Direct Drive Servomotor

Transcription

1 Σ-7-Series C Servo Drive Direct Drive Servomotor Product Manual Model: SGMCS/SGMCV Basic Information on Servomotors Capacity Selection Specifications, Ratings, and External Dimensions of SGMCS Servomotors Specifications, Ratings, and External Dimensions of SGMCV Servomotors Servomotor Installation Connections between Servomotors and SERVOPCKs Maintenance and Inspection ppendix MNUL NO. SIEP S81 38

2 Copyright 214 YSKW ELECTRIC CORPORTION ll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

3 bout this Manual This manual provides information required to select, install, connect, and maintain Direct Drive Servomotors for Σ-7-Series C Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series C Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary. Outline of Manual The contents of the chapters of this manual are described in the following table. Refer to these chapters as required. Chapter Chapter Title Contents 1 Basic Information on Servomotors Provides basic information on Direct Drive Servomotors, including Servomotor part names and combinations with SERVOPCKs. 2 Capacity Selection Describes calculation methods to use when selecting Servomotor capacities. 3 4 Specifications, Ratings, and External Dimensions of SGMCS Servomotors Specifications, Ratings, and External Dimensions of SGMCV Servomotors Describes how to interpret the model numbers of SGMCS Servomotors and gives their specifications, ratings, and external dimensions. Describes how to interpret the model numbers of SGMCV Servomotors and gives their specifications, ratings, and external dimensions. 5 Servomotor Installation Describes the installation conditions and precautions for Servomotors. 6 Connections between Servomotors and SERVOPCKs Describes the cables that are used to connect the Servomotors and SERVOPCKs and provides related precautions. 7 Maintenance and Inspection Describes the maintenance, inspection, and disposal of a Servomotor. 8 ppendix Provides information to use when selecting Servomotor capacities. iii

4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Manuals Catalogs 1 Machine Controller and Servo Drive General Catalog Machine Controllers Servo Drives 2 MP33 Catalog Machine Controllers 4 MP3- Series Manuals Servo Drives SERVOPCKs 5 Σ-7-Series Σ-7S SERVOPCK Product Manuals Servomotors 3 Σ-7-Series Catalog Refer to the manual for your Machine Controller for the documents related to the Machine Controllers. 6 Σ-7-Series Σ-7W SERVOPCK Product Manual 7 Σ-7-Series Rotary Servomotor Product Manual 8 Σ-7-Series Linear Servomotor Product Manual 9 Σ-7-Series Direct Drive Servomotor Product Manual (this manual) 1 Σ-7-Series Peripheral Device Selection Manual Σ-7-Series MECHTROLINK Communications Command Manuals Σ-7-Series Operation Interface Operating Manuals iv

5 Classification Document Name Document No. Description Machine Controller and Servo Drive General Catalog MP33 Catalog Σ-7-Series Catalog MP3-Series Manuals Machine Controller and Servo Drive Solutions Catalog Machine Controller MP33 C Servo Drives Σ-7 Series Machine Controller MP3 Series MP33 Product Manual KEP S81 22 KEP C KEP S81 23 SIEP C Provides detailed information required to select MP3-Series Machine Controllers and Σ-7-Series C Servo Drives. Provides detailed information on MP33 Machine Controllers, including features and specifications. Provides detailed information on Σ-7-Series C Servo Drives, including features and specifications. Describes the functions, specifications, operating methods, maintenance, inspections, and troubleshooting of the MP3- series MP33 Machine Controllers. Σ-7-Series C Servo Drive Σ-7S SERVOPCK with MECHTROLINK-III Communications References Product Manual SIEP S81 28 Σ-7-Series Σ-7S SERVOPCK Product Manuals Σ-7-Series C Servo Drive Σ-7S SERVOPCK with MECHTROLINK-II Communications References Product Manual Σ-7-Series C Servo Drive Σ-7S SERVOPCK with nalog Voltage/Pulse Train References Product Manual SIEP S81 27 SIEP S81 26 Provide detailed information on selecting Σ-7-Series SERVO- PCKs and information on installing, connecting, setting, performing trial operation for, tuning, and monitoring the Servo Drives. Σ-7-Series Σ-7W SERVOPCK Product Manual Σ-7-Series C Servo Drive Σ-7W SERVOPCK with MECHTROLINK-III Communications References Product Manual SIEP S81 29 Σ-7-Series Rotary Servomotor Product Manual Σ-7-Series C Servo Drive Rotary Servomotor Product Manual SIEP S81 36 Σ-7-Series Linear Servomotor Product Manual Σ-7-Series C Servo Drive Linear Servomotor Product Manual SIEP S81 37 Provide detailed information on selecting, installing, and connecting the Σ-7-Series Servomotors. Σ-7-Series Direct Drive Servomotor Product Manual Σ-7-Series C Servo Drive Direct Drive Servomotor Product Manual This manual (SIEP S81 38) Continued on next page. v

6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series Peripheral Device Selection Manual Σ-7-Series C Servo Drive Peripheral Device Selection Manual SIEP S81 32 Describes the peripheral devices for a Σ-7-Series Servo System. Σ-7-Series MECHTROLINK Communications Command Manuals Σ-7-Series C Servo Drive MECHTROLINK-II Communications Command Manual Σ-7-Series C Servo Drive MECHTROLINK-III Communications Standard Servo Profile Command Manual SIEP S81 3 SIEP S81 31 Provides detailed information on the MECHTROLINK-II communications commands that are used for a Σ-7-Series Servo System. Provides detailed information on the MECHTROLINK-III communications standard servo profile commands that are used for a Σ-7- Series Servo System. Σ-7-Series C Servo Drive Digital Operator Operating Manual SIEP S81 33 Describes the operating procedures for a Digital Operator for a Σ-7-Series Servo System. Σ-7-Series Operation Interface Operating Manuals C Servo Drives Engineering Tool SigmaWin+ Online Manual Σ-7 Component SIEP S81 48 Provides detailed operating procedures for the SigmaWin+ Engineering Tool for a Σ-7-Series Servo System. vi

7 Using This Manual Technical Terms Used in This Manual The following terms are used in this manual. Servomotor SERVOPCK Servo Drive Main Circuit Cable Term Meaning Σ-7-Series Direct Drive Servomotor. Σ-7-Series Servo mplifier. The combination of a Servomotor and SERVOPCK. One of the cables that connect to the main circuit terminals of a SERVOPCK, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable. Trademarks MECHTROLINK is a trademark of the MECHTROLINK Members ssociation. QR code is a trademark of Denso Wave Inc. Other product names and company names are the trademarks or registered trademarks of the respective company. TM and the mark do not appear with product or company names in this manual. Visual ids The following aids are used to indicate certain types of information for easier reference. Important Indicates precautions or restrictions that must be observed. lso indicates alarm displays and other precautions that will not result in machine damage. Term Indicates definitions of difficult terms or terms that have not been previously explained in this manual. Example Indicates operating or setting examples. Information Indicates supplemental information to deepen understanding or useful information. vii

8 Safety Precautions Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. lways read this information and heed the precautions that are provided. DNGER Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire. WRNING Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire. CUTION Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in fire. NOTICE Indicates precautions that, if not heeded, could result in property damage. viii

9 Safety Precautions That Must lways Be Observed General Precautions DNGER Read and understand this manual to ensure the safe usage of the product. Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product. Do not remove covers, cables, connectors, or optional devices while power is being supplied to the SERVOPCK. There is a risk of electric shock, operational failure of the product, or burning. WRNING Connect the ground terminals on the SERVOPCK and Servomotor to ground poles according to local electrical codes (1 Ω or less for a SERVOPCK with a 1-VC or 2-VC power supply, and 1 Ω or less for a SERVOPCK with a 4-VC power supply). There is a risk of electric shock or fire. Do not attempt to disassemble, repair, or modify the product. There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it. CUTION The SERVOPCK heat sinks, regenerative resistors, Servomotors, and other components can be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components. There is a risk of burn injury. Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables. There is a risk of failure, damage, or electric shock. Do not use the product in an environment that is subject to water, corrosive gases, or flammable gases, or near flammable materials. There is a risk of electric shock or fire. NOTICE Do not attempt to use a SERVOPCK or Servomotor that is damaged or that has missing parts. Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs. lways use a Servomotor and SERVOPCK in one of the specified combinations. Do not touch a SERVOPCK or Servomotor with wet hands. There is a risk of product failure. Storage Precautions CUTION Do not place an excessive load on the product during storage. (Follow all instructions on the packages.) There is a risk of injury or damage. ix

10 NOTICE Do not install or store the product in any of the following locations. Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Locations that are near flammable materials Locations that are subject to dust, salts, or iron powder Locations that are subject to water, oil, or chemicals Locations that are subject to vibration or shock that exceeds product specifications Locations that are subject to radiation If you store or install the product in any of the above locations, the product may fail or be damaged. Consult with your Yaskawa representative if you have stored products for an extended period of time. Transportation Precautions CUTION Transport the product in a way that is suitable to the mass of the product. Do not hold onto the cables, rotating part, or connectors when you move a Servomotor. There is a risk of disconnection, damage, or injury. Do not use the eyebolts on a SERVOPCK or Servomotor to move the machine. There is a risk of damage or injury. When you handle a SERVOPCK or Servomotor, be careful of sharp parts, such as the corners. There is a risk of injury. Do not place an excessive load on the product during transportation. (Follow all instructions on the packages.) There is a risk of injury or damage. NOTICE SERVOPCK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage. Do not subject connectors to shock. There is a risk of faulty connections or damage. If disinfectants or insecticides must be used to treat packing materials such as wooden frames, plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56 C for 3 minutes or more. If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors. Do not overtighten the eyebolts on a SERVOPCK or Servomotor. If you use a tool to overtighten the eyebolts, the tapped holes may be damaged. x

11 Installation Precautions CUTION Securely mount the Servomotor to the machine. If the Servomotor is not mounted securely, it may come off the machine during operation. Install the Servomotor or SERVOPCK in a way that will support the mass given in technical documents. Install SERVOPCKs, Servomotors, and regenerative resistors on nonflammable materials. Installation directly onto or near flammable materials may result in fire. Do not step on or place a heavy object on the product. There is a risk of failure, damage, or injury. Do not allow any foreign matter to enter the SERVOPCK or Servomotor. There is a risk of failure or fire. Implement safety measures, such as installing a cover so that the rotating part of the Servomotor cannot be touched accidentally during operation. NOTICE Do not install or store the product in any of the following locations. Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Locations that are near flammable materials Locations that are subject to dust, salts, or iron powder Locations that are subject to water, oil, or chemicals Locations that are subject to vibration or shock that exceeds product specifications Locations that are subject to radiation If you store or install the product in any of the above locations, the product may fail or be damaged. Use the product in an environment that is appropriate for the product specifications. If you use the product in an environment that exceeds product specifications, the product may fail or be damaged. SERVOPCK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage. Servomotor is a precision device. Do not subject the output shaft or the main body of the Servomotor to strong shock. Design the machine so that the thrust and radial loads on the motor shaft during operation do not exceed the allowable values given in the catalog. The shaft opening of a Servomotor is not waterproof or oilproof. Implement measures in the machine to prevent water or cutting oil from entering the Servomotor. There is a risk of failure. In an application where the Servomotor would be subjected to large quantities of water or oil, implement measures to protect the Servomotor from large quantities of liquid, such as installing covers to protect against water and oil. In an environment with high humidity or oil mist, face Servomotor lead wires and connectors downward and provide cable traps. There is a risk of failure or fire due to insulation failure or accidents from short circuits. Wiring Precautions DNGER Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. xi

12 WRNING Wiring and inspections must be performed only by qualified engineers. There is a risk of electrick shock or product failure. CUTION Observe the precautions and instructions for wiring and trial operation precisely as described in this document. Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPCK to fail, damage the equipment, or cause an accident resulting in death or injury. Check the wiring to be sure it has been performed correctly. Connectors and pin layouts are sometimes different for different models. lways confirm the pin layouts in technical documents for your model before operation. There is a risk of failure or malfunction. Connect wires to power supply terminals and motor connection terminals securely with the specified methods and tightening torque. Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire. Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Signal Cables and Encoder Cables. Observe the following precautions when wiring the SERVOPCK s main circuit terminals. Turn ON the power supply to the SERVOPCK only after all wiring, including the main circuit terminals, has been completed. If a connector is used for the main circuit terminals, remove the main circuit connector from the SER- VOPCK before you wire it. Insert only one wire per insertion hole in the main circuit terminals. When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into contact with adjacent wires. NOTICE Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials. Securely tighten cable connector screws and lock mechanisms. Insufficient tightening may result in cable connectors falling off during operation. Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Signal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 3 cm. If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines. Install a battery at either the host controller or on the Encoder Cable. If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning. When connecting a battery, connect the polarity correctly. There is a risk of battery rupture or encoder failure. xii

13 Operation Precautions WRNING Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. Do not radically change the settings of the parameters. There is a risk of unstable operation, machine damage, or injury. Install limit switches or stoppers at the ends of the moving parts of the machine to prevent unexpected accidents. There is a risk of machine damage or injury. For trial operation, securely mount the Servomotor and disconnect it from the machine. There is a risk of injury. Forcing the motor to stop for overtravel is disabled when the Jog (Fn2), Origin Search (Fn3), or Easy FFT (Fn26) utility function is executed. Take necessary precautions. There is a risk of machine damage or injury. When an alarm occurs, the motor will coast to a stop or stop with the dynamic brake according to a setting in the SERVOPCK. The coasting distance will change with the moment of inertia of the load. Check the coasting distance during trial operation and implement suitable safety measures on the machine. Do not enter the machine s range of motion during operation. There is a risk of injury. Do not touch the moving parts of the Servomotor or machine during operation. There is a risk of injury. CUTION lways turn OFF the servo before you turn OFF the power supply. If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows: If you turn OFF the main circuit power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake. If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the Servomotor depends on the model of the SERVOPCK. For details, refer to the manual for the SERVOPCK. NOTICE lways measure the vibration of the Servomotor with the Servomotor mounted to the machine and confirm that the vibration is within the allowable value. If the vibration is too large, the Servomotor will be damage quickly and bolts may become loose. When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. n alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating. If an alarm or warning occurs, it may interrupt the current process and stop the system. Maintenance and Inspection Precautions DNGER Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. xiii

14 WRNING Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure. CUTION Wait for six minutes after turning OFF the power supply and then make sure that the CHRGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHRGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPCK. There is a risk of electric shock. Troubleshooting Precautions WRNING The product may suddenly start to operate when the power supply is recovered after a momentary power interruption. Design the machine to ensure human safety when operation restarts. There is a risk of injury. CUTION When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm or turn the power supply OFF and ON again to restart operation. There is a risk of injury or machine damage. If the Servo ON signal is input to the SERVOPCK and an alarm is reset, the Servomotor may suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm. There is a risk of injury or machine damage. If there is the possibility that an external force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs, install an external braking mechanism that ensures safety. Disposal Precautions When disposing of the product, treat it as ordinary industrial waste. However, local ordinances and national laws must be observed. Implement all labeling and warnings as a final product as required. General Precautions Figures provided in this document are typical examples or conceptual representations. There may be differences between them and actual wiring, circuits, and products. The products shown in illustrations in this document are sometimes shown without covers or protective guards. lways replace all covers and protective guards before you use the product. If you need a new copy of this document because it has been lost or damaged, contact your nearest Yaskawa representative or one of the offices listed on the back of this document. This document is subject to change without notice for product improvements, specifications changes, and improvements to the manual itself. We will update the document number of the document and issue revisions when changes are made. ny and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products. xiv

15 Warranty Details of Warranty Warranty Period The warranty period for a product that was purchased (hereinafter called the delivered product ) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner. Warranty Scope Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Use of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible, such as natural or human-made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals. xv

16 Suitability for Use It is the customer s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure. Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations Systems, machines, and equipment that may present a risk to life or property Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties. Specifications Change The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product. xvi

17 Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. North merican Safety Standards (UL) Product Model UL Standards (UL File No.) SERVOPCKs *1 SGD7S UL Rotary Servomotors *1 Direct Drive Servomotors *1 Linear Servomotors SGM7 SGM7J SGM7P SGM7G SGMCV SGLGW SGLFW SGLFW2 *2 SGLTW *1. Certification is scheduled for pril 214. *2. Certification is scheduled for pril 215. European Directives UL 14-1 UL 14-6 UL 14 (E165827) Product Model European Directive Harmonized Standards SERVOPCKs *1 Rotary Servomotors *1 Direct Drive Servomotors Linear Servomotors SGD7S SGM7 SGM7J SGM7P SGM7G SGMCS- B, C, D, E (small capacity, coreless) SGMCV SGLG SGLF SGLFW2 *3 SGLT SGLC *1. Certification is scheduled for pril 214. *2. Only the SGMCV is certified. *3. Certification is scheduled for pril 215. Machinery Directive 26/42/EC EMC Directive 24/18/EC Low Voltage Directive 26/95/EC EMC Directive 24/18/EC Low Voltage Directive 26/95/EC EMC Directive 24/18/EC Low Voltage Directive 26/95/EC EMC Directive 24/18/EC Low Voltage Directive 26/95/EC EN ISO : 28 EN EN 5511 group 1, class EN EN EN EN 5178 EN EN 5511 group 1, class EN EN EN EN EN 5511 group 1, class EN EN *2 EN EN EN 5511 group 1, class EN EN EN xvii

18 Safety Standards Product Model Safety Standards Standards Safety of Machinery EN ISO : 28 EN IEC SERVOPCKs SGD7S Functional Safety IEC 6158 series IEC 6261 IEC EMC IEC Note: Certification is scheduled for pril 214. Safe Performance Item Standards Performance Level Safety Integrity Level IEC 6158 SIL3 IEC 6261 SILCL3 Performance Level EN ISO PLe (Category 3) Stop Category IEC Stop category Safety Function IEC STO Note: Certification is scheduled for pril 214. xviii

19 Contents bout this Manual iii Outline of Manual iii Related Documents iv Using This Manual vii Safety Precautions viii Warranty xv Compliance with UL Standards, EU Directives, and Other Safety Standards.. xvii 1 Basic Information on Servomotors 1.1 Servomotor Part Names SGMCS SGMCV Nameplate SGMCS SGMCV Outline of Model Designations Servomotors SERVOPCKs Combinations of Servomotors and SERVOPCKs Capacity Selection 2.1 Selecting the Servomotor Capacity Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3.1 Model Designations Specifications and Ratings Small-Capacity, Coreless Servomotors: Specifications Small-Capacity, Coreless Servomotors: Ratings Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics Small-Capacity, Coreless Servomotors: Servomotor Overload Protection Characteristics Medium-Capacity Servomotors with Cores: Specifications Medium-Capacity Servomotors with Cores: Ratings Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics Medium-Capacity Servomotors with Cores: Servomotor Overload Protection Characteristics Load Moment of Inertia llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors xix

20 3.3 External Dimensions Small-Capacity, Coreless Servomotors Medium-Capacity Servomotors with Cores Connector Specifications Specifications, Ratings, and External Dimensions of SGMCV Servomotors 4.1 Model Designations Specifications and Ratings Specifications Ratings Torque-Motor Speed Characteristics Servomotor Overload Protection Characteristics Load Moment of Inertia llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors External Dimensions Connector Specifications Servomotor Installation 5.1 Installation Conditions Installation Precautions Installation Environment Installation Orientation Mounting to the Machine Oil and Water Countermeasures Equipment Structure Minimum ngle of Oscillation Precautions on Passing the Origin Servomotor Temperature Increase Connections between Servomotors and SERVOPCKs 6.1 Selecting Cables System Configurations Servomotor Main Circuit Cables Encoder Cables of 2 m or Less Relay Encoder Cables of 3 m to 5 m Wiring Servomotors and SERVOPCKs Wiring Precautions Wiring Procedure xx

21 7 Maintenance and Inspection 7.1 Periodic Inspections Service Lives of Parts Disposing of Servomotors ppendix 8.1 Reference Information for Servomotor Capacity Selection GD2 for Simple Diagrams Conversions between Traditional Units and SI Units Revision History xxi

22 Basic Information on Servomotors 1 This chapter provides basic information on Direct Drive Servomotors, including Servomotor part names and combinations with SERVOPCKs. 1.1 Servomotor Part Names SGMCS SGMCV Nameplate SGMCS SGMCV Outline of Model Designations Servomotors SERVOPCKs Combinations of Servomotors and SERVOPCKs..1-5

23 1.1 Servomotor Part Names SGMCS 1.1 Servomotor Part Names SGMCS Small-Capacity, Coreless Servomotors Flange Specification 1 Flange Specification 4 Rotating part Rotating part Motor lead Nameplate Encoder lead Encoder connector Flange outer diameter Servomotor connector Nameplate Flange outer diameter Medium-Capacity Servomotors with Cores Connectors Rotating part Flange outer diameter Nameplate Servomotor connector Encoder connector SGMCV Flange Specification 1 Flange Specification 4 Rotating part Rotating part Motor lead Nameplate Encoder lead Encoder connector Flange outer diameter Servomotor connector Nameplate Flange outer diameter 1-2

24 1.2 Nameplate SGMCS 1.2 Nameplate The nameplate provides the basic information that is given below SGMCS Servomotor Model Rated output, power supply voltage, and rated current Rated torque, rated motor speed, and thermal class Order number Serial number SGMCV Servomotor model Thermal class Rated output, power supply voltage, rated current, rated torque, and rated current frequency Rated motor speed, maximum motor speed, number of phases, and time rating Order number QR Code Serial number Certification marks* * Certification marks for the standards for which the Servomotor has been certified by certification bodies are shown on the product. Basic Information on Servomotors 1 1-3

25 1.3 Outline of Model Designations Servomotors 1.3 Outline of Model Designations Servomotors This section outlines the model numbers of Σ-7-Series Servomotors. For details, refer to the chapter for your type of Servomotor. SGMC - 2 B 3 C 1 1 Series 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit Series Σ-7-Series Servomotors 1st+2nd digits Rated Output 5th digit Design Revision Order Code Specifications Reference Small capacity, coreless SGMCS Chapter 3 Medium capacity, with core SGMCV Small capacity, with core Chapter 4 3rd digit 4th digit Servomotor SGMCS SGMCV Servomotor Outer Diameter Serial Encoder Specification Serial Encoder Specification 2-bit single-turn absolute encoder 2-bit incremental encoder 22-bit single-turn absolute encoder 22-bit multiturn absolute encoder 6th digit Non-load side installation Load side installation 7th digit Flange Specifications Options High mechanical precision SERVOPCKs This section outlines the model numbers of Σ-7-Series SERVOPCKs. For details, refer to the manual for your SERVOPCK. Σ-7-Series Σ-7S SERVOPCK with nalog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S81 26) Σ-7-Series Σ-7S SERVOPCK with MECHTROLINK-II Communications References Product Manual (Manual No.: SIEP S81 27) Σ-7-Series Σ-7S SERVOPCK with MECHTROLINK-III Communications References Product Manual (Manual No.: SIEP S81 28) Σ-7-Series Σ-7W SERVOPCK with MECHTROLINK-III Communications References Product Manual (Manual No.: SIEP S81 29) SGD7 - R7 Series 1st+2nd+3rd digits 4th digit 5th+6th digits 7th digit 8th+9th+1th digits Series Code SGD7S SGD7W Σ-7-Series SERVOPCKs Specification Single-axis SERVOPCKs Two-axis SERVOPCKs 1st+2nd+3rd digits.5 kw to 1.5 kw 4th digit 2 VC Maximum pplicable Motor Capacity Power Supply Voltage 7th digit Design Revision Order 8th+9th+1th digits Options Rack-mounted installation Varnished 5th+6th digits Interface nalog voltage/pulse train reference MECHTROLINK-II communications reference MECHTROLINK-III communications reference 1-4

26 1.4 Combinations of Servomotors and SERVOPCKs 1.4 Combinations of Servomotors and SERVOPCKs Direct Drive Servomotor Model Small Capacity, Coreless (SGMCS) Medium Capacity, with Core (SGMCS) Small Capacity, with Core (SGMCV) Rated Torque N m Instantaneous Maximum Torque N m SGMCS-2B 2 6 SGMCS-5B 5 15 SGMCS-7B 7 21 SGMCS-4C 4 12 SGMCS-1C 1 3 SGMCS-14C SGMCS-8D 8 24 SGMCS-17D SGMCS-25D SGMCS-16E SGMCS-35E SERVOPCK Model SGD7S- 2R8 5R5 SGMCS-45M R6 SGMCS-8M 8 24 SGMCS-8N SGMCS-1M SGMCS-1EN SGMCS-2ZN 2 6 SGMCV-4B 4 12 SGMCV-1B R8 SGMCV-14B R5 SGMCV-8C R8 SGMCV-17C R5 SGMCV-25C R6 SGD7W- Basic Information on Servomotors 1 1-5

27 Capacity Selection 2 This chapter describes calculation methods to use when selecting Servomotor capacities. 2.1 Selecting the Servomotor Capacity

28 2.1 Selecting the Servomotor Capacity 2.1 Selecting the Servomotor Capacity Use Yaskawa's SigmaJunmaSize+, an C servo drive capacity selection program, to select the Servomotor capacity. With the SigmaJunmaSize+, you can find the optimum Servomotor capacity by simply selecting and entering information according to instructions from a wizard. Contact your Yaskawa representative for information on the SigmaJunmaSize+. Refer to the following selection examples to select Servomotor capacities with manual calculations rather than with the above software. 1. Mechanical Specifications D T Item Code Value Item Code Value Turntable Servomotor Turntable Mass W 12 kg Turntable Diameter Rotational ngle per Cycle D T 3 mm cceleration/ Deceleration Time Operating Frequency t p = t psa = t psd.1 s t f 2 s θ 27 deg Load Torque T L N m Positioning Time t.35 s Settling time t s.1 s 2. Motor Speed of Direct Drive Servomotor θ N O = = = 3 (min -1 ) 36 (t - t p - t s ) 36 ( ) 3. Operation Pattern Motor speed (min -1 ) t psa t psd t s Time (s) t s.35 t 2. One cycle (t f ) 4. Load Moment of Inertia 1 2 J 1 L = D 8 T W = (3 1-3 ) 2 12 =.135 (kg m 2 ) 8 5. Load cceleration/deceleration Torque N T a = J L 2π O /6 =.135 2π 3/6 = 42.4 (N m) t p.1 6. Provisional Selection of Direct Drive Servomotor Selection Conditions Load acceleration/deceleration torque < Instantaneous maximum torque of Direct Drive Servomotor Load moment of inertia < llowable load moment of inertia ratio (J R ) Moment of inertia of Direct Drive Servomotor (J M ) 2-2

29 2.1 Selecting the Servomotor Capacity The following Servomotor meets the selection conditions. SGMCV-17CE11 Specifications of the Provisionally Selected Servomotor Item Value Rated Torque 17 (N m) Instantaneous Maximum Torque 51 (N m) Moment of Inertia (J M ).785 (kg m 2 ) llowable Load Moment of Inertia Ratio (J R ) Verification of the Provisionally Selected Servomotor Verification of required acceleration torque: T Ma = (J L + J M ) N O ( ) 3 = 9.55 t psa (N m) < Maximum instantaneous torque...satisfactory Verification of required deceleration torque: T (J Md = - L + J M ) N O ( ) 3 = t psd (N m) < Maximum instantaneous torque...satisfactory Verification of effective torque value: T 2 Trms = Ma t psa + T 2 L t c + T 2 Md t psd 44.9 = (-44.9) 2.1 tf (N m) < Rated torque...satisfactory t c =Time of constant motor speed = t t s t psa t psd 8. Result It has been verified that the provisionally selected Servomotor is applicable. The torque diagram is shown below. Torque (N m) Time (s) Capacity Selection 2 2-3

30 Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3 This chapter describes how to interpret the model numbers of SGMCS Servomotors and gives their specifications, ratings, and external dimensions. 3.1 Model Designations Specifications and Ratings Small-Capacity, Coreless Servomotors: Specifications Small-Capacity, Coreless Servomotors: Ratings Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics Small-Capacity, Coreless Servomotors: Servomotor Overload Protection Characteristics Medium-Capacity Servomotors with Cores: Specifications Medium-Capacity Servomotors with Cores: Ratings Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics Medium-Capacity Servomotors with Cores: Servomotor Overload Protection Characteristics Load Moment of Inertia llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors External Dimensions Small-Capacity, Coreless Servomotors Medium-Capacity Servomotors with Cores Connector Specifications

31 3.1 Model Designations 3.1 Model Designations SGMCS - 2 B 3 C 1 1 Direct Drive Servomotors: SGMCS 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st+2nd digits Rated Output 3rd digit Servomotor Outer Diameter 5th digit Design Revision Order Small-Capacity, Coreless Code Specification Code Specification Code Specification B 135-mm dia. Model with servomotor outer diameter code 2 2 N m C 175-mm dia. M or N 4 4 N m D 23-mm dia. B Model with servomotor outer diameter code E 5 5 N m E 29-mm dia. Model with servomotor outer diameter code B, C 7 7 N m M 28-mm dia. C, or D 8 8 N m N 36-mm dia. 1 1 N m 6th digit Flange N m 4th digit Serial Encoder Servomotor Outer Diameter Code (3rd Digit) N m Code Mounting Code Specification B C D E M N N m N m 2-bit Non-load side 3 1 single-turn absolute encoder Load side N m 2-bit 3 Non-load side D incremental encoder Medium-Capacity, with Core Non-load side 4 (with cable on side) Code Specification N m : pplicable models. 8 8 N m 1 11 N m 7th digit Options 1E 15 N m Code Specification 2Z 2 N m 1 Without options Note: Direct Drive Servomotors are not available with holding brakes. 3-2

32 3.2 Specifications and Ratings 3.2 Specifications and Ratings Small-Capacity, Coreless Servomotors: Specifications Small-Capacity, Coreless Servomotors: Specifications Voltage 2 V Model SGMCS- 2B 5B 7B 4C 1C 14C 8D 17D 25D 16E 35E Time Rating Continuous Thermal Class Insulation Resistance 5 VDC, 1 MΩ min. Withstand Voltage 1,5 VC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side Vibration Class *1 V15 bsolute ccuracy ±15 s Repeatability ±1.3 s Protective Structure *2 Totally enclosed, self-cooled, IP42 Surrounding ir Temperature C to 4 C (with no freezing) Surrounding ir Humidity 2% to 8% relative humidity (with no condensation) Environmental Conditions Mechanical Tolerances *3 Shock Resistance *4 Vibration Resistance *5 pplicable SERVOPCKs Must be indoors and free of corrosive and explosive gases. Must be well-ventilated and free of dust and moisture. Installation Site Must facilitate inspection and cleaning. Must have an altitude of 1, m or less. Must be free of strong magnetic fields. Store the Servomotor in the following environment if you store it with the power cable disconnected. Storage Environment Storage Temperature: -2 C to 6 C (with no freezing) Storage Humidity: 2% to 8% relative humidity (with no condensation) Runout of Output Shaft Surface mm.2 Runout at End of Output Shaft mm.4 Parallelism between Mounting Surface and Output Shaft mm.7.8 Surface Concentricity between Output Shaft and Flange mm.7.8 Outer Diameter Impact cceleration Rate at Flange 49 m/s 2 Number of Impacts 2 times Vibration cceleration Rate at Flange 49 m/s 2 Refer to 1.4 Combinations of Servomotors and SERVOPCKs on page 1-5. *1. vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed. *2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the shaft are excluded. Protective structure specifications apply only when the special cable is used. Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3 3-3

33 3.2 Specifications and Ratings Small-Capacity, Coreless Servomotors: Specifications *3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual Servomotors for more information on tolerances. dia. Runout of output shaft surface : Diameter determined by motor model. Runout at end of output shaft B Load side Non-load side Concentricity between output shaft and flange outer diameter dia. Parallelism between mounting surface and output shaft surface B *4. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. Vertical Shock pplied to the Servomotor *5. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servomotor can withstand depends on the application. lways confirm the vibration acceleration rate. Vertical Front to back Side to side 3-4

34 3.2 Specifications and Ratings Small-Capacity, Coreless Servomotors: Ratings Small-Capacity, Coreless Servomotors: Ratings Voltage 2 V Model SGMCS- 2B 5B 7B 4C 1C 14C 8D 17D 25D 16E 35E Rated Output *1 W Rated Torque *1, *2 N m Instantaneous Maximum Torque *1 N m Stall Torque *1 N m Rated Current *1 rms Instantaneous Maximum Current *1 rms Rated Motor Speed *1 min Maximum Motor Speed *1 min Torque Constant N m/rms Motor Moment of Inertia 1-4 kg m Rated Power Rate *1 kw/s Rated ngular cceleration Rate *1 rad/s Heat Sink Size mm llowable Load Moment of Inertia (Motor Moment of Inertia Ratio) llowable Load *3 llowable Thrust Load llowable Moment Load *1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. The values for other items are at 2 C. These are typical values. *2. The rated torques are the continuous allowable torque values at 4 C with a steel heat sink of the dimensions given in the table. *3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table. F 1 times 5 times 3 times N N m F L F L Specifications, Ratings, and External Dimensions of SGMCS Servomotors Where F is the external force, Thrust load = F + Load mass Moment load = Where F is the external force, Thrust load = F + Load mass Moment load = F L Where F is the external force Thrust load = Load mass Moment load = F L 3 Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is higher at low temperatures. 3-5

35 3.2 Specifications and Ratings Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics : Continuous duty zone B : Intermittent duty zone (solid lines): With three-phase 2-V input (dotted lines): With single-phase 1-V input Motor speed (min -1 ) SGMCS-2B B Torque (N m) Motor speed (min -1 ) SGMCS-5B B Torque (N m) Motor speed (min -1 ) SGMCS-7B B Torque (N m) Motor speed (min -1 ) SGMCS-4C B Torque (N m) 5 SGMCS-1C 5 SGMCS-14C 5 SGMCS-8D 5 SGMCS-17D Motor speed (min -1 ) B Torque (N m) Motor speed (min -1 ) B Torque (N m) Motor speed (min -1 ) B Torque (N m) Motor speed (min -1 ) B Torque (N m) Motor speed (min -1 ) SGMCS-25D B Torque (N m) Motor speed (min -1 ) SGMCS-16E B Torque (N m) Motor speed (min -1 ) SGMCS-35E B Torque (N m) Note: 1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. These are typical values. 2. The characteristics in the intermittent duty zone depend on the power supply voltage. 3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone. 4. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases. 3-6

36 3.2 Specifications and Ratings Small-Capacity, Coreless Servomotors: Servomotor Overload Protection Characteristics Small-Capacity, Coreless Servomotors: Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor ambient temperature of 4 C. 1 SGMCS-2B, -5B, -7B, -1C, -17D, and -35E 1 SGMCS-4C Detection time (s) Detection time (s) Torque reference (%) Torque reference (%) Detection time (s) Detection time (s) SGMCS-14C SGMCS-8D and -16E Torque reference (%) Torque reference (%) SGMCS-25D Detection time (s) Specifications, Ratings, and External Dimensions of SGMCS Servomotors Torque reference (%) Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 1% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in Small-Capacity, Coreless Servomotors: Torque-Motor Speed Characteristics on page

37 3.2 Specifications and Ratings Medium-Capacity Servomotors with Cores: Specifications Medium-Capacity Servomotors with Cores: Specifications Voltage 2 V Model SGMCS- 45M 8M 1M 8N 1EN 2ZN Time Rating Continuous Thermal Class F Insulation Resistance 5 VDC, 1 MΩ min. Withstand Voltage 1,5 VC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side Vibration Class *1 V15 bsolute ccuracy ±15 s Repeatability ±1.3 s Protective Structure *2 Totally enclosed, self-cooled, IP44 Surrounding ir Temperature C to 4 C (with no freezing) Surrounding ir Humidity 2% to 8% relative humidity (with no condensation) Environmental Conditions Mechanical Tolerances *3 Shock Resistance *4 Vibration Resistance *5 Must be indoors and free of corrosive and explosive gases. Must be well-ventilated and free of dust and moisture. Installation Site Must facilitate inspection and cleaning. Must have an altitude of 1, m or less. Must be free of strong magnetic fields. Store the Servomotor in the following environment if you store it with the power cable disconnected. Storage Environment Storage Temperature: -2 C to 6 C (with no freezing) Storage Humidity: 2% to 8% relative humidity (with no condensation) Runout of Output Shaft Surface mm.2 Runout at End of Output Shaft mm.4 Parallelism between Mounting Surface and mm Output Shaft Surface Concentricity between Output Shaft and mm.8 Flange Outer Diameter Perpendicularity between Mounting Surface mm.8 and Output Shaft Impact cceleration Rate at Flange 49 m/s 2 Number of Impacts 2 times Vibration cceleration Rate at Flange 24.5 m/s 2 pplicable SERVOPCKs Refer to 1.4 Combinations of Servomotors and SERVOPCKs on page 1-5. *1. vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed. *2. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. 3-8

38 3.2 Specifications and Ratings Medium-Capacity Servomotors with Cores: Specifications *3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual Servomotors for more information on tolerances. Concentricity between output shaft and flange outer diameter B Runout at end of output shaft Load side Non-load side dia. dia. dia. : Diameter determined by motor model. Runout at end of output shaft B Runout of output shaft surface Perpendicularity between mounting surface and output shaft B *4. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. Vertical Shock pplied to the Servomotor *5. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servomotor can withstand depends on the application. lways confirm the vibration acceleration rate. Vertical Front to back Side to side Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3 3-9

39 3.2 Specifications and Ratings Medium-Capacity Servomotors with Cores: Ratings Medium-Capacity Servomotors with Cores: Ratings Voltage 2 V Model SGMCS- 45M 8M 1M 8N 1EN 2ZN Rated Output *1 W Rated Torque *1, *2 N m Instantaneous Maximum Torque *1 N m Stall Torque *1 N m Rated Current *1 rms Instantaneous Maximum Current *1 rms Rated Motor Speed *1 min Maximum Motor Speed *1 min Torque Constant N m/rms Motor Moment of Inertia 1-4 kg m Rated Power Rate *1 kw/s Rated ngular cceleration Rate *1 rad/s Heat Sink Size mm llowable Load Moment of Inertia (Motor Moment of Inertia Ratio) 3 times mm llowable Load *3 llowable Thrust Load N 9 16 llowable Moment Load N m *1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 2 C. These are typical values. *2. The rated torques are the continuous allowable torque values at 4 C with a steel heat sink of the dimensions given in the table. *3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table. F F L F L (Refer to the values in the table.) Where F is the external force, Thrust load = F + Load mass Moment load = Where F is the external force, Thrust load = F + Load mass Moment load = F L Where F is the external force, Thrust load = Load mass Moment load = F (L + ) Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is higher at low temperatures. 3-1

40 3.2 Specifications and Ratings Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics : Continuous duty zone B : Intermittent duty zone Motor speed (min -1 ) SGMCS-45M B Motor speed (min -1 ) SGMCS-8M B Torque (N m) Torque (N m) Torque (N m) Motor speed (min -1 ) SGMCS-1M B Motor speed (min -1 ) SGMCS-8N B Torque (N m) Motor speed (min -1 ) SGMCS-1EN B Torque (N m) Note: 1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 2 C. These are typical values. 2. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone. 3. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases. Motor speed (min -1 ) SGMCS-2ZN B Torque (N m) Specifications, Ratings, and External Dimensions of SGMCS Servomotors

41 3.2 Specifications and Ratings Medium-Capacity Servomotors with Cores: Servomotor Overload Protection Characteristics Medium-Capacity Servomotors with Cores: Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor ambient temperature of 4 C. 1 SGMCS-45M 1 SGMCS-8M 1 1 Detection time (s) 1 1 Detection time (s) Torque reference (%) Torque reference (%) 1 SGMCS-1M and -8N 1 SGMCS-1EN 1 1 Detection time (s) 1 1 Detection time (s) Torque reference (%) Torque reference (%) 1 SGMCS-2ZN 1 Detection time (s) Torque reference (%) Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 1% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in Medium-Capacity Servomotors with Cores: Torque-Motor Speed Characteristics on page

42 3.2 Specifications and Ratings Load Moment of Inertia Load Moment of Inertia The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable. The allowable size of the load moment of inertia (J L ) for the Servomotor is restricted. (Refer to Small-Capacity, Coreless Servomotors: Ratings on page 3-5 or Medium-Capacity Servomotors with Cores: Ratings on page 3-1. This value is provided strictly as a guideline and results depend on Servomotor driving conditions. Use the SigmaJunmaSize+ C Servo Drive Capacity Selection Program to check the driving conditions. Contact your Yaskawa representative for information on the SigmaJunmaSize+. n Overvoltage larm (.4) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPCKs with a built-in regenerative resistor may generate a Regenerative Overload larm (.32). Perform one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared using the above steps. Regenerative resistors are not built into SERVOPCKs for 4-W Servomotors or smaller Servomotors. Even for SERVOPCKs with built-in regenerative resistors, an external regenerative resistor is required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor. Specifications, Ratings, and External Dimensions of SGMCS Servomotors

43 3.2 Specifications and Ratings llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors The following graphs show the allowable load moment of inertia scaling factor of the motor speed for SERVOPCKs without built-in regenerative resistors when an External Regenerative Resistor is not connected (applicable SERVOPCK: SGD7S-2R8). If the Servomotor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the SERVOPCK. These graphs provide reference data for deceleration at the rated torque or higher with a 2- VC power supply input. llowable load moment of inertia scaling factor (times) SGMCS-2B C Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGMCS-4C C Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) llowable load moment of inertia scaling factor (times) llowable load moment of inertia scaling factor (times) SGMCS-5B C Motor speed (min -1 ) SGMCS-8D C Motor speed (min -1 ) SGMCS-14C C Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) llowable load moment of inertia scaling factor (times) llowable load moment of inertia scaling factor (times) SGMCS-7B C Motor speed (min -1 ) SGMCS-1C C Motor speed (min -1 ) SGMCS-17D C Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGMCS-25D C Motor speed (min -1 ) 3-14

44 3.3 External Dimensions 3.3 External Dimensions Small-Capacity, Coreless Servomotors Small-Capacity, Coreless Servomotors SGMCS- B Flange Specification 1 6 M4 8 (Divided into equal sections at 6.).7 dia..7 B L 4 (LL) *1 B 4±.9.2 Notation : Square dimensions 6 M4 8 (Divided into equal sections at 6.) 9 dia. R dia. R4.5 max. connector area 135 dia. LB dia. (9) (.5: bolt section) *2 LH dia. (7 dia.) (1) L dia. * Unit: mm *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. Model SGMCS- L (LL) LB LH L pprox. Mass [kg] +.4 2B C B C B C Flange Specification 4 6 M4 8 (Divided into equal sections at 6.) 9 dia. 5 3 *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. (22) 1.7 B.7 dia. 135 dia. LB dia. (8 dia.) L (LL) 2 (.5: bolt section).1 *2 3±5 *1 (35) (1) B 4±.9.2 LH dia. (7 dia.) L dia M4 8 (Divided into equal sections at 6.) 9 dia. *1 Unit: mm Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3 Model SGMCS- L (LL) LB LH L pprox. Mass [kg] +.4 2B C B C B C Refer to the following section for information on connectors Connector Specifications on page

45 3.3 External Dimensions Small-Capacity, Coreless Servomotors SGMCS- C Flange Specification 1 6 M5 8 (Divided into equal sections at 6.).7 dia. (2 M5 8) (For use by Yaskawa).7 B L 5 (LL) *1 B 5± M5 8 (Divided into equal sections at 6.) 12 dia. 13 dia. 175 dia. LB dia. (1: bolt section) LH dia. (1 dia.) L dia. (2 M5 8 ) (For use by Yaskawa) R R51 max. connector area 23.4 (9) *2 (1) *1 6 *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions..4 Unit: mm Model SGMCS- L (LL) LB LH L pprox. Mass [kg] +.4 4C C C C C C Flange Specification ± (35) 6 M5 8 (Divided into equal sections at 6.) 13 dia. 5 3 (22) 1.7 B.7 dia. (2 M5 8) (For use by Yaskawa) 5 L (LL) 2 *1 B 5±.9.2 (2 M5 8) (For use by Yaskawa) 6 M5 8 (Divided into equal sections at 6.) 12 dia. 175 dia. LB dia. (1 dia.).1 (1: bolt section) *2 LH dia. (1 dia.) L dia. (1) *1.4 Unit: mm *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. Model SGMCS- L (LL) LB LH L pprox. Mass [kg] 4C C C C C C Refer to the following section for information on connectors Connector Specifications on page

46 3.3 External Dimensions Small-Capacity, Coreless Servomotors SGMCS- D Flange Specification 1 6 M6 1 (Divided into equal sections at 6.) L.8 B B 5 (LL) 5±.9.8 dia. (2 M6 1) (For use by Yaskawa) *1.2 6 M6 1 (Divided into equal sections at 6.) 16 dia. 16 dia. R53 23 dia. LB dia. (.5: bolt section) LH dia. (14 dia.) L dia. (2 M6 1) (For use by Yaskawa) 25.4 R67.5 max. connector area 23.4 (9) *2 (1) *1 6.4 Unit: mm *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. Model SGMCS- L (LL) LB LH L pprox. Mass [kg] +.4 8D C D C D C Flange Specification 4 6 M6 1 (Divided into equal sections at 6.) 16 dia (22) (2 M6 1) (For use by Yaskawa).8 B.8 dia. 23 dia. LB dia. *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. (14 dia.) ±5 L (LL) 2 *2 *1 (.5: bolt section) (35) 5±.9 LH dia. (14 dia.) L dia. (1) B.2.4 (2 M6 1) (For use by Yaskawa) M6 1 (Divided into equal sections at 6.) 16 dia. Unit: mm *1 Specifications, Ratings, and External Dimensions of SGMCS Servomotors 3 Model SGMCS- L (LL) LB LH L pprox. Mass [kg] +.4 8D C D C D C Refer to the following section for information on connectors Connector Specifications on page

47 3.3 External Dimensions Small-Capacity, Coreless Servomotors SGMCS- E Flange Specification 1 6 M8 14 (Divided into equal sections at 6.) (2 M8 14) (For use by Yaskawa).8 L B B 6 (LL) 6±1.6.8 dia. *1.2 (2 M8 14) (For use by Yaskawa) 6 M8 14 (Divided into equal sections at 6.) 2 dia. (28 dia.) 2 dia. 29 dia. LB dia. LH dia. (18 dia.) L dia. R65 R8 max. connector area (9) *2 (1) * (4).4 Unit: mm *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. Model SGMCS- L (LL) LB LH L pprox. Mass [kg] E B E B Flange Specification 4 3±5 (35) 6 M8 14 (Divided into equal sections at 6.) 2 dia. 5 3 (22) 1 (2 M8 14) (For use by Yaskawa).8 B.8 dia. L 6 (LL) 2 *1 B 6±1.6.2 (2 M8 14) (For use by Yaskawa) 6 M8 14 (Divided into equal sections at 6.) 2 dia. (28 dia.) 29 dia. LB dia. (16 dia.).1 *2 LH dia. (18 dia.) L dia. (1) *1 (4).4 Unit: mm *1. The shaded section indicates the rotating parts. *2. The hatched section indicates the non-rotating parts. Note: Values in parentheses are reference dimensions. Model SGMCS- L (LL) LB LH L pprox. Mass [kg] 16E B E B Refer to the following section for information on connectors Connector Specifications on page

48 3.3 External Dimensions Medium-Capacity Servomotors with Cores Medium-Capacity Servomotors with Cores SGMCS- M Flange Specification 1 6 LL KB2 KB B 15 ( dia. range) 12 M6 15 (Divided into equal sections.) dia. B (rotating part) 28 ±.5 dia. * dia. 182 * 25 dia. 115 dia. Rotating part 75.2 dia (75 dia. range) * LH dia. L dia. B.4 14 dia. LB dia. 88 dia. * 12 M6 18 (Divided into equal sections.) Unit: mm * The shaded section indicates the rotating parts. Model SGMCS- LL KB1 KB2 LB LH L pprox. Mass [kg] M M M Flange Specification * dia. 12 M6 15 (Divided into equal sections.).8 dia. B.8 C 6 28 dia. LB dia. * The shaded section indicates the rotating parts. 1.5 (rotating part) 115 dia dia. L LL KB2 KB1 * * (75 dia. range) 15 5 B C.2 LH dia. L dia dia M6 18 (Divided into equal sections.) dia. 182 * Unit: mm Specifications, Ratings, and External Dimensions of SGMCS Servomotors Model SGMCS- L LL KB1 KB2 LB LH L pprox. Mass [kg] M M M Refer to the following section for information on connectors Connector Specifications on page

49 3.3 External Dimensions Medium-Capacity Servomotors with Cores SGMCS- N Flange Specification 1 6 LL KB2 KB1 12 M (Divided into equal sections.).8 41 B 15 ( dia. range).8 dia. B (rotating part) 36 ±.5 dia. * dia dia. 166 dia. Rotating part dia (118 dia. range) LH dia. L dia. 19 dia. LB dia. 135 dia. * * * B.4 12 M8 2 (Divided into equal sections.) Unit: mm * The shaded section indicates the rotating parts. Model SGMCS- LL KB1 KB2 LB LH L pprox. Mass [kg] N EN ZN Flange Specification dia. 12 M8 15 (Divided into equal sections.).8 dia. B.8 C 6 L C LL 15.2 KB2 KB1 1.5 (rotating part) * M8 2 (Divided into equal sections.) dia. LB dia. 166 dia dia (118 dia. range) LH dia. L dia. 19 dia. 135 dia. * * * B.4 Unit: mm * The shaded section indicates the rotating parts. Model SGMCS- L LL KB1 KB2 LB LH L pprox. Mass [kg] 8N EN ZN Refer to the following section for information on connectors Connector Specifications on page

50 3.3 External Dimensions Connector Specifications Connector Specifications SGMCS- B, - C, - D, or - E with Flange Specification 1 Servomotor Connector Specifications Model: JN1S4MK2R Manufacturer: Japan viation Electronics Industry, Ltd. Mating connector: JN1DS4FK1 (Not provided by Yaskawa.) Encoder Connector Specifications 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (frame ground) Green (yellow) Model: JN1S1ML1-R Manufacturer: Japan viation Electronics Industry, Ltd. Mating connector: JN1DS1SL1 (Not provided by Yaskawa.) SGMCS- B, - C, - D, or - E with Flange Specification 4 Servomotor Connector Specifications Encoder Connector Specifications Model Plug: Pins: or (No.1 to 3) Ground pin: or (No. 4) Manufacturer: Tyco Electronics Japan G.K. Mating Connector Cap: Socket: or Model: Manufacturer: Molex Japan Co., Ltd. Mating connector: PS Light blue 6 2 /PS Light blue/ white 7 FG (frame ground) Shield PG5V Red 9 PGV Black Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (frame ground) Green (yellow) 1 PG5V Red 2 PGV Black PS Light blue 6 /PS Light blue/ white Connector case FG (frame ground) Shield Specifications, Ratings, and External Dimensions of SGMCS Servomotors

51 3.3 External Dimensions Connector Specifications SGMCS- M or - N with Flange Specification 1 or 3 Servomotor Connector Specifications D B C Model: CE PD Manufacturer: DDK Ltd. Mating Connector Plug: CE SD-B-BSS Cable clamp: CE (D265) B C D Phase U Phase V Phase W FG (frame ground) Encoder Connector Specifications Model: JN1S1ML1 Manufacturer: Japan viation Electronics Industry, Ltd. Mating connector: JN1DS1SL1 1 PS 6 2 /PS 7 FG (frame ground) PG5V 9 PGV

52 Specifications, Ratings, and External Dimensions of SGMCV Servomotors 4 This chapter describes how to interpret the model numbers of SGMCV Servomotors and gives their specifications, ratings, and external dimensions. 4.1 Model Designations Specifications and Ratings Specifications Ratings Torque-Motor Speed Characteristics Servomotor Overload Protection Characteristics Load Moment of Inertia llowable Load Moment of Inertia Scaling Factor for SERVOPCKs without Built-in Regenerative Resistors External Dimensions Connector Specifications

53 4.1 Model Designations 4.1 Model Designations SGMCV - 4 B E 1 1 Direct Drive Servomotors: SGMCV 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st+2nd digits Rated Output 4th digit Serial Encoder 6th digit Flange Code Specification 4 4 N m 8 8 N m 1 1 N m N m N m N m 3rd digit Code E I 5th digit Servomotor Outer Diameter Specification 22-bit single-turn absolute encoder 22-bit multiturn absolute encoder Design Revision Order Code 1 4 7th digit Code 1 5 Mounting Non-load side Non-load side (with cable on side) Options Specification Without options High machine precision (runout at end of shaft and runout of shaft surface:.1 mm) Code B C Specification 135-mm dia. 175-mm dia. Note: Direct Drive Servomotors are not available with holding brakes. 4-2

54 4.2 Specifications and Ratings 4.2 Specifications and Ratings Specifications Specifications Voltage 2 V Model SGMCV- 4B 1B 14B 8C 17C 25C Time Rating Continuous Thermal Class Insulation Resistance 5 VDC, 1 MΩ min. Withstand Voltage 1,5 VC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side Vibration Class *1 V15 bsolute ccuracy ±15 s Repeatability ±1.3 s Protective Structure *2 Totally enclosed, self-cooled, IP42 Surrounding ir Temperature C to 4 C (with no freezing) Surrounding ir Humidity 2% to 8% relative humidity (with no condensation) Environmental Conditions Mechanical Tolerances *3 Must be indoors and free of corrosive and explosive gases. Installation Site Must be well-ventilated and free of dust and moisture. Must facilitate inspection and cleaning. Must have an altitude of 1, m or less. Must be free of strong magnetic fields. Store the Servomotor in the following environment if you store it with the power cable disconnected. Storage Environment Storage Temperature: -2 C to 6 C (with no freezing) Storage Humidity: 2% to 8% relative humidity (with no condensation) Runout of Output Shaft Surface mm.2 (.1 for high machine precision option) Runout at End of Output Shaft mm.4 (.1 for high machine precision option) Parallelism between Mounting Surface and Output Shaft mm.7 Surface Concentricity between Output Shaft and Flange Outer Diameter mm.7 Shock Impact cceleration Rate at Flange 49 m/s 2 Resistance *4 Number of Impacts 2 times Vibration Resistance *5 pplicable SERVOPCKs Vibration cceleration Rate at Flange 49 m/s 2 Refer to 1.4 Combinations of Servomotors and SERVO- PCKs on page 1-5. *1. vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed. *2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the shaft are excluded. Protective structure specifications apply only when the special cable is used. *3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual Servomotors for more information on tolerances. dia. Runout of output shaft surface : Diameter determined by motor model. B Runout at end of output shaft Load side Specifications, Ratings, and External Dimensions of SGMCV Servomotors 4 Non-load side Concentricity between output shaft and flange outer diameter dia. Parallelism between mounting surface and output shaft surface B 4-3

55 4.2 Specifications and Ratings Specifications *4. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. Vertical Shock pplied to the Servomotor *5. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servomotor can withstand depends on the application. lways confirm the vibration acceleration rate. Vertical Front to back Side to side 4-4

56 4.2 Specifications and Ratings Ratings Ratings Voltage 2 V Model SGMCV- 4B 1B 14B 8C 17C 25C Rated Output *1 W Rated Torque *1, *2 N m Instantaneous Maximum Torque *1 N m Stall Torque *1 N m Rated Current *1 rms Instantaneous Maximum Current *1 rms Rated Motor Speed *1 min Maximum Motor Speed *1 min Torque Constant N m/rms Motor Moment of Inertia 1-4 kg m Rated Power Rate *1 kw/s Rated ngular cceleration Rate *1 rad/s Heat Sink Size mm llowable Load Moment of Inertia (Motor Moment of Inertia Ratio) llowable Load *3 *1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. The values for other items are at 2 C. These are typical values. *2. The rated torques are the continuous allowable torque values at 4 C with a steel heat sink of the dimensions given in the table. *3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table. F llowable Thrust Load llowable Moment Load Where F is the external force, Thrust load = F + Load mass Moment load = F 25 times 4 times 45 times 15 times 25 times N Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is higher at low temperatures. 25 times N m L Where F is the external force, Thrust load = F + Load mass Moment load = F L F Where F is the external force, Thrust load = Load mass Moment load = F L L Specifications, Ratings, and External Dimensions of SGMCV Servomotors 4 4-5

57 4.2 Specifications and Ratings Torque-Motor Speed Characteristics Torque-Motor Speed Characteristics : Continuous duty zone B : Intermittent duty zone (solid lines): With three-phase 2-V or single-phase 23-V input (dotted lines): With single-phase 2-V input Motor speed (min -1 ) Motor speed (min -1 ) SGMCV-4B * Torque (N m) 7 SGMCV-17C B Torque (N m) B Motor speed (min -1 ) Motor speed (min -1 ) SGMCV-1B B Torque (N m) SGMCV-25C * Torque (N m) B Motor speed (min -1 ) SGMCV-14B *1 B Torque (N m) Motor speed (min -1 ) SGMCV-8C B Torque (N m) *1. The characteristics are the same for three-phase 2 V and single-phase 2 V. *2. Contact your Yaskawa representative for information on the SGMCV-25C. Note: 1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. These are typical values. 2. The characteristics in the intermittent duty zone depend on the power supply voltage. 3. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor ambient temperature of 4 C. 1 SGMCV- B 1 SGMCV- C Detection time (s) Detection time (s) Torque reference (%) Torque reference (%) Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 1% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in Torque-Motor Speed Characteristics on page

58 4.2 Specifications and Ratings Load Moment of Inertia Load Moment of Inertia The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable. The allowable size of the load moment of inertia (J L ) for the Servomotor is restricted. Refer to Ratings on page 4-5. This value is provided strictly as a guideline and results depend on Servomotor driving conditions. Use the SigmaJunmaSize+ C Servo Drive Capacity Selection Program to check the driving conditions. Contact your Yaskawa representative for information on the SigmaJunmaSize+. n Overvoltage larm (.4) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPCKs with a built-in regenerative resistor may generate a Regenerative Overload larm (.32). Perform one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. Install an external regenerative resistor if the alarm cannot be cleared using the above steps. Regenerative resistors are not built into SERVOPCKs for 4-W Servomotors or smaller Servomotors. Even for SERVOPCKs with built-in regenerative resistors, an external regenerative resistor is required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor. Specifications, Ratings, and External Dimensions of SGMCV Servomotors 4 4-7