) (36) (58) (82) (36) (58) (82) (58) (82) (25) (2) (32) (50) (70) (32) (50) (70) (50) (70) (4) (6) (2) (4) (6) (4) (6) (5) (6) (5) (6) (10) (8) (12) (6) (10) (12) (10) (12) (6) (8) (3) (3.5) (5) (3.5) (5) 48

49 Tolerances for standard (SG) gearmotors Dimension ΦS ΦLB W Unit Diameter Tolerance Diameter Tolerance Width Tolerance 0.472, , 0.197, in , , , , , 5, mm , , , SGMPH Gearmotors 49

50 Selecting Your SGMPH Gearmotor System First, select the AC gearmotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGMPH Gearmotors 1CN I/O Signal Connector (D) SGDG Digital Torque Amplifier (B) Regenerative Unit (E) Connector for Encoder Signal (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Model Number Designation SG 05 S A-PE 02 A A C AC 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 SGMPH Gearmotor (A) Motor side Connector (D) Shaft w/keyway Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested). Accessories C: 24V DC Brake Blank:Standard YEA stock motor options Encoder Specifications A: 13-Bit Incremental 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) 50

51 Gearmotor & Amplifier Selection Use the table below to select the appropriate SGMPH LEGEND AC gearmotor and amplifier. MODEL # Gearmotor (A) Gearhead only Amplifier Rated Peak Rated Maximum MODEL # Inert ia Gear Torque* Torque* Speed* Speed* (B)* (in lb ) (in lb) (rpm) (rpm) (in lb s 2 ) Ratio SGDG- Gear Motor Item Class Amplifier Item Class SG05SA-PE01AA : SG10SA-PE01AA :1 SG25SA-PE01AA : SG50SA-PE01AA :1 SG1ASA-PE01AA : 1 SG05SA-PE02AA :1 SG10SA-PE02AA :1 SG25SA-PE02AA :1 SG50SA-PE02AA :1 SG1ASA-PE02AA : 1 SG05SA-PE04AA : SG10SA-PE04AA :1 SG25SA-PE04AA : SG50SA-PE04AA :1 SG1ASA-PE04AA : 1 SG05SA-PE08AA : SG10SA-PE08AA :1 SG25SA-PE08AA :1 SG50SA-PE08AA :1 SG05SA-PE15AA : SG10SA-PE15AA :1 SG25SA-PE15AA :1 SG50SA-PE15AA :1 SG05SA-PE01BA : SG10SA-PE01BA :1 SG25SA-PE01BA : SG50SA-PE01BA :1 SG1ASA-PE01BA : 1 SG05SA-PE02BA :1 SG10SA-PE02BA :1 SG25SA-PE02BA :1 SG50SA-PE02BA :1 SG1ASA-PE02BA : 1 01GT* 04GT* 10GT** 15GT** 04GT*** 3-5 Week Leadtime for Assembly Stock SGMPH Gearmotors Notes:24V DC Brakes for SGMPH AC gearmotors are standard. Contact a local source for 24V DC power supplies. Use the tables on the following page to specify mating connectors or pre-wired cables in different lengths. * Reference the previously listed speed/torque curves for performance. For more detailed SGDG amplifier specifications and dimensions, refer to pages To achieve the performance (speed/torque) listed, the AC supply to the LEGEND AC must be * VAC 1 phase 10% - 15% 60, 50Hz ** VAC 3 phase 10% - 15% 60, 50Hz *** VAC 1 phase 10% - 15% 60, 50Hz 51

52 . Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH AC gearmotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with. Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) Encoder Cable with Interconnectron Connector Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE- (A) 1.5 B5ICE- (A) 0.1, 0.2, 0.4, 0.8 B4IBCE- (A) 1.5 B5IBCE- (A) All A1ICE- (A) FR-RMCT-SB UL20276-SB 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 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** SGMPH Gearmotors Input/Output 1CN Cable & Transition Terminal Block JUSP-TA36P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads CKI-SGDG- Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. 52

53 Connector Selection Use the table below to select mating connectors or kits for your SGMPH AC gearmotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) FIN07S-B2 IP67 Mated Solder Cup 2CN Amplifier Mating Connector 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 Interconnectron Connector for Encoder Cable FIN17C-A2 IP67 Mated Gauge: AWG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector All DP Interconnectron Crimp Tool B150 Limited Stock Positioner B055/A SGMPH Gearmotors 53

54 Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH LEGEND AC gearmotor. External Regenerative Unit* Component Description (E) Part Number Comments 50 ohms 120 watt for 01, 04, 1.0 amps 25 ohms 300 watt for 1.5 amp RH220BN50_ohmJ RH500N25_ohmK This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage. Item Class Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDG servo amplifier section of this catalog (pages 95 to 99) for additional specifications, and the LEGEND Digital Torque Amplifier User s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines. SGMPH Gearmotors 54

55 General Purpose SGMGH - With Incremental Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW SGMGH For Additional Information SGMGH Ratings & Specifications SGMGH Speed/Torque Curves SGMGH Dimensions SGMGH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions Page(s) Design Features 1. Compact Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 207in 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 incremental encoder (standard) 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 55

56 SGMGH Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC 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 Instantaneous Maximum Speed*: 0.45 to 1.5kW: 3000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted * Values when the servomot or is combined with an SGDG digital t orque amplifier. MOTO RS : SGMGH- Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Maxi mum Current* kw (hp) N m lb f in (kg f cm) N m lb f in (kg f cm) A rm s A rms 05A A 0.45 (0.6) (29) (91) A A 0.85 (1.1) (55) (141) A A 1.3 (1.7) (85) (238) * Values when the servomotor is combined with an SGDG digital torque amplifier. MOTORS SGMGH- 05A A 09A A 13A A Torque Con stant lb f in A rms N m A rm s ( ) 7.3 (0.82) 7.3 (0.83) 7.4 (0.84) Mo me nt of Inertia Capaci ty Torque Hol ding Brake (a t 20 C) Coil. Resi stance Rated Current Add iti onal Inerti a Allow able Load Inertia Ra ted Power Rate* Rated An gular Acceleration* Ine rt ia Time Con stant lb i n s 2 kg f m W N m W A g 10-4 f cm s 2 kg f m kw /s rad/s 2 ms ms Ind ucti ve Ti me Constant * Values when the servomotor is combined with an SGDG digital torque amplifier at an armature winding temperature of 100 C. ** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Ty pe 0 5A A to 13A A: (in)( (mm)) 56

57 Speed / Torque Curves 200V Three-phase System: SGMGH-05A A SGMGH-09A A SGMGH-13A A SPEED (rpm) A B SPEED (rpm) A B SPEED (rpm) A B SGMGH TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in ) TORQUE (N m) TORQUE (lb in ) 200V Single-phase System: 3000 SGMGH-05A A 3000 SGMGH-09A A 3000 SGMGH-13A A SPEED (rpm) A B SPEED (rpm) A B SPEED (rpm) A B TORQUE (N m) TORQUE (N m) TORQUE (lb in) TORQUE (lb in ) TORQUE (N m) TORQUE (lb in) A : CONTINUOUS B : DUTY ZONE INTERMITTENT DUTY ZONE 57

58 Dimensions in inches (mm) (1) 17-Bit Incremental Encoder SGMGH ( 10 0 ) LT L LL LM LG LE LR S* A LC A LH LC ΦLA LR LE Q QK T W U KL (88) IE LB ** S A KB LZ MTG Hol es KB2 Type SGMGH- 05A A61 09A A61 13A A61 Note: L LL LM LR LT KB1 KB2 IE KL (1 96) (2 19) (2 43) 5.43 (138) 6.34 (161) 7.28 (185) 3.62 (92 ) 4.53 (115) 5.47 (139) 2.28 (58 ) 1.81 (4 6) 2.56 (6 5) 3.46 (8 8) 4.41 (112) 4.61 (117) 5.51 (140) 6.46 (164) 4.29 (10 9) Fl ange Dimen si ons Shaft End Dimension Φ LA ΦLB** LC LE LG Φ LH ΦLZ ΦS* Q QK W T U 5.71 (145) 4.33 (110) 5.12 (130 ) 0.24 (6) (12) 6.5 (1 65) 0.35 (9 ) 0.75 (19 ) 1.57 (4 0) 0.87 (22 ) 0.98 (25) 0.20 (5) 0.24 (6) (5) (6) 0.12 (3) 0.14 (3.5) Ap proximate Mass lb f (kg) All owabl e Radial Lo ad lb f (N) 12.1 (5.5) (490) (7.6) (9.6) (686) 1. SGMGH-05A A to 44A A d o n ot contain eyeb olts. 2. Dimensions are the same when using either incremental or absolute encoders. 3. 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. All owabl e Thrust Lo ad lb f (N) 22 (9 8) 77 (343) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Toler ance in , mm , Encoder Plug M B L A N P C K D J S R E H G F MS3102A20-29P Connector Wiring on the Encoders A K B L C Data + M D Data N E P F R G 0V S H +5V dc T J FG (Frame Groun d) Motor Plug D A C B Connector Wiring on the Motor Side A U Phase B V Phase C W Phase D Ground Terminal Non-Environ me nta l Mating Co nnector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type ) Cabl e Cl amp: MS A 58

59 (2) 17-Bit Incremental Encoder. with Brake 0.5 to 4.4kW (0.7 to 5.9hp) 100 (3.94) LL LT LM LG LE LR S* A LC A LH LC ΦLA LR LE Q QK T W KL2 U LB** S SGMGH KL1 KB1 KB2 A LZ MTG Holes Type SGMGH - 05 A A6C (23 4) (176 ) 09 A A6C (25 7) (199 ) 13 A A6C (28 1) L LL LM LR LT KB1 KB2 KL1 KL (223 ) (129) (152) (176) 2.28 (58) 1.85 (47 ) 2.2 (56) 3.11 (79) 4.06 (10 3) 6.1 (155 ) 7.01 (178 ) 7.95 (202 ) (12 0) (88) Fla nge Dimensio ns Shaft End Dimension Φ LA ΦLB** LC LE LG Φ LH ΦLZ Φ S* Q QK W T U (1 45) 4.33 (110 ) (1 30) (6) (12) 6.5 (1 65) 0.35 (9) 0.75 (19) 1.57 (40 ) 0.87 (22) 0.98 (25) 0.20 (5) 0.24 (6) 0.20 (5 ) 0.24 (6 ) 0.12 (3) 0.14 (3.5) Approxi ma te Mass lb f (kg) All owabl e R adial Lo ad lb f (N) 16.5 (7.5) (490) (9.6) (12) 686) Al lowa ble Thru st Load lb f (N) 22 (98) 77 (343 ) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 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. Specified Tolerances Di me nsion *ΦS **ΦLB Unit Di ameter Tole rance Diameter Tolera nce in , mm , Motor Plug E F D A B G C Connector Wiring on the Motor Side A U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 59

60 SGMGH Selecting Your SGMGH LEGEND System First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGDG Digital Torque 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) Optional Holding Brake SGMGH Servomotor (A) Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (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 AC Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) Power Supply A: 200V Encoder Specifications C: 17-Bit Incremental Encoder Accessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed A: 1500rpm 60

61 Servomotor & Amplifier Selection Use the table below to select the appropriate SGMGH AC servomotor and amplifier. Description Peak Torque* (in lb) Rated Torque* (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL # (A) Amplifier MODEL # (B)* Analog/Digital Input SGDG- Motor & Amplifier Item Class SGMGH 200V 17-bit Incremental Encoder Straight Shaft with Keyway 3000rpm* maximum MS Connectors SGMGH-05ACA SGMGH-05ACA6C SGMGH-09ACA SGMGH-09ACA6C 18.2 SGMGH-13ACA SGMGH-13ACA6C 10GT* 15GT* Stock Note: 24V DC brakes for SGMGH AC servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request Yaskawa manual number YEA-SIA-LGD-1.2. * The speed/torque spec ifications listed above are ac hiev able when applied with 200V 3 phase systems. Reference the prev ious ly list ed speed/ torque (force) curves for perf ormance wit h any other applied voltages and phase(s). For more detailed SGDG amplifier specifications and dimensions, refer to pages 95 to

62 Pre-wired Cable Selection SGMGH Use the table below to select pre-wired cables for your SGMGH AC servomotor. Power Cable with Connectors (IP67) Encoder Cable (IP67) Encoder Cable (for applications up to 20m). Only for solder connections Encoder Cable (for applications from >20 to <50m) Only for solder connections Cable Description (C) Motor Size (kw) 0.5, 0.9, 1.3 All without Brake B1E- (A) Part Number* with Brake B1BE- (A) JZSP-CMP02- (B) FR-RMCT-SB UL20276-SB 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. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m 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 Item Class Stock** Input/Output 1CN Cable & Transition Terminal Block JUSP-TA36P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads CKI-SGDG- Use the following key to specify needed cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 62

63 Connector Selection Use the table below to select mating connectors for each SGMGH AC servomotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector Item Class SGMGH MS Connector for Motor Power Cable* 0.5, 0.9, 1.3 MS3108B18-10S MS3108B20-15S L-type connector MS A MS A Cable clamp MS3106B20-29S Straight-type connector MS Connector for Encoder Cable MS3108B20-29S L-type connector Stock All MS A Cable clamp 1CN Mating Connector DP Can use 1CN for analog speed and torque monitor service checks. 2CN Encoder Mating Connector JZSP-CMP9-1 * 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 MS A. MS connectors listed in the table are nonenvironmental. 63

64 Peripheral Device Selection SGMGH Use the table below to select peripheral devices for each SGMGH AC servomotor. External Regenerative Unit* Component Description (E) Part Number Comments 50 ohms 120 watt for 1.0 amp 25 ohms 300 watt for 1.5 amp RH120 50ohmJ RH500N25_ohmK This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage. Item Class Stock * Refer to the SGDG serv o amplifier section of this catalog for additional specifications, and the LEGEND Digital Torque Amplifier User s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines. 64

65 CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your SGMGH AC servomotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class SGMGH Power Cable with Connectors IP67 0.5, 0.9, 1.3 B1CE- (A) B1BCE- (A) 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 * The (A) at the end of the cable number indicates the revision level, which 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 AC servomotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class Connector for Motor Power Cable* 1.0, 1.5, 2.0 CE05-8A18-10SD-B-BAS CE A-1(D265) CE05-8A20-15SD-B-BAS CE A-1(D265) L-type connector Cable clamp CE02-6A20-29NSW and CE20BA-S L-type connector (plug and back shell) Limited Stock Connector for Encoder Cable and CE A-3(D265) and Cable clamp (diameters 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. 65

66 NOTES: SGMGH 66

67 SGMGH Gearmotors (1500rpm) - With Incremental Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW For Additional Information Page(s) Design Features SGMGH Gearmotor Ratings & Specifications SGMGH Gearmotor Dimensions SGMGH Gearmotor Selection/Ordering Information SGMGH Gearmotors 1. Compact Fits in limited mounting space High torque to inertia ratio 2. Torque 383 to 3540in lb peak torque Uses time-proven, Sigma motor technology 3. Encoders 17-Bit incremental encoder (standard) 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 67

68 Gearmotor Ratings and Specifications SGMGH Gearmotors GEARMOTOR Part Number Rated Torque* (in lb) Peak Torque* (in lb) Rated Speed* (rpm) Maximum Speed* (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) Standard SGMGH Gearmotors SG05SA-GA05AC SG10SA-GA05AC SG25SA-GA05AC SG50SA-GA05AC SG05SA-GA09AC SG10SA-GA09AC 463 1, SG25SA-GA09AC SG50SA-GA09AC SG05SA-GA13AC SG10SA-GA13AC SG25SA-GA13AC * To achieve the speed/torque performance listed, use only the gearmotor/amp combinations and system supply as specified on page 72. Torque Peak Torque A = Continuous Duty B = Intermittent Duty T2 Rated Torque T1 B A Rated Speed N1 Maximum Speed Speed 68

69 Gearmotor Mechanical Ratings GEARMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum.Radial Load (lb f ) LEGEND System Components Gearhead Maximum Axial Load (lb f ) Gearhead Inertia (lb n s 2 ) Gearmotor Weight (lb) 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 TORSIONAL ANGLE CONVENTIONAL GEARMOTOR YASKAWA SIGMA I I GEARMOTOR F R SGMGH Gearmotors REDUCER S BACKLASJ TORQUE F A 2% OF RATED TORQUE F R : Radial Force F A : Axial Force 69

70 Dimensions in inches (mm) LL1 LL LL3 MD P W LR Q QK KD 4 - ΦMT LE U T LC ΦS ΦLB ΦGD LC1 ΦLA SGMGH Gearmotors Standard SGMGH Gearmotors GEARMOTOR LL1 LL 3 LL LE LR ΦLB ΦGD ΦS P LC LC1 ΦLA ΦMT* MD* Q QK KD W T U SG05SA-GA05AC SG10SA-GA05AC 3.15 (80) (270) 0.20 (5) 1.81 (46) 2.68 (68) 3.54 (90) 0.87 (22) 3.15 (80) M6 x (12) 1.42 (36) 1.26 (32) 0.08 (2) 0.24 (6) 0.24 (6) 0.14 (3.5) SG25SA-GA05AC M8 x (138) (134.5) (320.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG50SA-GA05AC M10 x (8) (5) (153) (339) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) (6) (12) M6 x SG05SA-GA09AC (80) (293) (5) (46) (68) (90) (22) 5.12 (80) 1.0 (12) (36) (32) (2) (6) (6) (3.5) N/A (130) N/A M8 x SG10SA-GA09AC (161) (102) (311) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG25SA-GA09AC M10 x SG50SA-GA09AC SG05SA-GA13AC (153) 4.02 (362) (8) 0.24 (97) 2.76 (120) 3.54 (155) 4.72 (40) 1.26 (140) M8 x (20) 0.63 (82) 2.28 (70) 1.97 (6) 0.16 (12) (8) 0.20 (5) SG10SA-GA13AC (102) (335) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG25SA-GA13AC 7.28 (185) 6.02 (153) (386) 0.32 (8) 3.82 (97) 4.72 (120) 6.10 (155) 1.58 (40) 5.51 (140) M10 x (20) 3.23 (82) 2.76 (70) 0.24 (6) 0.47 (12) 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 ΦS ΦLB W Unit Diameter Tolerance Diameter Tolerance Width Tolerance in 1.260, , mm 32, 90,

71 Selecting Your SGMGH Gearmotor System First, select the AC gearmotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGDG Digital Torque 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) SGMGH Gearmotor (A) Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase or der: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested). SGMGH Gearmotors Model Number Designation SG 05 S A - GA 05 A C C LEGEND AC Gearmotor Series SG: Standard (<10 arc minute) Reduction Ratio 05: 5:1 10: 10:1 25: 25:1 50: 50:1 Construction S: Standard Orientation A: Standard Accessories C: 24V dc Brake Blank:Standard YEA motor (stock) Encoder Specifications C: 17-Bit Incremental Encoder Power Supply A: 200V Motor Output 05: 0.45kW (0.6hp) 09: 0.85kW (1.14hp) 13: 1.3kW (1.7hp) Design Revision A: SGMGH (1500rpm) Motor Series G: SGMGH 71

72 Gearmotor & Amplifier Selection SGMGH Gearmotors Use this table below to select the appropriate SGMGH AC gearmotor and amplifier. See notes on page 75. Description 200V* 17-bit Incremental Encoder Straight Shaft with Keyway MS connectors Rated Torque* (in lb) Peak Torque* (in lb) Rated Speed* (rpm) Maximum Speed* (rpm) Gear Ratio Gearmotor Model Number (A) :1 SG05SA-GA05AC :1 SG10SA-GA05AC :1 SG25SA-GA05AC :1 SG50SA-GA05AC :1 SG05SA-GA09AC :1 SG10SA-GA09AC :1 SG25SA-GA09AC :1 SG50SA-GA09AC :1 SG05SA-GA13AC :1 SG10SA-GA13AC Amplifier MODEL # Motor and Amplifier SGDG- (B) Item Class Gear Motor: 3-5 Week 10GT** Leadtime for Assembly 15GT** Notes: 1. These perfo rmance rating s ap ply when duty cycles are 60% or less, a nd when t he gearm otor runs for 1,000 cycles p er 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 V DC bra kes for SGMGH LEGEND AC gea rmotors are standard. Con tact a local source for 24V DC po wer supplies. 5. For technical information, request Yaskawa manual number YEA-SIA-LGD-1.2. * To a chieve the speed/torque performance listed abo ve, use only with VAC 3 phase 10%-15 % systems. For more detailed SGDG amplifier specifications and dimensions, refer to pages 91 to 95. Amplifier: Stock 72

73 Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMGH AC gearmotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) Encoder Cable 0.5, 0.9, 1.3 B1E- (A) B1BE- (A) JZSP-CMP02- (B) 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. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m SGMGH Gearmotors Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections All 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** Input/Output 1CN Cable & Transition Terminal Block JUSP-TA36P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads CKI-SGDG- Use the following key to specify needed cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 73

74 Connector Selection Use the table below to select mating connectors for your SGMGH AC gearmotor. Connector Description (D) MS Connector for Motor Power Cable * Motor Size (kw) 0.5, 0.9, 1.3 Part Number without Brake with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS A MS A Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector Item Class MS Connector for Encoder Cable MS A Cable clamp SGMGH Gearmotors 1CN Mating Connector All DP Can use 1CN for analog speed and torque monitor service checks. Stock 2CN Encoder Mating Connector JZSP-CMP9-1 * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-t ype connector MS3108B18-10S is compatible with cable clamp MS A. 74

75 Peripheral Device Selection Use the table below to select peripheral devices for your SGMGH AC gearmotor. External Regenerative Unit* Component Description (E) Part Number Comments 50Ω 120 watt for 1.0 amp 25Ω 300 watt for 1.5 amp RH120 50ohmJ RH500N25_ohmK This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage. Item Class Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDG servo amplifier section of this catalog for additional specifications, and the LEGEND Digital Torque Amplifier User s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines. SGMGH Gearmotors 75

76 CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your SGMGH AC gearmotor. Power Cable with Connectors (IP67) Cable Description (C) Motor Size (kw) 0.5, 0.9, 1.3 without Brake B1CE- (A) Part Number* with Brake B1BCE- (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 Item Class Limited Stock SGMGH Gearmotors * 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 AC gearmotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class Connector for Motor Power Cable* 1.0, 1.5, 2.0 CE05-8A18-10SD-B-BAS CE A-1(D265) CE05-8A20-15SD-B-BAS CE A-1(D265) L-type connector Cable clamp CE02-6A20-29NSW and CE20BA-S L-type connector (plug and back shell) Limited Stock Connector for Encoder Cable and CE A-3(D265) and Cable clamp (diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. The connect ors list ed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 76

77 Super High Power Rate Series SGMSH - With Incremental Encoder Rated Output: 1.0kW, 1.5kW For Additional Information SGMSH Ratings & Specifications SGMSH Speed/Torque Curves SGMSH Dimensions SGMSH Selection/Ordering Information SGDG Ratings & Specifications SGDG Dimensions Page(s) Design Features 1. Compact Small sized motor Six frame sizes: up to 130in lb peak torque 2. High Speed Rated Speed: 3000rpm Maximum Speed: 5000rpm 3. Encoders 17-bit incremental encoder standard 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 SGMSH 77

78 Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC 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 Instantaneous Maximum Speed: 5000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5 Amplifier System Voltage MOTORS: SGMSH- Rated Output* kw (hp) N m Rated Torque* kg f cm (lb in) N m Instantaneous Peak Torque* kg f cm (lb in) Rated Current* A rms Instantaneous MaximumCurrent* A rms 200Vac 10A A 1.0 (1.3) (28.2) (84.4) A A 1.5 (2.0) (43.4) (130) MOTORS SGMSH- lb f in A rms N m A rm s ( ) Moment of Inertia Capacity Holding Brake (at 20 C) Torque Rated Current lb f in kg f m 2 W N m W A s Coil Resistance Additional Inertia Torque Constant Allowabl e Load Inertia Rated Power Rate* Rated Angular Ac celeration* Inertia Time Constant Inductive Time Constant lb f in kg f m 2 s kw /s rad/s 2 ms ms SGMSH 10A A 15A A 5.6 (0.64) 5.0 (0.56) * These items and torque-speed characteristics quoted in combination with an SGDG digital torque 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 15A A: ( (in)) ( (mm)) 78

79 .Speed / Torque Curves 200V Three-phase System SGMSH-10A A SGMSH-15A A SPEED (rpm) A B SPEED (rpm) A B TOR QU E (N m) TOR QU E (lb i n) TORQUE (N m) TORQUE (lb in ) 200V Single-phase System SGMSH-10A A SGMSH-15A A SPEED (rpm) A B SPEED (rpm) A B SGMSH TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in ) A : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE 79

80 Dimensions in inches (mm) (1) 17-bit Incremental Encoder L LL LR LT LM LG LE A A LC 3.94 (1 00) S LH LA LR LE Q QK LC LB S KL (8) KL1 KB2 KB1 A LZ MTG Holes 0.28 (7) (4) SGMSH Ty pe SGMSH- L LL LM LR LT KB1 KB2 KL1 KL2 Flange Dimensions Shaft End Dimension ΦLA ΦLB ** LC LE LG ΦLH ΦLZ ΦS* Q QK Approx im ate Mass lb f (kg) Allowable Radial Load lb f (N) 10A A (194) (149) 5.87 (103) (76) (128) (45) (46) (96) (87) (115) (95) (100) (3) (10) (130) (4.6) (7) (24) (40) (32) (686) 15A A (220) (175) 6.89 ( ) (102) (154) 12.8 (5.8) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 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 *ΦS **ΦLB Uni t Di am eter To le ra nc e Diameter Tolerance in mm Allowable Thrust Load lb f (N) 44 (196) Encoder Plug M A B L K T N P C D J S R E H G F MS3102A20-29P Connector Wiring on the Incremental Encoders A K B L C Data + M D Data N E P F R G 0V S H +5V dc T J FG (Frame Ground) Non -En vi ronmental Mati ng Connector: MS3108B20-29S (L Type ) MS3106B20-29S (Straight Type) Cable Clamp: MS A Motor Plug D A C B MS 3102A 22-22P Connector Wiring on the Motor Side A U P hase B V Phase C W Phase D Ground Terminal 80

81 (2) 17-bit Incremental, with Brake L LT LL LM LG LE LR A A LC LR LE Q QK LH LA KL1 KL2 LB LC 3.94 (100 ) S A S LZ MTG Holes (7) 0.31 (8) 0.16 (4) KB1 KB2 Type SGMSH- 10AoA6C 9.37 (238) 15AoA6C (264) L LL LM LR LT KB 1 KB2 KL1 KL2 7.6 (193) 8.62 (219) 5.79 (147) 6.81 (173) 1.77 (45) (46) (45) 2.64 (67) (172) (100) (93) (198) 3.43 (87) Flange Dimensions Shaft End Dimension ΦLA ΦLB ** LC LE LG FLH ΦLZ ΦS* Q QK 4.53 (115) 3.74 (95) 3.94 (100) Specified Tolerances 0.12 (3) 0.39 (10) 5.12 (130) 0.28 (7) 0.94 (24) Dimension *ΦS **ΦLB Unit Diameter To le rance Diameter Toler ance in mm (40) 1.26 (32) Appr oxi mate Mass lb f (kg) Allowable Radi al Load lb f (N) 13.2 (6.0) (686) (7.5) Allowable Thrust Load lb f (N) 44 (196) SGMSH Motor Plug F A E B G D C MS3102A20-15P Connector Wiring on the Motor Side A U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 81

82 Selecting Your SGMSH AC Servo System First, select the AC servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: 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 SGMSH 1CN I/O Signal Connector (D) SGDG Digital Torque Amplifier (B) Regenerative Unit (E) Connector for Encoder Signal (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Model Number Designation SGMSH - 10 A C A 6 1 AC Servomotor Type Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) Power Supply A: 200V Encoder Specifications C: 17-bit Incremental Encoder Optional Holding Brake SGMSH Servomotor (A) Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: LEGEND Digital Torque Amplifier User s Manual: YEA-SIA-LGD-1.2 (Manual is provided at no charge with a purchase order, but it must be requested). Accessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed A: 3000rpm 82

83 Servomotor & Amplifier Selection Use the table below to select the appropriate SGMSH AC servomotor and amplifier. Description Peak Torque* (in lb) Rated Torque* (in lb) Motor Inertia (in lb s 2 X 10-3 ) Motor MODEL # (A) Amplifier MODEL # (B)* Analog/Digital Input SGDG- Motor & Amplifier Item Class 200V, 17-bit Incremental Encoder Straight Shaft with Keyway 5000rpm* maximum MS Connectors SGMSH-10ACA SGMSH-10ACA6C 2.19 SGMSH-15ACA SGMSH-15ACA6C 10GT* 15GT* Stock Note: 24V DC brakes for SGMSH AC servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request Yaskawa User s Manual number YEA-SIA-LGD-1.2. * The speed/torque spec ifications listed above are ac hiev able when applied with 200V 3 phase systems. Reference the previously listed speed/torque (force) curves for performance with any other applied voltages and phase(s). For more detailed SGDG amplifier specifications and dimensions, refer to pages 91 to 95. SGMSH 83

84 Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMSH AC servomotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with L-type Connectors (IP67) 1.0, 1.5 B1E- (A) B1BE- (A) 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 Encoder Cable (IP67) JZSP-CMP02- (B) These 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 SGMSH Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections All 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** Input/Output 1CN Cable & Transition Terminal Block JUSP-TA50P 35mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads CKI-SGDG- Use the following key to specify required cable length (last digit of part number): 01: 1m (standard) 02: 2m 03: 3m * 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. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 84

85 Connector Selection Use the table below to select mating connectors for your SGMSH AC servomotor. Connector Description (D) MS Connector for Motor Power Cable * Motor Size (kw) 1.0, 1.5 Part Number without Brake with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS A MS A Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector Item Class MS Connector for Encoder Cable MS A Cable clamp Stock All 1CN Mating Connector DP CN Encoder Mating Connector JZSP-CMP9-1 * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. SGMSH 85

86 Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH AC servomotor. External Regenerative Unit* Component Description (E) Part Number Comments 50Ω 120 watt for 1.0 amp 25Ω 300 watt for 1.5 amp RH120 50ohmJ RH500N25_ohmK This is a general purpose regenerative unit. Caution: Proper set-up is necessary to avoid equipment damage. Item Class Stock * Refer to the SGDG servo amplifier section of this catalog for additional specifications, and the LEGEND Digital Torque Amplifier User s Manual (YEA-SIA-LGD-1.2) for proper resistor sizing guidelines SGMSH 86

87 CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your SGMSH AC servomotor. These are suitable for IP67 environments. Use the standard encoder cable MS A listed on page 85. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) 1.0, 1.5 B1CE- (A) B1BCE- (A) 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 * 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 AC servomotor Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class SGMSH Connector for Motor Power Cable* 1.0, 1.5, 2.0 CE05-8A18-10SD-B-BAS CE A-1(D265) CE05-8A20-15SD-B-BAS CE A-1(D265) L-type connector Cable clamp CE02-6A20-29NSW and CE20BA-S L-type connector (plug and back shell) Limited Stock Connector for Encoder Cable and CE A-3(D265) and Cable clamp (diameters to 0.394in) * 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. 87

88 NOTES: SGMSH 88

89 LEGEND Digital Torque Amplifiers SGDG Digital Torque Amplifiers - For Analog Command/Torque Control For Additional Information SGDG Ratings & Specifications SGDG Dimensions Accessories Peripherals SGMAH SGMPH SGMPH Gearmotors SGMGH SGMGH Gearmotors SGMSH Page(s) Design Features 1. Improved Performance Higher bandwidth response (1.5KHz torque loop frequency response) 2. Faster, simplified control system designs Built-in AC supply...direct connect with wide voltage range compatibility (90-253V ac ) Optional DC Bus 127VDC to 357VAC (Maximum) Simplified, Pre-engineered motor/amp compatibility, guaranteed speed/torque (force) performance and system protection. Compatible with Sigma II servomotors and linear motors 3. Easier start-up and installation No programming, tuning, or parameter adjustments Self checking protective diagnostic and display... for motor, amp, system wiring and power supply monitoring that saves time during installation and helps reduce costly service calls and replacement. Scaleable linear encoder feedback (rotary switch setting) Scaleable position feedback for upper controller Easy to read status monitors: Two LED status lights One seven-segment display Automatic determination of motor settings at connection 4. Additional functionality with ready-to-install application modules Single axis motion controller (future) 5. Certified International Standards UL, cul listed (File #: E147823), CE compliance SGDG Amplifiers 89

90 LEGEND Digital Torque Amplifiers Model Number Designation SGDG - G T LEGEND AC SGDG Servo Amplifier Rated Capacity Model T: Torque Control Power Supply G: 90 to 253V ac * (Optional DC Bus input) Amplifier Model Output kw (HP) (0.13) (0.54) (1.3) (2.0) AC Supply Phases 1 1 or 3 IMPORTANT: * While the amplifier has a wide voltage range capability, choice of system voltage and phase(s) determines the achievable motor speed and torque specifications. Specify your motor and amp system with the torque and speed requirements. Speed/torque (force) curves are published with each motor listing in this catalog. SGDG Amplifiers 90

91 LEGEND Digital Torque Amplifiers SGDG Amplifier Ratings and Specifications Basic Specifications Torque Control Mode Input Power Supply Location Input Signal Torque Reference Main Circuit * Control Circuit Single-phase: AC90 ~ 253V ac Three-phase: AC170 ~ 253V ac Optional DC bus input: 127V DC (minimum) to 357V DC (maximum) Single-phase AC 90 ~ 253V ac Control Mode Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Feedback Serial incremental encoder Ambient**/Storage Temperature 0 to 55 C / -20 to 85 C Ambient/Storage Humidity 90% or less (no-condensing) Vibration/Shock Resistance 4.9m/s 2 /9.8m/s 2 Structure Reference Voltage Input Impedance Base mounted (duct ventilation available as option) and flat mount type 0 to ±10V at peak torque (forward rotation with positive reference). Resolution: 16 bit analog to digital conversion. Approximately 14kΩ Circuit Time Constant Approximately 47µs Position Output Encoder Output Form Encoder Output Phases A, B and C: Line driver output Choices: set with rotary switch: Binary: 512, 1024, 2098, Decimal: 1000, 2500, 5000, 6000, 10,000, 20,000, or 25,000 I/O Signals Sequence Input Monitirs Torque Monitor Speed Monitor Servo ON, Dynamic Brake OFF*** w/choice of Photocoupler input 12V-24 dc (primary) or 5 Vdc TTL inputs (effective logic is High ) 5V/Maximum torque or force 1V/1000rpm or 1000 mm/sec Sequence Output Servo run, alarm (Photocoupler output: 12V-24vdc) Built-in Functions Regenerative Processing Protection LED and Alarm Output Display Others Incorporated. Overcurrent, overload, regenerative error, main circuit voltage error, heat sink overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, switch setting error, linear motor scale polarity error. POWER, CHARGE, one 7-segment LED display Automatic servomotor ID Notes: * When 1Kw and 1.5Kw amps are used with single phase power input, the continuous power rating must be derated to 70%. Reference speed/torque curves for the selected motor for de-ratings. ** Use the amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. *** Regarding: DB (Dynamic Brake) OFF Function. (1) The dynamic brake function is always ON when the main power is not applied. (2) The dynamic brake function is always ON when the logic control power is not applied. (3) The dynamic brake state during SVOFF can be selected with SWI-1 (ON or OFF). (4) When SVOFF or an alarm state occurs during move, the dynamic braking function can be enabled or disabled by the state of DBOFF input signal at the CNI connector. WARNING! If the DB is disabled, the load will coast free. SGDG Amplifiers 91

92 LEGEND Digital Torque Amplifiers Dimensions in inches (mm) SGDG Digital Torque Amplifier (Standard) SGDG-01GT (90V to 253V Single-phase, 30 to 100W) 0.32 (8) YASKAWA Terminal block (3 types) 6.30 (160) (6) CHARGE L1 L2 LEGEND C N L1C 1 L2C B1 B2 U V C W N 2 POWER (106) 1.54 (39) CN1 CN2 Ground terminal x M4 screws 0.24 (10) (6) 2.17 (55) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 3.60 (91.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.67 (17) 0.20 (5) 0.20 (5) 1.97 (50) Approximate mass: 1.76lb (0.8kg) SGDG Amplifiers Connectors on the amplifier (supplied): Connector Symbol Amplifier Receptacle Manufacturer CN A2JL 3M Company CN Molex Co. User needs to obtain the following: Connector Symbol Mating Connector Manufacturer 1CN VE connector A0-008 case 3M Company 2CN Molex Co. 92

93 LEGEND Digital Torque Amplifiers SGDG-04GT (90V to 253V Single-phase, 200W to 400W) 2-Φ0.20 (Φ5) holes (8) YASKAWA 6.30 (160) Terminal block (3 types) CHARGE L1 L2 LEGEND C N L1C 1 L2 C B1 POWER (106) 1.54 (39) CN1 B2 U V W C N 2 CN2 Ground terminal 2 x M4 screws 0.39 (10) 0.24 (6) 0.20 (5) 2.95 (75) 0.24 (6) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.28 (7) 3.60 (91.5) 0.22 (5.5) 2 x M4 screw holes 5.89 ( 149.5) ±0.020 (0.5) (Mounting pitch) 0.67 (17) 0.20 (5) ) 2.48 (63) Mating connectors: see page 92. Approximate mass: 2.43lb (1.1kg) SGDG Amplifiers 93

94 LEGEND Digital Torque Amplifiers SGDG-10GT (170V to 253V, 0.5 to 1.0kW) Air flow 2-Φ0.20 (Φ5) holes 0.31 (8) 6.30 (160) Terminal block (3 types) Air flow 0.24 (6) CHARGE POWER L1 L2 L3 1 2 L1C L2C B1 B2 B3 U V W YASKAWA L EGEND 10 C N 1 C N (106) 1.54 (39) CN1 CN2 Ground terminal 2 x M4 Air flow screws 1.38 (35) 0.39 (10) 0.59 (15) 2.17 (55) 3.54 (90) 2.95 (75) 7.09 (180) Mounting Hole Diagram 0.22 (5.5) 0.28 (7) 5.57 (91.5) 2 x M4 screw holes 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.67 (17) Air flow Approximate mass: 3.75lb (1.7kg) SGDG Amplifiers 0.20 (5) 1.06 (27) 2.48 (63) Mating connectors: see page

95 LEGEND Digital Torque Amplifiers SGDG-15GT (173V to 253V 1.5kW) 2-Φ0.20 (Φ5) holes Heat sink Air flow 0.31 (8) YASKAWA 6.30 (160) LEGEND 15 CHARGE POWER L1 L2 1 2 C N L1C 1 L2C B1 B2 U V (106) (39) CN1 CN2 W C N (5) Ground terminal 2 x M4 screws Air flow 4.33 (110) Terminal block (3 types) 2.95 (75) 7.09 (180) 0.16 (4) Mounting Hole Diagram (5.5) 2 x M4 screw holes 0.28 (7) 5.57 (141.5) 5.89 (149.5) ±0.020 (0. 5) (Mounting pitch) Cooling fan (5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) Approximate mass: 6.17lb (2.8kg) Mating connectors: see page 92. SGDG Amplifiers 95

96 LEGEND Digital Torque Amplifiers Amplifier Switch Settings SW1 Function Selection Switch (dip switches) Switch No. Function At OFF At ON Default Setting Status After DB Stop Release DB after Continue DB after 1 During Base Block motor stop motor stop ON 2 Torque Reference Filter No Yes ON DC-Power Input AC-Power Input 3 Input Power Selection Compatible Compatible ON 4 Linear Scale Polarity Reversal B-Phase progression: U, V, W direction SW2 Linear Scale Pitch Setting (rotary switches) A-Phase progression: U, V, W direction ON (enable only when linear motor is used) 5 Regen overload alarm No Yes ON or warning 6 Feedback pulse B Reversed Not reversed ON phase reversal 7 Command Direction Reversal Reversed Not reversed ON 8 Not used ON Setting Linear Scale Pitch Setting Setting Linear Scale Pitch Setting 0* 0 µ m 8 Not used 1 2 µ m 9 Not used 2 4 µ m A Not used 3 20 µ m B Not used 4 40 µ m C Not used µ m D Not used µ m E Not used 7 Not used F Not used * default setting SGDG Amplifiers Switch Settings 96

97 LEGEND Digital Torque Amplifiers SW3 Encoder Division Ratio Setting (rotary switches) For a 13-bit Rotary Motor Setting Encoder Division Ratio Setting** Setting Encoder Division Ratio Setting** 0* 8192 P/R P/R P/R P/R P/R A 2048 P/R P/R B 2000 P/R P/R C 1800 P/R P/R D 1600 P/R P/R E 1000 P/R P/R F Not used * The default factory setting. ** Post the host controller. For a 17-bit Rotary Motor Setting Encoder Division Ratio Setting** Setting Encoder Division Ratio Setting** 0* P/R 8 30,000 P/R P/R 9 24,000 P/R P/R A 16,000 P/R P/R B 131,072 P/R*** P/R C 120,000 P/R*** P/R D 100,000 P/R*** P/R E 80,000 P/R*** P/R F Not used * The default factory setting. ** Post the host controller. *** Max. motor rpm must be limited to 2500 rpm to avoid an overspeed alarm. For Linear Motors Setting Encoder Division Ratio Setting** Setting Encoder Division Ratio Setting** 0* 1/20 8 1/32 1 1/ /16 2 1/250 A 1/10 3 1/200 B 1/8 4 1/128 C 1/5 5 1/100 D 1/4 6 1/64 E 1/2 7 1/40 F Not used SGDG Amplifiers * The default factory setting. ** Post the host controller. 97

98 LEGEND Digital Torque Amplifiers Regenerative Resistance External Regenerative Resistors 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. When mounted externally, be sure to remove the jumper between B2 and B3 (for 10GT and 15GT), which deactivates the internal regenerative resistor, and connect to B1 and B2. If the power resistor is used at the rated load rate, resistor temperatures will reach 200ºC~300ºC. Be sure to derate before using. Check with the manufacturer for the load characteristics of the resistor. Use at a load rating of 20% or less when using natural cooling (natural convection cooling), and at 50% or less when forced air cooling is used. For safety reasons, we recommend the use of resistors with thermostatic switches. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. Use Yaskawa s Sigma II Series Servo System User s Manual: YEA-SIA-S for tips on calculating capacity requirements of external regenerative resistor. Applicable Amplifier Regenerative Resistor Mounted in a Amplifier Resistance (Ω) Capacity* (W) Regenerative Power Process by Integrated Resistor (W) Minimum Allowable Resistance (Ω) 200V Singlephase SGDG- 01GT SGDG- 04GT V Threephase SGDG- 10GT SGDG- 15GT SGDG Amplifiers * Capacity prior to derating. The regenerative capacity (average) which can be processed is a 20% rating of the regeneration resistor capacity integrated in the Amp. 98

99 LEGEND Digital Torque Amplifiers Regenerative Resistance The following table provides guidelines by example for the selection of regenerative resistors. Please consult the Design and Maintenance section of the Sigma II Series User s Manual (No. YEA-SIA-S ) for a more detailed description of the selection procedure. Part # RH500N25_OHMK JUSP-RG08D Namepl ate 3.15 (80) 0.18 (4.5) 1.57 (40) 9.84 (250) 9.21 (234) 8.58 (218) 2 - M (3) 2.36 (60) 2 - Φ0.18 (Φ4.5) (0. 59) 15 (0.59) (0.24) 16 0 (6.30 ) 130 (5.12) 149 (5.87) 25 (0.98) + REGENERATIVE UNIT JU S P-RG08 D PO WER RE-ON AL-RE AL-O V P/Y3 N (Y4) (Y5) C1 C2 Hol e6 dia. ( Φ 0.24) X X X X X X X M4 External Terminal Screws x x 5 (0.20) (0. 98) (1.97) 6 (0.24) (0.73) (5.12) Lead wire: L = (450) Rated power: 300W Resistance value: 25Ω Regenerative Resistor Specifications Tolerance J: ±5%, K: ±10% Temperature Characteristics ±260PPM/ C (20Ω or higher) Withstand Voltage R at 2000V ac applied for one minute: ±(0.1% Ω) Insulation Resistance 500V dc 500VDC Short-term Overload R with ten times the rated power applied for five seconds: ±(2% Ω) 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 SGDG Amplifiers 99

100 LEGEND Digital Torque Amplifiers Connection Diagram, Single-phase 1 MCCB Single-pha se 90 to 253 V ac (50/60Hz) Noise filter Power Power Alarm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 B1 B2 U V W A (1) Servomotor B (2) M C (3) D (4) L1 C L2 C SGDG Amplifier Optical encoder 2C N PG Be sure to gro und 1CN Be sure to properly prepare the end of the shielded wire. Torque reference : 0 to ±10V/motor torque CMD -IN P SG 3 4 LPF* A/D 15 0Ω PAO /PAO PBO /PBO PCO /PCO Encoder output Applicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent 1 +12V to 24V +24V 13 Servo ON with 1Ry ON 1RY /S-ON 14 Dynamic Brake OFF** with 2Ry ON 2RY B OFF k Ω Servo ON DB OFF VT G T- MON SG SGDG Amplifiers Servo ON DB OFF 5V ** GND 5V Connector shell FG Connect shield to connector shell /S-RUN Y+ Servo ready output (ON when ready) /S-RUN - ALM+ ALM- Servo alarm output (OFF with an alarm) Photocoupler maximum output: Ope rating vo ltage : 30V DC Opera ti ng curre nt: 50mA DC *The time constant for the primary filter is 47µs P: Indicates twisted wire pairs. 100

101 LEGEND Digital Torque Amplifiers Connection Diagram, Three-phase Thr ee-phase 1 70 to 2 53V ac (50/60Hz) R S T 1 MCCB Noise filter Po wer Pow er Alarm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 L3 B1 B2 B3 U V W A (1) Servomotor B (2) M C (3) D (4) L1 C L2 C SGDG Amplifier Optical encoder 2C N PG Be sure to gro und 1CN Be sure to properly prepare the end of the shielded wire. Torque reference: 0 to ±10V/motor torque CMD-IN P SG 3 4 LPF* 15 0Ω PAO /PAO PBO /PBO PCO /PCO PG dividing ratio output Applicable line receiver SN75175 or MC3486 -man ufactured b y T/I, or the equivalent 1 Servo ONwith 1Ry ON Dynamic Brake OFF** with 2Ry ON +12V to 24V +24V 13 1RY /S-ON 14 2RY B OFF k Ω Servo ON DB OFF VTG T-MON SG Servo ON DB OFF 5V ** GND 5V Connector shell FG Connect shield to connector shell /S-RUN Y+ Servo ready output /S-RUN - (ON when ready) ALM+ ALM- Servo alarm output (OFF with an alarm) Photocoupler maximum output: Ope rating vo ltage : 30V DC Opera ti ng curre nt: 50mA DC SGDG Amplifiers *The time constant for the primary filter is 47µs P: Indicates twisted wire pairs. 101

102 LEGEND Digital Torque Amplifiers Connector Terminal Block Converter Unit JUSP-TA36P Servo Amplifier YASKAW A L15 8 CN1 +10% Length of cable supplied: (500) -0% 40-pin connector plug FCN-364P040-AU 36-pin terminal block M3.5 screws B1 B (15.5) 0.14 (3.5) (8.5) A (202.5) Connector Terminal Block Converter Unit JUSP-TA36P* (cable included) A (7.3) (29.5) 1.77 (45) Mounting Hole Diagram 8.25 (209.5) 0.14 (3.5) 0.14 (3.5) 0.61 (15.5) 0.27 (7.0) 0.27 (7.0) 8.51 (216.2) 1.16 (29.5) 1.77 (45) SGDG Amplifiers *Terminal specifications : see the following page 102

103 LEGEND Digital Torque Amplifiers JUSP-TA36P Terminal Block Pin Numbers and Signal Names SGDG Servo Amplifier Signal Name* CN1 Pin Number 1 SG 2 T-REF 3 SG 4 5 SG 6 RUN RUN V IN 13 /S-ON 14 DB OFF SG 19 PAO 20 /PAO 21 PBO 22 /PBO 23 PCO 24 /PCO 25 /S-ON 5V VTG 28 T-MON SG 33 ALM+ 34 ALM Connector Case P P P P JUSP-TA36P Terminal Block Unit 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 Terminal Block Number Cable: Supplied with the terminal block P: Indicates twisted pair wires. * Use the connection diagrams on the previous pages for more functional details of recommended wiring. SGDG Amplifiers 103

104 LEGEND Digital Torque Amplifiers Connection Diagram Connection Example The following diagrams show the procedure for wiring a digital torque amplifier to an incremental encoder. Connecting an encoder (CN2) and output signals from the servo amplifier (CN1) Incremental encoder C (5) D (6) P CN A mplif ier A phase B phase C phase CN PAO /PAO PBO /PBO PCO /PCO P P P PG H (1) G (2) Output line-driver SN751LS194 manufactured by T/I, or the equivalent 2-1 PG 5V 2-2 PG 0V Applicable line receiver SN75175 manufactured by T/I, or the equivalent 22AWG 0V 1-19 SG 0V (Shell) J Shield wires Connector shell Connector shell SGDG Amplifiers 104

105 LEGEND Digital Torque Amplifiers Overload Characteristics Digital Torque amplifiers have a built-in overload protection function that protects the amplifiers and servomotors from overload. Allowable power for the amplifiers is limited by the overload protective function, as shown in the figure below. The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C. 10,000 Operating Time (s) 1, A B 1 Rated torque Rated torque + Maximum torque A p pr ox. 2 Maximum Torque Note: The overload protection characteristics of A and B in the figure are applicable when the servo amplifier is combined with one of the following servomotors: A: SGMAH or SGMPH servomotor with a maximum capacity of 400W. B: Other servomotors similar to the SGMAH, SGMPH, SGMGH, and SGMSJ. SGDG Amplifiers Motor Torque 105

106 LEGEND Digital Torque Amplifiers Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices, as well as cable specifications for digital torque 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 (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. Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m). Cable Specifications The following table provides wire size specifications: External Terminal Name Main circuit power input terminals Servomotor connection terminals SGDG Terminal Symbol L1, L2 (Single Phase) U, V, W Wire Size AWG [in 2 (mm 2 )] 01GT 04GT 16 AWG [HIV (1.25) 14 AWG [0.003 (2.0)] 16 AWG [HIV (1.25)] Control power supply terminals L1C, L2C Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 AWG [HIV (2.0)] SGDG Amplifiers 106

107 LEGEND Digital Torque Amplifiers Cable Specifications (cont d) External Terminal Name Main circuit power input terminals Servomotor connection terminals Control power supply terminals SGDG Terminal Symbol 10GT Wire Size AWG [in 2 (mm 2 ) L1, L2, L3 (Three-phase) 14 AWG [HIV (2.0) U, V, W 16 AWG [HIV (1.25)] L1C, L2C 15GT Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 AWG [HIV (2.0)] Notes: 1. Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current. 2. Use cables with a minimum withstand voltage of 600V for main circuits. 3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current. 4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. SGDG Amplifiers 107

108 LEGEND Digital Torque Amplifiers The following table shows types of cables. It is used in conjunction with the preceding tables. Cable Type Temperature Rating of Conductor Name Composition C PVC Standard polyvinyl chloride cable IV 600V PVC cable 60 HIV Temperature-resistant vinyl cable 75 SGDG Amplifiers 108

109 LEGEND Digital Torque Amplifiers The following table specifies the appropriate cables for CN1 and CN2 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 Description Specification Cable Use twisted pair or shielded twisted pair wire. Control I/O Signal CN1 Applicable wire (AWG): 24, 26, 28, 30 Connector Finished cable Φ0.63 (Φ16.0) maximum Dimension Cable Use Yaskawa cable, or shielded twisted pair wire. PG Signal Connector CN2 Applicable wire Finished cable Dimension Peripheral Device Types and Capacities (AWG): 24, 26, 28, 30 Use 22 AWG [0.0005in 2 (0.34mm 2 )] for the encoder power supply and 26 AWG [ in 2 (0.14mm 2 )] for other signals. These conditions permit wiring distances up to 65.6ft (20m). Φ0.27 (Φ6.8) maximum Main Circuit Power Supply Single - phase 100V Single - phase 200V SGDG- Threephase 200V Amplifier Model Capa city (kw) GT 04 GT GT GT GT GT GT Control Power Required (W) Applicable Servomoto r Ca pacity per Amplifier (kva) Power Supply Rated Main Power (A rms ) Maximum In rush Current (A rms ) MCCB or Fuse Capa city* (A rms ) Model SGMAH-A3B SGMAH-A5B Fn /0 7 SGMAH-01B SGMPH-01B SGMAH-02B Fn /07 SGMPH-02B SGMAH-A3A SGMAH-A5A SGMAH-01A SGMPH-01A Fn /0 7 SGMAH-02A SGMPH-02A SGMAH-04A SGMPH-04A Fn /07 SGMAH-08 SGMPH Fn /07 SGMPH Fn /3 3 SGMGH-05A A SGMAH-08A SGMPH-08A SGMGH-09A A SGMSJ-10A SGMPH-15A SGMGH-13A A SGMSJ-15A Fn 258L-16 /07 Recommend ed Noise Filter** Specifications Single-pha se 250V ac 6A Single-pha se 250V ac 10A Single-pha se 250V ac 6A Single-pha se 250V ac 10A Single-pha se 250V ac 16A Single-pha se 250V ac 30A Th ree-phase 480V ac 16A Moto r Magnetic Contactor (10A) or equivalent (20A) or equivalent 35A or equivalent (8A) or equivalent (20A) or equivalent SGDG 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 ma nufactured by Schaffner Corporation. Specifications are available at: www. schaffner.com. 109

110 LEGEND Digital Torque Amplifiers Peripheral Device Manufacturers J.S.T. Corporation 1957 South Lakeside Drive Waukegan, Illinois Phone (847) Molex (Headquarters) (Note: not selling 2CN serial encoder connector in the US) 2222 Wellington Court Lisle, Illinois Phone: (630) Fax: (630) (Connector information is not available from Molex or Yaskawa) For literature requests or Molex support for the 2CN connector, the Chicago area distributor is TTI. Ask for the Yaskawa inside sales representative CALLTTI ( ) Schaffner EMC Inc. 52 Mayfield Ave. Edison, New Jersey Phone: (732) Fax: (732) TDK Corporation of America 1600 Feehanville Dr. Mount Prospect, Illinois Phone: (847) Fax: (847) Tokin America Alvarado-Niles Rd. Suite 500 Union City, California Phone: (510) Fax: (510) SGDG Amplifiers 110

111 LEGEND Digital Torque Amplifier SGDG Product Catalog Supplement Yaskawa... A World of Automation Solutions Yaskawa Electric America, Inc. Chicago-Corporate Headquarters 2121 Norman Drive South Waukegan, Illinois YASKAWA Yaskawa Electric Europe Am Kronberger Hang 2, Schwalbach, Germany Yaskawa Electric Corporation New Pier Takeshiba South Tower, Kaigan Minatoku, Tokyo 105 Japan Yaskawa Electric America, Inc. May, 2004 YEA-KAA-LGD-1B Printed In U.S.A.