Sigma II Servo System Product Catalog Supplement

Transcription

1 Sigma II Servo System Product Catalog Supplement Sigma II Servo System Product Catalog Supplement

2 Table of Contents Product Overview...2 ~ 7 100/200V Single-phase Sigma II Servo System SGMH Sigma II Servo System...9 ~ 25 SGMPH Sigma II Servo System...27 ~ 43 SGMPH Sigma II Gearmotor System...45 ~ 54 SGDH Sigma II Servo mplifier...95 ~ V Three-phase Sigma II Servo System SGMGH Sigma II Servo System...55 ~ 66 SGMGH Sigma II Gearmotor System...67 ~ 81 SGMSH Sigma II Servo System...83 ~ 93 SGDH Sigma II Servo mplifier...95 ~ V Three-phase Sigma II Servo System SGMGH Sigma II Servo System ~ 136 SGMSH/UH Sigma II Servo System ~ 149 SGMBH Sigma II Servo System ~ 162 SGDH Sigma II Servo mplifier ~ 199 1

3 Product Overview Yaskawa has a full lineup of servomotors and amplifiers. Choose the best drives for your needs and specifications. Servomotor Series Description pplications SGMH (3000rpm/5000rpm max) High Speed Series Large torque required at low inertia. Small capacity Medium capacity SGMPH (3000rpm/5000rpm max) SGMGH (1500rpm/3000rpm max) SGMSH (3000rpm/5000rpm max) SGMUH (6000rpm max) Flat Series Short L-length. Good for installation in compact spaces. General Purpose High speed rotation required without load. High Speed Series High torque required at low inertia. High Speed Series High torque at 6000rpm. Chip Mounters Chip Mounters PCB Drilling Machines PCB Drilling Machines Packaging Machines Robots Material Handling Equipment Machine Tool Feeds Large capacity SGMBH (2000rpm max) Large kw Thermoforming Converting Injection molding 2

4 Product Overview Peak Torque up to 1,010oz in up to 2,027oz in up to 1,988in lb up to 422in lb Servomotor Capacity Servo mplifier Type SGDH-*** 110V 230V 480V Single-phase Single-phase Three-phase Three-phase 30W 3BE 3E 50W 5BE 5E 100W 01BE 01E 200W 02BE 02E 400W 04E 750W 08E-S 100W 01BE 01E 200W 02BE 02E 400W 04E 750W 08E-S 08E 1500W 15E-S 15E 0.45kW 05E 05DE 0.85kW 10E 10DE 1.3kW 15E 15DE 1.8kW 20E 20DE 2.9kW 30E 30DE 4.4kW 50E 50DE 5.5kW 60E 60DE 7.5kW 75E 75DE 11kW 1E 1DE 15kW 1EE 1EDE 1.0kW 10E 10DE 1.5kW 15E 15DE 2.0kW 20E 20DE 3.0kW 30E 30DE 4.0kW 50E 50DE 5.0kW 50E 50DE Page 11, 97 29, 97 57, 97, 127, , 97, 139, 153 up to 190in lb up to 6120in lb 1.0 kw 10DE 139, 3.0kW 30DE kW 2BDE 30kW 3ZDE 37kW 3GDE 45kw 4EDE 55kW 5EDE 153, 165 3

5 Product Overview Single-phase 30W to 1500W (230VC) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected SERVOPCK LRM YSKW Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to servo amplifier required.. Noise Filter (optional) Used to eliminate external noise from the power line. Host Controller Connect the SGDH servo amplifier to a Yaskawa host controller or one made by other vendors. (nalog input, pulse train input available) Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used only for SGM* servomotor with a holding brake. SGDH Servo mplifier Type SGDH-3E to -15E-S SGMPH Servomotor 4

6 Product Overview Three-phase 0.5kW to 15kW (230VC) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Noise Filter (optional) Used to eliminate external noise from the power line SERVOPCK LRM YSKW Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to amplifier required.. Magnetic Contactor Host Controller Connect the SGDH servo amplifier to a Yaskawa host controller or one made by other vendors. (nalog input, pulse train input available) Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used for SGM* servomotor with a brake SGDH Servo mplifier Type SGDH-05E to -1EE SGMSH Servomotor 5

7 Product Overview Three-phase 0.5kW to 55kW (480VC) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Molded-case Circuit Breaker Noise Filter (optional) Used to eliminate external noise from the power line. Noise Filter Power Supply Three-phase, 480VC SERVOPCK LRM YSKW Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to amplifier required.. Magnetic Contactor Host Controller Connect the SGDH servo amplifier to a Yaskawa host controller or one made by other vendors. (nalog input, pulse train input available) Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Magnetic Contactor MP920 Control Power Supply 24V 0V SGDH Servo mplifier Type SGDH-05DE to -5EDE SGMGH Servomotor 6

8 Product Overview Selecting Your Sigma Servo System For your convenience, each motor series in this selection guide includes a diagram to help you select and identify the components necessary for your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) SGDH Servo mplifier (B) Connector Encoder Signal (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Motor side Connector (D) Regenerative Unit (E) 1. First, select the Sigma servomotor suited for your application using the Yaskawa Servomotor Sizing Software or the Sigma Servomotor Data Sheets. Using the tab indicators in this guide, locate the section describing the type of servomotor you selected. 2. Then select a compatible amplifier using the Sigma II Servo mplifier Selection Table in the appropriate servomotor section of this guide. 3. Yaskawa offers pre-wired power and encoder cables with correctly matched, high quality connectors attached to permit correct interconnection. Refer to the Pre-wired Cable Selection Table to select the correct cable assembly from the list of standard cable lengths. 4. Solder-type connectors without cables are also available. Refer to the appropriate Servomotor Connector Selection Table to select the connector kit to be used with the selected servomotor or encoder (with or without brake). 5. Refer to the Peripheral Device Selection Table to select peripheral equipment to be used with the servo amplifier (i.e., digital operator, regenerative unit, software, etc.). 6. Specify technical product manual YE-SI-S on your Sigma II Servo System purchase order. One manual is available at no charge with each purchase order. The manual can also be downloaded at no charge from Yaskawa s Web site at Each table includes a column labeled Item Class, which classifies the availability of the specified option. Following are descriptions of the codes used: Stock: Limited Stock: Normally 3 to 5 days lead time for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales representative. Typically, small quantities are available from stock. These items will likely change to stock items as the order demand increases. For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales representative. Non-Stock: Normal delivery: 12 to 16 weeks. 7

9 Product Overview NOTES: 8

10 100/200V Single-phase Sigma II Servo Systems Super High Power Rate Series SGMH Servomotors - With Incremental / bsolute Encoder Rated Output: 30W, 50W, 100W, 200W, 400W, 750W SGMH Servomotors For dditional Information SGMH Ratings & Specifications SGMH Speed/Torque Curves SGMH Dimensions SGMH Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Small sized motor Five frame sizes (including NEM 23 and 34 flanges): up to 1,010oz in peak torque Smaller installation space for more compact machine designs. 2. High Speed High power rating High power is achieved by minimizing the inertia of the motor This increases the acceleration/deceleration rate and reduces positioning time Maximum rotation speed of 5000rpm Increases maximum rotation speed and shortens positioning time Rated speed of 3,000rpm 3. Encoders (reduced wiring serial encoder) 13-bit (2048 ppr x 4) incremental encoder (standard) 16-bit (16384) absolute encoder (option) 4. Enclosure Totally enclosed, self-cooled IP55 (not including shaft) Optional shaft seals are available. 5. pplication Emphasis Compact, high torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Low Noise dopting the IGBT power element eliminates irritating metallic sounds 7. Certified International Standards UL, cul recognized (File #: E165827), CE compliance 9

11 100/200V Single-phase Sigma II Servo Systems SGMH Servomotors Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15μm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed: 5000rpm Specifications are the same for either absolute or incremental encoders. Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted pplicable Encoder: 13-bit incremental or 16-bit absolute encoder System Voltage 100V ac 200V ac MOTOR SGMH- Rated Output Rated Torque* Instantaneous Peak Torque* Continuous Rated Current Maximum Peak Current Rated ngular cceleration Rated Power Rate* W (hp) oz in N m oz in N m rms rms rad/s 2 kw/s 3B 30 (0.04) B 50 (0.07) B 100 (0.13) B 200 (0.27) ** 400 (0.53) (0.04) (0.07) (0.13) (0.27) (0.53) (1.01) * Values when the servomotor is combined with an SGDH servo amplifier. ** When combined with an SGDH-04FE servo amplifier. System Voltage 100V ac 200V ac MOTORS SGMH- Moment of Inertia Holding Brake (at 20 C) llowable Load Motor without Brake Motor with Brake Capacity Torque Coil Rated Resistance Current Inertia* oz in s kg m oz in s kg m W N m Ω kg m B B B B * Values apply to motors without brake. J L (allowable load inertia) shows the range requiring no exterior regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required. 10

12 100/200V Single-phase Sigma II Servo Systems Speed / Torque Curves 200V SGMH-3 SGMH-5 SGMH-01 SGMH Servomotors SGMH-02 SGMH-04 SGMH B 100V SGMH-3B SGMH-5B SGMH-01B SGMH-02B SGMH-04* : CONTINUOUS DUTY ZONE : CONTINUOUS B DUTY ZONE B : INTERMITTENT DUTY ZONE B : INTERMITTENT DUTY ZONE * When combined with SGDH-04 FE amp. 11

13 100/200V Single-phase Sigma II Servo Systems SGMH Servomotors Dimensions in inches (mm) (1) 13-Bit Incremental or 16-Bit bsolute Encoder, without Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) ENCODER CBLE, Φ0.24 (Φ6) UL (300) ±1.18 (30) MOTOR CBLE, Φ0.28 (Φ7) UL1818 or UL (35) Encoder plug Motor Plug W U (300) ±1.18 (30) (0.04) T Cross-section Y-Y L Φ (Φ0.04) 0.37 (9.5) 0.87 (22) LL LM 0.79 (20) (2.5) 0.60 (15.2) 0.20 (5) 0.98 (25) 0.30 (7.5) QK ΦS* Φ0.315 (F8) 0.43 (11) 1.57 (40) 0.85 (21.5) 0.16 (4) Y Y ΦLB** 2-Φ0.17 (4.3) 1.57 (40) Φ1.81 (Φ46) Serial encoder (0.002) Type SGMH- QK U W T L LL LM ΦS* ΦLB** 3 F2 Without Keyway F (14) (1.2) (2) (2) (94.5) (69.5) (36.5) F2 Without Keyway (6) F (14) (1.2) (2) (2) (102) (77) (44) (30) 01 F2 Without Keyway F (14) 0.07 (1.8) 0.12 (3) 0.12 (3) (119.5) (94.5) (61.5) (8) Some motor dimensions vary for motors with the optional shaft seal: See p.19 for details. Output W (hp) 30 (0.04) 50 (0.07) 100 (0.13) pproximate Mass lb (kg) 0.66 (0.3) 0.88 (0.4) 1.10 (0.5) llowable Radial Load lb (N) 15 (68) 17 (78) llowable Thrust Load lb (N) 12 (54) Connector Specifications Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Encoder Plug Encoder Connection Pin Output Wire Color 1 PG 5V Red 2 PG 0V Black 3 Battery + Orange 4 Battery White/Orange 5 Data + Light Blue 6 Data - White/Light Blue Note: Pins Number 3 and 4 are connectors used for 16-bit absolute encoder option only. Plug: (Molex) Mating connector: Socket: Motor Plug 1 4 Motor Connection Pin Output Wire Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow Plug (MP) Pin: or (Nos. 1 to 3) Ground pin: (No 4) Mating connector: Cap: Socket: or

14 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30) Motor cable UL1818, UL3534 or UL (35) Encoder plug Motor plug W U T Cross-section Y-Y SGMH Servomotors (300) ±1.18 (30) (0.04) (0.04) 1.04 (26.5) 0.37(9.5) 0.51 (13) 0.79 (20) L LL LM LG LR 0.12 (3) QK Y ΦS * 0.43 (11) LC (21.5) 0.85 ΦL Y ΦLB** LC Serial encoder (0.02) 4-ΦLZ Type SGMH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** QK U W T 02 F4 04 F4 08 F (126.5) 6.08 (154.5) 7.28 (185) 3.8 (96.5) 4.9 (124.5) 5.71 (145) 2.46 (62.5) (30) (90.5) (111) (40) 0.24 (6) 0.31 (8) 2.36 (60) 3.15 (80) 2.76 (70) 3.54 (90) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.63 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) 0.12 (3) 0.12 (3) 0.2 (5) 0.2 (5) 0.2 (5) 0.2 (5) Output W (hp) 200 (0.27) 400 (0.53) 750 (1.01) pproximate Mass lb (kg) 2.43 (1.1) 3.75 (1.7) 7.5 (3.4) llowable Radial Load lb (N) llowable Thrust Load lb (N) 55 (245) 17 (74) 88 (392) 33 (147) *Please see the following table for dimension tolerances. Some motor dimensions vary for motors with the optional shaft seal: See p.20 for details. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm

15 100/200V Single-phase Sigma II Servo Systems SGMH Servomotors (2) 13-Bit Incremental or 16-Bit bsolute Encoder, with Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) Encoder cable, Φ0.24 (Φ6) (300) ±1.18 (30) Encoder plug UL U Motor cable Φ0.28 (Φ7) UL1828 or UL (35) Motor plug W T Cross-section Y - Y (300) ±1.18 (30) (0.04) 0.37(9.5) 0.87 (22) 0.79 (20) 0.60 (15.2) L LL LM 0.20 (5) 0.98 (25) (2.5) 0.30 (25) QK Φ0.315 (Φ8) Φ (Φ0.04) 1.57 (40) 0.85 (21.5) 0.43 (11) 0.16 (4) Y Y ΦS* ΦLB** 2 Φ0.17 (Φ4.3) 1.57 (40) Φ1.81 (Φ46) Serial encoder Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque (0.02) Type SGMH- U W T L LL LM ΦS* ΦLB** QK 3 F2C F4C 5 F2C (1.2) (2) (126) F4C (133.5) 01 F2C F4C (1.8) (3) (3) (160) 3.98 (101) 4.27 (108.5) 5.31 (135) 1.44 (36.5) 1.73 (44.0) 0.24 (6) 1.18 (30) (61.5) (8) 0.55 (14) 0.55 (14) Some motor dimensions vary for motors with the optional shaft seal: See p.19 for details. Output W (hp) 30 (0.04) 50 (0.07) 100 (0.13) pproximate Mass lb (kg) 1.32 llowable Radial Load lb (N) llowable Thrust Load lb (N) (0.6) 1.54 (0.7) 15 (68) 12 (54) (0.8) (78) 14 Connector Specifications: Motor Plug Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Motor Connection 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow 5 Brake Terminal Red 6 Brake Terminal Black Plug: (MP) Pin: or (except No. 4) Ground pin: : (No. 4) Mating connector: Cap: Socket: or Encoder Plug Encoder Connection 1 PG 5V Red 2 PG 0V Black 3 Battery + Orange 4 Battery White/Orange 5 Data + Light Blue 6 Data - White/Light Blue Note: Pins number 3 and 4 are connectors used for 16-bit absolute encoder option only. Plug: (Molex) Mating connector: Socket:

16 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (26.5) (300) ±1.18 (30) Motor cable Φ0.28 (Φ7) UL1828 or UL (35) 0.51 (13) 0.37 (9.5) 0.79 (20) (300) ±1.18 (30) L LL LM LR 0.12 (3) LG QK Encoder plug Motor Plug (0.04) Φ (Φ0.04) W U T Cross-Section Y-Y LC 0.85 (21.5) 0.43 (11) ΦL SGMH Servomotors Y Y ΦLB** ΦS* LC (0.02) Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque 4-ΦLZ Serial encoder Type SGMH- U W T L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** QK 02 F4C 04 F4C 08 F4C 0.12 (3) 0.2 (5) 6.54 (166) 5.35 (136) (194) (164) (229.5) (189.5) 2.46 (62.5) (30) (90.5) (111) (40) 0.24 (6) 0.31 (8) 2.36 (60) 3.15 (80) 2.76 (70) 3.54 (90) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.64 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) Output W (hp) 200 (0.27) 400 (0.53) 750 (1.01) pproximate Mass lb (kg) llowable Radial Load lb (N) 3.53 (1.6) (245) (2.2) (4.3) (392) llowable Thrust Load lb (N) 17 (74) 33 (147) Some motor dimensions vary for motors with the optional shaft seal: See p.20 for details. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm

17 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.54hp) with NEM 23* Flange/Pilot SGMH Servomotors Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30) Motor cable UL1818, UL3534 or UL (35) (300) ±1.18 (30) Encoder plug Motor plug (0.04) 1.32 (33.5) 0.37(9.5) 0.51 (13) 0.79 (20) L LL LM LG LR 0.06 (1.6) Φ (0.04) 0.43 (11) LC 0.85 (21.5) ΦL ΦS * ΦLB** LC Serial encoder (0.02) 4-ΦLZ Type SGMH- 02 N21 04 N21 L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** 4.67 (118.5) 5.77 (146.5) 3.9 (98.5) 5.0 (126.5) 2.56 (65) (20) (93) 0.24 (6) 2.36 (60) 2.63 (66.7) 0.18 (4.5) 0.50 (12.7) 1.5 (38.1) Output W (hp) 200 (0.27) 400 (0.53) pproximate Mass lb (kg) 2.43 (1.1) 3.75 (1.7) llowable Radial Load lb (N) llowable Thrust Load lb (N) 55 (245) 17 (74) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm *For servo application torques: shaft diameter is 0.5in (12.7mm) rather than 0.25 (6.35mm), as is in typical NEM

18 100/200V Single-phase Sigma II Servo Systems 750W (1.01hp) with NEM 34* Flange/Pilot 0.28 (7) 1.04 (26.5) 0.37 (9.5) (300) ±1.18 (30) Encoder cable, Φ0.24 (Φ6) UL20276 Φ6 Motor cable Φ0.27 (Φ7) UL (13) 0.91(23) L LL LM 1.38 (35) (300) ±1.18 (30) 0.63 (16) LG LR 0.08 (2) Encoder plug Motor plug (0.04) Φ (Φ0.04) 0.43 (11) LC 0.85 (21.5) ΦL ΦS* SGMH Servomotors ΦLD*** ΦLB** LC 13-bit serial incremental encoder (0.02) 4-ΦLZ Type SGMH- 08 N21 L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** ΦLD*** 7.20 (183) 5.75 (146) 4.43 (112.5) 1.46 (37) 0.31 (8) 3.35 (85) 3.87 (98.4) 0.28 (7) 0.63 (16) 2.87 (73) 2.60 (66) Output W (hp) 750 (1.01) pprox Mass lb (kg) 7.5 (3.4) llowable Radial Load lb (N) llowable Thrust Load lb (N) 88 (392) 33 (147) Specified Tolerances Dimension *ΦS **ΦLB **Φ*LD Unit Diameter Tolerance Diameter Tolerance Diameter Tolerance in mm *For servo application torques: shaft diameter is 0.625in (15.875mm) rather than (9.525mm), as is in typical NEM

19 100/200V Single-phase Sigma II Servo Systems SGMH Servomotors 2.27 (57.7) 8-32 UNC - 2 places L 0.73 (18.6) 0.06 (1.5) L 2.27 (57.7) LB S (5.2) 4 places 0.19 (4.8) Motor type *Dimensions - Inch (mm) L S LB L SGMH-3 w/nem 23 daptor 3.72 (94.5) / ( / -.006) / ( / -.05) (66.7) SGMH-5 w/nem 23 daptor 4.02 (102) / ( / -.006) / ( / -.05) (66.7) SGMH-01 w/nem 23 daptor 4.70 (119.5) / ( / -.009) / ( / -.05) (66.7) *Dimensions include a field installed SGM-N23 adapter flange on the listed motor. 18

20 100/200V Single-phase Sigma II Servo Systems Dimension Modifications for Motors with Optional Shaft Seal 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) LE LR SGMH Servomotors LD QK ΦS ΦLP ΦLB Shaft seal Type SGMH- QK ΦLB* ΦS* LE LR LD ΦLP (6) (14) 1.18 (30) 0.10 (2.5) 0.98 (25) 0.30 (7.5) 1.14 (28) (8) *Tolerances for diameters LB and S are the same as those for motors without shaft seals. 19

21 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) LR SGMH Servomotors LE LD QK ΦS ΦLP ΦLB Shaft seal Type SGMH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.55 (14) 1.18 (30) 0.39 (10) 1.89 (48) (3) (25) 2.76 (70) 0.63 (16) 1.57 (40) 0.43 (11) 2.60 (66) *Tolerances for diameters LB and S are the same as those for motors without shaft seals. Torque Reduction Factor for SGMH motors equipped with a shaft seal: Servo Motor Model Torque Reduction Factor 70% 80% 90% 90% 95% 95% For example: The SGMH-3 continuous and peak torque rating should be reduced to 70% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page. 20

22 100/200V Single-phase Sigma II Servo Systems Selecting Your SGMH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration SGMH Servomotors Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) SGDH Servo mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector Encoder (D) Optional Holding Brake SGMH Servomotor () Shaft Keyway Shaft Seal Encoder side Motor side Connector (D) Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation Sigma II Servomotor Type Rated Output 3: 30W (0.04hp) 5: 50W (0.07hp) 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) Power Supply : 200V B: 100V SGMH - 01 F 4 1 ccessories 1: Standard C: Standard with 24V DC Brake* S: Standard with Shaft Seal* E: Standard with Brake & Shaft Seal* Shaft Specifications 4: Straight Shaft with Keyway* 2: Straight Shaft without Keyway Revision Level F: Standard N: NEM flange (200W, 400W & 800W only without holding brake) Encoder Specifications : 13-bit (2048 x 4) Incremental Encoder 1: 16-bit (16384 x 4) bsolute Encoder * Keyways, shaft seals, and holding brakes not available on motors with NEM flanges (revision level = N). 21

23 100/200V Single-phase Sigma II Servo Systems Servomotor & mplifier Selection SGMH Servomotors Use the table below to select the recommended SGMH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) 22 Description 200V, Single-Phase Straight Shaft without Keyway 200V, Single-Phase, Straight Shaft with Keyway 200V, Single-Phase, Straight Shaft without Keyway NEM flange 100V, Single-Phase, Straight Shaft without Keyway 100V, Single-Phase, Straight Shaft with Keyway 100V, Single-Phase, Straight Shaft without Keyway NEM flange Motors Used with 13-bit Incremental Encoders (5000rpm Maximum) Peak Torque (oz in) Rated Torque (oz in) Motor Inertia (oz in s ) Motor MODEL NUMBER () mplifier mplifier MODEL NUMBER (B)* Single-Phase SGDH 3-Phase SGDH SGMH-3F SGMH-3F2C 3E SGMH-5F SGMH-5F2C 5E SGMH-01F SGMH-01F2C 01E SGMH-01F SGMH-01F4C 01E SGMH-02F SGMH-02F4C 02E SGMH-04F SGMH-04F4C 04E SGMH-08F SGMH-08F4C 08E-S 08E SGMH-01F21** SGMH-01F2C** 01E SGMH-02N21*** 02E SGMH-04N21*** 04E SGMH-08N21**** 08E-S 08E SGMH-3BF SGMH-3BF2C 3BE SGMH-5BF SGMH-5BF2C 5BE SGMH-01BF SGMH-01BF2C 01BE SGMH-01BF SGMH-01BF4C 01BE SGMH-02BF SGMH-02BF4C 02BE SGMH-04F SGMH-04F4C 04FE SGMH-01BF21** SGMH-01BF2C** 01BE SGMH-02BN21*** 02BE SGMH-04N21*** 04FE Notes: 24V DC brakes for SGMH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. Motor power and encoder cables are factory pre-wired with approximately 13 lead length with amplifier mating connectors. Use the tables on the following pages to specify mating connectors or pre-wired cables available in various lengths. For technical information, request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages 95 to 110. ** NEM 23 adapter flange (see "Peripheral Device Selection") *** NEM 23 flange and pilot (see "Dimensions in inches (mm)") **** NEM 34 flange and pilot (see "Dimensions in inches (mm)") Motor & mplifier Item Class Stock

24 100/200V Single-phase Sigma II Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMH Sigma II servomotor. Power Cable without Brake Power Cable with Brake Shielded Power Cable without Brake*** Shielded Power Cable with Brake*** Encoder Cable (incremental and absolute) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m maximum) Only for Solder Connections Cable Description (C) Motor Size (kw) ll Part Number* JZSP-CMM00- () JZSP-CMM10- () BHCE- () BHBCE- () Comments These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m JZSP-CMP00- () FR-RMCT-SB UL20276-SB These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Item Class Stock** Limited Stock SGMH Servomotors Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5 meters. Stock Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector**** JZSP-CKI0D- Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable part number is the revision level. Revision level may be changed prior to this catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** Use these power cables where it is important to meet CE (EMC) requirements. **** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 23

25 100/200V Single-phase Sigma II Servo Systems Connector Selection SGMH Servomotors Use the table below to select mating connectors or kits for your SGMH Sigma II servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Motor Power Mating Connector (without Brake) JZSP-CMM9-1 These connector kits include pin and socket. Requires use of mp Crimp Tool ( ). (See below). Stock Motor Power Mating Connector (with Brake) JZSP-CMM9-2 mp Crimp Tool ll Crimp tool for Motor Power Connector (JZSP-CMM9- ) Limited Stock 2CN mplifier Mating Connector JZSP-CMP9-1 Motor Encoder Mating Connector JZSP-CMP9-2 Stock 1CN Mating Connector JZSP-CKI9 for SGDH I/O 50-pin 3CN Peripheral Mating Connector 5CN nalog Monitor Connector YSC-1 DE

26 100/200V Single-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMH Sigma II servomotor. Component Description (E) Part Number Comments Item Class SGMH Servomotors Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable for Sigma II Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Software Interface Cable YS-12 SigmaWin+ Software DC Reactor (for suppressing harmonics in the power supply) Individual External Regenerative Unit For 200V: For 100V: SGDH-3E SGDH-5E SGDH-01E SGDH-02E SGDH-04E SGDH-08E SGDH-08E-S SGDH-3BE SGDH-5BE SGDH-01BE SGDH-02BE 50 Ω, 70W for 3, 5, 01, 02, 04, ND 08 MPS JZSP-WP0001 X5071 X5070 X5069 X5061 X5079 X5063 X5062 RH120-50ohmJ NEM Flange dapter SGM-N23 Pre-wired 2.0m cable with 9-pin connector Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) * Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. This is a general purpose regenerative unit.* Caution: Proper set-up is necessary to avoid equipment damage. For 30, 50, and 100W SGMH motors only. Complies to NEM 23 mounting standard. Limited Stock Stock 25

27 100/200V Single-phase Sigma II Servo Systems NOTES: SGMH Servomotors 26

28 100/200V Single-phase Sigma II Servo Systems Flat Series SGMPH Servomotors - With Incremental / bsolute Encoder Rated Output: 100W, 200W, 400W, 750W, 1500W For dditional Information SGMPH Ratings & Specifications SGMPH Speed/Torque Curves SGMPH Dimensions SGMPH Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) SGMPH Servomotors Design Features 1. Compact The length is about 1/2 of conventional motors Enhanced withstand load since motor output shaft bearing size is upgraded Up to 5000rpm maximum speed 2. Enhanced Environmental Resistance Water resistance (not including the shaft), IP67 standard Optional shaft seals available Reinforced lead-out cable access 3. Encoders (reduced wiring serial encoder) 13-bit (2,048ppr x 4) incremental encoder (standard) 16-bit (16,384ppr x 4) absolute encoder (option) 4. pplication Emphasis Chip mounters PCB drilling machines Robots Conveyor Packaging 5. Certified International Standards UL, cul recognized, (File #: E165827), CE compliance 27

29 100/200V Single-phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15μm or less Withstand Voltage: 1500V ac Insulation Resistance: 500V DC 10MΩ or more Enclosure: Totally-enclosed, self-cooled mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed:5000rpm Excitation: Drive Method: Mounting: pplicable Encoder: Permanent magnet Direct drive Flange-mounted 13-bit Incremental and 16-bit bsolute encoder SGMPH Servomotors pplied Voltage 200V ac 100V ac M OTO RS: SGMPH- Rated Output Rated Torque Instantaneous Peak Torque Continuous Rated Current * Maximum Peak Current * Rated ngular cceleration Rated Power Rate W (hp) oz in N m oz in N m rms rms rad/s 2 kw/s (0.13) (0.27) (0.54) (1.01) (2.01) B 100 (0.13) B 200 (0.27) ** 400 (0.54) * Values are calculated when the servomotor is combined with an SGDH servo amplifier. ** When combined with an SGDH-04FE System Voltage MOTORS SGMPH- Moment of Inertia Holding Brake (at 20 C) llowable Load Motor without Brake Motor with Brake Capacity Coil Rated Resistance Current Inertia * oz in s KG m oz in s KG m W Ω KG m V ac 100V ac B B * llowable load inertia (J L ) shows the range requiring no exterior regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined with an SGDH servo amplifier. MOTORS Servomotor Holding Brake SGMPH- Capacity Holding Torque W oz-in KG cm

30 Speed / Torque Curves 100/200V Single-phase Sigma II Servo Systems 200V SGMPH-01 SGMPH-02 SGMPH-04 SGMPH-08 SGMPH15 SGMPH Servomotors 100V SGMPH-01B SGMPH-02B SGMPH-04* B *When combined with SGDH-04FE amplifier. : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE 29

31 100/200V Single-phase Sigma II Servo Systems Dimensions in inches (mm) (1) 13-Bit Incremental or 16-Bit bsolute Encoder, w/o Brake Note: 1. The keyway complies with JIS B (precision). straight key is supplied. 2. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available). 3. The quoted allowable radial load is the value at a position 5mm (0.2in) from the shaft end. 100W (0.13hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y W SGMPH Servomotors (300) ±1.18 (30) L LL LR LM 0.42 (10.5) 0.12 (3) LG Hexagonal nut Opposite Side width: 0.55 (14) (0.04) Φ (Φ0.04) ΦL LC 0.83 (21) 0.71 (18) 0.35 (9.0) 0.51 (13) 0.55 (14) QK Y Y ΦS* ΦLB** 4 - ΦLZ LC Serial encoder (absolute or incremental) (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 01 E41D 01 E41D 3.43 (87) 2.44 (62) 1.67 (42.5) 0.98 (25) 0.24 (6) 2.36 (60) 2.76 (70) 0.21 (5.3) (8) 1.97 (50) 0.55 (14) (1.8) 0.12 (3) 0.12 (3) 100 (0.13) Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting surface (0.318) Continuous (0.7) 17.5 (78) 11.0 (49) Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details. Encoder Plug SRUC 17GMRCN087 (Interconnectron) Specified Tolerances Dimension *ΦS **ΦLB 8 9 Unit Diameter Tolerance Diameter Tolerance in mm Incremental Terminal Specifications Pin No. Description Color 1* Battery - 2* Battery * (3.6V) 3 Data + Blue 4 Data Blue/White 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) Motor Plug SRUC 06JMSCN236 (Interconnectron) Motor Wiring Specifications Pin Number Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 6 FG (Frame Ground) Green/Yellow Mating Connector: SPN06KFSDN169 (Interconnectron) 30

32 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable (300) ±1.18 (30) L LL LR LM (0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 0.83 (21) 0.33 (8.5) LG 0.12 (3) Φ (Φ0.04) 4 - ΦLZ LC W Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y 0.28 (7) 0.35 (9.0) 0.51 (13) 0.55 (14) QK Y 0.71 (18) maximum SGMPH Servomotors ΦLB** Y ΦS* ΦL Serial encoder (absolute or incremental) (0.02) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** 02 E41D 04 E41D 3.82 (97) 4.61 (117) 2.64 (67) 3.46 (87) 1.89 (48.1) (30) (68.1) 0.31 (8) 3.15 (80) 3.54 (90) 0.28 (7) (14) 2.76 (70) Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Key QK U W T 0.63 (16) 0.12 (3) 0.20 (5) 0.20 (5) Voltage V 200 Output W (hp) 200 (0.27) 400 (0.53) Torque in lb (N m) Time Rating 5.64 (0.637) Continuous 11.2 (1.27) Rated Speed (rpm) 3000 pprox Mass lb (kg) llowable Radial Load lb (N) 3.09 (1.4) (245) (2.1) llowable Thrust Load lb (N) 15.4 (68) Interconnection Connector Specifications: See p

33 100/200V Single-phase Sigma II Servo Systems 750W (1.01hp) Encoder cable UL20276 F0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 W U MOTOR CBLE Motor Plug SRUC 06JMSCN236 T Cross-section Y - Y SGMPH Servomotors 0.35 (9.0) 0.28 (7) 0.51 (13) 0.75 (19) (300) ±1.18 (30) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) QK Y (0.04) Φ (Φ0.04) ΦLB** Hexagonal nut Opposite side width: 0.67 (17) LC 1.50 (38) 1.1 (28) maximum LC Y ΦS* 4 - ΦLZ ΦL Serial encoder (absolute or incremental) (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** E41D 200 (126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details. Key QK U W T Voltage V Output W (hp) 750 (1.01) Torque in lb (N m) 21.1 (2.39) Time Rating Continuous Rated Speed (rpm) 3000 pprox Mass lb (kg) 9.26 (4.2) llowable Radial Load lb (N) 88.1 (392) llowable Thrust Load lb (N) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector. Specifications: See p

34 100/200V Single-phase Sigma II Servo Systems 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) U Encoder plug SRUC 17GMRCN087 W Motor cable Motor Plug SRUC 06JMSCN020 T Cross-section Y - Y (300) ±1.18 (30) L (0.04) Hexagonal nut Opposite side width: 0.67 (17) LL LR LM 0.28 (7) 0.41 (10.5) LG 0.14 (3.5) 0.35 (9.0) 0.51 (13) 0.75 (19) QK Y Φ (Φ0.04) ΦL ΦLB** 4 - ΦLZ LC 1.50 (38) 1.1 (28) maximum LC SGMPH Servomotors Y ΦS* Serial encoder (absolute or incremental) (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) E41D 200 (154.5) (114.5) (94.7) (40) (10) (120) (145) (10) (19) (110) (22) (3.5) (6) (6) (2.0) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Torque in lb (N m) 42.1 (4.77) Time Rating Continuous Rated Speed (rpm) 3000 pprox Mass lb (kg) (6.6) llowable Radial Load lb (N) 110 (490) llowable Thrust Load lb (N) 33.0 (147) Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Motor Plug Motor Wiring Specifications 1 Pin No. Description Color Phase U Red Phase V White Phase W Blue FG (Frame Ground) Green/Yellow SRUC 17GMRCN087 (Interconnectron) Incremental Terminal Specifications Pin Number Description Color 1* Battery - 2* Battery * (3.6V) 3 Data + Blue 4 Data Blue/White 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) SRUC 06JMSCN020 (Interconnectron) Mating Connector: SPN06KFSDN169 (Interconnectron) 33

35 100/200V Single-phase Sigma II Servo Systems (2) 13-Bit Incremental or 16-Bit bsolute Encoder, with Brake Note: 1. The keyway complies with JIS B (precision). straight key is supplied. 2. The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. 3. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available). 100W (0.13hp) (300) ±1.18 (30) Encoder cable UL20276 Φ0.24 (6) Encoder plug SRUC 17GMRCN087 U MOTOR cable Motor Plug SRUC 06JMSCN236 W T Cross-section Y - Y SGMPH Servomotors 0.35 (9.0) 0.28 (7) (300) ±1.18 (30) L LL LR LM 0.41 (10.5) 0.12 (3) LG QK Y (13) (23) (0.04) Φ (Φ0.04) ΦL ΦLB** Hexagonal nut Opposite side width: 0.67 (17) 4 - ΦLZ LC 0.83 (21) 0.71 (18) maximum. LC Y ΦS* Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage (V) Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 01 E4CD 4.57 (116) 3.58 (91) 1.67 (42.5) 0.98 (25) 0.24 (6) 2.36 (60) 2.76 (70) Note: The quoted allowable radial load is the value at a position 0.79in (20mm) from the motor mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details (5.5) (8) (50) 0.55 (14) (1.8) 0.12 (3) 0.12 (3) (0.13) 2.81 (0.318) Continuous (0.7) 17.5 (78) 11.0 (49) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications Pin Number Description Color Pin Number Description Color * Battery Phase U Red Phase V White 17 2* Battery * (3.6V) Data + Blue 3 Phase W Blue Data Blue/White Holding Brake Black 6 5-7, Free - 5 Holding Brake Black SRUC 17GMRCN V (Power Supply) Red SRUC 06JMSCN236 6 FG (Frame Ground) Green/Yellow (Interconnectron) 9 0V (Power Supply) Black (Interconnectron) Mating Connector: SPN06KFSDN169 Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors (Interconnectron) used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) 34

36 100/200V Single-phase Sigma II Servo Systems 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) U Encoder plug SRUC 17GMRCN087 W Motor cable Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y 0.35 (9.0) 0.51 (13) 0.28 (7) 0.33 (8.5) 0.90 (23) (300) ±1.18 (30) L LL LR LM LG 0.12 (3) QK Y Φ (Φ0.04) (0.04) HEXGONL NUT Opposite side width: 0.67 (17) LC 0.83 (21) 0.71 (18) maximum ΦLB** LC SGMPH Servomotors Y ΦS* ΦLZ ΦL Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb ( N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 02 E4CD 04 E4CD 5.06 (128.5) 5.85 (148.5) 3.88 (98.5) 4.67 (118.5) 1.89 (48.1) 1.18 (30) 2.68 (68.1) 0.31 (8) 3.15 (80) 3.54 (90) Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the motor mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details (7) (14) (70) 0.63 (16) 0.12 (3) 0.20 (5) 0.20 (5) (0.27) 400 (0.53) 5.64 (0.637) Continuous 11.2 (1.27) (1.9) (245) (2.6) (68) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications: See p

37 100/200V Single-phase Sigma II Servo Systems 750W (1.01hp) (300) ±1.18 (30) Encoder cable Encoder plug UL20276 Φ0.24 (6) SRUC 17GMRCN087 U Motor cable Motor Plug SRUC 06JMSCN236 W T (300) ±1.18 (30) Cross-section Y - Y 0.28 (7) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) (0.04) Φ (Φ0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 1.5 (38) 4 - ΦLZ 1.1 (28) maximum. SGMPH Servomotors 0.35 (9.0) 0.51 (13) 1.0 (25.5) QK Y Y ΦS* ΦLB** ΦLC ΦL Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 08 E4CD 6.42 (163) 4.84 (123) 2.63 (66.7) 1.57 (40) 0.39 (10) 4.72 (120) 5.71 (145) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details (10) 0.63 (16) 4.33 (110) 0.87 (22) 0.12 (3) 0.20 (5) 0.20 (5) (1.01) (2.39) Continuous (5.7) 88.1 (392) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications:. See p

38 100/200V Single-phase Sigma II Servo Systems 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U W Motor cable Motor Plug SRUC 06JMSCN020 T Cross-section Y - Y 0.28 (7) 1.30 (33) (300) ±1.18 (30) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) (0.04) Φ (Φ0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 1.50 (38) 1.1 (28) Maximum 0.35 (9.0) 0.51 (13) 1.00 (25.5) QK Y ΦS* ΦLB** LC SGMPH Servomotors Y Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type SGMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb ( N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 15 E4CD 7.40 (188) 5.83 (148) 3.73 (94.7) 1.57 (40) 0.39 (10) 4.72 (120) 5.71 (145) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details (10) 0.75 (19) 4.33 (110) 0.87 (22) 0.14 (3.5) 0.24 (6) 0.24 (6) (2.02) 42.1 (4.77) Continuous (8.1) 110 (490) 33.0 (147) SRUC 17GMRCN087 (Interconnectron) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications Pin Number 12 Description Color Pin * Battery No. Description Color * Battery * (3.6V) Data + Blue Data Blue/White , Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) SRUC 06JMSCN020 (Interconnectron) 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Holding Brake Black 5 Holding Brake Black 6 FG (Frame Ground) Green/Yellow Mating Connector: SPN06KFSDN169 (Interconnectron 37

39 100/200V Single-phase Sigma II Servo Systems Dimension Modifications for Motors with Optional Shaft Seal LE LR LD QK ΦS LP ΦLB SGMPH Servomotors Shaft Seal Type SGMPH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.31 (8) 0.98 (25) 0.28 (7) 1.54 (39) (3) 0.64 (16) 2.76 (70) 0.55 (14) (30) 0.39 (10) 1.93 (49) (16) 0.87 (22) 4.33 (110) (19) 0.14 (3.5) 1.57 (40) 0.41 (10.5) 3.03 (77) *Refer to the following table for tolerances for diameters LB and S. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Torque Reduction Factor for SGMPH motors equipped with a shaft seal: Servo Motor Model Torque Reduction Factor 90% 90% 95% 95% 95% For Example: The SGMPH-01 continuous and peak torque rating should be reduced to 90% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page. 38

40 100/200V Single-phase Sigma II Servo Systems Selecting Your SGMPH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) SGDH Servo mplifier (B) Regenerative Unit (E) Connector Encoder (D) 2CN 5CN For Monitor (D) Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake SGMPH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). SGMPH Servomotors Model Number Designation Sigma Servomotor Type Rated Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp) Power Supply : 200V UL Recognized B: 100V UL Recognized SGMPH - 01 E 4 1D ccessories 1D: Standard CD: Standard with 24V DC Holding Brake SD: Standard with Shaft Seal ED: Standard with Brake & Shaft Seal Shaft Specifications 4: Straight Shaft with Keyway Revision Level Encoder Specifications : 13-Bit (2048 x 4) Incremental Encoder 1: 16-Bit (16,384 x 4) bsolute Encoder 39

41 100/200V Single-phase Sigma II Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate SGMPH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) Description Peak Torque (oz in) Rated Torque (oz in) Motor Inertia (oz in s 2 x10-3 ) Motor MODEL # () mplifier MODEL # (B)* 1-Phase SGDH- 3-Phase SGDH- Motor & mplifier Item Class SGMPH-01E41D E 1.46 SGMPH-01E4CD SGMPH Servomotors 200V 13-Bit Incremental Encoder Straight Shaft with Keyway SGMPH-02E41D 4.35 SGMPH-02E4CD 4.92 SGMPH-04E41D 02E 04E 5000rpm 6.31 SGMPH-04E4CD Pre-wired with Heavy Duty Connectors SGMPH-08E41D 08E-S 08E 35.7 SGMPH-08E4CD 57.1 SGMPH-15E41D Stock E-S 15E 67.8 SGMPH-15E4CD SGMPH-01BE41D 100V, 1-Phase BE 13-Bit Incremental Encoder 1.46 SGMPH-01BE4CD Straight Shaft with Keyway 5000rpm Pre-wired with Heavy Duty Connectors SGMPH-02BE41D 4.35 SGMPH-02BE4CD 4.92 SGMPH-04E41D 02BE 04FE 6.31 SGMPH-04E4CD Notes: 24V DC brakes for SGMPH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. Motor power and encoder cables are factory pre-wired with approximately 13 lead length with heavy duty mating connectors. Use the tables on the following page to specify mating connectors and/or various cable lengths. For technical information, request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages 99 to

42 100/200V Single-phase Sigma II Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH Sigma II servomotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) (IP67) Encoder Cable with Interconnectron Connector (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE- () 1.5 B5ICE- () 0.1, 0.2, 0.4, 0.8 B4IBCE- () 1.5 B5IBCE- () ll 1ICE- () FR-RMCT-SB UL20276-SB These UL and CE compliant cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity:16 part no.: FR-RMCT-SB Stock** SGMPH Servomotors Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector*** JZSP-CKI0D- Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * The () at the end of the cable part number is the revision level. Revision level may be changed prior to catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others) 41

43 100/200V Single-phase Sigma II Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMPH Sigma II servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) (IP67) FIN07S-B2 Solder Cup SGMPH Servomotors 2CN mplifier Mating Connector Interconnectron Connector for Encoder Cable (incremental or absolute encoder) (IP67) 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 FIN17C-2 Gauge: 24-18WG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector JZSP-CKI9 ll Interconnectron Crimp Tool B150 Limited Stock Positioner B055/ 42

44 100/200V Single-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma II servomotor. Component Description (E) Part Number Comments Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable for Sigma II bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Stock SGMPH Servomotors Software Interface Cable YS-12 SigmaWin+ Software Individual External Regenerative Unit DC Reactor (for suppressing harmonics in the power supply) For: For: For 200V: For 100V: SGDH-01E SGDH-02E SGDH-04E SGDH-08E SGDF-08E-S amps SGDH-15E SGDH-15E-S SGDH-01E SGDH-02E SGDH-04E SGDH-08E SGDF-08E-S SGDH-15E SGDH-15E-S SGDH-01BE SGDH-02BE JZSP-WP0001 Pre-wired 2.0m cable with 9-pin connector Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) RH12050ohmJ These are general purpose regenerative units.* Caution: Proper set-up is necessary to avoid equipment damage. RH500N25_ohmΚ X5071 X5070 X5069 X5061 X5079 X5060 X5078 X5063 X5062 * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. Limited Stock 43

45 100/200V Single-phase Sigma II Servo Systems NOTES: SGMPH Servomotors 44

46 100/200V Single-phase Sigma II Servo Systems SGMPH Gearmotors - With Incremental / bsolute Encoder Rated Output : 100W, 200W, 400W, 750W, 1500W For dditional Information SGMPH Gearmotor Ratings & Specifications SGMPH Gearmotor Dimensions SGMPH Gearmotor Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Construction Easy to install - pre-engineered and pre-assembled Ideal for cyclic and reversing applications Fits in limited mounting space Planetary gear geometry allowing high output torques in a compact package 2. Torque 40.9 to 3540in lb peak torque Cost-effective solution for low speed and high torque applications Gear ratios - 5:1 to 100:1 in some sizes High torsional stiffness and low backlash Lubrication is self-replenishing to ensure long life 3. Encoders 13-Bit (2,048ppr x 4) incremental encoder (standard) 16-Bit (16,384ppr x 4) absolute encoder (option) 4. Enclosure Motor is totally enclosed, self-cooled IP67 (not including shaft) 5. pplication Emphasis PCB drilling machines Robots Conveyors Packaging machines 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance SGMPH Gearmotors 45

47 100/200V Single-phase Sigma II Servo Systems SGMPH Gearmotors Gearmotor Ratings and Specifications GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) SG05S-PE SG10S-PE SG25S-PE SG50S-PE SG1S-PE SG05S-PE / /36.2* SG10S-PE / /72.4* SG25S-PE / /177* SG50S-PE / /354.7* SG1SPE / /704.4* SG05S-PE SG10S-PE SG25S-PE SG50S-PE SG1S-PE SG05S-PE SG10S-PE SG25S-PE SG50S-PE SG05S-PE SG10S-PE SG25S-PE SG50S-PE mplifier Model Number nalog Input SGDH * Values for 100V Gearmotor Note: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Contact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. 2. Rated Speed is at 20 C ambient temperature. Reduce Rated Speed by 20% at 40 C ambient temperature. 3. For right-angle gearmotors, please consult the factory for availability. Peak Torque Torque T2 B = Continuous Duty B = Intermittent Duty Rated Torque T1 Rated Speed N1 Maximum Speed Speed 46

48 100/200V Single-phase Sigma II Servo Systems Gearmotor Mechanical Ratings GERMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia (in lb s 2 ) Gearmotor Weight (lb) SG05S-PE01 SG10S-PE SG25S-PE01 <10 SG50S-PE SG1S-PE SG05S-PE02 SG10S-PE SG25S-PE02 < SG50S-PE SG1S-PE SG05S-PE04 SG10S-PE SG25S-PE04 < SG50S-PE SG1S-PE SG05S-PE SG10S-PE08 <10 SG25S-PE SG50S-PE SG05S-PE15 SG10S-PE15 SG25S-PE15 SG50S-PE15 < SGMPH Gearmotors REDUCER S BCKLSH TORSIONL NGLE CONVENTIONL GERMOTOR YSKW Sigma II GERMOTOR TORQUE 2% OF RTED TORQUE 47

49 100/200V Single-phase Sigma II Servo Systems Dimensions in inches (mm) Motor leads extend 11.81in (300mm) from motor Q QK T KD W U T LL LL3 LE LR (4) Holes 90 apart MT threaded MD deep LC øgd øl øs ølb GERMOTOR LL3 LL LE LR LB GD S LC L MT MD Q QK KD W T U SG05S-PE SG10S-PE01 (50) (131.5) (4) (24.5) (35) (50) (12) (60) (44) M4 x (8) (18) (14) (4) (4) (2.5) SGMPH Gearmotors SG25S-PE SG50S-PE01 (88) SG1S-PE (106.5) SG05S-PE SG10S-PE02 (68) SG25S-PE02 SG50S-PE02 SG1S-PE (88) (106.5) (134.5) (174.2) (190.5) (36) (46) (157) (5) (36) (177) (195.5) (229.5) (6) (46) (70) (52) (68) (52) (68) (90) (70) (90) (70) (90) (120) (16) (22) (16) (22) (32) (70) (90) (80) (90) (120) (62) (80) (62) (80) (108) M5 x 0.8 M6 x 1.0 M5 x 0.8 M6 x 1.0 M8 x (10) (12) (10) (12) (16) (28) (36) (28) (36) (58) (25) (32) (25) (32) (50) (2) (4) (5) (6) (5) (6) (10) (5) (6) (5) (6) (8) (3) (3.5) (3) (3.5) (5) SG05S-PE SG10S-PE04 (68) SG25S-PE04 SG50S-PE04 SG1S-PE (106.5) (134.5) (153) (177) (5) (215.5) (249.5) (268.0) (6) (8) (36) (46) (70) (97) (52) (68) (90) (120) (70) (90) (120) (155) (16) (22) (32) (40) (80) (90) (62) (80) (108) (140) M5 x 0.8 M6 x 1.0 M8 x 1.25 M10 x (10) (12) (16) (20) (28) (36) (58) (82) (25) (2) (32) (50) (70) (4) (6) (5) (6) (5) (6) (10) (8) (12) (3) (3.5) (5) SG05S-PE SG10S-PE08 (80) SG25S-PE08 SG50S-PE08 SG05S-PE15 SG10S-PE (134.5) (153) (102) (198.5) (249) ( 267.5) (244.5) (5) (6) (8) (6) (46) (70) (97) (70) (68) (90) (120) (90) (90) (120) (155) (120) (22) (32) (40) (32) (120) (80) (108) (140) (108) M6 x 1.0 M8 x 1.25 M10 x 1.5 M8 x (12) (16) (20) (16) (36) (58) (82) (58) (32) (50) (70) (50) (2) (4) (6) (4) (6) (10) (12) (10) (6) (8) (3.5) (5) SG25S-PE SG50S-PE15 (153) (295.5) (8) (97) (120) (155) (40) (140) M10 x (20) (82) (70) (6) (12) 48

50 100/200V Single-phase Sigma II Servo Systems Tolerances for standard (SG) gearmotors Dimension ΦS ΦLB W Unit Diameter Tolerance Diameter Tolerance Width Tolerance in mm 0.472, , 0.197, , , , , , 5, , , , SGMPH Gearmotors 49

51 100/200V Single-phase Sigma II Servo Systems Selecting Your SGMPH Gearmotor System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration SGMPH Gearmotors Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) SGDH Servo mplifier (B) Regenerative Unit (E) Connector for Encoder Signal (D) 2CN 5CN For Monitor (D) Encoder side Connector (D) Encoder Cable (C) Model Number Designation SG 05 S -PE 02 C Sigma II Gearmotor Series G: Standard (<10 arc min) Reduction Ratio 05: 5:1 10: 10:1 25: 25:1 50: 50:1 1: 100:1 Construction S: Standard Revision Level Motor Series PE: SGMPH SGMPH Gearmotor () Motor side Connector (D) Shaft w/keyway Motor Cable (C) Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). ccessories C: 24V DC Brake Blank:Standard YE stock motor options Encoder Specifications : 13-Bit Incremental Encoder 1: 16-Bit bsolute Encoder Power Supply : 200V B: 100V Motor Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp) 50

52 100/200V Single-phase Sigma II Servo Systems Gearmotor & mplifier Selection Use the table below to select the appropriate SGMPH Sigma II gearmotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) MODEL # Gearmotor () Gearhead only mplifier Rated Peak Rated Maximum MODEL # Inertia Gear Torque Torque Speed Speed (B)* (in lb) (in lb) (rpm) (rpm) (in lb s 2 ) Ratio SGDH- Gear Motor Item Class mplifier Item Class SG05S-PE : SG10S-PE :1 SG25S-PE : SG50S-PE :1 SG1S-PE :1 SG05S-PE :1 SG10S-PE :1 SG25S-PE :1 SG50S-PE :1 SG1S-PE :1 SG05S-PE : SG10S-PE :1 SG25S-PE : SG50S-PE :1 SG1S-PE :1 SG05S-PE : SG10S-PE :1 SG25S-PE :1 SG50S-PE :1 SG05S-PE : SG10S-PE :1 SG25S-PE :1 SG50S-PE :1 SG05S-PE01B : SG10S-PE01B :1 SG25S-PE01B : SG50S-PE01B :1 SG1S-PE01B :1 SG05S-PE02B :1 SG10S-PE02B :1 SG25S-PE02B :1 SG50S-PE02B :1 SG1S-PE02B : B 02B Normal leadtime 3-4 weeks for assembly Stock SGMPH Gearmotors Notes:24V DC Brakes for SGMPH Sigma II gearmotors are standard. Contact a local source for 24V DC power supplies. Use the tables on the following page to specify mating connectors or pre-wired cables in different lengths. For technical information, request Yaskawa technical bulletin number YE-TS-S and Yaskawa manual number TSE-S

53 100/200V Single-phase Sigma II Servo Systems * For more detailed 100/200V SGDH amplifier specifications and dimensions, refer to pages Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMPH Sigma II gearmotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) Encoder Cable with Interconnectron Connector (incremental or absolute) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE- () 1.5 B5ICE- () 0.1, 0.2, 0.4, 0.8 B4IBCE- () 1.5 B5IBCE- () 1ICE- () FR-RMCT-SB UL20276-SB These UL and CE compliant cables are available in five lengths.use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock** SGMPH Gearmotors Input/Output 1CN Cable & Transition Terminal Block ll JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector*** JZSP-CKI0D- Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m 52 * The () at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others)

54 100/200V Single-phase Sigma II Servo Systems Connector Selection Use the table below to select mating connectors or kits for your SGMPH Sigma II gearmotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) FIN07S-B2 IP67 Mated Solder Cup 2CN mplifier Mating Connector 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 Interconnectron Connector for Encoder Cable (incremental or absolute encoder) FIN17C-2 IP67 Mated Gauge: WG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector JZSP-CKI9 ll Interconnectron Crimp Tool B150 Limited Stock Positioner B055/ SGMPH Gearmotors 53

55 100/200V Single-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMPH Sigma II gearmotor. Component Description (E) Part Number Comments Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable for Sigma II bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Stock SGMPH Gearmotors Software Interface Cable YS-12 SigmaWin+ Software Individual External Regenerative Unit DC Reactor (for suppressing harmonics in the power supply) For: For: For 200V: For 100V: SGDH-01E SGDH-02E SGDH-04E SGDH-08E SGDF-08E-S amps SGDH-15E SGDH-15E-S SGDH-01E SGDH-02E SGDH-04E SGDH-08E SGDF-08E-S SGDH-15E SGDH-15E-S SGDH-01BE SGDH-02BE JZSP-WP0001 RH12050ohmJ RH500N25_ohmΚ X5071 X5070 X5069 X5061 X5079 X5060 X5078 X5063 X5062 Pre-wired 2.0m cable with 9- pin connector Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS- 232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) These are general purpose regenerative units.* Caution: Proper set-up is necessary to avoid equipment damage. Limited Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDH servo amplifier section of this catalog (pages 97 to 126) for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. 54

56 200V Three-phase Sigma II Servo Systems General Purpose SGMGH Servomotors - With Incremental / bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW, 1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW, 11kW, 15kW. SGMGH Servomotors For dditional Information SGMGH Ratings & Specifications SGMGH Speed/Torque Curves SGMGH Dimensions SGMGH Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 1988in lb of peak torque Optional built-in holding brake available 2. Higher Speed and acceleration Up to 3000rpm maximum High torque to inertia ratio 3. Encoders 17-bit (32,768 ppr x 4) incremental encoder (standard) 17-bit absolute encoder (optional) 4. Enhanced Environmental Resistance Totally enclosed, self-cooled IP67 (excluding shaft) Shaft seal (optional) 5. pplication Emphasis Machine tools and woodworking machines Packaging machines Gantry Robots Press utomation Thermoforming 6. Certified International Standards UL, cul recognized (File #: E165827) CE compliance 55

57 200V Three-phase Sigma II Servo Systems SGMGH Servomotors Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15μm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm * Values when the servomotor is combined with an SGDH servo amplifier. Maximum Rotational Speed*: 0.45 to 7.5kW: 3000rpm 11 and 15kW: 2000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted MOTORS: SGMGH- Rated Output* Rated Torque* * Values when the servomotor is combined with an SGDH servo amplifier. Instantaneous Peak Torque* Rated Current* Instantaneous Maximum Current* kw (hp) N m lb f in (KG cm) N m lb f in (KG cm) rms rms (0.6) (29) (91) (1.1) (55) (141) (1.7) (85) (238) (2.4) (117) (293) (3.9) (190) (460) (5.9) (290) (725) (7.4) (357) (894) (10) (490) (1210) (15) (714) (1790) E 15 (20) (974) (2290) MOTORS SGMGH- Torque Constant lb f in rms N m rms ( ) Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil. Resistance Rated Current lb in s KG m W N m W dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant lb in s KG m kw/s rad/s 2 ms ms E 7.3 (0.82) 7.3 (0.83) 7.4 (0.84) 6.5 (0.73) 7.3 (0.82) 8.0 (0.91) 7.8 (0.88) 8.2 (0.93) 11 ( (1.32) * Values when the servomotor is combined with an SGDH servo amplifier at an armature winding temperature of 20 C. ** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 05 to 13 : (in) ( (mm)) Type 20 to 75 : (in) ( (mm)) Type 1 to 1E : (in) ( (mm)) 56

58 Speed / Torque Curves 200V Three-phase Sigma II Servo Systems 200V SGMGH-05 SPEED (rpm) B SPEED (rpm) SGMGH-09 SGMGH-13 B SPEED (rpm) B SGMGH Servomotors TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) 250 SGMGH-20 SGMGH-30 SGMGH SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SGMGH-55 SGMGH-75 SGMGH SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) SGMGH-1E TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SPEED (rpm) B : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE TORQUE (N m) TORQUE (lb in) 57

59 200V Three-phase Sigma II Servo Systems Dimensions in inches (mm) (1) 17-Bit Incremental/bsolute Encoder SGMGH Servomotors 3.94(100) LT L LL LM LG LE LR S* LC LH LC ΦL LR LE Q QK LB** T W U KL (88) IE S KB1 KB LZ MTG Holes Type SGMGH- L LL LM LR LT KB1 KB2 IE KL (196) (138) (92) (219) (161) (115) (58) (243) (185) (139) (245) (166) (119) (271) (192) (145) (79) (305) (226) (179) (373) (260) (213) (447) (334) (287) (454) (338) (291) 4.57 (116) 1E (573) (457) (388) Note: Flange Dimensions Shaft End Dimension FL FLB** LC LE LG FLH FLZ FS* Q QK W T U pproximate Mass lb f (kg) (65) (117) (19) (5) 0.20 (5) 0.12 (3) (46) (88) (140) (109) (145) (110) (130) (6) (12) (165) (9) (40) (25) (112) (164) (22) (6) (6) (3.5) (89) (145) (47) (115) (171) (140) (35) (76) (60) (10) (114. (149) (205) (200) 3) (180) (3.2) 0.71 (230) (18) 0.53 (8) (5) (13.5 (174) (239) ) (113) (125) (150) (47) (248) (313) (42) (12) (110) (90) (251) (317) (142) (168) (235) (200) (220) (4) 0.79 (270) (69) (343) (435) (20) (55) (16) (10) (6) 1. SGMGH-05 to 44 do not contain eyebolts. 2. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 3. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 12.1 (5.5) (490) (7.6) (9.6) (686) (14) (1176) 39.7 (18) (1470) (23) 66.1 (30) (40) (1764) 127 (57.5) (86) (4998) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) 132 (588) 485 (2156) 58 Encoder Plug M B L N P C K D J S R E H G F MS P Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance , in , mm Connector Wiring on the Encoders K B L C Data + M D Data - N E P F R G 0V S Battery - (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal

60 200V Three-phase Sigma II Servo Systems (2) 17-Bit Incremental/bsolute Encoder. with Brake 0.5 to 4.4kW (0.7 to 5.9hp) 100 (3.94) LL LT LM LG LE LR S* LC LH LC ΦL LR LE Q QK T W KL2 LB** S U SGMGH Servomotors KL1 KB1 KB LZ MTG Holes L LL LM LR LT KB1 KB2 KL1 KL2 05 6C (234) (176) (129) C (199) (152) (257) (58) C 6 (223) (176) (281) C 5 (296) (217) (170) C (243) (196) (79) (322) C 2 1 (230) (356) (277) Note: 1.85 (47) 2.2 (56) 3.11 (79) 6.1 (155) 7.01 (178) (103) (202) 3.11 (79) 7.72 (196) (105) (222) 4.72 (120 ) 5.75 (146 ) 3.46 (88) Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U (145) (110) (130) (6) 7.87 (200) 0.47 (12) 4.5 ( (180) (3.2) (18) 3) (165 ) (9) 9.06 (230 ) 0.75 (19) 0.87 (22) 0.53 ( (35) ) 1.57 (40) 2.99 (76) 0.98 (25) 2.36 (60) 0.20 (5) 0.24 (6) 0.20 (5) 0.24 (6) 0.12 (3) 0.14 (3.5) (10) (8) (5) pproximate Mass lb f (kg) (139) 8 (28.5) (256) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering (7.5) 21.2 (9.6) 26.5 (12) 41.9 (19) 51.8 (23.5) llowable Radial Load lb f (N) 110 (490) ) 265 (1176) 331 (1470) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Type SGMGH , , Motor Plug E F D B G C Connector Wiring on the Motor Side U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 59

61 200V Three-phase Sigma II Servo Systems 5.5 to 15kW (7.4 to 20hp) SGMGH Servomotors 100 (3.94) LT L LL LM LG LE LR S* LC LH LC L T W U LR LE QK KL1 KL3 KL2 LB** S IE Q KB1 KB3 KB2 4 - LZ MTG Holes Type SGMGH- L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) 55 6C (424) (311) (174) (290) (231) (35) (113) (47) (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230) 75 6C (498) (385) (338) (248) (364) (305) 3.46 (18) 0.53 (42) (12) (8) (5) (45.5) (88) (13.5) (110) (90) 1 6C (499) (383) (340) 4.57 (43) (258) (362) (315) (65.5) (116) (142) (168) (142) (235) (200) (220) (4) (270) 1E 6C (635) (519) (473) (46) (343) (497) (415) (20) (55) (16) (10) (6) (86) Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 397 (1764) 1125 (4998) llowable Thrust Load lb f (N) 132 (588) 485 (2156 Specified Tolerances Dimension *FS **FLB Unit Diameter Tolerance Diameter Tolerance in mm Plug for Holding Brake C B MS P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS S (L Type) MS S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Power, Motor Side U Phase B V Phase C W Phase D Ground Terminal 60

62 200V Three-phase Sigma II Servo Systems Selecting Your SGMGH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration SGMGH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) SGDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Optional Holding Brake SGMGH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation SGMGH - 09 C 6 C Sigma Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.5hp) 75: 7.5kW (10hp) 1: 11.0kW (15hp) 1E: 15kW (20hp) Power Supply : 200V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 1500rpm Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder 61

63 200V Three-phase Sigma II Servo Systems Servomotor & mplifier Selection SGMGH Servomotors Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) Description Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL # () mplifier MODEL # (B)* nalog/digital Input SGDH- Motor & mplifier Item Class SGMGH-05C SGMGH-05C6C 05E SGMGH-09C SGMGH-09C6C 10E SGMGH-13C SGMGH-13C6C 15E 200V Three-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 3000rpm maximum** SGMGH-20C SGMGH-20C6C 40.7 SGMGH-30C SGMGH-30C6C 59.8 SGMGH-44C SGMGH-44C6C 20E 30E 50E Stock MS Connectors SGMGH-55C61 60E Requires 86.6 SGMGH-55C6C Regenerative Unit (E) 111 SGMGH-75C61 75E Requires 119 SGMGH-75C6C Regenerative Unit (E) 249 SGMGH-1C61 1E Limited Stock Requires 267 SGMGH-1C6C Regenerative Unit (E) Non-stock 279 SGMGH-1EC61 1EE Limited Stock Requires 309 SGMGH-1EC6C Regenerative Unit (E) Non-stock Note: 24V DC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages 99 to 112. **2000rpm maximum for 11 and 15kW systems only. 62

64 Pre-wired Cable Selection 200V Three-phase Sigma II Servo Systems Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor. Power Cable with Connectors (IP67) Encoder Cable (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) for solder connections Encoder Cable (for applications from >20 to <50m) for solder connections Cable Description (C) Motor Part Number* Size (kw) without Brake with Brake 0.5, 0.9, B1E- () B1BE- () , 3.0 B2E- () B2BE- () 4.4 B3E- () B3BE- () 5.5, B5E- () B5E- () 7.5** B7BCE- () 11, 15** B6E- () B6E- () B7BCE- () JZSP-CMP02- (B) FR-RMCT-SB UL20276-SB Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Item Class Stock*** SGMGH Servomotors Input/Output 1CN Cable & Transition Terminal Block ll JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads Input/Output 1CN Cable Cable with Female D-Sub output Connector**** JZSP-CKI01- () JZSP-CKI0D- Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable number is the revision level. The revision level may be changed prior to this catalog s reprinting. ** When ordering these cables for motors with brakes, order the standard power cable and the additional cable for the brake. *** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. **** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 63

65 200V Three-phase Sigma II Servo Systems Connector Selection SGMGH Servomotors Use the table below to select mating connectors for each SGMGH Sigma II servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 0.5, 0.9, , 3.0, , , 1E Part Number Comments without Brake with Brake MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B32-17S MS3106B32-17S and Straight-type connector MS310610SL-3S MS3108B32-17S MS3108B32-17S and L-type connector MS310810SL-3S MS MS MS Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector MS Cable clamp Item Class Stock 1CN Mating Connector JZSP-CKI9 2CN Encoder Mating Connector ll JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE Can use 5CN for analog speed and torque monitor service checks. * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 64

66 200V Three-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each SGMGH Sigma II servomotor. Component (E) Part Number Description Item Class SGMGH Servomotors Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable for Sigma II Software Interface Cable YS 12 JZSP B01 bsolute Encoder Battery JZSP B01 1 Pre-wired 2.0m cable with 9-pin connector 3.6V, 1000mh (Lithium Battery) For SGDH 60 and above (same as JZSP B01 with longer lead) Stock SigmaWin+ Software JZSP WP0001 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) Regenerative Unit for 6.0kW amplifier (880W) JUSP-R04 These are general purpose regenerative units.* Regenerative Unit for 7.5, 11, and 15kW amplifiers (1760W) JUSP-R05 Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) For 200V: SGDH-05E SGDH-08E SGDH-10E SGDH-15E SGDH-20E SGDH-30E SGDH-50E X5061 X5060 X5059 X5068 Limited Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. 65

67 200V Three-phase Sigma II Servo Systems CE Pre-wired Cable Selection SGMGH Servomotors Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor. Power Cable with Connectors IP67 Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake 0.5, 0.9, 1.3 B1CE- () B1BCE- () 2.0, 3.0 B2CE- () 4.4 B3CE- () 5.5, 7.5 B5CE- () 11, 15 B6CE- () B3BCE- () B5CE- () B7BCE- () B6CE- () B7BCE- () Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Item Class Limited Stock * () at the end of the cable number is the revision level, which may be changed prior to this catalog s reprinting. CE Connector Selection Use the table below to select mating connectors for your SGMGH Sigma II servomotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class 0.5, 0.9, 1.3 CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp Connector for Motor Power Cable* 2.0, 3.0, , 7.5, 11, 15 CE SD-B-BS CE (D265) CE SD-B-BS or CE SD-B-BSS and CE CE SD-B-BS CE (D265) L-type connector Cable clamp L-type connector or Straight-type connector and Cable clamp (diameters to 0.937in) Limited Stock Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S and CE (D265) L-type connector for holding brake and Cable clamp (diameters to 0.220in) L-type connector (plug and back shell) and Cable clamp (diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. Connectors listed in this table are environmentally sealed. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 66

68 200V Three-phase Sigma II Servo Systems SGMGH Gearmotors (1500rpm) - With Incremental/bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW,1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW For dditional Information SGMGH Gearmotor Ratings & Specifications SGMGH Gearmotor Dimensions SGMGH Gearmotor Selection/Ordering Information Page(s) SGMGH Gearmotors Design Features 1. Compact Fits in limited mounting space High torque to inertia ratio 2. Torque 383 to 30,090in lb peak torque Uses time-proven, Sigma motor technology 3. Encoders 17-Bit (32,768 ppr x 4) incremental encoder (standard) 17-Bit absolute encoder (option) 4. Enhanced Environmental Resistance Totally enclosed, self-cooled IP67 (not including shaft) 5. pplication Emphasis Machine tools, woodworking machines, and thermoforming machines Roll feeders Press automation Gantry robots PCB drilling machines Packaging machines 6. Certified International Standards cul recognized (File #: E165827), CE compliance 67

69 200V Three-phase Sigma II Servo Systems Gearmotor Ratings and Specifications SGMGH Gearmotors GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) Standard SGMGH Gearmotors SG05S-G05C SG10S-G05C SG25S-G05C SG50S-G05C SG05S-G09C SG10S-G09C 463 1, SG25S-G09C SG50S-G09C SG05S-G13C SG10S-G13C SG25S-G13C SG05S-G20C SG10S-G20C SG05S-G30C SG05S-G44C SG05S-G55C SG05S-G75C Precision SGMGH Gearmotors SH04S-G05C SH05S-G05C SH07S-G05C SH10S-G05C SH16S-G05C SH20S-G05C SH28S-G05C 662 2, SH40S-G05C 945 2, SH50S-G05C 1,181 2, SH70S-G05C 1,654 4, SH04S-G09C SH05S-G09C SH07S-G09C SH10S-G09C SH16S-G09C SH20S-G09C SH28S-G09C 1, SH40S-G09C SH50S-G09C SH04S-G13C SH05S-G13C SH07S-G13C SH10S-G13C SH16S-G13C SH20S-G13C SH28S-G13C SH40S-G13C SH04S-G20C SH05S-G20C SH07S-G20C SH10S-G20C SH16S-G20C SH Precision Type Gearmotors No Longer vailable 68

70 200V Three-phase Sigma II Servo Systems GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) SH Precision Type Gearmotors No Longer vailable Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) SH20S-G20C SH28S-G20C SH40S-G20C SH50S-G20C SH04S-G30C SH05S-G30C SH07S-G30C SH10S-G30C SH16S-G30C SH20S-G30C SH28S-G30C SH40S-G30C SH04S-G44C SH05S-G44C SH07S-G44C SH10S-G44C SH16S-G44C SH20S-G44C SH04S-G55C SH05S-G55C SH07S-G55C SH10S-G55C SH04S-G75C SH05S-G75C SH07S-G75C SH10S-G75C SGMGH Gearmotors Torque Peak Torque = Continuous Duty B = Intermittent Duty T2 Rated Torque T1 B Rated Speed N1 Maximum Speed Speed 69

71 200V Three-phase Sigma II Servo Systems SGMGH Gearmotors Gearmotor Mechanical Ratings GERMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum.Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia (lb n s 2 ) pprox. Gearmotor Weight (lb) Standard SGMGH Gearmotors SG05S-G05C SG10S-G05C SG25S-G05C SG50S-G05C SG05S-G09C SG10S-G09C SG25S-G09C SG50S-G09C SG05S-G13C <10 SG10S-G13C SG25S-G13C SG05S-G20C SG10S-G20C SG05S-G30C SG05S-G44C SG05S-G55C SG05S-G75C Precision SGMGH Gearmotors SH04S-G05C SH05S-G05C SH07S-G05C SH10S-G05C SH16S-G05C SH20S-G05C SH28S-G05C SH40S-G05C SH50S-G05C SH70S-G05C < SH04S-G09C SH05S-G09C SH07S-G09C SH10S-G09C SH16S-G09C SH20S-G09C SH28S-G09C SH40S-G09C SH50S-G09C SH04S-G13C SH05S-G13C <4 SH07S-G13C SH10S-G13C SH16S-G13C SH20S-G13C SH28S-G13C < SH40S-G13C SH04S-G20C SH05S-G20C <4 SH07S-G20C SH10S-G20C SH16S-G20C SH20S-G20C SH28S-G20C <6 SH40S-G20C SH50S-G20C SH Precision Type Gearmotors No Longer vailable 70

72 200V Three-phase Sigma II Servo Systems GERMOTOR Part Number SH Precision Type Gearmotors No Longer vailable Gearhead Backlash (arc min) Gearhead Maximum.Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia (lb in s 2 ) pprox. Gearmotor Weight (lb) Precision SGMGH Gearmotors SH04S-G30C SH05S-G30C <4 SH07S-G30C SH10S-G30C SH16S-G30C SH20S-G30C <6 SH28S-G30C SH40S-G30C SH04S-G44C SH05S-G44C < SH07S-G44C SH10S-G44C SH16S-G44C <6 SH20S-G44C SH04S-G55C SH05S-G55C < SH07S-G55C SH10S-G55C SH04S-G75C SH05S-G75C < SH07S-G75C SH10S-G75C SGMGH Gearmotors REDUCER S BCKLSH TORSIONL NGLE CONVENTIONL GERMOTOR YSKW SIGM II GERMOTOR F R TORQUE F 2% OF RTED TORQUE F R : Radial Force F : xial Force 71

73 200V Three-phase Sigma II Servo Systems Dimensions in inches (mm) LL1 LL LL3 MD P W LR Q QK KD 4 - ΦMT LE T U LC ΦS ΦLB ΦGD LC1 ΦL SGMGH Gearmotors Standard SGMGH Gearmotors GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1 ΦL ΦMT* MD* Q QK KD W T U SG05S-G05C M6 x SG10S-G05C (80) (275) (5) (46) (68) (90) (22) (80) 1.0 (12) (36) (32) (2) (6) (6) (3.5) SG25S-G05C M8 x (138) (134.5) (320.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG50S-G05C M10 x (8) (5) (153) (339) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) (6) (12) SG05S-G09C M6 x (80) (298) (5) (46) (68) (90) (22) 5.12 (80) 1.0 (12) (36) (32) (2) (6) (6) (3.5) 6.34 (130) SG10S-G09C M8 x (161) (102) (311) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG25S-G09C M10 x SG50S-G09C (153) (362) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) (6) (12) SG05S-G13C N/ N/ 4.25 M8 x SG10S-G13C 7.28 (102) (335) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) SG25S-G13C (185) (153) (386) SG05S-G20C SG10S-G20C (166) (353.5) (8) (5) SG05S-G30C (192) (379.5) M10 x SG05S-G44C (8) (97) (120) (155) (40) 7.48 (140) 1.5 (20) (82) (70) (6) (12) (226) (122.5) (413.5) (190) SG05S-G55C (260) (482.5) SG05S-G75C (334) (556.5) Note:* For Standard (SG) Gearmotors only: 4 x ΦMT threaded holes to a depth of dimension MD, set 90 apart. Specified Tolerances for Standard (SG) Gearmotor Models: Dimension ΦS ΦLB W 72 Unit Diameter Tolerance Diameter Tolerance Width Tolerance 0.472, , 0.197, in , , , , , 5, mm , , ,

74 SGMGH Gearmotors 200V Three-phase Sigma II Servo Systems 73 Precision SGMGH Gearmotors GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦL ΦMT** MD** Q QK KD W T U SH04S-G05C 5.43 (138) 3.78 (96) (276) 0.08 (2) 1.50 (38) 1.50 (38) 2.76 (70) 0.87 (22) 0.79 (20) 5.12 (130) 2.99 (76) 3.35 (85) 0.26 (6.6) 0.28 (7) 1.42 (36) 1.26 (32) 0.08 (2) 0.24 (6) 0.24 (6) 0.14 (3.5) SH05S-G05C SH07S-G05C SH10S-G05C SH16S-G05C 4.82 (122.5) (302.5) SH20S-G05C 5.77 (146.5) (327.5) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 1.18 (30) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) 0.32 (8) 0.20 (5) SH28S-G05C SH40S-G05C SH50S-G05C SH70S-G05C 7.13 (181) (364.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) SH04S-G09C 6.34 (161) 3.78 (96) (299) 0.08 (2) 1.50 (38) 1.50 (38) 2.76 (70) 0.87 (22) 0.79 (20) 5.12 (130) 2.99 (76) 3.35 (85) 0.26 (6.6) 0.28 (7) 1.42 (36) 1.26 (32) 0.08 (2) 0.24 (6) 0.24 (6) 0.14 (3.5) SH05S-G09C SH07S-G09C SH10S-G09C 4.49 (114) (318) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 1.18 (30) 5.12 (130) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) 0.32 (8) 0.20 (5) SH16S-G09C 5.77 (146.5) (350.5) SH20S-G09C SH28S-G09C SH40S-G09C 7.13 (181) (387.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) SH50S-G09C SH04S-G13C (185) 4.49 (114) (342) 0.08 (2) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 5.12 (130) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) SH05S-G13C SH07S-G13C SH10S-G13C SH16S-G13C 5.77 (146.5) (374.5) SH20S-G13C 7.13 (181) (411.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) SH28S-G13C SH40S-G13C 7.87 (200) (430.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 0.51 (13) 0.59 (15) 0.24 (6) 0.39 (10) 0.24 (6) SH04S-G20C (166) 5.55 (141) (357.5) 2.76 (70) 5.12 (130) 1.58 (40) 7.48 (190) 5.55 (141) 0.43 (11) 0.47 (12) 0.20 (5) 0.32 (8) 0.20 (5) SH05S-G20C SH07S-G20C SH10S-G20C SH16S-G20C 7.13 (181) (397.5) SH20S-G20C SH28S-G20C SH40S-G20C 7.87 (200) (416.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 8.47 (215) 0.51 (13) 0.59 (15) 0.24 (6) 0.63 (16) 0.39 (10) 0.24 (6) SH50S-G20C SH04S-G30C 7.56 (192) 5.55 (141) (383.5) 2.76 (70) 5.12 (130) 1.58 (40) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 0.20 (5) 0.47 (12) 0.32 (8) 0.20 (5) SH05S-G30C SH07S-G30C SH10S-G30C SH16S-G30C 7.13 (181) (423.5) SH20S-G30C 7.87 (200) (442.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 8.47 (215) 0.51 (13) 0.59 (15) 0.24 (6) 0.63 (16) 0.39 (10) 0.24 (6) SH28S-G30C SH40S-G30C SH Precision Type Gearmotors No Longer vailable

75 200V Three-phase Sigma II Servo Systems Precision SGMGH Gearmotors (Continued) GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦL ΦMT** MD** Q QK KD W T U SH04S-G44C SH05S-G44C SH07S-G44C SH10S-G44C 8.90 (226) (174.5) (438) 3.35 (85) 3.54 (90) 6.30 (160) 2.17 (55) 1.18 (30) 7.17 (182) 8.47 (215) 0.51 (13) 0.59 (15) 3.23 (82) 2.76 (70) 0.24 (6) 0.63 (16) 0.39 (10) 0.24 (6) SH16S-G44C SH20S-G44C (200) (476.5) SH04S-G55C SH05S-G55C SH07S-G55C SH10S-G55C SH04S-G75C SH05S-G75C SH07S-G75C SH10S-G75C (260) (334) 6.87 (174.5) 6.87 (174.5) (507) (581) SH Precision Type 0.12 (3) 3.35 (85) 3.35 (85) 3.54 (90) 3.54 (90) 6.30 (160) 6.30 (160) 2.17 (55) 2.17 (55) 1.18 (30) 1.18 (30) 7.48 (190) 7.17 (182) 7.17 (182) 8.47 (215) 8.47 (215) 0.51 (13) 0.51 (13) 0.59 (15) 0.59 (15) 3.23 (82) 3.23 (82) 2.76 (70) 2.76 (70) 0.24 (6) 0.24 (6) 0.63 (16) 0.63 (16) 0.39 (10) 0.39 (10) 0.24 (6) 0.24 (6) SGMGH Gearmotors Gearmotors No Longer vailable Note: * LC1 may be greater than LC, despite the depiction on the gearmotor drawing. ** For Precision (SH) Gearmotors only: 4 x ΦMT thru holes at a depth of dimension MD, set 90 apart. Specified Tolerances for Precision (SH) Gearmotor Models: Dimension ΦS ΦGD W Unit Diameter Tolerance Diameter Tolerance Width Tolerance , in , , , , , , , , mm 32, , , 160, , ,

76 200V Three-phase Sigma II Servo Systems Selecting Your SGMGH Gearmotor System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) SGDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) SGMGH Gearmotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). SGMGH Gearmotors Model Number Designation SG 05 S - G 05 2 C Sigma II Gearmotor Series SG: Standard (<10 arc minute) Reduction Ratio 04: 4:1 25: 25:1 05: 5:1 28: 28:1 07: 7:1 40: 40:1 10: 10:1 50: 50:1 16: 16:1 70: 70:1 20: 20:1 Construction S: Standard Orientation : For SG: Standard For SH: Mounted horizontally B: SH Only - Mounted vertically (Shaft facing UP) C: SH Only - Mounted vertically (Shaft facing DOWN) (Used to specify SH gearbox lubrication during manufacturing) Motor Series G: SGMGH ccessories C: 24V dc Brake Blank:Standard YE motor (stock) Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder Power Supply : 200V Motor Output 05: 0.45kW (0.6hp) 09: 0.85kW (1.14hp) 13: 1.3kW (1.7hp) 20: 1.8kW (2.4hp) 30: 2.9kW (3.9hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.3hp) 75: 7.5kW (10.0hp) Design Revision : SGMGH (1500rpm) 75

77 200V Three-phase Sigma II Servo Systems Gearmotor & mplifier Selection SGMGH Gearmotors Use this table below to select the appropriate SGMGH Sigma II gearmotor and amplifier. See notes on page 77. Description 200V, 3-phase 17-bit Incremental Encoder Straight Shaft with Keyway MS connectors Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Gear Ratio Gearmotor Model Number* () Standard SGMGH Gearmotors :1 SG05S-G05C :1 SG10S-G05C :1 SG25S-G05C 05E :1 SG50S-G05C :1 SG05S-G09C :1 SG10S-G09C :1 SG25S-G09C 10E :1 SG50S-G09C :1 SG05S-G13C :1 SG10S-G13C 15E :1 SG25S-G13C :1 SG05S-G20C :1 SG10S-G20C 20E :1 SG05S-G30C 30E :1 SG05S-G44C 50E :1 SG05S-G55C 60E :1 SG05S-G75C 75E Precision SGMGH Gearmotors :1 SH04S -G05C :1 SH05S -G05C :1 SH07S -G05C :1 SH10S -G05C :1 SH16S -G05C :1 SH20S -G05C 05E :1 SH28S -G05C :1 SH40S -G05C :1 SH50S -G05C :1 SH70S -G05C :1 SH04S -G09C :1 SH05S -G09C :1 SH07S -G09C :1 SH10S -G09C :1 SH16S -G09C 10E :1 SH20S -G09C :1 SH28S -G09C :1 SH40S -G09C :1 SH50S -G09C :1 SH04S -G13C :1 SH05S -G13C :1 SH07S -G13C :1 SH10S -G13C :1 SH16S -G13C 15E :1 SH20S -G13C :1 SH28S -G13C :1 SH40S -G13C :1 SH04S -G20C :1 SH05S -G20C :1 SH07S -G20C :1 SH10S -G20C 20E :1 SH16S -G20C :1 SH20S -G20C SH Precision Type Gearmotors No Longer vailable mplifier MODEL # Motor and mplifier SGDH- (B)** Item Class Gearmotor: 3-4 weeks mplifier: Stock Gearmotor: 6-8 weeks mplifier: Stock 76

78 200V Three-phase Sigma II Servo Systems Description 200V, 3-phase 17-bit Incremental Encoder Straight Shaft with Keyway MS connectors Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Gear Ratio Gearmotor Model Number :1 SH28S -G20C :1 SH40S -G20C :1 SH50S -G20C :1 SH04S -G20C :1 SH05S -G20C :1 SH07S -G20C :1 SH10S -G20C :1 SH16S -G20C :1 SH20S -G20C :1 SH28S -G20C :1 SH40S -G20C :1 SH50S -G20C :1 SH04S -G30C :1 SH05S -G30C :1 SH07S -G30C :1 SH10S -G30C :1 SH16S -G30C :1 SH20S -G30C :1 SH28S -G30C :1 SH40S -G30C :1 SH04S -G44C :1 SH05S -G44C :1 SH07S -G44C :1 SH10S -G44C :1 SH16S -G44C :1 SH20S -G44C :1 SH04S -G55C :1 SH05S -G55C :1 SH07S -G55C :1 SH10S -G55C :1 SH04S -G75C SH Precision Type Gearmotors No Longer vailable :1 SH05S -G75C :1 SH07S -G75C 75E*** :1 SH10S -G75C Notes: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Contact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. 2. Rated Speed is at 20 C ambient temperature. Reduce Rated Speed by 20% at 40 C ambient temperature. 3. For right-angle gearmotors, please consult the factory for availability V DC brakes for SGMGH Sigma II gearmotors are standard. Contact a local source for 24V DC power supplies. 5. For technical information, request Yaskawa manual number YE-SI-S * To complete the model number in type SH gearmotors, please specify the shaft orientation as shown in the Model Number Designation on page 75. ** For more detailed SGDH amplifier specifications and dimensions, refer to pages *** mplifier models SGDH-60E and SGDH-75E require a regenerative unit (see "Component (E)" on page 80). ()* mplifier Motor and MODEL # mplifier SGDH- (B)** Item Class 20E 30E 50E 60E*** Motor: Non Stock mplifier: Stock SGMGH Gearmotors 77

79 200V Three-phase Sigma II Servo Systems Use the table below to select pre-wired cables for your SGMGH Sigma II gearmotor. Pre-wired Cable Selection SGMGH Gearmotors Power Cable with Connectors (IP67) Encoder Cable (incremental or absolute) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections Cable Description (C) Motor Size (kw) 0.5, 0.9, , , 7.5 B5E- () Part Number* with Brake without Brake B1E- () B2E- () B3E- () B1BE- () B2BE- () B3BE- () B5E- () B7BCE- ()** JZSP-CMP02- (B) FR-RMCT-SB UL20276-SB Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example: to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB. Item Class Stock*** Input/Output 1CN Cable & Transition Terminal Block ll JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector**** 78 JZSP-CKI0D- Use the following key to specify cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable number indicates the revision level. The revision level may be changed prior to this catalog s reprinting. ** When ordering these cables for motors with brakes, order the standard B5E power cable and the additional cable for the brake. *** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. **** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others).

80 200V Three-phase Sigma II Servo Systems Connector Selection Use the table below to select mating connectors for your SGMGH Sigma II gearmotor. Connector Description (D) MS Connector for Motor Power Cable * MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 0.5, 0.9, , 3.0, , 7.5 Part Number without Brake with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B32-17S MS3108B32-17S MS3106B32-17S and MS310610SL-3S MS3108B32-17S and MS310810SL-3S MS MS MS MS3106B20-29S MS3108B20-29S MS Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class SGMGH Gearmotors 1CN Mating Connector JZSP-CKI9 Stock 2CN Encoder Mating Connector ll JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE Can use 5CN for analog speed and torque monitor service checks. * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS

81 200V Three-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMGH Sigma II gearmotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP OP02 1 and JZSP CMS00 1 Portable unit with 1m adapter cable for Sigma II SGMGH Gearmotors Software Interface Cable YS 12 JZSP B01 bsolute Encoder Battery JZSP B01 1 Pre-wired 2.0m cable with 9-pin connector 3.6V, 1000mh (Lithium Battery) For SGDH 60 and above (same as JZSP B01 with longer lead) Stock SigmaWin+ Software Regenerative Unit for 6.0kW amplifier (880W) Regenerative Unit for 7.5, 11, and 15kW amplifiers (1760W) JZSP WP0001 JUSP R04 JUSP R05 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS 422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) These are general purpose regenerative units.* Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) For 200V: SGDH-05E SGDH-08E SGDH-10E SGDH-15E SGDH-20E SGDH-30E X5061 X5060 X5059 SGDH-50E X5068 * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. Limited Stock 80

82 200V Three-phase Sigma II Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II gearmotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) 0.5, 0.9, 1.3 B1CE- () 2.0, 3.0 B2CE- () 4.4 B3CE- () 5.5, 7.5 B5CE- () B1BCE- () B3BCE- () B5CE- () B7BCE- () Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE Connector Selection SGMGH Gearmotors Use the table below to select mating connectors for your SGMGH Sigma II gearmotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class 0.5, 0.9, 1.3 CE SD-B- BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp Connector for Motor Power Cable* 2.0, 3.0, 4.4 CE SD-B- CE SD-B-BS BS CE (D265) CE (D265) CE SD-B-BS L-type connector Cable clamp L-type connector 5.5, 7.5 or CE SD-B-BSS and CE or Straight-type connector and Cable clamp (diameters to 0.937in) Limited Stock Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S and CE (D265) L-type connector for holding brake and Cable clamp (diameters to 0.220in) L-type connector (plug and back shell) and Cable clamp (diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 81

83 200V Three-phase Sigma II Servo Systems NOTES: SGMGH Gearmotors 82

84 200V Three-phase Sigma II Servo Systems Super High Power Rate Series SGMSH Servomotors - With Incremental / bsolute Encoder Rated Output: 1.0kW, 1.5kW, 2.0kW, 3.0kW, 4.0kW, 5.0kW For dditional Information SGMSH Ratings & Specifications SGMSH Speed/Torque Curves SGMSH Dimensions SGMSH Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Small sized motor Six frame sizes: up to 422in lb peak torque 2. High Speed Rated Speed: 3000rpm Maximum Speed: 5000rpm 3. Encoders 17-bit (32,768 ppr x 4) incremental encoder (standard) 17-bit absolute encoder (option) 4. Enclosure Totally enclosed, self-cooled IP67 (excluding shaft) IP67 with shaft seal (option) 5. pplication Emphasis High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance SGMSH Servomotors 83

85 200V Three-phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance: Continuous Class F 15μm or less 1500V ac 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed: 3000rpm Maximum Rotational Speed: 5000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5 mplifier System Voltage MOTORS: SGMSH- Rated Output* kw (hp) N m Rated Torque* KG cm (lb in) N m Instantaneous Peak Torque* KG cm (lb in) Rated Current* rms Instantaneous MaximumCurrent* rms (1.3) (28.2) (84.4) (2.0) (43.4) (130) V ac (2.7) (56.4) (169) (4.0) (87) (260) (5.4) (112) (336) (6.7) (140) (422) SGMSH Servomotors MOTORS SGMGH- Torque Constant lb f in rms N m rms ( ) Moment of Inertia (0.64) Capacity Torque Holding Brake (at 20 C) Coil Resistance Rated Current lb f in s 2. KG m W N m Ω dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant lb f in s KG m kw/s rad/s 2 ms ms (0.56) (0.55) (0.57) (0.53) (0.60) * These items and torque-speed characteristics quoted in combination with an SGDH servo amplifier at an armature winding temperature of 20 C. Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 10 to 20 : ( (in)) ( (mm)) Type 30 to 50 : ( (in)) ( (mm)) 84

86 Speed / Torque Curves 200V SPEED (rpm) V Three-phase Sigma II Servo Systems SGMSH-10 SGMSH-15 B TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) SGMSH-20 SGMSH SPEED (rpm) B SPEED (rpm) B TORQUE (N m) SGMSH TORQUE (N m) TORQUE (lb in) SGMSH-50 SGMSH Servomotors SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE TORQUE (N m) TORQUE (lb in) 85

87 200V Three-phase Sigma II Servo Systems Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK KL2 LB LC S 0.31 (8) KL1 KB2 KB LZ MTG Holes 0.28 (7) 0.16 (4) SGMSH Servomotors Type SGMSH L LL LM LR LT KB1 KB2 KL1 KL (194) 8.66 (220) 9.57 (243) (262) (299) (339) Note: 5.87 (149) 6.89 (175) 7.8 (198) 7.83 (199) 9.29 (236) (276) 4.06 (103) 5.08 (129 ) 5.98 (152) 6.02 (153 ) 7.48 (190) 9.06 (230) 1.77 (45) 2.48 (63) 1.81 (46) 2.99 (76) 4.02 (102) 4.92 (125) 4.8 (122) 6.26 (159) 7.83 (199) 5.04 (128) 6.06 (154) 6.97 (177) 7.01 (178) 8.46 (215) (255) 3.78 (96) 4.49 (114) 3.43 (87) 3.43 (87) Flange Dimensions Shaft End Dimension ΦL ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) 10.1 (4.6) 12.8 (5.8) 15.4 (7.0) 24.3 (11) 30.9 (14) 37.5 (17) llowable Radial Load lb f (N) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , (686) 220 (980) 265 (1176) llowable Thrust Load lb f (N) 44 (196) 88 (392) Encoder Plug M B L T N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B MS P Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 86

88 200V Three-phase Sigma II Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake L LT LL LM LG LE LR LC LR LE Q QK LH L LB LC 3.94 (100) S 0.31 (8) KL1 KL2 S LZ MTG Holes 0.28 (7) 0.16 (4) KB1 KB2 Type SGMSH- 10 6C 9.37 (238) 15 6C (264) 20 6C 11.3 (287) 30 6C (300) 40 6C C (377) L LL LM LR LT KB1 KB2 KL1 KL2 7.6 (193) 8.62 (219) 9.53 (242) 9.33 (237) (274) (314) 5.79 (147) 6.81 (173) 7.72 (196) 7.52 (191) 8.98 (228) (268) 1.77 (45) 1.77 (45) 1.77 (45) 2.48 (63) 1.81 (46) 2.64 (67) 3.66 (93) 4.57 (116) 4.45 (113) 5.91 (150) 7.48 (190) 6.77 (172) 7.8 (198) 8.7 (221) 8.5 (216) 9.96 (253) (293) 3.94 (100) 4.69 (119) 3.43 (87) Flange Dimensions Shaft End Dimension ΦL ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) 13.2 (6.0) 16.5 (7.5) 18.7 (8.5) 30.9 (14) llowable Radial Load lb f (N) 154 (686) 220 (980) 37.5 (17) (1176) (20) Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 44 (196) 88 (392) SGMSH Servomotors Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Motor Plug F E B G D C MS P Connector Wiring on the Motor Side U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 87

89 200V Three-phase Sigma II Servo Systems Selecting Your SGMSH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. System Configuration SGMSH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) SGDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side 2CN Connector (D) Encoder Cable (C) Motor Cable (C) Model Number Designation SGMSH - 10 C 6 1 Sigma Servomotor Type Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 40: 4.0kW (5.4hp) 50: 5.0kW (6.7hp) Power Supply : 200V Optional Holding Brake SGMSH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 3000rpm Encoder Specifications C: 17-bit Incremental Encoder 2: 17-bit bsolute Encoder 88

90 200V Three-phase Sigma II Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate SGMSH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) Description 200V, Three-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 X 10-3 ) Motor MODEL # () 1.54 SGMSH-10C SGMSH-10C6C 2.19 SGMSH-15C SGMSH-15C6C 2.82 SGMSH-20C SGMSH-20C6C 6.2 SGMSH-30C SGMSH-30C6C 8.5 SGMSH-40C SGMSH-40C6C 10.9 SGMSH-50C SGMSH-50C6C mplifier MODEL # (B)* nalog/digital Input SGDH- 10E 15E 20E 30E 50E Motor & mplifier Item Class Stock Note: 24V DC brakes for SGMSH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages SGMSH Servomotors 89

91 200V Three-phase Sigma II Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMSH Sigma II servomotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with L- type Connectors (IP67) 1.0, 1.5, 2.0 B1E- () B1BE- () Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m B3E- () B3BE- () 20: 20m 3.0 B2E- () B2BE- () 4.0, 5.0 Encoder Cable (incremental or absolute) (IP67) JZSP-CMP02- (B) These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections ll FR-RMCT-SB UL20276-SB These cables are available in any length. For example, to order one FR-RMCT- SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock** SGMSH Servomotors Input/Output 1CN Cable & Transition Terminal Block Input/Output 1CN Cable with Pigtail Leads JUSP-T50P JZSP-CKI01- ()** 35mm DIN rail mountable; the cable length is 0.5m. Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector*** JZSP-CKI0D- Use the following key to specify cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable number is the revision level. The revision level may be changed prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 90

92 200V Three-phase Sigma II Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH Sigma II servomotor. Connector Description (D) MS Connector for Motor Power Cable * Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 without Brake Part Number with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector Item Class MS Connector for Encoder Cable (incremental or absolute encoder) MS Cable clamp Stock 1CN Mating ll Connector JZSP-CKI9 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC-1 DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. SGMSH Servomotors 91

93 200V Three-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH Sigma II servomotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with adapter cable for Sigma II bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Stock SGMSH Servomotors SigmaWin+ Software JZSP-WP0001 Software Interface Cable YS-12 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) Pre-wired 2.0m cable with 9-pin connector These are general purpose regenerative units.* External Regenerative Unit (Optional) JUSP-R04 Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage SGDH-10E X5061 DC Reactor (for suppressing harmonics in the power supply) SGDH-15E SGDH-20E SGDH-30E SGDH-50E X5060 X5059 X5068 Limited Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User s Manual (YE-SI-S ) for proper resistor sizing guidelines. 92

94 200V Three-phase Sigma II Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your SGMSH Sigma II servomotor. These are suitable for IP67 environments. Use the standard encoder cable MS listed on page 93. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) 1.0, 1.5, 2.0 B1CE- () B1BCE- () Use the following key to specify required cable length (last digit of part number): 03. 3m B3BCE- () 05: 5m 10: 10m (standard) B3CE- () 15: 20: 15m 20m 3.0 B2CE- () Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE/IP67 Connector Selection Use the table below to select mating connectors for your SGMSH Sigma II servomotor. Connector for Motor Power Cable** Connector Description (D) Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 ll without Brake CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) Part Number* CE NSW and CE20B-S CE (D265) with Brake CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) Comments L-type connector Cable clamp L-type connector Cable clamp L-type connector (plug and back shell) Cable clamp (for diameters to 0.394in) Item Class Limited Stock SGMSH Servomotors * Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. ** Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. 93

95 200V Three-phase Sigma II Servo Systems NOTES: SGMSH Servomotors 94

96 100/200V Sigma II Servo Systems SGDH Servo mplifier - For Speed, Torque, & Position Control With Incremental or bsolute Encoder For dditional Information Page(s) Single-phase Three-phase SGDH Ratings & Specifications SGDH Dimensions SGDH Internal Connections Connection Diagram, Single Phase Connection Diagram, Three Phase Connector Terminal Block Unit Terminal Block Pin Numbers mplifier/encoder Connections Cable Specs and Peripherals SGMH Sigma II Servo System SGMPH Sigma II Servo System SGMPH Gearmotor SGMGH Sigma II Servo System SGMGH Gearmotor SGMSH Sigma II Servo System Design Features 1. Improved Performance Higher bandwidth response (400Hz speed loop frequency response) Positioning settling time shortened to 1/2 to 1/3 Smooth control at low rpm made possible by Sigma II servomotors high resolution feedback 2. Easy Operation ll-in-one model (speed, torque, and position control) PC monitoring function available including graphical tuning and file storage daptive-tuning function Online auto-tuning Multi-axis communication provided as standard One PC can communicate with up to 14 SGDH units by parameter setting Built-in parameter setting device On-board storage of alarm history utomatic determination of motor settings at connection 3. dditional functionality with ready-to-install application modules Configurable single axis controls including serial networking capability Fieldbus connectivity (Devicenet, Profibus, etc.) Full closed loop (optional position feedback) Yaskawa MP940 single axis motion controller 4. Certified International Standards UL, cul listed (File #: E147823), CE compliance SGDH Servo mplifiers 95

97 100/200V Sigma II Servo System Model Number Designation Sigma II Series SGDH Servo mplifier Rated Output Power Supply : 200V B: 100V F: 100V (for SGM H-04 motors only) SGDH- E - Options S: Single Phase* Model E: Speed, Torque, and Position Control * Only required for single-phase sizes 08 and 15. mplifier Model Capacity kw (HP) (0.04) (0.07) (0.13) (0.27) (0.54) (1.0) (2.0) (6.7) (1.0) (1.3) (2.0) (2.7) (4.0) (6.2) (8.0) (10) 1 11 (15) 1E 15 (20) C Supply Phases 1 3 SGDH Servo mplifiers 96

98 100/200V Sigma II Servo Systems SGDH mplifier Ratings and Specifications Basic Specifications Speed/Torque Control Mode Location Performance Input Signal Input Power Supply Main Circuit * Control Circuit * Control Mode Feedback mbient/storage Temperature ** 0 to 55 C / -20 to 85 C mbient/storage Humidity 90% or less (no-condensing) Speed Regulation *** Speed Reference Torque Reference Contact Speed Reference Vibration/Shock Resistance 4.9m/s 2 /19.6m/s 2 Structure Speed Control Range Load Regulation Voltage Regulation Temperature Regulation Three-phase (or single-phase) 200 to 230V ac +10% to -15%, 50/60 Hz, or single-phase 100 to 115V ac +10% to -15%, 50/60 Hz Single-phase 200 to 230V ac (or 100 to 115V ac ) +10% to -15%, 50/60 Hz Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Serial incremental encoder, absolute encoder Base mounted (duct ventilation available as option) and flat mount type 1 : 5000 (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) 0% to 100%: 0.01% max. (at rated speed) Rated voltage ±10% : 0% (at rated speed) 25 ± 25 C : 0.1% maximum (at rated speed) Frequency Characteristics 400Hz (at J L = J M ) ccel/decel Time Setting 0 to 10s (Can be set individually for acceleration and deceleration). Reference Voltage **** Input Impedance Circuit Time Constant Reference Voltage **** Input Impedance Circuit Time Constant Rotation Direction Selection Speed Selection ±6V DC (variable setting range: ±2 to ±10V DC ) at rated speed (forward rotation with positive reference); input voltage: ±12V (maximum) pproximately 14kΩ ±3V DC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with positive reference), input voltage: ±12V DC (maximum) pproximately 14kΩ pproximately 47μs Uses P control signal Forward/reverse rotation current limit signals are used (1st to 3rd speed selection). When both signals are OFF, the motor stops or enters another control mode. Notes: * The power voltage must not exceed 230V +10% (253V). If it is likely that it will exceed this limit, use a step-down transformer. For types SGDH-08E-S and SGDH-15E-S, voltage is 200 to 230V + 10% -5%. ** Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. *** Speed regulation is defined as follows: ( no-load motor speed - full-load motor speed) Speed regulation = x100% rated motor speed **** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and shaft end). SGDH Servo mplifiers 97

99 100/200V Sigma II Servo System Ratings and Specifications (cont d) Positioning Control Mode I/O Signals Built-in Functions Performance Input Signal Position Output Bias Setting 0 to 450rpm (setting resolution: 1rpm) Feed-forward Compensation 0 to 100% (setting resolution: 1%) Position Complete Width Setting Reference Signal 0 to 250 reference units (setting resolution: 1 reference unit) Type Sign + pulse train, 90 phase difference 2-phase pulse (phase + phase B), or CCW + CW pulse train Pulse Buffer Line driver (+5V level), open collector (+5V or +12V level) Pulse Frequency Maximum 500/200kpps (line driver/open collector) Control SIgnal CLER (input pulse form identical to reference pulse) Built-in Open Collector Power Supply * +12V (With built-in 1kW resistor) Output Form Phases, B and C: Line driver output Phase S: Line driver output (Only when absolute encoder is used) Frequency Dividing Ratio ny Servo ON, P control (or forward/reverse rotation in contact input speed control mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT), alarm reset, forward rotation current limit, and reverse rotation current limit (or contact input speed control) Servo alarm, 3-bit alarm codes Sequence Input Sequence Output Configurable: (ny 3 of these signals) Dynamic Brake (DB) Regenerative Processing Overtravel (OT) Prevention Protection LED Display nalog Monitor (5CN) Communication Others Interface Positioning complete (speed coincidence), servomotor rotating, servo ready, current limit, brake release, warning, and near position signals ctivated at main power OFF, servo alarm, servo OFF or overtravel Incorporated. For 60 to 1 types, external regenerative resistor must be mounted. Motor decelerates or coasts to a stop, or is stopped by a dynamic brake. Overcurrent, overload, regenerative error, main circuit voltage error, heat sink overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, parameter error. POWER, CHRGE, five 7-segment LEDs (built-in digital operator functions) Built-in analog monitor connector to observe speed, torque, and other reference signals Speed:1V/1000rpm Torque1V/rated torque Pulses remaining:0.05v/reference units or 0.05V/100 reference units Digital operator (mount type or hand-held) RS422 port such as person computer (RS-232C port can be used if some conditions are met). 1 : N Communication N can be up to 14 when RS-422 port is used. xis ddress Setting Set via user parameters Status display, user constant setting, monitor display, alarm traceback display, jogging, Functions autotuning, speed/torque reference signals, other graphing functions, etc. Reverse rotation connection, home position search, automatic servomotor ID, DC reactor connection terminal for high power supply frequency control. SGDH Servo mplifiers Note: * The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier. 98

100 Dimensions in inches (mm) SGDH Servo mplifier (Standard) SGDH-3E to -02E (200V Single-phase, 30 to 200W) and SGDH-3BE to -01BE (100V Single-phase, 30 to 100W) 100/200V Sigma II Servo Systems Terminal block YSKW MODE/SET DT/ CHRGE POWER (3 types) CN3 L1 C N 3 L (160) 0.24 (6) 2 L1C L2C B1 B2 U V W SERVOPCK SGDH C N 1 C N (106) 1.54 (39) 0.32 (8) CN1 CN2 Ground terminal x M4 screws 0.24 (10) (6) 2.17 (55) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 3.60 (91.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.67 (17) 0.20 (5) 0.20 (5) 1.97 (50) Connectors on the amplifier (supplied): pproximate mass: 1.76lb (0.8kg) Connector Symbol Servo mplifier Receptacle Manufacturer CN JL 3M Company CN Molex Co. CN JL 3M Company User needs to obtain the following: Connector Symbol Mating Connector Manufacturer 1CN VE connector case 3M Company 2CN Molex Co. 3CN JEZ-9S connector J-C9-2C case JST Company SGDH Servo mplifiers 99

101 100/200V Sigma II Servo System SGDH-04E (200V Single-phase, 400W) and SGDH-02BE (100V Single-phase, 200W) and SGDH-04FE (100V Single-phase, 400W) 2-Φ0.20 (Φ5) holes (8) SERVOPCK SGDH 6.30 (160) Terminal block (3 types) YSKW MODE/SET CHRGE L1 L2 1 2 L1C L2C B1 B2 C N 3 C N 1 DT/ POWER 4.17 (106) 1.54 (39) CN3 CN1 CN2 U V W C N 2 Ground terminal 2 x M4 screws 0.39 (10) 0.24 (6) 0.20 (5) 2.95 (75) 0.24 (6) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.28 (7) 3.60 (91.5) 0.22 (5.5) 2 x M4 screw holes SGDH Servo mplifiers 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.20 (5) ) 2.48 (63) 0.67 (17) Mating connectors: See page 99 pproximate mass: 2.43lb (1.1kg) 100

102 100/200V Sigma II Servo Systems SGDH-05E to 10E (200V Three-phase, 0.5 to 1.0kW) SGDH-08E-S (200V* Single-phase, 750W) ir flow 2-Φ0.20 (Φ5) holes 6.30 (160) Terminal block (3 types) ir flow 0.24 (6) SGDH YSKW SERVO MODE/SET DT/ CHRGE POWER L1 L2 L3 1 2 L1C L2C B1 B2 B3 U V W C N 3 C N 1 C N (106) 1.54 (39) 0.31 (8) CN3 CN1 CN2 Ground terminal 2 x M4 ir flow screws 1.38 (35) 0.39 (10) 0.59 (15) 2.17 (55) 3.54 (90) 2.95 (75) 7.09 (180) Mounting Hole Diagram 0.22 (5.5) 0.28 (7) 5.57 (91.5) 2 x M4 screw holes 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.20 (5) 1.06 (27) 2.48 (63) 0.67 (17) ir flow pproximate mass: 3.75lb (1.7kg) Mating connectors: See page 99 SGDH Servo mplifiers * Rating 200 to 230V ac +10% -5% 101

103 100/200V Sigma II Servo System SGDH-15E (200V Three-phase, 1.5kW) 2-Φ0.20 (Φ5) holes Heat sink ir flow 0.31 (8) SGDH 6.30 (160) YSKW MODE/SET DT/ CHRGE POWER L1 C N 3 L2 1 2 C N L1C 1 L2C B1 B2 U V 4.17 (106) 1.54 (39) CN3 CN1 CN2 W C N (5) Ground terminal 2 x M4 screws ir flow 4.33 (110) Terminal block (3 types) 2.95 (75) 7.09 (180) 0.16 (4) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 5.57 (141.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) Cooling fan SGDH Servo mplifiers 0.20 (5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) pproximate mass: 6.17lb (2.8kg) Mating connectors: See page

104 100/200V Sigma II Servo Systems SGDH-20E, 30E (200V Three-phase, 2.0kW, 3.0kW) SGDH-15E-S (200V Single-phase, 1.5 kw)* 2-Φ0.24 (Φ6) holes Heat sink ir flow (8) SERVOPCK SGDH 9.84 (250) B2 B3 U YSKW MODE/SET CHRGE CN3 CN1 CN2 DT/ POWER 7.72 (196) 1.54 (39) CN3 CN1 CN2 V W Ground terminal 2 x M4 screws ir flow 14-pin terminal M4 mounting screws 2.95 (75) 7.09 (180) 0.16 (4) 0.24 (6) 4.33 (110) Mounting Hole Diagram 0.24 (6) 4 x M5 screw holes 0.28 (7) 5.57 (141.5) 9.39 (238.5) ±0.020 (0.5) (Mounting pitch) 0.22 (5.5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) (100 ) 1.57 (40) Cooling fan pproximate mass: 8.38lb (3.8kg) Mating connectors: See page 99 SGDH Servo mplifiers * Rating: 200 to 230V ac +10%, -5% 103

105 100/200V Sigma II Servo System SGDH-50E (200V Three-phase, 5.0kW) 2 Φ0.24 (Φ6) holes Heat sink 6-pin terminal M5 mounting screw L1 L2 L (8) YSKW SERVOPCK SGDH-50E Ver. MODE/SET DT/ CHRGE POWER C N 3 C N 1 200V 1.54 (39) 5-pin terminal M6 mounting screws CN3 CN (250) L1C L2C B1 B1 B1 C N 2 CN2 U V W Ground terminal 2 M4 screws 5.31 (135) 2.95 (75) 9.06 (230) 3-pin terminal M5 mounting screws Cover (not shown) hinges from this line, closing over the left side of the front. Mounting Hole Diagram 9.39? (238.5) ±0.020 (0.5) 0.24 Mouting pitch (6) 4 x M5 screw holes (100 ) 0.28 (7) 7.54 (191.5) SGDH Servo mplifiers 0.22 (5.5) 0.20 (5) 4.92 (125) 0.20 ±0.020 (0.5) (5) (Mounting pitch) 3.27 (8.3) pproximate mass: 12.12lb (5.5kg) Mating connectors: See page

106 100/200V Sigma II Servo Systems SGDH-60E, SGDH-75E (200V Three-phase, 6.0kW, 7.5kW) 10 (0.39) Cooling fan ir flow (282.6) 3.96 (100.5) 0.98 (25) SERVOPCK 200V SGDH- Ver. 51 (2.01) 4.33 (110) CN (66) 0.49 (12.5) CN1 Control circuit terminal M (46) CN2 CN8 CN5 L1 L2 L3 B1 + - B2 U V W 0.31 (8) Main circuit terminal 4.92 (125) maximum (350) CN10 Control circuit terminal 0.83 (21) Main circuit terminal 1.54 (39) 8.31 (211.1) 0.35 (9) 4.86 (123.4) (19) (41) (65.6) 9 x 0.75 (19) = 6.75 (171) 1.11 maximum 9.06 (230) (28.3) Ground terminal 1.06 (27) 3.45 (87.7) Ground terminal 4.20 (106.8) maximum 9.25 (235) ir flow Mounting Hole Diagram 0.30 (7.5) 4 x M5 screw holes (335) (Mounting pitch) 0.30 (7.5) 0.98 (25) 7.09 (180) (Mounting pitch) 0.98 (25) 3.54 (90) 5.71 (145) View pproximate Mass: 31.5lb (14.3kg) SGDH Servo mplifiers Mating connectors: See page

107 100/200V Sigma II Servo System SGDH-1E, SGDH-1EE (200V Three-phase, 11.0kW, 15.0kW) (7.5) 0.28 (7) 0.39 (10) Cooling fan 9.69 (246) ir flow SERVOPCK 200V SGDH Ver. YSKW 5.51 (140) CN (8) maximum (450) (320) M4 Control circuit terminal CN1 DT CN2 M4 Mounting screws (435) 1.53 (39) CN (36) 0.35 (9) L1 L2 L B1 B2 U V W 0.28 (7) 5.28 (134) 2.05 (52) (268) M5 Main circuit terminal Mounting Hole Diagram 0.28 (7) 2.91 (74) (7.5) M8 Ground terminal 0.94(24) (117) (19) (285) Main circuit/control circuit terminal M8 Ground terminal 0.68 (17) 4.92 (125) ir flow 0.30 (7.5) View : SGDH Servo mplifiers (435) 5.59 (142) 8.23 (209) 8.74 (2.22) (271) pproximate mass: 31.53lb (14.3kg) Mating connectors: See page (7.5) 1.18 (30) 0.28 (7) 7.87 (200) 1.18 (30) 106

108 100/200V Sigma II Servo Systems Regenerative Resistor Units (JUSP-R ) Type JUSP-R (180) For SGDH-60D 8.66 (220) Type JUSP-R (250) 11.8 (300) For SGDH-75 to 1D 13.2 (335) 11.8 (30) 13.8 (350) 13.2 (335) 11.8 (30) 13.8 (350) 3.62 (92) M4 Ground terminal M5 Main circuit terminal Current resistance 220W 25Ω (configurable x4) pproximate mass: 8.82lb (4kg) 3.74 (95) Earth ground M4 screw External terminal M5 screw Current resistance 220W 25Ω (x 8) pproximate mass: 15.4lb (7kg) External Regenerative Resistors Regenerative resistors for servo amplifiers are internally or externally mounted, as shown in the following table. They can be mounted externally on all servo amplifiers, but are especially effective when regenerative energy exceeds the servo amplifier s capacity. When mounted externally, be sure to remove the jumper between B2 and B3, which deactivates the internal regenerative resistor. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. Use Yaskawa s SigmaSize and the Sigma II Series Servo System User s Manual: YE-SI-S pplicable Servo mplifier 200V Singlephase 200V Threephase 100V Singlephase Regenerative Resistor Mounted in a Servo mplifier Resistance (Ω) Wattage* (W) Internal Regeneration Power Capacity (W) Minimum llowable Resistance (Ω) SGDH-3E SGDH-5E SGDH-01E SGDH-02E 40 SGDH-04E SGDH-08E-S SGDH-15E-S SGDH-05E 40 SGDH-08E SGDH-10E SGDH-15E SGDH-20E 25 SGDH-30E SGDH-50E SGDH-60E 6.25** 880** SGDH-75E SGDH-1E 3.13*** 1760*** SGDH-1EE SGDH-3BE SGDH-5BE SGDH-01BE 40 SGDH-02BE * Capacity prior to derating. If regeneration power requirements exceed internal capacity of the amp, install an external regeneration resistor (reference Minimum llowable Resistance. Be sure to derate wattage of external resistor to 20% or less (natural convection) and to 50% or less with forced air cooling. ** Provided externally by JUSP-R04 *** Provided externally by JUSP-R05 SGDH Servo mplifiers 107

109 100/200V Sigma II Servo System Single Regeneration Resistance Units Consult the Design and Maintenance section of the Sigma II Series SGM H/SGDH User s Manual (No. YE-SI-S ) for a more detailed description of the selection procedure. Part#RH500N25_OHMK 3.15 (80) 0.18 (4.5) 9.84 (250) 9.21 (234) 0.12 (3) 2 - M (60) 8.58 (218) 2 - Φ0.18 (Φ4.5) Part#RH OHMJ 5.91 (150) 7.17 (182) 6.77 (172) 0.63 (16) 0.79 (20) 0.14 (3.5) 0.18 (4.5) 0.87 (22) 1.65 (42) 1.57 (40) 0.18 (4.5) Lead wire:l = (450) Lead wire:l = (300) Rated power:300w Rated power:70w Resistance value:25ω Resistance value:50ω Regenerative Resistor Specifications Tolerance J: ±7%, K: ±10% Temperature Characteristics ±260PPM/ C (20Ω or higher) Withstand Voltage ΔR at 2000V ac applied for one minute: ±(0.1% Ω) Insulation Resistance 20MΩ or higher at 500VDC Short-term Overload ΔR with ten times the rated power applied for five seconds (±2% Ω) Service Life ΔR in 1000 hours at rated power 90 minutes ON and 30 minutes OFF (±5% +0.05Ω) Inflammability Fire does not occur with 10 times the rated power applied for one minute. mbient Temperature Range -25 to 150 C SGDH Servo mplifiers 108

110 100/200V Sigma II Servo Systems Control of Harmonic Frequency in the Power Supply Circuit If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals (+) 1 and (+) 2 on the servo amplifier s main circuit. Use the following table as a guide for selection of the appropriate reactor. pplicable Servo mplifier 100V 200V Reactor Specifications Impedance (mh) Rated Current () Reactor Model SGDH-3BE SGDH-5BE SGDH-01BE X5063 SGDH-02BE X5062 SGDH-3E SGDH-5E SGDH-01E X5071 SGDH-02E X5070 SGDH-04E X5069 SGDH-08E-S X5079 SGDH-15E-S X5078 SGDH-05E SGDH-08E X5061 SGDH-10E SGDH-15E SGDH-20E X5060 SGDH-30E X5059 SGDH-50E X5068 Larger size amplifiers Consult factory for availability SGDH Servo mplifiers 109

111 /200V Sigma II Servo System SGDH Servo mplifiers DC Reactor Dimensional Drawings Reactor Model Dimensions in (mm) pproximate Mass lb (kg) B C D E F G ΦH ΦJ X (35) 2.05 (52) 3.54 (90) 4.13 (105) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.6) X (40) 2.32 (59) 3.94 (100) 4.72 (120) 1.57 (40) 1.97 (50) 2.17 (55) 0.16 (4) 0.17 (4.3) (0.9) X (35) 2.05 (52) 3.15 (80) 3.73 (95) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.5) X (40) 2.32 (59) 4.13 (105) 4.92 (125) 1.77 (45) 2.36 (60) 2.56 (65) 0.16 (4) 0.17 (4.3) 2.21 (1.0) X (50) 2.91 (74) 4.92 (125) 5.51 (140) 1.38 (35) 1.77 (45) 2.36 (60) 0.20 (5) 0.21 (5.3) 2.43 (1.1) X (50) 2.91 (74) 4.92 (125) 6.1 (155) 2.09 (53) 2.6 (66) 2.95 (75) 0.20 (5) 0.25 (6.4) 4.19 (1.9) X (40) 2.32 (59) 4.13 (105) (1.0) X (40) 2.32 (59) 3.94 (100) 4.72 (120) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.8) X (35) 2.05 (52) 3.15 (80) 3.74 (95) 1.18 (30) 1.57 (40) 1.77 (45) 0.16 (4) 0.17 (4.3) (0.5) X (50) 2.91 (74) 4.92 (125) 6.1 (155) 2.36 (60) 2.76 (70) 3.15 (80) 0.20 (5) 0.21 (5.3) 4.41 (2.0) X (50) 2.91 (74) 4.92 (125) 5.51 (140) 1.38 (35) 1.77 (45) 2.36 (60) 0.20 (5) 0.17 (4.3) 2.65 (1.2) G B C D E F 1 2 ΦJ 4 ΦH

112 100/200V Sigma II Servo Systems Typical Internal Connection Diagrams 0.5kW to 1.5kW, 200V Models Three-phase 200 to +10% 250V (50\60Hz) -15% 1 B1 B2 B3 FN1 RY1 R2 2 FU1 D2 D3 D4 ±12V Noise filter P P C servomotor 1MC L1 L2 L3 XX1 XX2 XX3 R S T + - C1 + - CHRGE U V W U V W N + - Relay drive Voltage sensor Gate drive N Gate drive overcurrent protection THS1 ` ` PG PG Voltage sensor Interface *0.5 to 1.0kW, 200V models CN2 L1C L2C DC/DC converter ±5V ±15V +5V ±12V PWM generator Digital current amp SIC PG signal Divider processing Reference pulse processing Current sensor CN8 CN1 For battery connection PG output +5V Power OFF Power ON 1MC 0V Current reference calculation Position control /D Speed and torque reference input (SRY) 1MC Surge suppressor Open during servo alarm Monitor display nalog voltage converter CN5 POWER CN3 Serial port Speed control CPU I/O Sequence I/O nalog monitor output for supervision Digital operator personal computer 2.0kW to 5.0kW, 200V Models Three-phase 200 to +10% 230V (50\60Hz) -15% 1 B1 B2 B3 2 FU1 FN1 Noise filter P P ±12V C servomotor 1MC L1 L2 XX1 XX3 R S + - C1 + - CHRGE U V U V L3 XX2 T W W ` ` N + - Relay drive Voltage sensor Gate drive N Gate drive overcurrent protection DB + - ` Voltage sensor Interface Gate drive CN2 PG Power OFF L1C L2C Power ON 1MC DC/DC converter ±5V ±15V +5V ±12V +5V 0V PWM generator Digital current amp Current reference calculation SIC PG signal Divider processing Reference pulse processing Position control Current sensor /D CN8 CN1 For battery connection PG output Speed and torque reference input SGDH Servo mplifiers (SRY) 1MC Surge suppressor Open during servo alarm Monitor display nalog voltage converter CN5 POWER CN3 Serial port Speed control CPU I/O Sequence I/O nalog monitor output for supervision Digital operator personal computer 111

113 100/200V Sigma II Servo System 6.0kW to 7.5kW, 200V Models Regenerative Resistor (optional) Three-phase +10% 200 to 230V (50\60Hz) -15% RY1 B1 B2 THS1 FN1 DB1 FU1 R3 PM1/PM2/PM3 Line filter 1MC L1 B1 B3 L2 L3 B2 C7 R S T P N C1 + _ CHRGE TR1 D1 P C10 N U V W CT1 CT2 ±12V U V W ` SCR1 ` ` C servomotor - + Voltage sensor isolator Relay drive Voltage sensor isolator Base drive over-current protection isolator R2 CN2 Gate drive isolator PG L1C + + ±5V CN8 Current sensor u L2C DC/DC converter ±12V PG5V SIC (PWM control, etc.) CN1 For battery connection PG output Power OFF Power ON 1MC Open during servo alarm (1RY) 1MC Surge suppressor Monitor display +5V 0V POWER CPU (position/speed calculation, etc.) /D Reference pulse input Speed and torque reference input nalog voltage converter I/O Sequence I/O CN10 CN5 CN3 Connector for output unit nalog monitor output for supervision Digital operator personal computer SGDH Servo mplifiers 112

114 Connection Diagram, Single-phase 100/200V Sigma II Servo Systems Single-phase 200 to 230V ac or (50/60Hz) Single-phase 100 to 115V ac (50/60Hz) 1MCCB Noise filter Power Power larm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 B1 B2 B3 U V W (1) Servomotor B (2) M C (3) D (4) L1C L2C 1 2 SGDH Servo mplifier 2CN Optical encoder PG Reference speed: ±2 to ±10V/rated motor speed (set by parameter) Torque reference: ±1 to ±10V/rated motor speed (set by parameter) Position reference Be sure to ground PULS CW phase SIGN CCW B phase CLR Open-collector reference power supply 1CN V-REF 5 P SG 6 LPF* T-REF 9 P SG 10 LPF* PULS 7 150Ω P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 1kΩ Backup battery 2.8 to 4.5V BT (+) 21 (When using an absolute encoder). PBT (-) 22 +5V SEN SEN signal input 4 P (When using an absolute encoder). SG 2 0V +24V +24V kΩ 1Ry /S-ON 40 Servo ON with 2Ry ON 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry /LM-RST 44 larm reset with 3Ry ON 6Ry Forward current limit ON with 6Ry ON /P-CL 45 7RY Reverse current limit ON with &Ry ON /N-CL V /D Used only with an absolute encoder LO1 larm code maximum output: LO3 Operating voltage: 30V DC Operating current: 20m DC LO3 PO /PO PBO /PBO PCO /PCO PSO /PSO SG Be sure to properly prepare the end of the shielded wire. PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent mount of S-phase rotation Serial data output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Speed coincidence detection 25 /V-CMP+ (ON when speed coincides) Servo ON 26 (/COIN+) /V-CMP- Positioning completed Proportional control (P control) (ON when positioning is (/COIN-) completed) Forward run 27 prohibited /T-GON+ T-GON output 28 Reverse run (ON at levels above the setting) /T-GONprohibited 29 larm reset /S-RDY+ Servo ready output 30 (ON when ready) /S-RDY- Forward current limit ON 31 LM+ Servo alarm output Reverse current 32 (OFF with an alarm) limit ON LM- Connector shell FG Connect shield to connector shell Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC SGDH Servo mplifiers *The time constant for the primary filter is 47μs P: Indicates twisted wire pairs. 113

115 100/200V Sigma II Servo System Connection Diagram, Three-phase Three-phase 200 to 230V ac (50/60Hz) R S T 1MCCB Noise filter Power Power larm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 L3 B1 B2 B3 U V W (1) Servomotor B (2) M C (3) D (4) L1C L2C 1 2 SGDH Servo mplifier 2CN Optical encoder PG SGDH Servo mplifiers Reference speed: ±2 to ±10V/rated motor speed (set by parameter) Torque reference: ±1 to ±10V/rated motor speed (set by parameter) Position reference Be sure to ground PULS CW phase SIGN CCW B phase CLR *The time constant for the primary filter is 47μs 1CN V-REF 5 P SG 6 LPF* T-REF 9 P SG 10 LPF* PULS 7 150Ω P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 /D P: Indicates twisted wire pairs. LO1 larm code maximum output: LO3 Operating voltage: 30V DC Operating current: 20m DC LO3 PO /PO PBO /PBO Be sure to properly prepare the end of the shielded wire. PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Open-collector +12V PL1 3 1kΩ 19 reference PCO PL power supply /PCO PL mount of S-phase rotation Used only with PSO 49 Serial data output Backup battery 2.8 to 4.5V BT (+) an absolute encoder /PSO 21 pplicable line receiver 1 (When using an absolute encoder). PBT (-) SG SN75175 or MC3486 manufactured by T/I, or the equivalent 22 +5V SEN SEN signal input 4 P (When using an absolute encoder). SG 2 0V +24V +24V kΩ Speed coincidence detection 25 1Ry /V-CMP+ (ON when speed coincides) /S-ON 40 Servo ON 26 (/COIN+) Positioning completed Servo ON with 2Ry ON /V-CMP- 2RY /P-CON 41 Proportional control (P control) (ON when positioning is (/COIN-) completed) P control with 2Ry ON P-LS Forward run 27 P-OT 42 prohibited /T-GON+ T-GON output Forward run prohibited with 28 N-LS Reverse run (ON at levels above the setting) P-LS OPEN N-OT 43 /T-GONprohibited Reverse run prohibited with 29 N-LS OPEN 3Ry LM-RST 44 larm reset /S-RDY+ Servo ready output 30 (ON when ready) larm reset with 3Ry ON /S-RDY- 6Ry Forward current P-CL 45 limit ON Forward current limit ON with 6Ry ON 31 LM+ Servo alarm output 7RY Reverse current N-CL (OFF with an alarm) Reverse current limit ON with &Ry ON limit ON LM- Connector shell Photocoupler maximum output: FG Operating voltage: 30V DC Connect shield to connector shell Operating current: 50m DC 114

116 100/200V Sigma II Servo Systems Connector Terminal Block Converter Unit JUSP-T50P Servo mplifier CN1 +10% Length of cable supplied: (500) -0% 50-pin connector plug MR-50RMD2 50-pin terminal block M3.5 screws (247.5) (45) Connector Terminal Block Converter Unit JUSP-T50P* (cable included) Mounting Hole Diagram (254.2) 0.61 (15.5) 0.14 (3.5) 0.14 (3.5) 0.27 (7.0) 0.27 (7.0) (261.2) *Terminal specifications : See the following page 1.16 (29.5) 1.77 (45) SGDH Servo mplifiers 115

117 100/200V Sigma II Servo System JUSP-T50P Terminal Block Pin Numbers and Signal Names SGDH Servo mplifiers SGDH Servo mplifier Signal Name* SG SG PL1 SEN V-REF SG PULS /PULS T-REF SG SIGN /SIGN PL2 /CLR CLR PL3 PCO /PCO BT (+) BT (-) /V-CMP+ /V-CMP- /TGON+ /TGON- /S-RDY+ /S-RDY- LM+ LM- PO /PO BPO /PBO LO1 LO2 LO3 /S-ON /P-CON P-OT N-OT /LM-RST /P-CL /N-CL +24V IN PSO /PSO Connector Case CN1 Pin Number JUSP-T50P Terminal Block Unit Connector Number 1 B1 2 B2 3 B3 4 B4 5 B5 6 B6 7 B7 8 B8 9 B9 10 B10 11 B11 12 B12 13 B13 14 B14 15 B15 16 B16 17 B17 18 B18 19 B19 20 B20 21 B21 22 B22 23 B23 24 B24 25 B25 Terminal Block Number Cable: Supplied with the terminal block P: Indicates twisted pair wires. *Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the factory. Use the connection diagrams on the previous pages for more functional details. P P P P P P P P P P P P P P P 116

118 100/200V Sigma II Servo Systems mplifier to Encoder Connection Diagram Connection Example The following diagrams show the procedure for wiring a servo amplifier to an encoder. Connecting an encoder (CN2) and output signals from the servo amplifier (CN1) Incremental Encoders Incremental encoder C (5) D (6) P CN Servo amplifier CN1 phase B phase C phase PO /PO PBO /PBO PCO /PCO P P P PG H (1) G (2) Output line-driver SN751LS194 manufactured by T/I, or the equivalent 2-1 PG5V 2-2 PG0V pplicable line receiver SN75175 manufactured by T/I, or the equivalent 22WG 0V 1-1 SG 0V J (Shell) Shield wires Connector shell Connector shell bsolute Encoders bsolute encoder PG C (5) D (6) H (1) G (2) T (3) S (4) 22WG P Servo amplifier CN2 phase CN PO 1-34 /PO 2-5 B phase 1-35 PBO /PBO C phase 1-19 PCO 1-20 /PCO S phase 1-19 PSO 1-20 /PSO 2-1 PG5V 2-2 PG0V Output line-driver SN751LS194NS manufactured by T/I, or the equivalent 1-4 SEN 1-2 SG 1-1 SG 2-3 0V 1-21 BT(+) BT(-) P P P P P P pplicable line receiver: MC3486 or SN75175 manufactured by T/I, or the equivalent +5V 0V + - Battery SGDH Servo mplifiers J (Shell) Shield wires Connector shell 1-50 P: Indicates twisted wire pairs. Connector shell 117

119 100/200V Sigma II Servo System Overload Characteristics Servo amplifiers have a built-in overload protection function that protects the servo amplifiers and servo motors from overload. llowable power for the servo amplifiers is limited by the overload protective function, as shown in the figure below. The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C. 10,000 Operating Time (s) 1, B 1 Rated torque Rated torque + Maximum torque pprox. 2 Motor Torque Maximum Torque Note: The overload protection characteristics of and B in the figure are applicable when the servo amplifier is combined with one of the following servomotors: : SGMH or SGMPH servomotor with a maximum capacity of 400W. B: Other servomotors similar to the SGMH, SGMPH, SGMGH, and SGMSH. SGDH Servo mplifiers 118

120 100/200V Sigma II Servo Systems Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices, as well as cable specifications for servo amplifiers are summarized in the tables below. CUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines at least (30cm) apart. Use twisted pair or shielded multi-core twisted pair wires for signal and encoder (PG) feedback lines. The maximum lengths for signal lines are as follows: Maximum of 9.84ft (300cm) for reference input lines. Maximum of 65.6ft (20m) for PG feedback lines. Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m). Cable Specifications The following table provides wire size specifications: for 200V External Terminal Name Main circuit power input terminals Servomotor connection terminals Control power supply terminals SGDH Terminal Symbol L1, L2 (Single Phase) U, V, W L1C, L2C Wire Size WG [in 2 (mm 2 )] 3E 5E 01E 02E 04E 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] for 200V External Terminal Name SGDH Terminal Symbol 08E-S Wire Size WG [in 2 (mm 2 )] 15E-S Main circuit power input terminals L1, L2 (Single Phase) 14 WG [0.003 (2.0)] 12 WG [ (3.5)] Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] SGDH Servo mplifiers 119

121 100/200V Sigma II Servo System Cable Specifications (cont d) for 200V External Terminal Name SGDH Terminal Symbol Wire Size WG [in 2 (mm 2 )] 05E 08E 10E 15E 20E Main circuit power input terminals L1, L2, L3 (Three-phase) 14 WG [HIV (2.0)] Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] 12 WG [HIV (3.5)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires. See page 122 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] for 200V External Terminal Name Main circuit power input terminals Servomotor connection terminals SGDH Terminal Symbol L1, L2, L3 (Three-phase) U, V, W Wire Size WG [in 2 (mm 2 )] 30E 50E 60E 75E 12 WG [HIV (3.5)] 10 WG [HIV (5.5)] 10 WG [HIV (5.5)] 8 WG [HIV (8)] 8 WG [HIV (8)] 6 WG [HIV 6 WG (14)] [HIV (14)] Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)] tinned, annealed copper twisted wires. See page 122 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] SGDH Servo mplifiers for 200V External Terminal Name Main circuit power input terminals SGDH Terminal Symbol L1, L2, L3 (Three-phase) U, V, W Wire Size WG [in 2 (mm 2 )] 1E 1EE 4 WG. [HIV (14)] Servomotor connection terminals Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires. See page 122 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] Notes: 1. Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current. 2. Use cables with a minimum withstand voltage of 600V for main circuits. 3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current. 4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. 120

122 100/200V Sigma II Servo Systems Cable Specifications (cont d) for 100V External Terminal Name Main circuit power input terminals Servomotor connection terminals Control power supply terminals SGDH Terminal Symbol L1, L2 (Single Phase) U, V, W L1C, L2C Wire Size WG [in 2 (mm 2 )] 3BE 5BE 01BE 02BE 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires. See page 122 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] The following table shows types of cables. It is used in conjunction with the preceding tables. Cable Type Temperature Rating of Conductor Name Composition C PVC Standard polyvinyl chloride cable IV 600V PVC cable 60 HIV Temperature-resistant vinyl cable 75 The following table specifies the appropriate cables for CN1 and CN2 servo amplifier connectors. Wire sizes were selected with the expectation of three cables per bundle, at an ambient temperature of 40 C, at the rated current level. Connector Name Signal Description Specification Cable Use twisted pair or shielded twisted pair wire. Control I/O Signal Connector CN1 pplicable wire (WG): 24, 26, 28 Finished cable Dimension Φ0.63 (Φ16.0) maximum Cable Use Yaskawa cable, or shielded twisted pair wire. PG Signal Connector CN2 pplicable wire Finished cable Dimension Φ0.27 (Φ6.8) maximum (WG): 22, 24, 26 Use 22 WG [0.0005in 2 (0.34mm 2 )] for the encoder power supply and 26 WG [ in 2 (0.14mm 2 )] for other signals. These conditions permit wiring distances up to 65.6ft (20m). SGDH Servo mplifiers 121

123 100/200V Sigma II Servo System Peripheral Device Types and Capacities SGDH Servo mplifiers Main Circuit Power Supply SGDH- Singlephase 100V Singlephase 200V Threephase 200V mplifier Model Capacity (kw) Control Power Required (W) pplicable Servomotor Capacity per Servo mplifier (kv) Power Supply Rated Main Power ( rms ) Maximum Inrush Current ( rms ) MCCB or Fuse Capacity* ( rms ) Recommended Noise Filter** * Size per local code requirements. Typical fuse interrupting characteristics at 25 C: 200% for 2s minimum; 700% for 0.01s minimum. ** The Fn noise filter is manufactured by Schaffner Corporation. Specifiactions are available at: Model BE SGMH-3B BE SGMH-5B Fn2070-6/07 SGMH-01B (or FS ) BE SGMPH-01B SGMH-02B BE Fn /07 SGMPH-02B E SGMH E SGMH E SGMH-01 SGMPH E SGMH-02 SGMPH SGMH E SGMPH E-S 15 SGMH-08 SGMPH E-S SGMPH E SGMGH-05O E E E E E E E SGMH-08 SGMPH-08 SGMGH-09O SGMSH-10 SGMPH-15 SGMGH-13O SGMSH-15 SGMGH-20O SGMSH-20 SGMGH-30O SGMSH Fn2070-6/07 (or FS ) Fn /07 (or FS ) Fn /07 (or FS ) Fn350-30/33 (or FS ) Fn258L-16/ Fn258L-30/07 SGMGH-44 SGMSH SGMGH Fn258L-42/ E SGMGH Fn258L-55/ E SGMGH FS EE SGMGH-1E Specifications Single-phase 250V ac 6 (4) Single-phase 250V ac 10 Single-phase 250V ac 6 (4) Single-phase 250V ac 10 (7) Single-phase 250V ac 16 (15) Single-phase 250V ac 30 (25) Three-phase 480V ac 16 Three-phase 480V ac 30 Three-phase 480V ac 42 Three-phase 480V ac 55 Three-phase 250V ac 150 Motor Magnetic Contactor (10) or equivalent (20) or equivalent 35 or equivalent (8) or equivalent (20) or equivalent (35) or equivalent 50 or equivalent 65 or equivalent 75 or equivalent 100 or equivalent 122

124 100/200V Sigma II Servo Systems Peripheral Device Manufacturers J.S.T. Corporation 1957 South Lakeside Drive Waukegan, Illinois Phone: (847) Molex (Headquarters) (Note: not selling 2CN serial encoder connector in the US) 2222 Wellington Court Lisle, Illinois Phone: (630) Fax: (630) (Connector information is not available from Molex or Yaskawa) For literature requests or Molex support for the 2CN connector, the Chicago area distributor istti. sk for the Yaskawa inside slaes representative CLLTTI ( ) Schaffner EMC Inc. 52 Mayfield ve. Edison, New Jersey Phone: (732) Fax: (732) TDK Corporation of merica 1600 Feehanville Dr. Mount Prospect, Illinois Phone: (847) Fax: (847) Tokin merica lvarado-niles Rd. Suite 500 Union City, California Phone: (510) Fax: (510) SGDH Servo mplifiers 123

125 100/200V Sigma II Servo System NOTES: SGDH Servo mplifiers 124

126 400V Three-phase Sigma II Servo Systems General Purpose SGMGH Servomotors - With Incremental / bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW, 1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW, 11kW, 15kW. SGMGH Servomotors For dditional Information SGMGH Ratings & Specifications SGMGH Speed/Torque Curves SGMGH Dimensions SGMGH Selection/Ordering Information SGDH (400V) Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 1988in lb of peak torque Optional built-in holding brake available 2. Higher Speed and acceleration Up to 3000rpm maximum High torque to inertia ratio 3. Encoders 17-bit (32,768 ppr x 4) incremental encoder (standard) 17-bit absolute encoder (optional) 4. Enhanced Environmental Resistance Totally enclosed, self-cooled IP67 (excluding shaft) Shaft seal (optional) 5. pplication Emphasis Machine tools and woodworking machines Packaging machines Gantry robots Press automation Thermoforming 6. Certified International Standards UL, cul recognized (File #: E165827) CE compliance 125

127 400V Three-phase Sigma II Servo Systems SGMGH Servomotors Servomotor Ratings and Specifications Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance: Continuous Class F 15μm or less 1500V ac 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm * Values when the servomotor is combined with an SGDH servo amplifier. Maximum Rotational Speed*: 0.45 to 7.5kW: 3000rpm 11 and 15kW: 2000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted mplifier System Voltage 400V ac Rated Output* kw (hp) N m Rated Torque* lb f in (KG cm) Instantaneous Peak Torque* N m Rated Current* MOTORS: SGMGH- Instantaneous Maximum Current* lb f in (KG cm) rms rms 05D 0.45 (0.6) (29) (91) D 0.85 (1.1) (55) (141) D 1.3 (1.7) (85) (238) D 1.8 (2.4) (117) (293) D 2.9 (3.9) (190) (460) D 4.4 (5.9) (290) (725) D 5.5 (7.4) (357) (894) D 7.5 (10) (490) (1210) D 11 (15) (714) (1790) ED 15 (20) (974) (2290) * Values when the servomotor is combined with an SGDH servo amplifier. Torque Constant lb f in rms N m rms ( ) Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil. Resistance Rated Current lb in s KG m W N m W Rated ngular cceleration* dditional Inertia MOTORS SGMGH- llowable Load Inertia Rated Power Rate* Inertia Time Constant Inductive Time Constant lb in s KG m kw/s rad/s 2 ms ms 05D 14.5 (1.64) D 14.6 (1.65) D 14.9 (1.68) D 12.9 (1.46) D 14.7 (1.66) D 16.0 (1.82) D 15.6 (1.76) D 16.4 (1.86) D 22.0 (2.5) ED 23.4 (2.64) * Values when the servomotor is combined with an SGDH servo amplifier at an armature winding temperature of 20 C. ** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 05D to 13D : (in) ( (mm)) Type 20D to 75D : (in) ( (mm)) Type 1D to 1ED : (in) ( (mm)) 126

128 Speed / Torque Curves 400V Three-phase Sigma II Servo Systems SPEED (rpm) 400V SGMGH-05D B SPEED (rpm) SGMGH-09D B SPEED (rpm) SGMGH-13D B SGMGH Servomotors TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SGMGH-20D 3000 SGMGH-30D 3000 SGMGH-44D SPEED (rpm) B SPEED (rpm) SPEED (rpm) 2000 B B TORQUE (N m) TORQUE (lb in) 3000 SGMGH-55D TORQUE (N m) TORQUE (lb in) SGMGH-75D TORQUE (N m) TORQUE (lb in) SGMGH-1D SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) SGMGH-1ED TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SPEED (rpm) B : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE TORQUE (N m) TORQUE (lb in) 127

129 400V Three-phase Sigma II Servo Systems Dimensions in inches (mm) (1) 17-Bit Incremental/bsolute Encoder SGMGH Servomotors 3.94 (100) LT L LL LM LG LE LR S* LC LH LC ΦL LB** LR LE Q QK T W S U KL (88) KB1 KB LZ MTG Holes IE Type SGMGH- L LL LM LR LT KB1 KB2 IE KL1 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) 05D 61 09D (19) (5) (5) (3) 16.8 (490) (196) (219) (138) (161) (92) (115) (65) (58) (117) (46) 0.75 (88) 0.20 (140) 0.20 (109) 0.12 (145) (5.5) (110) 110 (130) (6) (12) (165) (9) (40) (25) (7.6) D 61 (243) (185) (139) (112) (164) (22) (6) (6) (3.5) (9.6) (686) D 61 (245) (166) (119) (89) (145) (14) (1176) 30D (271) (192) (145) (79) (47) (115) (171) (140) (35) (76) (60) (10) (18) D (1470) (305) (226) (179) (149) (205) (200) (114.3) (180) (3.2) 0.71 (230) (23) 55D (18) 0.53 (8) (5) 66.1 (373) (260) (213) 4.45 (174) (239) (13.5) (30) 75D (113) (125) (150) (447) (334) (287) (47) (248) (313) (42) (12) (40) (1764) 1D (110) (90) 127 (454) (338) (291) 4.57 (251) (317) (57.5) 1ED (116) (142) (168) (235) (200) (220) (4) 0.79 (270) (573) (457) (388) (69) (343) (435) (20) (55) (16) (10) (6) (86) (4998) Note: 1. SGMGH-05D to 44D do not contain eyebolts. 2. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 3. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance , in , mm llowable Radial Load lb f (N) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) 132 (588) 485 (2156) 128 Encoder Plug M B L K T N P C D J S R E H G F MS P Connector Wiring on the Encoders K B L C Data + M D Data - N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal

130 400V Three-phase Sigma II Servo Systems (2) 17-Bit Incremental/bsolute Encoder, With Brake 0.5 to 4.4kW (0.7 to 5.9hp) KL (100) KL2 L LL LR LT LM LG LE KB1 KB3 KB2 S LC LB LC IE LZ 0.02 MTG Holes LH L W T U LR LE QK Q S SGMGH Servomotors Type SGMGH- L LL LM LR LT KB1 KB2 KB3 KL1 KL2 05D 6C (234) (176) (129) 09D 6C (257) (199) (152) 13D 6C (281) (223) (176) 20D 6C (296) (217) (170) 30D 6C (322) (243) (196) 44D 6C (356) (277) (230) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) 2.56 (65) 6.1 (155) 4.29 (109) (58) 3.46 (88) 7.01 (178) 5.20 (132) 4.29 (109) 5.71 (145) 4.33 (110) 5.12 (130) 0.24 (6) 0.47 (12) 6.5 (165) 0.35 (9) (19) 1.57 (40) 0.98 (25) (5) (5) (3) (47) (112) 3.50 (202) 7.72 (156) (88) (22) (6) (6) (3.5) (89) (196) (137) (79) (115) (222) (163) (140) (200) (114.3) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8) (5) (149) (256) (196) 1. Dimensions are the same when using other incremental encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions LB of flange type and S of shaft extensions are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 16.5 (7.5) (490) (9.6) (12) 686) (19) (1176) 51.8 (23.5) (1470) (28.5) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , mm , Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) Cable Clamp: MS Plug for Motor D o o C o o B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D FG (Frame Ground) 129

131 400V Three-phase Sigma II Servo Systems 5.5 to 15kW (7.4 to 20hp) L LL LR W SGMGH Servomotors 100 (3.94) LT LM LG LE S* LB** LC LH LC L T U LR LE QK S KL1 KL3 KL2 IE Q KB1 KB3 KB2 4 - LZ MTG Holes Type SGMGH- L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 55D 6C (424) (311) (113) 75D 6C (498) (385) (338) 1D 6C (499) (383) (340) 4.57 (116) 1ED 6C (635) (519) (473) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U (174) (290) (231) (47) (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230) (248) (364) (305) 3.46 (18) 0.53 (42) (12) (8) (5) (88) (13.5) (110) (90) (43) (258) (362) (315) (142) (168) (142) (235) (200) (220) (4) 0.79 (270) (46) (343) (497) (415) (20) (55) (16) (10) (6) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. pproximate Mass lb f (kg) 77.2 (35) (45.5) 145 (65.5) (86) llowable Radial Load lb f (N) 397 (1764) 1125 (4998) llowable Thrust Load lb f (N) 132 (588) 485 (2156 Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Power, Motor Side U Phase B V Phase C W Phase D Ground Terminal 130

132 400V Three-phase Sigma II Servo Systems Selecting Your SGMGH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. System Configuration SGMGH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) SGDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Optional Holding Brake SGMGH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation SGMGH - 09 D C 6 C Sigma Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.5hp) 75: 7.5kW (10hp) 1: 11.0kW (15hp) 1E: 15kW (20hp) Power Supply D: 400V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 1500rpm Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder 131

133 400V Three-phase Sigma II Servo Systems Servomotor & mplifier Selection SGMGH Servomotors Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) Description Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL Number () mplifier MODEL # (B)* nalog/digital Input SGDH- Motor and mplifier Item Class SGMGH-05DC SGMGH-05DC6C 05DE SGMGH-09DC SGMGH-09DC6C 10DE SGMGH-13DC SGMGH-13DC6C 15DE 400V Three-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 3000rpm maximum** MS Connectors SGMGH-20DC SGMGH-20DC6C 40.7 SGMGH-30DC SGMGH-30DC6C 59.8 SGMGH-44DC SGMGH-44DC6C 20DE 30DE 50DE 78.8 SGMGH-55DC61 60DE Requires 86.6 SGMGH-55DC6C Regenerative Unit (E) 111 SGMGH-75DC61 75DE Requires 119 SGMGH-75DC6C Regenerative Unit (E) Stock SGMGH-1DC61 1DE Requires 267 SGMGH-1DC6C Regenerative Unit (E) Limited Stock SGMGH-1EDC61 1EDE Requires 309 SGMGH-1EDC6C Regenerative Unit (E) Stock Limited Stock Note: 24V DC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages **2000rpm maximum for 11 and 15kW systems only. 132

134 400V Three-phase Sigma II Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor. Cable Description (C) Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) Encoder Cable (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections Motor Size (kw) Part Number* 0.5, 0.9, 1.3 BE- () 2.0, 3.0, 4.4 BBE- () 5.5, 7.5, 11 BDE- () 15 B5E- () B7BCE- () JZSP-CMP02- ( B) FR-RMCT-SB UL20276-SB Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Item Class Stock** SGMGH Servomotors Input/Output 1CN Cable & Transition Terminal lock ll JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector*** JZSP-CKI0D- Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable number is the revision level. The revision level may be changed prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 133

135 400V Three-phase Sigma II Servo Systems Connector Selection SGMGH Servomotors Use the table below to select mating connectors for each SGMGH Sigma II servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Brake Power Cable MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) Part Number Comments 0.5, 0.9, , 3.0, , 7.5, 11, 15 MS3106B18-10S MS3108B18-10S MS MS3106B22-22S MS3108B22-22S MS MS3106B32-17S MS3108B32-17S MS MS310810SL-3S MS MS3106B20-29S MS3108B20-29S MS Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class 1CN Mating Connector JZSP-CKI9 Stock ll 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE Can use 5CN for analog speed and torque monitor service checks. * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 134

136 400V Three-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each SGMGH Sigma II servomotor. Component (E) Part Number Description Item Class SGMGH Servomotors Hand-held Digital Operator Panel JUSP OP02 1 and JZSP CMS00 1 Portable unit with 1m adapter cable for Sigma II Software Interface Cable YS 12 JZSP B01 bsolute Encoder Battery JZSP B01 1 Pre-wired 2.0m cable with 9-pin connector 3.6V, 1000mh (Lithium Battery) For SGDH 60 and above (same as JZSP B01 with longer lead) Stock SigmaWin+ Software JZSP-WP0001 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS 232 or RS 422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) Regenerative Unit (880W) for 6.0 and 7.5kW amplifier Regenerative Unit (1760W) for 11 and 15kW amplifiers JUSP-R18 JUSP-R19 These are general purpose regenerative units. Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) For 400V: SGDH-05DE X5074 For 400V: SGDH-10DE SGDH-15DE X5075 For 400V: SGDH-20DE SGDH-30DE X5076 For 400V: SGDH-50DE X5077 Larger capacity amplifiers Check factory for availability. Limited Stock 135

137 400V Three-phase Sigma II Servo Systems CE Pre-wired Cable Selection SGMGH Servomotors Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor. Cable Description (C) Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) Motor Size (kw) Part Number* 0.5, 0.9, 1.3 BCE- () 2.0, 3.0, 4.4 BBCE- () 5.5, 7.5, 11 BDCE- () Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Item Class Limited Stock 15 B5CE- () ll B7BCE- () Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE Connector Selection Use the table below to select mating connectors for your SGMGH Sigma II servomotor. Connector Description (D) Motor Size (kw) Part Number Comments** Item Class 0.5, 0.9, 1.3 CE SD-B-BS CE (D265) L-type connector Cable clamp (for diameters to 0.555in) Connector for Motor Power Cable* 2.0, 3.0, 4.4 CE SD-B-BS CE (D265) CE SD-B-BS L-type connector Cable clamp (for diameters to 0.630in) L-type connector 5.5, 7.5, 11, 15 or CE SD-B-BSS CE or Straight-type connector Cable clamp (for diameters to 0.937in) Limited Stock Connector for Holding Brake CE05-810SL-3SC-B-BS and CE (D265) L-type connector for holding brake and Cable clamp (for diameters to 0.220in) Connector for Encoder Cable (incremental or absolute encoder) ll CE NSW and CE20B-S or CE (D265) L-type connector (plug and back shell) or Cable clamp (for diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 136

138 400V Three-phase Sigma II Servo Systems p Higher rpm Power Rate Series SGMSH/UH Servomotors - With Incremental / bsolute Encoder Rated Output: 1.0kW, 1.5kW, 2.0kW, 3.0kW, 4.0kW, 5.0kW For dditional Information Page(s) SGMSH/UH Ratings & Specifications SGMSH/UH Speed/Torque Curves SGMSH Dimensions SGMUH Dimensions SGMSH/UH Selection/Ordering Information SGMSH/UH Optional CE Selection SGDH Ratings & Specifications SGDH Dimensions SGMSH/UH Servomotors Design Features 1. Compact Small sized motor Eight frame sizes: up to 422in lb peak torque 2. Higher Speed Rated Speed: 3000rpm Maximum Speed: Up to 6000rpm (SGMUH only) 3. Encoders 17-bit (32,768 ppr x 4) incremental encoder (standard) 17-bit absolute encoder (option) 4. Enclosure Totally enclosed, self-cooled IP67 (excluding shaft) IP67 with shaft seal (option) 5. pplication Emphasis High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance 137

139 400V Three-phase Sigma II Servo Systems Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15μm or less Withstand Voltage: 1500V ac, 1800V ac * Insulation Resistance:10MΩ minimum at 500V DC * SGMUH models only. Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature:0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed: 3000rpm, 6000rpm* Maximum Rotational Speed: 5000, 6000rpm* Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5 mplifier Systems Voltage Type MOTORS: Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Maximum Current* Number kw (hp) N m lb in (KG cm) N m lb in (KG cm) (rms) (rms) 10D 1.0 (1.3) (32.4) (97.2) SGMSH/UH Servomotors 400V ac SGMSH- 15D 1.5 (2.0) (50) (150) D 2.0 (2.7) (65) (195) D 3.0 (4.0) (100) (300) D 4.0 (5.4) (129) (387) D 5.0 (6.7) (161) (486) SGMUH-** 10D 1.0 (1.3) (16.2) (66.18) D 3.0 (4.0) (50) (218.3) ** Only the Sigma II SGMUH models are available with a maximum speed of 6000rpm. MOTORS: Torque Constant Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil Resistance Rated Current dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant Type Number lb f in rms lb f in s KG m W N m W lb f in s KG m kw/s rad/s 2 ms ms 10D D D D D C SGMSH- SGMUH- 10D D * These items and torque-speed characteristics quoted in combination with an SGDH servo amplifier at an armature winding temperature of 20 C. Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 10D to 20D : ( (in)) ( (mm)) Type 30D to 50D : ( (in)) ( (mm))

140 Speed / Torque Curves 400V Three-phase Sigma II Servo Systems 400V SGMSH-10D SGMSH-15D SGMSH-20D SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B SPEED (rpm) TORQUE (N m) TORQUE (lb in) SGMSH-30D B TORQUE (N m) TORQUE (lb in) SPEED (rpm) TORQUE (N m) TORQUE (lb in) TORQUE (N m) SGMSH-40D SGMSH-50D B TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) SGMSH/UH Servomotors SGMUH-10D SGMUH-30D SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) : CONTINUOUS DUTY ZONE B : INTERMITTENT DUTY ZONE 139

141 400V Three-phase Sigma II Servo Systems SGMSH Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK LB LC S KL (8) SGMSH Servomotors Type SGMSH- KL1 L LL LM LR LT KB1 KB2 KL1 KL2 10D (194) (149) (103) 15D (220) (175) (129 ) 20D (243) (198) (152) 30D (262) (199) (153 ) 40D (299) (236) (190) 50D (339) (276) (230) Note: KB2 KB LZ MTG Holes Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) llowable Radial Load lb f (N) 2.99 (76) 5.04 (128) 10.1 (4.6) (45) (102) (154) (96) (87) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32) (125) (177) (46) (122) (178) 12.8 (5.8) 15.4 (7.0) 24.3 (11) (63) (159) (215) (114) (87) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50) 30.9 (14) (199) (255) 37.5 (17) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal). 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering (7) 154 (686) 220 (980) 265 (1176) 0.16 (4) llowable Thrust Load lb f (N) 44 (196) 88 (392) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Encoder Plug M B L N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 140

142 400V Three-phase Sigma II Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake 3.94 (100) LT L LL LM LG LE LR S LC LH LC L T W U LR LE QK W = 0.31 (8) T = 0.28 (7) U = 0.16 (4) KL1 KL3 KL2 LB IE Q KB1 KB3 KB LZ MTG Holes S SGMSH Servomotors Type SGMSH- L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 10D 6C (238) (193) (147) (45) 15D 6C (264) (219) (173) (45) 20D 6C 11.3 (287) 9.53 (242) 7.72 (196) 30D 6C (300) (237) (191) 40D 6C (274) (228) (337) D 6C (314) (268) Note: 1.77 (45) 2.48 (63) 1.81 (46) 2.99 (76) 6.77 (172) 4.72 (120) (102) (198) (146) (125) (221) (169) ) 4.80 (122) 8.50 (216) 6.69 (170) 378 (96) 4.49 (114) 3.46 (88) 3.35 (85) 3.86 (98) Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) 13.2 (6.0) 16.5 (7.5) 18.7 (8.5) llowable Radial Load lb f (N) 154 (686) (14) (980) 37.5 (17) (1176) (20) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 44 (196) 88 (392) Plug for Holding Brake C B MS310210SL-3P Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 141

143 400V Three-phase Sigma II Servo Systems SGMUH Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK LB LC S SGMUH Servomotors KL1 KL2 KB2 KB LZ MTG Holes 0.28 (7) 0.31 (8) 0.16 (4) Type SGMUH- L LL LM LR LT KB1 KB2 KL1 KL2 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) D (4.6) (194) (149) (103) 1.77 (76) (128) (45) 1.81 (96) 3.46 (130) (110) (116) 0.14 (10) (150) (9) (24) (40) (32) 15D 61 (220) (175) (129) (46) (102) (5.8) (154) (88) (3.5) D (11) (262) (202) (156) (60) (127) (181) (114) (165) (130) (155) (12) (190) (11) (28) (55) (50) Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 110 (490) 154 (686) llowable Thrust Load lb f (N) 22 (98) 44.1 (196) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , mm , Encoder Plug M B L N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 142

144 400V Three-phase Sigma II Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake 3.94 (100) LT L LL LM LG LE LR S LC LH LC L T W U LR LE QK W = 0.31 (8) T = 0.28 (7) U = 0.16 (4) LB KL1 KL3 KL2 IE Q KB1 KB3 KB LZ MTG Holes S SGMUH Servomotors Type SGMUH D 6C (238) 15D 6C (264) 30D 6C (300) Note: L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) 7.6 (193) 5.79 (147) (76) 6.77 (172) 4.72 (120) (219) 6.81 (173) (45) (46) 4.02 (102) 7.80 (198) 5.75 (146) (96) 3.46 (88) (85) (130) (110) (116) (3.5) (10) (150) (9) (24) (40) (32) (237) (191) (60) (122) (216) (170) (114) (98) (165) (130) (155) (6) (12) (190) (11) (28) (55) (50) 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 13.2 (6.0) (490) (7.5) (14) (686) llowable Thrust Load lb f (N) 22 (98) 44 (196) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , mm , Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 143

145 400V Three-phase Sigma II Servo Systems Selecting Your SGMSH/UH Sigma II Servo System First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. SGMSH/UH Servomotors System Configuration Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) SGDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side 2CN Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake SGMSH/UH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma II Series Servo System User s Manual: YE-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation SGMSH - 10 D C 6 1 Sigma Servomotor Type SGMSH: 5000rpm SGMUH: 6000rpm Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 40: 4.0kW (5.4hp) 50: 5.0kW (6.7hp) Power Supply D: 400V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : Revision Level Encoder Specifications C: 17-bit Incremental Encoder 2: 17-bit bsolute Encoder* *SGMUH is not available with absolute encoder 144

146 400V Three-phase Sigma II Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate SGMSH or SGMUH Sigma II servomotor and amplifier. (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.) Description 400V, Three-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors 400V, Three-Phase 17-bit Incremental Encoder Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 X 10-3 ) Motor MODEL # () 1.54 SGMSH-10DC SGMSH-10DC6C 2.19 SGMSH-15DC SGMSH-15DC6C 2.82 SGMSH-20DC SGMSH-20DC6C 6.2 SGMSH-30DC SGMSH-30DC6C 8.5 SGMSH-40DC SGMSH-40DC6C 10.9 SGMSH-50DC SGMSH-50DC6C mplifier MODEL # (B)* nalog/digital Input SGDH- 10DE 15DE 20DE 30DE 50DE SGMUH-10DC61 10DE Motor and mplifier Item Class Stock SGMSH/UH Servomotors Straight Shaft with Keyway 6000rpm maximum SGMUH-30DC61 30DE MS Connectors Note: 24V DC brakes for SGMUH and SGMSH Sigma II servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request Yaskawa manual number YE-SI-S * For more detailed SGDH amplifier specifications and dimensions, refer to pages

147 400V Three-phase Sigma II Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMSH/UH Series Sigma II servomotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class SGMSH/UH Servomotors Power Cable with L-type Connectors (IP67) Cable with Holding Brake (IP67) Encoder Cable (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 1.0, 1.5, 2.0 BE- () Use the following key to specify needed cable length (last two digits , , , , 5.0 ll BBE- () B7BCE- () JZSP-CMP02- (B) FR-RMCT-SB UL20276-SB of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock** Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads Input/Output 1CN Cable Cable with Female D-Sub output Connector*** JZSP-CKI01- () JZSP-CKI0D- Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m Use the following key to specify required cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * () at the end of the cable number is the revision level. The revision level may be changed prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 146

148 400V Three-phase Sigma II Servo Systems Connector Selection Use the table below to select mating connectors for your SGMSH/UH Sigma II servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Brake Power Cable MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 ll Part Number MS3106B18-10S MS3108B18-10S MS MS3106B22-22S MS3108B22-22S MS MS SL-3S MS MS3106B20-29S MS3108B20-29S MS Comments Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class Stock SGMSH/UH Servomotors 1CN Mating Connector ll JZSP-CKI9 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC-1 DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 147

149 400V Three-phase Sigma II Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your SGMSH/UH Sigma II servomotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with adapter cable for Sigma II SGMSH/UH Servomotors bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Stock SigmaWin+ Software JZSP-WP0001 Software Interface Cable YS-12 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) Pre-wired 2.0m cable with 9-pin connector These are general purpose regenerative units. External Regenerative Unit (Optional) JUSP-R04 Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) SGDH-10DE SGDH-15DE SGDH-20DE SGDH-30DE Large Capacity mplifiers X5075 X5076 Check factory for avialability Limited Stock 148

150 400V Three-phase Sigma II Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your SGMSH/UH Sigma II servomotor. These are suitable for IP67 environments. Use the standard encoder cable listed on page 148. Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) Cable Description (C) Motor Size (kw) Part Number* Comments Item Class 1.0, 1.5, ,4.0, 5.0 BCE- () BBCE- () Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) ll B7BCE- () 15: 20: 15m 20m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE/IP67 Connector Selection Limited Stock SGMSH/UH Servomotors Use the table below to select mating connectors for your SGMSH/UH Sigma II servomotor. Connector Description (D) Motor Size (kw) Part Number Comments** Item Class Connector for Motor Power Cable* 1.0, 1.5, , 4.0, 5.0 CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp (for diameters to 0.555in) L-type connector Cable clamp (for diameters to 0.630in) Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S CE (D265) L-type connector for holding brake Cable clamp (for diameters to 0.220in) L-type connector (plug and back shell) Cable clamp (for diameters to 0.394in) Limited Stock * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 149

151 400V Three-phase Sigma II Servo Systems NOTES: SGMSH/UH Servomotors 150

152 400V Large Capacity Sigma II Servo System General Purpose Large Capacity Servomotors (1500rpm) -With Incremental / bsolute Encoder Rated Output: 22kW, 30kW, 37kW, 45kW, and 55kW For dditional Information SGMBH Ratings & Specifications SGMBH Speed/Torque Curves SGMBH Dimensions SGMBH Selection/Ordering Information SGDH Ratings & Specifications SGDH Dimensions Page(s) Design Features 1. Compact Size Smaller sized motor Five types of rated outputs ranging from 2480 to 6120in lb of peak torque Optional built-in holding brake available Brushless Permanent Magnet (PM) design Smaller size Lower rotor inertia Neodynium Internal Permanent Magnet (IPM) construction 2. Lower Maintenance Requirements Clean, energy-efficient replacement for hydraulic power systems Quieter, cleaner operation ( no noisy pumps or leaky hoses) 3. Higher Speed and cceleration Up to 2000rpm (maximum) High torque to inertia ratio 4. Rugged, Industrially-Designed Feedback 17-Bit (32,768 ppr x 4) incremental encoder (standard) 17-Bit absolute encoder (optional) 5. Enhanced Environmental Resistance Totally enclosed, self-cooled IP44 (including shaft) Shaft seal (optional) 6. pplication Emphasis Machine tools Packaging machines Press utomation Thermoforming ll-electric Injection Molding Machines 7. UL, cul recognized (File #: E165827), CE compliance SGMBH Servomotor 151

153 400V Large Capacity Sigma II Servo System Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15μm or less Withstand Voltage: 1500V ac Insulation Resistance: 500V dc 10MΩ or more Enclosure: Totally-enclosed, self-cooled IP44 (including shaft) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm Instantaneous Maximum Speed*: 2000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Foot Mount (55kW only) Thermal Protection: Built-in MOTORS: SGMBH-- Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Maximum Current* kw (hp) N m lb f in (KG cm) N m lb f in (KG cm) rms rms 2BD 22 (30) (1430) (2855) ZD 30 (40) (1947) (3895) GD 37 (50) (2400) (4803) ED 45 (60) (2920) (5837) ED 55 (74) (3570) (7143) SGMBH Servomotor MOTORS SGMBH- Torque Constant lb f in rms N m rms ( ) Moment of Inertia 24VDC Holding Brake Torque dditional Watts Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant lb in s kg m lb f in 10-3 in lb f s kg m kw/s rad/s 2 ms ms 2BD 22.1 (2.50) ZD 21.2 (2.39) GD 21.8 (2.46) ED 21.0 (2.37) ED 21.2 (2.40) * These specifications and torque-speed characteristics are quoted with the motor used in combination with an SGDH servo amplifier at an armature winding temperature of 20 C. Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 2BD to 3ZD : (in) ( (mm)) Type 3GD to 5ED : (in) ( (mm)) 152

154 Speed / Torque Curves 400V Large Capacity Sigma II Servo System SGMBH 400V Servomotors SGMBH - 2B D D SGMBH - 3Z D D SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SGMBH - 3G D D 2000 SPEED (rpm) 1000 B TORQUE (N m) TORQUE (lb in) SPEED (rpm) SGMBH - 4E D D SGMBH - 5E D D B SPEED (rpm) B SGMBH Servomotor TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE 153

155 400V Large Capacity Sigma II Servo System Dimensions in inches (mm) (1) 17 Bit Incremental / bsolute Encoder W L LL (0.05) T U Fan connector LD LN LF LP LG LE LR (0.05) Cross-section Y-Y LC CK1 CK2 Q QK Y ΦLH ΦL Y ΦS ΦLB J LC Encoder connector KB2 KB1 KG Power wiring Φ2.40 (Φ61) (0.03) KT KS KN 4 - ΦLZ SGMBH Servomotor Type SGMBH 2BD 61 3ZD 61 Type SGMBH- 2BD 61 3ZD 61 Motor Body Dimensions Flange Dimensions Shaft End Dimension L LL LR LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U (740) (600) 5.51 (140) (810) (670) pproximate Mass lb (kg) (120) (140) 9.06 (230) llowable Radial Load lb (N) 6.97 (177) 9.65 (245) 6.30 (160) 4.57 (116) 9.06 (230) llowable Thrust Load lb (N) 1323 (5880) (2156) (6272) (436) (484) (504) (552) 8.82 (224) 8.66 (220) (292) 6.42 (163) (149) (45) (45) (250) (265) Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width and depth are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Encoder Plug L K M B N P C T D J S R E H G F Connector Wiring on the Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) 9.06 (230) (250) (5) Specified Tolerances 0.79 (20) (300) (13.5) 2.36 (60) (140) (110) Dimension *ΦS **ΦLB ***T ****W J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance in mm Fan Connector D C Power Wiring Terminal Box Terminal Connection Screw Size B Fan Connector 0.71 (18) 0.43 (11) U Phase B V Phase C W Phase D Receptacle: CE PD-B Non-environmental mating connector: MS3108B18-10S (L-Type) Cable Clamp: MS (7) U, V, W Motor Ground M10 154

156 400V Large Capacity Sigma II Servo System _ (2) 17 Bit Incremental/bsolute Encoder, with Brake W L LL (0.05) T U Fan connector LF LN LD LP LG LE LR (0.05) Cross-section Y-Y LC CK1 CK2 Q QK Y ΦLH ΦL Y ΦS ΦLB J LC Encoder connector KB2 KB1 KG (0.03) Power wiring Φ2.40 (Φ61) KT KS KN 4 - ΦLZ Type SGMBH- Motor Body Dimensions Flange Dimensions Shaft End Dimension L LL LR LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U 2BD 6C (860 (720) 5.51 (140) 3ZD 6C (930) (790) 6.97 (177) (230) (245) (393) (116) (461) (556) (624) (604) (224) (672) (220) (163) 6.42 (149) (45) (25) (250) (265) (292) 9.06 (230) 9.84 (250) (5) (20) (300) (13.5) (60) 5.51 (140) (110) (18) 0.43 (11) 0.28 (7) Type SGMBH- 2BD 6C 3ZD 6C pproximate Mass lb (kg) 331 (150) 375 (170) llowable Radial Load lb (N) llowable Thrust Load lb (N) 1323 (5880) (2156) (6272) Specified Tolerances Dimension *ΦS **ΦLB ***T ****W Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance in mm SGMBH Servomotor Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width and depth are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Power WiringTerminal Box Terminal Connection Screw Size U, V, W Motor M10 Ground, B Brake M4 D C B Fan Connector U Phase B V Phase C W Phase D Ground Terminal Receptacle: CE PD-B Non-environmental mating connector: MS3108B18-10S (L-Type) Cable Clamp: MS

157 400V Large Capacity Sigma II Servo System _ (3) 17 Bit Incremental/bsolute Encoder W L (0.05) U LL Φ (Φ0.05) T Fan connector LD LN LF LP LG LE Cross-section Y-Y LC CK1 CK2 Q QK Y ΦLH ΦL ΦS ΦLB J Y LC Encoder connector KB1 KB2 KG (0.03) Power wiring Φ2.40 (Φ61) KT KS KN 4 - ΦLZ Type SGMBH- 3GD 61 4ED 61 Motor Body Dimensions Flange Dimensions Shaft End Dimension L LL LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U 32.0 (814) 33.7 (855) 26.5 (674) 9.29 (236) 28.1 (715) 9.45 (240) 11.1 (281) 5.91 (150) 7.87 (200) 7.87 (200) 20.1 (510) 21.7 (551) 22.0 (558) 23.6 (599) 11.6 (295) 8.66 (220) (336) 7.91 (201 (174) (60) 2.36 (60) 8.66 (220) 11.8 (300) 9.84 (250) 11.8 (300) 0.20 (5) 1.38 (35) 13.8 (350) (17.5) (70) 5.51 (140) 4.33 (110) 0.79 (20) 0.47 (12) 0.29 (7.5) SGMBH Servomotor. Type SGMBH- 3GD 61 4ED 61 pproximate Mass lb (kg) (230) (250) llowable Radial Load lb (N) llowable Thrust Load lb (N) 1674 (7448) (2156) (7840) Specified Tolerances Dimension *ΦS **ΦLB ***T ****W Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance in mm Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width and depth are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Encoder Plug L K M B N P C T D J S R E H G F Connector Wiring on the Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Fan Connector D C Power Wiring Terminal Box Terminal Connection Screw Size B Fan Connector U Phase B V Phase C W Phase D Receptacle: CE PD-B Non-environmental mating connector: MS3108B18-10S (L-Type) Cable Clamp: MS U, V, W Motor Ground M10 156

158 400V Large Capacity Sigma II Servo System _ (4) 17 Bit Incremental/bsolute Encoder 0.55 (14) = T 0.87 (22) = W 0.35 (9) Cross-section Y-Y Fan connector 9.29 (236) (800) (970) (684) (421) (366) (313) 7.87 (200) 6.69 (170) (0.05) Φ (Φ0.05) (330) (300) 8.66 (220) Power wiring Encoder connector Φ2.40 (Φ61) 0.20 (5) 6.69 (170) Y Y Φ3.15 (Φ80) 7.09 (180) (260) 7.91 (201) Ι 13.8 ( Ι 350) (406) 4.75 (121) 3.54 (90) 4-Φ (0.03) 5.49 (139.5) 5.49 (139.5) (Φ24) (330) Type SGMBH pproximate Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 5ED L1 772 (350) 1895 (8428) 485 (2156) Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).. 2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width and depth are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Specified Tolerances Dimension *T *W Unit Length Tolerance Length Tolerance in mm SGMBH Servomotor Encoder Plug L K M B N P C T D J S R E H G F Connector Wiring on the Encoders Fan Connector K B L D C Data + M D Data N C B E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) Power Wiring Terminal Box MS3106B20-29S (Straight Type) Cable Clamp: MS Terminal Connection Screw Size U, V, W Motor Fan Connector U Phase B V Phase C W Phase D Receptacle: CE PD-B Non-environmental mating connector: MS3108B18-10S (L-Type) CableClamp: MS Ground M10 157

159 400V Large Capacity Sigma II Servo System Selecting Your SGMBH Sigma Servo System First, select the Sigma servomotor suited for your application using SigmaSize: the Yaskawa servomotor sizing software, available at no charge. (Request SigmaSize software via , at: Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. System Configuration SGMBH Servomotor Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) Regenerative Unit (E) (Required) SGDH mplifier (B) Dynamic Brake (Optional) For Monitor (D) Connector for Encoder Signal (D) 2CN Model Number Designation Sigma Servomotor Type SGMBH Rated Output 2B: 22.0kW (30hp) 3Z: 30.0kW (40hp) 3G: 37.0kW (50hp) 4E: 45.0kW (60hp) 5E: 55.0kW (74hp) Power Supply D: 400 VC Series Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder 5CN Fan Cable Encoder Cable (C) SGMBH Servomotor () Encoder side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Sigma Series SGMBH/SGDH User s Manual: SIEZ-SXX- (Manual is provided at no charge with a purchase order, but it must be requested). SGMBH - 2B D C 6 1 ccessories 1: None C: 24V DC Brake (22+30 Kw Only) S: Shaft Seal E: Brake and Shaft Seal Specifications 6: Flange, straight shaft with key and tap (Up to 45kW) L: Foot mount, straight shaft with key and tap (55kW only) Design : Standard (Revision) 158

160 400V Large Capacity Sigma II Servo System Servomotor & mplifier Selection Use the table below to select the appropriate SGMBH Sigma servomotor and amplifier (Refer to the motor model # designation on the previous page specifying the available modification to motor construction/features.). Description 400V 3-Phase 17-Bit Incremental Encoder Straight Shaft with Keyway 2000rpm maximum MS Connectors Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL # () SGMBH-2BDC61 SGMBH-2BDC6C SGMBH-3ZDC61 SGMBH-3ZDC6C mplifier MODEL # (B)* nalog/digital Input SGDH- 2BDE 3ZDE Regenerative Unit JUSP-R12 JUSP-R SGMBH-3GDC61 3GDE JUSP-R SGMBH-4EDC61 4EDE JUSP-R SGMBH-5EDCL1 5EDE JUSP-R16 Motor and mplifier Item Class Non-Stock Note: 24V DC brakes for SGMBH Sigma servomotors are standard. Contact a local source for 24V DC power supplies. * External regenerative units are required. For detailed SGDH amplifier specifications and dimensions, refer to pages Consult factory for availability of 37KW, 45KW, and 55KW motors with holding brakes. SGMBH Servomotor 159

161 400V Large Capacity Sigma II Servo System Pre-wired Cable Selection Use the table below to select pre-wired cables for your SGMBH Sigma servomotor. Cable Description (C) Motor Size (kw) Without Brake Part Number With Brake Comments Item Class WG 4 6WG 2 14WG Recommended Power Cable *** WG WG 4 4WG 2 14WG 4 2WG 2 14WG Based on 30 C ambient temperature Source Locally 45, WG 4 1WG 2 12WG SGMBH Fan Power Cable B1E- ()** B1CE- ()** Use following key to specify cable length (last digit of part #): 03: 3m 05: 5m 10: 10m 15: 15m 20: 20m Encoder Cable (incremental or absolute) JZSP-CMP22- ()** Use following key to specify cable length (last digit of part #): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m SGMBH Servomotor Encoder Cable Only for solder connections (up to 50m) Input/Output 1CN Cable & Transition Terminal lock ll JZSP-CMP29 - JUSP-T50P Use following key tospecify cable length (last digit of part #): 20: 20m 50: 50m 35mm DIN rail mountable; the cable length is 0.5m. Stock* Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- ()** Use following key to specify cable length (last digit of part #): 1: 1m (standard) 2: 2m 3: 3m Input/Output 1CN Cable Cable with Female D-Sub output Connector**** JZSP-CKI0D- Use following key to specify cable length (last two digits of the part number): D50: 0.5m 01: 1m (standard) 02: 2m 03: 3m * Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. ** This part of the cable number is the revision level. Cable revision can change and is independent of this catalog s reprinting. *** Connectors for power cable should be ring terminals sourced locally by the customer, based on the motor power terminal block screw size given in the dimension pages. **** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago # , Weidmuller #919658, Phoenix # , mphenol/sine # , and many others). 160

162 400V Large Capacity Sigma II Servo System Connector Selection Use the table below to select mating connectors for your SGMBH Sigma servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class MS3106B18-10S Straight-type connector MS Connector for Motor Fan* MS3108B18-10S L-type connector MS Cable clamp MS3106B20-29S Straight-type connector MS Connector for Encoder Cable (incremental or absolute encoder) MS3108B20-29S L-type connector MS Cable clamp 1CN Mating Connector ll JZSP-CKI9 Can use 1CN for analog speed and torque monitor service checks. Stock 2CN Encoder Mating Connector 3CN Peripheral Mating Connector JZSP-CMP9-1 YSC-1 SGMBH Servomotor 5CN Connector and 1m Cable with Pigtails DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in this table are non-environmental. 161

163 400V Large Capacity Sigma II Servo System Peripheral Device Selection Use the table below to select peripheral devices for your SGMBH Sigma servomotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JUSP-CM500-1 Portable unit with lm adapter cable for Sigma II. Stock SGMBH Servomotor SigmaWin+ Software JZSP-WP0001 Minimum Recommended System Requirements Pentuim 200 MHz, 64MB RM, 200MB hard drive, CDROM Drive, RS-232 or RS-422 port, Screen rsolution 800x600 w/ 256 colors, and Windows 95,98,NT4.0,2000,ME. (Windows XP planned) bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (Lithium Battery) Software Interface Cable YS-12 Optional Dynamic Brake Unit for 22kW and 30kW amplifiers JUSP-DB03 Pre-wired 2.0m cable with 9-pin connector Optional Dynamic Brake Unit for 37kW amplifier Optional Dynamic Brake Unit for 45kW amplifiers JUSP-DB04 JUSP-DB05 Non-Stock Dynamic Brake Resistor Unit for 55kW amplifiers JUSP-DB06 162

164 400V Sigma II Servo Systems SGDH Servo mplifier- For Speed, Torque, & Position Control With Incremental or bsolute Encoder For dditional Information SGDH Ratings & Specifications SGDH Dimensions SGDH Connections Peripherals SGMGH Sigma II Servo System SGMSH/UH Sigma II Servo System SGMBH sigma II Servo System Page(s) V Three-phase Design Features 1. Improved Performance Higher bandwidth response (up to 400Hz speed loop frequency response) Positioning settling time shortened to 1/2 to 1/3 Smooth control at low rpm made possible by Sigma II servomotors high resolution feedback 2. Easy Operation ll-in-one model (speed, torque, and position control) PC monitoring function available including graphical tuning and file storage daptive-tuning function Online auto-tuning Multi-axis communication provided as standard One PC can communicate with up to 14 SGDH units by parameter setting Built-in parameter setting device On-board storage of alarm history utomatic determination of motor settings at connection 3. dditional functionality with ready-to-install application modules Configurable single axis controls including serial communication capability Fieldbus connectivity (Devicenet, Profibus, etc.) Full closed loop (optional position feedback) Single axis motion controller 4. Certified International Standards UL, cul listed (File #: E147823), CE compliance SGDH Servo mplifiers 163

165 400V Sigma II Servo Systems Model Number Designation Sigma II Series SGDH Servo mplifier Rated Output SGDH - D E Model E: Speed, Torque, and Position Control Power Supply D: 400V mplifier Model Capacity kw (HP) (.67) (1.3) (2.0) (2.7) (4.0) (6.7) (8.0) (10) 1 11 (15) 1E 15 (20) 2B 22 (30) 3Z 30 (40) 3G 37 (50) 4E 45 (60) 5E 55 (74) C Supply Phases 3 SGDH Servo mplifiers 164

166 400V Sigma II Servo Systems SGDH mplifier Ratings and Specifications Main Circuit Three-phase 380 to 480V ac +10% to -15%, 50/60 Hz. Basic Specifications Speed/Torque Control Mode Input Power Supply Control Mode Feedback Location Structure Performance Input Signal Notes: * 1. 24V DC ±10% to ±15%, 1 (maximum) 2. 24V DC ±10%, 40W for 22 to 55kw units Note: For 22 to 55kW units only, the power supply for the optional dynamic brake Control Circuit (DB) contactor is made from the control circuit power supply. If DB operation is necessary when the power interruption occurs, maintain the DC24V while the DB operates. If 5 times inertia is attached and a standard DB resistor is used, DB operation time is approximately 2 to 5 seconds. Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Serial incremental encoder, absolute encoder mbient/storage Temperature * 0 to 55 C / -20 to 85 C mbient/storage Humidity 90% or less (no-condensing) m/s 2 / 19.6m/s 2 for 500W to 15kW units Vibration/Shock Resistance m/s 2 (1G) / 49m/s 2 (5G) for 22 to 55kW units Cyclic shock resistance is 29m/s 2 (3G) Base mounted (duct ventilation available as option) and flat mount type 1 : 5000 (The lowest speed of the speed control range is the speed at which the Speed Control Range servomotor will not stop with a rated torque load.) Speed Regulation ** Load Regulation 0% to 100%: 0.01% max. (at rated speed) Voltage Regulation Rated voltage ±10% : 0% (at rated speed) Temperature Regulation 25 ± 25 C : 0.1% maximum (at rated speed) 400Hz (at J L = J M ) Note: 100 Hz (J L = J M ) for 22 to 55kW systems 0 to 10s (Can be set individually for acceleration and deceleration). Reference Voltage *** ±6V DC (variable setting range: ±2 to ±10V DC ) at rated speed (forward rotation with positive reference); input voltage: ±12V (maximum) Input Impedance pproximately 14kΩ Circuit Time Constant Reference Voltage *** ±3V DC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with positive reference), input voltage: ±12V DC (maximum) Input Impedance pproximately 14kΩ Circuit Time Constant pproximately 47μs Rotation Direction Selection Uses P control signal Frequency Characteristics ccel/decel Time Setting Speed Reference Torque Reference Contact Speed Reference Speed Selection Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. ** Speed regulation is defined as follows: Forward/reverse rotation current limit signals are used (first to third speed selection). When both signals are OFF, the motor stops or enters another control mode. SGDH Servo mplifiers ( no-load motor speed - full-load motor speed) Speed regulation = x100% rated motor speed *** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and shaft end). 165

167 400V Sigma II Servo Systems Ratings and Specifications (cont d) Positioning Control Mode I/O Signals Performance Input Signal Position Output Bias Setting 0 to 450rpm (setting resolution: 1rpm) Feed-forward Compensation 0 to 100% (setting resolution: 1%) Position Complete Width Setting Reference Signal Type Pulse Buffer Pulse Frequency Control SIgnal Built-in Open Collector Power Supply * Output Form Frequency Dividing Ratio Sequence Input Sequence Output 0 to 250 reference units (setting resolution: 1 reference unit) Sign + pulse train, 90 phase difference 2-phase pulse (phase + phase B), or CCW + CW pulse train Line driver (+5V level), open collector (+5V or +12V level) Maximum 500/200kpps (line driver/open collector) CLER (input pulse form identical to reference pulse) +12V (With built-in 1kW resistor) Phases, B and C: Line driver output Phase S: Line driver output (Only when absolute encoder is used) ny Servo ON, P control (or forward/reverse rotation in contact input speed control mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT), alarm reset, forward rotation current limit, and reverse rotation current limit (or contact input speed control) Servo alarm, 3-bit alarm codes Configurable: (ny 3 of these signals) Positioning complete (speed coincidence), servomotor rotating, servo ready, current limit, brake release, warning, and near position signals SGDH Servo mplifiers Built-in Functions Dynamic Brake (DB) ctivated at main power OFF, servo alarm, servo OFF or overtravel Regenerative Processing Incorporated. For 6 to 55 kw units, external regenerative resistor must be mounted. Overtravel (OT) Prevention Motor decelerates or coasts to a stop, or is stopped by a dynamic brake. This requires optional dynamic brakes for 22 to 55kW units. Overcurrent, overload, regenerative error, main circuit voltage error, heat sink Protection overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, parameter error. LED Display POWER, CHRGE, five 7-segment LEDs (built-in digital operator functions) Built-in analog monitor connector to observe speed, torque, and other reference signals nalog Monitor (5CN) Speed: 1V/1000rpm Torque 1V/rated torque Pulses remaining: 0.05V/reference units or 0.05V/100 reference units Digital operator (mount type or hand-held) Interface RS422 port such as person computer (RS-232C port can be used if some conditions are met). 1 : N Communication N can be up to 14 when RS-422 port is used. xis ddress Setting Set via user parameters Status display, user constant setting, monitor display, alarm traceback display, Functions jogging, autotuning, speed/torque reference signals, other graphing functions, etc. Others Reverse rotation connection, home position search, automatic servomotor ID, DC reactor connection terminal for high power supply frequency control. Communication Note: * The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier. 166

168 Dimensions in inches (mm) SGDH Servo mplifier SGDH-05DE, -10DE, -15DE (400V Three-phase, 0.5kW to 1.5kW) 2-Φ0.20 (Φ5) holes Heat sink 400V Sigma II Servo Systems ir flow 0.31 (8) SGDH 6.30 (160) YSKW MODE/SET DT/ CHRGE POWER L1 C N 3 L2 1 2 C N L1C 1 L2C B1 B2 U V 4.17 (106) 1.54 (39) CN3 CN1 CN2 W C N (5) Ground terminal 2 x M4 screws ir flow 4.33 (110) Terminal block (3 types) 2.95 (75) 7.09 (180) 0.16 (4) 0.22 (5.5) Mounting Hole Diagram 2 x M4 screw holes 0.28 (7) 5.57 (141.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) Cooling fan 0.20 (5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) Connectors on the amplifier (supplied): pproximate mass: 6.17lb (2.8kg) Connector Symbol Servo mplifier Receptacle Manufacturer CN JL 3M Company CN Molex Co. CN JL 3M Company User needs to obtain the following: Connector Symbol Mating Connector Manufacturer 1CN VE connector case 3M Company 2CN Molex Co. 3CN JEZ-9S connector J-C9-2C case JST Company SGDH Servo mplifiers 167

169 400V Sigma II Servo Systems SGDH-20DE, 30DE (400V Three-phase, 2.0kW, 3.0kW) 2-Φ0.24 (Φ6) holes Heat sink ir flow (8) SERVOPCK SGDH 9.84 (250) B2 B3 U YSKW MODE/SET CHRGE CN3 CN1 CN2 DT/ POWER 7.72 (196) 1.54 (39) CN3 CN1 CN2 V W Ground terminal 2 x M4 screws ir flow 14-pin terminal M4 mounting screws 2.95 (75) 7.09 (180) 0.16 (4) 0.24 (6) 4.33 (110) Mounting Hole Diagram 0.24 (6) 4 x M5 screw holes 0.28 (7) 5.57 (141.5) SGDH Servo mplifiers 9.39 (238.5) ±0.020 (0.5) (Mounting pitch) 0.22 (5.5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) (100 ) 1.57 (40) Cooling fan pproximate mass: 8.38lb (3.8kg) Mating connectors: See page

170 400V Sigma II Servo Systems SGDH-50DE (400V Three-phase, 5.0kW) 2 Φ0.24 (Φ6) hole Heat sink 6-pin terminal M5 mounting screw L1 L2 L (8) YSKW SERVOPCK SGDH-50E Ver. MODE/SET DT/ CHRGE POWER C N 3 C N 1 200V 1.54 (39) 5-pin terminal M6 mounting screw CN3 CN (250) L1C L2C B1 B2 B3 C N 2 CN2 U V W Ground terminal 2 M4 screws 5.31 (135) 2.95 (75) 9.06 (230) 3-pin terminal M5 mounting screw Cover (not shown) hinges from this line, closing over the left side of the front. Mounting Hole Diagram 9.39 (238.5?) ±0.020? (0.5?) 0.24 Mounting pitch (6) 4 x M5 screw holes (100 ) 0.28 (7) 7.54 (191.5) 0.22 (5.5) 0.20 (5) 4.92 (125) 0.20 (Mounting pitch) (5) 3.27 (8.3) pproximate mass: 12.12lb (5.5kg) Mating connectors: See page 167 SGDH Servo mplifiers 169

171 400V Sigma II Servo Systems SGDH-60DE, SGDH-75DE (400V Three-phase, 6.0kW, 7.5kW) 0.31 (8) Cooling fan ir flow 0.39 (10) CN8 CN5 CN (282.6) 4.33 (110) M5 Main circuit terminal CN1 CN (117) 1.81 (46) (350) Control Circuit Terminal Main circuit/ Control circuit Terminal 1.26 (32) 1.54 (39) 8.31 (211.1) 0.28 (7) + + L1 L2 L3 + B1 B2 U V W 0.28 (7) 6.22 (158) 1.2 (30.7) 0.79 (20) 1.11 maximum 9.05 (230) (28.3) M4 Control circuit terminal M8 Ground terminal (121) 3.54(90) (24) maximum 9.25 (235) Ground terminal ir flow Mounting Hole Diagram:: SGDH Servo mplifiers (335) (7.5) (7.5) 0.98 (25) 7.09 (180) 0.98 (25) pproximate mass: 29.8lb (13.5kg) 5.04 (128) 4.09 (104) 8.74 (22) Mating connectors: See page

172 400V Sigma II Servo Systems SGDH-1DE, SGDH-1EDE (400V Three-phase, 11.0kW, 15.0kW) (7.5) 0.28 (7) 0.39 (10) Cooling fan 9.69 (246) ir flow SERVOPCK 200V SGDH Ver. YSKW 5.51 (140) CN (8) maximum (450) (320) M4 Control circuit terminal DT CN1 CN2 M4 Mounting screws (435) 1.54 (39) CN (36) 0.35 (9) (7.5) L1 L2 L B1 B2 U V W 0.28 (7) 5.28 (134) 2.05 (52) Mounting Hole Diagram (268) M5 Main circuit terminal 0.28 (7) 2.91 (74) (7.5) M8 Ground terminal View : 0.94(24) (117) (19) (285) Main/Control circuit terminal M8 Ground terminal 0.68 (17) 4.92 (125) ir flow (435) 5.59 (142) pproximate mass: 31.53lb (14.3kg) 8.23 (209) 8.74 (2.22) (271) SGDH Servo mplifiers Mating connectors: See page (7.5) 1.18 (30) 0.28 (7) 7.87 (200) 1.18 (30) 171

173 400V Sigma II Servo Systems SGDH-2BDE ( 400V Three-phase, 22kW) (459) 2.56 (65) (370) Front cover Cooling fan ir flow (500) (370) Control circuit connector 3CN 5.59 (142) 1CN 2CN 4.57 (116) 2.56 (65) M8 Main circuit terminal Mounting Hole Diagram (370) Ground terminal 2 x M8 screws 6.61 (152) (305) (348) (475) 0.49 (12.5) (12.5) 0.98 (25) 4-M8 Mounting holes (320) 0.98 (25) Note: Dimensions are for positioning of application module. Unlike other Sigma II amplifiers, the male connector is inset into the amplifier so that it does not protrude past the outside edge. pproximate Mass: 88.2lb (40kg) Mating connectors: See page 167 SGDH Servo mplifiers 172

174 400V Sigma II Servo Systems SGDH-3ZDE( 400V Three-phase, 30kW) 2.56 (65) (459) (370) Front cover Cooling fan ir flow (500) (370) Control circuit connector 3CN 5.59 (142) 1CN 2CN 4.57 (116) 2.56 (65) M8 Main circuit terminal Mounting Hole Diagram (370) Ground terminal 2 x M8 screws 6.61 (152) (305) (348) (475) 0.49 (12.5) (12.5) 0.98 (25) 4-M8 Mounting holes (320) 0.98 (25) Note: Dimensions are for positioning of application module. Unlike other Sigma II amplifiers, the male connector is inset into the amplifier so that it does not protrude past the outside edge. pproximate Mass: 82.2lb (40kg) Mating connectors: See page 167 SGDH Servo mplifiers 173

175 400V Sigma II Servo Systems SGDH-3GDE ( 400V Three-phase, 37kW) 3.56 (65) (589) Front cover Cooling fan ir flow (500) (370) Control circuit connector 3CN 5.59 (142) 1CN 2CN 4.57 (116) 2.56 (65) M8 Main circuit terminal (500) Ground terminal 2 x M8 screws 6.87 (174.5) (306.5) (348) SGDH Servo mplifiers Mounting Hole Diagram (12.5) (12.5) (475) 0.98 (25) 4-M8 Mounting holes (450) Note: Dimensions are for positioning of application module. Unlike other Sigma II amplifiers, the male connector is inset into the amplifier so that it does not protrude past the outside edge (25) pproximate Mass: 132.3lb (60kg) Mating connectors: See page

176 400V Sigma II Servo Systems SGDH-4EDE ( 400V Three-phase, 45kW) SGDH-5EDE ( 400V Three-phase, 55kW) 2.56 (65) (639) Front cover Cooling fan ir flow (500) (370) Control circuit connector 3CN Connector for operator 5.59 (142) 1CN 2CN 4.57 (116) 2.56 (65) M10 Main circuit terminal (550) Ground terminal 2 x M8 screws 6.87 (174.5) (306.5) (348) Mounting Hole Diagram (12.5) (12.5) (475) 0.98 (25) 4-M8 Mounting holes (500) Note: Dimensions are for positioning of application module. Unlike other Sigma II amplifiers, the male connector is inset into the amplifier so that it does not protrude past the outside edge (25) pproximate Mass: 143.3lb (65kg) Mating connectors: See page 167 SGDH Servo mplifiers 175

177 400V Sigma II Servo Systems Regenerative Resistor Units (JUSP-R ) Externally attach a regenerative resistor to the servopack. This resistor is used for dissipating regenerative energy. Use one of the following regenerative resistor units according to the servopack model. Servopack Model SDGH- 2BDE 3ZDE 3GDE 4EDE 5EDE Regenerative Resistor Unit JUSP- R12 R13 R14 R15 R16 Resistance 9Ω 6.7Ω 5Ω 4Ω 3.8Ω Resistance Capacity 3600W 3600W 4800W 6000W 7200W llowable Load Moment of Inertia llowable Duty 5 times the load moment of inertia at motor shaft. 2% ED at maximum speed and torque deceleration. SGDH Servo mplifiers 176

178 400V Sigma II Servo Systems JUSP-R12 Front cover (500) M4 Main circuit terminal 1.34 (34) 1.77 (45) Wire lead-in hole with Φ1.30 (Φ33) grommet 13.7 (348) 2.36 (60) 0.95 (24) 1.50 (38) 8.27 (210) (259) (49) Mounting Hole Diagram (485) 0.30 (7.5) 4-M5 Mounting holes 0.30 (7.5) pproximate Mass: 30.9lb (14kg) 1.16 (29.5) 7.87 (200) 1.16 (29.5) SGDH Servo mplifiers 177

179 400V Sigma II Servo Systems JUSP-R13 Front cover (500) M8 Main circuit terminal 1.46 (37) 1.77 (45) Wire lead-in hole with Φ1.30 (Φ33) grommet 13.7 (348) 2.32 (59) 1.14 (29) 1.34 (34) 8.27 (210) (259) (49) Mounting Hole Diagram (485) 0.30 (7.5) 4-M5 Mounting holes SGDH Servo mplifiers pproximate Mass: 30.9lb (14kg) 0.30 (7.5) 1.16 (29.5) 7.87 (200) 1.16 (29.5) 178

180 400V Sigma II Servo Systems JUSP-R14 Front cover 0.30 (7.5) (485) (500) 1.46 (37) 1.77 (45) Wire lead-in hole with Φ1.30 (Φ33) grommet 13.7 (348) 3.11 (79) 9.09 (231) 9.53 (242) (484) 1.14 (29) M5 Main circuit terminal Mounting Hole Diagram 4-M5 Mounting holes 0.30 (7.5) pproximate Mass: 44.1lb (20kg) 1.16 (29.5) (425) 1.16 (29.5) SGDH Servo mplifiers 179

181 400V Sigma II Servo Systems JUSP-R (35.5) 1.77 (45) 0.30 (7.5) (500) Wire lead-in hole with Φ1.30 (Φ33) grommet 9.53 (242) M6 Main circuit terminal (484) 13.7 (348) (485) 3.09 (78.5) 8.82 (224) Mounting Hole Diagram 4-M5 Mounting holes 1.50 (38) SGDH Servo mplifiers pproximate Mass: 47.4lb (21.5kg) 0.30 (7.5) 1.16 (29.5) (425) 1.16 (29.5) 180

182 400V Sigma II Servo Systems JUSP-R (35.5) 1.77 (45) 0.30 (7.5) (500) Wire lead-in hole with Φ1.30 (Φ33) grommet 9.53 (242) M6 Main circuit terminal (484) 13.7 (348) (485) 3.09 (78.5) 8.82 (224) Mounting Hole Diagram 4-M5 Mounting holes 1.50 (38) 0.30 (7.5) pproximate Mass: 51.8lb (23.5kg) 1.16 (29.5) (425) 1.16 (29.5) SGDH Servo mplifiers 181

183 400V Sigma II Servo Systems Type JUSP-R F0.24 (F6) mounting holes External Regenerative Resistors 13.2 (335) 13.8 (350) Regenerative resistors for servo amplifiers are internally or externally mounted, as shown in the following table. They can be mounted externally on all servo amplifiers, but are especially effective when regenerative energy exceeds the servo amplifier s capacity (6) 7.09 (180) 8.66 (220) For SGDH-60DE and 75DE 3.62 (92) M4 Ground terminal M5 Main circuit terminal Current resistance 220W 18Ω (x 4 configurable) When mounted externally, be sure to remove the jumper between B2 and B3, which deactivates the internal regenerative resistor. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. SGDH Servo mplifiers Type JUSP-R (250) 11.8 (300) For SGDH-1 to 1EDE 11.8 (30) M5 Main circuit terminal pproximate mass: 8.82lb (4kg) 13.2 (335) 11.8 (30) 13.8 (350) 3.74 (95) M4 Ground terminal Current resistance 220W 25.8Ω (x 8 configurable) pproximate mass: 15.4lb (7kg) Use Yaskawa s SigmaSize and the Sigma II Series Servo System User s Manual: YE-SI-S pplicable Servo mplifier Regenerative Resistor Mounted in a Servo mplifier Resistance (Ω) Wattage* (W) Internal Regenerati on Power Capacity (W) Minimum llowable Resistance (Ω) SGDH-05DE 73 SGDH-10DE SGDH-15DE SGDH-20DE 400V SGDH-30DE Three-pha SGDH-50DE se SGDH-60DE 18** 880** SGDH-75DE SGDH-1DE SGDH-1EDE 14.25*** 1760*** * Capacity prior to derating. If regeneration power requirements exceed internal capacity of the amp, install an external regeneration resistor (reference: Minimum allowable resistance). Be sure to derate wattage of external resistor to 20% or less (natural convection) and of 50% or less with forced air cooling. ** Provided externally by JUSP-R18 *** Provided externally by JUSP-R19 182

184 400V Sigma II Servo Systems DB Units (For large capacity servo systems) Externally attach a DB unit to the servopack. This DB unit is used for dissipating motor EMF energy. The DB unit does not need to be installed if the dynamic brake function is not required. Specifications Use one of the following DB units according to the servopack model. Servopack Model SDGH- 2BDE 3ZDE 3GDE 4EDE 5EDE Regenerative DB Unit JUSP- DB03 DB04 DB05 DB06 DB contactor and surge absorption unit Built into servopack Built into DB unit Resistance 0.8Ω Resistance Capacity 180W 300W llowable Load Moment of Inertia llowable Duty 5 times the load moment of inertia at motor shaft. Less than 1 time/h at maximum speed DB operation. SGDH Servo mplifiers 183

185 400V Sigma II Servo Systems JUSP-DB03 Dynamic Brake Unit JUSP-DB04 Dynamic Brake Unit SGDH Servo mplifiers 184

186 400V Sigma II Servo Systems JUSP-DB05 Dynamic Brake Unit JUSP-DB06 Dynamic Brake Unit SGDH Servo mplifiers 185

187 400V Sigma II Servo Systems Control of Harmonic Frequency in the Power Supply Circuit If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals (+) 1 and (+) 2 on the servo amplifier s main circuit. Use the following table as a guide for selection of the appropriate reactor. pplicable Servo mplifier Reactor Specifications Impedance (mh) Rated Current () Reactor Model SGDH-05DE X V SGDH-10DE SGDH-15DE X5075 SGDH-20DE SGDH-30DE X5076 SGDH-50DE X5077 Larger size amplifiers Consult factory for availability DC Reactor Dimensional Drawings B ΦJ G 1 2 C D 4 ΦH E F SGDH Servo mplifiers Reactor Model X5074 X5075 X5076 X5077 Dimensions in (mm) B C D E F G ΦH ΦJ (30) (47) (70) (45) (4) 0.17 (40) (59) (100) (120) (40) (50) (55) (4.3) (50) (74) (125) (140) (35) (45) (60) (5) Consult factory pproximate Mass lb (kg) (0.3) (0.9) 2.43 (1.1) 186

188 Typical Internal Connection Diagrams 400V, 0.5kW to 3.0kW Models 400V Sigma II Servo Systems Three-phase +10% 380 to 480V (50\60Hz) -15% 1 B1 B2 B3 2 FU1 FN1 Noise filter 1MC L1 L2 L3 XX1 XX2 XX3 R S T + - P C1 - + C2 - CHRGE P U V W ±12V U V W ` ` C servomotor N ` Control power N + - RLY1 Gate drive overcurrent protection D1 - D2 + - D CN2 PG +24V DC (not provided) Relay drive Voltage sensor Gate drive + - Voltage sensor Interface 24V 0V FU DC/DC converter ±7.5V ±15V (x 4 circu its) +5V ±12V SIC (PWM control, etc.) Voltage sensor CN8 CN1 For battery connection PG output Power OFF Power ON Open during servo alarm (1RY) 2RY C power supply (100/200V) +5V /D Reference pulse input Speed and torque reference input 2RY High speed diode + - 1MC Surge suppressor Monitor display nalog voltage converter 0V POWER CPU (position/speed calculation, etc.) I/O Sequence I/O CN10 CN5 CN3 400V, 5.0kW Models Connector for optional unit nalog monitor output for supervision Digital operator personal computer Three-phase +10% 380 to 480V (50\60Hz) -15% B1 B2 B3 FN1 DB1 FU1 PM1 Line filter P P ±12V C servomotor 1MC L1 B1 B3 L2 L3 B2 + _ + _ + _ R S T N CHRGE THS PLY1 C1 C2 + _ + _ + _ B N U V W R7 - + U V W SCR1 Control power +24V DC (not provided) 1 2 Relay drive Voltage sensor isolator Base drive over-current protection isolator RLY2 R2 Gate drive isolator PG CN2 + - Power OFF L1C + _ L2C Open during Power servo alarm (1RY) ON 1MC 1MC Surge suppressor ±5V DC/DC ±12V converter +7V +15V x 4 circuits +5V 0V POWER Monitor display CN8 SIC (PWM control, etc.) CPU (position/speed calculation, etc.) Current sensor /D CN1 For battery connection PG output Reference pulse input Speed and torque reference input SGDH Servo mplifiers nalog voltage converter I/O Sequence I/O CN10 CN5 CN3 Connector for output unit nalog monitor output for supervision Digital operator personal computer 187

189 400V Sigma II Servo Systems 400V, 6.0W to 7.5kW Models Three-phase +10% 380 to 480V (50\60Hz) -15% B1 B2 FN1 FN2 DB1 FU1 PM1/PM2/PM3 Line filter 1MC L1 B1 B3 L2 L3 B2 + _ + _ R + _ S T P N PLY1 R1 C1 C2 + C3 _ + C4 _ + _ + _ CHRGE + _ P C10 B N U V W +24V -0V +24V -0V CT1 CT2 U V W SCR1 C servomotor - + Control power +24V DC (not provided) 1 2 Relay drive Voltage sensor isolator Base drive over-current protection isolator RLY2 R2 Gate drive isolator PG CN2 + - L1C + ±5V CN8 Current sensor L2C _ DC/DC converter ±12V +7V SIC (PWM control, etc.) CN1 For battery connection +15V x 4 circuits PG output Power OFF Power ON 1MC Open during servo alarm (1RY) 1MC Surge suppressor Monitor display +5V 0V POWER CPU (position/speed calculation, etc.) /D Reference pulse input Speed and torque reference input nalog voltage converter I/O Sequence I/O CN10 CN5 CN3 Connector for output unit nalog monitor output for supervision Digital operator personal computer SGDH Servo mplifiers 188

190 400V Sigma II Servo Systems 400V, 500W to 15kW Models Three-phase 380 to 480V ac (50/60Hz) R S T 1MCCB Noise filter Power Power larm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 L3 B1 B2 B3 U V W (1) Servomotor B (2) M C (3) D (4) 24V DC ±15% L1C L2C 1 2 SGDH Servo mplifier 2CN Optical encoder PG Reference speed: ±2 to ±10V/rated motor speed (set by parameter) Torque reference: ±1 to ±10V/rated torque (set by parameter) Position reference Be sure to ground PULS CW phase SIGN CCW B phase CLR Open-collector reference power supply V-REF 5 P SG 6 P T-REF SG CN LPF* LPF* PULS 7 150Ω P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 Backup battery 2.8 to 4.5V (When using an absolute encoder). BT (+) 21 PBT (-) 22 +5V SEN SEN signal input 4 P (When using an absolute encoder). SG 2 0V +24V +24V kΩ Servo ON with 2Ry ON 1Ry /S-ON 40 0V 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry LM-RST 44 larm reset with 3Ry ON 6Ry Forward current limit ON with 6Ry ON P-CL 45 7RY Reverse current limit ON with &Ry ON N-CL 46 1kΩ +12V /D Used only with an absolute encoder LO1 larm code maximum output: LO3 Operating voltage: 30V DC Operating current: 20m DC LO3 PO /PO PBO /PBO PCO /PCO PSO /PSO SG Be sure to properly prepare the end of the shielded wire. PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent mount of S-phase rotation Serial data output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Speed coincidence detection 25 /V-CMP+ (ON when speed coincides) Servo ON 26 (/COIN+) /V-CMP- Positioning completed Proportional control (P control) (ON when positioning is (/COIN-) completed) Forward run 27 prohibited /T-GON+ T-GON output 28 Reverse run (ON at levels above the setting) /T-GONprohibited 29 larm reset /S-RDY+ Servo ready output 30 (ON when ready) /S-RDY- Forward current limit ON 31 LM+ Servo alarm output Reverse current 32 (OFF with an alarm) limit ON LM- Connector shell FG Connect shield to connector shell Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC SGDH Servo mplifiers *The time constant for the primary filter is 47μs P: Indicates twisted wire pairs. 189

191 400V Sigma II Servo Systems 400V, 22kW to 30kW Models 24V DC +10% maximum Three-phase 380 to 480V ac (50/60Hz) R S T 1MCCB Reference speed: ±2V to ±10V/rated speed (set by parameter) Torque reference: ±1 to ±10V/rated torque (set by parameter) Position reference Noise filter PULS CW Phase SIGN CCW Phase B CLR Open-collector reference power supply 1MC % V-REF 5 P SG 6 T-REF 9 P SG 10 Power Power OFF ON 1CN 1MC B1 380 ~ 480V OV L1/R L2/S L3/T DC24P DC24N LPF* LPF* PULS 7 150W P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 1MC SUP B2 SGDH Servo mplifier /D 1Ry Regenerative Resistor 1kΩ +12V Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. Be sure to ground 2CN U V W DU DV DW LM+ LM- U() V(B) W(C) PG Fan (1) Servomotor Thermal B (2) Protector M C (3) 1 D (4) Optical encoder Be sure to properly prepare the end of the shielded wire. Dynamic Brake 1Ry 1D 1B 0V +24V 37 LO1 larm code maximum output: 38 LO3 Operating voltage: 30V DC 39 LO3 Operating current: 20m DC SGDH Servo mplifiers Backup battery 2.8 to 4.5V (When using an absolute encoder). SEN signal input (When using an absolute encoder). BT (+) 21 P BT (-) 22 +5V SEN 4 P SG 2 0V 24V DC ±15% +24V +24V 47 1Ry /S-ON 40 Servo ON with 1Ry ON 0V 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry LM-RST 44 larm reset with 3Ry ON Forward current limit ON with 6Ry ON 6Ry /P-CL 45 Reverse current limit ON with 7Ry ON 7RY /N-CL kΩ 33 PO 34 /PO 35 PBO 36 /PBO 19 PCO 20 /PCO 48 PSO 49 /PSO 1 SG PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Used only with mount of S-phase rotation Serial data output an absolute encoder pplicable line receiver SN75175 or MC3486 manufactured Servo ON by T/I, or the equivalent Proportional (P) control Speed coincidence detection Forward run 25 /V-CMP+ (ON when speed coincides) prohibited 26 (/COIN+) Positioning completed Reverse run /V-CMPprohibited (/COIN-) (ON when positioning is completed) larm reset 27 /T-GON+ T-GON output Forward current limit ON 28 /T-GON- (ON at levels above the setting) Reverse current 29 limit ON /S-RDY+ Servo ready output 30 /S-RDY- (ON when ready) Connector shell FG Connect shield to connector shell Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC *The time constant for the primary filter is 47μs P: Indicates twisted wire pairs. 190

192 400V Sigma II Servo Systems 400V, 37kW to 55kW Models Three-phase 380 to 480V ac (50/60Hz) R S T 1MCCB % 24V DC +10% maximum Reference speed: ±2V to ±10V/rated speed (set by parameter) Torque reference: ±1 to ±10V/rated torque (set by parameter) Position reference Backup battery 2.8 to 4.5V (When using an absolute encoder). SEN signal input (When using an absolute encoder). Noise filter PULS CW Phase SIGN CCW Phase B CLR Open-collector reference power supply +5V 1MC V-REF 5 P SG 6 T-REF 9 P SG 10 Power Power OFF ON 1CN 1MC B1 380 ~ 480V OV L1/R L2/S L3/T DC24P DC24N PULS 7 150W P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 BT (+) 21 P BT (-) 22 SEN 4 P SG 2 1MC SUP B2 1Ry Regenerative Resistor LPF* LPF* 24V DC ±15% +24V +24V kΩ 1Ry /S-ON 40 Servo ON with 1Ry ON 0V 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry LM-RST 44 larm reset with 3Ry ON Forward current limit ON with 6Ry ON 6Ry /P-CL 45 Reverse current limit ON with 7Ry ON 7RY /N-CL 46 0V SGDH Servo mplifier /D +12V Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. Be sure to ground 2CN U V W DU DV DW DB24 DBON 31 LM LO1 38 LO3 39 LO3 33 PO 34 /PO 35 PBO 36 /PBO 19 PCO 20 /PCO 48 PSO 49 /PSO 1 SG (1) Servomotor Thermal B (2) Protector M C (3) 1 D (4) Optical encoder PG Be sure to properly prepare the end of the shielded wire. larm code maximum output: Operating voltage: 30V DC Operating current: 20m DC PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Used only with mount of S-phase rotation Serial data output an absolute encoder pplicable line receiver SN75175 or MC3486 manufactured Servo ON by T/I, or the equivalent Proportional (P) control Speed coincidence detection 25 /V-CMP+ (ON when speed coincides) Forward run prohibited 26 (/COIN+) Positioning completed /V-CMP- Reverse run (/COIN-) (ON when positioning is prohibited completed) larm reset 27 /T-GON+ T-GON output 28 (ON at levels above the setting) Forward current /T-GONlimit ON 29 Reverse current /S-RDY+ Servo ready output limit ON 30 /S-RDY- (ON when ready) Connector shell FG Connect shield to connector shell LM- Dynamic Brake U() V(B) W(C) 1Ry 1D Fan 1B 0V +24V Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC SGDH Servo mplifiers *The time constant for the primary filter is 47μs P: Indicates twisted wire pairs. 191

193 400V Sigma II Servo Systems Connector Terminal Block Converter Unit JUSP-T50P Servo mplifier CN1 +10% Length of cable supplied: (500) -0% 50-pin connector plug MR-50RMD2 50-pin terminal block M3.5 screws (247.5) (45) Connector Terminal Block Converter Unit JUSP-T50P* (cable included) Mounting Hole Diagram (254.2) SGDH Servo mplifiers 0.61 (15.5) 0.14 (3.5) 0.14 (3.5) 0.27 (7.0) 0.27 (7.0) (261.2) 1.16 (29.5) 1.77 (45) *terminal specifications : see the following page 192

194 400V Sigma II Servo Systems JUSP-T50P Terminal Block Pin Numbers and Signal Names SGDH Servo mplifier Signal Name* CN1 Pin Number SG 1 SG 2 PL1 3 SEN 4 V-REF SG PULS /PULS T-REF SG SIGN /SIGN PL2 /CLR CLR PL3 PCO /PCO BT (+) BT (-) V-CMP+ V-CMP- /TGON+ /TGON- /S-RDY- /S-RDY- LM+ LM- PO /PO PBO /PBO LO1 LO2 LO3 S-ON /P-CON P-OT N-OT /LM-RST /P-CL /N-CL +24V IN PSO /PSO Connector Case JUSP-T50P Terminal Block Unit Connector Number 1 B1 2 B2 3 B3 4 B4 5 B5 6 B6 7 B7 8 B8 9 B9 10 B10 11 B11 12 B12 13 B13 14 B14 15 B15 16 B16 17 B17 18 B18 19 B19 20 B20 21 B21 22 B22 23 B23 24 B24 25 B25 Terminal Block Number Cable: Supplied with the terminal block P: Indicates twisted pair wires. * Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the factory. Use the connection diagrams on the previous pages for more functional details. P P P P P P P P P P P P P P P SGDH Servo mplifiers 193

195 400V Sigma II Servo Systems mplifier to Encoder Connection Diagram Connection Example The following diagrams show the procedure for wiring a servo amplifier to an encoder. Connecting an encoder (CN2) and output signals from the servo amplifier (CN1) Incremental Encoders Incremental encoder C (5) D (6) P CN Servo amplifier CN1 phase B phase C phase PO /PO PBO /PBO PCO /PCO P P P PG H (1) G (2) Output line-driver SN751LS194 manufactured by T/I, or the equivalent 2-1 PG5V 2-2 PG0V pplicable line receiver SN75175 manufactured by T/I, or the equivalent 22WG 0V 1-1 SG 0V J (Shell) Shield wires Connector shell Connector shell SGDH Servo mplifiers bsolute Encoders bsolute encoder PG C (5) D (6) H (1) G (2) T (3) S (4) J (Shell) 22WG P Shield wires Servo amplifier CN2 phase CN PO 1-34 /PO 2-5 B phase 1-35 PBO /PBO C phase 1-19 PCO 1-20 /PCO S phase 1-19 PSO 1-20 /PSO 2-1 PG5V 2-2 PG0V Output line-driver SN751LS194NS manufactured by T/I, or the equivalent 1-4 SEN 1-2 SG 1-1 SG 2-3 0V 1-21 BT(+) BT(-) Connector shell 1-50 P P P P P P pplicable line receiver: MC3486 or SN75175 manufactured by T/I, or the equivalent +5V 0V + - Battery P: Indicates twisted wire pairs. Connector shell 194

196 Overload Characteristics 400V Sigma II Servo Systems Servo amplifiers have a built-in overload protection function that protects the servo amplifiers and servo motors from overload. llowable power for the servo amplifiers is limited by the overload protective function, as shown in the figure below. The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C. 10,000 Operating Time (s) 1, Rated torque Rated torque + Maximum torque pprox. 2 Maximum Torque Note: The overload protection characteristics in the figure are applicable when the servo amplifier is combined with one of the following servomotors: SGMGH SGMSH SGMUH SGMBH SGDH Servo mplifiers Motor Torque 195

197 400V Sigma II Servo Systems Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices, as well as cable specifications for servo amplifiers are summarized in the tables below. Cable Specifications CUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines at least (30cm) apart. Use twisted pair or shielded multi-core twisted pair wires for signal and encoder (PG) feedback lines. The maximum lengths for signal lines are as follows: Maximum of 9.84ft (300cm) for reference input lines. Maximum of 65.6ft (20m) for PG feedback lines. The following table provides wire size specifications: for 400V External Terminal Name SGDH Terminal Symbol Wire Size WG [in 2 (mm 2 )] 05DE 10DE 15DE 20DE 30DE Main circuit power input terminals L1, L2, L3 (Three-phase) 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires. See page 198 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] SGDH Servo mplifiers for 400V External Terminal Name Main circuit power input terminals Servomotor connection terminals SGDH Terminal Symbol L1, L2, L3 (Three-phase) U, V, W Wire Size WG [in 2 (mm 2 )] 50DE 60DE 75DE 1DE 1EDE HIV 3.5 (0.005) HIV 3.5 (0.005) HIV 5.5 (0.009) HIV 5.5 (0.009) HIV 5.5 (0.009) HIV 8 (0.012) HIV 8 (0.012) HIV 14 (0.022) HIV 14 (0.022) Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires. See page 198 for details. Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] 196

198 400V Sigma II Servo Systems for 400V External Terminal Name Main circuit power input terminals Servomotor connection terminals SGDH Terminal Symbol L1/R, L2/S, L3/T U, V, W Wire Size WG [in 2 (mm 2 )] 2BDE 3ZDE 3GDE 4EDE 5EDE 6WG [HIV (14)] 6WG [HIV (14)] 4WG [HIV (22)] 4WG [HIV (22)] 2WG [HIV (30)] Control power supply terminals DC24P, DC24N 18 WG [HIV (1.0)] Heatsink fan power 380~480V, OV 18 WG [HIV (1.0)] Fan power terminals U(),V(B), W(C) 18 WG [HIV (1.0)] Regenerative resistor connector Dynamic brake power connector B1, B2 14 WG [HIV (2.0)] DU, DV, DW 16 WG [HIV (1.25)] Dynamic brake control power DB24, DBON 16 WG [HIV (1.25)] 2WG [HIV (30)] 1WG [HIV (38)] 1WG [HIV (38)] 1WG [HIV (50)]* 12WG [HIV (3.5)] 12WG [HIV (2.0)] *The larger dimension falls within the limits of 1WG. Notes: 1. Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current. 2. Use cables with a minimum withstand voltage of 600V for main circuits. 3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current. 4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. The following table shows types of cables. It is used in conjunction with the preceding tables. Cable Type Temperature Rating of Conductor Name Composition C PVC Standard polyvinyl chloride cable - IV 600V PVC cable 60 HIV Temperature-resistant vinyl cable 75 SGDH Servo mplifiers 197

199 400V Sigma II Servo Systems The following table specifies the cables for CN1 and CN2 servo amplifier connectors. Wire sizes were selected with the expectation of three cables per bundle, at an ambient temperature of 40 C, at the rated current level. Connector Name Signal Description Specification Control I/O Signal Connector CN1 CN2 Cable Use twisted pair or shielded twisted pair wire. pplicable wire (WG): 24, 26, 28 Finished cable Dimension Φ0.63 (Φ16.0) maximum Cable Use Yaskawa cable, or shielded twisted pair wire. (WG): 22, 24, 26 pplicable wire Use 22 WG [ (0.34)] for the encoder power supply and 26 WG [ (0.14)] for other signals. These conditions permit wiring distances up to 65.6ft (20m). Finished cable Dimension Φ0.27 (Φ6.8) maximum Peripheral Device Types and Capacities SGDH Servo mplifiers Main Circuit Power Supply Three-p hase 400V mplifier Model Capacity (kw) PG Signal Connector SGDH- Control Power Required (W) pplicable Servomotor Capacity per Servo mplifier (kv) Power Supply Recommended Noise Filter** * Size per local code requirements. Typical fuse interrupting characteristics at 25 C: 200% for 2s minimum; 700% for 0.01s minimum. ** The Fnžžžž noise filter is manufactured by Schaffner Corporation. Specifications are available at: Rated Input ( rms ) Maximum Inrush Current ( rms ) MCCB or Fuse Capacity* ( rms ) DE SGMGH-05D SGMGH-09D DE SGMSH-10D SGMUH-10D DE SGMGH-13D SGMSH-15D DE SGMGH-20D SGMSH-20D SGMGH-30D DE 15 SGMSH-30D SGMUH-30D DE SGMGH-44D SGMSH-50D DE SGMGH-55D DE SGMGH-75D DE SGMGH-1D EDE SGMGH-1ED BDE Model Fn258L-7/07 (or FS ) Fn258L-16/07 (or FS ) FS /33 (or FS ) FS /34 (or FS ) SGMBH-2B Fn258L ZDE SGMBH-3Z Fn258L GDE SGMBH-3G Fn258L EDE SGMBH-4E Fn258L EDE SGMBH-5E Specifications Three-phase 480V ac 7 (6) Three-phase 480V ac 16 (10) Three-phase 480V ac 35 (30) Three-phase 480V ac 80 (55) Three-phase 480V ac Three-phase 480V ac Three-phase 480V ac Motor Magnetic Contactor 10 or equivalent 20 or equivalent 40 or equivalent 50 or equivalent 75 or equivalent 100 or equivalent 100 or equivalent 150 or equivalent 225 or equivalent 198

200 100/200V Sigma II Servo Systems Peripheral Device Manufacturers J.S.T. Corporation 1957 South Lakeside Drive Waukegan, Illinois Phone: (847) Molex (Headquarters) (Note: not selling 2CN serial encoder connector in the US) 2222 Wellington Court Lisle, Illinois Phone:(630) Fax: (630) (Connector information is not available from Molex or Yaskawa) For literature requests or Molex support for the 2CN connector, the Chicago area distributor is TTI sk for the Yaskawa inside sales representative CLLTTI ( ) Schaffner EMC Inc. 52 Mayfield ve. Edison, New Jersey Phone: (732) Fax: (732) TDK Corporation of merica 1600 Feehanville Dr. Mount Prospect, Illinois Phone: (847) Fax: (847) Tokin merica lvarado-niles Rd. Suite 500 Union City, California Phone: (510) Fax: (510) SGDH Servo milifiers 199

201 400V Sigma II Servo Systems NOTES: SGDH Servo mplifiers 200

202 Sigma II Servo System Product Catalog Supplement Yaskawa... World of utomation Solutions Yaskawa Electric merica, Inc. Chicago-Corporate Headquarters 2121 Norman Drive South Waukegan, Illinois YSKW Yaskawa Electric Europe m Kronberger Hang 2, Schwalbach, Germany Yaskawa Electric Corporation New Pier Takeshiba South Tower, Kaigan Minatoku, Tokyo 105 Japan Yaskawa Electric merica, Inc. January, 2009 G-MI#99001K Printed In U.S..