Procedure for Replacing -II with -V

Transcription

1 Yaskawa Electric Corp. Motion Control Division Solution & Support Center Marketing Section Procedure for Replacing II with V Applicable Model Motor: II ( SGMAH, SGMPH and SGMGH ) Servo Amplifier: II ( SGDM and SGDH) Table of Contents 1.Notes on application Check List when replacing II with V Concept of replacement Replacement list. 9 2.Motor 21. comparison table Characteristics (1) Standard product without reduction gears Mounting Dimensions (1) Without reduction gears (standard) (2) With generalpurpose reduction gears (3) With precision reduction gears. 24. Notes on machine installation Servo Amplifier 31. comparison table Terminal table (1) Main circuit terminal (2) Control circuit terminal Installation size Notes on control board installation Cable and peripherals Parameter converter.. 43 Revision history.. 44

2 1. Notes on Application Check Item Notes Usage condition in II Usage of V Using SGDM/SGDH Servo Amplifier Using Sphase output of absolute encoder Sphase output is not available in SGDV. There are no alternatives. Please use the multiturn data and initial incremental pulse. Or, please read data through PC communication (RS422). Using reference input magnification The reference input magnification function function is not available in SGDV. There are no alternatives. Switch by a host controller or MECHATROLINK communication. Using auto tuning function The same autotuning function as ΣII is not provided in SGDV. The tuneless function is the alternative function. Please use the advanced autotuning function or moment of inertia identification function of SigmaWin + when you need to know the moment of inertia ratio. Using speed bias function The speed bias function is not provided in SGDV. The positioning time can be shortened by using "Positioning setting (model following control)" of the advanced autotuning function. Using auto gain switch function The autogain function is not provided in SGDV. There are no alternatives. Please switch by using CSEL signal in a host controller or MECHATROLINK communication. Using duct ventilation type Please inquire to the factory. Although there is a model that corresponds to the duct ventilation type but the capacity is limited and the installation size is different. Using Application Module None N/A

3 Using Application Module with SGDH Servo Amplifier Using fullyclosed I/F unit (JUSPFC100) Using DeviceNet I/F unit (JUSPNS300) Using ProfieBus I/F unit (JUSPNS500) Using INDEXER module (JUSPNS600) Using MECHATROLINK I/F unit (JUSPNS100/NS115) Please use SGDV, which has a fullyclosed option module. Please change the feedback signal from the linear scale to ± 1V analog signal output from 90 degree phase difference 2phase pulse train. Then use the serial conversion unit (JZDPD00000E type). Currently we don t provide a replacement model in V series. Please inquire to the factory. Currently we don t provide a replacement model in V series. Please inquire to the factory. Currently we don t provide a replacement model in V series. Please inquire to the factory. Please use MECHATROLINKII communication reference type servo amplifier (SGDV1 type). However, SGDH + JUSPNS100/NS115 type and SGDV1 type are corresponding to different commands. Therefore the software change of the host controller side may be necessary. Please use SGDV, which has a fullyclosed option module when performing the fullyclosed control. Please change the feedback signal from the linear scale to ± 1V analog signal output from 90 degree phase difference 2phase pulse train. Then please use the serial conversion unit (JZDPD00000E type).

4 Using MP9 of one axis machine controller MP9 equivalent products are not available in the option module. Please consider t replacing with a combination of MP20/MP2300S of multiaxes machine controller, and MECHATROLINKII communication reference servo amplifier (SGDV1 type) may be necessary. The following functions and performances were improved by replacing II with V. Added the small capacity medium inertia series (SGMJV type) to the motor lineup. Increased the max speed of the motor from 5000rpm to 6000rpm. (SGMJV type and SGMAV type) Improved the speed frequency response characteristic for performance. SGDM / SGDH 0Hz SGDV 1.6kHz (Load inertia=rotor inertia of motor) Supports pulse train command input frequency of 4Mpps. SIGN+PULSE and CW/CCW are 4Mpps. The A/Bphase 2phase pulse train becomes 4Mpps at 1x2, 2Mpps at 2x2, and 1Mpps at 4x2. However, it is 200kpps when connecting with open collector output. RoHS compliant as standard product. Safety standard (Safety Stop0) embedded. PC connection changes from RS232C communication to USB.

5 11. Check List when replacing II with V Category Item Items to be Checked Checked Motor Main Body <Confirmation of main body installation dimension/position> Please confirm installation dimensions of the motor and machine inuse. Pilot diameter Mounting hole pitch Mounting hole diameter Axis diameter Axis shape (straight, key, center tap, and taper) <Confirmation of special specification> Please confirm whether the motor you are using is a special type. Please confirm the specification with the delivery specifications if you are using a special type. Voltage <Correspondence of AC100V specification> Both servo motor and servo amplifier were 100V version when using the AC100V power supply in II. However, only AC200V motors are available in the V. Select the proper 200V motor when using AC100V power supply servo amplifier Servo Cable Main Body <Confirmation of wiring > Please confirm cable wiring, and also confirm that the machine has no interference. <Confirmation of main body mounting position> Amplifier Hardware Please confirm the size (W H D) and the mounting hole position of the servo amplifier inuse. Main Circuit <Confirmation of special specifications> Please confirm whether the servo amplifier inuse does not have your own NP, and product shape, and also confirm that any special processes etc. by referring to the delivery specifications. <Confirmation of wiring> The main circuit connector, terminal block position, array order, and dividing method are different between the servo amplifier inuse and the replacement servo amplifier. Please consider the substitution or extension of wiring when there is no enough room in wiring. <AC100V specification> Corresponds with the voltage specification "F" (Input 100V, Output 200V. Double voltage) servo amplifier. The servo motors are AC200V.

6 Servo Amplifier Software <Single phase AC200V specification> Threephase circuit AC200V is standard In the V series servo amplifier. Please change the parameter "Function selection switch B" when using singlephase power supply. (Pn00B.2=1) (Contents are the same as the motor voltage specifications) Connect to terminal L1 and L2 when using the singlephase power supply. Please note that the torquespeed characteristic is different from the threephase circuit power supply specifications. Also please note that the size of 1.5kW singlephase AC200V servo amplifier (SGDV120AA008000) is the same as the 3kW threephase AC200V specification (SGDV200AA). <DC power supply input> Please change the parameter "Function selection switch 1" when using DC power supply input. (Pn001.2=1) Note) Connect the main circuit DC power supply only after changing the parameter. Control <Confirmation of wiring> Circuit The control circuit connector, numbers of pins, array order might be different between the servo amplifier inuse and the replacement servo amplifier. Software <Confirmation of special software version> Confirm whether the software of the servo amplifier inuse is standard software from the version number. Contact Yaskawa with the version number if you are not sure the software is standard or not. Software version can be confirmed with the handheld digital operator, or function Fn012 of builtin panel operator, and product data reading function of the supporting software SigmaWin+. Constant < Confirmation of user constants > Confirm the user constants of the servo amplifier inuse. SigmaWin + has a function to convert from the user constants of II into the parameter of V. Factory default setting of V servo adjustment parameter is enable tuneless (Pn170.0=1). Change it to disable tuneless (Pn170.0=0) when you perform the servo adjustment.

7 Option Others Others Application module Peripherals In the ΣII series, the stopping method is DB stop or freerun stop when an alarm is detected. On the other hand, factory setting for G2 is 0 speed stop in ΣV series. It is possible to change to the DB stop or freerun stop when the parameter Pn00B.1=0 is set to1. The user constant conversion function of SigmaWin + is not able to convert this. <Confirmation of application module> Confirm the usage condition of application module when using SGDH servo amplifier. V series does not support all the application modules. <Confirmation of the digital operator> The digital operators for II and V are different. Please purchase a new digital operator if needed. <Confirmation of PC connection cable> The PC connection cables for II and V are different. Please purchase a new cable when using SigmaWin+.

8 12. Concept of Replacement When replacing II series servo motor/servo amplifier with V series, the following methods are available. The battery for data backup of absolute encoder is built in the II servo amplifier SGDM or SGDH. On the other hand, V has the encoder cable with the battery unit. Motor Cable ø7 Encoder Plug Encoder Cable Motor Cable Serial Encoder Case 1 Replacing all the motors, servo amplifier, and cables with V series. Encoder Cable Case 2 Motor Cable Replacing only the motor and amplifier. The existing cable can be used as is. Case 21: for SGMJV, SGMAV, SGMPS Motors JZSPCSP12E (only when using Abs Encoder) JZSPCSP11E Existing Encoder Cable JZSPCSM** + Motor plug and pin for II Existing Motor Cable

9 * Using the encoder side cable of the extension encoder cable of 30m to 50m for JZSPCSP11E. * Yaskawa Control is preparing the motor side cable connecting to the existing motor cable. Case 22: for SGMGV and SGMSV Motors The existing cable cannot be used for V series because the main body side connector is different. 13. Replacement List Replacing SGMAH with SGMJV inuse of II series Replacing type V series Replacing Method Servo Amplifier Servo MotorServo Amplifie Servo Motor Case 1 Case 2 SGDMA3ADA SGMAHA3A SGDVR70A SGDHA3AE SGMJVA5A Applicable SGDMA3BDA SGMAHA3B SGDVR70F SGDHA3BE SGDMA5ADA SGMAHA5A SGDVR70A SGDHA5AE SGMJVA5A Applicable SGDMA5BDA SGMAHA5B SGDVR70F SGDHA5BE SGDM01ADA SGMAH01A SGDVR70A SGDH01AE SGMJV01A Applicable SGDM01BDA SGMAH01B SGDVR70F SGDH01BE SGDM02ADA SGMAH02A SGDV1R6A SGDH02AE SGDM02BDA SGMAH02B SGDV2R1F SGDH02BE SGDM04ADA SGMAH04A SGDV2R8A SGDH04AE SGDM08ADA SGMAH08A SGDV5R5A SGMJV08A SGDH08AE 30W version is not available. Use 50W. Axis diameter Applicable changes to ø8 from ø6 Applicable Axis diameter changes to ø8 from ø6 Applicable SGMJV02A Applicable Applicable Note SGMJV04A Applicable Applicable Axis diameter changes to ø19 from ø Replacing SGMAH with SGMAV inuse of II series Replacing type V series Replacing Method Note Servo Amplifier Servo MotorServo Amplifie Servo Motor Case 1 Case 2 SGDMA3ADA SGMAHA3A SGDVR70A SGDHA3AE 30W version is not available. Use 50W. Axis diameter SGMAVA5A Applicable Applicable SGDMA3BDA changes to ø8 from ø6 SGMAHA3B SGDVR70F SGDHA3BE SGDMA5ADA SGMAHA5A SGDVR70A SGDHA5AE SGMAVA5A Applicable Applicable Axis diameter changes to ø8 from ø6 SGDMA5BDA SGMAHA5B SGDVR70F SGDHA5BE SGDM01ADA SGMAH01A SGDVR70A SGDH01AE SGMAV01A Applicable Applicable SGDM01BDA SGMAH01B SGDVR70F SGDH01BE SGDM02ADA SGMAH02A SGDV1R6A SGDH02AE SGMAV02A Applicable Applicable SGDM02BDA SGMAH02B SGDV2R1F SGDH02BE SGDM04ADA SGMAH04A SGDV2R8A SGMAV04A SGDH04AE Applicable Applicable SGDM08ADA SGMAH08A SGDV5R5A SGMAV08A Axis diameter changes to ø19 from ø SGDH08AE

10 Replacing SGMPH with SGMJV or SGMPS inuse of II series Replacing type V series Servo Amplifier Servo Motor SGDM01ADA SGDH01AE SGDM01BDA SGDH01BE Servo Amplifier SGMPH01A SGDVR70A SGMPH01B SGDVR70F Replacing Method Servo Motor Case 1 Case 2 Note Flange angle changes to from 60 mm when replacing with SGMJV. SGMJV encoder is either the incremental encoder SGMJV01A 20bit, incremental encoder 13bit or absolute encoder or Applicable Applicable 20bit. SGMPS01A Flange angle is 60 mm (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. SGDM02ADA SGDH02AE SGDM02BDA SGDH02BE SGDM04ADA SGDH04AE SGDM08ADA SGDH08AE Flange angle changes to 60 from 80 mm when replacing with SGMJV. SGMPH02A SGDV1R6A SGMJV encoder is either the incremental encoder SGMJV02A 20bit, incremental encoder 13bit or absolute encoder or Applicable Applicable 20bit. SGMPS02A Flange angle is 80 mm (no change) when replacing SGMPH02B SGDV2R1F with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. SGMPH04A SGDV2R8A SGMPH08A SGDV5R5A Flange angle changes to 60 from 80 mm when replacing with SGMJV. SGMJV encoder is either the incremental encoder SGMJV04A 20bit, incremental encoder 13bit or absolute encoder or Applicable Applicable 20bit. SGMPS04A Flange angle is 80 mm (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. SGMJV08A or SGMPS08A Flange angle changes to 80 from 120 mm and shaft diameter changes to ø19 from ø when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder Applicable Applicable 20bit. Flange angle is 80 mm (no change) and shaft diameter is ø (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. SGDM15ADA SGDH15AE SGMPS encoder is either the incremental encoder SGMPH15A SGDV120A SGMPS15A Applicable Applicable 17bit or absolute encoder 17bit.

11 Replacing SGMGH(1500rpm) with SGMGV inuse of II series Replacing type V series Replacing Method Servo Amplifier Servo Motor Servo AmplifierServo Motor Case 1 Case 2 SGDV3R8A SGMGV03A N/A N/A Flange angle: 90mm Shaft diameter: ø14mm Note SGDM05ADA SGDV3R8A01A N/A SGMGH05A A SGMGV05A Applicable SGDH05AE SGDV3R8A11A N/A Flange angle: (mm) Shaft diameter: ø19 ø(mm) Rotor inertia: (x104kg m2) SGDM10ADA SGDV7R6A01A N/A SGMGH09A A SGMGV09A Applicable SGDH10AE SGDV7R6A11A N/A SGDM15ADA SGDV120A01A N/A SGMGH13A A SGMGV13A Applicable SGDH15AE SGDV120A11A N/A Rotor inertia: (x104kg m2) SGDM20ADA SGDV180A01A N/A SGMGH20A A SGMGV20A Applicable SGDH20AE SGDV180A11A N/A Flange angle: (mm) Shaft diameter: ø35 ø24(mm) Rotor inertia: (x104kg m2) SGDM30ADA SGDV330A01A N/A SGMGH30A A SGMGV30A Applicable SGDH30AE SGDV330A11A N/A SGDM50ADA SGDV330A01A N/A SGMGH44A A SGMGV44A Applicable SGDH50AE SGDV330A11A N/A SGDM60ADA SGDV470A01A N/A SGMGH55A A SGMGV55A Applicable SGDH60AE SGDV470A11A N/A SGDM75ADA SGDV550A01A N/A SGMGH75A A SGMGV75A Applicable SGDH75AE SGDV550A11A N/A SGDM1AADA SGDV590A01A N/A SGMGH1AA A SGMGV1AA Applicable Rotor inertia: (x104kg m2) SGDH1AAE SGDV590A11A N/A SGDM1EADA SGDV780A01A N/A SGMGH1EA A SGMGV1EA Applicable Rotor inertia: (x104kg m2) SGDH1EAE SGDV780A11A N/A Replacing SGMGH(1000min1) with SGMGV Capacity of the servo motor SGMGV and servo amplifier SGDV goes up inuse of II series Replacing type V series Replacing Method Servo Amplifier Serve Motor Servo AmplifierServe Motor Case 1 Case 2 Note SGDM05ADA SGDV3R8A01A SGMGH03A B SGMGV05A Applicable N/A SGDH05AE SGDV3R8A11A SGDM08ADA SGDV7R6A01A SGMGH06A B SGMGV09A Applicable SGDH08AE SGDV7R6A11A SGDM10ADA SGDV120A01A SGMGH09A B SGMGV13A Applicable SGDH10AE SGDV120A11A N/A N/A SGDM15ADA SGDV180A01A SGMGH12A B SGMGV20A Applicable N/A SGDH15AE SGDV180A11A Flange angle: (mm) Shaft diameter: ø19 ø(mm) Rotor inertia: (x104kg m2) Rated torque: (N m) Peak torque: (N m) Rotor inertial moment: (x104kg m2) Rated torque: (N m) Flange angle: (mm) Shaft diameter: ø35 ø24(mm) Rotar inertia moment: (x104kg m2) SGDM20ADA SGDV330A01A SGMGH20A B SGMGV30A Applicable SGDH20AE SGDV330A11A N/A Rated torque: (N m) SGDM30ADA SGDV330A01A SGMGH30A B SGMGV44A Applicable SGDH30AE SGDV330A11A N/A SGDM50ADA SGDV470A01A Rated torque: (N m) SGMGH44A B SGMGV55A Applicable N/A SGDH50AE SGDV470A11A Peak torque: (N m) SGDM60ADA SGDV550A01A Rated torque: (N m) SGMGH55A B SGMGV75A Applicable N/A SGDH60AE SGDV550A11A Peak torque: (N m)

12 2. Motor 21. Comparison Table Comparison table of SGMGH and SGMGV (w/o reduction gears) SGMGV Name Series Name ΣⅡ Ⅴ Servo Motor SGMGH SGMGV Supplement Capacity 1 Voltage Spec. 2 Detector 3 Rated Rotation Speed /Design Order 4 Shaftend Spec. 5 Option / /2.0 kw / A 1A 15 1E 1E 200V A A 0V D D 17bit serial incremental encoder 20bit serial incremental encoder 17bit absolute encoder 20bit serial absolute encoder 1500min1 1500min1 (for highaccuracy machine tool) 1000rpm model is not provided in SGMGV. If you are using SGMGH 1000rpm model (SGMGH B) please use the 1500rpm model though the rated torque and externals are different. C 20bit serial incremental encoder D 2 20 bit serial absolute encoder 3 A Standard: Totally enclosed, Selfcooling IP67 (excluding A C shaft penetrated part) 1000min1 B 1000rpm model is not provided please use the 1500rpm 1000min1 D model. (for highaccuracy machine tool) w/o straight key 2 2 1/10 taper w/ key 3 Taper setting is not available 1/10 taper w/ woodruff key 5 Use straight key Straight key tap 6 6 No option 1 1 Set to "1" for no option instead of leaving as a blank DC90V brake B B DC24 brake C C DC90V brake w/ oil seal D D DC24V brake w/ oil seal E E w/ oil seal S S

13 Comparison table of SGMAH, SGMPH and SGMAV, SGMJV (w/reduction gears) SGMJV Name Capacity 1 Voltage Spec. 2 Detector 3 Series Name Ⅱ Ⅴ Servo Motor SGMAH SGMPH SGMAV SGMJV 30 A3 50W setting (30W setting is not available) 50 A5 A5 A5 100 W V Standard ULListed CEListed Standard 200V ULListed CEListed A A 13bit serial incremental encoder A A bit serial incremental encoder B 20bit serial incremental encoder 20bit serial incremental encoder D bit serial absolute encoder 1 20bit serial absolute encoder bit serial absolute encoder (with super capacitor) 20bit serial absolute encoder B 4 3 Supplement Corresponds by combining the Servo amplifier power supply spec. "F" and motor for 200V 20bit serial incremental encoder (13bit is selectable for SGMJV) 20bit serial absolute encoder Use a cable with battery because no super capacitor is available Design Order 4 Standard A A Dripproof spec. E SGMJV Standard: Fullyclosed, Selfcooling IP65 (excluding shaft penetrated part) Reductio n Gears Spec. 5 Reductio n Ratio 6 Shaftend Spec. 7 Option 8 Precision reduction gears H H Generalpurpose Precision reduction gears (Generalpurposereduction gears are not available) J reduction gears 1 1 1/9 2 2 Corresponding to 50W 3/31 1/11 Flange mounting (no shaft) w/o straight key w/ straight key w/ straight key tap w/ straight tap No option 3 B C B C Correspond by 1/9 (only 50W) or 1/11 Not corresponding to 50W Handle with straight key tap 90V brake B 24V brake (90V brake is not available) 24V brake C C II series SGMAH: Precision reduction gears, 1/9 (only 30W and 50W), 1/11 (other than 30W and 50W),, Generalpurpose reduction gears, 3/31,, SGMPH: Precision reduction gears, 1/11,,

14 Comparison Table of SGMGH and SGMGV (w/reduction gears) SGMG V N am e Capacity 1 Voltage Spec. Detector 3 Rated Rotation Seed / Design Order 4 Reductio Gears Spec.5 Reduction Ratio 6 Shaftend Spec. 7 Brake Spec. 8 Connector Spec. 9 Series Name ΣⅡ / /2.0 kw / A 15 1E 1/6 1/9 1/11 1/20 1/29 1/45 Flange mounting (no shaft) w/o straight key w/ straight key w/ straight key tap w/ straight tap No brake 90V brake 24V brake A D C 2 A C B D L E,F 1 A 2 B 5 C B C N/A w/ Dripproof connector D Ⅴ Servo Motot type SGMGH SGMGV 200V 0V 17bit serial incremental encoder 20bit serial incremental encoder 17bit absolute encoder 20bit serial absolute encoder 1500min1 1500min1 (for highaccuracy machine 1000min1 1000min1 (for highaccuracy machine Precision reduction gears Generalpurpose reduction gears Standard Quotes in each case

15 22. Characteristic (Comparison between SGMAH,SGMPH and SGMJV,SGMAV) Ⅱ Ⅴ Rotor Inertia Moment (x10 4 kg m 2 ) Motor Characteresitc Rated Torque (N m) Peak Torque (N m) Servo Motor Servo Motor Ⅱ Ⅴ Ⅱ Ⅴ Ⅱ Ⅴ SGMAHA3A SGMJVA5A SGMAHA5A SGMJVA5A SGMAH01A SGMJV01A SGMAH02A SGMJV02A SGMAH04A SGMJV04A SGMAH08A SGMJV08A SGMAHA3A SGMAVA5A SGMAHA5A SGMAVA5A SGMAH01A SGMAV01A SGMAH02A SGMAV02A SGMAH04A SGMAV04A SGMAH08A SGMAV08A SGMPH01A SGMJV01A SGMPH02A SGMJV02A SGMPH04A SGMJV04A SGMPH08A SGMJV08A Load R atio of SG M A H [R ated R atio] 100% 80% 60% % 20% SG M A V SG M JV 0% Load Inertia M om ent R atio [SG M A V ratio] Please refer to the graph on the left to replace the SGM type with the SGMJV or SGMAV. Replace with the SGMAV when the ratio of load moment of inertia and rotor moment of inertia is five times or less, or the load ratio is 60% or more. Else, replace with the SGMJV. Effective T orque [R ated R atio %] 100% 80% 60% % 20% S G M A H 02 S G M A V 02 S G M JV 02 Reference The graph on the left shows the load ratio when replacing the SGMAH which is using 70% load with the SGMJV and SGMAV. The load ratio increases but the system is stable because the rotor moment of inertia of SGMJV is larger. 0% 0 倍 10 倍 20 倍 30 倍 10 times 20 times 30 times Load Inertia M om ent [Jm R atio]

16 (Comparison between SGMGH and SGMGV) ΣⅡ Motor Characterestic ΣⅤ (Rating 1500min1) Rotor Inertia Moment (x104kg m2 Rated Torque (N m) Peak Torque (N m) Servo Motor Servo Motor ΣⅡ Ⅴ ΣⅡ Ⅴ ΣⅡ Ⅴ SGMGH05A A SGMGV05A SGMGH09A A SGMGV09A SGMGH13A A SGMGV13A SGMGH20A A SGMGV20A SGMGH30A A SGMGV30A SGMGH44A A SGMGV44A SGMGH55A A SGMGV55A SGMGH75A A SGMGV75A SGMGH1AA A SGMGV1AA SGMGH1EA A SGMGV1EA The capacity of the servo motor SGMGV and servo amplifier SGDV goes up because of the rated torque differences when replacing SGMGH (Rated 1000rpm) with SGMGV. ΣⅡ (Rating 1000min 1) ΣⅤ M otor C haracterestic Rotor Inertia Moment (x104kg m2) Rated Torque (N m) Peak Torque (N m) Servo M otor Servo M otor ΣⅡ Ⅴ ΣⅡ Ⅴ ΣⅡ Ⅴ SGMGV03A SGMGH03A B SGMGV05A SGMGV05A SGMGH06A B SGMGV09A SGMGV09A SGMGH09A B SGMGV13A SGMGV13A SGMGH12A B SGMGV20A SGMGV20A SGMGH20A B SGMGV30A SGMGV30A SGMGH30A B SGMGV44A SGMGV44A SGMGH44A B SGMGV55A SGMGV55A SGMGH55A B SGMGV75A

17 23. Mounting Dimensions (1) Without Reduction Gears (Standard) Shaded area displays the part where size is different between the II motor and V motor. LL LC S Reduction G ears N o Reduction G ears M otor IISeries V Series C apacity B rake SG M A H SGMAV SG M JV [W] LC LL S LC LL S LC LL S 30 N /A 69.5 A vailable N /A A vailable N /A A vailable N /A A vailable N /A A vailable N /A A vailable Reduction G ears No Reduction G ears M otor Ⅱ Series Ⅴ Series C apacity Brake SG M PH SG M JV [W] LC LL S LC LL S 100 N/A A vailable N/A A vailable N/A A vailable N/A A vailable

18 Reduction Gears No Reduction Gears Motor ΣⅡ Series ΣⅤ Series Capacity Brake SGMGH(1500r/min) SGMGV [kw] LC LL S LC LL S N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available Reduction Gears No Reduction Gears Motor Capacity ΣⅡ Series ΣⅤ Series Brake [kw] SGMGH(1000r/min) (SGMGV) ΣⅡ ΣⅤ ΣⅡ ΣⅤ LC LL S LC LL S N/A N/A Available N/A Available Available 172 N/A N/A Available N/A Available Available 173 N/A N/A Available N/A Available Available 189 N/A N/A Available N/A Available Available 207 N/A N/A Available N/A Available Available 208 N/A N/A Available N/A Available Available 232 N/A N/A Available N/A Available Available 265 N/A N/A Available N/A Available Available 311

19 Shaft Key Size Shaded area displays the part where size is different between the II motor and V motor. Q K U W Reduction G ears N o Reduction G ears T M otor Ⅱ Sereis Ⅴ Series C apacity O ilseal SG M A H SGMAV SG M JV [W] Q K U W T Q K U W T Q K U W T 30 N /A A vailable 50 N /A A vailable 100 N /A A vailable N /A 20 A vailable 14 N /A A vailable N /A A vailable Reduction Gears Motor Capacity [W] Brake II Series Ⅴ Series SGMPH SGMJV QK U W T QK U W T 100 N/A Available No Reduction Gears N/A Available N/A Available N/A Available Please confirm the difference of the size individually by referring to the data in the catalog for the shaft key dimension of the SGMGH motor and SGMGV motor.

20 (2) With GeneralPurpose Reduction Gears The customers need to prepare the generalpurpose reduction gears by themselves or it might be necessary for them to consider replacing with a precise decelerator because there is no generalpurpose reduction gears in the in the V. Please refer to the catalog for the detailed dimension. All the SGMGV motor with reduction gears need to be quoted in each case. LL LC S

21 Reduction Gears General Purpose Reduction Gears Motor Reductio Ⅱ Series Ⅴ Series (precision reduction gear ratio) Capacity n Gear Brake SGMAH SGMAV SGMJV [W] Ratio LC LL S LC LL S LC LL S N/A Available /10.3 N/A Available N/A Available N/A Available N/A Available /10.3 N/A Available N/A Available N/A Available N/A Available /10.3 N/A Available N/A Available N/A Available N/A 134 Available /10.3 N/A Available N/A 1 90 Available 206 N/A 1 90 Available 206 N/A Available /10.3 N/A Available N/A Available N/A Available N/A Available /10.3 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A Available /10.3 N/A Available N/A Available N/A Available

22 /9 Available /10.3 N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available /11 N/A 134 Available 179 N/A Available N/A 1 90 Available 206 N/A 1 90 Available /10.3 1/10.3 N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A Available N/A Available /10.3 N/A Available N/A Available N/A Available

23 (3) With Precision Reduction Gears Please refer to the catalog for the detailed size. All the SGMGV motor with reduction gears need to be quoted in each case. LL LC S

24 Reduction Gears Precision Reduction Gears Motor Reductio Ⅱ Sereis Ⅴ Series Capacity n Gear Brake SGMAH SGMAV SGMJV [W] Ratio LC LL S LC LL S LC LL S N/A Available /9 N/A Available N/A Available N/A Available N/A Available /9 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A 134 Available /11 N/A Available N/A 1 90 Available 206 N/A 1 90 Available 206 N/A Available /11 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available Available N/A N/A Available /11 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available Available N/A

25 Reduction Gears Precision Reduction Gears Motor Reductio Ⅱ Series Ⅴ Series Capacity n Gear Brake SGMPH SGMAV SGMJV [W] Ratio LC LL S LC LL S LC LL S N/A Available 30 1/9 N/A Available N/A Available N/A Available N/A Available /9 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A 134 Available /11 N/A Available N/A 1 90 Available 206 N/A 1 90 Available 206 N/A Available /11 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available N/A Available /11 N/A Available N/A Available N/A Available

26 24. Notes on Machine Installation Please be cautious about the cable wiring as well as the size of the flange, pilot, and shaft at machine installation. The pictures shown below are part of the motor cable wiring of the and

27 3. Servo Amplifier 31. Comparison Table 13. Please refer to the replacement list The servo amplifier type has been changed from the capacity value to output current value display. 32. Terminal Table (1) Main Circuit Terminal 主回路端子 A llthe m ain circuits of the S igm a5 series are 3phase input Term inalm arking Function L1 M ain circuit pow er supply input term inal L2 L3 U Servo m otor connection term inal V W L1C C ontrolpow er supply inpt term inal(100v/200v type) L2C B 1/(+) Externalregenarative resistor connection term inal B2 B3 (+)1 D C reactor conncetion term inalfor pow er line harm onics control (+)2 ()1 ()2 B 1/(+) M ain circuit forw ard side term inal P () M ain circuit reverse side term inal ()2 N AC 200V spec. Main circuit terminal input allocation Ⅱ Ⅴ 50~0W 750W 50~750W L1 L1 L1 L2 L2 L2 (+)1 L3 L3 (+)2 (+)1 L1C () (+)2 L2C () B 1/(+) L1C L1C B 2 L2C L2C B 3 B 1 B 1 ()1 B 2 B 2 ()2 B 3 U U U V V V W W W

28 Singlephase power supply AC200V: It is possible to change to single phase power supply AC200V by the parameter (Factory setting is 3phase power supply ) however, the torque rotational speed characteristic is different from the threephase power supply specification. (2) Control Circuit Terminal [Analog Voltage Pulse Train Reference ] Terminal Marking Ⅱ Ⅴ Terminal Marking Function 50pin 50pin 1,2,6,10, 1,2,6,10 GND Ground 3 3 PL1 Battery for open collector reference 4 4 SEN SEN signal input 5 5 VREF Speed reference input 7 7 PULS Reference pulse input 8 8 /PULS 9 9 TREF Torque reference input SIGN Reference code input /SIGN PL2 Battery for open collector reference /CLR Clear input CLR PL3 Battery for open collector reference PCO PG frequency dividing output Cphase /PCO BAT(+) Battery (+) BAT() Battery () /VCMP+(./COIN+) Speed match detection output (*1) /VCMP(./COIN) /TGON+ Rotating detection output (*1) /TGON /SRDY+ Servoready output (*1) /SRDY ALM+ Servo alarm output (*1) ALM PAO PG dividing output Aphase /PAO PBO PG dividing output Bphase /PBO ALO1 Alarm code output ALO ALO3 /SON Servo ON input (*1) /PCON P operation input (*1) POT Forward drive prohibit input (*1) NOT Reverse drive prohibit input (*1) /ALMRST Alarm reset (*1) /PCL Forward side external torque limit input (*1) /NCL Reverse side external torque limit input (*1) VIN External power supply input 48 PSO Sphase signal output 49 /PSO Shell Shell FG Frame ground (*1): The sequence I/O is factory default setting The allocation change is possible by using the user parameter Please note that the CN1 I/O signal connector cover is not compatible

29 The CN2 encoder connector and CN5 analog monitor connector are compatible MECHATROLINKII Communication Reference Terminal No. Terminal Ⅱ Ⅴ Marking 50pin 26pin Function 1,2,6,10 GND Ground BAT(+) Battery (+) BAT() Battery () /COIN+ 26 /COIN 27 1 /BK+ Brake interlock output 28 2 /BK 29 /SRDY+ Servoready output 30 /SRDY 31 3 ALM+ Servo alarm output 32 4 ALM 37 ALO1 Alarm code output 38 ALO2 39 ALO3 Positioning completion output 41 9 /DEC Homing deceleration switch input 42 7 POT Forward drive prohibit input 43 8 NOT Reverse drive prohibit input /EXT1 External latch signal 1 input /EXT2 External latch signal 2 input /EXT3 External latch signal 3 input VIN External power supply input 13 /SI0 General input 17 PAO PG frequency dividing output Aphase 18 /PAO 19 PBO PG frequency dividing output Bphase 20 /PBO 21 PCO PG frequency dividing output Cphase 22 /PCO 23 /SO2+ Generalpurpose output 24 /SO2 /SO3+ 26 /SO3 Shell Shell FG Frame Ground (*1): The sequence I/O is factory default setting The allocation change is possible by using the user parameter Please note that the CN1 I/O signal connector cover is not compatible The CN2 encoder connector is compatible with CN5 analog monitor connector

30 33. Installation Size ΣII series servo amplifier is not compatible with ΣV series servo amplifier in the dimension and mounting dimension. The position of the screw for the installation is different. AC200V 200W or less 2M4 tap 2M4 tap AC100V 200W or less and AC200V 0W 2M4 tap 2M4 tap AC100 0W and AC200V 750W 2M4 tap 2M4 tap

31 0.5kW~10.kW Detailed Drawing 3M screw hole 149.5±0.5 (mounting pitch) 2M4 screw hole 150±0.5 (mounting pitch) External (mounting pitch) 1.5kW Detailed Drawing 4M screw hole 4M screw hole 149.5±0.5 (mounting pitch) 150±0.5 (mounting pitch) External (mounting pitch) (mounting pitch)

32 2.0kW, 3.0kW Terminal Table External ΣV ΣII Terminal marking L1,L2,L3,L1C,L2C,B1/+,B2,B3,1,2,U,V,W L1,L2,L3,L1C,L2C,B1,B2,B3,+1,+2,,U,V,W Screw size M4 M4 Screw pitch 11mm 13mm Allowable crimping φ9 or less φ10 or less terminal size Qty. 13 units 14 units

33 Detailed Drawing 4M5 tap 4M4 screw hole (mounting pitch) (mounting pitch) External (mounting pitch) (mounting pitch) 5.0kW Detailed Drawing 4M5 tap 4M5 screw hole (mounting pitch) (mounting pitch) External (mounting pitch) (mounting pitch)

34 5kW Model Terminal Table External ΣV ΣII A A B B C Terminal marking A part A part (L1,L2,L3, +1,+2,), C part (U,V,W) (L1,L2,L3,L1C,L2C,B1/+,B2,B3,1,2) Screw size M4 M5 Screw pitch 11mm mm Allowablecrimping φ9 or less φ13 or less terminal size Qty. 10 units 6 units, 3 units Terminal marking B part (U,V,W) B part (L1C,L2C,B1,B2,B3,) Screw size M4 M4 Screw pitch 13mm 11mm Allowablecrimping φ10 or less φ9 or less terminal size Qty. 3 units 5 units

35 34. Notes on control panel installation Please note the differences of the electrical conduction state of the frame ground when using an attachment to accommodate the differences of the installation hole size. An alarm may occur and the machine may operate improperly because the amount of noise changes when the electrical conduction state changes. Control Panel Side Attachment Control Panel Side Conducting Part Servo Amplifier Servo Amplifier The frame ground of the control panel and servo amplifier conduct through the installation screw. When painting and/or surface treatment is given to the attachment for rust prevention, electrical conduction between the attachment and control panel may be impossible.

36 4. Cable and Peripherals Connector for I/O Signal Analog Pulse Train Reference Name ΣⅡ ΣⅤ Connector terminal block conversion unit JUSPTA50P JUSPTA50PGE Onesided individual pull out cable JZSPCKI011 JZSPCSI011E JZSPCKI012 JZSPCSI012E JZSPCKI013 JZSPCSI013E Connector kit (for CN1) JZSPCKI91 JZSPCSI91E MECHATROLINKII Communication Reference Name ΣⅡ ΣⅤ Connector terminal block conversion unit JUSPTA50P JUSPTA26PE Connector kit (for CN1) JZSPCKI91 JZSPCSI92E Analog Monitor Name ΣⅡ ΣⅤ Cable for analog monitor JZSPCA01 JZSPCA01E PC Connection Cable PC connection cable Name ΣⅡ JZSPCMS01 JZSPCMS02 JZSPCMS03 ΣⅤ JZSPCVS0602E MECHATROLINK Communication Cable Name ΣⅡ ΣⅤ JEPMCW6002A6 JEPMCW6002A5E Cable with bothended connector JEPMCW JEPMCW600201E JEPMCW6003** JEPMCW6002**E Terminator JEPMCW6023 JEPMCW6022E Cable for Safety Feature Name ΣⅡ ΣⅤ Cable for safety feature JZSPCVH0303E Cable kit for safety feature

37 Digital Operator Name ΣⅡ ΣⅤ Digital operator JUSPOP02A2 JUSPOP05A1E JUSPOP02A1 Cable for digital operator (for JUSPOP02A1JZSPCMS001 JZSPCMS002 JZSPCMS003 Noise Filter AC100V AC200V AC0V Name Noise filter Name Noise filter Name Noise filter Servo Capacity/Current Display ΣⅡ ΣⅤ 30W FN20706/07 50W/R70F FN20706/07 FN20706/07 100W/R90F FN20706/07 FN20706/07 200W/2R1F FN207010/07 FN207010/07 0W/2R8F FN2070/07 Servo Capacity/Current Display ΣⅡ ΣⅤ 30W FN20706/07 50W/R70A FN20706/07 FN8L7/07 100W/R90A FN20706/07 FN8L7/07 200W/1R6A FN20706/07 FN8L7/07 0W/2R8A FN207010/07 FN8L7/07 0.5kW/3R8A FN8L7/07 FN8L7/07 750W/5R5A FN8L/07 FN8L/07 1.0kW/7R6A FN8L/07 FN8L/07 1.5kW/120A FN8L/07 HF3020CUQC 2.0kW/180A FN8L/07 HF3020CUQC 3.0kW/200A FN8L30/07 HF3030CUQC 5.0kW/330A FMAC HF3050CUQC Servo Capacity/Current Display ΣⅡ ΣⅤ 0.5kW/1R9D FN8L7/07 FN8L7/07 1.0kW/3R5D FN8L7/07 FN8L7/07 1.5kW/5R4D FN8L7/07 FN8L7/07 2.0kW/8R4D FN8L/07 FN8L/07 3.0kW/120D FN8L/07 FN8L/07 5.0kW/170D FS FMAC

38 Battery Name ΣⅡ ΣⅤ Battery JZSPBA01 JZSPBA01 JZSPBA011 Equivalent to ER6V Equivalent to ER6V C3N C3 Battery unit JUSPBA01 Brake Power Supply Name Input Voltage ΣⅡ ΣⅤ Brake power supply (for DC90V brake) AC100V LPDE1H01 LPDE1H01E AC200V LPSE2H01 LPSE2H01E Brake power supply (for DC24V brake) Customer Provides Customer Provides DC Reactor for Power Line Harmonics Control AC100V Servo Name Capacity/Current Display DC reactor for power line harmonics control ΣⅡ ΣⅤ 30W 50W/R70F X W/R90F X5063 X W/2R1F X5062 X5054 0W/2R8F X5056 AC200V Name DC reactor for power line harmonics control Servo Capacity/Current Display ΣⅡ ΣⅤ 30W 50W/R70A X W/R90A X5071 X W/1R6A X5070 X5061 0W/2R8A X5069 X kW/3R8A X5061 X W/5R5A X5061 X kW/7R6A X5061 X kW/120A X5060 X kW/180A X5060 X kW/200A X5059 X kW/330A X5068 X5068 AC0V Name DC reactor for power line harmonics control Servo Capacity/Current Display ΣⅡ 0.5kW/1R9D X5074 X kW/3R5D X5075 X kW/5R4D X5075 X kW/8R4D X5076 X kW/120D X5076 X kW/170D X5077 X5077 ΣⅤ

39 Surge Absorber/Surge Protector/Surge Suppressor AC100V Servo Name Capacity/Current Display ΣⅡ ΣⅤ 30W TUC120 50W/R70F Surge absorber/surge protector/surge 100W/R90F TUC120 suppressor LTC12G801WS 200W/2R1F 0W/2R8F AC200V Name Surge absorber/surge protector/surge suppressor Servo Capacity/Current Display ΣⅡ ΣⅤ 30W TUC2 50W/R70A 100W/R90A 200W/1R6A 0W/2R8A 750W/5R5A 0.5kW/3R8A 1.0kW/7R6A 1.5kW/120A 2.0kW/180A 3.0kW/200A 5.0kW/330A TUC2 LTC32G801WS AC0V Name Surge absorber/surge protector/surge suppressor Servo Capacity/Current Display 0.5kW/1R9D 1.0kW/3R5D 1.5kW/5R4D 2.0kW/8R4D 3.0kW/120D 5.0kW/170D ΣⅡ BuiltIn ΣⅤ LTC35G102WS

40 Electromagnetic Contactor AC100V Servo Name Capacity/Current Display ΣⅡ ΣⅤ 30W HI11J Electromagnetic contactor 50W/R70F 100W/R90F 200W/2R1F 0W/2R8F HI11J SC03 SC41 AC200V Name Electromagnetic contactor AC0V Name Electromagnetic contactor Servo Capacity/Current Display ΣⅡ ΣⅤ 30W HI11J 50W/R70A 100W/R90A 200W/1R6A 0W/2R8A 0.5kW/3R8A 750W/5R5A 1.0kW/7R6A 1.5kW/120A 2.0kW/180A 3.0kW/200A 5.0kW/330A HI11J HI15J HI20J HIJ SC03 SC41 SC51 SCN1 Servo Capacity/Current Display ΣⅡ ΣⅤ 0.5kW/1R9D 1.0kW/3R5D 1.5kW/5R4D 2.0kW/8R4D 3.0kW/120D 5.0kW/170D HI15JCU HI20JCU HIJCU SC41/G SC51/G SCN2S/G

41 5. Parameter Converter The user constant of the II series servo amplifier is able to be converted automatically into the parameter of the V servo amplifier by using a parameter converter in the Sigma V engineering tool SigmaWin+Ver.5.00 or later. The procedure is shown below. 1. Open the Sigma 2 Component of SigmaWin + then confirm and save the user constant of the II servo amplifier. If a user constant file taken from the servo amplifier is available use that file. Example of user constant save screen Example of parameter converter screen 2. Open the Sigma V Component, and start the parameter converter. 3. Specify the user constant file of the II servo amplifier which was saved in step 1 to the former conversion file name. 4. Specify where to save the converted file. 5. The user constant is converted to the parameter when the conversion button is pushed. The part where readjustment might be needed is highlighted in yellow.

42 6. Click "Write to the Servo" button on the parameter edit screen to write the conversion result in the servo amplifier after connecting to the writing destination servo amplifier online. Parameter Converter Directions The tuneless function is valid for the parameter converted (Pn170.0=1) The gain parameter readjustment is necessary because there is a possibility that the rotor inertia of the motor changes when disabling the tuneless function (Pn170.0=0). Change the reference of the host controller, or change the setting of an electronic gear because the resolution of the encoder changes when using positional control mode. Revision History Revision No. Date Changes 0 5//2007 First edition <1> 7/5/2007 Use "L1" and "L2" terminals as a main circuit terminal when using SGDV in the single phase power supply. <2> 7/9/2007 Changed the shaft end specification with the reduction gears due to DPIC7015. <3> 11/7/2007 Newly added the following. Notes of replacement from MECHATROLINK and parameter converter. Stop methods of autotuning, velocity bias, at alarm occurrence. <4> 2/12/2008 Newly added 100V model, models up to 200V medium capacity 5kW and SGMPS support.