SERIES AC SERVO DRIVES PRODUCT CATALOG YASKAWA JQA-0422 JQA-EM0202 JQA-EM0924. Certified for ISO9001 and ISO14001 ENVIRONMENTAL SYSTEM QUALITY SYSTEM

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1 YSKW SERVO DRIVES SERIES PRODUT TLOG ertified for ISO9 and ISO E R T I F M N GE ME N T I E D SYSTE M E R T I F M N GE ME N T I E D SYSTE M QULITY SYSTEM JQ ENVIRONMENTL SYSTEM JQEM JQEM9

2 The Series Raising the ar for Fast and ccurate Positioning Get the best servo performance and increased productivity with a tact time of a few milliseconds. rings out the top potential in your machine, with highspeed, highprecision positioning. The wide motor selection includes ultracompact models as well as flat models and a series of direct drive models. Reference input: nalog voltage/pulse train or MEHTROLINK nalog Voltage or Pulsetrain Reference/ Fully losed ontrol SERVOPK SGDS / MEHTROLINK ompatible SERVOPK SGDS Rotary Servo Drives Directdrive Servomotors Note: The motors do not include the connectors shown in the photo. Rotary Servomotors

3 Servomotors Singlephase V SGDS SGDS SGDS SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF Series SGDS SERVOPK Singlephase V SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS8 SGDS SGDS SGDS SGDS8 SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS8 Threephase V SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS7 SGDS SGDS SGDS SGDS SGDS(SGDS) SGDS SGDS SGDS7 SGDS SGDS SGDS SGDS SGDS SGDS(SGDS) SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGMMJ ( mini Series) min models SGMS (Super High Power apacity) min 8 models SGMPS (Flat Type) min models SGMSS (Super High Power apacity) min 8 models SGMGH (Highspeed Feed Series) min 8 models SGMGH (Highspeed Feed Series) min 8 models SGMS (Direct Drive) min 9 models min 8 models SGMMJ ( W) SGMMJ ( W) SGMMJ ( W) SGMS ( W) SGMS ( W) SGMS ( W) SGMS ( W) SGMS ( W) SGMS ( W) SGMS8 (7 W) SGMS (. kw) SGMPS ( W) SGMPS ( W) SGMPS ( W) SGMPS8 (7 W) SGMPS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS (. kw) SGMSS7 (7. kw) SGMGH ( W) SGMGH9 (8 W) SGMGH (. kw) SGMGH (.8 kw) SGMGH (.9 kw) SGMGH (. kw) SGMGH (. kw) SGMGH7 (7. kw) SGMGH ( W) SGMGH ( W) SGMGH9 (9 W) SGMGH (. kw) SGMGH (. kw) SGMGH (. kw) SGMGH (. kw) SGMGH (. kw) SGMS SGMS SGMS7 SGMS SGMS8D SGMS SGMS SGMS7D SGMSD SGMSE SGMSE SGMSM SGMS8M SGMSM SGMS8N SGMSEN SGMSZN : When using the SGMGH servomotor and the SGDS SERVOPK together, the rated value of the servomotor will change. Use them considering the deratings shown in the right table. Items Rated urrent rms Rated Torque N m llowable Load Moment Rated Motor Speed min SGMGH SGMGH Deratings Rated Value Deratings Rated Value times times times

4 The Series Revolution in Linear Motion Simple structure and ultrahigh accuracy, using a directfeed mechanism to improve machine performance. The directfeed mechanism brings out the optimal performance in your machine. Linear sliders reduce lead time for system design and installation. Reference input: nalog voltage/pulse train or MEHTROLINK nalog Voltage Reference or Pulsetrain Reference SERVOPK SGDS MEHTROLINK ompatible SERVOPK SGDS Linear Servo Drives Linear Sliders Linear Servomotors

5 Linear Servomotors Singlephase V Series SGDS SERVOPK Singlephase V Threephase V SGLGW (oreless, Standard Magnetic Way) SGLGW (oreless, Highforce Magnetic Way) SGLFW (With Ftype Iron ore) SGLTW (With Ttype Iron ore) SGL (ylinder type) Linear Sliders SGLGW SGLGW8 SGLGW SGLGW SGLGW SGLGW SGLGW SGLGW SGLGW9 SGLGW97 SGLGW9 SGLGW SGLGW SGLGW SGLGW SGLGW SGLGW SGLFW9 SGLFW SGLFW SGLFW SGLFW SGLFW8 SGLFWZ SGLFWZ8 SGLTW7 SGLTW SGLTW SGLTW7 SGLTW SGLTW SGLTW7H SGLTWH SGLTW SGLTW SGLTW7H SGLTWH SGLTW8 SGLTW8 SGLD8 SGLD SGLD SGLD SGLD SGLD7 SGLD SGLD7 SGLD SGLD SGLD SGLD8 SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF Singlephase V SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS SGDS SGDS8 SGDS SGDS SGDS SGDS8 SGDS SGDS SGDS7 SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS SGDS8 SGDS8 Series SGDS SERVOPK Singlephase V Threephase V Trac Tracµ TracMG SGT GD SGT GE SGT GF SGT GG SGT GH SGT GI SGT F SGT F SGT F9 SGT F SGTMM SGTMM SGTMF7 SGTMF SGTMF SGTMF7 SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDSF SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS SGDS8 SGDS SGDS SGDS SGDS SGDS SGDS SGDS8 SGDS8

6 North merican Safety Standards (UL, S) Model UL Standards (UL File No.) S Standards ertification SERVOPK SGDS UL8 (E78) S. No. UL SGMMJ Servomotor SGMS SGMPS SGMSS UL (E87) S. No. UL SGMGH : Underwriters Laboratories Inc. : anadian Standards ssociation. E Marking Model Low Voltage EM Directive Directive EMI EMS ertification SERVOPK SGDS EN78 EN class group EN TÜV PS Servomotor SGMMJ SGMS SGMPS SGMSS SGMGH IE IE IE8 IE9 EN class group EN TÜV PS : TÜV Product Services GmbH Note: Refer to the User s Manual for details on installation conditions. ecause SERVOPKs and servomotors are builtin type, reconfirmation is required after being installed in the final product.

7 SERVO DRIVES System onfiguration Rotary Servo Drives Examples nalog Voltage Reference/ Pulsetrain Reference Singlephase / V Threephase V 8 9 MEHTROLINK ommunications Singlephase / V Threephase V Linear Servo Drives nalog Voltage Reference/ Pulsetrain Reference Singlephase / V Threephase V MEHTROLINK ommunications Singlephase / V Threephase V Rotary Servo Drives Rotary Servomotors SGMMJ SGMS 8 SGMPS SGMSS 9 SGMGH ( min ) 8 SGMGH ( min ) Directdrive Servomotors SGMS SERVOPKs SGDS / (nalog Voltage Reference or Pulsetrain Reference / Fullyclosed ontrol) SGDS (MEHTROLINK ommunications and Fullyclosed ontrol) 8 Linear Servo Drives Linear Servomotors SGLGW (oreless) SGLFW (With Ftype Iron ore) SGLTW (With Ttype Iron ore) SGL (ylinder type) Linear Sliders Trac Trac µ TracMG SERVOPKs SGDS (nalog Voltage Reference or Pulsetrain Reference) 9 SGDS (MEHTROLINK ommunications) Others Read efore Ordering 7

8 System onfiguration Example Rotary Servo Drives For nalog Voltage Reference or Pulsetrain Reference Singlephase V or V Note: Refer to page 8 for system configuration example for fullyclosed control. Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Singlephase V or V R T Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK Digital Operator onnection able for Digital Operator Personal omputer onnection able for Personal omputer Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able Host ontroller Magnetic ontactor Turns the brake power supply on or off. Install a surge absorber. rake Power Supply Used for a servomotor with a brake. attery ase (When an absolute encoder is used.) To N Encoder able Encoder able Servomotor Main ircuit able (Wiring required for the brake) Servomotor Main ircuit able Servomotor 8 Directdrive Servomotor

9 System onfiguration Example Rotary Servo Drives For nalog Voltage Reference or Pulsetrain Reference Threephase V Note: Refer to page 8 for an example of system configuration for fullyclosed control. Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Threephase V R S T Noise Filter Eliminates external noise from the power line. Digital Operator Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK onnection able for Digital Operator Personal omputer onnection able for Personal omputer I/O Signal able Host ontroller Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. To N Magnetic ontactor Turns the brake power supply on or off. Install a surge absorber. Encoder able rake Power Supply Used for a servomotor with a brake. (Wiring required for the brake) attery ase (When an absolute encoder is used.) Servomotor Main ircuit able Encoder able Servomotor Main ircuit able Servomotor Directdrive Servomotor 9

10 System onfiguration Example Rotary Servo Drives For MEHTROLINK ommunications Singlephase V or V Note: Refer to page for an example of system configuration for fullyclosed control. Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Singlephese V or V R T Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK To other stations using MEHTROLINK. onnection able for Digital Operator Digital Operator Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able External Devices such as LED Indicators Magnetic ontactor Turns the brake power supply on or off. Install a surge absorber. rake Power Supply Used for a servomotor with a brake. attery ase (When an absolute encoder is used.) To N Encoder able Encoder able Servomotor Main ircuit able (Wiring required for the brake) Servomotor Main ircuit able Servomotor Directdrive Servomotor

11 System onfiguration Example Rotary Servo Drives For MEHTROLINK ommunications Threephase V Note: Refer to page for an example of system configuration for fullyclosed control. Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Threephase V R S T Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK To other stations using MEHTROLINK. onnection able for Digital Operator Digital Operator Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able External Devices such as LED Indicators To N Magnetic ontactor Turns the brake power supply on or off. Install a surge absorber. rake Power Supply Used for a servomotor with a brake. attery ase (When an absolute encoder is used.) Encoder able Encoder able Servomotor Main ircuit able (Wiring required for the brake) Servomotor Main ircuit able Servomotor Directdrive Servomotor

12 System onfiguration Example Linear Servo Drives For nalog Voltage Reference or Pulsetrain Reference Singlephase V or V Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Singlephase V or V R T Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK Digital Operator onnection able for Digital Operator Personal omputer onnection able for Personal omputer Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able Host ontroller onnection able for Serial onverter Unit Serial onverter Unit Main ircuit able for Linear Servomotor Encoder able onnection able for Hall Sensor Linear Scale (To be provided by customers.) Hall Sensor Unit Linear Servomotor

13 System onfiguration Example Linear Servo Drives For nalog Voltage Reference or Pulsetrain Reference Threephase V Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Threephase V R S T Noise Filter Eliminates external noise from the power line. Digital Operator Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK onnection able for Digital Operator onnection able for Personal omputer Personal omputer I/O Signal able Host ontroller Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. onnection able for Serial onverter Unit Serial onverter Unit Main ircuit able for Linear Servomotor Encoder able onnection able for Hall Sensor Linear Scale (To be provided by customers.) Linear Servomotor

14 System onfiguration Example Linear Servo Drives For MEHTROLINK ommunications Singlephase V or V Power Supply Singlephase V or V R T Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK To other stations using MEHTROLINK. onnection able for Digital Operator Digital Operator Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able External Devices such as LED Indicators onnection able for Serial onverter Unit Serial onverter Unit Main ircuit able for Linear Servomotor Encoder able onnection able for Hall Sensor Linear Scale (To be provided by customers.) Hall Sensor Unit Linear Servomotor

15 System onfiguration Example Linear Servo Drives For MEHTROLINK ommunications Threephase V Moldedcase ircuit reaker (M) Protects the power supply line by shutting the circuit off when an overcurrent is detected. Power Supply Threephase V R S T Noise Filter Eliminates external noise from the power line. Magnetic ontactor Turns the servo on and off. Install a surge absorber. SGDS SERVOPK To other stations using MEHTROLINK. onnection able for Digital Operator Digital Operator Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. I/O Signal able External Devices such as LED Indicators onnection able for Serial onverter Unit Serial onverter Unit Main ircuit able for Linear Servomotor Encoder able onnection able for Hall Sensor Linear Scale (To be provided by customers.) Linear Servomotor

16 Servomotors SGMMJ Model Designation Without Gears SGMMJ mini series SGMMJ servomotor st+nd digits rd digit th digit th digit th digit 7th digit 8th digit st + nd digits ode rd digit ode th digit ode Rated Output Specifications W W W V Power Supply Voltage Specifications Encoder Specifications bit incremental encoder (standard) 7bit absolute encoder (standard) : The number of encoder pulses is 8 P/Rev. : The number of encoder pulses is 78 P/Rev. th digit ode th digit ode 7th digit ode Design Revision Order Specifications Standard (pplicable for SGDS SERVOPK) Shaft End Specifications Straight without flat (standard) Straight with flat (optional) rakes Specifications Without brakes With VD brakes 8th digit ode Options Specifications lank Lead length: mm H Lead length: mm J Lead length: mm K Lead length: mm

17 Features Ultracompact: mm Wide selection: W to W capacity, brake and gear options Mounted encoder: or 7 bits pplication Examples hip mounters P drilling stations Robots Maximum speed:, min With Gears SGMMJ mini series SGMMJ servomotor st+nd digits J rd digit th digit th digit th digit 7th digit 8th digit 9th digit th digit Rotary Servomotors st + nd digits ode rd digit ode V th digit ode Rated Output Specifications W W W Power Supply Voltage Specifications Encoder Specifications bit incremental encoder (standard) 7bit absolute encoder (standard) : The number of encoder pulses: 8 P/Rev. : The number of encoder pulses: 78 P/Rev. th digit ode th digit ode 7th digit Specifications Standard (pplicable for SGDS SERVOPK) Gears J With gears Design Revision Order Specifications Gear Ratio ode Gear Ratio Remarks / / / / / / For SGMMJ (Gear mounting flange: mm) For SGMMJ and (Gear mounting flange: mm) 8th digit ode 9th digit ode th digit ode Shaft End Specifications Straight without flat (standard) Straight with key and tap (optional) rakes Specifications Without brakes With VD brakes Options Specifications lank Lead length: mm H Lead length: mm J Lead length: mm K Lead length: mm 7

18 Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Voltage V Servomotor Model SGMMJ Rated Output W Rated Torque, N m Instantaneous Peak Torque N m Rated urrent rms Instantaneous Max. urrent rms..9.9 Rated Speed min Max. Speed min Torque onstant N m/rms Incremental Rotor Moment (.79) (.7) (.87) kg m of Inertia J bsolute.7..8 (.97) (.9) (.79) Rated Power Rate kw/s Rated ngular cceleration rad/s 9 7 : These items and torquemotor speed characteristics quoted in combination with SGDS SERVOPKs are at an armature winding temperature of. Other values quoted at. ll values are typical. : Rated torques are continuous allowable torque values at with an aluminum plate (heat sink) attached. and : (mm) : (mm), Note: The values in parentheses are for servomotors with holding brakes. Holding rake Electrical Specifications Holding rake Rated Voltage Servomotor Model Servomotor apacity W apacity W Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Holding rake Specifications Holding Torque N m oil Resistance Ω (at ) Rated urrent (at ) SGMMJ..8.8 VD SGMMJ..8. SGMMJ..9. Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone SGMMJ SGMMJ SGMMJ Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Torque (Nžm) Torque (Nžm) Torque (Nžm) 8

19 Servomotors SGMMJ Rotary Motors Ratings and Specifications llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor Model apacity Range llowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) SGMMJ ( V) W to W Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L ) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. Load Moment of Inertia and Motor Speed Rotary Servomotors. SGMMJ ( W). SGMMJ ( W). SGMMJ ( W) Load Moment of Inertia ( kg m ) Load Moment of Inertia ( kg m ) Load Moment of Inertia ( kg m ) min min min Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMMJ llowable Radial Load llowable Thrust Load LR (Fr) N (Fs) N mm..7. Reference Diagram LR Fr Fs 9

20 External Dimensions Units: mm Without rakes W to W Encoder able UL7 ± Motor able WG, UL9 or UL Protective Tube Dia., lack ±...8 Dia. L L. Shaft End L..8 Dia... Dia.. Dia. 8 Dia. Warning Label Nameplate M Tap Depth With rakes W to W Encoder able UL7 ± Protective Tube Dia., lack Motor able WG, UL9 or UL ± L L... Shaft End.8 Dia. Warning Label L. Dia... Dia.. Dia..8 8 Dia. Holding rake (Deenergization Operation) Voltage: VD rake Holding Torque = Rated Motor Torque Nameplate M Tap Depth Model SGMMJ pprox. L L L Flat Mass g 77. Not applied pplied Not applied pplied Not applied pplied pprox. Model L L L Flat Mass SGMMJg Not applied. 8.. pplied Not applied pplied 7 Not applied. 9.. pplied Note: The electromagnetic brake is only used to hold the position and cannot be used to stop the servomotor.

21 Servomotors SGMMJ Rotary Motors Selecting ables able onnection SGDS SERVOPK Encoder able (See Page.) Servomotor Main ircuit able (See Page.) attery ase (When using an absolute encoder.) SGMMJ Servomotor! UTION Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct. Rotary Servomotors Servomtor Main ircuit ables Name For Servomotors without rakes For Servomotors with rakes Length Order No. Standard able Flexible able m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME m JZSPDME JZSPDME To SERVOPK mm U V W Specifications G Wire Markers M rimp Terminals To SERVOPK mm U V W G Wire Markers M rimp Terminals L L To Servomotor To Servomotor Details () () onnector Kit to Servomotors without rakes onnector Kit to Servomotors with rakes JZSPFM9E JZSPFM9E () ables m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m Max. ()

22 Selecting ables () Wiring for Servomotors without rakes () Wiring for Servomotor with rakes Leads to SERVOPK Wire olor Signal Red Phase U White Phase V lue Phase W Green/yellow FG onnector to Servomotor Signal Pin No. Phase U Phase V Phase W FG Leads to SERVOPK Wire olor Signal Red Phase U White Phase V lue Phase W Green/yellow FG lack rake alck rake onnector to Servomotor Signal Pin No. Phase U Phase V Phase W FG rake rake Note: No polarity for connection to a brake () onnector Kits to Servomotor pplicable Servomotors: SGMMJ to Items Without rakes With rakes (For Standard ables) (For Standard ables) Order No. JZSPFM9E JZSPFM9E Manufacturer Molex Japan o., Ltd Plug 9P 9P Pin 8TL pplicable Wire Size WG8 to Model: 8 L ssembly pplicable crimp tool: 7 (For UL7) Required 77 (For UL) aulking Tool ssembly not Required ody: M or 77 Module crimp die: 7 Dimensional Drawings () ables Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) Specifications UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:. mm For brake line: WG (. mm ) Outer diameter of insulating sheath:. mm UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:.7 mm For brake line: WG (. mm ) Outer diameter of insulating sheath:.7 mm Finished Dimensions 7 ±. dia. mm Internal onfiguration and Lead olor Green/ (Yellow) lue lack White Red lack Yaskawa Standard Specifications (Standard Length) able length: m, m, m, m

23 Servomotors SGMMJ Rotary Motors Selecting ables Encoder ables and onnectors Name ables with onnectors at oth Ends (For Incremental Encoder) ables with onnectors at oth Ends (For bsolute Encoder, with a attery ase) ables with Loose Wires to Encoder (For Incremental Encoder) ables with Loose Wires to Encoder (For bsolute Encoder, with a attery ase) onnector Kit to SERVOPK onnector Kit to Encoder Length Order No. Standard able Flexible able m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE JZSPMP9E JZSPMP9E To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Specifications L attery ase (attery ttached.) attery ase (attery ttached.) Plug onnector (rimped) (Molex Japan o., Ltd.) Soldered Soldered L To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) L L To Encoder mm Wire Markers To Encoder mm Wire Markers Details () () () () () Rotary Servomotors ables m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E m JZSPMP9E m JZSPMP9E m Max. m Max. () () Wiring for able with onnectors () Wiring for able with onnectors (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS PS T( ) T(+) Light blue/white Light blue Orange/white Orange lack/light blue Red/light blue lack/pink Red/pink Shell PG V PG V FG Shell lack Red FG Green Orange FG Shield Wire To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS PS T( ) T(+) Light blue/white Light blue Orange/white Orange lack/pink Red/pink lack/light blue Red/light blue Shell PG V PG V FG Shell lack Red FG Green Orange FG attery ase Pin No. Signal T( ) T(+) Shield Wire

24 Selecting ables () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Shell Signal /PS PS T ( ) T (+) PG V PG V FG Shield Wire To Encoder (Servomotor) Lead olor Standard Flexible Marker Light blue/white lack/light blue Light blue Red/light blue Orange/white lack/pink Orange Red/pink lack Green Red Orange Notes: The signals T (+) and T ( ) are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). () onnector Kits to SERVOPK To SERVOPK Pin No. Signal /PS PS T ( ) T (+) PG V PG V Shell FG attery ase Pin No. Signal T ( ) T (+) Shield Wire To Encoder (Servomotor) Lead olor Standard Flexible Marker Light blue/white Light blue lack/pink Red/pink Orange/white lack/light blue Orange lack Red Red/light blue Green Orange Note: e sure to connect the shield wire of encoder cable to the connector case (shell). Items To SERVOPK To Servomotor (Encoder) Order No. JZSPMP9E JZSPMP9E Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. onnector Model No. 7 (soldered) 89 (soldered) Dimensional Drawings (Units: mm) (9) () () () () (9) Note: The mating connector model No. on SERVOPK: The mating connector model No. on servomotor: () ables Items Standard able Flexible able Standard able Order No. JZSPMP9 E JZSPSP9 E JZSPMP9 E able Length m max. m max. Specifications Finished Dimensions UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm. dia. mm UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm.8 dia. mm.8 dia. mm Internal onfiguration and Lead olor Light blue Light blue/ White Red lack Orange Orenge/ White lack/ Light blue Red/ Light blue Orange Green lack/ Pink Red/ Pink Orange Orange /White lack Red Light blue Light blue /White Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m, m able length: m, m, m

25 Servomotors SGMMJ Rotary Motors With Standard acklash Gears Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Ratings and Specifications Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: to arcmin max. Gear Rotation Direction: Same direction as servomotor Servomotor Model SGMMJ Output W Servomotor Rated Speed min Rated Torque N m Gear Ratio Gear Output Moment of Inertia kg m Motor + Gears Gears J /.7/ J.8 /.7/ J /./8..8. J /./ J.8 /.8/ J /.7/8... J /.8/ J.9 /./ J /.9/8..8. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (gear) (efficiency) : Maximum motor speed is up to min at the shaft. : This brake is for holding (deenergization operation) and cannot be used to stop the servomotor. : The allowable torque is limited by gear. Rated Torque/ Efficiency N m Instantaneous Peak Torque N m Rated Speed min Max. Speed min Rotary Servomotors llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMMJ J J J J J J J J J J J J J J J J J J llowable Radial Load (Fr) N llowable Thrust Load (Fs) N LR mm Reference Diagram LR Fr Fs

26 With Standard acklash Gears External Dimensions Without rakes () W and W Encoder able UL7 Warning Label Nameplate ± Motor able WG, UL9 or UL Protective Tube Dia, lack ± L L L M Tap Depth.dia. Holes Y Y 8.9 Dia.... Dia. M Tap Depth ross Section YY Shaft End. Dia. 8 Dia. () W Model SGMMJ L L L Key Tap Depth Note: The key slot conforms to the standard JIS 97 (fine class), and the parallel key is attached to it. pprox. Mass g J None No tap. 9. J ttached ML J None No tap J ttached ML 7. 7 J None No tap J ttached ML J None No tap J ttached ML J None No tap J ttached ML 8. J None No tap J ttached ML Encoder able UL7 ± Motor able WG, UL9 or UL 7. Protective Tube Dia., lack ± Y Y.. 9. Dia. 8. Dia.. M Tap Depth ross Section YY Shaft End R 7 Dia. Warning Label Nameplate.dia. Through Hole Model SGMMJ Key Tap Depth J None No tap J ttached M L J None No tap J ttached M L J None No tap J ttached M L pprox. Mass g Note: The key slot conforms to the standard JIS 97 (fine class), and the parallel key is attached to it.

27 Servomotors SGMMJ Rotary Motors With Standard acklash Gears External Dimensions Units: mm With rakes () W and W Encoder able UL7 ± Protective Tube Dia., lack Warning Label Motor able WG, UL9 or UL 9. ± L L 8 L 7. Y Y 8.9 Dia. M Tap Depth ross Section YY. Shaft End.. Dia.. Dia. 8 Dia.. () W Holding rake (Deenergization Operation) Voltage: VD rake Holding Torque = Rated Motor Torque Encoder able UL7 Holding rake (Deenergization Operation) Voltage: VD rake Holding Torque = Rated Motor Torque Nameplate M TapDepth.dia. Holes Model pprox. Mass L L L Key Tap Depth SGMMJ g J None No tap J ttached M L J None No tap J ttached M L.. 7. J None No tap J ttached M L J None No tap 7 8 J ttached M L J None No tap J ttached M L.. 8. J None No tap J ttached M L Note: The key slot conforms to the standard JIS 97 (fine class), and the parallel key is attached to it....7 ± Motor able WG, UL9 or UL Protective Tube Dia., lack ± Warning Label Nameplate.8 8 Y Y.dia. Through Hole 7. M Tap Depth ross Section YY Shaft End... Dia. 9. Dia. 8. Dia. R 7 Dia. Rotary Servomotors Model SGMMJ Key Tap Depth J None No tap J ttached M L J None No tap J ttached M L J None No tap J ttached M L pprox. Mass g Notes: The key slot conforms to the standard JIS 97 (fine class), and the parallel key is attached to it. The electromagnetic brake is only used to hold the position and cannot be used to stop the servomotor. 7

28 Servomotors SGMS Model Designation Without Gears SGMS series SGMS servomotor st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits ode 8 rd digit W W W W W W 7 W. kw Rated Output Specifications Power Supply Voltage ode Specifications V Note: Servomotor is for V also when SERVOPK is for V. th digit ode th digit ode Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. th digit ode Design Revision Order Specifications Standard Shaft End Specifications Straight without key (standard) Straight with key (optional) Straight with key and tap (optional) 8 Straight with tap (optional) 7th digit ode Options Specifications Without options With 9VD brakes With VD brakes D With oil seal and 9VD brakes E With oil seal and VD brakes S With oil seal 8

29 Features Wide selection: W to. kw capacity, brake and gear options Mounted encoder: 7 bits Maximum speed:, min pplication Examples Semiconductor equipment hip mounters P drilling stations Robots Material handling machines Food processing equipment With Gears SGMS H Rotary Servomotors series SGMS servomotor st+nd digits rd digit th digit th digit th digit 7th digit 8th digit 9th digit st + nd digits ode 8 rd digit ode Rated Output Power Supply Voltage Note: Servomotor is for V also when SERVOPK is for V. th digit ode Specifications W W W W W W 7 W. kw Specifications V Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. th digit ode th digit ode 7th digit Design Revision Order Specifications Standard Gears Specifications HDS planetary lowbacklash H gear J Standard backlash gear Gear Ratio ode Specifications pplicable Gears 7 / / / /9 / / H ( to ), J ( only) H, J H, J H ( only) J ( to 8) H, J 8th digit ode 8 Shaft End pplicable Specifications Gears Flange output type H Straight without key H, J Straight with key and tap H, J Straight with tap H 9th digit ode Options Specifications Without brakes With 9VD brakes With VD brakes 9

30 Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Voltage V Servomotor Model: SGMS 8 Rated Output W 7 Rated Torque, N m Instantaneous Peak Torque N m Rated urrent ms Instantaneous Max. urrent ms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m (.) (.) (.) (.8) (.) (.9) (.9) (.) Rated Power Rate kw/s Rated ngular cceleration rad/s pplicable SERVOPK SGDS 8 8 : These items and torquemotor speed characteristics quoted in combination with SGDS SERVOPKs are at an armature winding temperature of. Other values quoted at. : Rated torques are continuous allowable torque values at with an aluminum heat sink of the following dimensions attached. SGMS,,,,, and 8: mm mm mm SGMS: mm mm mm SGMS: mm mm mm Note: The values in parentheses are for servomotors with holding brakes. Toquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone Motor Speed (min ) SGMS.... Torque (N m) Motor Speed (min ) SGMS...7 Torque (N m) Motor Speed (min ) SGMS..8.. Torque (N m) Motor Speed (min ) SGMS.. Torque (N m) Motor Speed (min) SGMS Torque (N m) Motor Speed (min ) SGMS.. Torque (N m) Motor Speed (min ) SGMS8 8 Torque (N m) Motor Speed (min ) SGMS 9 Torque (N m) Note: The dotted line of the intermittent duty zone indicates the characteristics when a servomotor runs in combination with SERVOPK for V.

31 Servomotors SGMS Rotary Motors Ratings and Specifications Derating Factor for Servomotor fitted with a Shaft Seal If a motor is fitted with an oil seal, use the following derating factors because of the higher friction torque. Servomotor Model 8 SGMS Derating Factor % Holding rake Electrical Specifications Holding rake Rated Voltage 9 VD VD Servomotor Holding rake Specifications Servomotor apacity apacity Holding Torque oil Resistance Rated urrent Model W W N m Ω (at ) (at ) SGMS.9. SGMS.8. SGMS.77. SGMS SGMS SGMS SGMS SGMS SGMS.9 9. SGMS.8 9. SGMS SGMS SGMS SGMS SGMS SGMS Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Rotary Servomotors llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor Model Load Moment of Inertia apacity Range llowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) W to W SGMS W to 7 W. kw The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L ) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. Regenerative resistors are not built into V SERVOPKs for W to W. The following figures show the tentative relationship between the load moment of inertia and motor speed using an example with a load moment of inertia to times the load moment of inertia at the motor shaft. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the builtin regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

32 Ratings and Specifications Load Moment of Inertia and Motor Speed SGMS ( W).7. SGMS ( W).9. SGMS ( W) min Load Moment of Inertia ( kg m ) Load Moment of Inertia ( kg m ) Load Moment of Inertia ( kg m ) (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed.8 SGMS ( W) SGMS ( W).8.7 min min min Load Moment of Inertia ( kg m ). Load Moment of Inertia ( kg m ). Motor Speed (min ) Motor Speed (min ) llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMS llowable Radial llowable Thrust Load LR Load (Fr) N (Fs) N mm Reference Diagram LR Fr Fs

33 Servomotors SGMS Rotary Motors External Dimensions Units: mm Without rakes () W to W. 7. L LL LP... Dia. 8.8 QK Encoder Y Y S Dia.. Dia.. Tap Depth Dia.. Dia. W U T ross Section YY Shaft End Model pprox. Mass L LL LP S Tap Depth QK U W T SGMS kg No key No tap M. L No key No tap M L No key No tap M L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. Rotary Servomotors () W to W L LL LP.. Dia. Encoder QK Y Y Dia.. Dia... Tap Depth 7 Dia.. Dia. W T U ross Section YY Shaft End Model SGMS L LL LP Tap Depth QK U W T pprox. Mass kg No key No tap 8.9 M 8L No key No tap M 8L No key No tap M 8L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals.

34 External Dimensions Units: mm Without rakes () 7 W to W.. 7. L LL LP 8.. Dia. 8 7 QK Encoder Dia. Y Y Dia.. 7 Dia... Tap Depth 9 Dia. 7 Dia. W U T ross Section YY Shaft End Model SGMS L LL LP Tap Depth QK U W T pprox. Mass kg No key No tap 8. M 8L No key No tap 8... M 8L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals.

35 Servomotors SGMS Rotary Motors External Dimensions Units: mm With rakes () W to W. 7. L LL LP... Dia. 8.8 QK Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Y Y S Dia.. Dia.. Tap Depth Dia.. Dia. W U T ross Section YY Shaft End Model pprox. Mass L LL LP S Tap Depth QK U W T SGMS kg No key No tap M. L No key No tap M L No key No tap M L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. Rotary Servomotors () W to W L LL LP.. Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD QK Y Y. Dia.. Dia.. Tap Depth 7 Dia. W U T ross Section YY Shaft End. Dia. Model SGMS L LL LP Tap Depth QK U W T Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. pprox. Mass kg No key No tap. M 8L No key No tap M 8L No key No tap M 8L

36 External Dimensions Units: mm With rakes () 7 W to W.. 7. L LL LP 8.. Dia. 8 7 QK U Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Dia. Y Y. Dia. 7. Dia.. Tap Depth 9 Dia. W T ross Section YY Shaft End 7 Dia. Model SGMS L LL LP Tap Depth QK U W T Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. pprox. Mass kg No key No tap 8. M 8L No key No tap. 9.. M 8L

37 Servomotors SGMS Rotary Motors External Dimensions Units: mm Output Shaft of Servomotor with Oil Seal The following table shows the external dimensions of the output shafts for SGMS servomotors with oil seals. Note that the key length, QK, of the servomotors with oil seals, SGMS to, differs from that of the servomotors without oil seals. Model SGMS,, SGMS,, SGMS8, Outer Dimensions 8 apacity W W, W W to W 7 W, W S Output Shaft Dimensional Drawings E 9 E 8 L 7.. QK ( for servomotors without oil seals) ( for servomotors without oil seals) LE LS LS LR 7.. QK.. Dia. S Dia. 9.8 Dia.. Dia. LS LE LS LR. QK S Dia.. Dia. E Dia. E Dia. L Dia. Rotary Servomotors Oil Seal over. Oil Seal over. 7

38 Selecting ables ables onnections For Standard Wiring SGDS SERVOPK For Encoder able Extensions from m up to m (See Page.) (Example) SGDS SERVOPK Relay Encoder able (Required when absolute encoder is used.) Servomotor Main ircuit able (See Page 8.) Encoder able (See Page.) attery ase (When using an absolute encoder.) Encoder cable for m extension,or Encoder cable and connector for m extension Relay Encoder able (To Encoder) SGMS Servomotor SGMS Servomotor Servomotor Main ircuit ables! UTION Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct. 8 Name For Servomotors without rakes For Servomotors with rakes Servomotor apacity Order No. Length Standard able Flexible able m JZSPSME JZSPSME m JZSPSME JZSPSME W to W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME W to W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME 7 Wto W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME W to W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME W to W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME 7 Wto W m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME To SERVOPK Specifications mm L Wire Markers M rimp Terminals To SERVOPK mm L Wire Markers M rimp Terminals To Servomotor To Servomotor Details () () (ont d)

39 Servomotors SGMS Rotary Motors Selecting ables Name Servomotor apacity Length Order No. Standard able Flexible able Specifications Details W to W JZSPSM9E () aulking ( caulking tool is required.) onnector Kit to Servomotor W to W JZSPSM9E () 7 W to W JZSPSM9E () ables W to W 7 W to W m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E : Use flexible cables for movable sections such as robot arms. m Max. () Wiring for Servomotors without rakes () Wiring for Servomotor with rakes Leads to SERVOPK Wire olor Green/yellow lue White Red Signal FG Phase W Phase V Phase U onnector to Servomotor Signal Pin No. FG Phase W Phase V Phase U Leads to SERVOPK Wire olor Green/yellow lue White Red lack lack Signal FG Phase W Phase V Phase U rake rake Note: No polarity for connection to a brake onnector to Servomotor Signal Pin No. FG Phase W Phase V Phase U rake rake () (7) Rotary Servomotors () onnector Kits to Servomotor: For W to W Servomotors Items Specifications Dimensional Drawings Order No. JZSPSM9E pplicable Servomotors SGMS to Manufacturer J.S.T. Mfg. o., Ltd. Instruction Manual JF onnector J7 Receptacle J7FMH7KL Electrical ontact SJFGFP.8 pplicable Wire Size WG to Outer Diameter of Insulating Sheath. to. mm aulking Hand tool YRS88 Tool pplicator PLMK SJF/M8 Mounting Screws M Panhead screws Outer Diameter of pplicable able 7 ±. mm Units: mm 9 9

40 Selecting ables () onnector Kits to Servomotor: For W to W Servomotors Items Specifications Dimensional Drawings Order No. JZSPSM9E pplicable Servomotors SGMS to Units: mm Manufacturer J.S.T. Mfg. o., Ltd. Instruction Manual JF onnector J7 Receptacle J7FMH7KL Electrical ontact SJFGFP. pplicable Wire Size WG to Outer Diameter of Insulating Sheath. to. mm aulking Hand tool YRS88 Tool pplicator PLMK SJF/M8 Mounting Screws M Panhead screws Outer Diameter of pplicable able 7 ±. mm () onnector Kits to Servomotor: For 7 W to W Servomotors Items Specifications Dimensional Drawings Order No. JZSPSM9E pplicable Servomotors SGMS8 and Manufacturer J.S.T. Mfg. o., Ltd. Instruction Manual JF onnector J7 Units: mm Receptacle J7FMH8KL 7 able Type Standard Electrical ontact SJFGFP.8 (For power terminals) SJFGFP.8 (For brake terminals) pplicable Wire Size WG to WG to Outer Diameter of Insulating Sheath. to. mm. to.8 mm aulking Hand tool YRF88 YRF88 Tool PLMK PLMK pplicator SFF/M SFF/M Mounting Screw Outer Diameter of pplicable able M. Panhead screws 8 ±. mm

41 Servomotors SGMS Rotary Motors Selecting ables () ables: For W to W Servomotors Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) Specifications UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:. mm For brake line: WG (. mm ) Outer diameter of insulating sheath:. mm UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:.7 mm For brake line: WG (. mm ) Outer diameter of insulating sheath:.7 mm Finished Dimensions 7±. dia. mm Internal onfiguration and Lead olor Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPSM9E ( m) Green/ (Yellow) lue lack lack White Red able length: m, m, m, m Rotary Servomotors (7) ables: For 7 W to W Servomotors Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) Specifications UL7 (Max. operating temperature: ) WG, WG For power line: WG (. mm ) Outer diameter of insulating sheath:. mm For brake line: WG (. mm ) Outer diameter of insulating sheath:. mm UL7 (Max. operating temperature: ) WG, WG For power line: WG (. mm ) Outer diameter of insulating sheath:. mm For brake line: WG (. mm ) Outer diameter of insulating sheath:.7 mm Finished Dimensions 8. ±. dia. mm lack Internal onfiguration and Lead olor lue Green/ (Yellow) lack Red White Yaskawa Standard Specifications (Standard Length) able length: m, m, m, m : Specify the cable length in of Order No. Example: JZSPSM9E ( m)

42 Selecting ables Encoder ables and onnectors (For Standard Wiring) Name Encoder able with onnectors (For Incremental Encoder) (Note) Encoder able with onnectors (For bsolute Encoder, with a attery ase) Encoder able with Loose Wires to Encoder (For Incremental Encoder) (Note) Encoder able with Loose Wires to Encoder (For bsolute Encoder, with a attery ase) Length onnector Kit to SERVOPK Standard able Order No. Flexible able m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE JZSPMP9E To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Specifications Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) Soldered L L To Encoder onnector (Molex Japan o., Ltd.) To Encoder attery ase (attery attached.) onnector (Molex Japan o., Ltd.) L L attery ase (attery attached.) To Encoder mm Wire Markers To Encoder mm Wire Markers Details () () () () onnector Kit to Encoder JZSPSP9E aulking( caulking tool is required.) () ables m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m Max. : Use flexible cables for movable sections such as robot arms. Note: When a battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable designed for incremental encoders. () () Wiring for able with onnectors () Wiring for able with onnectors (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal /PS PS T() T(+) To Encoder (Servomotor) Pin No. Lead olor Standard Flexible 8 9 Light blue/white Light blue Orange/white Orange lack/pink Red/pink lack/light blue Red/light blue PG V PG V lack Red Shell FG Shield Shell FG Wire Green Orange FG To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS PS T() T(+) 8 9 Light blue/white Light blue Orange/white Orange lack/pink Red/pink lack/light blue Red/light blue Shell PG V PG V FG Shield Shell lack Red FG Green Orange FG attery ase Wire Pin No. Signal T() T(+)

43 Servomotors SGMS Rotary Motors Selecting ables () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK To Encoder (Servomotor) To SERVOPK To Encoder (Servomotor) Pin No. Signal Lead olor Standard Flexible Marker Pin No. Signal Lead olor Standard Flexible Marker /PS Light blue/white lack/pink /PS Lighit blue/white lack/pink PS Light blue Red/pink PS Light blue Red/pink T() Orange/white lack/light blue T() Orange/white lack/light blue T(+) Orange Red/light blue T(+) Orange Red/light blue PG V lack Green PG V lack Green PG V Red Orange PG V Red Orange Shell FG Shield Wire Notes: The signals T (+) and T () are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). Shell FG attery ase Pin No. Signal T() T(+) Shield Wire Note: e sure to connect the shield wire of encoder cable to the connector case (shell). () onnector Kits to SERVOPK Items To SERVOPK To Servomotor (Encoder) Order No. JZSPMP9E JZSPSP9E Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. Rotary Servomotors Specifications 7 (soldered) pplication Specifications: S8 rimping Specifications: S9 7 (caulking) Mounting screw: M panhead screw () Outer diameter of applicable cable:. to 7.7 mm pplicabel wire size: WG to Outer diameter of insulating sheath:. to. mm pplication Specifications: S99 rimping Specifications: S (7) Dimensional Drawings (9). 7 M Panhead Screws (Units: mm) () () 7 9 : caulking tool is required. The following caulking tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for caulking tools. pplicable caulking tool for Yaskawa s wire size: Hand Tool Model No. 77 pplicator Model No. 77

44 Selecting ables () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. Specifications Finished Dimensions. dia. mm.8 dia. mm Internal onfiguration and Lead olor Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPSM9E ( m) UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm Light blue/ White Oramge/ White Red lack Light blue Orange UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm Red/ Light blue able length: m, m, m, m Orange lack/ Pink Red/ Pink Green lack/ Light blue Encoder ables and onnectors (For Extending from m up to m) Name Length Order No. Standard able Specifications Details Relay Encoder ables(for Relay) For Encoder (Same for Incremental and bsolute Encoders). m JZSPSPE To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.). m To Encoder onnector (Molex Japan o., Ltd.) () Encoder cable for m extension (Same for Incremental and bsolute Encoders) m JZSPUMPE m JZSPUMPE m JZSPUMPE To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) () Encoder cable and connector for m extension m to m encoder cables are available. m JZSPMP9E m JZSPMP9E m JZSPMP9E m Max. () Relay Encoder ables(for Relay) For SERVOPK (For bsolute Encoder, with a attery ase). m JZSPSPE To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.). m attery ase (attery attached.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) () : Not required if using an incremental encoder or if using an absolute encoder with a battery connected to the host controller.

45 Servomotors SGMS Rotary Motors Selecting ables () Wiring for Relay Encoder able to Encoder (For Incremental and bsolute Encoders) To SERVOPK Pin No. Signal /PS PS T() T(+) To Encoder (Servomotor) Pin No. Lead olor Light blue/white Light blue 8 Orange/white 9 Orange PG V PG V lack Red Shell FG Shield Shell FG Wire () Wiring specification of m encoder cable extension To SERVOPK Pin No. Signal /PS PS T() T(+) To Encoder (Servomotor) Pin No. Lead olor Light blue/white Light blue Orange/white Orange PG V PG V lack Red Shell FG Shield Shell FG Wire () Specification of m encoder cable extension pplication Standard able Order No. JZSPMP9 E able Length m max. UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Specifications Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm Rotary Servomotors Finished Dimensions.8 dia. mm Internal onfiguration and Lead olors Orange Orange /White lack Light blue Light blue /White Red Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m () Wiring for Relay Encoder able to SERVOPK (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. PG V lack PG V Red Shell FG Shield Shell FG attery ase Wire Pin No. Signal /PS PS T() T(+) Signal T() T(+) To Encoder (Servomotor) Pin No. Lead olor Light blue/white Light blue Orange/white Orange

46 With Standard acklash Gears Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Ratings and Specifications Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: to arcmin max. Servomotor Model SGMS Output W Servomotors Rated Speed min Rated Torque N m Gear Ratio Lost Motion arcmin Gears Rated Torque/ Efficiency N m/% Instantaneous Peak Torque N m Rated Speed min Max. Speed min Moment of Inertia kg m J /.7/ J /./ J /.7/ J7 /./ J /.7/ J /./ J /./ J7 / 8./ J /.9/ J /.9/ J / 8./ J7 /./ J /./ J /.7/ J /.7/ J7 /.8/ J /.8/ J /./ J /./ J7 /./8 9.. J / 7./ J /.8/ J /./ J7 /./ J / 9./ J / 9.8/ J /./ J7 /./ J /./ J /./ J /./ J7 / 9./ : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (efficiency) (gear ratio) Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. Motor + Gears Gears

47 Servomotors SGMS Rotary Motors With Standard acklash Gears Ratings and Specifications llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMS llowable Radial Load (Fr) N J J J J7 J 7 J J J7 8 9 J 7 J J 9 J J 7 J 9 J 8 J J 7 9 J 9 79 J J7 7 J 7 9 J J J7 9 8 J J 8 J 7 8 J7 9 J 9 79 J 8 9 J 7 9 J Servomotors with Standard acklash Gears llowable Thrust Load (Fs) N LR mm Reference Diagram LR Fr Fs Rotary Servomotors 7

48 With Standard acklash Gears External Dimensions Units: mm Without rakes () W to W W L. 7. LL LP LG L LE L LR L Q QK.. Dia. Shaft End L L Dia. S Dia. Dia. Dia. LD Dia. L Dia. T U Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ J / J / J / J7 / 7 8. J / J / J / J7 / J / J / J / 7 9 J7 / Model pprox. L L L Q S Tap Depth QK U W T SGMS Mass kg J J. M 8L J J7 J J. 8.8 M 8L. J J M L.. J. 8.8 M 8L. J M L. J. J7. M L

49 Servomotors SGMS Rotary Motors With Standard acklash Gears External Dimensions Units: mm () W to W. 7. MH L LL LP LG L LE L LR. L Q QK.. Dia. Shaft End L L Dia. S Dia. Dia. Dia. LD Dia. L Dia. T W U Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ J / J / J / J7 / 9 J / J / J / J7 / J / J / J /.. 7. J7 / J / J / J / J7 / J / J / J /.. 9 J7 / Rotary Servomotors Model pprox. L L L Q S Tap Depth QK U W T MH SGMS Mass kg J J M L.. J J7. M L 8 7. J M L..9 J. M L J. 8. M8 L 8.9 J7 J M L.. J. 8. M8 L 8 J. J7. M L 8. 8 J. M L J. 8. M8 L. 8 J. 8 M L. 8 J7 J. M L 8 7. J. J M L 8. J

50 With Standard acklash Gears External Dimensions Units: mm With rakes () W to W W T U 7. L LL LP LG L LE L LR L.. Shaft End. Dia. L L Dia. Q QK S Dia. Dia. Dia. LD Dia. L Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ J / J /.. 7. J / J7 / 7 8. J / J / J / J7 / J / J / J / J7 / Model pprox. L L L Q S Tap Depth QK U W T SGMS Mass kg J J. M 8L J J7 J J. 8.8 M 8L. J J M L.. J. 8.8 M 8L. J M L. J.7 J7. M L 8 7.9

51 Servomotors SGMS Rotary Motors With Standard acklash Gears External Dimensions Units: mm () W to W T. 7. MH L LL LP LG L L LE LR. L Q QK.. Dia. L L Dia. S Dia. Dia. LD Dia. L Dia. W U Shaft End Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ J / J /. 9 J / J7 /. 9 J / J / J / J7 /. J / J / 8 8 J / J7 / J / J / 9. 8 J / 8 J7 / J / J / J / J7 / Rotary Servomotors Model SGMS J J J J7 J 8 9. J J L L L Q S Tap Depth QK U W T MH pprox. Mass kg M L... M L M L... M L 8 7. J7. 8. M8 L 8. J M L.. J M8 L 8 J 7. J7. M L 8. 8 J. M L J. 8. M8 L 7. 8 J. 8 ML. 8 J7 J. M L J J. M L 8. J

52 With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: arcmin max. Servomotor Model SGMS Rated Speed min Rated Torque N m Gear Ratio Lost Motion arcmin Rated Torque/ Efficiency N m/% Instantaneous Peak Torque N m Rated Speed min Max. Speed min H /.7/ H.9 /9./7...8 H /.7/ H7 /./ H /.7/ H.8 /.8/ H /./ H7 / 8./ H /.9/ H.77 /./ H / 8./ H7 /./ H /./ H.7 /.9/ H /./ H7 / 7.9/ H /./ H.7 /.9/ H /.7/ H7 /./ H / 8./ H.9 / 7.9/ H /./ H7 /./ H /./ H 7.9 /./ H /.7/ H7 / 7./8 9.. H /./ H. /./8 7.. H /./ H7 / 9./ : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (efficiency) (gear ratio) Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. IMPORTNT Output W Servomotors Gears Moment of Inertia kg m Motor + Gears Gears The SERVOPK speed control range is :. When using servomotors at extremely low speeds (. min at gear output shaft), or when using servomotors with pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. ontact your Yaskawa representative if you are using your servomotor under these conditions.

53 Servomotors SGMS Rotary Motors With Lowbacklash Gears Ratings and Specifications llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotors with Lowbacklash Gears Servomotor Model llowable llowable Radial Load Thrust Load LR Reference SGMS (Fr) N (Fs) Diagram N mm H 7 7 H H 7 H7 H 7 H 7 H 9 H7 9 H 7 7 H H 9 9 H H H 9 H 9 H H 9 H 9 79 H 8 H7 7 H 9 H H 8 H H H 8 H 8 8 H H 9 79 H 7 H H LR Fr Fs Rotary Servomotors

54 With Lowbacklash Gears External Dimensions Units: mm Without rakes () W to W W U T 7. L LL LP LG L L LE LR L... Dia. Shaft End L Q QK S Dia. Dia. Dia. LD Dia. L Dia. L Dia. Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / H / H7 / H / H / H / H7 / 9 9 H / H / H / 9 9 H7 / Model pprox. L L L Q S Tap Depth QK U W T SGMS Mass kg H H. M 8L H 8.8. H7 H 8.8. M8L H. H H7 8. M L.. H 8.8 M 8L. H 8..9 M L. H.7 H7 9. M L 8 7.

55 Servomotors SGMS Rotary Motors With Lowbacklash Gears External Dimensions Units: mm () W to W W U T. 7. L LL LP LG L L LE LR L... Dia. L Q QK L Dia. S Dia. Dia. Dia. LD Dia. L Dia. MH Shaft End Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / 9 9 H / H7 / 9 H / H / H7 /. 8 H / H / H / H / H7 / H / H / H / H7 / H / H / H / H7 / Rotary Servomotors Model pprox L L L Q S Tap Depth QK U W T MH SGMS Mass kg H 8..8 ML. H. H.. ML 8 7 H7. H 8. ML.. H. ML H 8.. M8L 8 H7. H 8. ML.. H 8..9 M8L 8 H.7 H M L H. ML H 8. M8L. 8 H ML H7 H. ML 8 7. H H 8 M L 7 8. H

56 With Lowbacklash Gears External Dimensions Units: mm With rakes () W to W W U T 7. L LL LP LG L L LE LR L. Q QK S Dia.. Dia. Dia. LD Dia. L Dia.. Dia. Shaft End L L Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / H / H7 / H / H / H / H7 / 9 9 H / H / H / 9 H7 / Model pprox. L L L Q S Tap Depth QK U W T SGMS Mass kg H H. M 8L H H7 H. 8.8 M 8L H.9 H 8. H7 M L..9 H 8.8 M 8L.7 H. 8. M L. H. H7 9. M L 8 7.

57 Servomotors SGMS Rotary Motors With Lowbacklash Gears External Dimensions Units: mm () W to W W. 7. L LL LP LG L L LE LR L Q QK L L Dia. S Dia. Dia. LD Dia. L Dia. MH U T... Dia. Shaft End Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / 9 7 H / H7 / 9 H / H / H7 /. 8. H / H / H / H / H7 / H / H /. 8 H / H7 / H / H / H / H7 / Rotary Servomotors Model pprox. L L L Q S Tap Depth QK U W T MH SGMS Mass kg H. 8. M L. H.9 H.. M L 8 7 H7. H 8. M L..7 H. M L 8 7. H.8 8. M8 L 8 H7 7. H 8. M L.. H. 8. M8 L H 8. H M L H. M L H 8. M8 L. 8 H M L H7 H. M L H H 8 M L 7 H

58 Flange Output Type With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: minutes max. Servomotor Model SGMS Output W Servomotors Rated Speed min Rated Torque N m Gear Ratio Lost Motion arcmin Gears Rated Torque/ Efficiency N m/% Instantaneous Peak Torque N m Rated Speed min Max. Speed min Moment of Inertia kg m Motor + Gears Gears H /.7/ H.9 /9./ H /.7/ H7 /./ H /.7/ H.8 /.8/ H /./ H7 / 8./ H /.9/ H.77 /./ H / 8./ H7 /./ H /./ H.7 /./ H /.7/ H7 /.8/ H /./ H.7 /./ H /./ H7 /./ H / 7./ H.9 /.8/ H /./ H7 /./ H / 9./ H 7.9 /./ H /./ H7 /./ H /./ H. /./ H /./ H7 / 9./ : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (gear ratio) (efficiency) : The instantaneous peak torque values indicated with are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque parameters Pn and for the SERVOPK at %. Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. IMPORTNT The SERVOPK speed control range is :. When using servomotors at extremely low speeds (. min at gear output shaft), or when using servomotors with pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. ontact your Yaskawa representative if you are using your servomotor under these conditions. 8

59 Servomotors SGMS Rotary Motors Flange Output Type With Lowbacklash Gears Ratings and Specifications llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMS llowable Radial Load (Fr) N llowable Thrust Load (Fs) N LR mm H 7 7 H H 7 H7 H 7 H 7 H 9 H7 9 H 7 7 H H 9 9 H H H 9 H 9 H H 9 H 9 79 H 8 H7 7 H 9 H H 8 H H H 8 H 8 8 H H 9 79 H 7 H H Servomotors with Lowbacklash Gears Reference Diagram LR Fr Fs Rotary Servomotors 9

60 Flange Output Type With Lowbacklash Gears External Dimensions Units: mm Without rakes () W to W L LL LR.. 7. LP L LG LE.. Dia. L L Dia. S Dia. Dia. LD Dia. L Dia. LJ Dia. Encoder LZ Dia. 8Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / H / H7 / H / H / H / H7 / H / H / H / H7 / Model SGMS L S Tap Depth LJ pprox. Mass kg H H. ML H H7 H ML H. H H7 +. M7L. H 9 +. ML. H H +. M7L. H M8L.

61 Servomotors SGMS Rotary Motors Flange Output Type With Lowbacklash Gears External Dimensions Units: mm () W to W. 7. MH LL LP LG L LE... Dia. L L Dia. Dia. LD Dia. L Dia. L LR. S Dia. Encoder LZ Dia. LJ Dia. 8Tap Depth Model Gear SGMS Ratio L LL LP LR LE LG LD L L L LZ H / H / 9 H / H7 / 9 H / H / H / H7 / H / H / H / H7 / H / H / H / H7 / H / H / H / H7 / Rotary Servomotors Model SGMS L S Tap Depth LJ MH pprox. Mass kg H.7 +. M7L H.8 H H M8L.9 H +. M7L. H H +. M8L H7 7. H +. M7L. H H +. M8L 7.9 H7 +. ML H M8L 8 H H +. ML 8. 8 H7 H M8L. H. +. ML 8 H H M8L.9

62 Flange Output Type With Lowbacklash Gears External Dimensions Units: mm With rakes () W to W 7. L LL LP LG LR L LE.... Dia. L L Dia. S Dia. Dia. LD Dia. L Dia. LJ Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD LZ Dia. 8Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ H / H / H / H7 / H / H / H / H7 / H / H / H / 9 H7 / Model pprox. L S Tap Depth LJ SGMS Mass kg H +.8. H. ML H H7 H ML H. H H7 +. M7L. H 9 +. ML. H. +. M7L H.7 H M8L.

63 Servomotors SGMS Rotary Motors Flange Output Type With Lowbacklash Gears External Dimensions Units: mm () W to W. 7. L LL LP LR L LG LE.... Dia. L L Dia. Dia. LD Dia. L Dia. MH S Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD LZ Dia. LJ Dia. 8Tap Depth Model SGMS Gear Ratio L LL LP LR LE LG LD L L L LZ H / H / 7 9 H / H7 / H / H / H / H7 / H / H / H / H7 / H / H / 9. 8 H / H7 / H / H / H / H7 / Rotary Servomotors Model SGMS L S Tap Depth LJ MH pprox. Mass kg H. +. M7L H. H H M8L. H +. M7L. H H +. M8L H7 7. H +. M7L. H M8L 7 H.8 H7 +. ML 8. 8 H M8L 8 H H +. ML 8. 8 H7 H M8L 7. H H +. ML 8. H M8L 7.8

64 Servomotors SGMPS Model Designation Without Gears SGMPS series SGMPS servomotor st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits ode 8 rd digit ode Rated Output Power Supply Voltage Note: Servomotor is for V also when SERVOPK is for V. th digit ode Specifications W W W 7 W. kw Specifications V Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. th digit ode E th digit ode Design Revision Order Specifications IP (standard) IP7 (optional) Shaft End Specifications Straight without key (standard) Straight with key (optional) Straight with key and tap (optional) 8 Straight with tap (optional) 7th digit ode Options Specifications Without options With 9VD brakes With VD brakes D With oil seal and 9VD brakes E With oil seal and VD brakes S With oil seal

65 Features Flat type Wide selection:. kw to. kw capacity, brake and gear options Standard protection level: IP (IP7 available on request) Mounted encoder: 7 bits Maximum speed:, min pplication Examples Semiconductor equipment hip mounters P drilling stations Robots Material handling machines Food processing equipment With Gears SGMPS H Rotary Servomotors series SGMPS servomotor st+nd digits rd digit th digit th digit th digit 7th digit 8th digit 9th digit st + nd digits ode 8 rd digit ode Rated Output Power Supply Voltage Note: Servomotor is for V also when SERVOPK is for V. th digit ode Specifications W W W 7 W. kw Specifications V Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. th digit ode E th digit ode 7th digit Design Revision Order Specifications IP (standard) IP7 (optional) Gears Gear Ratio ode 8th digit Shaft End pplicable Specifications Gears Flange output type H Straight without key H, J Straight with key and tap H, J Specifications 8 Straight with tap H H HDS planetary lowbacklash gear 9th digit J Standard backlash gear ode ode Specifications pplicable Gears 7 / / / / / H ( to ), J ( only) H, J H, J J ( to 8) H, J Options Specifications Without brakes With 9VD brakes With VD brakes

66 Ratings and Specifications Time Rating: ontinuous Vibration lass: µ m or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Voltage V Servomotor Model SGMPS 8 Rated Output W 7 Rated Torque, N m Instantaneous Peak Torque N m Rated urrent rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m (.89) (.) (.) (.97) (.89) Rated Power Rate kw/s Rated ngular cceleration rad/s 7 9 pplicable SERVOPK SGDS 8 : These items and torquemotor speed characteristics quoted in combination with SGDS SERVOPKs are at an armature winding temperature of. Other values quoted at. : Rated torques are continuous allowable torque values at with the following aluminum heat sink attached. SGMPS,, : mm mm mm SGMPS8, : mm mm mm Note: The values in parentheses are for servomotors with holding brakes. Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone Motor Speed (min ) SGMPS Motor Speed (min ) SGMPS Motor Speed (min ) SGMPS Torque (Nžm) Torque (Nžm) Torque (Nžm) Motor Speed (min ) SGMPS8 Motor Speed (min ) SGMPS 8 Torque (Nžm) 8 Torque (Nžm) Note: The dotted line of the intermittent duty zone indicates the characteristics when a servomotor runs in combination with a SERVOPK for V.

67 Servomotors SGMPS Rotary Motors Ratings and Specifications Derating Factor for Servomotor fitted with a Shaft Seal If a motor is fitted with an oil seal, use the following derating factors because of the higher friction torque. Servomotor Model 8 SGMPS Derating Factor % 9 9 Holding rake Electrical Specifications Holding rake Rated Voltage Servomotor Model Servomotor apacity W apacity W Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Holding rake Specifications Holding Torque N m oil Resistance Ω (at ) Rated urrent (at ) SGMPS SGMPS VD SGMPS SGMPS SGMPS SGMPS SGMPS VD SGMPS SGMPS SGMPS Rotary Servomotors llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor Model SGMPS apacity Range llowable Load Moment of Inertia (Rotor Moment of Inertia Ratio) W W W 7 7 W,. kw 7

68 Ratings and Specifications Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L ) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. Regenerative resistors are not built into V SERVOPKs for W to W. The following figures show the tentative relationship between the load moment of inertia and motor speed using an example with a load moment of inertia to times the load moment of inertia at the motor shaft. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the builtin regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in. Load Moment of Inertia and Motor Speed.8 Load Moment of Inertia ( kg m ).77 SGMPS( W).9 Load Moment of Inertia ( kg m ). SGMPS( W).8 Load Moment of Inertia ( kg m ). SGMPS( W) min min min Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. llowable Radial llowable Thrust Load LR Servomotor Model Load (Fr) N (Fs) N mm 78 9 Reference Diagram LR SGMPS 8 Fr Fs

69 Servomotors SGMPS Rotary Motors External Dimensions Units: mm Without rakes () W to W. MD ME 7 L LL LR LP ML LG.. Dia. L MW QK Y Y Model Tap pprox. L LL LP LR L L L LZ LG S QK U W T MD ME MH ML MW SGMPS Depth Mass kg No key No tap M L.8 No key No tap M 8L. No key No tap M 8L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. Rotary Servomotors Encoder able UL7, Dia. Servomotor Main ircuit able UL88, 7 Dia. 7 ± ± () L LL LP.. Encoder onnector Servomotor onnector.. Dia MH S Dia. L Dia. L Dia. U T ross Section YY Shaft End W Encoder. Tap Depth LZ Dia. () 7 W and. kw 9 QK Y Y S Dia. Dia.. Dia. W U T ross Section YY Shaft End Encoder. Tap Depth Dia. Model L LL LP S Tap Depth QK U W T SGMPS 8 No key No tap M 8L No key No tap M L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. pprox. Mass kg.. 9

70 External Dimensions Units: mm With rakes () W to W L LL LR. LP MD ME 7 ML LG.. Dia. L MW MH QK Y Y S Dia. L Dia. L Dia. W U T ross section YY Shaft End Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD. Tap Depth LZ Dia. Model Tap pprox. L LL LP LR L L L LZ LG S QK U W T MD ME MH ML MW SGMPS Depth Mass kg No tap M L No tap M 8L No tap M 8L Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. No key.8 No key No key () 7 W and. kw Encoder able UL7, Dia. Servomotor Main ircuit able UL88, 7 Dia. ± ± () Encoder onnector Servomotor onnector L LL LP.... Dia QK Y Y S Dia. Dia.. W U T ross Section YY Shaft End Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD. Tap Depth Dia. Dia. 7 Model SGMPS 8 L LL LP S Tap Depth QK U W T No tap M8L No tap ML Note: Refer to page 7 for dimensions of the output shaft for servomotors with oil seals. No key No key. pprox. Mass kg.7 8.

71 Servomotors SGMPS Rotary Motors External Dimensions Units: mm Output Shaft of Servomotor with Oil Seal The following table shows the external dimensions of the output shafts for SGMPS servomotors with oil seals. Model SGMPS SGMPS, SGMPS8 SGMPS Outer Dimensions 8 apacity W W, W 7 W. kw Output Shaft S E E 9 9 L. 7. QK LE LS.. LS 7 LR LS LE LS LR. QK. Dia..... Dia. Rotary Servomotors Dimensional Drawings Dia. S Dia. E Dia. E Dia. L Dia. S Dia. Dia. 77 Dia.. Oil Seal over. Oil Seal over. 7

72 Selecting ables able onnections For Standard Wiring SGDS SERVOPK SGMPS8 and Servomotors for 7 W and. kw Encoder able (See Page 77.) attery ase (When using an absolute encoder.) Servomotor Main ircuit able (for Relay) Encoder able (for Relay) Servomotor Main ircuit able (See Page 7.) SGMPS to Servomotors for W to W! UTION For Encoder able Extensions from m up to m (Example) (see Page 8.) Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct. SGDS SERVOPK Relay Encoder able (Required when absolute encoder is used.) Encoder cable for m extension,or Encoder cable and connector for m extension SGMPS8 and Servomotors for 7 W and. kw Relay Encoder able (Required when absolute encoder is used.) Encoder cable for m extension,or Encoder cable and connector for m extension Relay Encoder able (To Encoder) 7 SGMPS to Servomotors for W to W

73 Servomotors SGMPS Rotary Motors Selecting ables Servomotor Main ircuit ables Name For Servomotors without rakes For Servomotors with rakes Servomotor Order No. Length apacity Standard able Flexible able W W, W 7 W. kw W W, W 7 W. kw m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME m JZSPMME m JZSPMME m JZSPMME m JZSPMME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPSME JZSPSME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME m JZSPMME m JZSPMME m JZSPMME m JZSPMME To SERVOPK Specifications mm L Wire Markers M rimp Terminals To SERVOPK mm L Wire Markers M rimp Terminals To SERVOPK mm L Wire Markers M rimp Terminals To SERVOPK mm L Wire Markers M rimp Terminals To Servomotor To Servomotor To Servomotor To Servomotor : Use flexible cables for movable sections such as robot arms. (cont d) Details () () () () Rotary Servomotors 7

74 Selecting ables Servomotor Main ircuit ables Name Servomotor apacity Length Order No. Standard able Flexible able Specifications Details W JZSPSM9E aulking () W, W JZSPSM9E () onnector Kit to Servomotor 7 W,. kw (Servomotor without rakes) 7 W,. kw (Servomotor with rakes) JZSPMM9E JZSPSM9E aulking aulking (7) ables Wto W 7 W. kw : Use flexible cables for movable sections such as robot arms. : Requires a caulking tool. m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m Max. (8) (9) () Wiring for Servomotors without rakes: W to W () Wiring for Servomotors without rakes: 7 W and. kw Leads to SERVOPK onnector to Servomotor Leads to SERVOPK onnector to Servomotor Wire olor Green/yellow lue White Red Signal FG Phase W Phase V Phase U Signal FG Phase W Phase V Phase U Pin No. Lead olor Signal Red Phase U White Phase V lue Phase W Green/yellow FG Signal Pin No. Phase U Phase V Phase W FG () Wiring for Servomotor with rakes: W to W () Wiring for Servomotor with rakes: 7 W and. kw Leads to SERVOPK onnector to Servomotor Lead olor Signal Signal Pin No. Green/yellow lue White Red FG Phase W Phase V Phase U FG Phase W Phase V Phase U lack rake rake lack rake rake Note: No polarity for connection to the brake. Leads to SERVOPK onnector to Servomotor Lead olor Signal Signal Pin No. Red White lue Green/yellow lack lack Phase U Phase V Phase W FG rake rake Phase U Phase V Phase W FG rake rake Note: No polarity for connection to the brake. 7

75 Servomotors SGMPS Rotary Motors Selecting ables () onnector Kits to Servomotor: For W Servomotors Items Order No. pplicable Servomotors Specifications JZSPSM9E SGMPS Manufacturer J.S.T. Mfg. o., Ltd. Receptacle J7FMH7KLF Electrical ontacts SJFGFP.8 pplicable Wire Size WG to Outer Diameter of Insulating Sheath. to. mm aulking Tool Hand Tool pplicator YRS88 PLMK SJF/M8 Mounting Screws M Panhead screws Outer Diameter of pplicable able 7 ±. mm () onnector Kits to Servomotor: For W and W Servomotors Items Specifications Order No. JZSPSM9E pplicable Servomotors SGMPS to Manufacturer J.S.T. Mfg. o., Ltd. Receptacle J7FMH7KLF Electrical ontacts SJFGFP. pplicable Wire Size WG to Outer Diameter of Insulating Sheath. to. mm aulking Tool Hand Tool pplicator YRS88 PLMK SJF/M8 Mounting Screws M Panhead screws Outer Diameter of pplicable able 7 ±. mm Dimensional Drawings (Units: mm) 9 Dimensional Drawings (Units: mm) Rotary Servomotors (7) onnector Kits to Servomotor: For 7 W,. kw Servomotors Items Specifications For Servomotors without rakes For Servomotors with rakes Order No. JZSPMM9E JZSPSM9E pplicable Servomotors SGMPS8, Manufacturer Tyco Electronics MP K.K. ap or Socket or 7 or 89 (For brake terminals) pplicable WG to WG to 8 WG to Wire Size (For power line) (For brake line) Hand Tool aulking 77,, Tool pplicator 77, Dimensional Drawings (Units: mm)

76 Selecting ables (8) ables: For to W Servomotors Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) UL7 (Max. operating temperature: ) UL7 (Max. operating temperature: ) WG WG Specifications For power line: WG (. mm ) For power line: WG (. mm ) Outer diameter of insulating sheath:. mm Outer diameter of insulating sheath:.7 mm For brake line: WG (. mm ) For brake line: WG (. mm ) Outer diameter of insulating sheath:. mm Outer diameter of insulating sheath:.7 mm Finished Dimensions 7±. dia. mm Internal onfiguration and Lead olor Green/ (Yellow) lue lack lack White Red Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPSM9E ( m) able length: m, m, m, m (9) ables: For 7 W to. kw Servomotors Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) Specifications Finished Dimensions UL7 (Max. operating temperature: ) UL7 (Max. operating temperature: ) WG, WG WG, WG For power line: WG (. mm ) For power line: WG (. mm ) Outer diameter of insulating sheath:. mm Outer diameter of insulating sheath:. mm For brake line: WG (. mm ) For brake line: WG (. mm ) Outer diameter of insulating sheath:. mm Outer diameter of insulating sheath:.7 mm 8. ±. dia. mm Internal onfiguration and Lead olor lue Green/ (Yellow) lack lack Red White Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPSM9E ( m) able length: m, m, m, m 7

77 Servomotors SGMPS Rotary Motors Selecting ables Encoder ables and onnectors (For Standard Wiring) Name Encoder able with onnectors (For Incremental Encoder) (Note) Encoder able with onnectors (For bsolute Encoder, with a attery ase) Encoder able with Loose Wires to Encoder (For Incremental Encoder) (Note) Encoder able with Loose Wires to Encoder (For bsolute Encoder, with a attery ase) onnector Kit to SERVOPK Servomotor apacity W to W 7 W,. kw W to W 7 W,. kw W to. kw W to. kw Length W to. kw Order No. Standard able Flexible able m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPSP9E JZSPSP9E m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE JZSPMP9E To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK attery ase Plug onnector (rimped) (attery attached.) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK L L To Servomotor onnector (Molex Japan o., Ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) L attery ase (attery attached.) Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK attery ase Plug onnector (attery attached.) (rimped) (Molex Japan o., Ltd.) Soldered Specifications L L L To Encoder onnector (Molex Japan o., Ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) To Encoder mm Wire Markers To Encoder mm Wire Markers Details () () () () () () (7) Rotary Servomotors aulking (Requires a caulking tool.) W to W JZSPSP9E (8) onnector Kit to Encoder 7 W,. kw JZSPMP9E Soldered (9) ables m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m Max. : Use flexible cables for movable sections such as robot arms. Note: When a battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable designed for incremental encoders. () 77

78 Selecting ables () Wiring for able with onnectors: W to W () Wiring for able with onnectors: 7 W and. kw (For Incremental Encoder) (For Incremental Encoder) To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS PS Light blue/white Light blue lack/pink Red/pink T() 8 Orange/white lack/light blue Shell T(+) PG V PG V FG Shield Wire 9 Shell Orange lack Red FG Red/light blue Green Orange FG To SERVOPK Pin No. 9 PG V PG V Shell FG Shield Shell Wire attery ase Pin No. Signal Signal /PS PS T() T(+) T() T(+) To Encoder (Servomotor) Lead olor Pin No. Standard Flexible Light blue/white lack/pink Light blue Red/pink 8 Orange/white lack/light blue Orange Red/light blue lack Green Red Orange FG FG To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS Light blue/white lack/light blue Shell PS T() T(+) PG V PG V FG Shield Wire Shell Light blue Orange/white Orange lack Red FG Red/light blue lack/pink Red/pink Green Orange FG () Wiring for able with onnectors: W to W () Wiring for able with onnectors: 7 W and. kw (For bsolute Encoder, with a attery ase) (For bsolute Encoder, with a attery ase) To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor Standard Flexible /PS Light blue/white lack/pink PS Light blue Red/pink T() Orange/white lack/light blue T(+) Orange Red/light blue PG V lack Green PG V Red Orange Shell FG Shield Shell FG FG attery ase Wire Pin No. Signal T() T(+) () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Shell Signal /PS PS T() T(+) PG V PG V FG Shield Wire To Encoder (Servomotor) Lead olor Standard Flexible Marker Light blue/white lack/light blue Light blue Red/light blue Orange/white lack/pink Orange Red/pink lack Green Red Orange Notes: The signals T (+) and T () are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). (7) onnector Kits to SERVOPK To SERVOPK Pin No. Shell attery ase Pin No. Signal /PS PS T() T(+) PG V PG V FG Signal T() T(+) Shield Wire To Encoder (Servomotor) Lead olor Standard Flexible Marker Light blue/white lack/pink Light blue Red/pink Orange/white lack/light blue Orange Red/light blue lack Green Red Orange Note: e sure to connect the shield wire of encoder cable to the connector case (shell). Items To SERVOPK To Servomotor (Encoder) Order No. JZSPMP9E JZSPMP9E Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. Specifications 7 (soldered) 89 (soldered) Dimensional Drawings (Units: mm) (9) (9) () () () () 78

79 Servomotors SGMPS Rotary Motors Selecting ables (8) onnector Kits to Encoder: W to W Items To SERVOPK To Servomotor (Encoder) Order No. JZSPMP9E JZSPSP9E Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. Specifications 7 (soldered) pplication Specifications: S8 rimping Specifications: S9 7 (caulking) Mounting screw: M panhead screw () Outer diameter of applicable cable:. to 7.7 mm pplicabel wire size: WG to Outer diameter of insulating sheath:. to. mm pplication Specifications: S99 rimping Specifications: S (7). 7 M Panhead Screws Dimensional Drawings (Units: mm) (9) () () : caulking tool is required. The following caulking tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for caulking tools. pplicable caulking tool for Yaskawa s wire size: Hand Tool Model No. 77 pplicator Model No. 77 (9) onnector Kits to Encoder: 7 W and. kw Items To SERVOPK To Servomotor (Encoder) Order No. JZSPMP9E JZSPMP9E Manufacturer Molex Japan o., Ltd. Molex Japan o., Ltd. Specifications 7 (soldered) 89 (soldered) 7 9 Rotary Servomotors Dimensional Drawings (Units: mm) (9) () () () () (9) () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. UL7 (Max. operating temperature: 8 ) UL7 (Max. operating temperature: 8 ) WG +WGP WG +WG P Specifications WG (. mm ) WG (. mm ) Outer diameter of insulating sheath:. mm Outer diameter of insulating sheath:. mm WG (. mm ) WG (. mm ) Outer diameter of insulating sheath:.9 mm Outer diameter of insulating sheath:. mm Finished Dimensions. dia. mm.8 dia. mm Internal onfiguration and Lead olor Light blue/ White Red lack Light blue Red/ Light blue Orange Green lack/ Light blue Orange/ White Orange Red/ Pink lack/ Pink Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m, m 79

80 Selecting ables Encoder ables and onnectors (For Extending from m up to m) Relay Encoder ables(for Relay) Encoder cable for m extension Encoder cable and connector for m extension Name For Encoder (Same for Incremental and bsolute Encoders) Only for to W (Same for Incremental and bsolute Encoders) m to m encoder cables are available. Length Order No. Standard able. m JZSPSPE m JZSPUMPE m JZSPUMPE m JZSPUMPE m JZSPMP9E m JZSPMP9E m JZSPMP9E To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug connector (rimped) (Molex Japan o., Ltd) m Max. Specifications. m To Encoder onnector (Molex Japan o., Ltd.) L To Encoder Socket connector (Soldered) (Molex Japan o., Ltd) Details () () () Relay Encoder ables(for Relay) For SERVOPK (For bsolute Encoder, with a attery ase). m JZSPSPE To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.). m attery ase (attery ttached.) To Encoder Socket onnector (Soldered) (Molex Japan o., Ltd.) () : Not required if using an incremental encoder or if using an absolute encoder with a battery connected to the host controller. () Wiring for Relay Encoder able to Encoder (For Incremental and bsolute Encoders) To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor /PS PS T() T(+) 8 9 Light blue/white Light blue Orange/white Orange Shell PG V PG V FG Shield Wire Shell lack Red FG () Wiring specification of m encoder cable extension To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor /PS PS T() T(+) Light blue/white Light blue Orange/white Orange Shell PG V PG V FG Shield Wire Shell lack Red FG () Specification of m encoder cable extension pplication Order No. able Length Specifications Finished Dimensions Internal onfiguration and Lead olors Standard able JZSPMP9 E m max. UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm Orange Orange /White.8 dia. mm lack Red Light blue Light blue /White () Wiring for Relay Encoder able to SERVOPK (For bsolute Encoder, with a attery ase) To SERVOPK To Encoder (Servomotor) Pin No. Signal Pin No. Lead olor /PS Light blue/white PS Light blue T() Orange/white T(+) Orange PG V lack PG V Red Shell FG Shield Shell FG attery ase Wire Pin No. Signal T() T(+) 8 Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9 E( m) able length: m, m, m

81 Servomotors SGMPS Rotary Motors With Standard acklash Gears Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Ratings and Specifications Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: minutes max. Servomotors Gears Moment of Inertia Servomotor Rated Rated Lost Rated Torque/ Instantaneous Rated Max. kg m Model Output Gear Speed Torque Motion Efficiency SGMPS Peak Torque Speed Speed Motor + W Ratio min N m arcmin N m/% N m min min Gears Gears J /.7/ J /./ J /./ J7 / 8./ J /./ J /.7/ J /.7/ J7 /.8/ J /.8/ J /./ J /./ J7 /./ J / 9./ J / 9.8/ J /./ J7 /./8 9.. J / 9./ J /./ J / 8./ J7 / / : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (efficiency) (gear ratio) Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. Rotary Servomotors llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMPS llowable llowable LR Radial Load Thrust Load (Fr) N (Fs) N mm J 7 J J J7 8 9 J 7 J 9 J 8 J J 7 9 J 9 79 J J7 7 8 J J 8 J 7 8 J7 9 J J 8 9 J J Servomotors with Standard acklash Gears Reference Diagram LR Fr Fs 8

82 With Standard acklash Gears External Dimensions Units: mm Without rakes () W to W ME 7 ML MH L LL LP LG L LE L LR. L Q QK.. Dia. W T U Shaft End L L Dia. Encoder LZ Dia. Tap Depth Model Gear Tap pprox. L LL LP LR LE LG LD L L L LZ L L L Q S QK U W T ME MH ML SGMPS Ratio Depth Mass kg J / J / M 8L. J / J7 / M L.. J / J / M L..8 J / 9 J7 / M L 8 7. J / M L.. J / M L 8 7. J / J7 / M8 L 8. () 7 W and. kw Encoder able UL7, Dia. ± Encoder onnector W Servomotor Main ircuit able UL88, 7 Dia. () Servomotor onnector 7 ±. 8 L LL LM LG L L LE LR L... Dia. Shaft End L L Dia. 9 Q QK S Dia. Dia. Dia. LD Dia. L Dia. S Dia. Dia. Dia. LD Dia. L Dia. Rotating Section (Shown with Hatching) T U Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear pprox.mass L LL LM LR LE LG LD L L L LZ L L L Q S Tap Depth QK U W T SGMPS Ratio kg 8 8 J / M L J / M8 L 8. 8 J / 8 J7 / M L J / M8 L J / J / J7 / M L

83 Servomotors SGMPS Rotary Motors With Standard acklash Gears External Dimensions Units: mm With rakes () W to W T W ME 7 ML MH L LL LP LG L L LE LR. L QK Q.. Dia. U Shaft End L L Dia. LZ Dia. Tap Depth Model Gear Tap pprox. L LL LP LR LE LG LD L L L LZ L L L Q S QK U W T ME MH ML SGMPS Ratio Depth Mass kg Rotary Servomotors () 7 W and. kw Encoder able UL7, Dia. Servomotor Main ircuit able UL88, 7 Dia. ± () Encoder onnector Servomotor onnector W. ±. 8 L LL LM LG L L LE LR L... Dia. Shaft End L L Dia.. Q QK S Dia. Dia. Dia. LD Dia. L Dia. S Dia. Dia. Dia. LD Dia. L Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) J / J / J / J7 / J / J / M 8L M L M L.. 9 J / J7 / M L J / M L.. J / M L 8 7. J / M8 L 8. J7 / T U Encoder Holding rake (Deenergization Operation) Rotating Section LZ Dia. Tap Depth (Shown with Hatching) Power Supply: 9 VD or VD Model Gear pprox. L LL LM LR LE LG LD L L L LZ L L L Q S Tap Depth QK U W T SGMPS Ratio Mass kg 8 J / M L J / M8 L J / 8 J7 / M L 8.7 J / M8 L.9 8 J / J / J7 / M L. 9. 8

84 With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: minutes max. Servomotor Gears Moment of Inertia Servomotor Rated Rated Lost Rated Torque/ Instantaneous Rated Max. kg m Model Output Gear Speed Torque Motion Efficiency SGMPS Ratio Peak Torque Speed Speed Motor + W min N m arcmin N m/% N m min min Gears Gears H /.7/ H /.8/ H /./ H7 / 8./ H /./ H /.9/ H /./ H7 / 7.9/ H /./ H /.9/ H /.7/ H7 /./ H /./ H /./ H /.7/ H7 / 7./8 9.. H /./ H /./ H / 8./ H7 / /8 9.. : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (efficiency) (gear ratio) : The instantaneous peak torque values indicated with are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque parameters Pn and for the SERVOPK at %. Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. llowable Radial and Thrust Loads IMPORTNT The SERVOPK speed control range is :. When using servomotors at extremely low speeds (. min at gear output shaft), or when using servomotors with pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. ontact your Yaskawa representative if you are using your servomotor under these conditions. Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. 8 Servomotor Servomotors with Lowbacklash Gears Model SGMPS llowable Radial Load (Fr) N llowable Thrust Load (Fs) N LR mm H 7 H 7 H 9 H7 9 H H 9 H 9 H H 9 H 9 79 H 8 H7 7 8 H H 8 H 8 8 H H H H H Reference Diagram LR Fr Fs

85 Servomotors SGMPS Rotary Motors With Lowbacklash Gears External Dimensions Units: mm Without rakes () W to W U W T ME 7 ML L LL LP LG L L LE LR L. Model Gear Tap pprox. L LL LP LR LE LG LD L L L LZ L L L Q S QK U W T ME MH ML SGMPS Ratio Depth Mass kg H / H / M 8L. H / H7 / M L..8 H /. H / M L.. H / 9 H7 / M L H / M L.. H / M L 8 7. H / 8. H7 / M8 L 8 7. Rotary Servomotors () 7 W and. kw Encoder able UL7, Dia. ± Encoder onnector W Servomotor Main ircuit able UL88, 7 Dia. 7 9 ± L. 8 () LL LM Servomotor onnector LG L L LE LR L Q QK.. Shaft End. Dia. L L Dia. S Dia. Dia. Dia. LD Dia. L Dia... Dia. Shaft End L L Dia. Q QK S Dia. Dia. Dia. LD Dia. L Dia. MH Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth U T Encoder Rotating Section (Shown with Hatching) LZ Dia. Tap Depth Model Gear pprox. L LL LM LR LE LG LD L L L LZ L L L Q S Tap Depth QK U W T SGMPS Ratio Mass kg 8 H / ML H / M8L H / 8 H7 / ML 7 8. H / M8L. 8 8 H / H / 8 M L 7 H7 /

86 With Lowbacklash Gears External Dimensions Units: mm With rakes () W to W U W Model Gear Tap pprox. L LL LP LR LE LG LD L L L LZ L L L Q S QK U W T ME MH ML SGMPS Ratio Depth Mass kg () 7 W and. kw Encoder able UL7, Dia. Servomotor Main ircuit able UL88, 7 Dia.. ± ± L. 8 () LL LM LG Encoder onnector Servomotor onnector L L LE LR L QK Q.. W Shaft End. Dia. L L Dia. S Dia. Dia. Dia. LD Dia. L Dia. T ME 7 ML L LL LP LG L L LE LR L... Dia. Shaft End L L Dia. Q QK S Dia. Dia. Dia. LD Dia. L Dia. MH Encoder Holding rake (Deenergization Operation) Rotating Section (Shown with Hatching) LZ Dia. Tap Depth H / H / H / H7 / H / H / H / M8L ML ML ML 8 7. H7 / H / ML.. H / ML 8 7. H / H7 / M8L U T Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD Rotating Section (Shown with Hatching) LZ Dia. Tap Depth 8 Model Gear pprox. L LL LM LR LE LG LD L L L LZ L L L Q S Tap Depth QK U W T SGMPS Ratio Mass kg 8 H / M L H / M8 L 9. 8 H / M L 7. 8 H7 / H / M8 L H / H / 8 M L H7 /

87 Servomotors SGMPS Rotary Motors Flange Output Type With Lowbacklash Gears Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: Ratings and Specifications Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: minutes max. Servomotor Model SGMPS Servomotor Gears Moment of Inertia Output Rated Rated Lost Rated Torque/ Instantaneous Rated Max. kg m Gear Speed Torque Motion Efficiency Peak Torque Speed Speed Motor + Ratio Gears W min N m arcmin N m/% N m min min Gears H /.7/ H /.8/ H /./ H7 / 8./ H /./ H /./ H /.7/ H7 /.8/ H /.8/ H /./ H /./ H7 /./ H / 9./ H /./ H /./ H7 /./ H / 9./ H /./ H / 8./ H7 / / : Maximum motor speed is up to min at the shaft. : Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) (efficiency) (gear ratio) : The instantaneous peak torque values indicated with are limited by the gear, so use the following servomotor instantaneous peak torque. In this case, set torque parameters Pn and for the SERVOPK at %. Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear. llowable Radial and Thrust Loads IMPORTNT The SERVOPK speed control range is :. When using servomotors at extremely low speeds (. min at gear output shaft), or when using servomotors with pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. ontact your Yaskawa representative if you are using your servomotor under these conditions. Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Rotary Servomotors Servomotor Servomotors with Lowbacklash Gears Model SGMPS llowable Radial Load (Fr) N llowable Thrust Load (Fs) N LR mm H 7 H 7 H 9 H7 9 H H 9 H 9 H H 9 H 9 79 H 8 H7 7 8 H H 8 H 8 8 H H 9 H H H Reference Diagram LR Fr Fs 87

88 LJ Dia. Flange Output Type With Lowbacklash Gears External Dimensions Units: mm Without rakes () W to W ME 7 ML L LL LP LG LR L LE... Dia. L L Dia. LZ Dia. Model Gear pprox.mass L LL LP LR LE LG LD L L L LZ L S Tap Depth LJ ME MH ML SGMPS Ratio kg () 7 W and. kw Encoder able UL7, Dia. ± Encoder onnector Servomotor Main ircuit able UL88, 7 Dia. () Servomotor onnector ± L. 7. LL LM LG LR L LE.. Dia. L 9 8 L Dia. S Dia. Dia. LD Dia. L Dia. S Dia. Dia. LD Dia. L Dia. MH Encoder LJ Dia. 8Tap Depth H /. H / M L. H / H7 / M 7L. H /.9 H / M 7L. H / 9 H7 / M 8L. H / M 7L.. 9 H / M 8L. H / H7 / M 8L 7.8 Encoder LK LZ Dia. 8Tap Depth 88 Model Gear pprox. L LL LM LR LE LG LD L L L LZ L LJ LK S Tap Depth SGMPS Ratio Mass kg 8 H / H / M 8L 8. 8 H / 8 H7 / M L. H / M 8L. H / M L.8 H / H7 / M8 L.

89 LJ Dia. Servomotors SGMPS Rotary Motors Flange Output Type With Lowbacklash Gears External Dimensions Units: mm With rakes () W to W ME 7 ML L LL LP LR L LG LE... Dia. L L Dia. LZ Dia. Model Gear pprox. L LL LP LR LE LG LD L L L LZ L S Tap Depth LJ ME MH ML SGMPS Ratio Mass kg Rotary Servomotors () 7 W and. kw Encoder able UL7, Dia. Servomotor Main ircuit able UL88, 7 Dia. ± () Encoder onnector Servomotor onnector ± L.. LL LM LG LR L LE.. Dia. L. 8 L Dia. S Dia. Dia. LD Dia. L Dia. Dia. LD Dia. L Dia. MH S Dia. Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD LJ Dia. 8Tap Depth H /. H / M L. H / H7 / M 7L. H /. H / M 7L. H / 9 H7 / M 8L. H / M 7L.7 H / H / M 8L H7 / Encoder Holding rake (Deenergization Operation) Power Supply: 9 VD or VD LK LZ Dia. 8Tap Depth Model Gear pprox. L LL LM LR LE LG LD L L L LZ L LJ LK S Tap Depth SGMPS Ratio Mass kg 8 H / H / M 8L. 8 H / 8 H7 / M L.7 H / M 8L. H / M L 7. H / H7 / M8 L. 89

90 Servomotors SGMSS Model Designation Without Gears SGMSS series SGMSS servomotor st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits ode Rated Output. kw. kw th digit 7 7. kw ode Specifications rd digit ode Specifications. kw. kw. kw. kw. kw V Power Supply Voltage Specifications th digit ode Standard th digit ode Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. Design Revision Order Shaft End Specifications Straight without key (standard) Taper /, with key (optional) Straight with key and tap (optional) 7th digit ode D E S Options Specifications Without options With 9VD brakes With VD brakes With oil seal and 9VD brakes With oil seal and VD brakes With oil seal Note: SGMSS servomotors with a kw, kw, or 7kW capacity do not have brakes. 9

91 Features Super high power Wide selection:. kw to 7. kw capacity, brake and gear options Mounted encoder: 7bit, high resolution pplication Examples hip mounters P drilling stations Machine tool feeders Standard protection level: IP7 (Not including the IP compliant enclosure for 7. kw motor) With Gears SGMSS L Rotary Servomotors series SGMSS servomotor st+nd digits rd digit th digit th digit th digit 7th digit 8th digit 9th digit st + nd digits ode rd digit ode V th digit ode Rated Output Specifications. kw. kw. kw. kw. kw. kw. kw Power Supply Voltage Specifications Encoder Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) Note: The number of encoder pulses is 78 P/Rev. th digit ode th digit ode L 7th digit ode 7 8 Design Revision Order Specifications Standard Gears Specifications Lowbacklash gears Gear Ratio Specifications / /9 / /9 (Not applicable for.kw motors) / (Not applicable for.kw and.kw motors) 8th digit 9th digit Shaft End ode Specifications Straight with key ode Options Specifications Without brakes With 9VD brakes With VD brakes Note: SGMSS servomotors with a kw, kw, or 7kW capacity do not have brakes. 9

92 Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Voltage V Servomotor Model SGMSS 7 Rated Output kw Rated Torque, N m Instantaneous Peak Torque N m Rated urrent rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rated Moment of Inertia kg m (.99) (.) (.7) (.) (9.) 9... Rated Power Rate kw/s Rated ngular cceleration rad/s Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP7 (except for shaft opening) Note: IP for SGMSS7 servomotors. mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive : These items and torquemotor speed characteristics quoted in combination with an SGDS SERVOPK are at an armature winding temperature of. : These characteristics are values with the following aluminum plate (heat sink) attached for cooling. SGMSS,,, : (mm) SGMSS,,, 7 : (mm) Note: The values in parentheses are for servomotors with holding brakes. Holding rake Electrical Specifications Holding rake Rated Voltage Servomotor Model Servomotor apacity W apacity W Holding rake Specifications SGMSS SGMSS VD SGMSS SGMSS 7. SGMSS. SGMSS SGMSS VD SGMSS SGMSS 8. SGMSS Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Holding Torque N m oil Resistance Ω (at ) Rated urrent (at ) Torque motor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone Motor Speed (min ) Motor Speed (min) SGMSS 8 Torque (Nžm) Torque (Nžm) Motor Speed (min ) Motor Speed (min) SGMSS SGMSS SGMSS Torque (Nžm) Torque (Nžm) Motor Speed (min ) Torque (Nžm) Motor Speed (min) Torque (Nžm) Motor Speed (min ) Motor Speed (min) Torque (Nžm) SGMSS SGMSS SGMSS SGMSS7 Torque (Nžm) 9

93 Servomotors SGMSS Rotary Motors Ratings and Specifications llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor SGMSS apacity Range llowable Load Moment of Inertia (Rotor Moment of Inertia Ratio). kw. kw. kw. kw. kw. kw. kw 7. kw Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L ) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. Rotary Servomotors llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model llowable Radial llowable Thrust LR Load (Fr) N Load (Fs) N mm 8 9 SGMSS Reference Diagram LR Fr Fs 9

94 External Dimensions Units: mm Without rakes (). kwto. kw L KL 88 LT LL LM LG LE LR S Dia. L Dia... Dia. L L Dia. LH Dia. Dia. LF Shaft End LR LE R S Dia. Dia. K K. LZ Dia. Mounting Holes Q Note: For the specifications of the other shaft ends, refer to page 9. Model SGMSS L LL LM LR LT K K KL Note: Models with oil seals are of the same configuration. Flange Face Dimensions Shaftend Dimensions pprox. L L L LE LF LG LH LZ S Q Mass kg onnector Specifications for Encoder (7bit Encoder) D E F G H J L M N T P K R D J S E H G F With an bsolute Encoder DT+ DT V + VD FG (Frame ground) Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S ale clamp: MS7 K L M N P R S T TT TT+ With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T onnector Specifications for Servomotor D D Phase U Phase V Phase W FG (Frame ground) () 7. kw Note: Leave a minimum space of 7 mm around the servomotor to allow for a sufficient amount of cooling air. For the specifications of the other shaft ends, refer to page 9. 7 g p, p g Dia. Dia.. onnector Specifications for Fan F E D Receptacle: MSSP pplicable plug (To be provided by the customer) Plug: MS8SS able clamp: MS7 8 9 ooling ir Flow 7 8 R 99 Dia... 9 Dia. pprox. Mass:8. kg D E F Fan motor Fan motor larm terminal larm terminal FG (Frame ground) Note: The connector specifications for the encoder and servomotor are same as those for the SGMSS to the SGMSS servomotors without brakes.

95 Servomotors SGMSS Rotary Motors External Dimensions Units: mm With rakes (). kw to. kw KL 88 LT L LL LM LG LE LR S Dia. L Dia... Dia. L L Dia. LH Dia. Dia. LF LE Shaft End LR S Dia. Dia. K K. LZ Dia. Mounting Holes R Q Note: For the specifications of the other shaft ends, refer to page 9. Model Flange Face Dimensions Shaftend Dimensions pprox. L LL LM LR LT K K KL SGMSS L L L LE LF LG LH LZ S Q Mass kg Note: Models with oil seals are of the same configuration. Rotary Servomotors onnector Specifications for Encoder (7bit Encoder) L M N T P K R D J S E H G F With an bsolute Encoder Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S able clamp: MS7 onnector Specifications for Servomotor F G E D D Phase U Phase V Phase W FG (Frame ground) E F G rake terminal rake terminal Note: No polarity for connection to the brake D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T TT TT+ With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T 9

96 External Dimensions Units: mm Shaft End Specifications SGMSS Symbol Specifications Remarks Straight, without key Standard Taper /, with parallel key (Key slot is JIS97 high precision.) Optional Optional Symbol Specifications Shaft End SGMSS 7 LR LR Straight, without Key Q Q R S Dia. S. 8. Taper /, with Parallel Key Straight, with Key and Tap LW S Dia. LR Q LR R QK Y Y Q QK Q X P V Dia. Taper / U W T T U W Section YY P S Dia. LR 7 8 LW Q Q 8 QK X. S 8 V P M, P. M, P. W 8 T 7 U LR Q QK S. 8. W 8 T 7 U P M8 screw, depth: 9

97 Servomotors SGMSS Rotary Motors Selecting ables able onnections For Standard Wiring SGDS SERVOPK For Encoder able Extensions from m up to m (See Page.) (Example) SGDS SERVOPK Relay Encoder able (To SERVOPK) Encoder able (See Page.) attery ase (When using an absolute encoder.) Encoder cable and connector for m extension Servomotor Main ircuit able (See Page 98.) SGMSS Servomotor SGMSS Servomotor Rotary Servomotors! UTION Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct. 97

98 Selecting ables Servomotor Main ircuit ables ustomers must assemble the servomotor s main circuit cables and attach connectors to connect the SERVOPKs and the SGMSS servomotors. Use the connectors specified by Yaskawa when assembling the cable. Select the appropriate type of connector in accordance with the motor application. The following two types of connectors are available for SGMSS servomotors. Standard IP7 rated and compliant to European Safety standards The cables have no restrictions. Use appropriate cable for the connectors. onnectors: Standard () onnector onfiguration onnector on Servomotor (Receptacle) Straight Plug SGMSS Servomotor able lamp able Lshaped Plug () onnector ombination List Servomotor apacity onnector on Servomotor able onnector to Servomotor Type kw (Receptacle) Straight Plug Lshaped Plug able lamp... MS8P MS8S MS88S MS7 Without. rakes... MSP MSS MS8S MS With rakes. MSP MSS MS8S MS7.. MSP MSS MS8S MS7 98

99 Servomotors SGMSS Rotary Motors Selecting ables Units: mm () Dimensional Drawings: able onnectors to Servomotors MS S: Straight Plug J L W Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L max. Outer Diameter of Joint Nut Q +.8 able lamp Set Screw V Effective Screw Length W min. Maxmum Width Y max. 8 /88UNEF UNEF 9. Q Y /8UNEF /8UNEF 9. 7 V /88UNEF /8UNEF 9. /8UNEF /8UNEF 9. MS8 S: Lshaped Plug Q J V L W U R Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L max. Outer Diameter of Joint Nut Q +.8 R ±. U ±. able lamp Set Screw V Effective Screw Length W min. 8 /8 8UNEF UNEF 9. / / 8UNEF UNEF 9. /8 / 8UNEF UNEF 9. / 7/ UNEF 8UNEF Rotary Servomotors MS7 : able lamp with Rubber ushing. V J (Inner ushing Diameter) E (Inner able lamp Diameter) Q G H (Slide Range) able lamp Type pplicable onnector Shell Size Overall Length ±.7 Effective Screw Length E G ±.7 H J Set Screw V Outer Diameter Q±.7 ttached ushing MS UNEF. N MS7, /8UNEF. N MS /8UNEF. N 99

100 Selecting ables onnectors: IP7 Rated and European Safety Standards () onnector onfiguration onnector on Servomotor (Receptacle) Plug onduit able SGMSS Servomotor Waterproof Straight Plug Waterproof able lamp able Waterproof Lshaped Plug () onnector ombination List apacity kw Servomotor Type onnector on Servomotor (Receptacle) Plug End ell or ack Shell Straight Plug able onnector to Servomotor Lshaped Plug (ngled) able lamp pplicable able Range (For Reference) mm Manufacturer Without rakes E8 PD E88 SD S E8 SD E8 SD SS JLV JLV SE 8SE JLHVE JLV E E PE SE or or J J8 SJE SJE E7 E7 E7 JLK(9) JLK() JLK(). to. dia. 8. to. dia.. to 8.7 dia.. to 9. dia. 9. to. dia..9 to.9 dia. DDK Ltd. With rakes..... JLVE PE JLV 8SE E JLV SE JLV SE E JLV JLV SE 8SE JLVE JL E E PE SE or or J J8 SJE SJE JLK(9) JLK() JLK() JL8K() JL8K() JL8K(7) JL8K(). to 9. dia. 9. to. dia..9 to.9 dia. 9. to. dia.. to. dia.. to 8. dia. 8. to. dia. Japan viation Electronics Industry, Ltd. : End ell is a product of Japan viation Electronics Industry, Ltd. ack Shell is a product of DDK Ltd. : Select cable clamps according to the cable diameter. : The following plugs conform to IP7 protective construction, but not conform to European Safety Standards. For. kw,. kw,. kw, and 7. kw servomotors without brakes Straight plug: JSJE Lshaped plug: J8SJE For. kw servomotors with brakes Straight plug: JSJE Lshaped plug: J8SJE

101 Servomotors SGMSS Rotary Motors Selecting ables Encoder ables and onnectors (For Standard Wiring) Name Length Order No. L Standard able Flexible able Specifications Details Encoder able with onnectors (For Incremental Encoder) Encoder able with onnectors (For bsolute Encoder, with a attery ase) Encoder able with Loose Wires at Encoder End (For Incremental Encoder) Encoder able with Loose Wires at Encoder End (For bsolute Encoder, with a attery ase) m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) To SERVOPK Plug onnector attery ase (rimped) (attery attached.) (Molex Japan o., Ltd.) To SERVOPK L L To Encoder MS9S (DDK Ltd.) MS7 able clamp To Encoder Plug onnector attery ase MS89S (rimped) (attery attached.) (DDK Ltd.) (Molex Japan o., Ltd.) MS7 able clamp To SERVOPK To Encoder L mm Plug onnector Heat Shrink Tubing (rimped) Wire Markers (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) L L L attery ase (attery attached.) To Encoder MS9S (DDK Ltd.) MS7 able clamp Heat shrink tubing Wire markers To Encoder MS89S (DDK Ltd.) MS7 able clamp To Encoder mm mm () () () () Rotary Servomotors onnector Kit to SERVOPK JZSPMP9E Soldered () onnectors to Encoder for Standard (onnector on Servomotor: MS9P) MS9S MS89S MS7 Straight plug Lshaped plug able clamp onnectors to Encoder for IP7/European Safety Standards (onnector on Servomotor: 97FE9P) J9SJE J89SJE JLKE (9) able diameter:. to 9. mm JLKE () able diameter: 9. to mm JLKE () able diameter:.9 to.9 mm m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E ables m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E : Use flexible cables for movable sections such as robot arms. Straight plug Lshaped plug able clamp m Max. () () Wiring for able with onnectors () Wiring for able with onnectors (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Shell Signal PS /PS PGV PGV T() T(+) FG Shield Wire To Encoder (Servomotor) Lead olor Pin No. Standard Flexible Light blue Red/light blue D Light blue/white lack/light blue G lack Green H Red Orange S Orange/white lack/pink T Orange Red/pink J FG Shield FG To SERVOPK Pin No. Shell Pin No. Signal PS /PS PGV PGV T() T(+) FG attery ase Signal T() T(+) Shield Wire To Encoder (Servomotor) Lead olor Pin No. Standard Flexible D G H S T J Light blue Red/light blue Light blue/white lack/light blue lack Green Red Orange Orange/white lack/pink Orange Red/pink FG Shield FG

102 Selecting ables () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal /PS PS T() T(+) PGV PGV To Encoder (Servomotor) Lead olor Marker Standard Flexible Light blue/white lack/light blue Light blue Red/light blue Orange/white lack/pink Orange Red/pink lack Green Red Orange To SERVOPK Pin No. Signal /PS PS T() T(+) PGV PGV To Encoder (Servomotor) Lead olor Marker Standard Flexible Light blue/white Light blue Orange/white Orange lack Red lack/pink Red/pink lack/light blue Red/light blue Green Orange Shell FG Shield Wire Notes: The signals T (+) and T () are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). Shell FG attery ase Pin No. Signal T() Shield Wire T(+) Note: e sure to connect the shield wire of encoder cable to the connecter case (shell). () onnector Kits to SERVOPK Items Order No. Manufacturer onnector Model No. (For Standard) Specifications JZSPMP9E Molex Japan o., Ltd. 7 (soldered) Dimensional Drawings (Units: mm) (9) () () Note: The mating connector model No. on SERVOPK: 88 () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. Specifications UL7 (Max. operating temperature: 8 ) WG+WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm Finished Dimensions. dia. mm.8 dia. mm Light blue Light blue/ White Internal onfiguration and Lead olor Orange Red lack Orange/ White Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPSM9E ( m) able length: m, m, m, m

103 Servomotors SGMSS Rotary Motors Selecting ables Encoder ables and onnectors (For Extending from m up to m) Name Length Order No. Specifications Details Relay Encoder able (for Relay) To SERVOPK (For bsolute Encoder, with a attery ase). m JZSPSPE To SERVOPK. m attery ase Plug onnector (attery attached.) (rimped) (Molex Japan o.,ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o.,ltd.) () MS9S Straight Plug onnector to Encoder for Standard (onnector on Servomotor: MS9P) MS89S MS7 Lshaped Plug able lamp J9SJE Straight Plug Encoder cable and connector for m extension onnector to Encoder for IP7/European Safety Standards (onnector on Servomotor: 97FE9P) J89SJE JLKE (9) able diameter:. to 9. mm JLKE () able diameter: 9. to mm JLKE () able diameter:.9 to.9 mm Lshaped Plug able lamp Rotary Servomotors m JZSPMP9E m to m encoder cables are available. m JZSPMP9E m Max. () m JZSPMP9E : Not required if using an incremental encoder or if using an absolute encoder with a battery connected to the host controller. () Wiring for Relay Encoder able to SERVOPK (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal Shell Pin No. /PS PS T() T(+) PGV PGV FG attery ase Signal T() T(+) Shield Wire To Encoder (Servomotor) Pin No. Lead olor Light blue/white Light blue Orange/white Orange lack Red Shell FG () Specification of m encoder cable extension Order No. able Length Specifications Items Finished Dimensions Internal onfiguration and Lead olors Standard able UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath in mm:. mm WG (. mm ) Outer diameter of insulating sheath in mm:.9 mm Orange JZSPMP9 E m max..8 dia. mm Light blue Orange /white Light blue /white Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m

104 With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µ m or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Gear Mechanism: Planetary gear mechanism Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: minutes max. Gear Lubricating Method: Grease Servomotor Model SGMSS Output kw Servomotors Rated Speed min Rated Torque N m Gear Ratio Rated Torque/ Efficiency N m/% L /.7/8 8./ L /9.9/8 8.7/8.8. L..8 /.9/8 / L7 /9 7.8/8 / L8 / /8 / L / 9./8 8.8/8 8.. L /9./8 / L..9 / 78./8 / L7 /9 /8 / L8 / 7/8 9/ L /./8 7./ L /9 /8 8/ L.. / /8 / L7 /9 8/8 / L8 / /8 88/ L /.8/8 9./ L /9 7./8 7/ L. 7.9 / 7/8 8/ L7 /9 8/8 / L8 / 87/8 8/ L / 9./8 8/ L /9 7./8 / L. 9.8 / 7/8 7/8 7.. L7 /9 7/8 8/8 8.. L8 / /8 8/ L /./8 / L.. /9 9.7/8 7/8.. L / /8 / L7 /9 9/8 877/8 8.. L /./8 9/ L..8 /9 /8 /8.8. L / /8 7/8.. Gears Instantaneous Peak Torque N m/% : The maximum input motor speed of the gears is min. : Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Rated Speed min Max. Speed min Moment of Inertia kg m Motors + Gears Gears Efficiency Efficiency Output Torque Motor Speed Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

105 Servomotors SGMSS Rotary Motors With Lowbacklash Gears Ratings and Specifications llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model SGMSS L L L L7 L8 L L L L7 L8 L L L L7 L8 L L L L7 L8 L L L L7 L8 L L L L7 L L L Servomotors with Lowbacklash Gears llowable Radial Load (Fr) N llowable Thrust Load (Fs) N LR mm Reference Diagram LR Fr Fs Rotary Servomotors

106 With Lowbacklash Gears External Dimensions Units: mm Small Grease Lubricating Type 9 88 LT LL LM L R 7 R Dia... Dia. Dia. 8 Dia. Shaft End 8 pplied Specifications for pplied Specifications for Shaftend Tap Shaftend Tap Q dtapped Hole L S Frame No. Dia. S Length Q d L mm NFJL M8 NFJL 7 M NFJL 9 M 7 Dia. Mounting Holes Detailed Specifications Dimensions of IMT Gearsof IMT Gears (Servomotor) NFJL Dia. Dia. Dia.. Dia. Dia. 9 Dia. Dia. 9 Dia.. (Servomotor) NFJL 9 Dia. 8 Dia. 9 Dia. Dia. Dia.. Dia. 7 Dia. Dia. Dia. 9. R R 7 7 Gear Ratio Gear Ratio / / /9 8 /9 8 /, /9 7 /, /9 / 7 / (Servomotor) NFJL Dia. Dia. Dia. Dia. Dia..9 Dia. 9 Dia. 8 Dia. 8.Dia. R Gear Ratio / /9 /, /9 / Model pprox. Gear Model No. Gear Ratio L LL LM LT R SGMSS Mass kg L / 9 L /9 9 L NFJL / L / 9 7 Note: Since grease has been filled prior to shipment, the servomotor can be used without replenishing grease.

107 Servomotors SGMSS Rotary Motors With Lowbacklash Gears Large Grease Lubricating Type External Dimensions Units: mm LL L R LT LM LG LR Q QK S Dia. L Dia. L Dia. Shaft End T KL 88 R L Dia. W U K K LZ Dia.Mounting Holes Flange Face Dimensions Shaftend Dimensions pprox. Model Gear Model Gear L LL LM LR LT K K KL R Mass SGMSS No. Ratio L L L LG LZ Q QK S T U W kg L / L7 / L8 / NFJL L / L / L7 / L8 NFJL / L / NFJL L / L7 / NFJL L8 / L / NFJL L / L / L7 NFJL / L8 / L / NFJL L / L / L7 NFJL / L8 / L NFJL / L / L / L7 / NFJL L / L / L / Note: Since grease has been filled prior to shipment, the servomotor can be used without replenishing grease. Rotary Servomotors 7

108 Servomotors SGMGH ( min ) Model Designation Without Gears SGMGH st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits Rated Output th digit Design Revision Order 7th digit rake and Oil Seal ode Specifications ode Specifications ode Specifications ode Specifications W.9 kw Standard Without brake 9 rd digit ode 8 W. kw.8 kw 7. kw. kw 7. kw Power Supply Voltage Specifications th digit For highperformance machine tool : pplicable only for models SGMGH to. ode Shaft End Specifications D E With 9VD brake With VD brake With oil seal and 9VD brake With oil seal and VD brake V Straight without key (standard) S With oil seal th digit Encoder Taper /, with parallel key (optional) ode Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) : The number of encoder pulses is 78 P/Rev. Taper /, with woodruff key (optional) Straight with key and tap (optional) : pplicable only for models SGMGH and 9. 8

109 Features Highspeed driving of feed shafts for various machines Wide selection: W to 7. kw capacity, brake and gear options Model for highperformance machine tools: Optional Mounted encoder: 7bit, high resolution Standard protection level: IP7 pplication Examples Machine tools Transfer machines Material handling machines Food processing equipment With Gears SGMGH st+nd digits L rd digit th digit th digit th digit 7th digit 8th digit 9th digit Rotary Servomotors st + nd digits ode 9 Specifications W 8 W. kw.8 kw ode 7 rd digit ode P th digit ode Rated Output Power Supply Voltage Encoder Specifications Specifications.9 kw. kw. kw 7. kw 7bit absolute encoder (standard) 7bit incremental encoder (standard) : The number of encoder pulses is 78 P/Rev. th digit Specifications V (With lowbacklash gear) V (With standard backlash gear) Design Revision Order ode Specifications Standard For highperformance machine tool : pplicable only for models SGMGH to. th digit ode L E F 7th digit Gears Specifications Lowbacklash gear (Flangemounted type) Standard backlash gear (Footmounted type) Standard backlash gear (Flangemounted type) Gear Ratio : vailable Lowbacklash gear (Flangemounted type) ode 7 8 / /9 / /9 / 9 Standard backlash gear ode 7 Gear Ratio Gear Ratio / / / /9 SGMGH 9 SGMGH : Footmounted and flangemounted types are available. 8th digit ode 9th digit ode 7 Shaft End Specifications Straight with key (vailable only for SGMGH with lowbacklash gear) Straight with key and tap (vailable only for SGMGH with standardbacklash gear) rakes Specifications Without brake With 9VD brake With VD brake 9

110 Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP7 (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Voltage V Servomotor Model: SGMGH 9 7 Rated Output Rated Torque Instantaneous Peak Torque Rated urrent kw N m N m rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m Rated Power Rate kw/s Rated ngular cceleration rad/s (.8) (8.9) (9.) (.) (.) (.) (.) (7.) (97.) (.) : These items and torquemotor speed characteristics quoted in combination with an SGDS SERVOPK are at an armature winding temperature of. : The values in the parentheses are those for motors with holding brakes. : If using the SGMGH servomotor and the SGDS SERVOPK together, take into consideration of the rated value in the parentheses. Note: These characteristics are values with the following iron plate (heat sink) attached for cooling. SGMGH, 9, : (mm) SGMGH,,,, 7: (mm)

111 Servomotors SGMGH ( min ) Rotary Motors Ratings and Specifications Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone SGMGH SGMGH9 SGMGH SGMGH Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) 8 Torque (Nžm) Torque (Nžm) Torque (Nžm) Torque (Nžm) SGMGH (In combination with SGDS SERVOPK) SGMGH (In combination with SGDS SERVOPK) SGMGH SGMGH Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Torque (Nžm) SGMGH7 Torque (Nžm) 8 Torque (Nžm) 8 Torque (Nžm) Rotary Servomotors Torque (Nžm) Holding rake Electrical Specifications Holding rake Rated Voltage 9 VD VD Servomotor Model Servomotor apacity W apacity W Holding rake Specifications SGMGH.. 8. SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. Holding Torque N m oil Resistance Ω (at ) Rated urrent (at )

112 Ratings and Specifications llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. Servomotor apacity llowable Load Moment of Inertia Model Range (Rotor Moment of Inertia Ratio) SGMGH ( min ) W to 7. kw : The allowable load moment of inertia will be three times when the SGMGH servomotor and the SGDS SERVOPK are used together. Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L ) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model llowable Radial llowable Thrust LR Load (Fr) N Load (Fs) N mm SGMGH ( min ) Reference Diagram LR Fr Fs

113 Servomotors SGMGH ( min ) Rotary Motors External Dimensions Units: mm Without rakes W to 7. kw L LT LL LM LR. Shaft End KL 88 K LG K LE S Dia. L Dia.. Dia... (For to 7 only.) LH Dia. L LZ Dia.Mounting Holes L Dia. IE SGMGH to LR LE LF S Dia. S Dia. LJ Dia. R Q SGMGH to 7 LR LE LF LF S Dia. S Dia. LJ Dia. R Q LJ Dia. Note: For the specifications of the other shaft ends, refer to page. Model SGMGH 9 7 L LL LM LR LT K K IE KL Flange Face Dimensions L L L LE LF LF LG LH LJ LJ LZ S S Q Shaftend Dimensions pprox. Mass kg Rotary Servomotors Note: Models with oil seals are of the same configuration. onnector Specifications for Encoder (7bit Encoder) onnector Specifications for Servomotor L M N T P K R D J S E H G F Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S able clamp: MS7 D D Phase U Phase V Phase W FG (Frame ground) With an bsolute Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T TT TT+ With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T

114 External Dimensions Units: mm With rakes () W to. kw L LT LL LM LG LR LE S Dia... Dia. L L Dia. SGMGH to LR LE Shaft End SGMGH to LR LE KL 88 L Dia. LH Dia. LF S Dia. S Dia. LJ Dia. LF S Dia. LF S Dia. LJ Dia. LJ Dia. R R K K. LZ Dia. Mounting Holes Q Q Note: For the specifications of the other shaft ends, refer to page. Model SGMGH L LL LM LR LT K K KL Flange Face Dimensions Shaftend Dimensions L L L LE LF LF LG LH LJ LJ LZ S S Q pprox. Mass kg Note: Models with oil seals are of the same configuration. onnector Specifications for Servomotor Phase U E rake terminal E D F G D Phase V Phase W FG (Frame ground) F G rake terminal Note: No polarity for connection to the brake terminals

115 Servomotors SGMGH ( min ) Rotary Motors External Dimensions Units: mm (). kw to 7. kw L LT LL LM LR. Shaft End LG LE S Dia.. Dia. LH Dia. L LE LR KL KL 88 L Dia. L Dia. IE LF S Dia. LF S Dia. LJ Dia. LJ Dia. R K K.. Dia. Mounting Holes K Note: For the specifications of the other shaft ends, refer to page. Model SGMGH 7 L LL LM LR LT K K K IE KL KL Note: Models with oil seals are of the same configuration. Flange Face Dimensions Shaftend Dimensions L L L LE LF LF LG LH LJ LJ S S pprox. Mass kg Rotary Servomotors onnector Specifications for Servomotor onnector Specifications for rake D Phase U Phase V rake terminal rake terminal D Phase W FG (Frame ground) Note: No polarity for connection to the brake terminals

116 External Dimensions Units: mm Shaft End Specifications SGMGH Symbol Specifications Remarks Straight, without key Taper /, with parallel key (Key slot is JIS97 high precision. SGMGH series is interchangeable with USGED series.) Taper /, woodruff key (Set only for SGMGH and 9. Woodruff key is JIS.) Standard Optional Straight, with key and tap for one location (Key slot is JIS97 high precision. Key slot tolerance is JIS. oth key and tap are included.) Symbol Specifications Shaft End Model: SGMGH 9 7 LR LR 8 79 Straight, without key Q Q 7 R S Dia. S Taper /, with parallel key Taper /, with woodruff key Straight, with key and tap LW LR Q S Dia. QK Y Y LR LW Q Q S Dia. Q/ Y QK Dia. Y LR R X Q X Taper / Taper / Q QK V Dia. P P V Dia. U W T T U T U W Section YY W Section YY P S Dia. LR 8 LW 8 Q Q 8 QK 7 X. 9. S 9 V 7 P M, P. M, P. M, P. W 7 T 7 8 U LR 8 LW 8 Q 8 Q QK : If the SGMGH and 9 are not specified as the mounting interchangeable type, the value of the QK will be. : If the SGMGH and 9 are not specified as the mounting interchangeable type, the value of the T will be. : If the SGMGH and 9 are not specified as the mounting interchangeable type, the value of the U will be.. X. S V P M,P. W T U. LR 8 79 Q 7 QK 9 S W T 8 U. P M screw, depth: M screw, depth: M screw, depth:

117 Servomotors SGMGH ( min ) Rotary Motors Selecting ables able onnection For Standard Wiring For Encoder able Extensions from m up to m (See page.) SGDS SERVOPK (Example) SGDS SERVOPK Relay Encoder able (To SERVOPK) Encoder able (See page.) Servomotor Main ircuit able (See page 8.) SGMGH Servomotor attery ase (When using an absolute encoder.) SGMGH Servomotor Encoder cable and connector for m extension Rotary Servomotors! UTION Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct. 7

118 Selecting ables Servomotor Main ircuit ables ustomers must assemble the servomotor s main circuit cables and attach connectors to connect the SERVOPKs and the SGMGH servomotors. Use the connectors specified by Yaskawa when assembling the cable. Select the appropriate type of connector in accordance with the motor application. The following two types of connectors are available for SGMSS servomotors. Standard IP7 rated and compliant to European Safety standards The cables have no restrictions. Use appropriate cables for the connectors. onnectors: Standard onnector onfiguration onnector on Servomotor (Receptacle) Straight Plug SGMGH Servomotor able lamp able Lshaped Plug () Without Holding rakes onnector on Servomotor For. kw to 7. kw onnector on Servomotor For. kw to 7. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp MS8P MS8S MS88S MS7 MSP MSS MS8S MS7 MS7P MS7S MS87S MS7 () With Holding rakes. kw to 7. kw servomotors require cable connectors to servomotors and brake power supply connectors. onnector on Servomotor For. kw to. kw onnector on Servomotor For. kw to 7. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp MSP MSS MS8S MS7 MSP MSS MS8S MS7 MS7P MS7S MS87S MS7 8 onnector on Servomotor rake Power Supply onnector For. kw to 7. kw rake Power Supply onnector (For. kw to 7. kw) Servomotor apacity kw. 7. onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp MSSLP MSSLS MS8SLS MS7

119 Servomotors SGMGH ( min ) Rotary Motors Selecting ables Units: mm Dimensional Drawings: able onnectors to Servomotors () MS S: Straight Plug J L W Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L max. Outer Diameter of Joint Nut Q.8 + able lamp Set Screw V Effective Screw Length W max. Maxmum Width Y max. Q Y 8 /88UNEF UNEF 9. /8UNEF /8UNEF 9. 7 /88UNEF /8UNEF 9. V /8UNEF /8UNEF 9. 8UNS /8UNS. () MSSLS: Straight Plug Q L J W V N () MS8 S: Lshaped Plug Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L max. Outer Diameter of Joint Nut Q.8 + Outer Diameter N±. able lamp Set Screw V Effective Screw Length W max. 8 /8UNEF /8UNEF 9. Rotary Servomotors Q J V L W U R Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L max. Outer Diameter of Joint Nut Q.8 + R ±. U ±. able lamp Set Screw V Effective Screw Length W max. 8 /88UNEF UNEF 9. /8UNEF /8UNEF 9. /88UNEF /8UNEF 9. /8UNEF /8UNEF 9. 8UNS /8UNS. () MS7 : able lamp with Rubber ushing. J (Inner ushing Diameter) Q Dia. V G E (Inner able lamp Diameter) H (Slide Range) able lamp Type pplicable onnector Shell Size Overall Length ±.7 Effective Screw Length E G ±.7 H J Set Screw V Outer Diameter Q ±.7 ttached ushing MS7 SL /8UNEF. N MS UNEF. N MS7, /8UNEF. N MS /8UNEF. N MS /8UNS. N 9

120 Selecting ables onnectors: IP7 Rated and ompliant to European Safety Standards onnector onfiguration onnector on Servomotor (Receptacle) Plug onduit able Waterproof Straight Plug SGMGH Sevomotor Waterproof able lamp able Wateproof Lshaped Plug Note: For the conduit grounding, contact the manufacturer of the conduit being used. () Without Holding rakes onnector on Servomotor For. kw to. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp pplicable able Range (For Reference) Manufacturer onnector on Servomotor For. kw to 7. kw E8 E8SD E88SD PD SS S JLHVE PE JLVSEE or JSJE JLV8SEE or J8SJE E7 E7 E7 JLK(9) JLK() JLK(). to. dia. 8. to. dia.. to 8.7 dia.. to 9. dia. 9. to. dia..9 to.9 dia. Note: Select a cable clamp in accordance with the applied cable diameter. The straight plug (JSJE) and the Lshaped plug (J8SJE) conform only to IP7 standards for environmental protection of enclosures. DDK Ltd. Japan viation Electronics Industry, Ltd. onnector on Servomotor For. kw to 7. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Plug Straight Plug Lshaped Plug pplicable able Range (For Reference) Manufacturer SRLMSF RLMSF. to. dia.. 7. JLVE7PE JLV7SE SRLMSF RLMSF. to. dia. SRLMSF RLMSF. to. dia. S8RLMSF 8RLMSF. to 8. dia. SRLMSF RLMSF 8. to. dia. Japan viation Electronics Industry, Ltd. SRLMSF RLMSF. to. dia. Note: Select a conduit in accordance with the applied cable diameter.

121 Servomotors SGMGH ( min ) Rotary Motors Selecting ables () With Holding rakes. kw to 7. kw servomotors require cable connectors to servomotors and brake power supply connectors. onnector on Servomotor For. kw to. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp pplicable able Range (For Reference) Manufacturer onnector on Servomotor For. kw to. kw PE JLVE JLVE PE JLVSEE JLVSEE or JSJE JLV8SEE JLV8SEE or J8SJE JLK(9) JLK() JLK() JL8K() JL8K() JL8K(7) JL8K(). to 9. dia. 9. to. dia..9 to.9 dia. 9. to. dia.. to. dia.. to 8. dia. 8. to. dia. Notes: Select a cable clamp in accordance with the applied cable diameter. The straight plug (JSJE) and the Lshaped plug (J8SJE) conform only to IP7 standards for environmental protection of enclosures. onnector on Servomotor For. kw to 7. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Plug Straight Plug Lshaped Plug pplicable able Range (For Reference) Japan viation Electronics Industry, Ltd. Manufacturer Rotary Servomotors onnector on Servomotor rake Power Supply onnector For. kw to 7. kw. 7. JLVE7PE JLV7SE Note: Select a conduit in accordance with the applied cable diameter. SRLMSF RLMSF. to. dia. SRLMSF RLMSF. to. dia. SRLMSF RLMSF. to. dia. S8RLMSF 8RLMSF. to 8. dia. SRLMSF RLMSF 8. to. dia. SRLMSF RLMSF. to. dia. Japan viation Electronics Industry, Ltd. rake Power Supply onnector For. kw to 7. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor Straight Plug Lshaped Plug able lamp pplicable able Range (For Reference) Manufacturer. 7. ESL ESL E8SL P SSS SS E7. to. dia. DDK Ltd.

122 Selecting ables Encoder ables and onnectors (For Standard Wiring) Name Length Order No. (L) Standard able Flexible able Specifications Details Encoder able with onnectors (For Incremental Encoder) Encoder able with onnectors (For bsolute Encoder, with a attery ase) Encoder able with Loose Wires to Encoder (For Incremental Encoder) Encoder able with Loose Wires to Encoder (For bsolute Encoder, with a attery ase) m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE To SERVOPK Plug connector (crimped) (Molex Japan o., Ltd.) To SERVOPK Plug connector (crimped) (Molex Japan o., Ltd.) To SERVOPK Plug connector attery case (crimped) (attery attached.) (Molex Japan o., Ltd.) To SERVOPK L L To Encoder MS9S (DDK Ltd.) MS7 able clamp To Encoder Plug connector attery case MS89S (crimped) (attery attached.) (DDK Ltd.) (Molex Japan o., Ltd.) MS7 able clamp To SERVOPK To Encoder L mm mm Plug connector Heat shrink tubing (crimped) Wire markers (Molex Japan o., Ltd.) To SERVOPK Plug connector (crimped) (Molex Japan o., Ltd.) L L L attery case (attery attached.) To Encoder MS9S (DDK Ltd.) MS7 able clamp Heat shrink tubing Wire markers To Encoder MS89S (DDK Ltd.) MS7 able clamp To Encoder mm mm () () () () onnector Kit to SERVOPK JZSPMP9E Soldered () onnectors to Encoder for Standard (onnector on Servomotor: MS9P) MS9S MS89S MS7 Straight plug Lshaped plug able clamp onnectors to Encoder for IP7/European Safety Standards (onnector on Servomotor: 97FE9P) ables : Use flexible cables for movable sections such as robot arms. J9SJE J89SJE JLKE (9) able diameter:. to 9. mm JLKE () able diameter: 9. to mm JLKE () able diameter:.9 to.9 mm m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E Straight plug Lshaped plug able clamp m max. ()

123 Servomotors SGMGH ( min ) Rotary Motors Selecting ables () Wiring for able with onnectors () Wiring for able with onnectors (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal PS /PS PG V PG V To Encoder (Servomotor) Lead olor Pin No. Standard Flexible D G H T() T(+) S T Orange/white Orange Shell FG J FG Shield Shield Wire Note: The signals T(+) and T() are used when using an absolute encoder. Light blue Red/light blue Light blue/white lack/light blue lack Green Red Orange lack/pink Red/pink FG To SERVOPK Pin No. Signal PS /PS PG V PG V T() T(+) Shell FG attery ase Pin No. Signal Shield Wire To Encoder (Servomotor) Lead olor Pin No. Standard Flexible D G H S T J Light blue Light blue/white lack Red Orange/white Orange FG Shield Red/pink lack/pink Green Orange lack/light blue Red/light blue FG T() T(+) () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal To Encoder (Servomotor) Standard Lead olor Flexible /PS Light blue/white lack/light blue PS T() T(+) PG V PG V Light blue Orange/white Orange lack Red Red/light blue lack/pink Red/pink Green Orange Shell FG Shield Wire Notes: The signals T(+) and T() are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). () onnector Kits to SERVOPK Marker To SERVOPK Pin No. Shell attery ase Pin No. Signal /PS PS T() T(+) PG V PG V FG Signal T() T(+) Shield Wire To Encoder (Servomotor) Standard Lead olor Note: e sure to connect the shield wire of encoder cable to the connector case (shell). Flexible Light blue/white lack/pink Light blue Red/pink Orange/white lack/light blue Orange Red/light blue lack Green Red Orange Marker Rotary Servomotors Items Order No. Manufacturer onnector Model No. (For Standard) Specifications Molex Japan o., Ltd. 7 (soldered) Dimensional Drawings (Units: mm) (9) () () Note: The mating connector model No. on SERVOPK: 88 () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. Specifications UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm Finished Dimensions. dia. mm.8 dia. mm Internal onfiguration and Lead olor Light blue Orange Red lack Light blue/ White Orange/ White lack/ Light blue lack/ Pink Orange Green Red/ Light blue Red/ Pink Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m, m

124 Selecting ables Encoder ables and onnectors (For Extending from m up to m) Name Length Order No. Specifications Details Relay Encoder able(for Relay) For SERVOPK (For bsolute Encoder, with a attery ase). m JZSPSPE To SERVOPK. m attery case Plug connector (attery attached.) (crimped) (Molex Japan o.,ltd.) To Encoder Socket connector (soldered) (Molex Japan o.,ltd.) () onnector to Encoder: Standard (onnector on Servomotor: MS9P) MS9S MS89S MS7 Straight plug Lshaped plug able clamp J9SJE Straight plug Encoder cable and connector for m extension onnector to Encoder: IP7/European Safety Standards (onnector on Servomotor: 97FE9P) J89SJE JLKE (9) able diameter. to 9. mm JLKE () able diameter 9. to mm Lshaped plug able clamp JLKE () able diameter.9 to.9 mm m JZSPMP9E m to m encoder cables are available m JZSPMP9E m max. () m JZSPMP9E : Not required if using an incremental encoder or if using an absolute encoder with a battery connected to the host controller. () Wiring for Relay Encoder able to SERVOPK (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal Shell Pin No. /PS PS T() T(+) PGV PGV FG attery ase Signal T() T(+) Shield Wire To Encoder (Servomotor) Signal Lead olor Light blue/white Light blue Orange/white Orange lack Red Shell FG () Specification of m encoder cable extension Order No. able Length Specifications Items Finished Dimensions Internal onfiguration and Lead olors Standard able UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm Orange JZSPMP9 E m max..8 dia. mm lack Red Light blue Orange /white Light blue /white Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m

125 Servomotors SGMGH ( min ) Rotary Motors With Standard acklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Foot and flangemounted Frame Nos. 9 to : Omnidirectional mounting Frame Nos. to 9: Horizontal mounting to shaft Gear Mechanism: yclo gear mechanism Thermal lass: F Withstand Voltage: V Servomotors, V for one minute Enclosure: Totally enclosed, selfcooled, IP (or the equivalent) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: Roughly. to at the gear output shaft Gear Rotation Direction: Reverse direction of servomotor Gear Lubricating Method: Frame Nos. 9 to : Grease Frame Nos. to 9: Oil Note: ontact your Yaskawa representative for more information if the servomotors are to be used for applications with the following characteristics: ontinuous or frequent stop/start Heavy shock loading by acceleration/deceleration Servomotor Model SGMGH Output kw Servomotor Rated Speed min Rated Torque N m Gear Ratio Rated Torque/ Efficiency N m/% Gear Output Instantaneous Peak Torque N m/% P /.8/7./ P /./8 78./ P / 7.7/8 / P 7 /9.9/8 7/ P /.9/8./ P / 7./8 / P / 9./8 / P 7 /9 /8 /8..9 P /./8 /8..8 P / 7./8 / P / /8 9/8 7.. P 7 /9 /8 7/8..7 P / 8.7/8 /8 8.. P / 8/8 8/ P / /8 / P 7 /9 8/8 77/ P / 9.9/8 /8.. P / 7/8 / P / /8 8/ P 7 /9 8/8 / P / /8 / P / /8 / P / 7/8 7/8 7. P 7 /9 7/8 7/8. P / 79/8 7/8.7 P / 7/8 89/ P / /8 / P 7 /9 8/8 /8. 7P / 9/8 / P / 87/8 / P 7 /9 8/8 9/ : Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Rated Speed min Max. Speed min Moment of Inertia kg m Motor + Gear Gear Rotary Servomotors Efficiency Efficiency Output torque Motor speed Notes: For oil lubrication, the motor should be mounted horizontal to the shaft. ontact your Yaskawa representative about lubrication for angle mounting. The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

126 With Standard acklash Gears Ratings and Specifications llowable Radial Load Servomotor Model SGMGH llowable Radial Load for Shaft enter (Fr) N Servomotor Model SGMGH llowable Radial Load for Shaft enter (Fr) N GreaseIubricating Type With Foot Flange Type P P P P 7 9P 9P 9P 9P 7 P P P P P P P OilIubricating Type With Foot Flange Type P 7 P P 7 P P 7 P P P P 7 P P P P 7 7P 7P 7P

127 Servomotors SGMGH ( min ) Rotary Motors Footmounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Grease Lubricating Type L LL R K K LT LM Q Shaft End KL 88 QK G S Dia. T Tap Depth W U F N X XR Z Dia.Mounting Holes K E M E K Units: mm Model SGMGH Model SGMGH P E P E P E P E7 9P E 9P E 9P E 9P E7 P E P E P E P E P E P E P E Gear Model Gear Ratio L LL LM LT K K KL R NHX9 / NHX9 / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / Rotary Servomotors P E P E P E P E7 9P E 9P E 9P E 9P E7 P E P E P E P E P E P E P E Footmounted Dimensions Shaftend Dimensions E F G K M N XR X Z Q QK S T U W Tap Depth pprox. Mass kg M M M M M M M M M M M M M M M8 7 : The tolerances for all models are to.. Note: Grease lubricating type (frame numbers: 9 to ) Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. 7

128 Footmounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Oil Lubricating Type L LT K K LL LM R Q QK Oil Drain Plug Oil Filler Plug Shaft End KL 88 S Dia. T Tap Depth Oil Drain Plug W U G F N X XR Z Dia.Mounting Holes K E M E K Model SGMGH Model SGMGH P E7 P E P E7 P E P E7 P E P E P E P E7 P E P E P E P E7 7P E 7P E 7P E7 Gear Model Gear Ratio L LL LM LT K K KL R HHX / HHX / 77 7 HHX / HHX / HHJ / HHX / HHX / HHJ / HHJ7 / HHX / 8 HHX / 8 8 HHJ7 / HHJ7 / HHJ / HHJ7 / HHJ8 / P E7 P E P E7 P E P E7 P E P E P E P E7 P E P E P E P E7 7P E 7P E 7P E7 Footmounted Dimensions Shaftend Dimensions E F G K M N XR X Z Q QK S T U W Tap Depth pprox. Mass kg M M M M M M M M M M M M M M M M : Dimensions of hooks are included for some models. : The tolerances for all models are to.. Note: Oil lubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil guage. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. 8 Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), The following table shows the approximate amount of oil to be added. Frame 7 8 No. 7 8 Horizontal Type Units: liter

129 Servomotors SGMGH ( min ) Rotary Motors Flangemounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Grease Lubricating Type L LL R LT LM LR LG LE Q QK S Dia. L Dia. L Dia. T Shaft End Tap Depth KL 88 L Dia. L Dia. L Dia. W U K N Dia. Mounting Holes K Mounting Holes Mounting Holes Model SGMGH Model SGMGH P F P F P F P F7 9P F 9P F 9P F 9P F7 P F P F P F P F P F P F P F Gear Model Gear Ratio L LL LM LT K K KL R NVX9 / NVX9 / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / Rotary Servomotors P F P F P F P F7 9P F 9P F 9P F 9P F7 P F P F P F P F P F P F P F Flange Face Dimensions Shaftend Dimensions L L L LE LG LR N Q QK S T U W Tap Depth pprox. Mass kg M M M M M M M M M M M M M M M8 Note: Grease lubricating type (frame numbers: 9 to ) Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. 9

130 Flangemounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Small Oil Lubricating Type L LL R KL 88 LT LM LR Q QK S (. ) Dia. L (.. ) Dia. Oil Filler Plug 9 Dia. Dia. Oil Drain Plug Shaft End Tap Depth 9. K K Dia. Mounting Holes Oil Drain Plug Model SGMGH Gear Flange Face Dimensions Shaftend Dimensions Gear Model L LL LM LT K K KL R Ratio LR Q QK Tap Depth P F7 P F P F7 P F P F P F P F P F HVX HVX HVX HVX HVX HVX HVX HVX /9 / /9 / / / / / M 8 M 8 M 8 M 8 M 8 M 8 M 8 M Note: Oil Iubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil guage. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), The following table shows the approximate amount of oil to be added. Units: liter Frame 7 8 No. 7 8 Horizontal Type pprox. Mass kg

131 Servomotors SGMGH ( min ) Rotary Motors Flangemounted Type with Standard acklash Gears External Dimensions Units: mm () Large Oil Lubricating Type L LL R LM LR LG LE QK Q S Dia. Oil Filler Plug L Dia. L Dia. Oil Drain Plug T 88 Shaft End Tap Depth KL W U K NLZ Dia. Mounting Holes K L Dia. Oil Drain Plug Model SGMGH Model SGMGH P F7 P F P F7 P F P F7 7P F 7P F 7P F7 Gear Model Gear Ratio L LL LM K K KL R HVJ / HVJ / HVJ7 / HVJ7 / HVJ7 / HVJ / HVJ7 / HVJ8 / Rotary Servomotors P F7 P F P F7 P F P F7 7P F 7P F 7P F7 Footmounted Dimensions Shaftend Dimensions L L L LE LG LR N LZ Q QK S T U W Tap Depth Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), pprox. Mass kg M M M M M M M M Note: Oil Iubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil guage. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. The following table shows the approximate amount of oil to be added. Units: liter Frame 7 8 No. 7 8 Horizontal Type

132 With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flangemounted (Omnidirectional mounting) Gear Lubricating Method: Grease Gear Mechanism: Planetary gear mechanism Thermal lass: F Withstand Voltage: V Servomotors, V for one minute Enclosure: Totally enclosed, selfcooled, IP (or the equivalent) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash:. ( min) at the gear output shaft Gear Rotation Direction: Same direction as servomotor Gear Lubrucating Method: Grease Lubricating Type Servomotor Model SGMGH Output kw Servomotor Rated Speed min Rated Torque N m Gear Ratio Rated Torque/ Efficiency N m/% Gear Output Instantaneous Peak Torque N m/% Rated Speed min Max. Speed min Moment of Inertia kg m L /./8.7/8 8.. L /9./8./ L..8 /./8 / L7 /9.9/8 7/8..7 L8 / /8 / L /./8./8.. 9 L /9 8.8/8 99./ L.8.9 / 8./8 / L7 /9 /8 / L8 / 9/8 97/8 8.. L /./8 9./ L /9./8 8/ L. 8. / /8 7/ L7 /9 9/8 /8.9. L8 / /8 89/ L /./8 /8.9. L.8. /9 8.8/8 7/ L / 8/8 9/ L7 /9 7/8 /8.. L / 7./8 8/8.. L.9 8. /9 /8 8/ L / 98/8 7/8 7.. L / /8 8/ L /9 /8 / : Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Motor + Gear Gear Efficiency Efficiency Output torque Motor speed Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

133 Servomotors SGMGH ( min ) Rotary Motors With Lowbacklash Gears Ratings and Specifications llowable Radial Load Servomotor Model SGMGH llowable Radial Load for Shaft enter (Fr) N L 8 L 98 9 L 8 9 L 98 L L7 9 L8 9 L 9 L7 9 9 L8 8 GreaseIubricating Type Flange Type L L L L7 L8 L L L L Rotary Servomotors L 8 L 7 L 8 L 8 L 7

134 With Lowbacklash Gears External Dimensions Units: mm Small Grease Lubricating Type LL LM L R 7 Dia... Dia. Dia. 8 Dia. Shaft End 8 pplied Specifications for Shaftend Tap Q S Dia. dtapl Frame No. Dia. S Length Q d L mm 9 88 R NFJL NFJL 7 M8 M NFJL 9 M 7 Dia. Mounting Holes Detailed Dimensions of Gears NFJL NFJL Dia. (Servomotor) Dia. Dia. Dia. Dia.. Dia. 9 Dia. 9 Dia.. Dia. (Servomotor) 9 Dia. 8 Dia. 9 Dia. Dia. Dia.. 7 Dia. Dia. Dia. 9. R R 7 7 Gear Ratio Gear Ratio / / /9 8 /9 8 /, /9 7 /, /9 / 7 / NFJL Dia. (Servomotor) Dia. Dia. Dia. Dia. Dia..9 9 Dia. 8 Dia. 8 Dia.. Gear Ratio / R /9 /, /9 / Model pprox. Mass Gear Model Gear Ratio L LL LM R SGMGH kg L / L / NFJL 9 L / 7 9 L /9 9 8 Note: Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

135 Servomotors SGMGH ( min ) Rotary Motors With Lowbacklash Gears External Dimensions Units: mm Large Grease Lubricating Type L LL R LT LM LG LR Q L Dia. Shaft End QK S Dia. T KL 88 R L Dia. L Dia. W U K K LZ Dia. Model SGMGH L L7 L8 9 L 9 L7 9 L8 L L L L7 L8 L L L L7 L L L L L Gear Model Gear Flange Face Dimensions Shaftend Dimensions L LL LM LR LT K K KL R Ratio L L L LG LZ Q QK S T U W / / NFJL / / 7 9 /9 7 9 NFJL / 7 9 / NFJL / / NFJL NFJL / / / / / / / NFJL / / / / pprox. Mass kg Rotary Servomotors Note: Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

136 Servomotors SGMGH ( min ) Model Designation Without Gears SGMGH st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits Rated Output th digit Design Revision Order 7th digit Options ode Specifications ode Specifications ode Specifications ode Specifications W. kw Standard Without options 9 rd digit ode W 9 W. kw Specifications. kw. kw. kw Power Supply Voltage For highperformance D machine tool :pplicable only for models SGMGH to. th digit ode Shaft End Specifications D E With 9VD brake With VD brake With oil seal and 9VD brake With oil seal and VD brake V Straight without key (standard) S With oil seal th digit Encoder Taper /, with parallel key (optional) ode Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) : The number of encoder pulses is 78 P/Rev. Taper /, with woodruff key (optional) Straight with key and tap (optional) : pplicable only for models SGMGH and.

137 Features Highspeed driving of feed shafts for various machines Wide selection: W to. kw capacity, brake and gear options Model for highperformance machine tools: Optional Mounted encoder: 7bit, high resolution Standard protection level: IP7 pplication Examples Machine tools Transfer machines Material handling machines Food processing equipment With Gears SGMGH L st+nd digits rd digit th digit th digit th digit 7th digit 8th digit 9th digit Rotary Servomotors st + nd digits ode 9 Specifications W W 9 W. kw ode rd digit Rated Output Specifications. kw. kw. kw. kw Power Supply Voltage th digit ode Specifications L Lowbacklash gear (Flangemounted type) E Standard backlash gear (Footmounted type) F Standard backlash gear (Flangemounted type) 7th digit ž Lowbacklash gears (Flangemounted type) ode ode Gear Ratio Gear Ratio Gears Gear Ratio :vailable 8th digit ode Specifications Straight with key (vailable only for SGMGH with lowbacklash gear) Straight with key and tap (vailable only for SGMGH with standardbacklash gear) ode Specifications SGMGH V (With Lowbacklash gear) 9 P V (With Standard backlash gear) / s s s s s s th digit Encoder /9 s s s s s s / s s s s s 9th digit rakes ode Specifications 7bit absolute encoder (standard) 7bit incremental encoder (standard) 7 8 /9 / s s s s s s s s ode Specifications Without brake With 9VD brake Note: The number of encoder pulses is 78 P/Rev. ž Standard backlash gears With VD brake SGMGH th digit Design Revision Order 9 ode Specifications Standard / / s s s s s s s s s s s s s s s / s s s s s s s s For highperformance D 7 /9 s s s s s s s s machine tool : Footmounted and flangemounted types are : pplicable only for models SGMGH to. available. Shaft End 7

138 Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP7 (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Voltage V Servomotor Model SGMGH 9 Rated Output kw Rated Torque N m (.) Instantaneous Peak Torque N m Rated urrent rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m Rated Power Rate kw/s Rated ngular cceleration rad/s (8.9) (9.) (.) (.) (.) (.) (7.) (97.) (.) : These tems and torquemotor speed characteristics quoted in combination with an SGDS SERVOPK are at an armature winding temperature of. : The values in the parentheses are for servomotors with holding brakes. : If using the SGMGH servomotor and the SGDS SERVOPK together, take into consideration of the rated value in the parentheses. Note: These characteristics are values with the following iron plate (heat sink) attached for cooling. SGMGH,, 9: (mm) SGMGH,,,, : (mm) 8

139 Servomotors SGMGH ( min ) Rotary Motors Ratings and Specifications Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone SGMGH SGMGH SGMGH9 SGMGH Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) 8 Torque (Nžm) Torque (Nžm) Torque (Nžm) Torque (Nžm) SGMGH SGMGH (In combination with SGDS SERVOPK) SGMGH (In combination with SGDS SERVOPK) SGMGH Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Motor Speed (min ) Torque (Nžm) SGMGH 8 Torque (Nžm) 8 Torque (Nžm) Torque (Nžm) Rotary Servomotors Torque (Nžm) Holding rake Electrical Specifications Servomotor Holding rake Specifications Holding rake Servomotor apacity apacity Holding Torque oil Resistance Rated urrent Rated Voltage Model W W N m Ω (at ) (at ) SGMGH.. 8. SGMGH SGMGH VD SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH SGMGH VD SGMGH SGMGH SGMGH SGMGH SGMGH Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor. 9

140 Ratings and Specifications llowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake. llowable Load Moment of Inertia Servomotor Model apacity Range (Rotor Moment of Inertia Ratio) SGMGH ( min ) W to. kw : The allowable load moment of inertia will be three times when the SGMGH servomotor and the SGDS SERVOPK are used together. Load Moment of Inertia The larger the load moment of inertia, the worse the movement response of the load. The size of the load moment of inertia (J L) allowable when using a servomotor depends on motor capacity and is limited to within to times the moment of inertia of each servomotor (J M ). This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. n overvoltage alarm (.) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPKs with a builtin regenerative resistor may generate a regeneration overload alarm (.). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared. ontact your Yaskawa pplication Engineering Department. llowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table below. Servomotor Model llowable Radial llowable Thrust Load LR Load (Fr) N (Fs) N mm SGMGH ( min ) Reference Diagram LR Fr Fs

141 Servomotors SGMGH ( min ) Rotary Motors External Dimensions Units: mm Without rakes () W to. kw L LL LR Shaft End LT KL 88 LM LG K K LE S Dia. L Dia... Dia... For and only. SGMGH to 9 SGMGH to L LR LR LE LE L Dia. IE LH Dia. LF LF LF S Dia. S Dia. LJ Dia. S Dia. S Dia. LJ Dia. LJ Dia. LZ Dia. Mounting Holes Q Q Note: For the specifications of the other shaft ends, refer to page. R R Model SGMGH 9 L LL LM LR LT K K IE KL Flange Face Dimensions L L L LE LF LF LG LH LJ LJ LZ S S Q Shaftend Dimensions pprox. Mass kg Rotary Servomotors Note: Models with oil seals are of the same configuration. onnector Specifications for Encoder (7bit Encoder) D E F G H J L M N T P K R D J S E H G F With an bsolute Encoder Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S able clamp: MS7 DT+ DT V + VD FG (Frame ground) K L M N P R S T TT TT+ With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) onnector Specifications for Servomotor K L M N P R S T D D Phase U Phase V Phase W FG (Frame ground)

142 External Dimensions Units: mm With rakes () W to. kw L LT KL 88 LL LM LG LR LE S Dia. L Dia... Dia. L L Dia. LH Dia. SGMGH to 9 LR LE LF S Dia. S Dia. Shaft End SGMGH to LR LE LF LF LJ Dia. S Dia. S Dia. LJ Dia. LJ Dia. K K. LZ Dia. Mounting Holes R Q Note: For the specifications of the other shaft ends, refer to page. R Q Model SGMGH 9 L LL LM LR LT K K KL Flange Face Dimensions Shaftend Dimensions L L L LE LF LF LG LH LJ LJ LZ S S Q pprox. Mass kg Note: Models with oil seals are of the same configuration. onnector Specifications for Encoder (7bit Encoder) L M N T P K R D J S E H G F Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S able clamp: MS7 onnector Specifications for Servomotor E F D G D Phase U Phase V Phase W FG (Frame ground) E F G rake terminal rake terminal Note: No polarity for connection to the brake terminals With an bsolute Encoder With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T TT TT+ D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T

143 Servomotors SGMGH ( min ) Rotary Motors External Dimensions Units: mm (). kw to. kw L LL 8 LM 8.. Dia... Dia. Dia. 8 Dia.. Shaft End 88 K K K.. Dia.. Dia. Mounting Holes.. Dia. R. Dia. Dia. 7 Dia. Note: For the specifications of the other shaft ends, refer to page. Model SGMGH L LL LM K K K pprox. Mass kg Note: Models with oil seals are of the same configuration. Rotary Servomotors onnector Specifications for Encoder (7bit Encoder) L M N T P K R D J S E H G F Receptacle: MS9P pplicable plug (To be provided by the customer) Plug: MS89S able clamp: MS7 onnector Specifications for rake rake terminal rake terminal Note: No polarity for connection to the brake terminals onnector Specifications for Servomotor D Phase U Phase V D Phase W FG (Frame ground) With an bsolute Encoder With an Incremental Encoder D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T TT TT+ D E F G H J DT+ DT V + VD FG (Frame ground) K L M N P R S T

144 External Dimensions Units: mm Shaft End Specifications SGMGH Symbol Specifications Remarks Straight, without key Taper /, with parallel key (Key slot is JIS97 high precision. SGMGH series is interchangeable with USGED series.) Taper /, with woodruff key (Set only for SGMGH and. Woodruff key is JIS.) Straight, with key and tap for one location (Key slot is JIS97 high precision. Key slot tolerance is JIS. oth key and tap are included.) Standard Optional Symbol Specifications Shaft End LR Straight, without Key Taper /, with Parallel Key Taper /, with Woodruff Key Straight, with Key and Tap LR LW Q QK Y Y S Dia. LR LW Q Q S Dia. Q R Q X P S Dia. W Section YY Taper / Q/ X Y P QK Dia. V Dia. U T V Dia. U T Y Section YY Taper / LR Q QK U P W W S Dia. Model: SGMGH 9 LR 8 79 Q 7 S LR 8 LW 8 Q Q 8 QK 7 X. 9. S 9 V 7 P M, P. M, P. M, P. W 7 T 7 8 U LR 8 LW 8 Q 8 Q QK X. S V P M,P. W T U. LR 8 79 Q 7 QK 9 S W T 8 U. R T P M screw, depth: M screw, depth: M screw, depth:

145 Servomotors SGMGH ( min ) Rotary Motors Selecting able able onnections For Standard Wiring For Encoder able Extensions from m up to m (See Page.) SGDS SERVOPK (Example) SGDS SERVOPK Relay Encoder able (To SERVOPK) Encoder able (See Page.) Servomotor Main ircuit able (See Page.) SGMGH Servomotor attery ase (When using an absolute encoder.) SGMGH Servomotor Encoder cable and connector for m extension Rotary Servomotors! UTION Separate the servomotor main circuit wiring from the I/O signal cable and encoder cable at least cm, and do not bundle or run them in the same duct.

146 Selecting able Servomotor Main ircuit ables ustomers must assemble the servomotor s main circuit cables and attach connectors to connect the SERVOPKs and the SGMGH servomotors. Use the connectors specified by Yaskawa when assembling the cable. Select the appropriate type of connector in accordance with the motor application. The following two types of connectors are available for SGMSS servomotors. Standard IP7 rated and compliant to European Safety standards The cables have no restrictions. Use appropriate cables for the connectors. onnectors: Standard onnector onfiguration onnector on Servomotor (Receptacle) Straight Plug SGMGH Servomotor able lamp able Lshaped Plug () Without Holding rakes onnector on Servomotor. kw to. kw onnector on Servomotor. kw to. kw Servomotor onnector on able onnector to Servomotor apacity Servomotor kw (Receptacle) Straight Plug Lshaped Plug able lamp.. MS8P MS8S MS88S MS7.9.. MSP MSS MS8S MS7... MS7P MS7S MS87S MS7 () With Holding rakes. kw to. kw servomotors require connectors on servomotors and brake power supply connectors. onnector on Servomotor. kw to. kw onnector on Servomotor. kw to. kw Servomotor onnector on able onnector to Servomotor apacity Servomotor kw (Receptacle) Straight Plug Lshaped Plug able lamp.. MSP MSS MS8S MS7.9.. MSP MSS MS8S MS7... MS7P MS7S MS87S MS7 onnector on Servomotor rake Power Supply onnector. kw to. kw rake Power Supply onnector. kw to. kw Servomotor onnector on able onnector to Servomotor apacity Servomotor kw (Receptacle) Straight Plug Lshaped Plug able lamp.. Use a connector that is IP7 MSSLP MSSLS rated and compliant to MS7 European Safety standards

147 Servomotors SGMGH ( min ) Rotary Motors Selecting able Units: mm Dimensional Drawings: able onnectors to Servomotors () MS S: Straight Plug J L W Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L Max. Outer Diameter of Joint Nut Q.8 + able lamp Set Screw V Effective Screw Length W Max. Maximum Width Y Max. Q Y 8 /88UNEF UNEF 9. /8UNEF /8UNEF 9. 7 /88UNEF /8UNEF 9. V /8UNEF /8UNEF 9. 8UNS /8UNS. () MSSLS: Straight Plug Q L J W V N () MS8 S: Lshaped Plug Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L ±. Outer Diameter of Joint Nut Q.8 + Outer Diameter N±. able lamp Set Screw V Effective Screw Length W Max. 8 /8UNEF /8UNEF 9. Rotary Servomotors J L Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L Max. Outer Diameter of Joint Nut Q.8 + R ±. U ±. able lamp Set Screw V Effective Screw Length W Max. Q V W U R 8 /88UNEF UNEF 9. /8UNEF /8UNEF 9. /88UNEF /8UNEF 9. /8UNEF /8UNEF 9. 8UNS /8UNS. () MS7 : able lamp with Rubber ushing. J (Inner ushing Diameter) V E (Inner able Q G lamp Diameter) H (Slide Range) able lamp Type pplicable onnector Shell Size Overall Length ±.7 Effective Screw Length E G ±.7 H J Set Screw V Outer Diameter Q ±.7 ttached ushing MS7 SL /8UNEF. N MS UNEF. N MS7, /8UNEF. N MS /8UNEF. N MS /8UNS. N 7

148 Selecting able onnectors: IP7 Rated and ompliant to European Safety Standards onnector onfiguration onnector on Servomotor (Receptacle) Plug onduit able Waterproof Straight Plug SGMGH Sevomotor Waterproof able lamp able Waterproof Lshaped Plug Note: For the conduit grounding, contact the manufacturer of the conduit being used. () Without Holding rakes onnector on Servomotor. kw to. kw onnector on Servomotor Servomotor apacity kw...9 onnector on Servomotor (Receptacle) able onnector to Servomotor pplicable Straight Plug Lshaped Plug able lamp able Range (For Reference) Manufacturer mm E7 E7 E7. to. dia. 8. to. dia. DDK Ltd.. to 8.7 dia.. kw to. kw E8 E8SD E88SD PD SS S. JLVSEE JLV8SEE JLK (9). to 9. dia. Japan viation JLHVE.. PE or JSJE or J8SJE JLK () JLK () 9. to. dia..9 to.9 dia. Electronics Industry, Ltd. Notes: Select a cable clamp in accordance with the applied cable diameter. The straight plug (JSJE) and the Lshaped plug (J8SJE) conform only to IP7 standards for environmental protection of enclosures. onnector on Servomotor. kw to. kw Servomotor apacity kw onnector on Servomotor (Receptacle) able onnector to Servomotor pplicable Plug Straight Plug Lshaped Plug able Range (For Reference) Manufacturer mm SRLMSF RLMSF. to. dia... JLVE7PE JLV7SE SRLMSF RLMSF. to. dia. SRLMSF RLMSF. to. dia. S8RLMSF 8RLMSF. to 8. dia. Japan viation Electronics SRLMSF RLMSF 8. to. dia. Industry, Ltd. SRLMSF RLMSF. to. dia. Note: Select a conduit in accordance with the applied cable diameter. 8

149 Servomotors SGMGH ( min ) Rotary Motors Selecting able () With Holding rakes. kw to. kw servomotors require connectors on servomotors and brake power supply connector. onnector on Servomotor. kw to. kw onnector on Servomotor. kw to. kw Servomotor onnector on apacity Servomotor kw (Receptacle) Servomotor apacity kw PE JLVE JLVE PE onnector on Servomotor (Receptacle) able onnector to Servomotor pplicable Straight Plug Lshaped Plug able lamp able Range (For Reference) Manufacturer mm JLVSEE JLVSEE or JSJE JLV8SEE JLV8SEE or J8SJE JLK(9) JLK() JLK() JL8K() JL8K() JL8K(7) JL8K(). to 9. dia. 9. to. dia..9 to.9 dia. 9. to. dia.. to. dia.. to 8. dia. 8. to. dia. Notes: Select a cable clamp in accordance with the applied cable diameter. The straight plug (JSJE) and the Lshaped plug (J8SJE) conform only to IP7 standards for environmental protection of enclosures. onnector on Servomotor. kw to. kw Plug Japan viation Electronics Industry, Ltd. able onnector to Servomotor pplicable onduit able Range (For Reference) Manufacturer Straight Plug Lshaped Plug mm SRLMSF RLMSF. to. dia. Rotary Servomotors onnector on Servomotor rake Power Supply onnector. kw to. kw SRLMSF RLMSF. to. dia.. SRLMSF RLMSF. to. dia. JLVE7PE JLV7SE. S8RLMSF 8RLMSF. to 8. dia. SRLMSF RLMSF 8. to. dia. SRLMSF RLMSF. to. dia. Note: Select a conduit in accordance with the applied cable diameter. Japan viation Electronics Industry, Ltd. rake Power Supply onnector. kw to. kw Servomotor apacity kw.. able onnector to Servomotor onnector on Servomotor pplicable able Range (Receptacle) Straight Plug Lshaped Plug able lamp (For Reference) Manufacturer mm ESL ESL E8SL E7. to. dia. DDK Ltd. P SSS SS 9

150 Selecting able Encoder ables and onnectors (For Standard Wiring) Name Encoder able with onnectors (For Incremental Encoder) Encoder able with onnectors (For bsolute Encoder, with a attery ase) Encoder able with Loose Wires at Encoder End (For Incremental Encoder) Encoder able with Loose Wires at Encoder End (For bsolute Encoder, with a attery ase) onnector Kit to SERVOPK Length Order No. (L) Standard able Flexible able m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPSP7E JZSPSP7E m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE m JZSPSPE JZSPSPE JZSPMP9E Soldered To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) Plug onnector (rimped) (Molex Japan o., Ltd.) Specifications To SERVOPK To SERVOPK Plug onnector attery ase (rimped) (attery attached.) (Molex Japan o., Ltd.) To SERVOPK L L L L To Encoder MS9S (DDK Ltd.) MS7 able lamp To Encoder MS89S (DDK Ltd.) MS7 able lamp To Encoder MS9S (DDK Ltd.) MS7 able lamp To Encoder Plug onnector attery ase MS89S (rimped) (attery attached.) (DDK Ltd.) (Molex Japan o., Ltd.) MS7 able lamp To Encoder To SERVOPK L mm Plug onnector Heat Shrink Tubing (rimped) Wire Markers (Molex Japan o., Ltd.) To SERVOPK To Encoder L mm attery ase (attery attached.) Plug onnector Heat Shrink Tubing (rimped) Wire Markers (Molex Japan o., Ltd.) Details () () () () () onnectors to Encoder for Standard (onnector on Servomotor: MS9P) MS9S MS89S MS7 Straight Plug Lshaped Plug able lamp onnectors to Encoder for IP7/European Safety Standard (onnector on Servomotor: 97FE9P) ables : Use flexible cables for movable sections such as robot arms. J9SJE J89SJE JLKE (9) able diameter:. to 9. mm JLKE () able diameter: 9. to mm JLKE () able diameter:.9 to.9 mm m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E Straight Plug Lshaped Plug able lamp m Max. ()

151 Servomotors SGMGH ( min ) Rotary Motors Selecting ables () Wiring for able with onnectors () Wiring for able with onnectors (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal To Encoder (Servomotor) Lead olor Pin No. Standard Flexible PS /PS D Light blue Light blue/white PG V PG V T() T(+) G H S T lack Red Orange/white Orange Shell FG J FG Shield Shield Wire Note: The signals T(+) and T() are used when using an absolute encoder. Red/light blue lack/light blue Green Orange lack/pink Red/pink FG To SERVOPK Pin No. Signal PS /PS PG V PG V T() T(+) Shell FG attery ase Pin No. Signal Shield Wire To Encoder (Servomotor) Lead olor Pin No. Standard Flexible D G H S T J Light blue Light blue/white lack Red Orange/white Orange FG Shield Red/pink lack/pink Green Orange lack/light blue Red/light blue FG T() T(+) () Wiring for able with Loose Wires to Encoder () Wiring for able with Loose Wires to Encoder (For Incremental Encoder) (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal /PS PS T() T(+) PG V PG V Standard To Encoder (Servomotor) Lead olor Flexible Light blue/white lack/light blue Light blue Red/light blue Orange/white lack/pink Orange Red/pink lack Green Red Orange Marker Shell FG Shield Wire Notes: The signals T(+) and T() are used when using an absolute encoder. e sure to connect the shield wire of encoder cable to the connector case (shell). () onnector Kits to SERVOPK To SERVOPK Pin No. Shell Signal /PS PS T() T(+) PG V PG V FG attery ase Pin No. Signal T() T(+) Shield Wire Note: e sure to connect the shield wire of encoder cable to the connector case (shell). To Encoder (Servomotor) Lead olor Marker Standard Light blue/white Light blue Orange/white Orange lack Red Flexible lack/pink Red/pink lack/light blue Red/light blue Green Orange Rotary Servomotors Items Order No. Manufacturer onnector Model No. (For Standard) Specifications JZSPMP9E Molex Japan o., Ltd. 7 (soldered) Dimensional Drawings (Units: mm) (9) () () Note: The mating connector model No. on SERVOPK: 8 () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. Specifications UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm Finished Dimensions. dia. mm.8 dia. mm Internal onfiguration and Lead olor Light blue Orange Red lack Light blue/ White Orange/ White lack/ Light blue lack/ Pink Orange Green Red/ Light blue Red/ Pink Yaskawa Standards Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m) able length: m, m, m, m

152 Selecting able Encoder ables and onnectors (For Extending from m up to m) Name Length Order No. Specifications Details Relay Encoder able (for Relay) For SERVOPK (For bsolute Encoder, with a attery ase). m JZSPSPE To SERVOPK. m attery ase Plug onnector (attery attached.) (rimped) (Molex Japan o.,ltd.) To Encoder Socket onnector (Soldered) (Molex Japan o.,ltd.) () MS9S Straight Plug onnector to Encoder for Standard (onnector on Servomotor: MS9P) MS89S MS7 Lshaped Plug able lamp J9SJE Straight Plug Encoder cable and connector for m extension onnector to Encoder for IP7/European Safety Standards (onnector on Servomotor: 97FE9P) J89SJE JLKE (9) able diameter:. to 9. mm JLKE () able diameter: 9. to mm Lshaped Plug able lamp JLKE () able diameter:.9 to.9 mm m JZSPMP9E m to m encoder cables are available m JZSPMP9E m Max. () m JZSPMP9E : Not required if using an incremental encoder or if using an absolute encoder with a battery connected to the host controller. () Wiring for Relay Encoder able to SERVOPK () Specification of m encoder cable extension (For bsolute Encoder, with a attery ase) To SERVOPK Pin No. Signal Shell Pin No. /PS PS T() T(+) PGV PGV FG attery ase Signal T() T(+) Shield Wire To Encoder (Servomotor) Signal Lead olor Light blue/white Light blue Orange/white Orange lack Red Shell FG Items Order No. able Length Specifications Finished Dimensions Internal onfiguration and Lead olors Standard able JZSPMP9 E m max. UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm Orange.8 dia. mm lack Red Light blue Orange /white Light blue /white Yaskawa Standard Specifications able length: m, m, m (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9E ( m)

153 Servomotors SGMGH ( min ) Rotary Motors With Standard acklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Mounting: Foot and flangemounted Frame Nos. 9 to : Omnidirectional mounting Frame Nos. to 9: Horizontal mounting to shaft Gear Lubricating Method: Frane Nos. 9 to : Grease Frane Nos. to 9: Oil Excitation: Permanent magnet Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (or the equivalent) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash: Roughly. to at gear output shaft Gear Rotation Direction: Reverse direction of servomotor Gear Mechanism: yclo gear mechanism Note: ontact your Yaskawa representative for more information if the servomotors are to be used for applications with the following characteristics: ontinuous or frequent stop/start Heavy shock loading by acceleration/deceleration Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia kg m Output Rated Rated Gear Rated Instantaneous Rated Max. Motor Speed Torque Torque/Efficiency Peak Torque Speed Speed + Gear kw min N m Ratio N m/% N m/% min min Gear P /.8/7./ P /./8./ P / 7.7/8 / P 7 /9.9/8 / P / 7./8 7.7/ P /./8 / P / 9./8 7/ P 7 /9 /8 7/ P /./8 9./8..8 9P / 7.9/8 7/ P / /8 / P 7 /9 /8 8/ P / 8.7/8 /8 8.. P / 8/8 / P / /8 / P 7 /9 8/8 9/ P / 97./8 /8.. P / 79/8 / P / /8 78/ P 7 /9 7/8 8/ P / /8 / P / /8 9/ P / 7/8 / P 7 /9 7/8 7/8 8. P / 9/8 /8.7 P / 7/8 / P / 8/8 9/ P 7 /9 9/8 /8 8. P / 9/8 8/ P.. / 9/8 / P 7 /9 97/8 8/ : Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Rotary Servomotors Efficiency Efficiency Output Torque Motor Speed Notes: For oil lubrication, the motor should be mounted horizontal to the shaft. ontact your Yaskawa representative about lubrication for angle mounting. The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

154 With Standard acklash Gears Ratings and Specifications llowable Radial Load Servomotor Model SGMGH P P P P 7 P P GreaseIubricating P Type P 7 9P With Foot 9P Flange Type 9P 9P 7 P P P P P P 7 P P 7 P OilIubricating Type P (for Small apacity P and Large apacity) P 7 P With Foot P Flange Type P P 7 P P P 7 llowable Radial Load for Shaft enter (Fr) N

155 Servomotors SGMGH ( min ) Rotary Motors Footmounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Grease Lubricating Type K K LT LL LM L R KL 88 Q QK S Dia. Shaft End Tap Depth T F N X XR G Z Dia. Mounting Holes K E M E K W U Model SGMGH P E P E P E P E7 P E P E P E P E7 9P E 9P E 9P E 9P E7 P E P E P E P E Model SGMGH P E P E P E P E7 P E P E P E P E7 9P E 9P E 9P E 9P E7 P E P E P E P E Gear Model Gear Ratio L LL LM LT K K KL R NHX9 / NHX9 / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / NHX / Rotary Servomotors Footmounted Dimensions Shaftend Dimensions pprox. Mass E F G K M N XR X Z Q QK S T U W Tap Depth kg M M M M M M M M M M M M M M M M8 7 : The tolerances for all models are to.. Note: Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

156 Footmounted Type with Standard acklash Gears External Dimensions Units: mm () Oil Lubricating Type K KL 88 LL LM L Q QK Oil Drain Plug Oil Filler Plug Oil Drain Plug G R S Dia. Shaft End Tap Depth T F N X XR Z Dia. Mounting Holes K E M E K W U Model SGMGH P E P E7 P E P E7 P E P E P E P E7 P E P E P E P E7 P E P E P E7 Model SGMGH P E P E7 P E P E7 P E P E P E P E7 P E P E P E P E7 P E P E P E7 Gear Model Gear Ratio L LL LM K KL R HHX / 77 7 HHX / HHX / HHJ / HHX / HHX / HHJ / HHJ7 / HHX / 8 HHX / 8 8 HHJ7 / HHJ7 / HHJ / HHJ7 / HHJ8 / Footmounted Dimensions Shaftend Dimensions pprox. Mass E F G K M N XR X Z Q QK S T U W Tap Depth kg M M M M M M M M M M M M M M M : Dimensions of hooks are included for some models. : The tolerances for all models are to.. Note: Oil Iubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil gauge. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), The following shows the approximate amount of oil to be added. Frame 7 8 No. 7 8 Horizontal Type Units: liter

157 Servomotors SGMGH ( min ) Rotary Motors Flangemounted Type with Standard acklash Gears External Dimensions Units: mm Without rakes () Grease Lubricating Type KL 88 LT LL LM K K L R LG LR LE Q QK S Dia. L Dia. N Dia. Mounting Holes Mounting Holes L Dia. L Dia. N Dia. Mounting Holes Mounting Holes L Dia. L Dia. Shaft End Tap Depth W T U Model SGMGH P F P F P F P F7 P F P F P F P F7 9P F 9P F 9P F 9P F7 P F P F P F P F Model SGMGH P F P F P F P F7 P F P F P F P F7 9P F 9P F 9P F 9P F7 P F P F P F P F Gear Model Gear Ratio L LL LM LT K K KL R NVX9 / NVX9 / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / NVX / Rotary Servomotors Flange Face Dimensions Shaftend Dimensions L L L LE LG LR N Q QK S T U W Tap Depth Note: Grease Iubricating type (frame numbers: 9 to ) Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. pprox. Mass kg. 7 8 M M M M M M8.. 8 M8.. 8 M M M8.. 8 M8.. 8 M8.. 8 M8. 8 M8. 8 M8. 8 M8 7

158 Flangemounted Type with Standard acklash Gears External Dimensions Units: mm () Small Oil Lubricating Type L KL 88 LL LM K R LR QK Q. Dia... Dia. Oil Filler Plug 9 Dia. Mounting Holes Dia. Dia. Oil Drain Plug Oil Drain Plug Shaft End Tap Depth 9. Model SGMGH P F P F7 P F P F P F P F P F Gear Model Gear Ratio L LL LM K KL R HVX / 77 7 HVX / HVX / HVX / HVX / HVX / 8 HVX / 8 8 Flange Face Dimensions Shaftend Dimensions pprox. Mass LR Q QK Tap Depth kg 7 7 M M M M M M M 8 88 Note: Oil Iubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil gauge. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), The following shows the approximate amount of oil to be added. Frame 7 8 No. 7 8 Horizontal Type Units: liter

159 TW Servomotors SGMGH ( min ) Rotary Motors Flangemounted Type with Standard acklash Gears External Dimensions Units: mm () Large Oil Lubricating Type LL LM L R LG LR QK Q Oil Filler Plug Oil Drain Plug L Dia. L Dia.. Shaft End Tap Depth KL 88 K LE S Dia. L Dia. L Dia. L Dia. NLZ Dia. Mounting Holes Oil Drain Plug NLZ Mounting Holes Mounting Holes 8 Mounting Holes U Model SGMGH P F7 P F P F7 P F P F7 P F P F P F7 Model SGMGH P F7 P F P F7 P F P F7 P F P F P F7 Gear Model Gear Ratio L LL LM K KL R HVJ / HVJ / HVJ7 / HVJ7 / HVJ7 / HVJ / HVJ7 / HVJ8 / Rotary Servomotors Flange Face Dimensions Shaftend Dimensions pprox. Mass L L L LE LG LR N LZ Q QK S T U W Tap Depth kg M M M M M M M M Noto: Oil Iubricating type (frame numbers: to 9) Servomotors of this type have been shipped with oil removed. e sure to add oil until the red line at the upper side of the oil gauge. Lubrication oil recommended is industrialuse extremepressure gear oil of SPsystem, JIS K 9 industrialuse gear oil or equivalent. Refer to the following table. Surrounding Manufacturer ir Idemitsu Oil & Showa Shell JPN ENERGY OSMO Oil o., Ltd. Nippon Oil o., Ltd. Exxon Mobil orporation. Temperature Gas o., Ltd. Sekiyu K.K. ORPORTION OSMO Gear ONNOK Daphne Super Shell Omala Oil Spartan Mobil Gear JOMO to SE M Gear Oil EP 7, 9 Reductus,,,,, (ISO VG, ), The following shows the approximate amount of oil to be added. Frame 7 8 No. 7 8 Horizontal Type Units: liter

160 With Lowbacklash Gears Ratings and Specifications Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method (Omnidirectional mounting) Gear Lubicating Methed: Grease Gear Mechanism: Planetary gear mechanism Thermal lass: F Withstand Voltage: V Servomotors: V for one minute Enclosure: Totally enclosed, selfcooled, IP (or the equivalent) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive acklash:. ( min) at the gear output shaft Gear Rotation Direction: Same direction as servomotor Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia kg m Output Rated Rated Gear Rated Instantaneous Rated Max. Motor Speed Torque Torque/Efficiency Peak Torque Speed Speed + Gear kw min N m Ratio N m/% N m/% min min Gear L /./8 8.7/8 8.. L /9./8./ L..8 /./8 /8 8.. L7 /9.9/8 / L8 / /8 8/ L /.7/8./8.. L /9.9/8 /8.8.9 L..8 / 9.9/8 / L7 /9 /8 7/ L8 / /8 8/ L /./8 77./ L /9./8 9/ L.9 8. / 8/8 9/ L7 /9 /8 8/ L8 / /8 9/ L / /8 /8.9. L /9 8.8/8 / L.. / 8/8 8/8.9. L7 /9 7/8 /8 8.. L8 / /8 8/ L / 7./8 7/8.. L. 9. /9 8/8 7/ L / /8 7/8.. L / /8 / L /9 /8 9/8 8.. : Output torque and motor speed produce the following trends in efficiency. Values in the table are at the rated motor speed. Efficiency Efficiency Output Torque Motor Speed Note: The noload torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

161 Servomotors SGMGH ( min ) Rotary Motors With Lowbacklash Gears Ratings and Specifications llowable Radial Load Servomotor Model SGMGH L GreaseIubricating L Type L (For Small apacity) L L Flange Type 9 L L7 L8 L L7 L8 9 L 9 L GreaseIubricating 9 L7 Type 9 L8 (For Large apacity) L L Flange Type L L7 L8 L L L L L llowable Radial Load for Shaft enter (Fr) N Rotary Servomotors

162 With Lowbacklash Gears External Dimensions Units: mm Small Grease Lubricating Type LL LM L R 7 R Dia.. Dia.. Dia. 8 Dia. Dia. Mounting Holes Shaft End 8 pplied Specifications for Shaftend Tap Q NFJL NFJL NFJL S Dia. dtap L Frame No. Dia. S Length Q d L mm 7 9 M8 M M Detailed Dimensions of Gears NFJL NFJL NFJL (Servomotor) Dia. Dia. Dia. R 7 Dia.. Dia. 9 Dia. 9 Dia.. Dia. (Servomotor) 9 Dia. 8 Dia. 9 Dia. Dia. R 7 Dia.. 7 Dia. Dia. Dia. Dia.. 9 (Servomotor) Dia. Dia. R Dia. Dia Dia..9 9 Dia. 8 Dia. 8 Dia.. Dia. Gear Ratio Gear Ratio Gear Ratio / / / /9 8 /9 8 /9 8 /, /9 7 /, /9 /, /9 8 / 7 / / 8 Model pprox. Mass Gear Model No. Gear Ratio L LL LM R SGMGH kg L / L / L / NFJL L / 7 L / L / Note: Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease.

163 Servomotors SGMGH ( min ) Rotary Motors With Lowbacklash Gears External Dimensions Units: mm Large Grease Lubricating Type KL 88 LT LL LM L R LG LR Q QK R S Dia. L Dia. L Dia. L Dia. W Shaft End T U K K LZ Dia. Model SGMGH L7 L8 L L7 L8 9 L 9 L 9 L7 9 L8 L L L L7 L8 L L L L L Gear Model Gear Flange Face Dimensions Shaftend Dimensions pprox. L LL LM LR LT K K KL R Mass No. Ratio L L L LG LZ Q QK S T U W kg / NFJL / / / NFJL / NFJL / / NFJL / / NFJL / / / NFJL / / NFJL / / / NFJL / / Note: Since grease has been filled prior to shipment, the servomotors can be used without replenishing grease. Rotary Servomotors

164 Directdrive Servomotors SGMS Model Designation SGMS Directdrive SGMS servomotor st+nd digits rd digit th digit th digit th digit 7th digit st + nd digits Rated Torque rd digit Motor Outer Diameter th digit Design Revision Order Smallcapacity ode ode 8 E Z Specifications.Nžm.Nžm.Nžm 7.Nžm 8.Nžm Nžm Nžm Nžm 7Nžm Nžm Nžm Mediumcapacity Specifications Nžm 8Nžm Nžm Nžm Nžm ode D E M N th digit ode D Specifications dia. mm 7 dia. mm dia. mm 9 dia. mm 8 dia. mm dia. mm Encoder Specifications Specifications bit absolute encoder (Without multiturn data) (standard) bit incremental encoder (optional) ode Specifications Model of servomotor outer diameter code M, N Model of servomotor outer diameter code E Model of servomotor outer diameter code,, D th digit ode face Flange Specifications face face : pplicable Model 7th digit ode Flange Specifications Option Without options load end Nonload side Nonload side (with cable on side) Specifications Motor Outer Diameter ode (rd digit) Specifications Mounted Side D E M N Nonload side

165 Features Directly coupled to a load without a mechanical transmission such as a gear. Powerful and smooth operation throughout the speed range from low to high. (Instantaneous peak torque: Nžm to Nžm Maximum speed: min to min ) Highresolution, bit encoder for highly precise indexing. Easy wiring and piping with the hollow structure. pplication Examples Semiconductor equipment LD manufacturing equipment Units for inspection and testing Electronic parts assembling machines I handlers Inspection units for integrated circuits utomated machines Robots Rated Torque/Peak Torque Smallcapacity Inst. Peak Torque Rated Torque Mediumcapacity Inst. Peak Torque Rated Torque Outer Diameter: mm, Inner Diameter: mm Outer Diameter: 8 mm, Inner Diameter: 7 mm SGMS (Rated Torque. /Inst.Peak Torque.) SGMSM (Rated Torque /Inst.Peak Torque ) SGMS (./.) SGMS8M (8/) SGMS7 (7./.) 8 Nžm Outer Diameter: 7 mm, Inner Diameter: mm SGMS (./.) SGMS (./.) SGMS (./.) 8 Nžm SGMSM (/) Nžm Outer Diameter: mm, Inner Diameter: 8 mm SGMS8N (8/) SGMSEN (/) SGMSZN (/) Nžm Directdrive Servomotors Outer Diameter: mm, Inner Diameter: mm SGMS8D (8./.) SGMS7D (7./.) SGMSD (./7.) 8 Nžm Outer Diameter: 9 mm, Inner Diameter: 7 mm SGMSE (./8.) SGMSE (./.) 8 Nžm

166 Ratings and Specifications Smallcapacity Series Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for gaps on the rotating section of the shaft) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Rotation Direction: ounterclockwise (W) with forward run reference when viewed from the load side Voltage Servomotor Model SGMS Rated Output W Rated Torque, N m Instantaneous Peak Torque N m Stall Torque N m Rated urrent rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m Rated Power Rate kw/s Rated ngular cceleration rad/s bsolute ccuracy second Repeatability second pplicable SERVOPK SGDS V 7 8D 7D D E E ± ± ± ± ±. ±. ±. ±. 8 : These items and torquemotor speed characteristics quoted in combination with an SGDS SERVOPK are at an armature winding temperature of. Other values quoted at. : Rated torques are continuous allowable torque values at with a steel heat sink attached. Heat Sink: SGMS : mm SGMS : mm SGMS D : mm SGMS E : mm Notes: SGMS servomotors with holding brakes are not available. For the bearings used in SGMS servomotors, loss varies according to the bearing temperature. t low temperatures, the amount of heat loss will be large. Smallcapacity Series: Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone SGMS SGMS SGMS7 SGMS Motor Speed (min) Motor Speed (min) Motor Speed (min) Motor Speed (min) Torque (N m) 9 Torque (N m) Torque (N m) 9 Torque (N m) SGMS SGMS SGMS8D SGMS7D Motor Speed (min) Motor Speed (min) Motor Speed (min) Motor Speed (min) 8 Torque (N m) Torque (N m) 8 Torque (N m) 8 Torque (N m) SGMSD SGMSE SGMSE Torque (N m) Torque (N m) Torque (N m) Note: The dotted line of the intermittent duty zone indicates the characteristics when a servomotor runs in combination with a SERVOPK for V. Motor Speed (min) Motor Speed (min) Motor Speed (min)

167 Directdrive Servomotors SGMS Rotary Motors Ratings and Specifications Smallcapacity Series: Load Moment of Inertia and Motor Speed SGMS ( W) SGMS ( W) SGMS7 (7 W) Load Moment of Inertia ( kg m ) 8. Motor Speed (min ) Load Moment of Inertia ( kg m ) min min 7. Motor Speed (min ) Load Moment of Inertia ( kg m ) min Motor Speed (min ) Load Moment of Inertia ( kg m ) 7. SGMS (8 W) SGMS (9 W) SGMS (9 W) min Motor Speed (min ) Load Moment of Inertia ( kg m ) 8 8. min Motor Speed (min ) Load Moment of Inertia ( kg m ) min Motor Speed (min ) Load Moment of Inertia ( kg m ) SGMS8D (8 W) SGMS7D ( W) SGMSD (9 W) min Motor Speed (min ) SGMSE ( W) Load Moment of Inertia ( kg m ) 8 7 min min Motor Speed (min ) SGMSE ( W) min Load Moment of Inertia ( kg m ) 77 Motor Speed (min ) Directdrive Servomotors Load Moment of Inertia ( kg m ) min Motor Speed (min ) Load Moment of Inertia ( kg m ) Motor Speed (min ) Smallcapacity Series: llowable Load Moment of Inertia at the Motor Shaft Servomotor Rated Torque llowable Load Moment of Inertia Model N m (Rotor Moment of Inertia) SGMS.,.,., ,.,., 7.,.,. 7

168 Ratings and Specifications Mediumcapacity Series Time Rating: ontinuous Vibration lass: µm or below Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Mounting: Flange method Thermal lass: F Withstand Voltage: V for one minute Enclosure: Totally enclosed, selfcooled, IP (except for shaft opening) mbient Humidity: % to 8% (no condensation) Drive Method: Direct drive Rotation Direction: ounterclockwise (W) with forward run reference when viewed from the load side Voltage V Servomotor Model SGMS M 8M M 8N EN ZN Rated Output W 77 7 Rated Torque, N m 8 8 Instantaneous Peak Torque N m Stall Torque N m 8 8 Rated urrent rms Instantaneous Max. urrent rms Rated Speed min Max. Speed min Torque onstant N m/rms Rotor Moment of Inertia kg m Rated Power Rate kw/s Rated ngular cceleration rad/s pplicable SERVOPK SGDS : These items and torquemotor speed characteristics quoted in combination with an SGDS SERVOPK are at an armature winding temperature of. : Rated torques are continuous allowable torque values at with a steel heat sink (77 mm) attached. Notes: SGMS servomotors with holding brakes are not available. For the bearings used in SGMS servomotors, loss varies according to the bearing temperature. t low temperatures, the amount of heat loss will be large. Mediumcapacity Series: Torquemotor Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone SGMSM SGMS8M SGMSM SGMS8N Motor Speed (min) Motor Speed (min) Motor Speed (min) Motor Speed (min) Torque (Nžm) Torque (Nžm) Torque (Nžm) Torque (Nžm) SGMSEN SGMSZN Motor Speed (min) Motor Speed (min) Torque (Nžm) 8 Torque (Nžm) Mediumcapacity Series: llowable Load Moment of Inertia at the Motor Shaft Servomotor Rated Torque llowable Load Moment of Inertia Model N m (Rotor Moment of Inertia) 8 SGMS 8

169 Directdrive Servomotors SGMS Rotary Motors Mechanical Specifications llowable Loads The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the thrust load and moment load will not exceed the values in the table. F F L F L Where F is external force, Thrust load: Fa=F+Load mass Moment load: M= Where F is external force, Thrust load: Fa=F+Load mass Moment load: M=FL (See the table below for the dimension of each servomotor model.) Where F is external force, Thrust load: Fa=Load mass Moment load: M=F(L+) Servomotor Model SGMS Dimension mm llowable Thrust Load Fa (N) llowable Moment Load M (N m) 7 8D 7D D E E M 8M M 8N EN ZN Note: For smallcapacity series SGMS to E servomotors, set the dimension to (zero). Mechanical Tolerance The following table shows tolerances for the servomotor s output shaft and installation area. See the dimensional drawing of the individual servomotor for more details on tolerances. () Smallcapacity Series Tolerance T.I.R.(Total Indicator Reading) Servomotor Model SGMS Units: mm 7 8D 7D D E E Dia. Runout of the Surface of the Shaft.... Drive End Runout at the End of the Shaft.... Opposite Perpendicularity between the Flange Face and Output Shaft Drive End Dia. oaxiality of Output xis and Mounting Socket Joint Dia. () Mediumcapacity Series Dia. Drive End Opposite Drive End Dia. Dia. Dia. Tolerance T.I.R.(Total Indicator Reading) Servomotor Model SGMS Units: mm M 8M M 8N EN ZN Runout of the Surface of the Shaft.. Runout at the End of the Shaft.. Perpendicularity between the Flange Face and Output Shaft oaxiality of Output xis and Mounting Socket Joint.8.8 Right angle between Flange Face and Output Shaft.8.8 Directdrive Servomotors Direction of Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load. Vibration Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. Servomotor Type Vibration cceleration at Flange Smallcapacity Series 9 m/s Mediumcapacity Series. m/s Vertical Side to Side Front to ack Vibration applied to the servomotor. Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the follwing vertical impacts: Impact cceleration: 9 m/s Number of Impacts: Vibration lass Vertical Impact applied to the servomotor. The vibration class at rated motor speed is µm or below. ( vibration class of µm or below indicates a total vibration amplitude of µm maximum on the servomotor during rated rotation.) Enclosure Servomotor Type Smallcapacity Series Mediumcapacity Series Enclosure IP (except for gaps on the rotating section of the shaft) IP 9

170 External Dimensions Units: mm Smallcapacity Series () Rated Torque:. to 7. N m (Outer Diameter: mm, Inner Diameter: mm) pplicable Flange: M Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees).7.7 Dia. L (LL) ±.9. M Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) 9 Dia. 9 Dia. R.. R. MX. onnector rea Dia.. Dia. (9) (.:olt Section) +. Dia. () (7 Dia.). Dia. onnector to Servomotor 9û Nameplate onnector to Encoder Nameplate Model pprox. Mass L (LL) SGMS kg :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. pplicable Flange: ± () M Tapped Holes, Depth 8 (Divided into six ().7 Dia..7 L (LL).9. M Tapped Holes, Depth 8 (Divided into six equal sections of 9 Dia. sixty degrees) equal sections of sixty degrees) 9 Dia. Dia. Dia.. (8 Dia.). (.:olt Section) Dia. +. () (7 Dia.) Dia.. Nameplate Nameplate. Model pprox. Mass L (LL) SGMS kg : The shaded section shows the rotating section. : The hatched section shows the nonrotating section. Servomotor onnector for Smallcapacity Series Servomotors (pplicable Flange: ) onnector Specifications for Servomotor Model : JNSMK Manufacturer : Japan viation Electronics Industry, Ltd. pplicable plug: JNDSFK (To be provided by the customer.) onnector Specifications for Encoder 7 8 Model : JNSML Manufacturer : Japan viation Electronics Industry, Ltd. pplicable plug: JNDSSL (To be provided by the customer.) 7 Phase U Phase V Phase W FG (Frame ground) Red White lue Green (yellow) PS /PS PGV Light blue Light blue/white Red FG (Frame ground) PGV Shield lack

171 Directdrive Servomotors SGMS Rotary Motors External Dimensions Units: mm () Rated Torque:. to. N (Outer Diameter: 7 mm, Inner Diameter: mm) pplicable Flange: M Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) Dia. R. M Tapped Holes, Depth 8 (Only for use by Yaskawa).7.7 Dia. 7 Dia.. Dia. L (LL) ±.9 (:olt Section) +. Dia. ( Dia.).. Dia. M Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) Dia. M Tapped Holes, Depth 8 (Only for use by Yaskawa) (9) (). R MX. onnector rea. onnector to Servomotor û Nameplate onnector to Encoder Nameplate Model pprox. Mass L (LL) SGMS kg :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. pplicable Flange: ± ( ) M Tapped Holes, Depth 8 (Divided into six equal sections of sixty degrees) Dia. ().7 Dia. M Tapped Holes, Depth 8 (Only for use by Yaskawa).7 7 Dia.. Dia. ( Dia.). L (LL) ( : olt Section ) ± Dia. () ( Dia.). Dia. M Tapped Holes, Depth 8 Dia. (Divided into six equal sections of sixty degrees) M Tapped Holes, Depth 8 (Only for use by Yaskawa) Directdrive Servomotors Nameplate Nameplate. Model pprox. Mass L (LL) SGMS kg :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. Servomotor onnector (pplicable Flange:) onnector Specifications for Servomotor onnector Specifications for Encoder Model Plug : 779 Pin : or 9 (No. to ) Ground pin : or 9 (No.) Manufacturer : Tyco Electronics MP K.K. pplicable plug ap : 78 Socket : 7 or 89 Phase U Phase V Phase W FG (Frame ground) Red White lue Green (yellow) Model : Manufacturer : Molex Japan o., Ltd pplicable plug : 8 onnector ase PGV PGV PS /PS FG (Frame ground) Red lack Light blue Light blue/ white Shield 7

172 External Dimensions Units: mm () Rated Torque: 8. to. N m (Outer Diameter: mm, Inner Diameter: mm) pplicable Flange: M Tapped Holes, Depth (Divided into six equal sections of sixty degrees) M Tapped Holes, Depth (Only for use by Yaskawa).8.8 Dia. L (LL) ±.9. M Tapped Holes, Depth (Divided into six equal sections of sixty degrees) Dia. M Tapped Holes, Depth (Only for use by Yaskawa) Dia. R Dia.. Dia. (.:olt Section) +. Dia. ( Dia.) 7. Dia... R7. MX. onnector rea (9) () û. onnector to Servomotor Nameplate onnector to Encoder Nameplate :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. Model pprox. Mass L (LL) SGMS kg 8D 7. 7D. D 9.7 pplicable Flange: ± ( ) M Tapped Holes, Depth (Divided into six equal sections of sixty degrees) ().8 M Tapped Holes, Depth.8 Dia. (Only for use by Yaskawa) L (LL).9. M Tapped Holes, Depth (Divided into six equal sections of sixty degrees) Dia. M Tapped Dia. Holes, Depth Dia.. Dia. ( Dia. ). (.: olt Section ) +. Dia. ( Dia. ) 7. Dia. (Only for use by Yaskawa) () Nameplate Nameplate. :The shaded section shows the rotating section. Model pprox. Mass L (LL) SGMS kg 8D 7. 7D. D 9.7 :The hatched section shows the nonrotating section. 7

173 Directdrive Servomotors SGMS Rotary Motors External Dimensions Units: mm () Rated Torque:. to. N m (Outer Diameter: 9 mm, Inner Diameter: 7 mm) pplicable Flange: M8 Tapped Holes, Depth (Divided into six equal sections of sixty degrees) M8 Tapped Holes, Depth (Only for use by Yaskawa).8.8 Dia. L (LL) ±.. M8 Tapped Holes, Depth (Only for use by Yaskawa) M8 Tapped Holes, Depth (Divided into six equal sections of sixty degrees) Dia. (8 Dia.) Dia. R 9 Dia.. Dia Dia. (8 Dia.). Dia... R8 MX. onnector rea (9) () onnector to Servomotor û Nameplate onnector to Encoder Nameplate (). :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. Model pprox. Mass L (LL) SGMS kg E E. pplicable Flange: M8 Tapped Holes, Depth (Divided into six equal sections of sixty degrees) Dia. () M8 Tapped Holes, Depth (Only for use by Yaskawa).8 Dia..8 9 Dia.. Dia. ( Dia. ) ± L (LL) ( ) ± Dia. 8 Dia.. Dia.. M8 Tapped Holes, Depth (Only for use by Yaskawa) M8 Tapped Holes, Depth (Divided into sixequal sections of sixty degrees) Dia. (8 Dia.) Directdrive Servomotors. () Nameplate Nameplate (). :The shaded section shows the rotating section. :The hatched section shows the nonrotating section. Model pprox. Mass L (LL) SGMS kg E E. 7

174 External Dimensions Units: mm Mediumcapacity Series () Rated Torque: to N m (Outer Diameter: 8 mm, Inner Diameter: 7 mm) pplicable Flange: LL K K.8 (within 8. Dia.).8 Dia. M Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees) û Dia. Dia. 7. (Rotating part) 7. Dia. 8±. Dia. +.9 (within 7 Dia.) Dia... Dia. Dia. 8. Dia. 88 Dia. Dia. 8 M Tapped Holes, Depth 8 (Divided into twelve equal sections of thirty degrees). Model pprox. Mass LL K K SGMS kg M M M 87. :The shaded section shows the rotating section. pplicable Flange: M Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees) φ M Tapped Holes, Depth 8 (Divided into twelve equal sections of thirty degrees) Dia. (Rotating part) 8 Dia. 8. Dia. Dia. 7. Dia. +.9 (within 7 Dia.) Dia.. Dia. Dia. 88 Dia. Model pprox. Mass L LL K K SGMS kg M M M. 7 :The shaded section shows the rotating section. Servomotor onnector for Mediumcapacity Series Servomotors (pplicable Flange:, ) onnector Specifications for Servmotor (Same for ll Mediumcapacity Models) onnector Specifications for Encoder (Same for ll Mediumcapacity Models) D Model : E8PD Manufacturer: DDK Ltd. pplicable plug and cable clamp Plug : E8SDSS able clamp : E7 (D) (To be provided by the customer.) 7 8 Model : JNSML Manufacturer : Japan viation Electronics Industry, Ltd. pplicable plug: JNDSSL (To be provided by the customer.) 7 D Phase U Phase V Phase W FG (Frame ground) PS /PS 7 8 PG V 9 FG (Frame ground) PG V

175 Directdrive Servomotors SGMS Rotary Motors External Dimensions Units: mm () Rated Torque 8 to N m (Outer Diameter: mm, Inner Diameter: 8 mm) pplicable Flange: LL K K.8 (within.7 Dia.).8 Dia. M8 Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees) û 8. (Rotating part) ±. Dia.. Dia. Dia. Dia. 8. Dia. +. (within 8 Dia.) +. 8 Dia..7 Dia. 9 Dia..7 Dia. Dia. M8 Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees). Model pprox. Mass LL K K SGMS kg 8N 98 EN ZN 98 8 :The shaded section shows the rotating section. pplicable Flange: û Dia. M8 Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees) Dia..7 Dia. M8 Tapped Holes, Depth (Divided into twelve equal sections of thirty degrees) (Rotating part) Dia. 8. Dia. +. (within 8 Dia.) +. 8 Dia.. Dia. 9 Dia. Dia. Directdrive Servomotors Model pprox. Mass L LL K K SGMS kg 8N 7 EN ZN 7 8 7

176 Selecting ables ables onnections SGDS SERVOPK Encoder able See page 8 for encoder cable extension from m to m. Servomotor Main ircuit able (See page 7.) SGMS Servomotor Encoder able Servomotor Main ircuit able View Servomotor Main ircuit ables Name able with Loose Wire at SERVOPK End Servomotorend onnector ables Mediumcapacity Series: ables Length Order No. L Standard able Flexible able m JZSPMME JZSPSME m JZSPMME JZSPSME m JZSPMME JZSPSME m JZSPMME JZSPSME m JZSPMME JZSPSME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME m JZSPMME JZSPMME JNDSFK m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E m JZSPSM9E JZSPSM8E Specifications pplicable Flange : SERVOPK End mm L M rimped Terminals pplicable Flange : SERVOPK End 8.. (Exposed core wire) Sheath to ind ore Wires Heatshrinkable Tube ontact your Yaskawa representative for cables with connectors and cables and connectors. L Encoder (Servomotor) End. Dia. M rimped Terminals able: UL7 (WG ) Soldered m Max. Encoder (Servomotor) End ap : 78(pole) Socket : (hained) Details () () () () : Use flexible cables for movable sections such as robot arms. : For applicable flanges, see model designations on page. Note: SGMS servomotors with holding brakes are not available. 7

177 Directdrive Servomotors SGMS Rotary Motors Selecting ables () For Smallcapacity Series: Wiring specifications pplicable Flange:, To SERVOPK Lead olor Signal Red White lue Green/(Yellow) Phase U Phase V Phase W FG To Servomotor Signal Pin No. Phase U Phase V Phase W FG () For Smallcapacity Series : onnector Specifications for Servomotors Items Specifications Manufacturer Japan viation Electronics Industry, Ltd. Order No. JNDSFK (Soldered) Outer Diameter of pplicable able.7 mm to 7. mm. max. Dimensional Drawings (Units: mm) Pin No. Pin No Pin No. Ground () For Smallcapacity Series : able Specifications Items Standard able Flexible able Order No. JZSPSM9 E ( m max.) JZSPSM8 E ( m max.) Specifications Finished Dimensions Internal onfiguration and Lead olor UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:. mm For holding brake line: WG (. mm ) Outer diameter of insulating sheath:. mm UL7 (Max. operating temperature: ) WG For power line: WG (. mm ) Outer diameter of insulating sheath:.7 mm For holding brake line: WG (. mm ) Outer diameter of insulating sheath:.7 mm 7 ±. dia. mm Green/ (Yellow) lue lack lack White Red Directdrive Servomotors Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of ordr No. Example: JZSPSM9 E( m) able length: m, m, m, m, m 77

178 Selecting ables Units: mm () For Mediumcapacity Series (SGMS M and N): onnector Specifications Standard Straight Plug SGMS Servomotor Nonwaterproof able lamp able Standard Lshaped Plug onnector on Servomotor onnector on Servomotor able onnector to Servomotor (Receptacle) Lshaped Plug Straight Plug able lamp MS8P MS88S MS8S MS7 Dimensional Drawings: MS8 Lshaped Plug Shell Q J L W U R Model No. Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L Max. Outer Diameter of Joint Nut Q +.8 R ±. U ±. able lamp Set Screw V Effective Screw Length W Min. V MS 8 8 /8 8UNEF UNEF 9. Dimensional Drawings: MS Straight Plug Shell Q J L W Y Model No. Shell Size Joint Screw Length of Joint Portion J ±. Overall Length L Max. Outer Diameter of Joint Nut Q +.8 able lamp Set Screw V Effective Screw Length W Min. Maximum Width Y Max. V MS 8 /8 8UNEF UNEF 9. Dimensional Drawings: MS7 able lamp with Rubber ushing. J (Inner ushing Diameter) Q V G E (Inner able lamp Diameter) H (Slide Range) Model No. pplicable onnector Shell Size Overall Length ±.7 Effective Screw Length E G ±.7 H J Set Screw V Outer Diameter Q ±.7 ttached ushing MS UNEF. N 78

179 Directdrive Servomotors SGMS Rotary Motors Selecting ables Encoder ables and onnectors (Max. length : m) Name Encoder able with onnectors (Same for Incremental and bsolute Encoders) Encoder able with Loose Wires at Encoder End (Same for Incremental and bsolute Encoders) onnector Kit to SERVOPK Length Order No. Standard able Flexible able m JZSPMPE JZSPSPE m JZSPMPE JZSPSPE m JZSPMPE JZSPSPE m JZSPMPE JZSPSPE m JZSPMPE JZSPSPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE m JZSPMPE JZSPMPE JZSPMP9 onnector to Encoder (Straight Plug) JNDSSL onnector to Encoder (Socket ontact) JNSPKG m JZSPMP9E JZSPSP9E ables m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E m JZSPMP9E JZSPSP9E : Use flexible cables for movable sections such as robot arms. : For applicable flanges, see model designations on page. () Wiring Specifications for able with onnectors pplicable Flange:, (Standard type) SERVOPK End Encoder (Servomotor) End Pin No. Shell Signal PGV PGV PS /PS FG Pin No. 9 7 Wire olor Red lack Light blue Light blue/white FG Shield wire Shield Wire Note: e sure to connect the shield wire of encoder cable to the connector case (shell). To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) (Flexible type) pplicable Flange : SERVOPK End onnector (Molex Japan o., Ltd.) To SERVOPK Plug onnector (rimped) (Molex Japan o., Ltd.) Soldered Specifications pplicable Flange :, pplicable Flange : L To Encoder Straight Plug (aulking) (Japan viation Electronics Industry, Ltd.) L L Encoder End Socket onnector (Molex Japan o., Ltd.) To Encoder mm Wire Markers (Molex Japan o., Ltd.) rimping Type ( crimp tool is required.) m Max. SERVOPK End Pin No. Signal PGV PGV PS /PS Shell FG (Japan viation Electronics Industry, Ltd.) Shield Wire Pin No. 9 7 Encoder End Details () () () () () Wire olor Orange Green lack/light blue Red/light blue FG Shield wire Directdrive Servomotors () Wiring Specifications for able with onnectors pplicable Flange: (Standard type) (Flexible type) SERVOPK End Pin No. Signal PGV PGV PS /PS Shell FG Shield Wire Encoder (Servomotor) End Pin No. Shell Wire olor Red lack Light blue Light blue/white FG Shield wire SERVOPK End Pin No. Signal PGV PGV PS /PS Shell FG Shield Wire Encoder End Pin No. Wire olor Orange Green Red/light blue lack/light blue 7 FG Shield wire Note: e sure to connect the shield wire of encoder cable to the connector case (shell). 79

180 Selecting ables () Wiring for able with Loose Wires to Encoder To SERVOPK To Encoder (Servomotor) Pin No. Shell Signal /PS PS T( ) T(+) PG V PG V FG Standard Light blue/white Light blue Orange/white Orange lack Red Lead olor Flexible lack/light blue Red/light blue lack/pink Red/pink Green Orange Marker Shield Wire Notes: The signals T(+) and T( ) are not needed when using SGMS servomotors. e sure to connect the shield wire of encoder cable to the connector case (shell). () onnectors to SERVOPK Items To SERVOPK To Servomotor Order No. JZSPMP9E Tools are not included. Manufacturer Molex Japan o., Ltd. Japan viation Electronics Industry, Ltd. Specifications 7 (soldered) Note: 7 (soldered) when using a connector kit Straight plug:jndssl (crimped) Socket plug:jnspkg Outer diameter of applicable cable :.7 to 7. mm pplicable wire size: WG to Outer diameter of insulating sheath:.8 to. mm rimp tool (hand tool) model No.: TJN Dimensional Drawings (Units: mm) (9) () (). Max. 8.8 Dia. 7 8 () ables Items Standard able Flexible able Order No. JZSPMP9 E JZSPSP9 E able Length m max. Specifications UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm UL7 (Max. operating temperature: 8 ) WG+WGP WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:. mm Finished Dimensions. dia. mm.8 dia. mm Internal onfiguration and Lead olors Light blue Orange Red lack Light blue/ white Orange/ white lack/ light blue lack/ pink Orange Green Red/ light blue Red/ pink Yaskawa Standard Specifications (Standard Length) able length: m, m, m, m : Specify the cable length in of order No. Example: JZSPMP9E ( m) 8

181 Directdrive Servomotors SGMS Rotary Motors Selecting ables Encoder ables and onnectors (For Extending from m up to m) Relay Encoder ables(for Relay) Encoder cable for m extension Encoder cable for m extension Name For Encoder (Same for Incremental and bsolute Encoders) Only for to W (Same for Incremental and bsolute Encoders) m to m encoder cables are available. Length Order No. Standard able. m JZSPSPE m JZSPUMPE m JZSPUMPE m JZSPUMPE m JZSPMP9E m JZSPMP9E m JZSPMP9E m Max. Specifications Details () () () () Wiring for Relay Encoder able to Encoder (for Relay) (For Incremental and bsolute Encoders) () Wiring specification of m encoder cable extension To SERVOPK Pin No. Signal PG V PG V PS To Encoder (Servomotor) Pin No. Lead olor Red 9 lack Light blue /PS Light blue/white Shell FG Shield 7 FG Shield Wire () Specification of m encoder cable extension pplication Order No. able Length Specifications Finished Dimensions Note: e sure to connect the shield wire of encoder cable to the connector case (shell). Standard able JZSPMP9 E m max. UL7 (Max. operating temperature: 8 ) WG +WG P WG (. mm ) Outer diameter of insulating sheath:. mm WG (. mm ) Outer diameter of insulating sheath:.9 mm.8 dia. mm To SERVOPK Pin No. Signal /PS PS T() T(+) To Encoder (Servomotor) Pin No. Lead olor Light blue/white Light blue Orange/white Orange PG V PG V lack Red Shell FG Shield Shell FG Wire Directdrive Servomotors lack Internal onfiguration and Lead olors Orange Orange/white Red Light b Light b Yaskawa Standard Specifications (Standard Length) : Specify the cable length in of order No. Example: JZSPMP9 E( m) able length: m, m, m 8

182 SERVOPKs SGDS (nalog Voltage Reference or Pulsetrain Reference) SGDS (Fullyclosed ontrol) For Rotary Servomotors With the optimum functions to drive your machine rapidly and accurately and with the latest technology to quickly and precisely adapt the servo drive to your machine, the series of SERVOPKs has been developed for highspeed, highfrequency, and highaccuracy positioning. 8

183 Features High performance With cuttingedge technology such as the Hz frequency response, lessdeviation control, and vibration suppression control, the SERVOPKs attain smooth positioning at high speeds with minimum vibration. Various tuning functions djusts the servo according to the actual operation conditions and reduce the time required to set the servo drive. New digital operator With the liquidcrystal digital operator, monitor four types of data, including parameter settings, at the same time to make tuning the servo drive even easier. New upgrades for enhanced performance With new functions to suppress vibrations, to optimize machine performance, to simplify setup, and to meet your system requirements with greater flexibility, make the necessary settings more quickly than ever. Model Designation SGDS R Series SGDS SERVOPK Max. Rated Output of pplicable Servomotor ode Specifications W W W W W W 8 7 W. kw. kw. kw. kw. kw. kw 7 7. kw Mounting Method lank: asemounted (7. kw or less) R: Rackmounted (. kw or less) Design Revision Order,, Interface Specifications : nalog voltage reference or pulsetrain reference (For rotary servomotors) : nalog voltage reference or pulsetrain reference, and fully closed control (For rotary servomotors) Power Supply Voltage ode Specifications V V F (V input, V output: Doubled voltage) V (V input, V output: For SGMMJ servomotors) SERVOPKs 8

184 Ratings and Specifications asic Specifications SERVOPK apacity Range lnput for / V Power Supply Main ircuit V ontrol ircuit Main ircuit V ontrol ircuit ontrol Method Feedback Surrounding ir/storage Temperature Opertating mbient/storage Humidity onditions Vibration/Shock Resistance Singlephase V Singlephase V Threephase Threephase V V Threephase (or singlephase) to V + to %, /Hz Singlephase to V + to %, / Hz Singlephase to V + to %, / Hz Singlephase to V + to %, / Hz Single or threephase fullwave rectification IGTPWM (sinewave driven) [Singlephase fullwave rectification for SGDS ( V)] Encoder: bit (incremental) Encoder: 7bit (incremental/absolute) Encoder: bit (incremental/absolute) to + / to + 8 9% RH or less (with no condensation).9 m/s / 9. m/s SERVOPK Model SGDS Max. pplicable Servomotor apacity kw ontinuous Output urrent rms V Max. Output urrent rms ontinuous Output urrent rms V Max. Output urrent rms Singlephase V onfiguration asemounted (Rack mounting available as an option for SGDS to ) Performance Speed ontrol Range Speed Load Regulation ontrol Voltage Regulation Regulation Temperature Regulation Frequency haracteristics Torque ontrol Tolerance (Repeatability) : (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) to% load: ±.% max. (at rated speed) Rated voltage ±%: % (at rated speed) ± : ±.% max. (at rated speed) Hz (at J L= J M ) ± % Soft Start Time Setting to s (an be set individually for acceleration and deceleration.) Dynamic rake (D) Operated at main power OFF, servo alarm, servo OFF, or overtravel uitin Functions Regenerative Processing Overtravel Prevention (OT) Electronic Gear Protection External regenerative resistor uiltin Dynamic brake stop at POT or NOT: the motor decelerates to a stop or coasts to a stop.. / External regenerative resistor Overcurrent, overvoltage, low voltage, overload, regeneration error, main circuit sensor error, heat sink overheat, power phase loss, position error pulse overflow, overspeed, encoder error, overrun detection, PU error, parameter error, and so on. LED Display HRGE, five 7segment LEDs (builtin Digital Operator functions) Others Reverse connection, zero position search, automatic motor discrimination function : Speed regulation is defined as follows: Noload motor speedtotal load motor speed Speed regulation= % Rated motor speed The motor speed may change due to voltge variations or amplifier drift and changes in processing resistance due to temperature variation. The ratio of speed changes to the rated speed represents speed regulation due to voltage and temperature variations. 8

185 SERVOPKs SGDS / Rotary Motors Ratings and Specifications pplicable SERVOPK Model SGDS to ll apacities Torque ontrol Input Signals Reference Voltage Input lmpedance ircuit Time onstant ± VD (Variable setting range: ± to ± VD) at rated torque, input voltage: ± V (max.) (forward rotation with positive reference) bout kω min. µs Performance Soft Start Time Setting to s (an be set individually for acceleration and deceleration.) Torque/Speed/Position ontrol Speed ontrol Position ontrol Input Signals Setting Speed Reference Performance Input Signals Reference Voltage Input lmpedance ircuit Time onstant Rotation Direction Selection Speed Selection ias Setting Feedforward ompensation Positioning ompleted Width Setting Reference Pulse Type Form Frequency ± VD (Variable setting range: ± to ± VD) at rated torque, input voltage: ± V (max.) (forward rotation with positive reference) bout kω min. µs With P control signal With forward/reverse torque limit signal (speed to selection), servomotor stops or another control method is used when both are OFF. to min (setting resolution: min ) to % (setting resolution: %) to 778 reference units (setting resolution: reference unit) sign+pulse train, W+W pulse train, or 9 phase difference phase pulse ( phase + phase ) Noninsulated line driver (+ V level) Mpps max. (noninsulated line driver) ontrol Signal lear Signal Position Form Phase,, line driver Output Frequency Dividing ny Setting Ratio Servo ON, P control (or ontrol Mode switching, forward/reverse motor rotation by internal speed I/O signals Sequence lnput Signal allocation can be modified. setting, zero clamping, reference pulse inhibit), forward run prohibited (POT), reverse run prohibited (NOT), alarm reset, forward external torque limit, reverse external torque limit (or internal set speed control), and gain changeover Sequence Output Fixed Output Signal allocation can be modified. Servo alarm, bit alarm codes Select any three of the following signals: positioning completion (speed coincidence), rotation detection, servo ready, current limit, warning, positioning near, or brake signal. Output voltage: ±8 VD nalog monitor connector built in for monitoring speed, torque, and other reference signals. SERVOPKs nalog Monitor (N) Speed: V/ min Others Torque: V/rated torque Position error pulse:. V/reference uint Interface Digital Operator (hand type) ommunications Function Status display, parameter setting, monitor display, alarm traceback display, and JOG operation 8

186 Ratings and Specifications Power Supply apacities and Power Losses The following table shows SERVOPK's power supply capacities and power losses at the rated output. Main ircuit Power Supply Singlephase V Singlephase V Threephase V pplicable Regenerative SERVOPK Power Supply Output urrent Main ircuit ontrol ircuit Total Power Servomotor Resistor Power Model apacity (Effective Value) Power Loss Power Loss Loss apacity Loss SGDS kv W W W kw W F F..9. F F : Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead from the internal regenerative resistor in the SERVOPK. Install an external regenerative resistor. n external regenerafive resistor is available as an option. : SERVOPKs with a capacity of W to W do not have builtin regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor. : Install an external regenerative resistor when using the SERVOPK with capacity of. kw or more. The following regenerative resistor can be used: JUSPR: For SGDS (llowable power loss 8 W) JUSPR: For SGDS7 (llowable power loss W) 8

187 SERVOPKs SGDS / Rotary Motors Ratings and Specifications Overload haracteristics The overload detection level is set under hot start conditions at a servomotor surrounding air temperature of... Detecting Time (s)... Rated torque pprox. Rated torque + Maximum torque Maximum torque Note: The overload characteristics of,, and in the figure are applicable when the SERVOPK is combined with one of the following servomotors. Graph Type Servomotor Model SGMMJ SGMS SGMPS SGMSS SGMGH SGMS to to to to to 8 to to to to Z to 7 to 7 SERVOPKs 87

188 onnection Examples Singlephase V or V Power Supply Speed ontrol QF R T +% +% Singlephase to V % or Singlephase to V % (/ Hz) (/ Hz) Noise filter Main circuit power supply OFF Main circuit power supply ON (For servo alarm display) Ry PL Ry KM KM L L L L / SGDS SERVOPK U V W 7 8 () Servomotor () M () D() Optical encoder KM Speed reference (± V to ± V /rated motor speed) External torque limit/torque feed forward (± V to ± V /rated torque) S lways ground the line. VREF SG TREF SG N 9 LPF LPF / D N LO LO LO PG e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D ackup battery.8 V to. V T(+) T() PO /PO SEN signal input SEN + V SG V + V +VIN 7. kω 9 PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas Instruments or the equivalent Servo ON (Servo ON when ON) P control (P control when ON) /SON /PON (SI) (SI) (SO) /VMP+ Speed coincidence detection /VMP (ON when speed coincides.) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) POT NOT /LMRST (SI) (SI) (SI) (SO) (SO) /TGON+ /TGON /SRDY+ /SRDY Running output (ON when the motor speed exceeds the settings.) Servo ready output (ON when ready) 88 Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) : represents twistedpair wires. : The time constant for the primary filter is µs. : Enabled by the parameter setting. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : onnect when using an absolute encoder. : ustomers must purchase a VD power supply with doubleshielded enclosure. /PL /NL (SI) (SI) 7: This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. FG onnector shell onnect shield to connector shell 8: SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters. LM+ LM Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D

189 SERVOPKs SGDS / Rotary Motors onnection Examples Singlephase V or V Power Supply Position ontrol QF R T +% Singlephase to V % or (/ Hz) +% Singlephase to V % (/ Hz) Noise filter Ry (For servo alarm display) KM L L L L / SGDS SERVOPK U V W () Servomotor () M () D() Main circuit power supply OFF Main circuit power supply ON Ry PL KM Optical encoder Position reference KM S lways ground the line. PULS W Phase SIGN W Phase LR PULS /PULS SIGN /SIGN LR N 7 8 Ω Ω Ω N LO LO LO PG e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D /LR ackup battery.8 V to. V + V SEN signal input V Servo ON (Servo ON when ON) P control (P control when ON) T(+) T() SEN SG + V +VIN /SON /PON. kω 7 (SI) (SI) (SO) 9 PO /PO PO /PO PO /PO SG /OIN+ /OIN PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas lnstruments or the equivalent Positioning completed (ON when the positioning completes.) SERVOPKs Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) POT NOT /LMRST (SI) (SI) (SI) (SO) (SO) /TGON+ /TGON /SRDY+ /SRDY Running output (ON when the motor speed exceeds the settings.) Servo ready output (ON when ready) Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) /PL /NL (SI) (SI) onnector shell LM+ LM Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D FG onnect shield to connector shell. : represents twistedpair wires. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : onnect when using an absolute encoder. : ustomers must purchase a VD power supply with doubleshielded enclosure. : This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. : SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters. 89

190 onnection Examples Singlephase V or V Power Supply Torque ontrol QF R T +% Singlephase to V % or (/ Hz) +% Singlephase to V % (/ Hz) Noise filter Main circuit Main circuit power supply power supply OFF ON Ry (For servo alarm display) Ry PL KM KM L L L L / SGDS SERVOPK U V W 7 8 () Servomotor () M () D() Optical encoder KM External speed limit (± V to ± V /rated motor speed) Torque reference (± V to ± V /rated torque) S lways ground the line. VREF SG TREF SG N 9 LPF LPF / D N LO LO LO PG e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D ackup battery.8 V to. V SEN signal input + V V T(+) T() SEN SG + V +VIN 7. kω 9 PO /PO PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas instruments or the equivalent Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) /SON /PON POT NOT /LMRST (SI) (SI) (SI) (SI) (SI) (SO) (SO) (SO) /VLT+ Speed limit output (ON when the motor s running speed is limited.) /VLT /TGON+ Running output /TGON (ON when the motor speed exceeds the settings.) /SRDY+ Servo ready output /SRDY (ON when ready) Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) /PL /NL (SI) (SI) onnector shell LM+ LM Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D FG onnect shield to connector shell. 9 : Enabled by the parameter setting. : represents twistedpair wires. : The time constant for the primary filter is µs. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : onnect when using an absolute encoder. : ustomers must purchase a VD power supply with doubleshielded enclosure. 7: This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. 8: SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters.

191 SERVOPKs SGDS / Rotary Motors onnection Examples Threephase V Power Supply Speed ontrol R QF S T +% Threephase to V % (/ Hz) Noise filter Main circuit power supply OFF Main circuit power supply ON KM (For servo alarm display) Ry PL Ry KM S KM L L L L L / SGDS SERVOPK N U V W 9 () Servomotor () M () D() Optical encoder PG Speed reference (± V to ± V /rated motor speed) External torque limit/torque feed forward (± V to ± V /rated torque) lways ground the line. N VREF LPF SG TREF SG 9 LPF / D LO LO LO e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D ackup battery.8 V to. V T(+) T() PO /PO + V SEN signal input 7 V SEN SG + V 8 +VIN 7. kω 9 PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas Instruments or the equivalent Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) /SON /PON POT NOT /LMRST (SI) (SI) (SI) (SI) (SI) (SO) (SO) (SO) /TGON+ /VMP+ Speed coincidence detection /VMP (ON when speed coincides.) /TGON /SRDY+ /SRDY Running output (ON when the motor speed exceeds the settings.) Servo ready output (ON when ready) SERVOPKs Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) /PL /NL (SI) (SI) onnector shell LM+ LM Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D FG onnect shield to connector shell : If an external regenerative resistor is required, disconnect the wiring between the SERVOPK s and terminals and connect an external regenerative resistor between the / and terminals or between the and terminals. : onnect a D reactor for harmonic suppression between the SERVOPK s and terminals. : represents twistedpair wires. : The time constant for the primary filter is µs. : Enabled by the parameter setting. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. 7: onnect when using an absolute encoder. 8: ustomers must purchase a VD power supply with doubleshielded enclosure. 9: This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. : SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters. 9

192 onnection Examples Threephase V Power Supply Position ontrol R QF S T +% Threephase to V % (/ Hz) Noise filter Main circuit power supply OFF Main circuit power supply ON KM (For servo alarm display) Ry PL Ry KM S KM L L L L L / SGDS SERVOPK N U V W 7 8 () Servomotor () M () D() Optical encoder PG lways ground the line. PULS PULS W Phase /PULS SIGN SIGN Position W reference Phase /SIGN LR LR N 7 8 Ω Ω Ω LO LO LO e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D /LR ackup battery.8 V to. V + V SEN signal input V T(+) T() SEN SG + V +VIN 7. kω 9 PO /PO PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas lnstruments or the equivalent Servo ON (Servo ON when ON) P control (P control when ON) /SON /PON (SI) (SI) (SO) /OIN+ /OIN Positioning completed (ON when the positioning completes.) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) POT NOT /LMRST (SI) (SI) (SI) (SO) (SO) /TGON+ /TGON /SRDY+ /SRDY Running output (ON when the motor speed exceeds the settings.) Servo ready output (ON when ready) Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) /PL /NL (SI) (SI) onnector shell LM+ LM Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D FG onnect shield to connector shell. 9 : If an external regenerative resistor is required, disconnect the wiring between the SERVOPK s and terminals and connect an external regenerative resistor between the / and terminals or between the and terminals. : onnect a D reactor for harmonic suppression between the SERVOPK s and terminals. : represents twistedpair wires. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : onnect when using an absolute encoder. : ustomers must purchase a VD power supply with doubleshielded enclosure. 7: This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. 8: SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters.

193 SERVOPKs SGDS / Rotary Motors onnection Examples Threephase V Power Supply Torque ontrol R QF S T +% Threephase to V % (/ Hz) Noise filter Ry Main circuit Main circuit power supply power supply OFF ON Ry External speed limit (± V to ± V /rated motor speed) Torque reference (± V to ± V /rated torque) KM (For servo alarm display) PL KM S lways ground the line. KM L L L L L N VREF SG TREF SG 9 9 / U SGDS SERVOPK V W LPF LPF / D N LO LO LO () Servomotor () M () D() Optical encoder PG e sure to connect the shield wire to the connector case (shell). larm code output Max. operating voltage: VD Max. operating current: m D ackup battery.8 V to. V + V SEN signal input 7 V T(+) T() SEN SG + V 8 +VIN 7. kω 9 PO /PO PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas instruments or the equivalent Servo ON (Servo ON when ON) P control (P control when ON) Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) larm reset (Reset when ON) /SON /PON POT NOT /LMRST (SI) (SI) (SI) (SI) (SI) (SO) (SO) (SO) /VLT+ /TGON+ /VLT /TGON /SRDY+ /SRDY Speed limit output (ON when the motor s running speed is limited.) Running output (ON when the motor speed exceeds the settings.) Servo ready output (ON when ready) SERVOPKs Forward torque limit (Limit when ON) Reverse torque limit (Limit when ON) : If an external regenerative resistor is required, disconnect the wiring between the SERVOPK s and terminals and connect an external regenerative resistor between the / and terminals or between the and terminals. : onnect a D reactor for harmonic suppression between the SERVOPK s and terminals. : Enabled by the parameter setting. : represents twistedpair wires. : The time constant for the primary filter is µs. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. 7: onnect when using an absolute encoder. 8: ustomers must purchase a VD power supply with doubleshielded enclosure. /PL /NL (SI) (SI) LM+ LM 9: This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. FG onnector shell : SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. Note: The functions allocated to the input terminals SI to SI and the output terminals SO to SO can be changed by using the parameters. onnect shield to connector shell. Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. operating current: m D 9

194 YSKW SERVOPK HRGE External Dimensions Units: mm asemounted SERVOPKs () Singlephase V: W Singlephase / V: W to W () pprox. Mass:.7 kg () () Mounting Hole Diagram. M Screw Holes Terminal lock N N 9. ±. (Mounting Pitch) N N Ground Terminal M Screws (7) 8 Nameplate () ±. (Mounting Pitch) (8) () Singlephase V: W pprox. Mass:. kg Terminal lock Ground Terminal M Screws 7 N N N N N N () (7) () 8 Nameplate 8 () () (.) 9. ±. (Mounting Pitch) Mounting Hole Diagram M Screw Holes 8 ±. () (Mounting Pitch) 7 () Singlephase V: W pprox. Mass:.9 kg () Mounting Hole Diagram Terminal lock V () (). M Screw Holes N L L L L / U N N N 9. ±. (Mounting Pitch) V W N N N Ground Terminal M Screws N (7) 8 Nameplate () 7 ±. (Mounting Pitch) (8) 9

195 N N SERVOPKs SGDS / Rotary Motors External Dimensions Units: mm () Singlephase V: 7 W Threephase V: W,. kw pprox. Mass:. kg Terminal lock Ground Terminal M Screws 7 N N N N N N () (7) () 8 Nameplate Note: Do not use the L terminal of the singlephase V, 7 W SERVOPK. 8 () () (.) 9. ±. (Mounting Pitch) Mounting Hole Diagram M Screw Holes 8 ±. () (Mounting Pitch) 7 () Threephase V:. kw pprox. Mass:. kg () Mounting Hole Diagram Terminal lock HRGE L YSKW SERVOPK SGDS V N () (). M Screw Holes L L L L / + U V W N N N N N YSKW ELETRI MDE IN JPN 9. ±. (Mounting Pitch) Ground Terminal M Screws 9 (7) () Threephase V:, kw,. kw pprox. Mass:.8 kg 8 () Nameplate 8 () 8 ±. () (Mounting Pitch) 9 Mounting Hole Diagram SERVOPKs 8 YSKW SERVOPK SGDS V N N N N () YSKW ELETRI MDE IN JPN 8 7 ±. (Mounting Pitch) M Screw Holes Terminal lock P M Mounting Screws Ground Terminal M Screws (7) Nameplate 8 () 9 ±. (Mounting Pitch) () 9

196 YSKW SERVOPK External Dimensions Units: mm asemounted SERVOPKs (7) Threephase V:. kw pprox. Mass:. kg Mounting Hole Diagram Terminal lock P M Mounting Screws Ground Terminal M Screws HRGE ir Flow SGDS N N N N () () YSKW ELETRI MDE IN JPN Nameplate ir Flow ooling Fan ±. () ir Flow (Mounting Pitch) (7) (.) 9 ±.. (Mounting Pitch) M Screw Holes ooling Fan ooling Fan (8) Threephase V:. kw, 7. kw pprox. Mass:. kg Mounting Hole Diagram (7.) 7. Terminal lock P M Screws 7 ir Flow 7 Terminal lock M Screws ir Flow 7 Dia. Holes N N N N () Terminal lock P M Screws Terminal lock 8P M Screws () Nameplate (7) ooling Fan (7.) ±. 7. (Mounting Pitch) M Screw Holes ±. (Mounting Pitch) 7 () Visible Outline 9 ooling Fan View from ()

197 YSKW SERVOPK HRGE SERVOPKs SGDS / Rotary Motors External Dimensions Units: mm Rackmounted SERVOPKs () Singlephase / V: W to W pprox. Mass:.7 kg Mounting Hole Diagram Terminal lock YSKW (7.) (.) Dia. Holes () (). () 7. M Screw Holes 7 SERVOPK HRGE N L N 8 7 L L L / U N N 7 ±. (Mounting Pitch) Min. V W N N YSKW ELETRI MDE IN JPN Nameplate (7.) (7.) Ground Terminal M Screws 8 7 (7.) (7) () 9. (.) () Singlephase V: W pprox. Mass:. kg Terminal lock (7.) (7.) Ground Terminal M Screws 8. (.). (.) 7 N N N N N N () (7) (). 8 Nameplate 8 () Mounting Hole Diagram (7.) 7 ±. (7.) (Mounting Pitch) (7) Min. 7 () M Screw Holes. (.) 7 SERVOPKs () Singlephase V: W pprox. Mass:.9 kg Mounting Hole Diagram Terminal lock 8 7. Ground Terminal M Screws (7.) (7.) L L L L / U V W (7.) (.) Dia. Holes V N N N N N N N N () (). () ±. (Mounting Pitch) Min. Nameplate 8 (7) 9. (7.) M Screw Holes (7) () (.) 97

198 External Dimensions Units: mm Rackmounted SERVOPKs () Singlephase V: 7 W Threephase V: W,. kw Note: Do not use the L terminal of the singlephase V, 7 W SERVOPK. pprox. Mass:. kg 8. (.). (.) Terminal lock (7.) (7.) 7 N N N N N N () (7) (). 8 Nameplate 8 () Mounting Hole Diagram (7.) 7 ±. (7.) (Mounting Pitch) (7) Min. 7 () M Screw Holes. (.) 7 Ground Terminal M Screws () Threephase V:. kw pprox. Mass:. kg Terminal lock (7.) 7. (.). 8 7 (.) 9 YSKW SERVOPK SGDS () Dia. Holes V N N N N Ground Terminal M Screws () (7) (). Nameplate 8 () ±. (Mounting Pitch) Min. (7.) Mounting Hole Diagram (7) M Screw Holes ±. () 9 (Mounting Pitch) 98

199 HRGE YSKW SERVOPK SERVOPKs SGDS / Rotary Motors External Dimensions Units: mm () Threephase V:. kw,. kw pprox. Mass:. kg Mounting Hole Diagram Dia. Holes (). (7.) 7 M Screw Holes Terminal lock YSKW SERVOPK SGDS V N () 8 N N N ±. (Mounting Pitch) 8 Min. 8 (7.) (7.).. Ground Terminal M Screws Nameplate (7) () 8 (7.) (7) () 7. ±. (). (Mounting Pitch) (7) Threephase V:. kw pprox. Mass:. kg Mounting Hole Diagram 7.. Terminal lock P M Screws ir Flow M Screw Holes SGDS N N 8 7 N N N N N N YSKW ELETRI MDE IN JPN Nameplate 7 ±. (Mounting Pitch) Min. SERVOPKs (7.) (.) Ground Terminal M Screws (.) ir Flow ir Flow. (.) (.) (7) ooling Fan () (7.) (7). ±. (.) (Mounting Pitch) 99

200 Selecting ables able onnections to N, N, and N Personal omputer With the Front over Open N ables for P S/N D988 N able for nalog Monitor N I/O Signal ables Host ontroller To N I/O Signal ables Name Length Order No. Specifications Details onnector Terminal lock onverter Unit m able with Loose Wires at m One End m onnector Kit for N m JUSPTPGE () JZSPSIE JZSPSIE JZSPSIE JZSPSI9E JZSPMSE Terminal lock onverter Unit and. m onnection able able with onnector to SERVOPK and Loose Wires onnector and ase DSub pin (for P98) To Personal omputer To SERVOPK () () () To N ables for P m JZSPMSE DSub 9pin (for DOS/V) To Personal omputer To SERVOPK () Halfpitch pin (for P98) m JZSPMSE To Personal omputer To SERVOPK () To N able for nalog Monitor m JZSPE To SERVOPK (7)

201 SERVOPKs SGDS / Rotary Motors Selecting ables Units: mm () onnector Terminal lock onverter Unit (to N) able onnection SERVOPK + To N Length of able Supplied: mm Model: JUSPTPGE 9 9 Dimensional Drawings of Terminal lock Dimensional Drawings of able 9.. Dia. Terminal 7 lock (P) M. Screws onnentor Plug (P) MRRMD onnector (P) for SERVOPK EL (Sumitomo M Ltd.) Shell ZO8 (Sumitomo M Ltd.) able (black) WG#8, P UL7 VWS onnector (P) for Terminal lock onverter Unit MRPF (Honda TSUSHIN KOGYO o., Ltd.) ase MRL (Honda TSUSHIN KOGYO o., Ltd.) an be fixed on DIN rail... () With the terminal block cover removed. () able with SERVOPK end onnector and Loose Wires (to N) To SERVOPK onnector: EL (P) ase: Z8 Sleeve F (lack) able (lack) SSRFPVVSWG#8 P UL7VWS Wire Markers.8 Dia. SERVOPKs L + : Manufactured by Sumitomo M Ltd. Note: See the next page for the connection diagram.

202 Selecting ables Units: mm () able with Loose Wires at One End (to N) onnection Diagram of JZSPSI able Pin No Signal Name To SERVOPK Lead olor SG Orange Orange SG Gray SEN Gray VREF White SG White PULS Yellow /PULS Yellow TREF Pink SG Pink SIGN Orange /SIGN Orange Gray /LR White LR White Gray Yellow Yellow PO Pink /PO Pink T(+) Orange T() Orange Gray Gray /VMP+ White /VMP White /TGON+ Yellow /TGON Yellow /SRDY+ Pink /SRDY Pink LM+ Orange LM Orange PO Gray /PO Gray PO White /PO White LO Yellow LO Yellow LO Pink /SON Pink /PON Orange POT Orange NOT Gray /LMRST Gray /PL White /NL White +VIN Yellow Pink Pink Yellow Marking olor Dots Red lack Red lack Red lack Red lack Red lack Red lack Red Red lack lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red lack Red Red lack lack To Host ontroller Lead Marker () onnector Kit (for N) Use the following connector and cable to assemble the cable. The N connector kit includes one case and one connector. onnector Kit ase onnector Model No. Model No. Qty Model No. Qty PE JZSPSI9 set Z8 (Soldered) : Manufactured by Sumitomo M Ltd. Dimensional Drawings of ase (.)..7 M Pin No Dimensional Drawings of onnector (.9) (.) 9. ase Shield : represents twistedpair wires. Pin No able Size ltem able pplicable Wires able Finished Diameter Specifications Use twistedpair or twistedpair shielded wire. WG,, 8, mm max.

203 SERVOPKs SGDS / Rotary Motors Selecting ables Units: mm () able with pin onnector for NE P98 Series Personal omputer (to N) To Personal omputer Dsub onnector ( Pins) 7JE (D8) (DDK Ltd.) 7 Halfpitch onnector Plug: PE Shell: 8 (Sumitomo M Ltd.) 8 ± 9 able: WG UL To SERVOPK 8 N 7 To Personal omputer Signal Pin No. RXD TXD V 7 RTS TS FG Shield Wire To SERVOPK Pin No. Signal /TXD ase /RXD V FG M. Screws M. Screws () able for DOS/V (to N) To Personal omputer 9 Halfpitch onnector Dsub onnector (9 Pins) Plug: PE 7JE9 (D8) Shell: 8 (DDK Ltd.) (Sumitomo M Ltd.) 8 ± 9 able: WG UL To SERVOPK 9. N 8 7 To Personal omputer Signal Pin No. RXD TXD V RTS 7 TS 8 FG ace Shield Wire To SERVOPK Pin No. Signal /TXD /RXD V ase FG M. Screws M. Screws () able with pin Halfpitch onnector for NE P98 Series Personal omputer (to N) To Personal omputer To SERVOPK Halfpitch onnector Plug: PE Shell: F8 (Sumitomo M o., Ltd.) Halfpitch onnector Plug: PE Shell: 8 (Sumitomo M., Ltd.) N 9 ± Label able: WG UL M. Screws To Personal omputer Signal RXD TXD RTS TS GND FG FG Pin No. 9 ase Shield Wire To SERVOPK Pin No. ase Signal TXD RXD GND FG SERVOPKs (7) ables for nalog Monitor (to N) Dimensional Drawings Socket: DFDS ontact: DF8SF lack lack + White : Manufactured by Hirose Electric orporation. Specifications Red View from able End able olor Signal Name Remarks White nalog Monitor Torque reference: V/% rated torque Red nalog Monitor Motor speed: V/ min lack ( ables) GND GND nalog monitor: V

204 Selecting ables Main ircuit ables () Singlephase for V () Singlephase for V External Terminal Terminal SERVOPK Model SGDS External Terminal Terminal SERVOPK Model SGDS Name Symbol F F F Name Symbol 8 Main ircuit Power Input Terminals Servomotor onnection Terminals ontrol Power Input Terminals External Regenerative Resistor onnection Terminals Ground Terminal L, L HIV. HIV. U, V, W HIV. L, L HIV. /, HIV. HIV. min. Main ircuit Power Input Terminals Servomotor onnection Terminals ontrol Power Input Terminals External Regenerative Resistor onnection Terminals Ground Terminal L, L HIV. HIV. U, V, W HIV. L, L HIV. /, HIV. HIV. min. () Threephase for V External Terminal Name Terminal SERVOPK Model SGDS Symbol 7 Main ircuit Power Input Terminals Servomotor onnection Terminals L, L, L HIV. HIV. HIV. HIV8. HIV U, V, W HIV. HIV. HIV. HIV8. HIV ontrol Power Input Terminals External Regenerative L, L HIV. Resistor onnection Terminals Ground Terminal /, HIV. HIV. HIV. HIV. HIV. min. HIV8. : For SGDS and 7 SERVOPKs, the external regenerative resistor connection terminals are and. The table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than the values in the table. V Heatresistant Vinyl able (HIV) WG Size Nominal ross Section Diameter mm llowable urrent at Surrounding ir Temperatures. 9/ / / / / / / / / Note: The values in the table are only for reference. onfiguration Number of Wires/mm onductive Resistance Ω/km IMPORTNT Wire sizes are selected for three cables per bundle at surrounding air temperature with the rated current. Use cable with minimum withstand voltage of V for main circuits. If cables are bundled in PV or metal ducts, consider the reduction ratio of the allowable current. Use heatresistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. Use cable within the allowable moment of inertia. Do not use cables in continuous regenerating status.

205 SERVOPKs SGDS / Rotary Motors Selecting ables Units: mm onnectors of Main ircuit and ontrol Power Supply ables and Servomotor able (Standard: Spring Type) onnector Types ppearance Model No. Manufacturer pole (For servomotor main circuit cable connector to SERVOPK) 7pole (For W to W SERVOPKs) 7 pole (For. kw to. kw SERVOPKs) onnection lever 9 Molex Japan o., Ltd. External View and Dimensions onnection Lever. 7. () 7. Pitch. (.) 8. 8 pole 7pole pole SERVOPKs..9. (.9) Trademark and serial number 7.7 ().7 MXJ 9. (7.7) (.) The Number of Poles Dimension Dimension

206 Selecting Peripheral Devices Units: mm Digital Operator (Model: JUSPOP) P Tight ountersunk Screws: Tightening Torque:. N cm 7 Nameplate SVON OIN TGON VMP REF HRGE LRM RESET YSKW SROLL MODE/SET JOG SVON DT RED SERVO WRITE SERVO 9 DIGITL OPERTOR JUSPOP Plug: PE Shell: F8 ± attery ase (Model: JUSP) IMPORTNT The battery case (JUSP) is not provided with a battery. battery must be purchased separately. Install the battery case where the surrounding air temperature is between to. Encoder able: JZSPSP E E E 7 E onnector to SERVOPK Mount a battery (JZSP). attery ase (JUSP) () Mounting a attery in a attery ase Prepare a lithium battery (JZSP) and mount in a battery case. Red Red onnector ERV Lithium attery (. V, mh, manufactured by Toshiba attery o., Ltd.) () onnecting a attery to the Host ontroller Use a battery that meets the specifications of the host controller. Use an ERVN (. V, mh, manufactured by Toshiba attery o., Ltd.) or equivalent battery.

207 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices Moldedcase ircuit reaker and Fuse apacity Main ircuit Power Supply Singlephase V Singlephase V Threephase V SERVOPK Model apacity SGDSkW Power Supply apacity per SERVOPK kv urrent apacity of Moldedcase ircuit reaker or Fuse, Main ircuit Power Supply rms ontrol ircuit Power Supply rms Main ircuit Power Supply Inrush urrent ontrol ircuit Power Supply... F. F... F.. F : Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity. : utoff characteristics ( ): % for two seconds min. and 7% for. seconds min. Note: Do not use a fastacting fuse. ecause the SERVOPOK s power supply is a capacitor input type, a fastacting fuse may blow when the power is turned on. If selecting a moldedcase circuit breaker, observe the following precautions. IMPORTNT Ground Fault Detector Select ground fault detectors for inverters. Highfrequency current leaks from the servomotor armature because of switching operation inside the SERVOPK. () Maximum lnput urrent The instantaneous maximum output of the SERVOPK is approximately times the rated output for a maximum of seconds. ccordingly, select a moldedcase circuit breaker whose breaking time is seconds or more at % of SERVOPK rated current. The generalpurpose lowspeed acting moldedcase circuit breakers are applicable. The power supply capacity per SERVOPK when using a servomotor is described in the table above. Select a moldedcase circuit breaker with the capacity larger than the effective load current (when using multiple SERVOPKs) calculated from the total power supply capacity. The consumption of other controllers must be considered when selecting a moldedcase circuit breaker. SERVOPKs () Inrush urrent Refer to the table above for SERVOPK inrush current. The allowable inrush current for a lowspeed acting moldedcase circuit breaker is approximately times of the rated current for. seconds. When turning on multiple SERVOPKs simultaneously, select a moldedcase circuit breaker with the allowable current for ms larger than the total inrush current shown in the table above. 7

208 Selecting Peripheral Devices Noise Filters, Magnetic ontactors, Surge bsorbers, and /D Reactors Main ircuit Power Supply Singlephase V Singlephase V Threephase V SERVOPK Model Recommended Noise Filter Magnetic Surge /D apacity (kw) SGDS Model No. Specifications ontactor bsorber Reactor. X. F FN7/7 Singlephase V,. F S X Singlephase. F FN7/7 X V, Singlephase. F FN7/7 S X V, R M. Singlephase QZ X. FN7/7 V,. S X Singlephase. FN7/7 X V,.8 8 FN7/7. FN8L7/7.. FN8L/7.. FN8L/ Singlephase V, S X Threephase S 8 V, 7 X Threephase S 8 V, X Threephase 8 V, Threephase FM9 8 V, Threephase FM9 V, Threephase V, S SN R M UZ X9 X8 SN Details () () () () Notes: If some SERVOPKs are wired at the same time, select the proper magnetic contactors accroding to the total capacity. The following table shows the manufacturers of each device. Peripheral Device Noise Filter Magnetic ontactor Surge bsorber /D Reactor Manufacturer FN type: Schaffner EM, Inc. FM type: Schurter, Inc. (formerly Timonta) Fuji Electric F omponents & Systems o., Ltd. Okaya Electric Industries o., Ltd. (Surge Protector) Yaskawa ontrols o., Ltd. IMPORTNT Noise Filter for rake Power Supply Use the following noise filter at the brake power input for W or less servomotors with holding brakes. Model No.: FN7/7 (Manufactured by Schaffner EM, Inc.) 8

209 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices Regenerative Resistors and rake Power Supply Units Main ircuit Power Supply SERVOPK Model apacity SGDSkW Regenerative Resistor uiltin Resistance Ω apacity W Externally connected rake Power Supply Unit Singlephase V Singlephase V Threephase V. None None. F. F. F. F.. None None (.) (88) JUSPR 7. 7 (.) (7) JUSPR For VD brakes To be provided by the customer. For VD brakes To be provided by the customer. For 9 VD brakes LPDEHE for V input LPSEHE for V input Details () () : For the optional JUSPR Regenerative Resistor Unit. : For the optional JUSPR Regenerative Resistor Unit. : If using a commercially available power supply for the VD brake, install a surge suppressor to protect the power supply from overvoltage. If a surge suppressor is not used, the power supply may be damaged if an overvoltage, such as a surge, occurs in the output section. Notes: If the SERVOPK cannot process the regenerative power, an external regenerative resistor is required. External regenerative resistors are required for SERVOPKs with a capacity of. kw or more as a standard safety measure. The following table shows the manufacturers of each device. Peripheral Device External Regenerative Resistor External Regenerative Unit rake Power Supply Unit Manufacturer Iwaki Wireless Research Institute Yaskawa Electric orporation Yaskawa ontrols o., Ltd. SERVOPKs 9

210 Selecting Peripheral Devices () Noise Filter The recommended noise filter is manufactured by Schaffner EM, Inc. (FN type) and Schurter, Inc. (formerly Timonta) (FM type). FN Type for Singlephase / V Model No. FN7/7 FN7/7 FN7/7 Side View S Side View K L Top View J M P P Top View J F D N N F D K M Dimensional Drawings R Q onnection Lead P/N/E + Symbol D F J External K Dimensions L M N P Q R S Specifications pplicable SERVOPK SGDS Manufacturer Singlephase V Singlephase V Dimensions in mm.± ± 9±. 7.± 8.±.±. 7.± 9±.± 98.± ±. ±. 9±. ±. ±. 8.±. 8.±..±..±..±..±. ±. 7.±..9±..±. ±. ±. 8 ±. V, V, V, F F F F 8 Schaffner EM, Inc.

211 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices FN Type for Threephase V Model No. FN8L7/7 FN8L/7 FN8L/7 Dimensional Drawings Side View 7 to Type F E G P Front and Side View O D H I L Symbol D E External F Dimensions G H J L O P Specifications Manufacturer pplicable SERVOPK SGDS Threephase V Dimensions in mm ± ± ± ±.8 ±.8 ± ±. ±. ±. ±.8 7±.8 ± ±. 9±. ±. ±. ±. ±.. ±. ± ± ±. 9 ± M WG WG WG 8 V, 7 8 V, 8 V,,, J Schaffner EM, Inc. FM Type for Threephase V Model FM9 FM9 (J) H Dimensional Drawings LINE E F LOD G D (K) (L) SERVOPKs Symbol D External E Dimensions F G H I J K L Specifications Manufacturer pplicable SERVOPK SGDS Three Phase V Dimensions in mm ±.. ±. ±. ±. M M () () () () (7) () V, V, 7 Schurter, Inc. (formerly Timonta)

212 Selecting Peripheral Devices Units: mm () Magnetic ontactor magnetic contactor is required to externally activate the power for the SERVOPK. e sure to attach a surge absorber to the excitation coil of the magnetic contactor. Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) Main ontact Terminal M. oil Terminal M. 8 uxiliary ontact Terminal M. 8. (.) 8 Mounting is available.. uxiliary ontact a b Structure /L /L /L /T /T /T /L /L /L For front mounting, aux. contact blocks are attached. 7.7 pprox. Mass:. kg Mounting methods: The following methods,, are available. (8 to) 8 Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. /T /T /T Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) Main ontact Terminal M 9 oil Terminal M. uxiliary ontact Terminal M Mounting is available. (.). uxiliary ontact a b Structure /L /L /L /T /T /T /L /L /L For front mounting, aux. contact blocks are attached pprox. Mass:. kg Mounting methods: The following methods, are available. (8 to) Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. /T /T /T Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) uxiliary ontact Terminal M. 9 Main ontact Terminal M oil Terminal M. uxiliary ontact Terminal M. 8. (.) Mounting is available.. uxiliary ontact a ab Structure /L/L /L /T/T /T /L /L /L For front mounting, aux. contact blocks are attached pprox. Mass:.8 kg () Mounting methods: The following methods, are available. ( to) Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. b /T /T /T /L /L/L /T /T /T Model: SN, SN External Dimensions Mounting Hole Dimensions Terminal Symbols (Mounting Rail Height: ) 9 (8).. Main ontact Terminal M uxiliary ontact Tarminal M. (99) 7 oil Terminal M (to ). 7 Structure () ()() /L /L /L 8 7 /T /T /T 8 7 () ()() : For front mounting, aux. contact blocks are attached.. :For two side mounting, aux. contact blocks are attached.. pprox. Mass:.9 kg ( to) Mounting methods: The following methods, are available. ( to) 7 (to ) 7 Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. : These contacts are used if the auxiliary contacts consist of four normally open (NO) and four normally close (N) contacts. Note: The terminals of the auxiliary contacts are numbered differently than conventional terminals. The numbers in parentheses use the conventional method.

213 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices Units: mm () Surge bsorber The surge absorber absorbs switching surge and prevents faulty operation in or damage to electronic circuits. Recommended surge absorbers (for lightning surge) are listed below. Model: R MQZ Dimensional Drawings Internal onnection Diagram φ.±..±. 8.±. ± Lead Line + ase 8±.±. ± Model: R MUZ Dimensional Drawings Internal onnection Diagram φ.±. ± ± ± Lead Line ase + 8±.±. SERVOPKs ±

214 Selecting Peripheral Devices () /D Reactors for Power Supply Harmonic Suppression Manufactured by Yaskawa ontrols o., Ltd. ontact your Yaskawa representative for details. If the power supply harmonic suppression is needed, connect an reactor to the line for the singlephase input, or connect a D reactor between the SERVOPK main circuit terminals and for the threephase input. Select a reactor that matches the ratings of the SERVOPK. Specifications pplicable Reactor Specifications SERVOPK Model SGDS F Singlephase F V F F Singlephase V 8 Threephase V 7 /D Reactor Model Inductance mh Rated urrent X.. X.. X.. X.. X.. X.. X.. X.. X..8 X. 8.8 X9.. X8.7.8 Dimensional Drawings I Dia. G Reactor Model X Dimensions in mm pprox. D E F G H I Mass kg X 9.. D Nameplate X X X H Dia. Notch E F X X X

215 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices Units: mm () External Regenerative Resistor When regenerative energy is so large that a SERVOPK cannot process, install externally a regenerative resistor. The regenerative resistor must be provided by the customers. Refer to the table below for selecting the regenerative resistor. SERVOPK apacity W or Less. kw to. kw Necessity of External Regenerative Resistors Not Required Not Required Descriptions No builtin regenerative resistor is provided, however, normally an external regenerative resistor is not required. Install external regenerative resistors when the smoothing capacitor in SERVOPK cannot process all the regenerative power. builtin regenerative resistor is provided as standard. Install external regenerative resistors when the builtin regenerative resistor cannot process all the regenerative power.. kw to 7. kw Required No builtin regenerative resistor is provided, so the external regenerative resistor is required, If the external regenerative resistor is not connected with the SERVOPK, the alarm. is detected as a regeneration error alarm. Example: External Regenerative Resistor (by Iwaki Musen Kenkyusho o., Ltd.) Specifications Regenerative Resistor Model RH RH RH RH RH Model Designation RH (N) Ω Model N: Noninductive winding Resistance J Specifications 7 W, to Ω 9 W, to Ω W, to Ω W, to kω W, to Ω Resistance Tolerance ode Specifications K ±% J ±% H ±% Resistance Tolerance Temperature Resistance haracteristics Withstand Voltage Insulation Resistance Shorttime Overload Life Heat Resistance Operating temperature K: ±%, J: ±%, H: ±% ± PPM/ (Ω max.), ± PPM/ (Ω min.) V/min, R: ±(.% +.Ω) VD, MΩ min. When times the rated power is applied for five seconds, R: ±(% +.Ω) hours of repeating the operation ON for 9 minutes and OFF for minutes, R: ±(% +.Ω) Not ignite after having applied times the rated electric power for one minute to External Dimensions D RH,, D. G. Dia. Lead Wire Length L: Model Rated Power Resistance Model D E F G RH 7 W Ω to Ω RH 8 7 RH 9 W Ω to Ω RH 8 RH W Ω to Ω RH. F E. RH 8 7 Lead Wire Length L: Rated Power: W Resistance: Ω to Ω. Dia. SERVOPKs RH RH M Dia..7 Lead Wire Length L: Rated Power: W Resistance: Ω to kω Lead Wire Lenght L: Rated Power: W Resistance: Ω to Ω

216 Selecting Peripheral Devices Units: mm () External Regenerative Resistor Regenerative Resistor Unit The SERVOPKs with a capacity of. kw or more do not have a builtin regenerative resistor. The following regenerative resistor unit is required according to the SERVOPK model. SERVOPK Model Regenerative Resistor Unit Model Specifications llowable Power Loss SGDS JUSPR.Ω, 88 W 8 W SGDS7 JUSPR.Ω, 7 W W External Dimensions Dia. Mounting Holes Protective over M H M D W Ground Terminal (M Screws) External Terminals (M Screws) ement Resistor Model W H D M M pprox. Mass JUSPR 9 8 kg JUSPR 9 7 kg () rake Power Supply Unit V input: LPSEHE V input: LPDEHE Specifications External Dimensions Rated output voltage: 9 VD Maximum output current:. D Lead wire length: mm Maximum surrounding air temperature: Lead wires: olor coded. Refer to the table below. To Input V V To rake lue / White Yellow / White Red / lack Dia. Mounting Holes (. Dia. Spot Facing, Deep) Nameplate Lead Wires

217 SERVOPKs SGDS / Rotary Motors Selecting Peripheral Devices Units: mm Internal ircuits Open or close the circuit for the brake power supply on the side of the brake power suppy unit. When switching on the D side, install a surge absorber near the brake coil to prevent damage to the brake coil from voltage surges due to Dside switching. Internal ircuit for V rake Power Supply Model: LPSEHE Yellow Side 8 V to V Diode White Surge bsorber Red D Side (rake Side) No Polarity lack Internal ircuit for V rake Power Supply Model: LPDEHE lue Diode ridge Red Side 9 V to V Surge bsorber Surge bsorber D Side (rake Side) No Polarity White lack (7) Variable Resistor for Speed and Torque Setting (Model: HP) The multiturn type winding variable resistors with dial MD are manufactured by Sakae Tsushin Kogyo o., Ltd. External Dimensions ± Dia. Max. Panel. ± HP Helicolumn Panel Drilling Diagram. ± 7. ± ±. ± Dia. MD MultiDial 7. Dia.Hole. Dia.Hole SERVOPKs onnection Example to an External Power Supply.8 kω (/ W) Min. HP kω SERVOPK N V (9) () VREF (TREF) SG 7

218 Serial onverter Units for Fullyclosed ontrol System onfiguration for Fullyclosed ontrol SGDS SERVOPK Servomotor Main ircuit able able with onnectors Serial onverter Unit Model: JZDPD JZDPD E (RoHS compliant) Encoder able External Encorder (To be provided by the customer.) Model Designation JZDP E Serial onverter Unit Model ode Specifications Symbol D ppearance pplicable Linear Scale Made by HEIDENHIN orporation Hall Sensor None None E Not RoHS compliant RoHS compliant D Made by Renishaw plc. None Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee. 8

219 SERVOPKs SGDS / Rotary Motors Serial onverter Units for Fullyclosed ontrol haracteristics and Specifications Electrical haracteristics Mechanical haracteristics Environmental onditions Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Output Signal Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Operating Temperature Storage Temperature Humidity nalog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % Specifications +. V±%, ripple content % max. m typ, m max. Input phase sine wave: / pitch khz Differential input amplitude:. Vto. V Input signal level:. Vto. V Position data, alarms Serial data communications [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced type transceiver (SN7L7 or the equivalent), internal terminating resistor: Ω g 98 m/s max. ( to Hz) in three directions 98 m/s, ( ms) two times in three directions to to +8 % to9% RH(no condensation) : The current consumption of the linear scale is not included in this value. The current consumption of the linear scale must be taken into consideration for the current capacity of host controller that supplies the power. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The transmission is enabled to ms after the power turns on. cos, /cos, sin, /sin Input Voltage Range:. V to. V cos (+) /cos (). to. V SERVOPKs sin (+) Ref, /Ref Input Voltage Range:. V to. V /sin () /Ref (R) Ref (R+). V Min. to 7% to 7%. V Min. Zero Point ount Up Direction IMPORTNT Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit s ability to output correct position information. The analog cable must be as short as possible and shielded. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. 9

220 Serial onverter Units for Fullyclosed ontrol Units: mm External Dimensions () Model: JZDPD JZDPD E(RoHS compliant) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK nalog Signal Input onnector (N) to Linear Scale.99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth () Model: JZDPD JZDPD E(RoHS compliant) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate nalog Signal Input onnector (N) to Linear Scale Serial Data Output onnector (N) to SERVOPK.99±. ±...±. ±. 7 8±. 9 ±. M Tapped Holes, Depth onnection able between SERVOPK and Serial onverter Unit Recommended ables Name pplication Model No. Length JZSPLPE m onnection between JZSPLPE m able with SERVOPK connector (N) JZSPLPE m connectors and serial converter unit JZSPLPE m JZSPLPE m Dimensional Drawing To SERVOPK L To Serial onverter Unit.8 onnector: 7 by Molex Japan o., Ltd. 7series onnector: 7JE9(D8)G (9pin) by DDK Ltd.

221 SERVOPKs SGDS / Rotary Motors Serial onverter Units for Fullyclosed ontrol onnection Examples () onnection Example with Linear Scale by HEIDENHIN orporation Model: JZDPD JZDPD E(RoHS compliant) SERVOPK Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by HEIDENHIN orporation Pin No. Signal + V ase JZSPLP7 E Sphase output Not used Not used V /Sphase output Not used Not used Not used Shield N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK Ltd. RoHS compliant 7LE97F (Socket) onnection able by HEIDENHIN orporation Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used case Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin) manufactured by Heidenhain orporation can be directly connected. N nalog Signal Input to Linear Scale 8 9 7series onnector: 7LE7 (Socket) by DDK Ltd. RoHS compliant 7LE7F (Socket) () onnection Example with Linear Scale by Renishaw plc. Model: JZDPD JZDPD E(RoHS compliant) SERVOPK Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by Renishaw plc. SERVOPKs Pin No. Signal + V ase JZSPLP7 E Sphase output Not used Not used V /Sphase output Not used Not used Not used Shield SERVOPK does not have the function to process Vq signals. N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK Ltd. RoHS compliant 7LE97F (Socket) Dsub pin onnector Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ( V) ase Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the linearscale connector to change the home position specifications of the linear scale. N nalog Signal Input to Linear Scale 9 8 7Series onnector: 7JE (D8) (Socket) by DDK Ltd. RoHS compliant 7JE(D8)G (Socket)

222 SERVOPKs SGDS (MEHTROLINK ommunications and Fullyclosed ontrol) The SGDS SERVOPK is compatible with the MEHTROLINK highspeed motion field network. The MEHTROLINK cable enables realtime communications for highaccuracy motion control at low cost. For Rotary Servomotors

223 Features Realtime communications MEHTROLINK communications enable highspeed control for stations at a maximum transmission speed of Mbps in a transmission cycle from µs s to ms (user setting). Such a high transmission speed allows realtime transmission of various data required for control. ost savings Thirty stations can be connected to a single MEHTROLINK transmission line, so wiring costs and time are greatly reduced. lso, only one signal connector is required on the host controller. nd, the alldigital network eliminates the need for conversion from digital to analog and for a pulse generator to generate position references. Highprecision motion control The SGDS SERVOPK when connected to the host controller in the MEHTROLINK network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. Model Designation SGDS R Series SGDS SERVOPK Max. Rated Output of pplicable Servomotor ode 8 7 Specifications W W W W W W 7 W. kw. kw. kw. kw. kw. kw 7. kw Mounting Method lank:asemounted (7. kw or less) R: Rackmounted (. kw or less) Design Revision Order,, Interface Specifications : For MEHTROLINK communications and fullyclosed control (For rotary servomotors) Power Supply Voltage ode Specifications V V F (V input, V output: Doubled voltage) V (V input, V output: For SGMMJ servomotors) SERVOPKs

224 Ratings and Specifications SERVOPK Model SGDS Max. pplicable Servomotor apacity kw V V ontinuous Output urrent rms Max. Output urrent rms ontinuous Output urrent rms Max. Output urrent rms Singlephase V SERVOPK apacity Range Singlephase V Singlephase V lnput Power for / V Threephase V Threephase V Supply V Main ircuit ontrol ircuit Threephase (or singlephase) to V + to %, / Hz Singlephase to V + to %, / Hz V Main ircuit ontrol ircuit Singlephase to V + to %, / Hz Singlephase to V + to %, / Hz asic Specifications ontrol Method Feedback Single or threephase fullwave rectification IGTPWM (sinewave driven) [Singlephase fullwave rectification for SGDS ( V)] Encoder: bit (incremental) Encoder: 7bit (incremental/absolute) Encoder: bit (incremental/absolute) Operating onditions Surrounding ir/storage Temperature mbient/storage Humidity Vibration/Shock Resistance to + / to +8 9% RH or less (with no condensation).9 m/s / 9. m/s onfiguration asemounted (Rack mounting available as an option for SGDS to ) Performance Speed ontrol Range Load Regulation Speed Voltage Regulation Regulation Temperature Regulation Frequency haracteristics Torque ontrol Tolerance (Repeatability) : (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) to % load: ±.% max. (at rated speed) Rated voltage ±%: % (at rated speed) ± : ±.% max. (at rated speed) Hz (at J L=J M ) ± % Soft Start Time Setting to s (an be set individually for acceleration and deceleration.) Dynamic rake (D) Operated at main power OFF, servo alarm, servo OFF or overtravel uiltin Functions Regenerative Processing Overtravel Prevention (OT) Electronic Gear Protection External regenerative External regenerative uiltin resistor (optional) resistor (necessary) Dynamic brake stop at POT or NOT: the motor decelerates to a stop or coasts to a stop.. / Overcurrent, overvoltage, low voltage, overload, regeneration error, main circuit sensor error, heat sink overheat, power phase loss, position error pulse overflow, overspeed, encoder error, overrun detection, PU error, parameter error, and so on. LED Display Others HRGE, POWER, OM, one 7segment LED (builtin Digital Operator functions) Reverse connection, zero position search, automatic motor discrimination function :Speed regulation is defined as follows: Noload motor speedtotal load motor speed Speed regulation= % Rated motor speed The motor speed may change due to voltge variations or amplifier drift and changes in processing resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations.

225 SERVOPKs SGDS Rotary Motors Ratings and Specifications pplicable SERVOPK Model ommunications Protocol Station ddress MEHTROLINK H to FH (Max. number of slaves: ) SGDS ll apacities MEHTROLINK H to FH (Max. number of slaves: ) MEHTROLINK ommunications Transmission Speed Transmission ycle Mbps Mbps µs,. ms to ms (multiple of. ms) (In accordance with the setting of the host controller) ms Number of Words for Link Transmission an be switched between 7byte/ station and byte/station by the setting of bit for the SW switch. 7byte/station ommand Method Functions for Position ontrol Fullyclosed ontrol System Specifications Sequenoce lnput Performance ommand lnput cceleration/ Deceleration Function Fullyclosed ontrol Interface Power Supply and onverter for Fullyclosed PG Signal allocation can be modified. Position control, speed control, and torque control Position control through through MEHTROLINK communications MEHTRIOLINK communications MEHTROLINK commands and MEHTROLINK commands (For sequence, motion, date setting/reference, monitor, adjustment, and other commands.) Linear st and nd step asymmetrical acceleration/deceleration, exponential function position reference filter, and movement average position reference filter Position control using the fullyclosed feedback is available. Serial communications interface Provided by the customer. Select any seven of the following signals: forward run prohibited (POT), reverse run prohibited (N OT), homing deceleration limit switch, external latch signal,,, forward external torque limit, or reverse external torque limit Others I/O Signals Fixed Output Sequence Signal allocation can be Output modified. Position Form Output Frequency Dividing Ratio nalong Monitor (N) larm Select any three of the following signals: positioning completion (speed coincidence),rotation detection, speed limit detection, servo ready, torque limit, release brake, warning, or NER singal Phase,, : line driver output ny Setting Ratio Output voltage: ±8 VD nalog monitor connector built in for monitoring speed, torque and other reference signals. Speed: V/ min Torque: V/rated torque Position error pulse:. V/reference unit SERVOPKs Interface Digital Operator (hand type) ommunications Function Status display, parameter setting, monitor display, alarm traceback display, and JOG operation

226 Ratings and Specifications Power Supply apacities and Power Losses The following table shows SERVOPK s power supply capacities and power losses at the rated output. Main ircuit Power Supply Singlephase V Singlephase V Threephase V Regenerative pplicable Power Supply Output urrent Main ircuit ontrol ircuit Total Power SERVOPK Resistor Power Servomotor apacity (Effective Value) Power Loss Power Loss Loss Model SGDS Loss apacity kw kv W W W W F F..9. F F : Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded. Remove the lead from the internal regenerative resistor in the SERVOPK. Install an external regenerative resistor. n external regenerative resistor is available as an option. : SERVOPKs with a capacity of W to W do not have builtin regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor. : Install an external regenerative resistor when using the SERVOPK with capacity of. kw or more. The following regenerative resistor can be used: JUSPR: For SGDS (llowable power loss 8 W) JUSPR: For SGDS7 (llowable power loss W)

227 SERVOPKs SGDS Rotary Motors Ratings and Specifications Overload haracteristics The overload detection level is set under hot start conditions at a servomotor surrounding air temperature of... Detecting Time(s)... Rated torque pprox. Rated torque + Maximum torque Maximum torque Note: The overload characteristics of,, and in the figure are applicable when the SERVOPK is combined with one of the following servomotors. Graph Type Servomotor Model SGMMJ SGMS SGMPS SGMSS SGMGH SGMS to to to to to 8 to to to to Z to 7 to 7 SERVOPKs 7

228 onnection Examples Singlephase V or V Power Supply QF R T +% Singlephase to V % (/ Hz) or Singlephase to V (/ Hz) +% % Noise filter Ry (For servo alarm display) Main circuit Main circuit PL power supply power supply OFF ON Ry KM KM L L L L / SGDS SERVOPK U V W () Servomotor () () D() M Optical encoder KM S N PG lways ground the line. onnect to the MEHTROLINK. /S S SH N e sure to connect the shield wire to the connector case (shell). Install a terminator (JEPMW) on the last station of the MEHTROLINK network. ontrol power supply for sequence signals Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) +VIN POT NOT /S S SH + V /SI /SI N. kω 7 8 N N PO /PO PO /PO PO /PO PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas Instruments or the equivalent Zeropoint return deceleration switch (LS enabled when ON) External latch signal (Latch when ON) /DE /EXT /SI /SI 9 SG External latch signal (Latch when ON) External latch signal (Latch when ON) /EXT /EXT /SI /SI /SO+ / K+ rake interlock /SO / K (rake released when ON) /SO+ /SI /SO ackup battery +.8 V to. V T(+) T() onnector shell /SO+ /SO LM+ LM FG onnect shield to connector shell. Servo alarm output (OFF for an alarm) Photocoupler output Max. operating voltage: VD Max. output current: m D : represents twistedpair wires. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. : SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. : ustomers must purchase a VD power supply with doubleshielded enclosure. Note: The functions allocated to the output signals /SO and /SO can be changed by using the parameters. 8

229 SERVOPKs SGDS Rotary Motors onnection Examples Threephase V Power Supply R S T Threephase to V (/ Hz) +% % QF Noise filter Main circuit power supply OFF Main circuit power supply ON KM (For servo alarm display) Ry Ry PL KM S KM L L L L L 7 / SGDS SERVOPK N U V W () Servomotor () () D() PG M Optical encoder lways ground the line. onnect to the MEHTROLINK. /S S SH N e sure to connect the shield wire to the connector case (shell). Install a terminator (JEPMW) on the last station of the MEHTROLINK network. ontrol power supply for sequence signals Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Zeropoint return deceleration switch (LS enabled when ON) External latch signal (Latch when ON) External latch signal (Latch when ON) External latch signal (Latch when ON) +VIN POT NOT /DE /EXT /EXT /EXT /S S SH + V /SI /SI /SI /SI /SI /SI /SI N N. kω N PO /PO PO /PO PO /PO SG PG dividing ratio output pplicable line receiver SN77 or M8 manufactured by Texas Instruments or the equivalent /SO+ / K+ rake interlock /SO / K (rake released when ON) /SO+ SERVOPKs + ackup battery.8 V to. V T(+) T() /SO /SO+ /SO LM+ Servo alarm output LM (OFF for an alarm) Photocoupler output Max. operating voltage: VD onnector shell Max. output current: m D FG onnect shield to connector shell. : represents twistedpair wires. : onnect these terminals to a backup battery using an external power supply if using an absolute encoder. When an encoder cable with a battery case is used, do not connect a backup battery. : This circuit is insulated and protected in order to avoid electric shock in case of accidental contact. : SELV (SafetyExtraLow Voltage) circuit. This circuit is insulated and protected from the other circuit by double insulation or reinforced insulation. : ustomers must purchase a VD power supply with doubleshielded enclosure. : When an external regenerative resistor is needed, disconnect the wiring between the SERVOPK s and terminals and connect an external regenerative resistor between the / and terminals or between the and terminals 7 : onnect a D reactor for power supply harmonic suppression between the SERVOPK s and terminals. Note: The functions allocated to the output signals /SO and /SO can be changed by using the parameters. 9

230 SW HRGE External Dimensions Units: mm asemounted SERVOPKs () Singlephase V: W Singlephase / V: W to W pprox. Mass:.7 kg () Mounting Hole Diagram () (.). M Screw Holes YSKW SERVOPK V SGDS N / N L N L Terminal lock L L / + U V N N N 9. ±. (Mounting Pitch) W N N N N YSKW ELETRI MDE IN JPN Ground Terminal M Screws (7) (8) Nameplate () ±. (Mounting Pitch) (8) () Singlephase V: W pprox. Mass:. kg ir Flow () () (). Mounting Hole Diagram M Screw Holes YSKW SERVOPK V Terminal lock Ground Terminal M Screws HRGE L L SW L L / + U V W ir Flow 7 N / N N N N N N ir flow N N N (7) 8 YSKW ELETRI MDE IN JPN Nameplate ooling Fan 8 () 9. ±. (Mounting pitch) 8 ±. (Mounting Pitch) 7 () () Singlephase V: W pprox. Mass:.9 kg Terminal lock Ground Terminal M Screws SW L L L L / + U V W YSKW SERVOPK SGDS HRGE V N / N N N N N N N N N () (8) () Nameplate YSKW ELETRI MDE IN JPN () () 9. ±.. (Mounting Pitch) Mounting Hole Diagram M Screw Holes 7 ±. (8) (Mounting Pitch) (7)

231 YSKW SERVOPK SERVOPKs SGDS Rotary Motors External Dimensions Units: mm () Singlephase V: 7 W Threephase V: W,. kw pprox. Mass:. kg Terminal lock Ground Terminal M Screws HRGE SW L L L L L / + U V W 7 ir Flow V ir Flow N / N N N N N N ir Flow N N N (7) () 8 Note: Do not use the L terminal of the singlephase V, 7 W SERVOPK. () () YSKW ELETRI MDE IN JPN Nameplate ooling Fan 8 Mounting Hole Diagram () 9. ±.. (Mounting pitch) M Screw Holes 8 ±. () (Mounting Pitch) 7 () Threephase V:. kw pprox. Mass:. kg () Mounting Hole Diagram Terminal lock Ground Terminal M Screws HRGE L L L L L / + U V W 9 SW YSKW SERVOPK SGDS V N / L N N N N N N N N N (7) () 8 YSKW ELETRI MDE IN JPN Nameplate 8 () () 9. ±.. (Mounting Pitch) M Screw Holes 8 ±. (Mounting Pitch) 9 () SERVOPKs () Threephase V:. kw,. kw pprox. Mass:.8 kg () Mounting Hole Diagram 8 Terminal lock P M Screws N N N N N Ground Terminal M Screws (7) () YSKW ELETRI MDE IN JPN Nameplate 8 () 8 () 7 ±. (Mounting Pitch) M Screw Holes 9 ±. (Mounting Pitch) ()

232 YSKW SERVOPK External Dimensions Units: mm asemounted SERVOPKs (7) Threephase V:. kw pprox. Mass:. kg Terminal lock P M Screws Ground Terminal M Screws HRGE ir Flow SGDS N N N N N () YSKW ELETRI MDE IN JPN Nameplate ir Flow ±. () ooling Fan ir Flow (Mounting Pitch) (7) Mounting Hole Diagram (.) 9 ±.. (Mounting Pitch) M Screw Holes (8) Threephase V:. kw, 7. kw pprox. Mass:. kg 7. (7.) ir Flow () () ooling Fan Terminal lock P Nameplate M Screws Terminal lock P M Screws Terminal lock 8P M Screws 7 ir Flow ±. (Mounting Pitch) () 7 7 (7) Ground Terminal M Screws 7 Dia. Holes N N N N N Mounting Hole Diagram 7. ±. (Mounting Pitch) (7.) M Screw Holes () Visible Outline ooling Fan View from

233 YSKW SERVOPK N / N N N N SERVOPKs SGDS Rotary Motors External Dimensions Units: mm Rackmounted SERVOPKs () Singlephase / V: W to W pprox. Mass:.7 kg Terminal lock (7.) (7.). 9. SGDS SW L L L L / + U V W HRGE V (7.) (.) Dia. Hole N N N N N Ground Terminal M Screws () ().. YSKW ELETRI MDE IN JPN Nameplate (8) (7) (.) 7. 7 ±. (Mounting Pitch) (7.) Mounting Hole Diagram 7 Min. (7) () M Screw Holes 9. (.) () Singlephase V: W Terminal lock pprox. Mass:. kg 8 7. (7.) 7. 7 (7.) Ground Terminal M Screws 8.. (.) 7 (.) Dia. Hole ir flow N N ir Flow N N N ir Flow () () 8. YSKW ELETRI MDE IN JPN Nameplate (7) 8 () ooling Fan (7.) 7 ±. (Mounting Pitch) (7.) Mounting Hole Diagram 7 Min. (7) () M Screw Holes. 7 (.) SERVOPKs () Singlephase V: W pprox. Mass:.9 kg Terminal lock (7.) (.) Dia. Hole N N N () (). YSKW ELETRI MDE IN JPN. () Mounting Hole Diagram ±. (Mounting Pitch) Min. M Screw Holes N (7.) (7.) N Ground Terminal M Screws (7) (8) Nameplate (7.) (7) () 9. (.)

234 External Dimensions Units: mm Rackmounted SERVOPKs () Singlephase V: 7 W Threephase V: W,. kw pprox. Mass:. kg Note: Do not use the L terminal of the singlephase V, 7 W SERVOPK. Terminal lock (7.) (7.) 8.. (.) (.) Dia. Hole ir Flow N N ir Flow N N N ir Flow () () 8. YSKW ELETRI MDE IN JPN Nameplate (7) 8 () ooling Fan (7.) 7 ±. (7.) (Mounting Pitch) (7) Min. 7 Mounting Hole Diagram () M Screw Holes Ground Terminal M Screws 7. 7 (.) () Threephase V:. kw pprox. Mass:. kg Terminal lock Ground Terminal M Screws (7.) (.) (.) HRGE ir Flow YSKW SERVOPK SGDS SW V ir Flow () 9 Dia. Holes N / N N N N N N N N N () () 8. YSKW ELETRI MDE IN JPN Nameplate (7) 8 (7.) 7 ±. 7. (Mounting Pitch) () Mounting Hole Diagram Min. 7 (7) M Screw Holes ±. () (Mounting Pitch)

235 SERVOPKs SGDS Rotary Motors External Dimensions Units: mm () Threephase V:. kw,. kw pprox. Mass:. kg ir Flow Dia. Holes (). (7.) 7 Mounting Hole Diagram M Screw Holes Terminal lock HRGE YSKW SERVOPK V SGDS N () SW N / N (7.) 8 (7.) Ground Terminal M Screws. ir Flow. N N N N N N N (7) YSKW ELETLI MDE IN JPN Nameplate 8 () (7.) ±. (Mounting Pitch) (7) 8 Min. () 8 7. ±. () (Mounting Pitch). (7) Threephase V:. kw pprox. Mass:. kg Mounting Hole Diagram Terminal lock P M Screws ir Flow N N N N N () (). YSKW ELETLI MDE IN JPN Nameplate 7. M Screw Holes 7 ±. (Mounting Pitch) Min. 7 SERVOPKs ir Flow ooling Fan (7.) (.) Ground Terminal M Screws. ir Flow (.) (.) (.) (7) (7.) () (7). ±. (Mounting Pitch) (.)

236 / N N ON Selecting ables able onnections to N, N, N, and N MEHTROLINK/ MEHTROLINK ommunication ables onnect to the MEHTROLINK/ MEHTROLINK. Personal omputer With the Front over Open DF P S/N D988 N able for nalog Monitor YSKW SERVOPK V SGDS SW N ables for P POWER OM HRGE N L L N L L / U V W N N N I/O Signal ables LED Indicator or External Device To N I/O Signal ables Name Length Order No. Specifications Details onnector Kit onnector JZSPSI9E (DE9) onnector: PE ase: 8 (Sumitomo M Ltd.) Soldered () Terminal lock onverter Unit and. m onnection able onnector Terminal lock onverter Unit JUSPTPE () DSub pin (for P98) m JZSPMSE To Personal omputer To SERVOPK To N ables for P m JZSPMSE DSub 9pin (for DOS/V) To Personal omputer To SERVOPK See page. Halfpitch pin (for P98) m JZSPMSE To Personal omputer To SERVOPK To N and N MEHTROLINK/ MEHTROLINK ommunication able able with onnectors at oth Ends. m JEPMWE m JEPMWE m JEPMWE m JEPMWE m JEPMWE m JEPMWE m JEPMWE m JEPMWE m JEPMWE L Units: mm (8) Terminator JEPMWE To N able for nalog Monitor m JZSPE To SERVOPK ()

237 YSKW SERVOPK V SGDS SW L L L L / U V W HRGE / N N SERVOPKs SGDS Rotary Motors Selecting ables Units: mm () onnector Kit (for N) Use the following connector and cable to assemble the cable. The N connector kit includes one case and one connector. onnector Kit Model No. JZSPSI9E (DE9) able Size ase onnector Model No. Qty Model No. Qty 8 : Manufactured by Sumitomo M Ltd. ltem set PE (Soldered) Specifications Use twistedpair or twistedpair able shielded wire. pplicable wires WG,, 8, able finished diameter mm max. Dimensional Drawings of ase () onnecter Terminal lock onverter Unit with a able (to N) able onnection Dimensional Drawings of Terminal lock 9..8 (.) SERVOPK Terminal lock (P) M. Screw onnector Plug (P) FNPU N N N To N Length of able: + Model: JUSPTPE Dia.... an be fixed on DIN rail.. Dimensional Drawings of able 7. onnector (P) for SERVOPK EL (Sumitomo M Ltd.) Shell: 8 (Sumitomo M Ltd.) able (black): WG#8, 8P SSRFPVVS onnector (P) for onnector Terminal lock onverter Unit FNJU (Fujitsu Ltd.) over: FN (Fujitsu Ltd.) 7 Terminal lock Model Length of able pprox. Mass JUSPTPE. m g JUSPTPE m g JUSPTPE m g SERVOPKs 9 L 7 () ables for nalog Monitor (to N) Dimensional Drawings Socket: DFDS onnector: DF8SF lack lack + White : Manufactured by Hirose Electric orporation. Red Viewed from the able Specifications Pin No. able olor Signal Name Remarks Red nalog Monitor Motor speed: V/ min White nalog Monitor Torque reference: V/% rated torque, lack ( cables) GND ( V) Note: The examples shown in the table are factory settings. To change the settings, use parameters Pn and Pn7. 7

238 Selecting ables Main ircuit ables () Singlephase for V () Singlephase for V External Terminal Terminal SERVOPK Model SGDS External Terminal Terminal SERVOPK Model SGDS Name Symbol F F F Name Symbol 8 Main ircuit Power Input Terminals Servomotor onnection Terminals ontrol Power Input Terminals External Regenerative Resistor onnection Terminals Ground Terminal L, L HIV. HIV. U, V, W HIV. L, L HIV. /, HIV. HIV. min. Main ircuit Power Input Terminals Servomotor onnection Terminals ontrol Power Input Terminals External Regenerative Resistor onnection Terminals Ground Terminal L, L HIV. HIV. U, V, W HIV. L, L HIV. /, HIV. HIV. min. () Threephase for V External Terminal Name Terminal SERVOPK Model SGDS Symbol 7 Main ircuit Power Input Terminals L, L, L HIV. HIV. HIV. HIV8. HIV Servomotor onnection Terminals ontrol Power Input Terminals External Regenerative U, V, W L, L HIV. HIV. HIV. HIV8. HIV. HIV Resistor onnection Terminals Ground Terminal /, HIV. HIV. HIV. HIV. HIV. min. HIV8. : For SGDS and 7 SERVOPKs, the external regenerative resistor connection terminals are and. The table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than the values in the table. V Heatresistant Vinyl able (HIV) WG Size Nominal ross Section Diameter mm onfiguration Number of Wires/mm onductive Resistance Ω/km llowable urrent at Surrounding ir Temperatures (). 9/ / / / / / / / / Note: The values in the table are only for reference. IMPORTNT Wire sizes are selected for three cables per bundle at surrounding air temperature with the rated current. Use cable with minimum withstand voltage of V for main circuits. If cables are bundled in PV or metal ducts, consider the reduction ratio of the allowable current. Use heatresistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. Use cable within the allowable moment of inertia. Do not use cables in continuous regenerating status. 8

239 SERVOPKs SGDS Rotary Motors Selecting ables Units: mm onnectors of Main ircuit and ontrol Power Supply ables and Servomotor able () Spring Type (Standard) onnector Types ppearance Order No. Manufacturer pole (For servomotor main circuit cable connector to SERVOPK) 7pole (For W to W SERVOPKs) 7 pole (For. kw to. kw SERVOPKs) onnection lever 9 Molex Japan o., Ltd. External View and Dimensions onnection Lever. 7. () 7. Pitch. (.) (.9) Trademark and Serial Number 7.7 ().7 MXJ 9. (7.7) (.) pole 7pole pole The Number of Poles Dimension Dimension () rimp Type (Optional) The crimp type connectors are optional. ontact the manufacturer for details. onnector Types ppearance Order No. Manufacturer pole (For servomotor main circuit cable connector to SERVOPK) 7pole (For W to W SERVOPKs) 7 pole (For. kw to. kw SERVOPKs) Plug (chained) 8 Molex Japan o., Ltd. Plug (detached) 8 Manual tool 79 Pull tool 79 SERVOPKs External View and Dimensions Plugs (hained/detached) Trademark () 7. Pitch 8. () Max. utoff Tab pole 7pole pole The Number of Poles Dimension Dimension (.8).8. 9

240 Selecting Peripheral Devices Units: mm Digital Operator (Model:JUSPOP) P Tight ountersunk Screws: Tightening Torque:. N cm 7 Nameplate SVON OIN TGON VMP REF HRGE LRM RESET YSKW SROLL MODE/SET JOG SVON DT RED SERVO WRITE SERVO 9 DIGITL OPERTOR JUSPOP Plug: PE Shell: F8 ± attery ase (Model:JUSP) IMPORTNT The battery case (JUSP) is not provided with a battery. battery must be purchased separately. Install the battery case where the surrounding air temperature is between to. Encoder able : JZSPSP E E E 7 E onnector to SERVOPK Mount a battery (JZSP). attery ase (JUSP) () Mounting a attery in a attery ase Prepare a lithium battery (JZSP) and mount in a battery case. Red Red onnector ERV Lithium attery (. V, mh, Manufactured by Toshiba attery o., Ltd.) () onnecting a attery to the Host ontroller Use a battery that meets the specifications of the host controller. Use an ERVN (. V, mh, manufactured by Toshiba attery o., Ltd.) or equivalent battery.

241 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices Moldedcase ircuit reaker and Fuse apacity Main ircuit Power Supply Singlephase V Singlephase V Threephase V SERVOPK Model apacity kw SGDS Power Supply apacity per SERVOPK kv urrent apacity of Moldedcase ircuit reaker or Fuse, Main ircuit Power Supply rms ontrol ircuit Power Supply rms Main ircuit Power Supply Inrush urrent ontrol ircuit Power Supply... F. F... F.. F :Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity. :utoff characteristics ( ): % for two seconds min. and 7% for. seconds min. Note: Do not use a fastacting fuse. ecause the SERVOPOK s power supply is a capacitor input type, a fastacting fuse may blow when the power is turned on. If selecting a moldedcase circuit breaker, observe the following precautions. IMPORTNT Ground Fault Detector Select ground fault detectors for inverters. Highfrequency current leaks from the servomotor armature because of switching operation inside the SERVOPK. () Maximum lnput urrent The instantaneous maximum output of the SERVOPK is approximately times the rated output for a maximum of seconds. ccordingly, select a moldedcase circuit breaker whose breaking time is seconds or more at % of SERVOPK rated current. The generalpurpose lowspeed acting moldedcase circuit breakers are applicable. The power supply capacity per SERVOPK when using a servomotor is described in the table above. Select a moldedcase circuit breaker with the capacity larger than the effective load current (when using multiple SERVOPKs) calculated from the total power supply capacity. The consumption of other controllers must be considered when selecting a moldedcase circuit breaker. () Inrush urrent Refer to the table above for SERVOPK inrush current. The allowable inrush current for a lowspeed acting moldedcase circuit breaker is approximately times the rated current for. seconds. When turning on multiple SERVOPKs simultaneously, select a moldedcase circuit breaker with the allowable current for ms larger than the total inrush current shown in the table above. SERVOPKs

242 Selecting Peripheral Devices Noise Filters, Magnetic ontactors, Surge bsorbers, and /D Reactors Main ircuit Power Supply Singlephase V Singlephase V Threephase V SERVOPK Model Recommended Noise Filter Magnetic Surge /D apacity kw SGDS Model No. Specifications ontactor bsorber Reactor. X Singlephase. F FN7/7 V,. F S X Singlephase. F FN7/7 X V, Singlephase. F FN7/7 S X V, R M. Singlephase QZ X. FN7/7 V,. S X. FN7/7.8 8 FN7/7. FN8L7/7.. FN8L/7.. FN8L/7. FM9 Singlephase X V, Singlephase S X V, Threephase S 8 V, 7 X Threephase S 8 V, X Threephase 8 V, Threephase 8V,. Threephase V, 7. 7 FM9 Threephase V, S R M X9 UZ X8 SN SN Details () () () () Notes: If some SERVOPKs are wired at the same time, select the proper magnetic contactors accroding to the total capacity. The following table shows the manufacturers of each device. Peripheral Device Noise Filter Magnetic ontactor Surge bsorber /D Reactor Manufacturer FN type: Schaffner EM, Inc. FM type: Schurter Inc. (formerly Timonta) Fuji Electric F omponents & Systems o., Ltd. Okaya Electric Industries o., Ltd. (Surge Protector) Yaskawa ontrols o., Ltd. IMPORTNT Noise Filter for rake Power Supply Use the following noise filter at the brake power input for W or less servomotors with holding brakes. Model No.: FN7/7 (Manufactured by Schaffner EM, Inc.)

243 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices Regenerative Resistors and rake Power Supply Units Main ircuit Power Supply SERVOPK Model apacity SGDSkW Regenerative Resistor uiltin Resistance Ω apacity W Externally onnected rake Power Supply Unit Singlephase V Singlephase V Threephase V. None None. F. F. F. F.. None None (.) (88) JUSPR 7. 7 (.) (7) JUSPR For VD brakes To be provided by the customer. For VD brakes To be provided by the customer. For 9 VD brakes LPDEHE for V input LPSEHE for V input Details () () :For the optional JUSPR Regenerative Resistor Unit. :For the optional JUSPR Regenerative Resistor Unit. :If using a commercially available power supply for the VD brake, install a surge suppressor to protect the power supply from overvoltage. If a surge suppressor is not used, the power supply may be damaged if an overvoltage, such as a surge, occurs in the output section. Notes: If the SERVOPK cannot process the regenerative power, an external regenerative resistor is required. External regenerative resistors are required for SERVOPKs with a capacity of. kw or more as a standard safety measure. The following table shows the manufacturers of each device. Peripheral Device External Regenerative Resistor External Regenerative Unit rake Power Supply Unit Manufacturer Iwaki Musen Kenkyusho. o., Ltd. Yaskawa Electric orporation Yaskawa ontrols o., Ltd. SERVOPKs

244 Selecting Peripheral Devices () Noise Filter The recommended noise filter is manufactured by Schaffner EM, Inc. (FN type) and Schurter, Inc. (formerly Timonta) (FM type). FN Type for Singlephase / V Model No. FN7/7 FN7/7 FN7/7 Side View S Side View K L Top View J M P Top View J F D N P N F D K M Dimensional Drawings R Q onnection Lead P/N/E + External Dimensions Specifications pplicable SERVOPK SGDS Manufacturer Symbol D F J K L M N P Q R S Singlephase V Singlephase V Dimensions in mm.± ± 9±. 7.± 8.±.±. 7.± 9±.± 98.± ±. ±. 9±. ±. ±. 8.±. 8.±..±..±..±..±. ±. 7.±..9±..±. ±. ±. 8 ±. V, V, V, F F F F 8 Schaffner EM, Inc.

245 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices I FN Type for Threephase V Model No. FN8L7/7 FN8L/7 FN8L/7 Dimensional Drawings Side View 7 to Type F E G P Front and Side View O D H L Symbol D E External F Dimensions G H J L O P Specifications pplicable SERVOPK SGDS Manufacturer Threephase V Dimensions in mm ± ± ± ±.8 ±.8 ± ±. ±. ±. ±.8 7±.8 ± ±. 9±. ±. ±. ±. ±.. ±. ± ± ±. 9 ± M WG WG WG 8 V, 7 8 V, 8 V,,, J Schaffner EM, Inc. FM Type for Threephase V Model No. FM9 FM9 (J) H Dimensional Drawings LINE E F LOD G D (K) (L) SERVOPKs Symbol D External E Dimensions F G H I J K L Specifications pplicable SERVOPK SGDS Manufacturer Three Phase V Dimensions in mm ±.. ±. ±. ±. M M () () () () (7) () V, V, 7 Schurter EM, Inc. (formerly Timonta)

246 Selecting Peripheral Devices Units: mm () Magnetic ontactor magnetic contactor is required to externally activate the power for the SERVOPK. e sure to attach a surge absorber to the excitation coil of the magnetic contactor. Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) Main ontact Terminal M. oil Terminal M. 8 uxiliary ontact Terminal M. 8. (.) 8 Mounting is available.. uxiliary ontact a b Structure /L /L /L /T /T /T /L /L /L For front mounting, aux. contact blocks are attached. 7.7 pprox. Mass:. kg Mounting methods: The following methods,, are available. (8 to) 8 Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. /T /T /T Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) Main ontact Terminal M 9 oil Terminal M. uxiliary ontact Terminal M Mounting is available. (.). uxiliary ontact a b Structure /L /L /L /T /T /T /L /L /L For front mounting, aux. contact blocks are attached pprox. Mass:. kg Mounting methods: The following methods, are available. (8 to) Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. /T /T /T Model: S External Dimensions Mounting Hole Dimensions Terminal Symbols 9 (Mounting Rail Height: ) 8 8. (8) uxiliary ontact Terminal M. 9 Main ontact Terminal M oil Terminal M. uxiliary ontact Terminal M. 8. (.) Mounting is available.. uxiliary ontact a ab Structure /L/L /L /T/T /T /L /L /L For front mounting, aux. contact blocks are attached pprox. Mass:.8 kg () Mounting methods: The following methods, are available. ( to) Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. b /T /T /T /L /L/L /T /T /T Model: SN, SN External Dimensions Mounting Hole Dimensions Terminal Symbols (Mounting Rail Height: ) 9 (8).. Main ontact Terminal M uxiliary ontact Tarminal M. (99) 7 oil Terminal M (to ). 7 Structure () ()() /L /L /L 8 7 /T /T /T 8 7 () ()() : For front mounting, aux. contact blocks are attached.. : For two side mounting, aux. contact blocks are attached.. pprox. Mass:.9 kg ( to) Mounting methods: The following methods, are available. ( to) 7 (to ) 7 Mounting screw: M Use the two mounting holes on the diagonal line to mount a contactor. :These contacts are used if the auxiliary contacts consist of four normally open (NO) and four normally close (N) contacts. Note : The terminals of the auxiliary contacts are numbered differently than conventional terminals. The numbers in parentheses use the conventional method.

247 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices Units: mm () Surge bsorber The surge absorber absorbs switching surge and prevents faulty operation in or damage to electronic circuits. Recommended surge absorbers (for lightning surge) are listed below. Model: R MQZ Dimensional Drawings Internal onnection Diagram φ.±..±. 8.±. ± Lead Line + ase 8±.±. ± Model: R MUZ Dimensional Drawings Internal onnection Diagram φ.±. ± ± ± Lead Line ase + 8±.±. SERVOPKs ± 7

248 Selecting Peripheral Devices () /D Reactors for Power Supply Harmonic Suppression Manufactured by Yaskawa ontrols o., Ltd. ontact your Yaskawa representative for details. If the power supply harmonic suppression is needed, connect an reactor to the line for the singlephase input, or connect a D reactor between the SERVOPK main circuit terminals and for the threephase input. Select a reactor that matches the ratings of the SERVOPK. Specifications pplicable SERVOPK Model SGDS F Singlephase F V F F Singlephase V 8 Threephase V 7 /D Reactor Model Reactor Specifications Inductance mh Rated urrent X.. X.. X.. X.. X.. X.. X.. X.. X..8 X. 8.8 X9.. X8.7.8 Dimensional Drawings I Dia. G Reactor Model X Dimensions in mm pprox. Mass D E F G H I kg X 9.. D Nameplate X X X9 7.. H Dia. Notch E F X X X

249 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices () External Regenerative Resistor When regenerative energy is so large that a SERVOPK cannot process, install externally a regenerative resistor. The regenerative resistor must be provided by the customers. Refer to the table below for selecting the regenerative resistor. SERVOPK apacity W or less. kw to. kw Necessity of External Regenerative Resistors Not Required Not Required Descriptions No builtin regenerative resistor is provided, however, normally an external regenerative resistor is not required. Install external regenerative resistors when the smoothing capacitor in SERVOPK cannot process all the regenerative power. builtin regenerative resistor is provided as standard. Install external regenerative resistors when the builtin regenerative resistor cannot process all the regenerative power.. kw to 7. kw Required No builtin regenerative resistor is provided, so the external regenerative resistor is required. If the external regenerative resistor is not connected with the SERVOPK, the alarm. is detected as a regeneration error alarm. Example:External Regenerative Resistor (by Iwaki Musen Kenkyusho o., Ltd.) Specifications Regenerative Resistor Model RH RH RH RH RH Model Designation RH (N) Ω Model N: Noninductive Winding Resistance J Specifications 7 W, to Ω 9 W, to Ω W, to Ω W, to kω W, to Ω Resistance Tolerance ode Specification K ±% J ±% H ±% Resistance Tolerance Temperature Resistance haracteristics Withstand Voltage Insulation Resistance Shorttime Overload Life Heat Resistance Operating temperature K: ±%, J: ±%, H: ±% ± PPM/ (Ω max.), ± PPM/ (Ω min.) V/min, R: ±(.% +.Ω) VD, MΩ min. When times the rated power is applied for five seconds, R: ±(% +.Ω) hours of repeating the operation ON for 9 minutes and OFF for minutes, R: ±(% +.Ω) Not ignite after having applied times the rated electric power for one minute to External Dimensions D RH,, D. G. Dia. Lead Wire Length L: Model Rated Power Resistance Model D E F G RH 7 W Ω to Ω RH 8 7 RH 9 W Ω to Ω RH 8 RH W Ω to Ω RH. F E. RH 8 7 Lead Wire Length L: Rated Power: W Resistance: Ω to Ω. Dia. SERVOPKs RH RH M Dia..7 Lead Wire Length L: Rated Power: W Resistance: Ω to kω Lead Wire Lenght L: Rated Power: W Resistance: Ω to Ω 9

250 Selecting Peripheral Devices Units: mm () External Regenerative Resistor Regenerative Resistor Unit The SERVOPKs with a capacity of. kw or more do not have a builtin regenerative resistor. The following regenerative resistor unit is required according to the SERVOPK model. SERVOPK Model Regenerative Resistor Unit Model Specifications llowable Power Loss SGDS JUSPR.Ω, 88 W 8 W SGDS7 JUSPR.Ω, 7 W W External Dimensions Dia.Mounting Holes Protective over M H M D W Ground Terminal (M Screws) External Terminals (M Screws) ement Resistor Model W H D M M pprox. Mass JUSPR 9 8 kg JUSPR 9 7 kg () rake Power Supply Unit V input: LPSEHE V input: LPDEHE Specifications External Dimensions Rated output voltage: 9 VD Maximum output current:. D Lead wire length: mm each Maximum surrounding air temperature: Lead wires: olor coded. Refer to the table below. To Input V V To rake lue / White Yellow / White Red / lack Dia. Mounting Holes (. Dia. Spot Facing, Deep) Nameplate Lead Wires

251 SERVOPKs SGDS Rotary Motors Selecting Peripheral Devices Units: mm Internal ircuits Open or close the circuit for the brake power supply on the side of the brake power suppy unit. When switching on the D side, install a surge absorber near the brake coil to prevent damage to the brake coil from voltage surges due to Dside switching. Internal ircuit for V rake Power Supply Model: LPSEHE Yellow Red Side 8 V to V Diode Surge bsorber D Side (rake Side) No Polarity White lack Internal ircuit for V rake Power Supply Model: LPDEHE lue Diode ridge Red Side 9 V to V Surge bsorber Surge bsorber D Side (rake Side) No Polarity White lack (7) Variable Resistor for Speed and Torque Setting (Model: HP) The multiturn type winding variable resistors with dial MD are manufactured by Sakae Tsushin Kogyo o., Ltd. External Dimensions Units:mm ± Dia. Max. Panel. ± HP Helicolumn Panel Drilling Diagram. ± 7. ± ±. ± Dia. MD Multidial 7. Dia. Hole. Dia. Hole SERVOPKs onnection Example to an External Power Supply.8 kω (/ W) Min. HP kω SERVOPK N V (9) () VREF (TREF) SG

252 N Serial onverter Units for Fullyclosed ontrol System onfiguration for Fullyclosed ontrol YSKW SERVOPK V SGDS SW HRGE N / L L L N L / U N V W N SGDS SERVOPK Servomotor Main ircuit able able with onnectors Serial onverter Unit Model: JZDPD JZDPD E (RoHS compliant) Encoder able External Encoder (To be provided by the ustomer.) Model Designation JZDP E Serial onverter Unit Model ode Specifications Symbol D ppearance pplicable Linear Scale Made by HEIDENHIN orporation Hall Sensor None None E Not RoHS compliant RoHS compliant D Made by Renishaw plc. None Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee.

253 SERVOPKs SGDS Rotary Motors Serial onverter Units for Fullyclosed ontrol haracteristics and Specifications Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Output Signal Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Operating Temperature Storage Temperature Humidity The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % Specifications +. V±%, ripple content % max. m typ., m max. Input phase sine wave: / pitch khz Differential input amplitude:. Vto. V Input signal level:. Vto. V Position data, alarms Serial data communications [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced type transceiver (SN7L7 or the equivalent), internal terminating resistor: Ω g 98 m/s max. ( to Hz) in three directions 98 m/s, ( ms) two times in three directions to to+8 % to9% RH(no condensation) : The current consumption of the linear scale is not included in this value. The current consumption of the linear scale must be taken into consideration for the current capacity of host controller that supplies the power. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The transmission is enabled to ms after the power turns on. Electrical haracteristics Mechanical haracteristics Environmental onditions nalog Signal Input Timing cos, /cos, sin, /sin Input Voltage Range:. V to. V cos (+) /cos (). to. V SERVOPKs sin (+) /sin () Ref, /Ref Input Voltage Range:. V to. V /Ref (R) Ref (R+). V Min. to 7% to 7%. V Min. Zero Point ount up direction IMPORTNT Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit s ability to output correct position information. The analog cable must be as short as possible and shielded. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.

254 Serial onverter Units for Fullyclosed ontrol Units: mm External Dimensions () Model: JZDPD JZDPD E(RoHS compliant). Dia. Holes # UN Tapped Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK nalog Signal Input onnector (N) to Linear Scale.99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth () Model: JZDPD JZDPD E(RoHS compliant) # UN Tapped Holes. Dia. Holes. Dia. Holes nalog Sigal Input onnector (N) Nameplate to Linear Scale Serial Data Output onnector (N) to SERVOPK.99±. ±...±. ±. 7 8±. 9 ±. M Tapped Holes, Depth onnection able between SERVOPK and Serial onverter Unit Recommended ables Name pplication Model No. Length JZSPLPE m onnection between JZSPLPE m able with SERVOPK onnector JZSPLPE m onnectors N and Serial onverter Unit JZSPLPE m JZSPLPE m Dimensional Drawing To SERVOPK L To Serial onverter Unit.8 onnector: 7 by Molex Japan o., Ltd. 7series onnector: 7JE9 (D8)G (9pin) by DDK Ltd.

255 SERVOPKs SGDS Rotary Motors Serial onverter Units for Fullyclosed ontrol onnection Examples () onnection Example with Linear Scale by HEIDENHIN orporation Model: JZDPD JZDPD E(RoHS compliant) SERVOPK Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by HEIDENHIN orporation Pin No ase Signal + V JZSPLP7 E Sphase output Not used Not used V /Sphase output Not used Not used Not used Shield N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK Ltd. RoHS compliant 7LE97F (Socket) onnection able by HEIDENHIN orporation Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used ase Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin) manufactured by HEIDENHIN orporation can be directly connected. N nalog Signal Input to Linear scale 8 9 7series onnector: 7LE7 (Socket) by DDK Ltd. RoHS compliant 7LE7F (Socket) () onnection Example with Linear Scale by Renishaw plc. Model: JZDPD JZDPD E(RoHS compliant) Serial onverter Unit SERVOPK JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by Renishaw plc. SERVOPKs Pin No ase Signal + V JZSPLP7 E Sphase output Not used Not used V /Sphase output Not used Not used Not used Shield SERVOPK does not have the function to process Vq signals. N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK Ltd. RoHS compliant 7LE97F (Socket) Dsub pin onnector Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ( V) ase Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the linearscale connector to change the home position specifications of the linear scale. N nalog Signal Input to Linear Scale 9 8 7series onnector: 7JE (D8) (Socket) by DDK Ltd. RoHS compliant 7JE(D8)G (Socket)

256 Linear Servomotors SGLGW (oreless) Model Designation Moving oil SGL G W P Linear R Series Linear Servomotor Servomotor Type ode Specifications G oreless W: Moving oil Magnet Height Voltage : V Length of Moving oil Design Revision Order,... onnector for Main ircuit able ode Specifications pplicable Model lank D onnector by Tyco Electronics MP K.K. onnector by Interconnectron GmbH ll models SGLGW,, Hall Sensor/ooling Method ode Specifications pplicable Model P With hall sensor ll models Forced cooling SGLGW, H With hall sensor and forced cooling, 9 lank Without hall sensor ll models Magnetic Way SGL G M 8 Linear R Series Linear Servomotor Servomotor Type ode Specifications G oreless M: Magnetic Way Magnet Height Length of Magnetic Way Options ode lank Standard M High force Specifications pplicable Model ll models SGLGM, Design Revision Order,... Note: The coreless linear servomotor is available as revised model (without mounting holes on the bottom) and as revised model T (with mounting holes on the bottom).

257 Features Directfeed mechanism for highspeed and highprecision positioning. Lack of magnetic attraction force helps extend the life of linear motion guides and minimizes noise. Zero cogging for minimal velocity ripple. pplication Examples Feeders and loaders Semiconductor equipment LD manufacturing equipment Precautions on Moving oil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor.refer to the example showing the correct installation. When determining the length of the moving coilõs stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit.refer to the following table. <orrect> <Incorrect> Hall Sensor Moving oil Movement Direction Moving oil Magnetic Way Magnetic Way End The total length of moving coil with hall sensor Linear Servomotors L L Moving oil Model SGLGW Length of Moving oil L(mm) Length of Hall Sensor Unit (mm) Total Length L(mm) Hall Sensor Magnetic Way Moving oil P 8 P P P P P P P 9 P 97 P 9 P (Included in the length of Moving oil) (Included in the length of Moving oil)

258 Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Methods: Selfcooled, aircooling mbient Humidity: % to 8 % (no condensation) llowable Winding Temperature: (Insulation class ) With Standardforce Magnetic Ways Linear Servomotor Model SGLGW Peak Speed Rated Force Rated urrent Instantaneous Peak Force m/s N rms N Instantaneous Peak urrent rms Moving oil Mass Force onstant EMF onstant Motor onstant Electrical Time onstant Mechanical Time onstant Thermal Resistance (With Heat Sink) Thermal Resistance (Without Heat Sink) Magnetic ttraction kg N/rms V/(m/s) N/QW ms ms K/W K/W N Notes: The items marked with an and Force and Speed haracteristics are the values at a motor winding temperature of during operation in combination with a SERVOPK. The others are at. The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Linear Servomotor Model Heat Sink Size SGLGW in mm

259 Linear Servomotors SGLGW(oreless) Linear Ratings and Specifications Force and Speed haracteristics (With Standardforce Magnetic Ways) ontinuous duty zone Intermittent duty zone. SGLGW. SGLGW8.. Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Force (N) SGLGW Force (N) SGLGW Force (N) SGLGW9 9 Force (N) Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Force (N) SGLGW Force (N) SGLGW Force (N) Force (N)..... SGLGW SGLGW.. SGLGW97 7 Force (N) SGLGW9. Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s)..... Force (N) 7 8 Force (N) Linear Servomotors 9

260 Ratings and Specifications With Highforce Magnetic Ways Linear Servomotor Model SGLGM M + SGLGW Peak Speed Rated Force Rated urrent Instantaneous Peak Force m/s N rms N Instantaneous Peak urrent rms Moving oil Mass Force onstant EMF onstant Motor onstant Electrical Time onstant Mechanical Time onstant Thermal Resistance (With Heat Sink) Thermal Resistance (Without Heat Sink) kg N/rms V/(m/s) N/QW ms ms K/W K/W Magnetic ttraction N Notes: The items marked with an and Force and Speed haracteristics are the values at a motor winding temperature of during operation in combination with a SERVOPK. The others are at. The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Linear Servomotor Model SGLGW Heat Sink Size in mm

261 Linear Servomotors SGLGW(oreless) Linear Ratings and Specifications Force and Speed haracteristics (With Highforce Magnetic Ways) ontinuous duty zone Intermittent duty zone SGLGW SGLGW SGLGW Motor Speed (m/s) Motor Speed (m/s) 8 Force (N) Force (N) Force (N) SGLGW SGLGW SGLGW Force (N) Force (N) Force (N) Mechanical Specifications () Impact Resistance Impact acceleration: 9 m/s Impact occurrences: twice () Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back Vibration acceleration: 9 m/s Linear Servomotors Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s)

262 YSKW ELETRI ORPORTION JPN External Dimensions Units: mm SGLG Linear Servomotors () Moving oil: SGLGW (With a connector by Tyco Electronics MP K.K.) 7 M Mounting Screws, Depth screws # UN L L able UL7, WG ± (. Dia.) ( Dia.) ± able UL7, WG Nameplate L L The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. M Mounting Screws, Depth on oth Sides (7) W N Ins. May cause injury. Keep magnetic materials WRNING away. L 8. () G(Gap) G(Gap) Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Plug : 779 Pin : 9 or 777 by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket : 9 or 777 Pin No Name Phase U Phase V Phase W FG Lead olor Red White lue Green Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the following figure. Inverse Power (V) Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil G pprox. Mass L L L L L Model SGLGW (Gap) kg :The value indicates the mass of moving coil with a hall sensor unit.

263 YSKW ELETRI ORPORTION JPN Linear Servomotors SGLGW(oreless) Linear External Dimensions Units: mm () Moving oil: SGLGW D (With a connector by Interconnectron GmbH) 7 M Mounting Screws, Depth screws # UN L L able UL7, WG (. Dia.) ( Dia.) The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. M Mounting Screws, Depth on oth Sides ± Nameplate ± able UL7,WG L L (7) () W N Ins. May cause injury. Keep magnetic materials WRNING away. L 8. G (Gap) G (Gap) Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No. Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Extension : SROJMSN9 Pin :.. by Interconnectron GmbH The Mating onnector Plug : SPUKFSDN Socket :.. Pin No. Name Lead olor Phase U Red Phase V White Phase W lue Not used Not used FG Green Moving oil G pprox. Mass Model SGLGW L L L L L (Gap) kg D 8.8. Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the following figure. Vu Vv Vw Su Sv Sw 8 Electrical ngle ( ) Linear Servomotors 8 D :The value indicates the mass of moving coil with a hall sensor unit.

264 External Dimensions Units: mm SGLG Linear Servomotors () Magnetic Way: SGLGM Nameplate Warning Label 7. ORELESS LINER SERVO MOTOR W N Ins. May cause injury. Keep magnetic materials WRNING away. YSKW ELETRI ORPORTION JPN. Pitch N. Holes 8counter oring L L L.. ( Unit) (8) NM Mounting Holes, Depth Pitch 7 L (7) Magnetic Way pprox. Mass Model SGLGM L L N kg Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

265 W N Ins. YSKW ELETRI ORPORTION JPN Linear Servomotors SGLGW(oreless) Linear External Dimensions Units: mm SGLG Linear Servomotors () Moving oil: SGLGW (With a connector by Tyco Electronics MP K.K.) screws # UN L L Mounting Holes NM Tapped, Depth Nameplate ± (. Dia.) (7 Dia.) ± L 7 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L L Mounting Holes on oth Sides NM Tapped, Depth 78 L (7.) 7 Gap.8 Gap.8 Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Plug : 779 Pin : or 9 (No. to ) 9 (No.) by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket : 7 or 89 Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lue Green Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil Model SGLGW L L L L L L N N pprox. Mass kg :The value indicates the mass of moving coil with a hall sensor unit. Linear Servomotors

266 W N Ins. YSKW ELETRI ORPORTION JPN External Dimensions Units: mm SGLG Linear Servomotors () Moving oil: SGLGW D (With a connector by Interconnectron GmbH) screws # UN L L Mounting Holes NM Tapped, Depth Nameplate ± (. Dia.) (7 Dia.) ± The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L L Mounting Holes on oth Sides NM Tapped, Depth 7 7 L 78 L (7.) Gap.8 Gap.8 Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Extension : SROJMSN9 Pin :.. by Interconnectron GmbH The Mating onnector Plug : SPUKFSDN Socket :.. Pin No. Name Phase U Phase V Phase W Not used Not used FG Lead olor Red White lue Green Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ß ) Moving oil Model SGLGW L L L L L L N N pprox. Mass kg D 9.. D D :The value indicates the mass of moving coil with a hall sensor unit.

267 YSKW ELETRI ORPORTION JPN W N ORELESS LINER SERVO MOTOR Ins. YSKW ELETRI ORPORTION JPN Linear Servomotors SGLGW(oreless) Linear External Dimensions Units: mm () Standardforce Magnetic Way: SGLGM /SGLGM T : The SGLGM does not have mounting holes on the bottom, and the SGLGM T has mounting holes on the bottom.. L.( Unit) 7.±. SGLGM. 9 ±. 7.±. SGLGM T. 9±. ORELESS LINER SERVO MOTOR W N Ins. Nameplate X May cause injury. Keep magnetic materials WRNING away. Warning Label 7 X.. X Pitch L N. Dia. Mounting Holes (Per Unit) L Pitch (.) (.). Dia. Dia. ().7. Dia. Dia... X NM Mounting Screws, Depth (Per Unit) (Only for SGLGM T.) XX XX Type Standard Force Standardforce Magnetic Way pprox. Mass L L N Model SGLGM kg 9 or 9T 9.8 or T 8. or T 8. or T 9. or T.9 Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. () Highforce Magnetic Way: SGLGM M/SGLGM TM : The SGLGM does not have mounting holes on the bottom, and the SGLGM T has mounting holes on the bottom. Nameplate. L.( Unit) Warning Label SGLGM M.8 7. ±.. ±. 7. ±. SGLGM TM.8. ±. 7 May cause injury. Keep magnetic materials WRNING away. X X Pitch. L (.) N. Dia. Mounting Holes (Per Unit). L (.) X Pitch. XX. Dia. Dia. ().9. XX. Dia. Dia. Linear Servomotors X NM Screws, Depth (Per Unit) (Only for SGLGM TM.) Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Type High Force Highforce Magnetic Way pprox. Mass L L N Model SGLGM kg 9M or 9TM 9. M or TM 8. M or TM 8. M or TM 9. M or TM. 7

268 W External Dimensions Units: mm SGLG Linear Servomotors () Moving oil: SGLGW (With a connector by Tyco Electronics MP K.K.) screws # UN L L Mounting Holes NM Tapped, Depth Nameplate 7 N Ins ± (. Dia.) (7 Dia.) ± L The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L L Mounting holes on oth Sides NM Tapped, Depth 7 98 L (7.) 8 Gap.8 Gap.8 Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Plug : 779 Pin : or 9 (No. to ) 9 (No.) by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket : 7 or 89 Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lue Green Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil Model SGLGW L L L L L L N N pprox. Mass kg :The value indicates the mass of moving coil with a hall sensor unit. 8

269 W Linear Servomotors SGLGW(oreless) Linear External Dimensions Units: mm () Moving oil: SGLGW D (With a connector by Interconnectron GmbH) screws # UN L L Mounting Holes NM Tapped, Depth Nameplate 7 N Ins ± (. Dia.) (7 Dia.) ± L The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L L Mounting Holes on oth Sides NM Tapped, Depth 7 98 L (7.) 8 Gap.8 Gap.8 Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Moving oil Model SGLGW Pin No. Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Extension : SROJMSN9 Pin :.. by Interconnectron GmbH The Mating onnector Plug : SPUKFSDN Socket :.. Pin No. Name Lead olor Phase U Red Phase V White Phase W lue Not used Not used FG Green L L L L L L N N Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) pprox. Mass kg D 9..8 D D :The value indicates the mass of moving coil with a hall sensor unit. Linear Servomotors 9

270 W N ORELESS LINER SERVO MOTOR Ins. YSKW ELETRI ORPORTION JPN W N ORELESS LINER SERVO MOTOR Ins. YSKW ELETRI ORPORTION JPN External Dimensions Units: mm SGLG Linear Servomotors () Standardforce Magnetic Way: SGLGM /SGLGM T : The SGLGM does not have mounting holes on the bottom, and the SGLGM T has mounting holes on the bottom. L. ( Unit). SGLGM SGLGM T 7.±.. 9. ±. 7.±. 9 ±. May cause injury. Keep magnetic materials WRNING away. Nameplate Warning Label 8 8 X 7 X.. X Pitch L N. Dia. Mounting Holes (Per Unit) L Pitch (.) (.).. Dia. Dia. ()..7. Dia. Dia. X type Standard Force NM Screws, Depth (Per Unit) (Only for SGLGM T. ) Standardforce Magnetic Way pprox. Mass L L N Model SGLGM kg 9 or 9T 9. or T 8. or T 8. or T 9. or T. XX XX Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. () Highforce Magnetic Way: SGLGM M/SGLGM TM : The SGLGM does not have mounting holes on the bottom, and the SGLGM T has mounting holes on the bottom. Nameplate L. ( Unit). Warning Label SGLGM M.8 7. ±.. ±. 7.±. SGLGM TM.8. ±. May cause injury. Keep magnetic materials WRNING away X X. Pitch L N. Dia. Mounting Holes (Per Unit) (.). Dia. Dia..9. Dia. Dia.. L Pitch X (.). (). XX XX X NM Mounting Screws, Depth (Per Unit) (Only for SGLGM TM.) Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 7 Type High Force Highforce Magnetic Way pprox. Mass L L N Model SGLGM kg 9M or 9TM 9. M or TM 8. M or TM 8. M or TM 9.9 M or TM.

271 Linear Servomotors SGLGW(oreless) Linear External Dimensions Units: mm SGLG 9 Linear Servomotors () Moving oil: SGLGW9 (With a connector by Tyco Electronics MP K.K.) L L 9 NM Mounting Screws, Depth 9 screws # UN 9 able UL7, WG (. Dia.) ± ± Nameplate L L L (See note.) NM Mounting Screws, Depth 9 on oth Sides 8 8 able UL7, WG (. dia.) L Gap Gap.8 Note: The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W..8 Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector : 7JE9 (D8) Stud: 7L or 7L Pin No Name + V (Power supply) Phase U Phase V Phase W V (Power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Plug : 779 Pin : 8 or 7 (No. to ) 9 (No.) by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket : or Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lue Green Inverse Power (V) Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Vv Su Sv Moving oil Model SGLGW L L L L L L N N :The value indicates the mass of moving coil with a hall sensor unit. Vw Sw 8 Electrical ngle ( ) pprox. Mass kg Linear Servomotors 7

272 ORELESS LINER SERVO MOTOR W N Ins. YSKW ELETRI ORPORTION JPN May cause injury. Keep magnetic materials External Dimensions Units: mm SGLG 9 Linear Servomotors () Magnetic Way: SGLGM9 Nameplate Warning Label L.. ( Unit).8 8. WRNING away X X Pitch. L (.) NMounting Holes (Per Unit) 9 L () Pitch Dia.. Dia..8. NM Mounting Screws, Depth. Magnetic Way pprox. Mass Model SGLGM L L N kg XX Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. 7

273 SERVOPK SGDS Linear Servomotors SGLGW(oreless) Linear Selecting ables SERVOPK onnection able for Serial onverter Unit (etween SERVOPK connector N and serial converter unit.) Serial onverter Unit Linear Servomotor Main ircuit able Encoder able Linear Scale (To be provided by the customer.) onnection able for Hall Sensor (etween serial converter unit and hall sensor unit.) Hall Sensor Unit Linear Servomotor Linear Servomotor Main ircuit ables pplicable Linear Name Length Order No. Specifications Details Servomotor Model SGLGW,, SGLGW9 SGLGW D D D m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE To SERVOPK To SERVOPK To SERVOPK To Linear Servomotor To Linear Servomoto To Linear Servomotor : onnector by Tyco Electronics MP K.K. (ont d) : onnector by Interconnectron GmbH () () () Linear Servomotors 7

274 P Selecting ables Encoder ables onnection ables for Serial onverter Unit pplicable Linear Name Length Order No. Specifications Details Servomotor Model onnection ables for Hall Sensor ll models ll models ll models m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE To Serial onverter Unit To SERVOPK To Serial onverter Unit To Linear Scale To Serial onverter Unit To Hall Sensor Unit () () () () Linear Servomotor Main ircuit able : JZSPLN E Wiring Specifications M rimp Terminal To SERVOPK 8. mm mm Wire Markers U V W G able (UL) WG8/ L Heatshrinkable Tube Finished Outer Dia..8 mm ap: 78 (pole) Socket: (hained) made by Tyco Electronics MP K.K. To Linear Servomotor mm Leads to SERVOPK Wire olor Signal Red Phase U White Phase V lue Phase W Green/Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG () Linear Servomotor Main ircuit able : JZSPLN E M rimp Terminal To SERVOPK 8. mm mm U V W G Wire Markers L Heatshrinkable Tube Finished Outer Dia..9 mm able (UL7) WG/ ap: 78 (pole) Socket: 7 (hained) made by Tyco Electronics MP K.K. To Linear Servomotor mm Wiring Specifications Leads to SERVOPK Wire olor Signal Red Phase U White Phase V lue Phase W Green/Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG () Linear Servomotor Main ircuit able : JZSPLN E To SERVOPK To Linear Servomotor 8. mm mm L mm M rimp Terminal U V W G Wire Markers able (UL) WG8/ Heatshrinkable Tube Finished Outer Dia..8 mm SPUKFSDN made by Interconnectron GmbH 8 Dia. onnector Front View Wiring Specifications Leads to SERVOPK Wire olor Signal lack (White ) Phase U lack (White ) Phase V lack (White ) Phase W Green / Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG 7

275 Linear Servomotors SGLGW(oreless) Linear Selecting ables () Encoder able : JZSPLL E onnector: 7JE(D8) (pin, Soldered) made by DDK Ltd. 9 To Serial onverter Unit 8 L Finished Outer Dia. 9. mm able(ul8) (WG +WG P) To Linear Scale 8 9 onnector: 7JE (D8) (With Stud)(pin,Soldered) made by DDK Ltd. Wiring Specifications To Serial onverter Unit Pin No Signal /os (V) /Sin (V) Ref (V+) + V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V) V Vs DIR lnner ase Shield To Linear Scale Pin No. Signal /os (V) /Sin (V) Ref (V+) + V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V) V Vs DIR lnner ase Shield () onnection able for Serial onverter Unit : JZSPLP7 E To SERVOPK L To Serial onverter Unit onnector: 7 (pin, Soldered) made by Molex Japan o., Ltd. Finished Outer Dia..8 mm able (UL7) (WG +WG P) onnector: 7JE9 (D8) (9pin, Soldered) made by DDK Ltd. Wiring Specifications To SERVOPK Pin No. Signal Lead olor Shell PG V PG V PS /PS Shield Red lack Light blue Light blue/white () onnection able for Hall Sensor : JZSPLL E onnector: 7JE9(D8) (9pin, Soldered) made by DDK Ltd. 9 To Serial onverter Unit To Serial onverter Unit Pin No. Signal + V V Phase S output Lead olor Red lack Light blue Phase /S output Light blue/white ase Shield L Finished Outer Dia..8 mm able(ul7) (WG +WG P) To Hall Sensor 9 onnector: 7JE9 (D8) (With Stud) (9pin, Soldered) made by DDK Ltd. Linear Servomotors Wiring Specifications To Serial onverter Unit Pin No. Signal + V Phase U input Phase V input Phase W input V ase Shield To Hall Sensor Pin No. Signal + V Phase U input Phase V input Phase W input V ase Shield 7

276 Serial onverter Unit haracteristics and Specifications Electrical haracteristics Mechanical haracteristics Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Hall Sensor lnput Signal Output Signals Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Specifications +. V±%, ripple content % max. m typ. m max. Input phase sine wave: / pitch khz Differential input amplitude:. Vto. V Input signal level:. Vto. V MOS level Position data, hall sensor information, and alarms Serial data transmission [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced transceiver (SN7L7 or the equivalent) Internal terminal resistance: Ω g 98 m/s max. ( Hz to Hz) in three directions 98 m/s, ( ms) two times in three directions Environmental onditions Operating Temperature Storage Temperature Humidity to to +8 % to9% RH(no condensation) : The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: pprox. m. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The power is turned on, and the transmission is enabled after ms to ms. Model Designation JZDP D E Symbol ppearance Serial onverter Unit Model pplicable Linear Scale Hall Sensor pplicable Linear Servomotor Servomotor Model Symbol 8 ode None E Specifications Not RoHS compliant RoHS compliant D D Made by HEIDENHIN orp. Made by Renishaw plc. None None SGLGW (oreless) When a standardforce magnetic way is used D D8 Made by HEIDENHIN orp. Made by Renishaw plc. Provided Provided SGLGW + SGLGM M (oreless) When a highforce magnetic way is used. 9 7 Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee. 7

277 Linear Servomotors SGLGW(oreless) Linear Serial onverter Unit nalog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % cos (+). V to. V cos, /cos, sin, /sin Input Voltage Range:. V to. V /cos ( ) sin (+) /sin ( ) Ref, /Ref Input Voltage Range:. V to. V /Ref (R ) Ref (R+). V Min. % to 7% % to 7%. V Min. Zero Point ount Up direction :If the analog signal amplitude declines to about. V because of differential amplitude, the serial converter outputs an alarm. IMPORTNT Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit s ability to output correct position information. The analog cable must be as short as possible and shielded. Use the serial converter unit in an environment without gases such as HS. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. Linear Servomotors 77

278 Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale Manufactured by HEIDENHIN orporation) Serial onverter: JZDPD JZDPD E(RoHS compliant) () onnection Example SERVOPK Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by HEIDENHIN orp. () External Dimensions JZSPLP7 E onnection able by HEIDENHIN orp. # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector to SERVOPK(N) nalog Signal Input onnector to Linear Scale(N).99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield N Pin No. Signal N Serial Data Output to SERVOPK cos input (+) V 9 sin input (+) + V 9 Not used Not used 7 /Ref input (R) 8 8 Not used 7series onnector: 9 /cos input () 7LE97 (Socket) by DDK Ltd. V sensor /sin input () RoHS compliant V sensor 7LE97F Not used (Socket) Ref input (R+) Not used ase Shield nalog Signal Input to Linear Scale 7series onnector: 7LE7 (Socket) by DDK Ltd. RoHS compliant 7LE7F (Socket) Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) manufactured by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Use the same terminal for V sensor and phasew input. Phase U, V, and W input are internally pulled up at kω. 78

279 Linear Servomotors SGLGW(oreless) Linear Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit SERVOPK JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by Rensihaw plc. () External Dimensions JZSPLP7 E Dsub pin onnector # UN Tapped Holes. Dia.Holes. Dia.Holes Nameplate nalog Signal Input onnector to Linear Scale(N) Serial Data Output onnector to SERVOPK(N).99±. ±...±. ±. 7 8±. 9 ±. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield SERVOPK does not have the function to process Vq signals. N Pin No. Signal N Serial Data Output /cos input (V) to SERVOPK /sin input (V) Ref input (V+) V Vs Not used 7 Not used 8 8 Not used 7series onnector: 9 cos input (V+) 7LE97 (Socket) by DDK Ltd. sin input (V+) /Ref input (V) RoHS compliant V 7LE97F Vs (Socket) Not used Inner ( V) ase Shield nalog Signal Input to Linear Scale 7series onnector: 7JE (D8) (Socket) by DDK Ltd. RoHS compliant 7JE(D8)G (Socket) Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. 79

280 Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN corporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by HEIDENHIN orp. JZSPLP7 E () External Dimensions N Dsub pin onnector Hall Sensor Hall Sensor Signal Input onnector to Linear Servomotor(N) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector to SERVOPK(N) ±. 7 8± ±. ±...±. ± nalog Signal Input onnector to Linear Scale(N) M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 8 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. RoHS compliant 7LE97F (Socket) 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9 (D8) (Socket) by DDK. Ltd. RoHS compliant 7JE9(D8)G (Socket) Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used ase Shield Pin No. Signal + V ase Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Phase U, V, and W input are internally pulled up at kω. 8

281 Linear Servomotors SGLGW(oreless) Linear Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD8 JZDPD8 E (RoHS compliant) () onnection Example Serial onverter Unit JZDPD8 JZDPD8 E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by Renishaw plc. JZSPLP7 E N Dsub pin onnector Hall Sensor () External Dimensions Hall Sensor Signal Input onnector to Linear Servomotor (N) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector to SERVOPK(N) ±. 7 8± ±. ±...±. ± nalog Signal Input onnector to Linear Scale (N) M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield RoHS compliant 7LE97F (Socket) N nalog Signal Input to Linear Scale 9 8 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ase Shield RoHS compliant 7JE(D8)G (Socket) N Hall Sensor Signal Input to Linear Servomotor Pin No. Signal + V ase 9 7series onnector: RoHS compliant 7JE9 (D8) 7JE9(D8)G (Socket) by DDK. Ltd. (Socket) Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. Phase U, V, and W input are internally pulled up at kω. 8

282 Flexible ables Life of Flexible able The following flexible cables have a long flex life of million or more flex cycles as proven in rolling flex tests with the recommended bending radius shown in the table. able Model No. Recommended ending Radius mm JZSPLN Linear Servomotor Main ircuit ables JZSPLN 8 JZSPLN9 JZSPLN onnection ables for Linear Scales JZSPLL 7 onnection ables for Hall Sensors JZSPLL onnection ables for Serial onverter Units JZSPLP7 Testing onditions Repeatedly flex the cable back and forth in a linear motion for a stroke length of mm using the test equipment as shown. onnect the lead wires in parallel, and count the number of times that the cable can be bent until one of the lead wires becomes broken or disconnected. Every time that the cable is bent and returned to its original position counts as one test cycle. Stroke Length: mm Shifting End ending Radius R Fixed End Notes: The life of flexible cable greatly differs in accordance with the amount of mechanical shock applied to the cable and with the methods used to wire or fix the cable. The cable life listed here is for reference only because it was measured under specified testing conditions. The life of flexible cable indicates the number of bending life in which stranded wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account. 8

283 Linear Servomotors SGLGW(oreless) Linear Flexible ables Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early disconnection. Observe the following precautions when wiring. () Twisted cable Straighten the flexible cables before wiring. Twisted cables cause early disconnection. heck the indication on the cable surface to make sure that the cable is not twisted. () Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. () able length If the cable length is too long, it may cause the cable s sagging. esides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. () Interference between cables void interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring. Linear Servomotors 8

284 Linear Servomotors SGLFW (With Ftype Iron ore) Model Designation Moving oil SGL F W 9 P Linear Series Linear Servomotor Servomotor Type ode Specifications F Ftype iron core W: Moving oil Magnet Height Voltage : V Length of Moving oil onnector for Main ircuit able ode Specifications pplicable Model lank D onnector by Tyco Electronics MP K.K. onnector by interconnectron GmbH Hall Sensor/ooling Method ode Specifications P With hall sensor lank Without hall sensor ll models SGLFW,, Z Design Revision Order,,... Magnetic Way SGL F M Linear Series Linear Servomotor Servomotor Type ode F Specifications Ftype iron core M: Magnetic Way Magnet Height Options ode Specifications lank Standard With magnet cover Design Revision Order,,... Length of Magnetic Way 8

285 Features Directfeed mechanism for highspeed and highprecision positioning. The magnetic attraction force between the moving and stationary members can be used effectively to increase the rigidity of the linear guidance by preloading the linear motion bearings. pplication Examples Feeders and loaders Semiconductor equipment LD manufacturing equipment The magnetic preloading on certain types of compliant linear motion bearings can help increase the systemõs frequency response, improving its deceleration and settling performances. Precautions on Moving oil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coilõs stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table. <orrect> <Incorrect> Moving oil Movement Direction Moving oil Hall Sensor Magnetic Way Magnetic Way End The total length of moving coil with hall sensor Linear Servomotors L L Moving oil Magnetic Way Moving oil Model SGLFW 9P P P P P 8 P Z P Z8 P Length of Moving oil L(mm) Length of Hall Sensor Unit (mm) Total Length L(mm)

286 Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Methods: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Voltage Linear Servomotor Model SGLFW Peak Speed m/s Rated Force N Rated urrent rms Instantaneous Peak Force N Instantaneous Peak urrent rms Moving oil Mass kg Force onstant N/rms EMF onstant V/(m/s) Motor onstant NQW Electrical Time onstant ms Mechanical Time onstant ms Thermal Resistance (With Heat Sink) K/W Thermal Resistance (Without Heat Sink) Magnetic ttraction K/W N V Z Notes: The items marked with an and Force and Speed haracteristics are the values at a motor winding temperature of during operation in combination with a SERVOPK. The others are at. The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Linear Servomotor Model Heat Sink Size SGLFW in mm 9 Z 8 Z8 97 8

287 Linear Servomotors SGLFW(Ftype Iron ore) Linear Ratings and Specifications Force and Speed haracteristics ontinuous Duty Zone Intermittent Duty Zone Motor Speed (m/s) Motor Speed (m/s) SGLFW9 SGLFW SGLFW SGLFW 8 8 Force (N) Force (N) Force (N) Force (N) SGLFW 8 Force (N) Motor Speed (m/s) Motor Speed (m/s) SGLFW8 Force (N) Motor Speed (m/s) SGLFWZ Force (N) SGLFWZ8 Force (N) Linear Servomotors Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Mechanical Specifications () Impact Resistance Impact acceleration: 9 m/s Impact occurrences: twice () Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back Vibration acceleration: 9 m/s 87

288 . External Dimensions Units: mm SGLF Linear Servomotors () Moving oil: SGLFW (With a connector by Tyco Electronics MP K.K.) (). 7. Hall Sensor Magnetic Way Min. L L () (7.) () () () () () () (.: With Magnet over) (: Without Magnet over) ±.... (.: With Magnet over) (: Without Magnet over) (Gap.8: With Magnet over) (Gap : Without Magnet over) screws # UN (. Dia.) ± ± (. Dia.) Min. () (.) See the figuresq and w below. L 7. The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 8 Nameplate. qsglfw9 M Tapped Holes, Depth. wsglfw M Tapped Holes, Depth Hall Sensor onnector Specifications 9 Pin onnector : 7JE9 (D8) by DDK Ltd. The Mating onnector Socket connector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name +V(Power supply) Phase U Phase V Phase W V(Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug:779 Pin :8 or 7(No. to ) 9(No.) by Tyco ElectronicsMP K.K. The Mating onnector ap : 78 Socket: or Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lack Green Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil pprox. Mass Model SGLFW L L L N kg

289 O/N S/N MDE IN JPN O/N S/N MDE Linear Servomotors SGLFW(Ftype Iron ore) Linear External Dimensions Units: mm () Magnetic Way: SGLFM (L) Moving oil (.) (7.) () () (Gap) ±.. (.) 9.9 Reference Mark (Two dia. marks are engraved.).8. N S N S YSKW TYPE: Nameplate N.8 Dia. Mounting Holes Reference Mark YSKW TYPE: (Reference Mark) () (.8) The Height of Screw Head:. Max. Mounting Details Linear Servomotors () L. L. N S N S Notes: Multiple SGLFM magnetic ways can be connected. onnect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way pprox. Mass L.. L (L) Model SGLFM N kg 7 ( ) (.).9 8 ( 9) (7.) ( ) (7.) 89

290 External Dimensions Units: mm SGLF Linear Servomotors () Moving oil: SGLFW (With a connector by Tyco Electronics MP K.K.) () () () () (.: With Magnet over) (: Without Magnet over) () ±.. (). 7. (.: With Magnet over) (: Without Magnet over) (Gap.8: With Magnet over) (Gap: Without Magnet over) Hall Sensor Magnetic Way screws # UN (. Dia.) ± ± (. Dia.) Nameplate Min. min... (.) (8.) 8 8 L L See the figures and below. L (.) (7.) The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 7 SGLFW SGLFW M Tapped Holes, Depth. M Tapped Holes, Depth ( ) Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9(D8) Stud:7L or 7L Pin No. Name + V(Power supply) Phase U Phase V Phase W V(Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin : 8 or 7 (No. to ) 9 (No.) by Tycon Electronics MP K.K. The Mating onnector ap : 78 Socket: or Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lack Green Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Vw Su Sv Sw 8 Electrical ngle ( ) Moving oil pprox. Mass Model SGLFW L L L N kg

291 Linear Servomotors SGLFW(Ftype Iron ore) Linear External Dimensions Units: mm () Moving oil: SGLFW D (With a connector by Interconnectron GmbH) () () () () (.: With Magnet over) (: Without Magnet over) () ±.. (). 7. (.: With Magnet over) (: Without Magnet over) (Gap.8: With Magnet over) (Gap: Without Magnet over) Hall Sensor Magnetic Way screws # UN (. Dia.) ± ± (. Dia.) Min. min... (.) (8.) 8 8 L L See the figures and below. L (.) (7.) The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 7 Nameplate SGLFW D M Tapped Holes, Depth. SGLFW D M Tapped Holes, Depth ( ) Hall Sensor onnectorspecifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9(D8) Stud:7L or 7L Moving oil Model SGLFW Pin No Name +V(Powersupply) Phase U Phase V Phase W V(Powersupply) Not used Not used Not used Not used L L L N LinearServomotor onnectorspecifications Extension: RRMRPN8 Pin :.79. by Interconnectron GmbH The Mating onnector Plug : PRFRDN7 Socket:.. pprox. Mass kg Pin No. Name Phase U Phase V Phase W Not used Not used Ground Hall SensorOutput Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensoroutput signals Su, Sv, Sw and the inverse powerof each motorphase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Su Sv Vw Sw 8 Electrical ngle ( ) Linear Servomotors D D 8. 9

292 O/N S/N O/N S/N External Dimensions Units: mm SGLF Linear Servomotors () Magnetic Way: SGLFM Moving oil (.) 9.9 (L) N.8 Dia. Mounting Holes () () () () N S N S N S N S YSKW TYPE: MDE IN JPN DTE YSKW TYPE: MDE. () ±. (Gap) Reference Mark (Two dia. marks are engraved.).. Nameplate L. L. Reference Mark () (.) (Reference Mark) The Height of Screw Head:. Max. Mounting Details Notes: Multiple SGLFM magnetic ways can be connected. onnect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way pprox. Mass L.. L (L) N Model SGLFM kg 7 ( ) (.). 8 ( 9) (.) ( ) (7.).9 9

293 Linear Servomotors SGLFW(Ftype Iron ore) Linear External Dimensions Units: mm SGLF Linear Servomotors () Moving oil: SGLFW (With a connector by Tyco Electronics MP K.K.) Min. L () 7 MagneticWay Hall Sensor L () (7) (7.) (7.) (9) screws # UN (.: With Magnet over) (: Without Magnet over) (. Dia.) ± 8±. (Gap.8: With Magnet over) (Gap : Without Magnet over) ± (7. Dia.) Min. See the figures and below. (). The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L (.: With Magnet over) (: Without Magnet over) Nameplate qsglfw M Tapped Holes, Depth 9. wsglfw8 M Tapped Holes, Depth ( ) Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9(D8) Stud:7L or 7L Pin No. Name +V(Power supply) Phase U Phase V Phase W V(Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin : 8 or 7 (No. to ) 9 (No.) by Tycon ElectronicsMP K.K. The Mating onnector ap : 78 Socket: or Pin No. Name Lead olor Phase U Phase V Phase W FG Red White lack Green Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each phase Vu,Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Su Sv Vw Sw 8 Electrical ngle ( ) Linear Servomotors Moving oil pprox. Mass L L L N Model SGLFW kg

294 External Dimensions Units: mm SGLF Linear Servomotors () Moving oil: SGLFW D (With a connector by Interconnectron GmbH) Min. L () 7 MagneticWay Hall Sensor L () (7) (7.) (7.) (9) screws # UN (.: With Magnet over) (: Without Magnet over) (. Dia.) ± 8±. (Gap.8: With Magnet over) (Gap : Without Magnet over) ± (7. Dia.) Min. See the figures and below. (). The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L (.: With Magnet over) (: Without Magnet over) Nameplate SGLFW D M Tapped Holes, Depth 9. SGLFW8 D M Tapped Holes, Depth ( ) Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9(D8) Stud:7L or 7L Pin No. Name Linear Servomotor onnector Specifications +V(Power supply) Phase U Phase V Phase W V(Power supply) Not used Not used Not used Not used Extension: RRMRPN8 Pin :.79. by Interconnectron GmbH The Mating onnector Plug : PRFRDN7 Socket:.. Pin No. Name Phase U Phase V Phase W Not used Not used Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each phase Vu,Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil pprox. Mass L L L N Model SGLFW kg D 8. 8 D 9.9 9

295 O/N S/N MDE IN JPN DTE Linear Servomotors SGLFW(Ftype Iron ore) Linear External Dimensions Units: mm () Magnetic Way: SGLFM (L) Moving oil () N.8 Dia. Mounting Holes N S N S YSKW TYPE: N S N S YSKW TYPE: 9 () (Gap) 8±. Reference Mark (Two dia. marks are engraved.) 7. Nameplate Reference Mark (7.) (Reference Mark) (9.) The Height of Screw Head:. Max. Mounting Details Linear Servomotors 8. (.7) (7.7) (7.) 7 7. (7.) 9.. L. L. Notes: Multiple SGLFM magnetic ways can be connected. onnect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way pprox. Mass L.. L (L) N Model SGLFM kg 7. (7. ) (.) (7. 9) (8.) (7. ) (9.). 9

296 External Dimensions Units: mm SGLF Z Linear Servomotors () Moving oil: SGLFWZ (With a connector by Tyco Electronics MP K.K.) () 7 Magnetic Way Hall Sensor Min. () L L () (.) (.) (9) 9. ± ± 9M Tapped Holes, Depth (.: With Magnet over) (: Without Magnet over) screws # UN (. Dia.) Min. See the figures and below... () The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L 8 ±. (.: With Magnet over) (: Without Magnet over) (Gap.8: With Magnet over) (Gap : Without Magnet over) (8. Dia.) Nameplate SGLFWZ SGLFWZ8 8M Tapped Holes, Depth () Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name + V(Power supply) Phase U Phase V Phase W V(Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin : 8 or 7 (No. to ) 9 (No.) by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket: or Pin No. Name Phase U Phase V Phase W FG Lead olor Red White lue Green Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse Power Vv (V) Su Sv Moving oil pprox. Mass L L L N Model SGLFW kg Z 8 9. Z Vw Sw 8 Electrical ngle ( ) 9

297 Linear Servomotors SGLFW(Ftype Iron ore) Linear External Dimensions Units: mm () Moving oil: SGLFWZ D (With a connector by Interconnectron GmbH) () Min. ± ± 9M Tapped Holes, Depth Magnetic Way Hall Sensor () L L () (.) (.) (9) (.: With Magnet over) (: Without Magnet over) screws # UN (. Dia.) Min. See the figures and below... () The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L 8 ±. (.: With Magnet over) (: Without Magnet over) (Gap.8: With Magnet over) (Gap : Without Magnet over) (8. Dia.) Nameplate SGLFWZ D SGLFWZ8 D 8M Tapped Holes, Depth () Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Moving oil Model SGLFW Linear Servomotor Pin No. Name onnector Specifications +V(Power supply) Phase U Phase V Phase W V(Power supply) Extension: RRMRPN Not used Not used Not used Not used Pin :.79. by Interconnectron GmbH The Mating onnector Plug : PRFRDN7 Socket:.. L L L N pprox. Mass kg Pin No. Name Phase U Phase V Phase W Not used Not used Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Inverse PowerVv (V) Vw Su Sv Sw 8 Electrical ngle ( ) Linear Servomotors Z D 8 9. Z8 D

298 O/N S/N MDE IN JPN DTE External Dimensions Units: mm SGLF Z Linear Servomotors () Magnetic Way: SGLFMZ (L) 9 Moving oil () (Gap) 8±.. (.) (7.) (9). (.). (.) 8... Reference Mark (Two dia. marks are engraved.) N S N S YSKW TYPE: 7. Nameplate L. L. N7 Dia. Mounting Holes. Dia. ounter oring, Depth. N S N S YSKW TYPE: Reference Mark (7.) (Reference Mark) (.). Dia. The Height of Screw Head:.7 Max. Mounting Details Notes: Multiple SGFLMZ magnetic ways can be connected. onnect magnetic ways so that the reference marks match one on the other in the same direction. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way pprox. Mass L.. L (L) N Model SGLFM kg Z 7. (7. ) (.9) Z (7. 9) (9.9) 8. Z (7. ) (9.9) 98

299 SERVOPK SGDS Linear Servomotors SGLFW(Ftype Iron ore) Linear Selecting ables SERVOPK eonnection able for Serial onverter Unit (etween SERVOPK onnector N and Serial onverter Unit) qlinear Servomotor Main ircuit able Serial onverter Unit wencoder able Linear Scale (To be provided by the customer.) ronnection able for Hall Sensor (etween Serial onverter Unit and Hall Sensor Unit) Hall Sensor Unit Linear Servomotor Linear Servomotors 99

300 Selecting ables Name pplicable Linear Servomotor Model Length Order No. Specifications Details m JZSPLNE SGLFW, SGLFW m JZSPLNE m JZSPLNE m JZSPLNE To SERVOPK To Linear Servomotor () m JZSPLNE m JZSPLNE m JZSPLNE Linear Servomotor Main ircuit ables SGLFW, SGLFWZ m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE To SERVOPK To Linear Servomotor () m JZSPLNE m JZSPLNE SGLFW D m JZSPLNE m JZSPLNE m JZSPLNE To SERVOPK To Linear Servomotor () m JZSPLNE m JZSPLNE m JZSPLLE Encoder ables ll Models m JZSPLLE m JZSPLLE m JZSPLLE To Serial onverter Unit To Linear Scale () m JZSPLLE m JZSPLP7E onnection ables for Serial onverter Unit ll Models m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E To SERVOPK To Serial onverter Unit () m JZSPLP7E m JZSPLLE onnection ables for Hall Sensor ll Models m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE To Serial onverter Unit To Hall Sensor Unit () :onnector by Tyco Electronics MP K.K. :onnector by Interconnectron GmbH

301 Linear Servomotors SGLFW(Ftype Iron ore) Linear Selecting ables () Linear Servomotor Main ircuit able: JZSPLN E To SERVOPK To Linear Servomotor 8. mm mm L mm Heatshrinkable Tube M rimp Terminal Wire Marker U V W G Finished Outer Dia..8 mm able (UL) WG8/ ap: 78 (pole) Socket: (hained) by Tyco Electronics MP K.K Wiring Specifications Leads to SERVOPK Lead olor Signal Red Phase U White Phase V lue Phase W Green/Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG () Linear Servomotor Main ircuit able: JZSPLN E To SERVOPK To Linear Servomotor Linear Servomotors 8. mm mm L Heatshrinkable Tube mm M rimp Terminal Wire Marker U V W G Finished Outer Dia..9 mm able (UL7) WG/ ap: 78 (pin) Socket: 7 (hained) by Tyco Electronics MP K.K Wiring Specifications Leads to SERVOPK Lead olor Signal Red Phase U White Phase V lue Phase W Green/Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG

302 P Selecting ables () Linear Servomotor Main ircuit able : JZSPLN E To SERVOPK To Linear Servomotor 8. mm mm L mm M rimp Terminal U V W G Wire Markers able (UL) WG8/ Heatshrinkable Tube Finished Outer Dia..8 mm SPUKFSDN made by Interconnectron GmbH 8 Dia. onnector Front View Wiring Specifications Leads to SERVOPK Wire olor lack (White ) lack (White ) Signal lack (White ) Phase W Green /Yellow Phase U Phase V FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG () Encoder able: JZSPLL E To Serial onverter Unit 9 L Finished Outer Dia.9. mm To Linear Scale 9 8 onnector: 7JE (D8) (pin, Soldered) by DDK Ltd. Wiring Specifications able(ul 8) (WG+WGP) To Serial onverter Unit Pin No Signal /os (V) /Sin (V) Ref (V+) +V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V+) V Vs DIR lnner ase Shield onnector: 7JE (D8) (With Stud) (pin, Soldered) by DDK Ltd. To Linear Scale Pin No. Signal /os (V) /Sin (V) Ref (V+) +V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V) V Vs DIR lnner ase Shield 8

303 Linear Servomotors SGLFW(Ftype Iron ore) Linear Selecting ables () onnection able for Serial onverter Unit: JZSPLP7 E To SERVOPK To Serial onverter Unit L Finished Outer Dia..8 mm onnector: 7(pin, Soldered) by Molex Japan o., Ltd. able (UL7) (WG+WGP) onnector: 7JE9 (D8)(9pin, Soldered) by DDK Ltd. Wiring Specifications To SERVOPK Pin No. Signal Lead olor Shell PG V PG V PS /PS Shield Red lack Light blue Light blue/white To Serial onverter Unit Pin No. Signal + V V Phase S output Lead olor Red lack Light blue Phase /S output Light blue/white ase Shield () onnection able for Hall Sensor: JZSPLL E To Serial onverter Unit L Finished Outer Dia..8 mm To Hall Sensor 9 onnector: 7JE9 (D8) (9pin, Soldered) by DDK Ltd. Wiring Specifications To Serial onverter Unit Pin No. Signal + V Phase U input Phase V input Phase W input V ase able(ul7) (WG+WGP) Shield onnector: 7JE9 (D8)(With Stud) (9pin, Soldered) by DDK Ltd. To Hall Sensor Pin No. Signal + V Phase U input Phase V input Phase W input V ase Shield 9 Linear Servomotors

304 Serial onverter Unit haracteristics and Specifications Electrical haracteristics Mechanical haracteristics Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Hall Sensor lnput Signal Output Signals Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Specifications +. V±%, ripple content % max. m typ. m max. Input phase sine wave: / pitch khz Differential input amplitude:. V to. V Input signal level:. V to. V MOS level Position data, hall sensor information, and alarms Serial data transmission [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced transceiver (SN7L7 or the equivalent) Internal terminal resistance: Ω g 98 m/s max. ( Hz to Hz) in three directions 98 m/s, ( ms) two times in three directions Environmental onditions Operating Temperature Storage Temperature Humidity to to +8 % to 9%RH (no condensation) : The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: pprox. m. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The power is turned on, and the transmission is enabled after ms to ms. Model Designation JZDP D E Symbol ppearance Serial onverter Unit Model pplicable Linear Scale Hall Sensor pplicable Linear Servomotor Servomotor Model Symbol ode None E Specifications Not RoHS compliant RoHS compliant D Made by HEIDENHIN orp. None SGLFW (Ftype iron core) D Made by Renishaw plc. None Z Z8 8 8 D Made by HEIDENHIN orp. Provided D8 Made by Renishaw plc. Provided Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee.

305 Linear Servomotors SGLFW(Ftype Iron ore) Linear Serial onverter Unit nalog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % cos (+). V to. V cos, /cos, sin, /sin Input Voltage Range:. V to. V /cos () sin (+) Ref, /Ref Input Voltage Range:. V to. V /sin () /Ref (R) Ref (R+). V Min. % to 7% % to 7%. V Min. Zero Point ount Up Direction : If the analog signal amplitude declines to about. V because of differential amplitude, the serial converter outputs an alarm. Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit's ability to output correct position information. The analog cable must be as short as possible and shielded. Use the serial converter unit in an environment without gases such as HS. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. Linear Servomotors

306 Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN orporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit SERVOPK JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by HEIDENHIN orp. () External Dimensions JZSPLP7 E onnection able by HEIDENHIN orp. # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK nalog Signal Input onnector (N) to Linear Scale.99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield N Pin No. Signal N Serial Data Output to SERVOPK cos input (+) V 9 sin input (+) + V 9 Not used Not used 7 /Ref input (R) 8 8 Not used 7series onnector: 9 /cos input () 7LE97 (Socket) by DDK Ltd. V sensor /sin input () RoHS compliant V sensor 7LE97F Not used (Socket) Ref input (R+) Not used ase Shield nalog Signal Input to Linear Scale 7series onnector: 7LE7 (Socket) by DDK Ltd. RoHS compliant 7LE7F (Socket) Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) manufactured by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Use the same terminal for V sensor and phasew input. Phase U,V, and W input are internally pulled up at kω.

307 Linear Servomotors SGLFW(Ftype Iron ore) Linear Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit SERVOPK JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by Rensihaw plc. () External Dimensions JZSPLP7 E Dsub pin onnector # UN Tapped Holes. Dia.Holes. Dia. Holes Nameplate nalog Signal Input onnector (N) to Linear Scale Serial Data Output onnector (N) to SERVOPK.99±. ±...±. ±. 7 8±. 9 ±. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield SERVOPK does not have the function to process Vq signals. N Pin No. Signal N Serial Data Output /cos input (V) to SERVOPK /sin input (V) Ref input (V+) V Vs Not used 7 Not used 8 8 Not used 7series onnector: 9 cos input (V+) 7LE97 (Socket) by DDK Ltd. sin input (V+) /Ref input (V) RoHS compliant V 7LE97F Vs (Socket) Not used Inner ( V) ase Shield nalog Signal Input to Linear Scale 7series onnector: 7JE (D8) (Socket) by DDK Ltd. RoHS compliant 7JE(D8)G (Socket) Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. 7

308 Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN orporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by HEIDENHIN orp. JZSPLP7 E N Dsub pin onnector Hall Sensor () External Dimensions Hall Sensor Signal Input onnector (N) to Linear Servomotor # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial data output connector (N) to SERVOPK ±. 7 8± ±. ±...±. ± nalog Signal Input onnector (N) to Linear Scale M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 8 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. RoHS compliant 7LE97F (Socket) 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9(D8) (Socket) by DDK. Ltd. RoHS compliant 7JE9(D8)G (Socket) Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used ase Shield Pin No. Signal + V ase Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield 8 Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Phase V, V, and W input are internally pulled up at kω.

309 Linear Servomotors SGLFW(Ftype Iron ore) Linear Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD8 JZDPD8 E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD8 JZDPD8 E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by Renishaw plc. JZSPLP7 E () External Dimensions N Dsub pin onnector Hall Sensor Hall Sensor Signal Input onnector (N) to Linear Servomotor # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK ±. 7 8± ±. ±...±. ± nalog Signal Input onnector (N) to Linear Scale M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 7series onnector: 7LE97 (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield RoHS compliant 7LE97F (Socket) 8 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ase Shield RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9(D8) (Socket) by DDK. Ltd. Pin No. Signal + V ase 9 Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield RoHS compliant 7JE9(D8)G (Socket) Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw pic. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. Phase U, V, and W input are internally pulled up at kω. 9

310 Flexible ables Life of Flexible able The following flexible cables have a long flex life of million or more flex cycles as proven in rolling flex tests with the recommended bending radius shown in the table. Recommended able Model No. ending Radius mm JZSPLN Linear Servomotor Main ircuit ables JZSPLN 8 JZSPLN9 JZSPLN onnection ables for Linear Scales JZSPLL 7 onnection ables for Hall Sensors JZSPLL onnection ables for Serial onverter Units JZSPLP7 Testing onditions Repeatedly flex the cable back and forth in a linear motion for a stroke length of mm using the test equipment as shown. onnect the lead wires in parallel, and count the number of times that the cable can be bent until one of the lead wires becomes broken or disconnected. Every time that the cable is bent and returned to its original position counts as one test cycle. Stroke Length: mm Shifting End ending Radius R Fixed End Notes: The life of flexible cable greatly differs in accordance with the amount of mechanical shock applied to the cable and with the methods used to wire or fix the cable. The cable life listed here is for reference only because it was measured under specified testing conditions. The life of flexible cable indicates the number of bending life in which stranded wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.

311 Linear Servomotors SGLFW(Ftype Iron ore) Linear Flexible ables Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause the early disconnection. Observe the following precautions when wiring. () Twisted able Straighten the flexible cables before wiring. Twisted cables cause early disconnection. heck the indication on the cable surface to make sure that the cable is not twisted. () Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. () able length If the cable length is too long, it may cause the cable's sagging. esides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. () Interference between cables void interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring. Linear Servomotors

312 Linear Servomotors SGLTW (With Ttype Iron ore) Model Designation Moving oil SGL T W 7 P Linear Series Linear Servomotor Servomotor Type ode Specifications T Ttype iron core W: Moving oil Magnet Height Voltage : V Length of Moving oil Design Revison Order,,... onnector for Main ircuit able ode Specifications pplicable Model lank onnector by Tyco Electronics MP K.K. MS connector Hall Sensor/ooling Method ode Specifications P With hall sensor lank Without hall sensor SGLTW SGLTW 8 Magnetic Way SGL T M Linear Series Linear Servomotor Servomotor Type ode T Specifications Ttype iron core M: Magnetic Way Magnet Height Length of Magnetic Way Options ode Specifications lank Standard With magnet cover Y With base and magnet cover pplicable Model ll models ll models SGLTM,,, 8 (Note) Note: Not available for these models: the SGLTM H and the SGLTM H. Design Revision Order,,... H: Highefficiency Type

313 Features Directfeed mechanism for highspeed and highprecision positioning. Yaskawa's unique construction principles of the TW linear motors negate the effects of the magnetic attraction force between the relative motor members. pplication Examples Feeders and loaders Mounters Machine tools Lack of magnetic attraction helps to extend the life of the linear motion guides and to minimize operation noise. Very little cogging. Precautions on Moving oil with Hall Sensor When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall sensor. Refer to the example showing the correct installation. When determining the length of the moving coilõs stroke or the length of the magnetic way, consider the total length of the moving coil and the hall sensor unit. Refer to the following table. <orrect> Hall Sensor Moving oil Movement Direction Moving oil Magnetic Way <Incorrect> Magnetic Way End The total length of moving coil with hall sensor L L Moving oil Hall Sensor Magnetic Way Moving oil Model SGLTW Length of Moving oil L(mm) Length of Hall Sensor Unit (mm) Total Length L(mm) Linear Servomotors

314 Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute ooling Method: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Voltage Linear Servomotor Model SGLTW Peak Speed m/s Rated Force N Rated urrent rms Instantaneous Peak Force N Instantaneous Peak urrent rms Moving oil Mass kg Force onstant N/rms EMF onstant V/(m/s) Motor onstant Electrical Time onstant ms Mechanical Time onstant ms Thermal Resistance K/W (With Heat Sink) Thermal Resistance (Without Heat Sink) K/W Magnetic ttraction Magnetic ttraction N N V H H 7H H : The unbalanced magnetic gap resulted from the moving coil installation condition causes a magnetic attraction on the moving coil. : The value indicates the magnetic attraction generated on one side of the magnetic way. Notes: The items marked with an and Force and Speed haracteristics are the values at a motor winding temperature of during operation in combination with a SERVOPK. The others are at The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil. Linear Servomotor Model Heat Sink Size SGLTW in mm 7 7 7H H 7H H

315 Linear Servomotors SGLTW(Ttype Iron ore) Linear Ratings and Specifications Force and Speed haracteristics : ontinuous Duty Zone : Intermittent Duty Zone Motor Speed (m/s) SGLTW7 Force (N) Motor Speed (m/s) SGLTW 8 Force (N) Motor Speed (m/s) SGLTW 8 Force (N) SGLTW7 SGLTW SGLTW Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) 7 Force (N) 8 Force (N) Force (N) SGLTW SGLTW SGLTW8 SGLTW8 Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Motor Speed (m/s) Force (N) Force (N) Force (N) 8 Force (N) SGLTW7H SGLTWH SGLTW7H SGLTWH Motor Speed (m/s) Force (N) Motor Speed (m/s) 8 Force (N) Motor Speed (m/s) 9 Force (N) Motor Speed (m/s) 8 Force (N) Linear Servomotors Mechanical Specifications () Impact Resistance Impact acceleration: 9 m/s Impact occurrences: twice () Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back Vibration acceleration: 9 m/s

316 External Dimensions Units: mm SGLT Linear Servomotors () Moving oil: SGLTW (With a connector by Tyco Electronics MP K.K.) () () 7. Magnetic Way NM Tapped Holes, Depth L L 8 (L) () (7) (9.: With Magnet over) (9: Without Magnet over) (Gap.8: With Magnet over) (Gap : Without Magnet over) 8 Nameplate ± screws # UN ± (7. Dia.) 8 Hall Sensor (. Dia.) Min. 9 Min. The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD Phase U Phase V Phase W V Not used Not used Not used Not used Linear Servomotor onnector Specifications Pin No. Name Lead olor Phase U Red Plug: 779 Pin : 8 or 7 (No. to ) 9 (No.) Phase V Phase W Ground White lack Green by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket: or Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Su Sv Vw Sw 8 Electrical ngle ( û ) Moving oil pprox. Mass L L (L) Model SGLTW N kg 7 7 (8 ) () (8 ) (7). (8 9) (8).7

317 DTE MDE IN JPN Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm () Magnetic Way: SGLTM.7.. L. L () 7 9.9ß () Moving oil.7. L (9.) () Max. (Preshipment) 7.±(Preshipment) 7±. () 9 Gap±. (8) () 87.±. (9.) R NM Screws, Depth 8 Nameplate YSKW TYPE: S/N O/N N7 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving coil is mounted on the machine. R. Max. R Max ß.±. Mount the magnetic way so that its corner surfaces are flush with the inner step. +. 7±. Mount the magnetic way so that its corner surfaces are flush with the inner step... (9.). L. L () Mounting Details Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way pprox. Mass L.. Model SGLTM L N kg 7 ( ). 8 ( 9) ( ) 7.9 Linear Servomotors 7

318 S/N MDE IN JPN DTE TYPE: O/N O/N S/N TYPE: MDE IN JPN DTE External Dimensions Units: mm SGLT Linear Servomotors () Magnetic Way with ase: SGLTM Y.7 L () (7) ase () 7 9.9û 7 ±. 9. (.8) Moving oil 7 (.±.).8 ±. () Gap Includes a. thick magnet cover. 87. ±. 7 NM Screws, Depth 8 9.9û YSKW YSKW L 7 () L () N Dia. Mounting Holes (See the sectional view for the depth.) NM Screws, Depth. L L L.. () (.7) Notes: If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM ). Magnetic Way pprox. Mass Model SGLTM L L L L L N N kg Y 7. Y Y

319 Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm SGLT Linear Servomotors () Moving oil: SGLTW (With a connector by Tyco Electronics MP K.K.) (7) () (7) 8 Magnetic Way 8 8 NM Tapped Holes, Depth L L (L) screws # UN () (9. : With Magnet over) (9 : Without Magnet over) (Gap.8 : With Magnet over) (Gap : Without Magnet over) Nameplate ± ± (8. Dia.) Min. (. Dia.) Min. Hall Sensor The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD Phase U Phase V Phase W V Not used Not used Not used Not used Linear Servomotor onnector Specifications Pin No. Name Lead olor Phase U Red Plug: 779 Phase V White Pin : 8 or Phase W lack 7 (No. to ) Ground Green 9 (No.) by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket: or Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil pprox. Mass L L (L) Model SGLTW N kg 7 7 (8 ) () (8 ) (7).8 (8 9) (8) Linear Servomotors 9

320 External Dimensions Units: mm SGLT Linear Servomotors () Magnetic Way: SGLTM. L.. L (). 9.9 (7) Moving oil. L (.) () Max. (Preshipment) 7.±(Preshipment) 7±. 9 Gap±. () 7 (8) () 87.±. R Nameplate YSKW TYPE: O/N S/N MDE IN JPN DTE (.) N7 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving NM Screws, Depth 8 coil is mounted on the machine. R. Max. R Max ±. Mount the magnetic way so that its corner surfaces are flush with the inner step. +. Mount the magnetic () 9. L way so that its corner. () L. 7±. surfaces are flush with the inner step. ssembly Dimensions Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way pprox. Mass L.. Model SGLTM L N kg 7 ( ).8 8 ( 9) ( )

321 O/N S/N TYPE: MDE IN JPN DTE Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm () Magnetic Way with ase: SGLTM Y L () ase (8) (7) ±. 9. (.8).8 ±. Gap Includes a. thick magnet cover.. ±. 9.9 L L Linear Servomotors (). (.±.) Moving oil 87 7 NM Screws, Depth 8 O/N YSKW S/N TYPE: MDE IN JPN DTE YSKW 7 () () N Dia. Mounting Holes (See the sectional view for the depth.) NM Screws, Depth L L. L. () () Notes: If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM ). Magnetic Way pprox. Mass Model SGLTM L L L L L N N kg Y 7. Y Y

322 N m/s ins. External Dimensions Units: mm SGLT H Linear Servomotors () Moving oil: SGLTW H (With a connector by Tyco Electronics MP K.K.) () (9) () ±. 8±.. X (7). (9. : With Magnet over) (9 : Without Magnet over) (Gap.8 : With Magnet over) 8 (Gap : Without Magnet over) YSKW ELETRI MDE IN JPN O/N S/N DTE W V Linear SERVO MOTOR TYPE X Nameplate P ±. screws # UN able UL7,WG8 Magnetic Way Hall Sensor (. Dia.) ± Min. L L 8±. ± ±. Protective Tube NM Tapped Holes, Depth (L) The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD Phase U Phase V Phase W V Not used Not used Not used Not used Lead Specifications of Moving oil If this cable is bent repetitively, the cable will disconnect. Phase V Phase W Phase U Ground (View from Top of Moving oil) Name olor ode Wire Size Phase U U Phase V Phase W Ground lack Green V W mm mm Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Vw Su Sv Sw 8 Electrical ngle ( ) Moving oil pprox. Mass L L (L) Model SGLTW N kg 7H 7 (8 ) () 8.7 H 88 (8 ) (7) 8.8

323 YSKW TYPE: O/N S/N MDE IN JPN DTE Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm () Magnetic Way: SGLTM H. L L.. () 9.9 Max. (Preshipment) 9.±(Preshipment). ±. ±. 9±. R. Max. Mount the magnetic way so that its corner surfaces are flush with the inner step. P. Y. X P.±. (.8).8±. R max. Y X Gap ±. (7) 7 (8) () Includes a. thickness magnet cover. Mounting Details Moving oil. 7 Mount the magnetic way so that its corner surfaces are flush with the inner step..±. NMTapped Holes, Depth ±. (). (.) R 9. N7 Dia. Mounting Holes (See the sectional view for the depth.) L O/N S/N MDE IN JPN DTE Nameplate L. L. YSKW TYPE: () (.) () Spacer: Do not remove them until the moving coil is mounted on the machine. () Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way pprox. Mass L.. Model SGLTM L N kg H 7 ( ).8 H 8 ( 9) 8 7H 7 7 ( ) Linear Servomotors

324 W S/N O/N V ins. External Dimensions Units: mm SGLT Linear Servomotors () Moving oil: SGLTW (With an MS connector) (8) Hall Sensor NM8 Tapped Holes, Depth (9.) 78 7 Receptacle Magnetic Way L L (L) (.8) (9.) (. : With Magnet over) (. : Without Magnet over) (Gap. : With Magnet over) (Gap. : Without Magnet over) screws # UN (. Dia.) ± Min. DTE YSKW ELETRI Linear SERVO MOTOR TYPE MDE IN JPN N m/s Nameplate The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD (power supply) Phase U Phase V Phase W V (power supply) Not used Not used Not used Not used Linear Servomotor onnector Specifications Receptacle: MSP by DDK Ltd. The Mating onnector Lshaped plug: MS8S Straight plug : MSS able clamp : MS7 Pin No. Name Phase U Phase V Phase W D Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil pprox. Mass L L (L) Model SGLTW N kg 9 ( ) () 7 ( 9) ()

325 YSKW TYPE: O/N S/N MDE IN JPN MDE IN JPNDTE YSKW TYPE: O/N S/N MDE I Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm () Magnetic Way: SGLTM. 7.. L. L (7.) TYPE: YSKW O/N S/N 9. (8) L (.) (7.) Max. (Preshipment) ±(Preshipment) 9. Moving oil.8±. Gap.±. (.) ().±. R7 9. R. Max.. R Max. 8 () (.) N9 Dia. Mounting Holes (See the sectional view for the depth.) Spacers: Do not remove them until the moving NM8 Screws, Depth Nameplate coil is mounted on the machine. 9..±. Mount the magnetic way so that its corner surfaces are flush with the inner step. +..8±. Mounting Details Mount the magnetic way so that its corner surfaces are flush with the inner step... (7.) 7. L. L. (7.) Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way pprox. Mass L.. Model SGLTM L N kg 7. (7. ) (7. 9) (7. ) Linear Servomotors

326 TYPE: O/N S/N MDE IN JPN DTE External Dimensions Units: mm SGLT Linear Servomotors () Magnetic Way with ase: SGLTM Y. L (7.) 7. ase () (8) TYPE: YSKW O/N S/N MDE IN JPN DTE.8 ±. (.) 9 () 9 7. ±. YSKW 9... ±. Gap Includes a. thick magnet cover. Moving oil NM8 Screws, Depth 9. (.±.) NM8 olts, Depth L 9. (7.) 9. L (.) N Dia. Mounting Holes (See the sectional view for the depth.) 7. L (7.) L (.). L. Notes: If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM ). Magnetic Way pprox. Mass Model SGLTM L L L L L N N kg Y Y Y

327 N m/s ins. Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm SGLT Linear Servomotors () Moving oil: SGLTW H (With a connector by Tyco Electronics MP K.K.) (9.) ±.. X (8) 8. X P (.) Magnetic Way L L 8±. NM Tapped Holes, Depth (L) (9) 8±. 8 W V O/N S/N DTE YSKW ELETRI MDE IN JPN TYPE Linear SERVO MOTOR ±. ±. (9.) (. : With Magnet over) (. : Without Magnet over) (Gap.8 : With Magnet over) (Gap. : Without Magnet over) Nameplate screws # UN onnector to Hall Sensor able UL7,WG8 Hall Sensor (. Dia.) ± Min. ± Protective Tube The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD Phase U Phase V Phase W V Not used Not used Not used Not used Lead Specifications of Moving oil If this cable is bent repetitively, the cable will disconnect. Phase V Phase W Phase U Ground (View from Top of Moving oil) Name olor ode Wire Size Phase U U Phase V Phase W Ground lack Green V W mm mm Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Vw Su Sv Sw Moving oil pprox. Mass L L (L) Model SGLTW N kg 7H 7 (8 ) () 8 H 88 (8 ) (7) 8 Electrical ngle ( ) Linear Servomotors 7

328 YSKW TYPE: O/N S/N MDE IN JPN DTE External Dimensions Units: mm SGLT Linear Sarvomotors () Magnetic Way: SGLTM H 9. L.. L () Max. (Preshipment) 9.± (Preshipment) 9.±. 9.±. 9±. R. Max. Mount the magnetic way so that its corner surfaces are flush with the inner step. P. Y. X P.±. (.8).8±. R Max. Y X Gap ±. (8) 7 (8) () (.) Includes a. thick magnet cover. Mounting Details Moving oil NM Tapped Holes, Depth 8 Mount the magnetic way so that its corner surfaces are flush with the inner step. 7. L Dia. O/N S/N MDE IN JPN DTE Nameplate YSKW TYPE: N7 Dia. Mounting Holes (See the sectional view for the depth.). L. L. () (7) () Spacers: Do not remove them until the moving coil is mounted on the machine. () Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way pprox. Mass L.. Model SGLTM L N kg H 7 ( ) 8 H 8 ( 9) 7H 7 7 ( ) 8 8

329 W V m/s Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm SGLT 8 Linear Servomotors () Moving oil: SGLTW8 (With an MS connector) (9.) () 7 Receptacle Magnetic Way Hall Sensor NM8 Tapped Holes, Depth L L (L) (.8) (9.) (. : With Magnet over) (. : Without Magnet over) (Gap. : With Magnet over) (Gap. : Without Magnet over) screws # UN (. Dia.) ± Min. S/N O/N YSKW ELETRI ins. DTE Linear SERVO MOTOR TYPE MDE IN JPN Nameplate The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No Name + VD Phase U Phase V Phase W V Not used Not used Not used Not used Linear Servomotor onnector Specifications Receptacle: MSP by DDK Ltd. The Mating onnector Lshaped plug: MS8S Straight plug : MSS able clamp : MS7 Pin No. Name Phase U Phase V Phase W D Ground Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Inverse Power (V) Vu Vv Su Sv Vw Sw 8 Electrical ngle ( ) Moving oil pprox. Mass L L (L) Model SGLTW N kg 8 9. ( ) (.) 8 7. ( 9) (.) Linear Servomotors 9

330 YSKW TYPE: O/N S/N MDE IN JPN DTE O/N MDE IN JPN S/N External Dimensions Units: mm SGLT 8 Linear Servomotors () Magnetic Way: SGLTM L. L (7.) 9. () Moving oil O/N S/N MDE IN JPN DTE TYPE: YSKW Max. (Preshipment).8±. ±(Preshipment) (.) Gap.±. 8 () () 9...±. R7.7 L (7.9) (7.) R. Max. R Max. NM8 Screws, Depth.±. (7.9). N9 Dia. Mounting Holes (See the sectional view for the depth.) Spacer: Do not remove them until the moving Nameplate coil is mounted on the machine. YSKW TYPE: Mount the magnetic way so that its corner surfaces are flush with the inner step. +..8±. Mounting Details Mount the magnetic way so that its corner surfaces are flush with the inner step. 7.. (.) 7. L. L. (7.) Notes: Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the moving coil is mounted on a machine. If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The dimensions marked with an are the dimensions between the magnetic ways. e sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways as shown in ssembly Dimensions. The values with an R are the dimensions at preshipment. Use socket headed screws of strength class.9 minimum for magnetic way mounting screws. Do not use stainless steel screws. Magnetic Way Model SGLTM L.. L L N N pprox. Mass kg 8 7. (7. ) 7. (.7 ) (7. 9) 7. (.7 8) (7. ) 877. (.7 ) 7

331 TYPE: O/N S/N MDE IN JPN DTE Linear Servomotors SGLTW(Ttype Iron ore) Linear External Dimensions Units: mm () Magnetic Way with ase: SGLTM8 Y L (7.) 9..8 ±. 9. ase.. ±. (.) 9 () () Moving oil () ±. NM8 Screws, Depth 9. L O/N S/N MDE IN JPN DTE L TYPE: YSKW N Dia. Mounting Holes (See the sectional view for the depth.) YSKW 9. (7.) (.) Gap Includes a. thick magnet cover. 7. (.±.) NM8 olts, Depth.7 7. L. L. L. (7.) (.) Notes: If you have a pacemaker or any other electric medical device, do not go near the magnetic way of the linear servomotor. Two magnetic ways in a set can be connected to each other. The characteristics of the magnetic way with base are the same as of the magnetic way without base (model SGLTM8 ). Magnetic Way pprox. Mass Model SGLTM L L L L L N N N kg 8Y Y Y Linear Servomotors

332 SERVOPK SGDS Selecting ables SERVOPK onnection able for Serial onverter Unit (etween SERVOPK onnector N and Serial onverter Unit) Linear Servomotor Main ircuit able Serial onverter Unit Encoder able Linear Scale (To be provided by the customer.) onnection able for Hall Sensor (etween Serial onverter Unit and Hall Sensor Unit) Linear Servomotor Hall Sensor Unit

333 Linear Servomotors SGLTW(Ttype Iron ore) Linear Selecting ables Name Linear Servomotor Main ircuit ables Encoder ables onnection ables for Serial onverter Unit onnection ables for Hall Sensor pplicable Linear Servomotor Model SGLTW, SGLTW,, 8 ll models ll models ll models Length Order No. Specifications Details m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLNE m JZSPLN9E m JZSPLN9E m JZSPLN9E m JZSPLN9E m JZSPLN9E m JZSPLN9E m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE To SERVOPK To Linear Servomotor () (Note) To SERVOPK To Linear Servomotor () To Serial onverter Unit To Linear Scale () To SERVOPK To Serial onverter Unit () To Serial onverter Unit To Hall Sensor Unit () Note: connector is not provided on the linearservomotor end of the main circuit cable (JZSPLN9 E). Linear Servomotors

334 Selecting ables () Linear Servomotor Main ircuit able: JZSPLN E M rimp Terminal To SERVOPK 8. mm Wire Markers U V W G mm L mm Heatshrinkable Tube Finished Outer Dia..9 mm able (UL7) WG/ ap: 78 (pole) Socket: 7 (hained) by Tyco Electronics MP. K.K. To Linear Servomotor Wiring Specifications Leads to SERVOPK Lead olor Signal Red Phase U White Phase V lue Phase W Green/Yellow FG onnector to Linear Servomotor Signal Pin No. Phase U Phase V Phase W FG () Linear Servomotor Main ircuit able: JZSPLN9 E connector is not provided on the linearservomotor end of the main circuit cable (JZSPLN9 E). M rimp Terminal 8. mm U V W G mm Wire Markers JZSPLN9 able onnectors L mm mm Heatshrinkable Tube Finished Outer Dia..8 mm able (UL7) WG/ pplicable Linear Plug ttached onnector able lamp Servomotor Model Straight Lshaped SGLTW MSP MSS or MSS MS8S MS7 MS: Straight Plug with Frontshell and ackshell Separated Units: mm W Joint Overall Outer Outer able lamp Min. Shell Joint Screw Length Length Diameter of Nut Diameter Mounting Effective Screw Size J±. ±. L Q +.8 N±. Screw V Length W V /88UNEF /8UNEF 9. MS8: Lshaped Plug with Frontshell and ackshell Separated Q Q J J V V L L W Y W U R Units: mm Shell Size MS: Straight Plug with Solid Shell Q J L N Joint Screw Joint Max. Outer able lamp Min. Max. Length Overall Diameter of Nut Mounting Effective Screw Width J±. Length L Q +.8 Screw V Length W Y /88UNEF /8UNEF 9. Units: mm Shell Size Joint Screw Joint Max. Outer able lamp Min. Length Overall Diameter of Nut R U Mounting Effective Screw J±. Length L Q + ±. ±..8 Screw V Length W /88UNEF /8UNEF 9. Q. V MS7: able lamp with Rubber ushing Units: mm J Dia. (ushing Inner Diameter) Overall Effective Mounting Outer Rubber pplicable E Dia. Length Screw E G±.7 H J Screw Diameter ushing (able lamp Shell Size Inner Diameter) ±.7 Length V Q±.7 Type, /8UNEF. N G H(Movable Range on One Side)

335 Linear Servomotors SGLTW(Ttype Iron ore) Linear Selecting ables () Encoder able: JZSPLL E onnector: 7JE(D8) (pin, Soldered) by DDK Ltd. To Serial onverter Unit 9 8 L Finished Outer Dia. 9. mm able(ul8) (WG +WG P) To Linear Scale 8 9 onnector: 7JE (D8) (With Stud)(pin,Soldered) by DDK Ltd. Wiring Specifications To Serial onverter Unit Pin No Signal /os (V) /Sin (V) Ref (V+) + V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V) V Vs DIR lnner ase Shield To Linear Scale Pin No. Signal /os (V) /Sin (V) Ref (V+) + V Vs ID 7 Vx 8 Vq 9 os (V+) Sin (V+) /Ref (V) V Vs DIR lnner ase Shield () onnection able for Serial onverter Unit: JZSPLP7 E To SERVOPK L To Serial onverter Unit onnector: 7 (pin, Soldered) by Molex Japan o., Ltd. Finished Outer Dia..8 mm able (UL7) (WG + WG P) onnector: 7JE9 (D8) (9pin, Soldered) by DDK Ltd. Wiring Specifications To SERVOPK Pin No. Signal Lead olor Shell PGV PGV PS /PS Shield Red lack Light blue Light blue/white () onnection able for Hall Sensor: JZSPLL E onnector: 7JE9(D8) (9pin, Soldered) by DDK Ltd. 9 To Serial onverter Unit L Finished Outer Dia..8 mm able(ul7) (WG +WG P) To Serial onverter Unit Pin No. Signal + V V Phase S output Lead olor Red lack Light blue Phase /S output Light blue/white ase Shield To Hall Sensor 9 onnector: 7JE9 (D8) (With Stud) (9pin, Soldered) by DDK Ltd. Linear Servomotors Wiring Specifications To Serial onverter Unit Pin No. Signal + V Phase U input Phase V input Phase W input V ase Shield To Hall Sensor Pin No. Signal + V Phase U input Phase V input Phase W input V ase Shield

336 Serial onverter Unit haracteristics and Specifications Electrical haracteristics Mechanical haracteristics Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Hall Sensor lnput Signal Output Signals Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Specifications +. V±%, ripple content % max. m typ. m max. Input phase sine wave: / pitch khz Differential input amplitude:. V to. V Input signal level:. V to. V MOS level Position data, hall sensor information, and alarms Serial data transmission [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced transceiver (SN7L7 or the equivalent) Internal terminal resistance: Ω g 98 m/s max. ( Hz to Hz) in three directions 98 m/s, ( ms) two times in three directions Environmental onditions Operating Temperature Storage Temperature Humidity to to +8 % to 9%RH (no condensation) : The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: pprox. m. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The power is turned on, and the transmission is enabled after ms to ms. Model Designation JZDP D E Symbol D ppearance Serial onverter Unit Model pplicable Linear Scale Made by HEIDENHIN orp. Hall Sensor None pplicable Linear Servomotor Servomotor Model Symbol 7 7 ode None E Specifications Not RoHS compliant RoHS compliant D Made by Renishaw plc. None SGLTW (Ttype iron core) 7H H 7H 8 D Made by HEIDENHIN orp. Provided H D8 Made by Renishaw plc. Provided 8 88 Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee.

337 Linear Servomotors SGLTW(Ttype Iron ore) Linear Serial onverter Unit nalog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % cos (+). V to. V cos, /cos, sin, /sin Input Voltage Range:. V to. V /cos () sin (+) Ref, /Ref Input Voltage Range:. V to. V /sin () /Ref (R) Ref (R+). V Min. % to 7% % to 7%. V Min. Zero Point ount Up Direction : If the analog signal amplitude declines to about. V because of differential amplitude, the serial converter outputs an alarm. Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit s ability to output correct position information. The analog cable must be as short as possible and shielded. Use the serial converter unit in an environment without gases such as H S. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. Linear Servomotors 7

338 Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN orporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example SERVOPK SGDS Serial onverter Unit JZDPD JZDPD E(RoHS compliant) N N N Linear Scale by HEIDENHIN orp. JZSPLP7 E onnection able by HEIDENHIN orp. () External Dimensions # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK nalog Signal Input onnector (N) to Linear Scale.99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield N Pin No. Signal N Serial Data Output to SERVOPK cos input (+) V 9 sin input (+) + V 9 Not used Not used 7 /Ref input (R) 8 8 Not used 7series onnector: 9 /cos input () 7LE97 (Socket) by DDK Ltd. V sensor /sin input () RoHS compliant V sensor 7LE97F Not used (Socket) Ref input (R+) Not used ase Shield nalog Signal Input to Linear Scale 7series onnector: 7LE7 (Socket) by DDK Ltd. RoHS compliant 7LE7F (Socket) Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) manufactured by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Use the same terminal for V sensor and phasew input. Phase U, V, and W input are internally pulled up at kω. 8

339 Linear Servomotors SGLTW(Ttype Iron ore) Linear Serial onverter Unit Units: mm Without able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD JZDPD (RoHS compliant) () onnection Example Serial onverter Unit SERVOPK JZDPD JZDPD E(RoHS compliant) SGDS N N N Linear Scale by Rensihaw plc. JZSPLP7 E Dsub pin onnector () External Dimensions # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate nalog Signal Input onnector (N) to Linear Scale Serial Data Output onnector (N) to SERVOPK.99±. ±...±. ±. 7 8±. 9 ±. M Tapped Holes, Depth Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield SERVOPK does not have the function to process Vq signals. N Pin No. Signal N Serial Data Output /cos input (V) to SERVOPK /sin input (V) Ref input (V+) V Vs Not used 7 Not used 8 8 Not used 7series onnector: 9 cos input (V+) 7LE97 (Socket) by DDK Ltd. sin input (V+) /Ref input (V) RoHS compliant V 7LE97F Vs (Socket) Not used Inner (V) ase Shield nalog Signal Input to Linear Scale 7series onnector: 7JE (D8) (Socket) by DDK Ltd. RoHS compliant 7JE(D8)G (Socket) Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. 9

340 Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN orporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by HEIDENHIN orp. JZSPLP7 E N Dsub pin onnector Hall Sensor () External Dimensions Hall Sensor Signal Input onnector (N) to Linear Servomotor # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK ±. 7 8± ±. ±...±. ± nalog Signal Input onnector (N) to Linear Scale M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 8 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield RoHS compliant 7LE97F (Socket) 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used ase Shield RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9(D8) (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield RoHS compliant 7JE9(D8)G (Socket) Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Phase U, V, and W input are internally pulled up at kω.

341 Linear Servomotors SGLTW(Ttype Iron ore) Linear Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD8 JZDPD8 E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD8 JZDPD8 E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by Renishaw plc. JZSPLP7 E N Dsub pin onnector Hall Sensor () External Dimensions Hall Sensor Signal Input onnector (N) to Linear Servomotor # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector (N) to SERVOPK ±. 7 8± ±. ±...±. ± nalog Signal Input onnector (N) to Linear Scale M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 7series onnector: 7JE97 (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield RoHS compliant 7LE97F (Socket) 8 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ase Shield RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9(D8) (Socket) by DDK. Ltd. Pin No. Signal + V ase 9 Phase U input Phase V input Phase W input V No used No used No used No used Shield RoHS compliant 7JE9(D8)G (Socket) Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. Phase U, V, and W input are internally pulled up at kω.

342 Flexible ables Life of Flexible able The following flexible cables have a long flex life of million or more flex cycles as proven in rolling flex tests with the recommended bending radius shown in the table. Recommended able Model No. ending Radius mm Linear Servomotor Main ircuit ables JZSPLN JZSPLN 8 JZSPLN9 JZSPLN onnection ables for Linear Scale JZSPLL 7 onnection ables for Hall Sensor JZSPLL onnection ables for Serial onverter Unit JZSPLP7 Testing onditions Repeatedly flex the cable back and forth in a linear motion for a stroke length of mm using the test equipment as shown. onnect the lead wires in parallel, and count the number of times that the cable can be bent until one of the lead wires becomes broken or disconnected. Every time that the cable is bent and returned to its original position counts as one test cycle. Stroke Length: mm Shifting End ending Radius R Fixed End Notes: The life of flexible cable greatly differs in accordance with the amount of mechanical shock applied to the cable and with the methods used to wire or fix the cable. The cable life listed here is for reference only because it was measured under specified testing conditions. The life of flexible cable indicates the number of bending life in which stranded wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.

343 Linear Servomotors SGLTW(Ttype Iron ore) Linear Flexible ables Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause the early disconnection. Observe the following precautions when wiring. () Twisted able Straighten the flexible cables before wiring. Twisted cables cause early disconnection. heck the indication on the cable surface to make sure that the cable is not twisted. () Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. () able length If the cable length is too long, it may cause the cable's sagging. esides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. () Interference between cables void interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring. Linear Servomotors

344 Linear Servomotors SGL (ylinder Type) Model Designations ombination of Moving oil and Magnetic Way Linear Series Linear Servomotor SGL D 8 P 7 Servomotor Model ode Specifications ylinder type Outer Diameter of Magnetic Way D : mm D : mm D : mm D : mm Voltage : V Design Revision Order of Magnetic Way, Length of Magnetic Way (See the next page) Hall Sensor P : With hall sensor (all models) Design Revision Order of Moving oil, Length of Moving oil Outer Diameter of Length of Moving Length of Moving Outer Diameter of Length of Moving Length of Moving Magnetic Way ode oil ode oil mm Magnetic Way ode oil ode oil mm 8 8 D D 7 7 D D Moving oil SGL W Linear Series Linear Servomotor Servomotor Model ode Specifications ylinder type W : Moving coil Outer Diameter of Magnetic Way D : mm D : mm D : mm D : mm D 8 P Hall Sensor P : With hall sensor (all models) Design Revision Order, Length of Moving oil See above table Voltage : V Magnetic Way SGL M Linear Series Linear Servomotor Servomotor Model ode Specifications ylinder type M : Magnetic way D Design Revision Order, Length of Magnetic Way (See the next page) Outer Diameter of Magnetic Way D : mm D : mm D : mm D : mm Note: Order the moving coil and magnetic way as a set. ontact your Yaskawa representative before purchasing them separately.

345 SGLGW ( ) Features oth coil assemblies supported, easy switching from ball screws. ompared to ball screw systems, highspeed and highprecision positioning greatly reduces tact time. Unlike ball screws, no contact with machines, no lubrication oil, easy maintenance. pplication Examples Semiconductor equipment Electronic parts assembly Food packaging machines Metal processing machines General handling machines Magnetic Way Lengths Magnetic Way Dimensions mm Moving oil Model SGLW Standard Specifications ode= mm Special Orders Length of Magnetic Way mm w e r t Min. to Max to ( mm increments) q Length of Magnetic Way w Length of Moving oil e Position of Support Section r Range Outside the Guaranteed Force t Effective Strokes D 8P P P to 7 ( mm increments) Range Within the Guaranteed Force to 9 ( mm increments) r t r D D D P P 7P P 7P P P P 8P to 87 ( mm increments) to ( mm increments) 7 to ( mm increments) 8 to 8 ( mm increments) 9 to ( mm increments) e q w e Note: Range outside the guaranteed force: If any part of the moving coil is located within this range, characteristics indicated in Force and Speed haracteristics on page 7 cannot be satisfied. < alculating Length of Magnetic Way > wlength of Moving oil (mm) rrange Outside the Guaranteed Force (mm) teffective Strokes (mm) Formula Length of Magnetic Way + + (mm) Linear Servomotors

346 Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Withstand Voltage: V for one minute Enclosure: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Thermal class ) Linear Servomotor Model D D D D SGL Peak Speed m/s Rated Force N Rated urrent rms Instantaneous Peak Force N Instantaneous Peak urrent rms Moving oil Mass kg Force onstant N/rms EMF onstant V/(m/s) Motor onstant N / Qw Electrical Time onstant ms Mechanical Time onstant Thermal Resistance With Heat Sink ms K / W Thermal Resistance Without Heat Sink K / W Magnetic ttraction N pplicable SERVOPK SGDS : These items and Force and Speed haracteristics are the values at a motor winding temperature of during operation in combination with a SERVOPK. The others are at. : Logical magnetic attraction acting between the moving coil and the magnetic way. ecause of the gap imbalance created after installing the moving coil and the magnetic way, a magnetic attraction is generated. : The rated speed during operation by speed control with an analog voltage reference must be set to. m/s. Note: These specifications show the values under the cooling conditions when a heat sink (aluminum board) listed in the following table is mounted on the moving coil. Linear Servomotor Model SGL D8 D D D D D7 D D D7 D D D8 Heat Sink Size mm

347 Linear Servomotors SGL (ylinder Type) Linear Ratings and Specifications Force and Speed haracteristics : ontinuous Duty Zone : Intermittent Duty Zone (Note) Motor Speed (m/s) SGLD8P Motor Speed (m/s)..... SGLDP SGLDP Force (N) Force (N) Force (N) Motor Speed (m/s)..... Motor Speed (m/s) SGLDP Force (N) Motor Speed (m/s) SGLDP Force (N) Motor Speed (m/s) SGLD7P Force (N) Motor Speed (m/s) SGLDP..... Motor Speed (m/s) SGLD7P Force (N) Force (N) Force (N) Motor Speed (m/s) SGLDP..... Motor Speed (m/s)..... SGLDP Force (N) SGLDP 8 Force (N) Mechanical Specifications of Linear Servomotors Motor Speed (m/s) Motor Speed (m/s) SGLD8P 7 Force (N) Note: When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone. () Impact Resistance û Impact acceleration: 98 m/s û Impact occurrences: twice () Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. û Vibration acceleration: Moving oil. m/s Magnetic Way. m/s in axis direction.9 m/s in vertically and horizontally Linear Servomotors 7

348 External Dimensions Units: mm SGLD Linear Servomotors () Moving oil: SGLWD P (With a connector by Tyco Electronics MP K.K.) Hall Sensorend onnector Servomotorend onnector M Mounting Screw, Depth (Outer Frame Material: luminum lloy) Screw # UN ±. ±. (8) able UL7, WG ±. ±. Dia. ± Recommended ending Radius: R Moving oil Nameplate ( Dia.: Outer Diameter of Magnetic Way) L±. L±. The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W. 8. Dia (Hollow Diameter) Dia. able UL7, WG Recommended ending Radius: R8 9 Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name +V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin : 9 or (No. to ) 77 (No.) by Tyco Electronics MP K.K. The Mating onnector ap: 78 Socket: 9 or 777 Pin No. Name Lead olor Phase U Red Phase V White Phase W lue FG Green Moving oil Model pprox. Mass L L SGLW kg D8P 8 7. DP. DP. : The values indicate the mass of moving coil with a hall sensor unit. Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power (V) Vv Sv Vw Sw 8 Electrical ngle ( ) 8

349 Linear Servomotors SGL (ylinder Type) Linear External Dimensions Units: mm () Magnetic Way: SGLMD () (8 Dia.) Warning Label Reference Side Magnetic Way Thickness:. (Mounting Side) Nameplate L Thickness:. L (L7) Moving oil (Force ssurance Range) Moving oil (8) () L L (Length of (Length of Support Section) Support Section) () (Length L L of Weld) (Position of Support Section) (Section where moving coil can drive) L (: Gap) ±. Dia. (L) (Position of Support Section) (Length of Weld) Notes: The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model pprox. Mass L L L L L L L7 SGLM kg D ±. 8 7.±. ± D7 7±. 7.±. 9±. 7.. Remarks D ±. 7.±. ± Standard D ±. 7 7.±. ±. 7.. D ±. 7.±. 8± D9 9±. 7.±. ±. 7.. D ±. 7.±. ± D8 8±. 9.±. 7±...7 D ±..±. ±...8 Standard D ±..±. ±...8 D7 7±. 8.±. ±...9 D ±..±. 9±...9 D ±..±. ±... D ±. 7.±. ±... D9 9±..±. 8±... D7 7±..±. ±... D7 7±..±. ±... Standard Linear Servomotors 9

350 External Dimensions Units: mm SGLD Linear Servomotors () Moving oil: SGLWD P (With a connector by Tyco Electronics MP K.K.) Hall Sensorend onnector Screw # UN Servomotorend onnector ±. M Mounting Screw, Depth 7 (Outer Frame Material: luminum lloy) ±. () able UL7, WG ±. ±. Dia. ± Recommended ending Radius: R Recommended ending Radius: R8 ( Dia.: Outer Diameter of Magnetic Way) Moving oil Nameplate L±. L±. The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W. Dia..±. Dia. (Hollow Diameter) able UL7, WG Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket onnector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name +V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin : 9 or (No. to ) 77 (No.) by Tyco Electronics MP K.K. The Mating onnector ap: 78 Socket: 9 or 777 Pin No. Name Lead olor Phase U Red Phase V White Phase W lue FG Green Moving oil Model pprox. Mass L L SGLW kg DP 9. DP.8 D7P 7. : The values indicate the mass of moving coil with a hall sensor unit. Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power (V) Vv Sv Vw Sw 8 Electrical ngle ( )

351 Linear Servomotors SGL (ylinder Type) Linear External Dimensions Units: mm () Magnetic Way: SGLMD () (. Dia.) Moving oil () () Reference Side (Mounting Side) (Length of Weld) Warning Label Magnetic Way Nameplate Thickness:. L Thickness:. L (L7) (Force ssurance Range) Moving oil L L (Length of Support Section) (Length of Support Section) () L (Position of Support Section) (.: Gap) ±. Dia. L (Section where moving coil can drive) L (L) (Length (Position of of Weld) Support Section) Notes: The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model pprox. Mass L L L L L L L7 SGLM kg D8 8±. ±. 9±..8 D ±. ±. ±..77 Remarks D ±. 8 ±. ±..8 Standard D8 8±. ±. 9±..9 D ±. ±. ±.. D ±. 8 ±. ±.. D9 9±. ±. ±.. D ±. ±. ±.. D9 9±. 9 ±. 7±.. Standard D ±. ±. ±.. D ±. ±. ±.. D9 9±. 9 ±. 7±..7 D7 7±. ±. ±..8 D7 7±. ±. ±..9 D8 8±. 7 ±. 8±.. D8 8±. 7 ±. 7±.. D87 87±. 77 ±. 7±.. Standard Linear Servomotors

352 External Dimensions Units: mm SGLD Linear Servomotors () Moving oil: SGLWD P (With a connector by Tyco Electronics MP K.K.) M Mounting Screw, Depth 9 (Outer Frame Material: luminum lloy) ±. (9) Hall Sensorend onnector Screw # UN able UL7, WG ±. ±. Dia. ± Recommended ending Radius: R Servomotorend onnector Moving oil Nameplate ( Dia.: Outer Diameter of Magnetic Way) 8±. 7. L±. L±. The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W. 8±. Dia.. Dia. (Hollow Diameter) Recommended ending Radius: R able UL7, WG9 Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket connector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name +V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin: (No. to ) or 9 (No. ) or 9 by Tyco Electronics MP K.K. The Mating onnector ap : 78 Socket: 9 or 777 Pin No. Name Lead olor Phase U Red Phase V White Phase W lue FG Green Moving oil Model pprox. Mass L L SGLW kg DP. D7P 7. DP.8 : The values indicate the mass of moving coil with a hall sensor unit. Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power (V) Vv Sv Vw Sw 8 Electrical ngle ( )

353 Linear Servomotors SGL (ylinder Type) Linear External Dimensions Units: mm () Magnetic Way: SGLMD () (8 Dia.) (9) Reference Side (Mounting Side) Moving oil () Warning Label Magnetic Way Thickness:. Nameplate L Thickness:. L (L7) (Force ssurance Range) Moving oil L L (Length of (Length of 8 Support Section) Support Section) (8) (Length L of Weld) (Position of Support Section) (.: Gap) ±. Dia. L (Section where moving coil can drive) L (L) (Length of Weld) (Position of Support Section) Notes: The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model pprox. Mass L L L L L L L7 SGLM kg D ± ±. ±. 7.. D ±. 7 7.±. 9±. 7.. Remarks D ±. 7 7.±. ± Standard D9 9±. 7 7.±. 8± D ±. 7 7.±. ±. 7.. D8 8± ±. 7±. 7.. D ±. 7 7.±. ±. 7.. D7 7±. 8 7.±. ± D7 7±. 7.±. ±. 7.. Standard D79 79±. 7 7.±. ±. 7.. D8 8±. 7 7.±. 9±. 7.. D88 88±. 7 7.±. 7±. 7.. D9 9±. 8 7.±. 78±. 7.. D97 97±. 8 7.±. 8± D ±. 9 7.±. 87± D ±. 9 7.±. 9±. 7.. D ± ±. 9±. 7.. Standard Linear Servomotors

354 External Dimensions Units: mm SGLD Linear Servomotors () Moving oil: SGLWD P (With a connector by Tyco Electronics MP K.K.) ±. () Hall Sensorend onnector Screw # UN able UL7, WG ±. ±. Dia..±. Dia. (Hollow Diameter). Dia. ± Recommended ending Radius: R Servomotorend onnector Recommended ending Radius: R able UL7, WG9 ±. Moving oil Nameplate 7. ( Dia.: Outer Diameter of Magnetic Way) 9 NM Mounting Screw, Depth (Outer Frame Material: luminum lloy) L±. dded only to Model SGLWD8P L±. The moving coil moves in the direction indicated by the arrow when current flows in the order of phases U, V, and W. Hall Sensor onnector Specifications 9 Pin onnector: 7JE9 (D8) by DDK Ltd. The Mating onnector Socket connector: 7JE9 (D8) Stud: 7L or 7L Pin No. Name +V (Power supply) Phase U Phase V Phase W V (Power supply) Not used 7 Not used 8 Not used 9 Not used Linear Servomotor onnector Specifications Plug: 779 Pin: (No. to ) or 9 (No. ) or 9 by Tyco Electronics MP K.K. The Mating onnector ap: 78 Socket: 9 or 777 Pin No. Name Lead olor Phase U Red Phase V White Phase W lue FG Green Moving oil Model pprox. Mass L L N SGLW kg DP.8 DP. D8P 8. : The values indicate the mass of moving coil with a hall sensor unit. Hall Sensor Output Signals When the moving coil moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Vu Su Inverse Power (V) Vv Sv Vw Sw 8 Electrical ngle ( )

355 Linear Servomotors SGL (ylinder Type) Linear External Dimensions Units: mm () Magnetic Way: SGLMD () Reference Side (Mounting Side) oil ssembly Warning Label Magnetic Way Nameplate Thickness:. L Thickness:. L (L7) (Force ssurance Range) Moving oil Dia. (. Dia.) () () (Length of Weld) L L (Length of (Length of 8 Support Section) Support Section) (8) L (Position of Support Section) (.7: Gap) ±. Dia. L (Section where moving coil can drive) L (L) (Length of Weld) (Position of Support Section) Notes: The magnetic way will become deformed if a magnetic attraction with the moving coil is generated. Take measures over the entire driving range to prevent any interference between the magnetic way and the moving coil after installation. If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Magnetic Way Model pprox. Mass L L L L L L L7 SGLM kg D8 8±. 7±. ±. 7. D ±. 7±. 9±. 7. Remarks D ±. 8 7±. ±. 7.8 Standard D ±. 7±. ±. 7. D7 7±. 7±. 7±. 7. D78 78±. 7±. ±. 7. D8 8±. 7 7±. 9±. 7. D9 9± ±. 7±..9 D ± ±. 8±.. Standard D8 8± ±. 87±..7 D ± ±. 9±. 7. D ±. 9 8 ±. 99±. 7. D ± ±. ±. 7.9 D ±. 9 8 ±. ±. 8. D8 8±. 9 8 ±. 7±. 8.7 D ±. 9 8 ±. ±. 9. D ±. 9 8 ±. 9±. 9. Standard Linear Servomotors

356 Selecting ables SGDV SERVOPK eonnection able for Serial onverter Unit etween SERVOPK connector N and serial converter unit. Serial onverter Unit qlinear Servomotor Main ircuit able wencoder able ronnection able for Hall Sensor (etween serial converter unit and hall sensor unit.) Linear Scale (To be provided by the customer.) ylindertype Linear Servomotor Name pplicable Linear Servomotor Model Length Order No. Specifications Details m JZSPLNE q m JZSPLNE To SERVOPK To Linear Servomotor Linear Servomotor Main ircuit ll models m JZSPLNE () ables m JZSPLNE m JZSPLNE w Encoder able ll models m JZSPLLE m JZSPLLE m JZSPLLE m JZSPLLE To Serial onverter Unit To Linear Scale () m JZSPLLE m JZSPLP7E e onnection able for Serial onverter Unit ll models m JZSPLP7E m JZSPLP7E m JZSPLP7E m JZSPLP7E To SERVOPK To Serial onverter Unit () m JZSPLP7E m JZSPLLE r onnection able for Hall Sensor ll models m JZSPLLE m JZSPLLE m JZSPLLE To Serial onverter Unit To Hall Sensor () m JZSPLLE

357 Linear Servomotors SGL (ylinder Type) Linear Selecting ables () Linear Servomotor Main ircuit ables: JZSPLN E () ables for onnecting Linear Scales: JZSPLL E To SERVOPK 8. mm mm M rimped Terminal Wire Markers U V W G L Heatshrinkable Tube Finished Diameter.8 Dia. mm able (UL) WG8/ ap: 78 (pole) Socket: (hained) by Tyco Electronics MP K.K. To Linear Servomotor To Serial onverter Unit 8 onnector : 7JE (D8) (pin, soldered) by DDK Ltd. L Finished Diameter 9. Dia. able (UL8) (WG +WG P) To Linear Scale 8 onnector : 7JE (D8) (With stud) (pin, soldered) by DDK Ltd. 9 û Wiring Specifications û Wiring Specifications Leads to SERVOPK Wire olor Signal Red Phase U White Phase V lue Phase W Green/yellow FG onnector to Linear Servomotor Signal Phase U Phase V Phase W FG Pin. No. To Serial onverter Unit Pin No. Signal /os(v ) /Sin(V ) Ref(V+) +V Vs ID 7 Vx 8 Vq 9 os(v+) Sin(V+) /Ref(V+) V Vs DIR Inner ase Shield To Linear Scale Pin No. Signal /os(v ) /Sin(V ) Ref(V+) ase +V Vs ID Vx Vq os(v+) Sin(V+) /Ref(V ) V Vs DIR Inner Shield () onnection able for Serial onverter Unit: JZSPLP7 E () onnection able for Hall Sensor: JZSPLL E To SERVOPK Finished Diameter.8 Dia. L To Serial onverter Unit To Serial onverter Unit L Finished Diameter.8 Dia. To Hall Sensor onnector : 7 (pin, soldered) by Molex Japan o., Ltd. able (UL7) (WG +WG P) onnector : 7JE9 (D8) (9pin, soldered) by DDK Ltd. û Wiring Specifications û Wiring Specifications Leads to SERVOPK Pin No. Signal Wire olor Shell PGV PGV PS /PS Shield Red lack Light blue Light blue/white To Serial onverter Unit Signal Wire olor +V Red V lack Phase S output Light blue Phase /S output Light blue/white Shield Pin No. ase onnector : 7JE9 (D8) (9pin, soldered) by DDK Ltd. To Serial onverter Unit Pin No. Signal +V Phase U input Phase V input Phase W input V ase Shield able (UL7) (WG +WG P) Pin No ase To Hall Sensor Signal +V Phase U input Phase V input Phase W input V Shield 9 onnector : 7JE9 (D8) (With stud) (9pin, soldered) by DDK Ltd. Linear Servomotors 7

358 Serial onverter Unit haracteristics and Specifications Electrical haracteristics Mechanical haracteristics Items Power Supply Voltage urrent onsumption Signal Resolution Max. Response Frequency nalog lnput Signals (cos, sin, Ref) Hall Sensor lnput Signal Output Signals Output Method Transmission ycle Output ircuit pprox. Mass Vibration Resistance Shock Resistance Specifications +. V±%, ripple content % max. m typ. m max. Input phase sine wave: / pitch khz Differential input amplitude:. Vto. V Input signal level:. Vto. V MOS level Position data, hall sensor information, and alarms Serial data transmission [HDL (Highlevel Data Link ontrol) protocol format with Manchester codes]. µs alanced transceiver (SN7L7 or the equivalent) Internal terminal resistance: Ω g 98 m/s max. ( Hz to Hz) in three directions 98 m/s, ( ms) two times in three directions Environmental onditions Operating Temperature Storage Temperature Humidity to to +8 % to9% RH(no condensation) : The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host controller that supplies the power. The current consumption of hall sensor: pprox. m. : Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged. : The power is turned on, and the transmission is enabled after ms to ms. Model Designation JZDP D E Symbol D D8 ppearance Serial onverter Unit Model pplicable Linear Scale Made by HEIDENHIN orp. Made by Renishaw plc. Hall Sensor Provided Provided Note: Using the serial converter unit JZDP with SGDS SERVOPK will void our guarantee. pplicable Linear Servomotor Servomotor Model D8P DP DP DP DP Symbol SGL D7P 9 (ylinder Type) DP D7P DP DP DP D8P 7 ode None E Specifications Not RoHS compliant RoHS compliant 8

359 Linear Servomotors SGL (ylinder Type) Linear Serial onverter Unit nalog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 8 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up. % cos (+). V to. V cos, /cos, sin, /sin Input Voltage Range:. V to. V /cos ( ) sin (+) /sin ( ) Ref, /Ref Input Voltage Range:. V to. V /Ref (R ) Ref (R+). V Min. % to 7% % to 7%. V Min. Zero Point ount Up direction :If the analog signal amplitude declines to about. V because of differential amplitude, the serial converter outputs an alarm. IMPORTNT Precautions Never perform insulation resistance and withstand voltage tests. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit s ability to output correct position information. The analog cable must be as short as possible and shielded. Use the serial converter unit in an environment without gases such as HS. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes. Linear Servomotors 9

360 Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by HEIDENHIN corporation) Serial onverter Unit: JZDPD JZDPD E(RoHS compliant) () onnection Example Serial onverter Unit JZDPD JZDPD E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by HEIDENHIN orp. JZSPLP7 E () External Dimensions N Dsub pin onnector Hall Sensor Hall Sensor Signal Input onnector to Linear Servomotor(N) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector to SERVOPK(N) ±. 7 8± ±. ±...±. ± nalog Signal Input onnector to Linear Scale(N) M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 N nalog Signal Input to Linear Scale 9 N Hall Sensor Signal Input to Linear Servomotor 8 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. RoHS compliant 7LE97F (Socket) 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. RoHS compliant 7JE(D8)G (Socket) 7series onnector: 7JE9 (D8) (Socket) by DDK. Ltd. RoHS compliant 7JE9(D8)G (Socket) Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield Pin No. Signal cos input (+) V sin input (+) + V Not used Not used 7 /Ref input (R) 8 Not used 9 /cos input () V sensor /sin input () V sensor Not used Ref input (R+) Not used ase Shield Pin No. Signal + V ase Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by HEIDENHIN orp. can be directly connected. ontact HEIDENHIN orp. for details. Phase U, V, and W input are internally pulled up at kω.

361 Linear Servomotors SGL (ylinder Type) Linear Serial onverter Unit Units: mm With able for Hall Sensor (For Linear Scale manufactured by Renishaw plc.) Serial onverter Unit: JZDPD8 JZDPD8 E (RoHS compliant) () onnection Example Serial onverter Unit JZDPD8 JZDPD8 E(RoHS compliant) SERVOPK SGDS N N Dsub 9pin onnector N Linear Scale by Renishaw plc. JZSPLP7 E N Dsub pin onnector Hall Sensor () External Dimensions Hall Sensor Signal Input onnector to Linear Servomotor (N) # UN Tapped Holes. Dia. Holes. Dia. Holes Nameplate Serial Data Output onnector to SERVOPK(N) ±. 7 8± ±. ±...±. ± nalog Signal Input onnector to Linear Scale (N) M Tapped Holes, Depth N Serial Data Output to SERVOPK 9 7series onnector: 7LE97 (Socket) by DDK. Ltd. Pin No. Signal + V ase Phase S output Not used Not used V Phase /S output Not used Not used Not used Shield RoHS compliant 7LE97F (Socket) N nalog Signal Input to Linear Scale 9 8 7series onnector: 7JE (D8) (Socket) by DDK. Ltd. Pin No. Signal /cos input (V) /sin input (V) Ref input (V+) + V Vs Not used 7 Not used 8 Not used 9 cos input (V+) sin input (V+) /Ref input (V) V Vs Not used Inner ase Shield RoHS compliant 7JE(D8)G (Socket) N Hall Sensor Signal Input to Linear Servomotor Pin No. Signal + V ase 9 7series onnector: RoHS compliant 7JE9 (D8) 7JE9(D8)G (Socket) by DDK. Ltd. (Socket) Phase U input Phase V input Phase W input V Not used Not used Not used Not used Shield Linear Servomotors Notes: Do not use the unused pins. The linear scale (analog Vpp output, Dsub pin, male) by Renishaw plc. can be directly connected. However, the ID and DIR signals are not connected. Use the connector to the linear scale to change the zero point specifications of the linear scale. Phase U, V, and W input are internally pulled up at kω.

362 Flexible ables Life of Flexible able The following flexible cables have a long flex life of million or more flex cycles as proven in rolling flex tests with the recommended bending radius shown in the table. able Model No. Recommended ending Radius mm JZSPLN Linear Servomotor Main ircuit ables JZSPLN 8 JZSPLN9 JZSPLN onnection ables for Linear Scales JZSPLL 7 onnection ables for Hall Sensors JZSPLL onnection ables for Serial onverter Units JZSPLP7 Testing onditions Repeatedly flex the cable back and forth in a linear motion for a stroke length of mm using the test equipment as shown. onnect the lead wires in parallel, and count the number of times that the cable can be bent until one of the lead wires becomes broken or disconnected. Every time that the cable is bent and returned to its original position counts as one test cycle. Stroke Length: mm Shifting End ending Radius R Fixed End Notes: The life of flexible cable greatly differs in accordance with the amount of mechanical shock applied to the cable and with the methods used to wire or fix the cable. The cable life listed here is for reference only because it was measured under specified testing conditions. The life of flexible cable indicates the number of bending life in which stranded wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.

363 Linear Servomotors SGL (ylinder Type) Linear Flexible ables Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early disconnection. Observe the following precautions when wiring. () Twisted cable Straighten the flexible cables before wiring. Twisted cables cause early disconnection. heck the indication on the cable surface to make sure that the cable is not twisted. () Fixing method Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable at the minimum number of points. () able length If the cable length is too long, it may cause the cable s sagging. esides the cable length is too short, it may cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length. () Interference between cables void interference between cables. Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables, or provide a partition when wiring. Linear Servomotors

364 Linear Sliders Trac Model Designation SGT F H Trac Series Linear Slider Linear Slider Type : Standard (luminum base) : Highrigidity (Steel or iron base) Mounted Linear Servomotor ode F F F9 F GD GE GF GG GH GI Moving oil Model SGLFW SGLFW SGLFW SGLFW8 SGLGW SGLGW SGLGW SGLGW SGLGW SGLGW Surface Treatment : luminum base; lear anodized aluminum coating Steel or iron base; lack paint : luminum base; lack anodized aluminum coating Steel or iron base; Electroless nickel plating or Raydent processing Linear Scale Resolution : µm : µm Linear Scale Manufacturer H : HEIDENHIN orporation R : Renishaw plc. Linear Scale Output Form : nalog output Vpp Effective Stroke 7 : 7 mm to 9 : 9 mm Number of Tables (per Magnet Track) : table : tables to n : n tables

365 Features For long strokes and highspeed, highaccuracy positioning (repetitive positioning accuracy less than ±. µm). Several tables can be mounted on one magnet track, and each table can be driven independently. Standard and highprecision models are available. Model lassification Force Singlephase V SERVOPK Model SGDS Singlephase V Threephase V Trac Series Linear Sliders Model No. Force SGT GD N N N 8 N N N SGT GE Rated force Peak force SGT GF F SGT GG F SGT GH 8 SGT GI F SGT F SGT F 8 SGT F9 SGT F Stroke Length Model No. SGT GD Stroke Length 9 mm mm mm mm mm mm SGT GE SGT GF SGT GG SGT GH SGT GI mm mm 9 mm mm mm mm 8 mm mm mm 8 mm ontact your Yaskawa representative for information on strokes other than those listed. Linear Sliders SGT F 8 mm 9 mm SGT F 8 mm 8 mm SGT F9 7 mm 8 mm SGT F 7 mm mm

366 SGT F and SGT F Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Method: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) : Squares ( ) are used to indicated the stroke length code shown in Tables and. : Values obtained when the acceleration is.9 m/s. : ontact your Yaskawa representative if the expected payload exceeds the value indicated in the table. : Values obtained when the surrounding air temperature is constant. Linear Slider Model SGT F H SGT F H Mounted Linear Servomotor Model SGLFW P P pplicable SERVOPK Model SGDS pplicable Serial onverter Unit Model JZDP D9 D Rated Force N 8 Peak Force N Force onstant N/rms.. Motor onstant N/QW.. Maximum Payload, kg 7 Movable Member Mass kg.. Total Mass kg See Table See Table Effective Stroke mm on the next page. on the next page. Resolution µm.78 ( µm/) Repeatability µm ±. ±. Performance urves Force Speed : ontinuous Duty Zone : Intermittent Duty Zone Effective Force Surrounding ir Temperature When the sensor temperature is or less verage speed (m/s) : Note: verage speed = Total movement distance (m) / cycle time (s) Load Mass cceleration () SGT F (m/s) Speed Force (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) cceleration (m/s ) 8 7 Load Mass (kg) () SGT F (m/s) Speed Force (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) (m/s ) cceleration 8 Load Mass (kg) 7

367 YSKW TYPE: YSKW TYPE: O/N S/N MDE IN JPN DTE O/N S/N MDE IN JPN DTE YSKW TYPE: YSKW TYPE: O/N S/N MDE IN JPN DTE O/N S/N MDE IN JPN DTE MODEL SGT MOTOR SGL MODEL SGT MOTOR SGL Linear Sliders Trac Linear SGT F and SGT F Linear Sliders Units: mm External Dimensions () SGT F () Model SGTF 7 8 (L).... M Tapped Holes, Depth Note (8) L (From the cable inlet on the motor.) X X Y Y (From the hall sensor unit.) Z Z (From the cable inlet on the encoder.) L N7 Dia. (Pitch) Mounting Holes Dia. ounter oring, Depth. L Table Stroke ode Length L L L L L N Total Mass kg Stopper (L) 78 Stopper. () ().. Note Linear Scale Scale Head L Section () () Model SGT F SGTF 7 8 (L).... Note Pitch = (8) L See the section enclosed with dotted lines in the drawing of the SGT F for cables. M Tapped Holes, Depth L (Pitch) N7 Dia. Mounting Holes Dia. ounter oring, Depth. L Table Stroke ode Length L L L L L N Total Mass kg Stopper (L) 78 Stopper. () ().. 9 Note L Linear Scale LID87 (by HEIDENHIN orporation): Vpp signal, one zeropoint signal at the scale center Notes: The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of./ mm (reference value). onnector Specifications for the View XX For Motor able Plug: 779 Pin (by Tyco Electronics No. Signal MP K.K.) PhaseU output Pins: 9 or 777 PhaseV output (by Tyco Electronics PhaseW output MP K.K.) FG Trac Series Linear Sliders (ll Models) View YY 9 For Hall Sensor able Pin No. Signal + V (power supply) PhaseU output PhaseV output Pin No. 7 8 PhaseW output 9 V (power supply) ase Signal Not used Not used Not used Not used Shield View ZZ 9. 7 onnector Plug: (by Tyco Electronics MP K.K.) Housing: 8 77 (by Tyco Electronics MP K.K.). Section For Encoder able Pin No. Signal os output (+) V Pin No. 9 Sin output (+) V Not used Not used /Ref(R) Not used ase. Signal /os output () V sensor /Sin output () V sensor Not used Ref(R+) Not used Shield 7 Linear Sliders

368 SGT F9 and SGT F Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Method: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) : Squares ( ) are used to indicated the stroke length code shown in Tables and. : Values obtained when the acceleration is.9 m/s. : ontact your Yaskawa representative if the expected payload exceeds the value indicated in the table. : Values obtained when the surrounding air temperature is constant. Linear Slider Model SGT F9 H SGTF H Mounted Linear Servomotor Model SGLFW P 8P pplicable SERVOPK Model SGDS 8 pplicable Serial onverter Unit Model JZDP D8 D8 Rated Force N 8 Peak Force N Force onstant N/rms.. Motor onstant N/QW. 8. Maximum Payload, kg Movable Member Mass kg 7..9 Total Mass kg See Table See Table Effective Stroke mm on the next page. on the next page. Resolution µm.78 ( µm/) Repeatability µm ±. ±. Performance urves Force Speed Effective Force Surrounding ir Temperature Load Mass cceleration : ontinuous Duty Zone : Intermittent Duty Zone When the sensor temperature is or less Note: verage speed = Total movement distance (m) / cycle time (s) () SGT F9 (m/s) Speed 7 (N) ( ) Surrounding ir Temperature 8 Effective Force [Load Ratio] (%) (m/s ) cceleration 8 Load Mass (kg) 8 () SGT F (m/s) Speed 8 (N) ( ) Surrounding ir Temperature 8 Effective Force [Load Ratio] (%) (m/s ) cceleration 8 Load Mass (kg) 8

369 Linear Sliders Trac Linear SGT F9 and SGT F Linear Sliders Units: mm External Dimensions () SGT F L 8M8 Tapped Holes, Depth See page 7 for details on each connector specifications. (Note ) 8 () L (From the cable inlet on the motor.) (From the hall sensor unit.) (From the cable inlet on the encoder.) L (Pitch) N9 Dia. Mounting Holes 8 Dia. ounter oring, Depth. X X Y Y Z Z L Table ode Stroke Length L L L L L N Total Mass kg L Stopper Stopper (Note ) Linear Scale Scale Head L Section. 9 9 () SGT F 8 L M8 Tapped Holes, Depth (Note ) 8 See the section enclosed with dotted lines in the drawing of the SGT F9 for cables. L (Pitch) N9 Dia. Mounting Holes () 8 Dia. ounter oring, Depth. L L Table ode Stroke Length L L L L L N Total Mass kg L. Stopper Stopper (Note ) L Linear Scale LID87 (by HEIDENHIN orporation): Vpp signal, one zeropoint signal at the scale center Notes: The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of./ mm (reference value) Section. 9 Linear Sliders 9

370 SGT GD, SGT GE, and SGT GF Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Method: Selfcooled, fancooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Resolution µm.78 ( µm/) Repeatability µm ±. ±. ±. : Squares ( ) are used to indicated the stroke length code shown in Table. : Values obtained when the acceleration is.9 m/s. : ontact your Yaskawa representative if the expected payload exceeds the value indicated in the table. : Values obtained when the surrounding air temperature is constant. Linear Slider Model SGT GD H SGT GE H SGT GF H Mounted Linear Servomotor Model SGLGW P P P pplicable SERVOPK Model SGDS pplicable Serial onverter Unit Model JZDP D D D Rated Force N 7 9 Peak Force N 8 Force onstant N/rms... Motor onstant N/QW 7.8. Maximum Payload, kg 8 Movable Member Mass kg.8.7. Total Mass Effective Stroke kg mm See Table on the next page. Performance urves Force Speed : ontinuous Duty Zone : Intermittent Duty Zone Effective Force Surrounding ir Temperature When the sensor temperature is or less Note: verage speed = Total movement distance (m) / cycle time (s) Load Mass cceleration () SGT GD (m/s) Speed (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) (m/s ) cceleration Load Mass (kg) () SGT GE (m/s) Speed (N) Effective Force [Load Ratio] (%) ( ) Surrounding ir Temperature (m/s ) cceleration 8 7 Load Mass (kg) () SGT GF Speed (m/s) (N) Surrounding ir Temperature( ) 8 Effective Force [Load Ratio] (%) (m/s ) cceleration 8 Load Mass (kg) 8 7

371 Linear Sliders Trac Linear SGT GD, SGT GE, and SGT GF Linear Sliders Units: mm External Dimensions <Table Side View> SGT GD SGT GE SGT GF M Mounting Screws, Length 8 (by Yaskawa) M Mounting Screws, Length 8 (by Yaskawa) M Mounting Screws, Length 8 (by Yaskawa) 7 8 See page 7 for each connector specifications. (From the cable inlet on the motor.) X (L) 8 8 (L) Stopper (L) (L) N7 Dia. Mounting Holes (Pitch:9) Dia. ounter oring (L) 8 NM Tapped Holes, Depth L Note L7 L8 L9 L L (From the hall sensor unit.) (From the cable inlet on the encoder.) M8 Tapped Holes (8) 8 X Y Y Z Z (9) () (L) Linear Scale LID87 (by HEIDENHIN orporation): Vpp signal, one zeropoint signal at the scale center Table Linear Slider Model Stroke Dimensions Total N N Mass ode Length L L L L L L L7 L8 L9 L kg SGT GD H (SGLGWP) SGT GE H (SGLGWP) SGT GF H (SGLGWP) : Squares ( ) are used to indicated the stroke length code shown in Table. Notes: The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of./ mm (reference value). 7 Linear Sliders

372 SGT GG, SGT GH, and SGT GI Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, M Ω min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Method: Selfcooled, fancooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Resolution µm.78 ( µm/) Repeatability µm ±. ±. ±. : Squares ( ) are used to indicated the stroke length code shown in Table. : Values obtained when the acceleration is.9 m/s. : ontact your Yaskawa representative if the expected payload exceeds the value indicated in the table. : Values obtained when the surrounding air temperature is constant. Linear Slider Model SGT GG H SGT GH H SGT GI H Mounted Linear Servomotor Model SGLGW P P P pplicable SERVOPK Model SGDS 8 pplicable Serial onverter Unit Model JZDP D8 D9 D Rated Force N 7 Peak Force N Force onstant N/rms... Motor onstant N/QW Maximum Payload, kg 8 Movable Member Mass kg Total Mass Effective Stroke kg mm See Table on the next page. Performance urves ForceSpeed Effective Force Surrounding ir Temperature Load Masscceleration : ontinuous Duty Zone : Intermittent Duty Zone When the sensor temperature is or less verage speed (m/s): Note: verage speed = Total movement distance (m) / cycle time (s) () SGT GG GG () SGT GH TGH () SGT GI GI Speed (m/s) Speed (m/s) Speed (m/s) Force (N) Force (N) Force (N) Surrounding ir Temperature ( ) Surrounding ir Temperature ( ) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) 8 Effective Force [Load Ratio] (%) 8 Effective Force [Load Ratio] (%) cceleration (m/s ) cceleration (m/s ) cceleration (m/s ) Load Mass (kg) 8 Load Mass (kg) 8 Load Mass (kg) 7

373 Linear Sliders Trac Linear SGT GG, SGT GH, and SGT GI Linear Sliders Units: mm External Dimensions <Table Side View> SGT GG SGT GH SGT GI M Mounting Screws, Length 8 (by Yaskawa) M Mounting Screws, Length 8 (by Yaskawa) M Mounting Screws, Length 8 (by Yaskawa) (Used to mount a connector box, etc.) 7 See page 7 for each connector specifications. (From the cable inlet on the motor.) X MODEL SGT MOTOR SGL (L) (L) X Y Y (From the hall sensor unit.) Z Z (From the cable inlet on the encoder.) Stopper (L) 8 8 (L) (L) N7 Dia. Mounting Holes (Pitch: 9) Dia. ounter oring 8 NM Tapped Holes, Depth L (Note ) L7 L8 L9 L L (8) (9) () (L) Linear Scale LID87 (by HEIDENHIN orporation): Vpp signal, one zeropoint signal at the scale center Table Linear Slider Model Stroke Dimensions Total N N Mass ode Length L L L L L L L7 L8 L9 L kg SGT GG H (SGLGWP) SGT GH H (SGLGWP) SGT GI H (SGLGWP) : Squares ( ) are used to indicated the stroke length code shown in Table. Notes: The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of./ mm (reference value). 7 Linear Sliders

374 S/N D988 ON Selecting ables and onnectors Peripheral Devices Reference Input Form from Host ontroller Power Supply Noise Filter To Moldedcase ircuit reaker N Magnetic ontactor nalog Monitor able With Front over Open (SERVOPK for pulse Queue nalog Voltage Reference) DF P POWER OM N With Front over Open (SERVOPK for MEHTROLINK ommunications) N For pulse queue Reference or nalog Voltage Reference N N Personal omputer able I/O Signal able Linear Scale Incremental Digital Operator JUSPOP To N Personal omputer Host ontroller Serial able For MEHTROLINK Transmissions N MEHTROLINK ommunication able N Digital Operator able N I/O Signal able To other stations using MEHTROLINK/ MEHTROLINK. Digital Operator To External Devices Such as LED Indicators N U V W Serial onverter Unit N N Encoder able Power able Hall Sensor able Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. U V W 7 pplicable ables and onnectors Motor Type Moving oil (M) Incremental Linear Scale Type Trac Series Model Servo Drive Motor able Linearscale onnection ables SERVOPK Model SGDS Singlephase Singlephase Threephase V V V SERVOPK,/ Motor Power able (Flexible Type) SGT F H F JZSPLN E D9 SGT F H JZSPLN E D SGT F9 H 8 JZSPLN E D8 SGT F H JZSPLN E D8 SGT GD H F JZSPLN E D SGT GE H F JZSPLN E D SGT GF H F JZSPLN E D SGT GG H F JZSPLN E D8 SGT GH H F JZSPLN E D9 SGT GI H 8 JZSPLN E D : The code shown in the squares ( ) varies in accordance with the reference. : If you are ordering RoHS compliant products, add "E" on the end of the model name. Serial onverter Unit Model JZDP [N],/ Serial onverter Unit Serial onverter Unit,/ External Encoder Serial able (Flexible Type) JZSPLP7 E JZSPLL E indicates the length of the cable. = m = m = m = m = m = m Encoder able (Flexible Type) indicates the length of the cable. = m = m = m = m = m = m

375 Linear Sliders Trac Linear Selecting ables and onnectors pplicable Peripheral Devices SERVOPK Maincircuit Power Supply apacity W Model SGDS Singlephase V Singlephase V Digital Operator Model Moldedcase ircuit reaker Power Supply M/Fuse apacity per apacity SERVOPK (Note ) Noise Filter (Recommended) Magnetic ontactor Surge Protector /D Reactor FN7/7 F. kv rms X (Singlephase V, ) S FN7/7 F. kv rms X (Singlephase V, ) FN7/7 F. kv rms S X (Singlephase V, ) R M JUSP QZ. kv FN7/7 X OP rms.7 kv (Singlephase V, ) X with a S FN7/7 m cable. kv 8 rms X (Singlephase V, ) FN7/ kv rms S X (Singlephase V, ) Threephase. kv rms FN8L7/7 (Threephase 8 V, 7) S R M UZ X V FN8L/7. kv rms (Threephase 8 V, ) S X : With a builtin regenerative resistor (resistance: Ω, capacity: W) : With a builtin regenerative resistor (resistance: Ω, capacity: W) : With a builtin regenerative resistor (resistance Ω, capacity 7 W) Notes: Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity. utoff characteristics (at ) is % for two seconds min. and 7% for. seconds min. Do not use a fastacting fuse. ecause the SERVOPK s power supply is a capacitor input type, a fastacting fuse may blow when the power is turned on. The SGDS SERVOPK does not include a protective circuit for grounding. To protect the system, install a groundfault detector against overloads and short circuits or install a protective groundfault detector combined with the moldedcase circuit breaker for grounding. The following peripheral devices are manufactured by: Noise filter: Schaffner EM,Inc. Magnetic contactor: Fuji Electric F omponents & Systems o., Ltd. Surge absorber: Okaya Electric Industries o., Ltd. (Surge Protector) /D reactor: Yaskawa ontrols o., Ltd. Detail Drawings: Serial onverter Units for Linear Scales by HEIDENHIN orporation With able for Hall Sensor JZDPD JZDPD E(RoHS compliant) #. Dia. Holes UN Tapped Holes. Dia. Holes Nameplate N N.99 ±...±. ±. ±. 7 8±. 9 ± N. M Tapped Holes, Depth Note: For details on connectors, refer to page. Hall Sensor able (Flexible Type) Pulse Queue or nalog Voltage Reference MEHTROLINK ommunications ables for Setting Devices/Monitors Serial onverter Unit,/Hall Sensor I/O Signal onnector [N] I/O Signal onnector [N] JZSPLL E indicates the length of the cable. = m = m = m = m = m = m onnector Terminal lock onverter Unit JUSP TPGE (with a. m cable) able with Loose Wires at One End JZSPSI E indicates the length of the cable. = m = m = m onnector Kit onnector Terminal onnector Kit [N] [N] lock onverter able JZSP SI9E JZSP TP E JZSPSI9 E (DE9) MEHTROLINK ommunication onnector [N] or [N] MEHTROLINK communications cable JEPMW E indicates the length of the cable. =. m = m = m = m = m = m = m = m = m MEHTROLINK terminator JEPMWE [N],/ Setting Devices [N] Personal nalog Monitor omputer able able JZDPMSE ( m) JZSPE ( m) Linear Sliders 7

376 Linear Sliders Tracµ Model Designation SGT M M H P Trac Series Linear Slider Options P : With hall sensor Moving Magnet Type Design Revision Order,,,... Integrally Molded rmature Type Peak Force : N : N Effective Stroke : mm : mm : mm : mm Linear Scale Resolution : µ m : µ m Linear Scale Manufacturer H : HEIDENHIN orporation M : MicroE International Inc. Linear Scale Output Form : nalog output Vpp 7

377 Features Ultraflat profile reduces floorspace requirements. For applications requiring short strokes ( mm to mm) Vibrationfree transmission device enables highprecision positioning with a repetitive positioning accuracy of ±. µ m max. pplication Examples Semiconductor mounters Equipment for biomedical Optical testing devices Locations of armature coils on fixed side of the stationary member reduce effects of heat on table or workpiece. Model lassification Force SERVOPK Model SGDS Trac µ Series Linear Sliders Singlephase V F F Singlephase V Threephase V Model SGTMM SGTMM Force N N N Rated force Peak force Stroke Length Linear Slider Model Stroke Length mm mm mm mm SGTMM mm mm SGTMM mm mm Linear Sliders 77

378 SGTMM Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Method: Selfcooled mbient Humidity: % to 8 % (no condensation) llowable Winding Temperature: (Insulation class ) Linear Slider Model SGTMM SGTMM SGTMM SGTMM SGTMM SGTMM M M HP HP H HP pplicable SERVOPK Model SGDS pplicable Serial onverter Unit Model JZDP D D D Rated Force N Peak Force N Force onstant N/rms Motor onstant N/QW Maximum Payload kg Effective Stroke mm Resolution µm.78 ( µm/ )..78. ( µm/) ( µm/) ( µm/) Movable Member Mass kg Total Mass (excluding cables) kg Repeatability µm ±. ±. ±. ±. ±. ±. : Values obtained when the acceleration is.9 m/s. : Values obtained when the surrounding air temperature is constant. Performance urves Force Speed : ontinuous Duty Zone : Intermittent Duty Zone Effective Force Surrounding ir Temperature When the sensor temperature is or less. Surrounding air temperature Load Mass cceleration () SGTMM () SGTMM Speed (m/s) Speed (m/s) Force (N) Force (N) Surrounding ir Temperature ( ) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) 8 Effective Force [Load Ratio] (%) cceleration(m/s ) cceleration(m/s ) Load Mass (kg)....8 Load Mass (kg) () SGTMM Speed (m/s) Force (N) Effective Force [Load Ratio] (%) Surrounding ir Temperature ( ) cceleration (m/s ) 8... Load Mass (kg) 78 () SGTMM Speed (m/s) Force (N) Effective Force [Load Ratio] (%) Surrounding ir Temperature ( ) cceleration (m/s ) 8... Load Mass (kg)

379 Linear Sliders Tracµ Linear SGTMM Linear Sliders Units: mm External Dimensions () SGTMM 7 L L L N. Dia. Holes Dia. ounter oring L L L. L 7 L7 (.) L8 ± Name plate Plug: 779(MP) Pin: 9 or 777 () () ± (Note) N Screws, Depth L Encoder Signal sin+ advance cos+ advance (Phase ) (Phase ) Linear Scale (by MicroE International Inc.).7 Mercury Series Head: M (with m able) Scale: L (Measurement Length: mm) Output Signal/ycle: Vpp/ µ m Zeropoint Position: One Position at the Scale enter pin Plug (onnect to a JZSPLL signalconversion cable.) : See the next page for the connector specifications. L9 (L9) Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. Linear Slider Model SGTMM L L L L L L L7 L8 L9 N M M () SGTMMHP ± Name plate Plug: 779 (MP). Dia. Holes M Screws, Depth.L Pin: 9 or (7.) ± onnector for Hall Sensor able (Pin onnector) 7JE9 (D8) (by DDK) R. (Note) 7. (7.) (7) 7. Linear Sliders ± 7 () Linear Scale. Dia. Holes LID89 (by HEIDENHIN orporation). ounter oring L Vpp Signal, One Zeropoint Signal at the Scale enter onnector (Plug) for Encoder able (MP) : See the next page for the connector specifications. 9. Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 79

380 SGTMM Linear Sliders External Dimensions () SGTMMHP Plug: 779 (MP) Pin: 9 or 777 ± Motor able. M Screws, Depth.L (Note) Name plate onnector (Socket) for Hall Sensor able 7JE9 (D) (by DDK) ± ± onnector (Plug) for Encoder able Linear Scale LIF8 (by HEIDENHIN orporation) Vpp Signal/ µ m, One Zeropoint Signal at the Scale enter 7 (Table Length) (Distance between Mechanical Stoppers). Dia. Holes M Screws, Depth.L 7 7 () Plug: 779 (MP) Pin: 9 or 777 ± Name plate R.. (Note) (7.). (7) 8 (Table Length) 7. (Distance between Mechanical Stoppers) Dia. Holes (.). (.) () (7.) 8.. (.) (9.) Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. () SGTMMH 7 onnector Specifications for the ± onnector (Plug) for Encoder able (MP) 7 9 Tracµ Series of Linear Sliders (ll Models) (). Dia. Holes. ounter oring L Linear Scale LID89 (by HEIDENHIN orporation) Vpp Signal, One Zeropoint Signal at the Scale enter Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. For SGTMM Linear Sliders For SGTMM Linear Sliders IW IW+ Test Transmit Receive Reset os+ Sin+ 9 N/ N/ N/ + V GND os Sin 7 8 os output (+) V Sin output (+) + V Not used Not used /Ref (R) Not used 9 /os output () V sensor /Sin output () V sensor Not used /Ref (R+) Not used Shield +V (power supply) PhaseU output PhaseV output PhaseW output V (power supply) Not used 7 Not used 8 Not used 9 Not used

381 Linear Sliders Tracµ Linear SGTMM Linear Sliders Units: mm External Dimensions () SGTMMHP (8) 8 7(Table length) (Distance between Mechanical Stoppers) onnector (Socket) for Hall Sensor able M Screws, Depth.L 7JE9 (D8) 7 (by DDK) (8) ± 7 (Note). Dia. Holes Plug: 779 (MP) Pin: 9 or 777 ± Name plate R... (7.) 7 7. (7) (). ± onnector (Plug) for Encoder able (MP) (). Dia. Holes. ounter oring L 8. Linear Scale LID89 (by HEIDENHIN orporation) Vpp Signal, One Zeropoint Signal at the Scale enter Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. () SGTMMHP onnector (Socket) for Hall Sensor able 7JE9 (D8) (by DDK) ± 7(Table Length) (Distance between Mechanical Stoppers) 7 7 (Note) () 8. Dia. Holes. Plug: 779 (MP) Pin: 9 or 777 M Screws, Depth.L 8 Name plate ± Motor able onnector (Plug) for Encoder able ± 7 7 () 9 () 7 (87.8) (9.). Linear Scale LIF8 (by HEIDENHIN orporation) Vpp Signal/ µ m, One Zeropoint Signal at the Scale enter. Linear Sliders Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 8

382 S/N D988 ON Selecting ables and onnectors Peripheral Devices Reference Input from Host ontroller Power Supply Moldedcase ircuit reaker Noise Filter To N Magnetic ontactor nalog Monitor able With Front over Open (SERVOPK for Pulse Queue/ nalog Voltage Reference) DF P POWER OM N With Front over Open (SERVOPK for MEHTROLINK ommunications) N For Pulse Queue Reference or nalog Voltage Reference N N Digital Operator JUSPOP Personal omputer able I/O Signal able Linear Scale Incremental To N Personal omputer Host ontroller Serial able For MEHTROLINK Transmissions N MEHTROLINK ommunication able N Digital Operator able N I/O Signal able To other stations using MEHTROLINK/ MEHTROLINK. Digital Operator To external devices such as LED indicators. N U V W Serial onverter Unit N N Encoder able Power able Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. U V W pplicable ables and onnectors Motor Type Linear Scale Type Tracµ Series Model Servo Drive Motor able Linearscale onnection ables SERVOPK Model SGDS Singlephase Singlephase Threephase V V V SERVOPK,/ Motor Serial [N],/ Serial onverter Unit Serial onverter Unit,/ External Encoder Power able (Flexible Type) onverter Unit Model JZDP Serial able (Flexible Type) Encoder able (Flexible Type) Moving Magnet (MM) Incremental SGTMMM F JZSPLN E D SGTMMM F JZSPLN E D SGTMMHP F JZSPLN E D SGTMMHP F JZSPLN E D SGTMMH F JZSPLN E D SGTMMHP F JZSPLN E D SGTMMHP F JZSPLN E D :The code shown in the squares ( ) varies in accordance with the reference. :If you are ordering RoHS compliant products, add "E" on the end of the model name. JZSPLP7 E indicates the length of the cable. = m = m = m = m = m = m JZSPLL E indicates the length of the cable. = m = m = m = m = m Note: For SGTMM linear sliders, a JZSPLLE cable (length:. m) is also required. 8

383 Linear Sliders Tracµ Linear Selecting ables and onnectors pplicable Peripheral Devices SERVOPK Main ircuit Power Supply apacity W Model SGDS Singlephase V Singlephase V Digital Operator Model F JUSPOP. kv F. kv with a m. kv cable. kv Moldedcase ircuit reaker Power Supply M/Fuse apacity per (Note ) apacity SERVOPK rms Noise Filter (Recommended) FN7/7 (Singlephase V, ) Magnetic ontactor S Surge bsorber R M QZ /D Reactor X X Notes: Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity. utoff characteristics (at ) is % for two seconds min. and 7% for. seconds min. Do not use a fastacting fuse. ecause the SERVOPK s power supply is a capacitor input type, a fastacting fuse may blow when the power is turned on. The SGDS SERVOPK does not include a protective circuit for grounding. To protect the system, install a groundfault detector against overloads and short circuits or install a protective groundfault detector combined with the moldedcase circuit breaker for grounding. The following peripheral devices are manufactured by: Noise filter: Schaffner EM, Inc. Magnetic contactor: Fuji Electric F omponents & Systems o., Ltd. Surge absorber: Okaya Electric Industries o., Ltd. (Surge Protector) /D reactor: Yaskawa ontrols o., Ltd. Detail Drawings: Serial onverter Units for Linear Scales by HEIDENHIN orporation With able for Hall Sensor JZDPD JZDPD E(RoHS compliant) With able for Hall Sensor JZDPD JZDPD E(RoHS compliant) #. Dia. Holes UN Tapped Holes. Dia. Holes Nameplate N.99 ±...±. ±. ±. 7 8±. 9 ± N N #. Dia. Holes UN Tapped Holes. Dia. Holes Nameplate N.99±...±. ±. 7 8±. 9 ±. N.±. # UN Tapped Holes.. M Tapped Holes, Depth M Tapped Holes, Depth Note: For details on connectors, refer to page. Note: For details on connectors, refer to page 8. Hall Sensor able (Flexible Type) Pulse Queue or nalog Voltage Reference MEHTROLINK ommunications ables for Setting Devices/Monitors Serial onverter Unit,/ Hall Sensor I/O Signal onnector [N] I/O Signal onnector [N] onnector Terminal lock onverter Unit able with Loose Wires at One End onnector Kit [N] onnector Terminal lock onverter able onnector Kit [N] MEHTROLINK ommunication onnector [N] or [N] [N],/Setting Devices [N] Personal nalog Monitor omputer able able JZSPLL E indicates the length of the cable. = m = m = m = m = m JUSP TPGE (with a. m cable) JZSPSI E indicates the length of the cable. = m = m = m JZSP SI9E JZSP TP E JZSPSI9E (DE9) MEHTROLINK communications cable JEPMW E indicates the length of the cable. =. m = m = m = m = m = m = m = m = m MEHTROLINK terminator JEPMWE JZDPMSE ( m) JZSPE ( m) Linear Sliders 8

384 Linear Sliders TracMG Model Designation With Incremental Linear Scales SGT M F 7 H Trac series linear slider Moving magnet type rmature ode (rmature not integrally mounted) F : SGLFWF F : SGLFW8F Table Length : Short : Long rmature ode F Table Length Effective Stroke mm mm rmature ode F Table Length Effective Stroke 8 mm mm Design Revision Order,,,... Linear Scale Resolution : m µ Linear Scale Manufacturer H: HEIDENHIN orporation Linear Scale Output Form : nalog output Vpp Peak Force 7 : 7 N : N : N 7 : 7 N 8 With bsolute (S) Linear Scales SGT M Trac series linear slider F Moving magnet type rmature ode (rmature not integrally mounted) F : SGLFWF F : SGLFW8F Table Length : Short : Long rmature ode F Table Length Effective Stroke mm mm rmature ode F Table Length Effective Stroke 8 mm mm 7 S Design Revision Order,,,... Linear Scale Specifications : ST78 (by Mitutoyo orporation, resolution:. µm) : ST78 (by Mitutoyo orporation, resolution:. µm) With an absolute linear scale Peak Force 7 : 7 N : N : N 7 : 7 N

385 Features Optimum drive for highacceleration and hightact operations because of its lightweight moving member. For short strokes ( mm to 8 mm) ooling units (pipes, etc.) for forcedair or liquid cooling systems can be placed on the fixed side. Linear scale options: Incremental or absolute. Improved stroke efficiency :Ratio of effective stroke to the total length of drive system Model lassification Force SERVOPK Model SGDS TracMG Series Linear Sliders Singlephase Singlephase V V Model Force N N N 8 N N F F 8 SGTMF7 SGTMF SGTMF Rated force Peak force 8 SGTMF7 Stroke Length Linear Slider Model Stroke Length mm mm mm mm SGTMF7 mm SGTMF mm SGTMF 8 mm SGTMF7 mm Linear Sliders 8

386 SGTMF Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Methods: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Linear Slider Model With Incremental Linear Scales With bsolute Linear Scales SGTMF7H SGTMFH SGTMF7S SGTMFS pplicable SERVOPK Model SGDS pplicable Serial onverter Unit Model JZDP D D Rated Force N 9 9 Peak Force N 7 7 Force onstant N/rms Motor onstant N/QW.. Maximum Payload kg Effective Stroke mm Resolution µm Incremental encoder:.78 ( µm/) bsolute encoder :. Movable Member Mass kg Total Mass (excluding cables) kg Repeatability µm ±. ±. ±. ±. : Values obtained when the acceleration is.9 m/s. : Values obtained when the surrounding air temperature is constant. : n absolute encoder with a resolution of. µm is also available. ontact your Yaskawa representative for details. Performance urves Force Speed Effective Force Surrounding ir Temperature Load Mass cceleration : ontinuous Duty Zone : Intermittent Duty Zone When the sensor temperature is or less Surrounding ir Temperature () SGTMF7 (m/s) Speed.... Force (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) cceleration (m/s ) Load Mass (kg) () SGTMF (m/s) Speed.... Force (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) (m/s ) cceleration Load Mass (kg) 8

387 Linear Sliders TracMG Linear SGTMF Linear Sliders Units: mm External Dimensions With Incremental Linear Scale Holes L L L9 L8 L7 7 L. 8 8 L 8 7 L L (Note) L NM Screws, Depth L Plug: 779 (MP) Pin: 9 or 777 () Nameplate Encoder able ( mm) Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. onnector (Plug) for Encoder: (MP) (9) L (Full Stroke) 7 (between Stoppers) L (Table Length) (.) Linear Scale LID89 (by HEINDENHIN orporation) One Zeropoint Signal at the Scale enter (9) () Linear Slider Model SGTMF L L L L L L L7 L8 L9 L L N 7H 7 8 H With bsolute Linear Scale Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. L (Full Stroke) L (Table Length) (9) 7 (between Stoppers) (.) L Linear Scale ST78 (by Mitutoyo orporation) (Note) L (.7) 8 (.7) 9 7 Holes 8 (Pitch) L9 (Pitch 8) L8 L L7 L L 7 8 L L L NM Screws, Depth L (from the Head) Dsub onnector (9pin, Female) Plug: 779 (MP) Pin: 9 or 777 () Nameplate Linear Sliders Linear Slider Model SGTMF L L L L L L L7 L8 L9 L L L N 7S S

388 SGTMF Linear Sliders Ratings and Specifications Time Rating: ontinuous Insulation Resistance: VD, MΩ min. Surrounding ir Temperature: to Excitation: Permanent magnet Dielectric Strength: V for one minute Protection Methods: Selfcooled mbient Humidity: % to 8% (no condensation) llowable Winding Temperature: (Insulation class ) Linear Slider Model With Incremental Linear Scales With bsolute Linear Scales SGTMFH SGTMF7H SGTMFS SGTMF7S pplicable SERVOPK Model SGDS pplicable Serial onverter Unit Model JZDP D D Rated Force N Peak Force N 7 7 Force onstant N/rms Motor onstant N/QW Maximum Payload kg 8 8 Effective Stroke mm 8 8 Resolution µm Incremental encoder:.78 ( µm/) bsolute encoder :. Movable Member Mass kg Total Mass (excluding cables) kg Repeatability µm ±. ±. ±. ±. : Values obtained when the acceleration is.9 m/s. : Values obtained when the surrounding air temperature is constant. : n absolute encoder with a resolution of. µm is also available. ontact your Yaskawa representative for details. Performance urves Force Speed Effective Force Surrounding ir Temperature Load Mass cceleration () SGTMF Speed (m/s) : ontinuous Duty Zone : Intermittent Duty Zone..... Force (N) Surrounding ir Temperature ( ) When the sensor temperature is or less Surrounding air temperature 8 Effective Force [Load Ratio] (%) cceleration (m/s ) 8 Load Mass (kg) 8 () SGTMF7 Speed (m/s) Force (N) Surrounding ir Temperature ( ) 8 Effective Force [Load Ratio] (%) cceleration (m/s ) 8 8 Load Mass (kg) 88

389 Linear Sliders TracMG Linear SGTMF Linear Sliders Units: mm External Dimensions With Incremental Linear Scale 9 Holes 7 ounter oring, L L7 (Note) (L7) M Screws, Depth L Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W Plug: 779 (MP) Pin: 9 or (From the Motor) Encoder able ( mm) L L(Pitch) NM8 Screws, Depth L 9 (Pitch) L (Pitch ) L (Pitch 9) () onnector (Plug) for Encoder (MP) () () L (Full Stroke) 9 (between Stoppers) () L (Table Length) () L Linear Scale LID89 (by HEINDENHIN orporation) One Zeropoint Signal at the Scale enter (.) (.) Linear Slider Model SGTMF L L L L L L L7 N H H 7. With bsolute Linear Scale Note: The magnet moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W Holes 7 ounter oring, L 9 8 () L(Full Stroke) L (Table Length) () () 9 (between Stoppers) () 8 7 L7 Linear Scale ST78 (by Mitutoyo orporation) 9 (Pitch) 8 (Pitch 9). L L L L L L (Note) (from the Head) L7 Dsub onnector (9pin, Female) Plug: 779 (MP) Pin: 9 or 777 (from the Motor) M Screws, Depth L NM8 Screws, Depth L (.7) (.) Linear Sliders Linear Slider Model SGTMF L L L L L L L7 N S S 7. 89

390 S/N D988 ON Selecting ables and onnectors Peripheral Devices Reference Input from Host ontroller Power Supply Noise Filter To Moldedcase ircuit reaker N Magnetic ontactor nalog Monitor able With Front over Open (SERVOPK for Pulse Queue/ nalog Voltage Reference) DF P POWER OM N With Front over Open (SERVOPK for MEHTROLINK ommunications) N For Pulse Queue Reference or nalog Voltage Reference N N Personal omputer able I/O Signal able Linear Scale Incremental Digital Operator JUSPOP To N Personal omputer Host ontroller Serial able For MEHTROLINK Transmissions N MEHTROLINK ommunication able N Digital Operator able N I/O Signal able bsolute To N To other stations using MEHTROLINK/ MEHTROLINK. To external devices such as LED indicators. Serial able Digital Operator N U V W Serial onverter Unit U V W N N Encoder able Power able Power able Regenerative Resistor onnect an external regenerative resistor to terminals and if the regenerative capacity is insufficient. U V W pplicable ables and onnectors Motor Type Moving Magnet (MM) Linear Scale Type Incremental bsolute TracMG Series Model Servo Drive Motor able Linearscale onnection ables SERVOPK Model SGDS Singlephase Singlephase Threephase V V V SERVOPK,/ Motor Power able (Flexible Type) Serial onverter Unit Model JZDP SGTMF7H F JZSPLN E D SGTMFH F JZSPLN E D SGTMFH 8 JZSPLN E D SGTMF7H 8 JZSPLN E D SGTMF7S F JZSPLN E SGTMFS F JZSPLN E SGTMFS 8 JZSPLN E SGTMF7S 8 JZSPLN E : The code shown in the squares ( ) varies in accordance with the reference. : If you are ordering RoHS compliant products, add "E" on the end of the model name. [N],/ Serial onverter Unit Serial onverter Unit,/ External Encoder Serial able (Flexible Type) JZSPLP7 E indicates the length of the cable. = m = m = m = m = m = m JZSPLP7 E [N],/External encoder Encoder able (Flexible Type) JZSPLL E indicates the length of the cable. = m = m = m = m = m 9

391 Linear Sliders TracMG Linear Selecting ables and onnectors pplicable Peripheral Devices SERVOPK Main ircuit Power Supply apacity W Model SGDS Singlephase V Singlephase V Digital Operator Model Moldedcase ircuit reaker Power Supply M/Fuse apacity per (Note ) apacity SERVOPK Noise Filter (Recommended) Magnetic ontactor Surge bsorber /D Reactor JUSPOP FN7/7 F. kv rms X (Singlephase V, ) R M with a m S FN7/7 QZ cable.7 kv rms X (Singlephase V, ) Notes: Nominal value at the rated load. The specified derating is required to select an appropriate fuse capacity. utoff characteristics (at ) is % for two seconds min. and 7% for. seconds min. Do not use a fastacting fuse. ecause the SERVOPK s power supply is a capacitor input type, a fastacting fuse may blow when the power is turned on. The SGDS SERVOPK does not include a protective circuit for grounding. To protect the system, install a groundfault detector against overloads and short circuits or install a protective groundfault detector combined with the moldedcase circuit breaker for grounding. The following peripheral devices are manufactured by: Noise filter: Schaffner EM, Inc. Magnetic contactor: Fuji Electric F omponents & Systems o., Ltd. Surge absorber: Okaya Electric Industries o., Ltd. (Surge Protector) /D reactor: Yaskawa ontrols o., Ltd. Detail Drawings: Serial onverter Units for Linear Scales by HEIDENHIN orporation without able for Hall Sensor JZDPD JZDPD E (RoHS compliant) #. Dia. Holes UN Tapped Holes. Dia. Holes Nameplate N N.99±. ±..±...±. ±. 7 8±. 9 # UN Tapped Holes. M Tapped Holes, Depth Note: For details on connectors, refer to page 8. Pulse Queue or nalog Voltage Reference MEHTROLINK ommunications ables for Setting Devices/Monitors onnector Terminal lock onverter Unit JUSP TPGE (with a. m cable) I/O Signal onnector [N] able with Loose Wires at One End JZSPSI E indicates the length of the cable. = m = m = m onnector Kit onnector Terminal [N] lock onverter Unit JZSP SI9E I/O Signal onnector [N] JZSP TP E onnector Kit [N] JZSPSI9E (DE9) MEHTROLINK ommunication onnector [N] or [N] MEHTROLINK communications cable JEPMW E indicates the length of the cable. =. m = m = m = m = m = m = m = m = m MEHTROLINK terminator JEPMWE [N],/Setting Devices [N] Personal nalog Monitor omputer able able JZDPMSE ( m) JZSPE ( m) Linear Sliders 9

392 SERVOPKs SGDS (nalog Voltage Reference or Pulsetrain Reference) For Linear Servomotors The SGDS SERVOPK in combination with a linear servomotor demonstrates highprecision positioning in a wide speed range from high to low. 9