Yaskawa Sigma II Series DC Power Input SGMAJ Manual do Utilizador

YASKAWADC Power Input Σ-II Series SGM□J/SGDJUSER'S MANUALYA S K A WAMANUAL NO. SIE-S800-38CAC ServodrivesSGMMJ/SGMAJ ServomotorSGDJ SERVOPACK

xOperationMaintenance and InspectionDisposal• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine t

5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable5-355.1.2 Cables for SGMMJ and SGMAJ Servomotors With Brakes(1) SGMMJ(2)

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.2.1 Wire Size5-45.2 Servomotor and SERVOPACK Main Circuit Wire Size and

5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors5-555.2.2 SGMMJ Servomotor Connectors for Standard Environments(1) Servomotors Mai

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.2.3 SGMAJ Servomotor Connectors for Standard Environments5-65.2.3 SGMAJ

5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors5-75(3) SERVOPACK Power Supply Input Connector Kit(a) Type(b) Dimensional Drawings

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.2.3 SGMAJ Servomotor Connectors for Standard Environments5-8(4) Connecto

5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors5-95• CN9 (Main circuit power input connector)Connector with cage: 721-203/026-000

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.3.1 Encoder Cable With Connectors5-105.3 Encoder Cables for CN4 Connect

5.4 Connectors and Cables for Encoder Signals5-1155.4 Connectors and Cables for Encoder SignalsThe flexible cables are options. Contact your Yaskaw

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.4.1 Connectors and Cables5-12(4) Encoder Cable Specifications(5) Encoder

xiGeneral PrecautionsNote the following to ensure safe application.• The drawings presented in this manual are sometimes shown without covers or prot

5.5 I/O Signal Cables for CN1 Connector5-1355.5 I/O Signal Cables for CN1 Connector5.5.1 Standard CablesFor the connection diagram, refer to 5.5.3

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.5.2 Connector Type and Cable Size5-14(2) Dimensional Drawing of Connecto

5.5 I/O Signal Cables for CN1 Connector5-1555.5.3 Connection DiagramHost controller endPin No.SERVOPACK endShieldrepresents twisted-pair wires.Termi

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.6.1 Cables for Connecting Personal Computers5-165.6 Peripheral Devices5

5.6 Peripheral Devices5-175(3) 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC(a) Cable Type: JZSP-CMS03(b) Dimensional Drawing5.6.2 Digit

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.6.3 Cables for Analog Monitor5-18(3) Other Types of the Applicable Conne

5.6 Peripheral Devices5-1955.6.4 Connector Terminal Block Converter Unit(1) Model: JUSP-TA36PThe connection between the connector terminal block con

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.6.4 Connector Terminal Block Converter Unit5-20(2) Connection DiagramSig

5.6 Peripheral Devices5-2155.6.5 Noise FilterThe noise filters manufactured by Okaya Electric Industries Co., Ltd. are recommended. Contact Yaskawa

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.6.8 Encoder Signal Converter Unit5-225.6.8 Encoder Signal Converter Uni

xiiCONTENTSAbout this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiRelated Manuals - - - - - - - - - -

6-166Wiring6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26.1.1 Names and Functions of Main Circuit Terminal

6 Wiring6.1.1 Names and Functions of Main Circuit Terminals6-26.1 Wiring Main CircuitThis section describes typical examples of main circuit wiring

6.1 Wiring Main Circuit6-366.1.2 Wiring Main Circuit Power Supply Connector SGDJ SERVOPACK has a removable connector for the main circuit power supp

6 Wiring6.1.3 Typical Main Circuit Wiring Examples6-46.1.3 Typical Main Circuit Wiring ExamplesSingle-phase, 100/200 VDesigning a Power ON Sequenc

6.2 Wiring Encoders6-566.2 Wiring EncodersThe connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo-motor

6 Wiring6.2.2 Encoder Connector (CN2) Terminal Layout6-6(2) Absolute Encoders6.2.2 Encoder Connector (CN2) Terminal LayoutAbsolute encoderSERVOPACK

6.3 Examples of I/O Signal Connections6-766.3 Examples of I/O Signal Connections6.3.1 SGDJ-S for Speed Control Mode* 1. represents twisted-p

6 Wiring6.3.2 SGDJ-P for Position Control Mode6-86.3.2 SGDJ-P for Position Control Mode* 1. : represents twisted-pair wires.* 2. Connect

6.3 Examples of I/O Signal Connections6-966.3.3 SGDJ-S for Torque Control Mode* 1. : represents twisted-pair wires.* 2. The time constant for

6 Wiring6.3.4 I/O Signal Connector (CN1) Terminal Layout6-106.3.4 I/O Signal Connector (CN1) Terminal Layout(1) SGDJ-S for Speed/Torque ControlT

xiiixiii3.2 Ratings and Specifications of SGMAJ (3000min-1) - - - - - - - 3-53.2.1 SGMAJ Servomotors Without Gears - - - - - - - - - - - - - - - -

6.3 Examples of I/O Signal Connections6-116(2) SGDJ-P for Position ControlNote: 1. Do not use unused terminals for relays.2. Connect the shield

6 Wiring6.3.5 I/O Signal (CN1) Names and Functions6-126.3.5 I/O Signal (CN1) Names and Functions(1) Input SignalsSignal Name SGDJ- Function Refer-e

6.3 Examples of I/O Signal Connections6-136Note: 1. Pin numbers in parentheses () indicate signal grounds.2. The functions allocated to /S-ON, /P-C

6 Wiring6.3.6 Interface Circuit6-146.3.6 Interface CircuitThis section shows examples of SERVOPACK I/O signal connection to the host controller.(1)

6.3 Examples of I/O Signal Connections6-156(2) Sequence Input Circuit InterfaceCN1 connector terminals 11 to 18 is explained below.The sequence input

6 Wiring6.3.6 Interface Circuit6-16(b) Open-collector Output CircuitCN1 connector terminals 30 to 33: Alarm code output are explained below.Alarm co

6.4 Others6-1766.4 Others6.4.1 Wiring PrecautionsTo ensure safe and stable operation, always observe the following wiring precautions.1. For wirin

6 Wiring6.4.2 Wiring for Noise Control6-186.4.2 Wiring for Noise Control(1) Wiring ExampleThe SERVOPACK uses high-speed switching elements in the m

6.4 Others6-196(3) Using Noise FiltersUse an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom-m

6 Wiring6.4.2 Wiring for Noise Control6-203. Connect the noise filter ground wire directly to the ground plate.Do not connect the noise filter grou

xiv4.6 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - 4-134.6.1 24 VDC: 10/50 W (A1C/A5C)48 VDC: 50 W to 200 W (A5

6.4 Others6-2166.4.3 Installation Conditions of EMC DirectivesTo adapt a combination of a SGMAJ servomotor and a SGDJ SERVOPACK to EMC Directives (E

6 Wiring6.4.3 Installation Conditions of EMC Directives6-22(2) Cable Core and Cable Clamp(a) Attaching the Ferrite CoreThe diagram shows one turn in

6.4 Others6-2366.4.4 Using More Than One SERVOPACKThe following diagram is an example of the wiring when more than one SERVOPACK is used.Connect the

6 Wiring6.4.5 Extending Encoder Cables6-246.4.5 Extending Encoder CablesStandard encoder cables have a maximum length of 20 m. If a longer cable is

6.4 Others6-256(2) Connectors and Connector kits for User-modified Encoder CablesName Type Specifications ReferenceSERVOPACK end connector kit JZSP-C

7-177Digital Operator7.1 Functions on Digital Operator - - - - - - - - - - - - - - - - - - - - - - - 7-27.1.1 Connecting the Digital Operator - - -

7 Digital Operator7.1.1 Connecting the Digital Operator7-27.1 Functions on Digital OperatorThis section describes the basic operations of the digit

7.1 Functions on Digital Operator7-377.1.2 Key Names and Functions Key names and functions for the digital operator and the panel operator are exp

7 Digital Operator7.1.3 Basic Mode Selection and Operation7-47.1.3 Basic Mode Selection and OperationThe basic modes include: Status display mode,

7.1 Functions on Digital Operator7-577.1.4 Status Display(1) Bit Data and MeaningsBit dataCodecdefghiItemSGDJ-SSGDJ-PBit Data Meaning Bit Data

xvxv6.2 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56.2.1 Connecting an Encoder (CN2) and Output Signals from

7 Digital Operator7.1.4 Status Display7-6(2) Codes and MeaningsCode MeaningBaseblockServo OFF (motor power OFF)RunServo ON (motor power ON)Forward R

7.2 Operation in Utility Function Mode (Fn)7-777.2 Operation in Utility Function Mode (Fn)7.2.1 List of Utility Function ModesThis section de

7 Digital Operator7.2.2 Alarm Traceback Data Display (Fn000)7-87.2.2 Alarm Traceback Data Display (Fn000)The alarm traceback display can display up

7.2 Operation in Utility Function Mode (Fn)7-977.2.3 Zero-point Search Mode (Fn003)The zero-point search mode is designed to perform positioning

7 Digital Operator7.2.4 Parameter Settings Initialization (Fn005)7-107.2.4 Parameter Settings Initialization (Fn005)This function is used when retu

7.2 Operation in Utility Function Mode (Fn)7-1177.2.5 Alarm Traceback Data Clear (Fn006)This function clears the alarm traceback data, which stor

7 Digital Operator7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)7-127.2.6 Automatic Offset-adjustment of Motor Current

7.2 Operation in Utility Function Mode (Fn)7-1377.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)The adjusting range of th

7 Digital Operator7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)7-147.2.8 Password Setting (Protects Parameters from Being

7.2 Operation in Utility Function Mode (Fn)7-1577.2.9 Motor Models Display (Fn011)This mode is used for motor maintenance, set the parameter Fn01

xvi8 Operation8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48.1.1 Trial Operation for Servomotor wi

7 Digital Operator7.2.10 Software Version Display (Fn012)7-167.2.10 Software Version Display (Fn012)Set the Fn012 to select the software-version ch

7.3 Operation in Parameter Setting Mode (Pn)7-1777.3 Operation in Parameter Setting Mode (Pn)Functions can be selected or adjusted by setting

7 Digital Operator7.3.1 Setting Parameters7-18(c) Parameter IndicationsIn this manual, the parameter is explained with using the following format.Th

7.3 Operation in Parameter Setting Mode (Pn)7-197(2) Function Selection Parameters(a) Types of Function Selection ParametersRefer to 10.4.2 List o

7 Digital Operator7.3.1 Setting Parameters7-20(b) Example of Changing Function SelectionThe procedure to change the setting of control method select

7.3 Operation in Parameter Setting Mode (Pn)7-217For details on each digit of the parameter, see 10.4.2 List of Parameters.7.3.2 Input Circuit Si

7 Digital Operator7.3.2 Input Circuit Signal Allocation7-22(2) Changing the Allocation (Pn50A.0 = 1)Set the parameter in accordance with the relatio

7.3 Operation in Parameter Setting Mode (Pn)7-237(3) Allocating Input SignalsThe procedure to replace Servo ON (/S-ON) signal allocated to CN1-14

7 Digital Operator7.3.3 Output Circuit Signal Allocation7-247.3.3 Output Circuit Signal AllocationFunctions can be allocated to the following seque

7.3 Operation in Parameter Setting Mode (Pn)7-257• Allocating Output SignalsThe procedure to replace Rotation Detection (/TGON) signal allocated

xviixvii8.7 Operating Using Torque Control- - - - - - - - - - - - - - - - - - - - 8-608.7.1 Setting Parameters - - - - - - - - - - - - - - - - - -

7 Digital Operator7.4.1 List of Monitor Modes7-267.4 Operation in Monitor Mode (Un)The monitor mode can be used for monitoring the reference val

7.4 Operation in Monitor Mode (Un)7-277(2) Sequence I/O Signal Monitor DisplayThe following section describes the monitor display for sequence I/O

7 Digital Operator7.4.1 List of Monitor Modes7-28(b) Output Signal Monitor DisplayThe status of output signal allocated to each output terminal is d

7.4 Operation in Monitor Mode (Un)7-297(4) Monitor Display of Reference Pulse Counter and Feedback Pulse CounterThe monitor display of reference p

8-188Operation8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48.1.1 Trial Operation for Servomotor without

8 Operation 8-28.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-478.6.1 Setting Parameters - - - - - - - - - - - - - -

8-38

8 Operation 8-48.1 Trial OperationMake sure that all wiring has been completed prior to trial operation.Perform the following three types of trial

8.1 Trial Operation8-58Step Item Description Reference1Installation and mountingInstall the servomotor and SERVOPACK according to the installation co

8 Operation8.1.1 Trial Operation for Servomotor without Load8-68.1.1 Trial Operation for Servomotor without LoadIn this section, confirm the cable

xviii9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - 9-149.4.1 Feed-forward Reference- - - - - - - - - - - - - - - - -

8.1 Trial Operation8-78• JOG Mode Operation (Fn002)4Release the brake before driving the servomotor when a servomotor with brake is used.Refer to 8.

8 Operation8.1.1 Trial Operation for Servomotor without Load8-8The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Dire

8.1 Trial Operation8-988.1.2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I/O signals

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-10Step Description Check Method and Remarks1Configure an input sig

8.1 Trial Operation8-118(2) Operating Procedure in Speed Control Mode (Pn000 = n.0)The following circuit is required: External input signal circui

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-12 When Position Control is configured at the HostWhen the SERVOP

8.1 Trial Operation8-138(3) Operating Procedure in Position Control Mode (Pn000 = n.1)The following circuit is required: External input signal cir

8 Operation8.1.2 Trial Operation for Servomotor without Load from Host Reference8-1410 Check the reference pulse speed input to the SER-VOPACK using

8.1 Trial Operation8-1588.1.3 Trial Operation with the Servomotor Connected to the MachineFollow the procedures below to perform the trial operation

8 Operation8.1.4 Servomotor with Brakes8-168.1.4 Servomotor with BrakesHolding brake operation of the servomotor with brake can be controlled with

xixxixINDEXRevision History

8.2 Control Mode Selection8-1788.2 Control Mode SelectionThe control modes supported by the SGDJ SERVOPACK are described below.* If Pn000 = n.4

8 Operation8.3.1 Setting the Servo ON Signal8-188.3 Setting Common Basic Functions8.3.1 Setting the Servo ON SignalThis sets the servo ON signal (

8.3 Setting Common Basic Functions8-1988.3.2 Switching the Servomotor Rotation DirectionThe rotation direction of the servomotor can be switched wit

8 Operation8.3.3 Setting the Overtravel Limit Function8-208.3.3 Setting the Overtravel Limit FunctionThe overtravel limit function forces movable m

8.3 Setting Common Basic Functions8-218(3) Selecting the Motor Stop Method When Overtravel is UsedThis is used to set the stop method when an overtra

8 Operation8.3.4 Setting for Holding Brakes8-228.3.4 Setting for Holding BrakesThe holding brake is used when a SERVOPACK controls a vertical axis.

8.3 Setting Common Basic Functions8-238(2) Brake Interlock Output(3) Allocating Brake Signals (/BK)The brake signal (/BK) is not used with the factor

8 Operation8.3.4 Setting for Holding Brakes8-24(5) Setting the Brake ON Timing When Servomotor RunningThe following parameters can be used to change

8.3 Setting Common Basic Functions8-2588.3.5 Selecting the Stopping Method After Servo OFFThe stopping method when the power to the SERVOPACK turns

8 Operation8.3.6 Instantaneous Power Loss Settings8-268.3.6 Instantaneous Power Loss SettingsDetermines whether to continue operation or turn the s

Copyright © 2000 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1-111Outline1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21.1.1 Check Items - - - - - - -

8.4 Absolute Encoders8-2788.4 Absolute EncodersIf a motor with an absolute encoder is used, a system to detect the absolute position can be made in

8 Operation8.4.1 Interface Circuits8-288.4.1 Interface CircuitsThe following diagram shows the standard connections for a an absolute encoder mount

8.4 Absolute Encoders8-2988.4.2 Selecting an Absolute EncoderAn absolute encoder can also be used as an incremental encoder.8.4.3 Handling Batterie

8 Operation8.4.5 Absolute Encoder Setup (Fn008)8-308.4.5 Absolute Encoder Setup (Fn008)Setting up (initializing) the absolute encoder is necessary

8.4 Absolute Encoders8-3188.4.6 Absolute Encoder Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute encoder an

8 Operation8.4.6 Absolute Encoder Reception Sequence8-32Final absolute data PM is calculated by following formula.(3) Detailed Signal Specifications

8.4 Absolute Encoders8-338(b) PSO Serial Data SpecificationsThe number of revolutions is always output in five digits and seven digits (absolute posi

8 Operation8.4.6 Absolute Encoder Reception Sequence8-34(4) Transferring Alarm ContentsWhen an absolute encoder is used, SEN signals can be utilized

8.4 Absolute Encoders8-3588.4.7 Multiturn Limit Setting The parameter for the multiturn limit setting sets the upper limit for the multiturn data

8 Operation8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred8-368.4.8 Multiturn Limit Setting When Multiturn Limit Di

1 Outline1.1.1 Check Items1-21.1 Checking ProductsThe following procedure is used to check the AC servodrives of Σ-ΙΙ Series products on delivery.

8.5 Operating Using Speed Control with Analog Reference8-3788.5 Operating Using Speed Control with Analog Reference8.5.1 Setting ParametersParamete

8 Operation8.5.2 Setting Input Signals8-388.5.2 Setting Input Signals(1) Speed Reference InputInput the speed reference to the SERVOPACK using the

8.5 Operating Using Speed Control with Analog Reference8-3988.5.3 Adjusting OffsetWhen using the speed control, the servomotor may rotate slowly eve

8 Operation8.5.3 Adjusting Offset8-40(1) Automatic Adjustment of the Speed Reference OffsetThe automatic adjustment of reference offset (Fn009) cann

8.5 Operating Using Speed Control with Analog Reference8-418(2) Manual Adjustment of the Speed Reference OffsetUse the speed reference offset manual

8 Operation8.5.4 Soft Start8-428.5.4 Soft StartThe soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent r

8.5 Operating Using Speed Control with Analog Reference8-438(2) Parameter Setting(3) Input Signal SettingParameter MeaningPn000n.AControl mode sel

8 Operation8.5.7 Encoder Signal Output8-448.5.7 Encoder Signal OutputEncoder feedback pulses processed inside the SERVOPACK can be output externall

8.5 Operating Using Speed Control with Analog Reference8-458If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomo

8 Operation8.5.8 Speed Coincidence Output8-468.5.8 Speed Coincidence OutputThe speed coincidence (/V-CMP) output signal is output when the actual m

1.1 Checking Products1-311.1.3 SERVOPACKsSerialnumberOrdernumberApplicablepowersupplyApplicablemotorcapacitySERVOPACKmodelYASKAWAELECTRICMADE

8.6 Operating Using Position Control8-4788.6 Operating Using Position Control8.6.1 Setting Parameters(1) Control Mode Selection(2) Setting a Refere

8 Operation8.6.1 Setting Parameters8-48(3) Clear Signal Form SelectionThe internal processing of the SERVOPACK for the clear signal can be set to ei

8.6 Operating Using Position Control8-4988.6.2 Setting the Electronic Gear(1) Number of Encoder PulsesNote: For details on reading servomotor model

8 Operation8.6.2 Setting the Electronic Gear8-50(3) Related Parameters(4) Procedure for Setting the Electronic Gear RatioUse the following procedure

8.6 Operating Using Position Control8-518(5) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio settings for dif

8 Operation8.6.3 Position Reference8-528.6.3 Position ReferenceThe servomotor positioning is controlled by inputting a pulse train reference.The pu

8.6 Operating Using Position Control8-538Table 8.1 Reference Pulse Input Signal TimingReference Pulse Signal Form Electrical Specifications RemarksS

8 Operation8.6.3 Position Reference8-54(2) Connection Example(a) Connection Example for Line-driver OutputApplicable line driver: SN75174 manufactur

8.6 Operating Using Position Control8-558(3) Position Control Block DiagramA block diagram for position control is shown below.KpMPn201Pn204Pn202Pn20

8 Operation8.6.4 Smoothing8-568.6.4 SmoothingA filter can be applied in the SERVOPACK to a constant-frequency reference pulse.(1) Selecting a Posit

1 Outline1.2.1 Servomotors Without Gears and Brakes1-41.2 Product Part Names1.2.1 Servomotors Without Gears and Brakes(1) SGMMJ(2) SGMAJOutputsha

8.6 Operating Using Position Control8-5788.6.5 Positioning Completed Output SignalThis signal indicates that servomotor movement has been completed

8 Operation8.6.6 Positioning Near Signal8-588.6.6 Positioning Near SignalThis signal indicates that the positioning of the servomotor is near to co

8.6 Operating Using Position Control8-5988.6.7 Reference Pulse Inhibit Function (INHIBIT)(1) DescriptionThis function inhibits the SERVOPACK from co

8 Operation8.7.1 Setting Parameters8-608.7 Operating Using Torque Control8.7.1 Setting ParametersThe following parameters must be set for torque c

8.7 Operating Using Torque Control8-618 Checking the Internal Torque Reference1. Checking the internal torque reference with the panel operator:Use

8 Operation8.7.3 Adjusting the Reference Offset8-62Use the following procedure for automatic adjustment of the torque reference offset.(2) Manual Ad

8.7 Operating Using Torque Control8-638Use the following procedure to manually adjust the torque reference offset.8.7.4 Limiting Servomotor Speed du

8 Operation8.7.4 Limiting Servomotor Speed during Torque Control8-64(2) Internal Speed Limit Function(3) External Speed Limit Function The Principl

8.8 Operating Using Speed Control with an Internally Set Speed8-6588.8 Operating Using Speed Control with an Internally Set Speed• Internally Set S

8 Operation8.8.2 Input Signal Settings8-668.8.2 Input Signal SettingsThe following input signals are used to switch the operating speed.8.8.3 Oper

1.2 Product Part Names1-511.2.2 SERVOPACKs CN9MaincircuitpowersupplyterminalsandgroundterminalsUsedformaincircuitpowersupplyinput.Refe

8.8 Operating Using Speed Control with an Internally Set Speed8-678• Example of Operating with Internally Set Speed SelectionThe shock that results

8 Operation8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)8-688.9 Limiting TorqueThe SERVOPACK provides the following four methods for

8.9 Limiting Torque8-6988.9.2 External Torque Limit (Output Torque Limiting by Input Signals)This function allows the torque to be limited at specif

8 Operation8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)8-70(3) Changes in Output Torque during External Torque Limiting Exa

8.9 Limiting Torque8-7188.9.3 Torque Limiting Using an Analog Voltage ReferenceTorque limiting by analog voltage reference limits torque by assignin

8 Operation8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference8-728.9.4 Torque Limiting Using an External Torque Limi

8.9 Limiting Torque8-738(2) Input Signals8.9.5 Checking Output Torque Limiting during OperationThe following signal can be output to indicate that t

8 Operation8.10.1 Setting Parameters8-748.10 Control Mode SelectionThe methods and conditions for switching SERVOPACK control modes are described b

8.10 Control Mode Selection8-758(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 9, A, or B)Use the following signals to switch contr

8 Operation8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)8-768.11 Other Output SignalsThe following output signals, which

1 Outline1-61.3 Examples of Servo System ConfigurationsThis section describes examples of basic servo system configuration.NoisefilterMolded-caseci

8.11 Other Output Signals8-7788.11.2 Warning Output (/WARN)• Related ParametersThe following parameter is used to select the alarm code output.8.11

8 Operation8.11.4 Servo Ready (/S-RDY) Output8-788.11.4 Servo Ready (/S-RDY) OutputType Signal NameConnector Pin NumberSetting MeaningOutput /S-RDY

9-199Adjustments9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.1 Servo Gain Adjustment Methods - - -

9 Adjustments9.1.1 Servo Gain Adjustment Methods9-29.1 Autotuning9.1.1 Servo Gain Adjustment MethodsThe SERVOPACK has the servo gains to determine

9.1 Autotuning9-399.1.2 List of Servo Adjustment Functions(1) Autotuning FunctionsAutotuning calculates the load moment of inertia, which determines

9 Adjustments9.1.2 List of Servo Adjustment Functions9-4(3) Vibration Reduction FunctionsFunction Name and Related ParametersDescription Features Va

9.2 Online Autotuning9-599.2 Online Autotuning 9.2.1 Online Autotuning Online autotuning calculates the load moment of inertia during operation of

9 Adjustments9.2.2 Online Autotuning Procedure9-69.2.2 Online Autotuning Procedure• Do not perform extreme adjustment or setting changes causing u

9.2 Online Autotuning9-799.2.3 Selecting the Online Autotuning Execution MethodThere are three methods that can be used for online autotuning: At st

9 Adjustments9.2.4 Machine Rigidity Setting for Online Autotuning9-89.2.4 Machine Rigidity Setting for Online AutotuningThere are ten machine rigid

1.4 Applicable Standards1-711.4 Applicable StandardsΣ-II Series servodrives conform to the following overseas standards.1.4.1 North American Safety

9.2 Online Autotuning9-999.2.5 Method for Changing the Machine Rigidity SettingThe machine rigidity setting is changed in utility function mode usin

9 Adjustments9.2.6 Saving the Results of Online Autotuning9-109.2.6 Saving the Results of Online AutotuningFor online autotuning, the most recent l

9.3 Manual Tuning9-1199.3 Manual Tuning9.3.1 Explanation of Servo GainThe block diagram for position control is as follows:To adjust the servo gain

9 Adjustments9.3.2 Servo Gain Manual Tuning9-129.3.2 Servo Gain Manual TuningThe SERVOPACK has the following parameters for the servo gains. Setti

9.3 Manual Tuning9-1399.3.4 Speed Loop Gain9.3.5 Speed Loop Integral Time Constant Selecting the Speed Loop Control Method (PI Control or I-P Cont

9 Adjustments9.4.1 Feed-forward Reference9-149.4 Servo Gain Adjustment Functions9.4.1 Feed-forward ReferencePn109 Feed-forward Setting Range Setti

9.4 Servo Gain Adjustment Functions9-1599.4.2 Torque Feed-forwardParameter MeaningPn002 n.0Disabledn.2Uses T-REF terminal for torque feed-forw

9 Adjustments9.4.3 Proportional Control Operation (Proportional Operation Reference)9-169.4.3 Proportional Control Operation (Proportional Operatio

9.4 Servo Gain Adjustment Functions9-1799.4.4 Using the Mode Switch (P/PI Switching)Use the mode switch (P/PI switching) function in the following c

9 Adjustments9.4.4 Using the Mode Switch (P/PI Switching)9-18Using the Torque Reference Level to Switch Modes (Factory Setting)With this setting, th

2-122Selections2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22.1.1 Model SGMMJ - - - - - - - -

9.4 Servo Gain Adjustment Functions9-199Using the Acceleration Level to Switch ModesWith this setting, the speed loop is switched to P control when t

9 Adjustments9.4.5 Setting the Speed Bias9-209.4.5 Setting the Speed BiasThe settling time for positioning can be reduced by setting the following

9.4 Servo Gain Adjustment Functions9-2199.4.7 Speed Feedback CompensationThe speed feedback compensation can be used to reduce vibration and allow a

9 Adjustments9.4.7 Speed Feedback Compensation9-22(1) Adjustment ProcedureThe following procedure explains how to adjust when the speed loop gain ca

9.4 Servo Gain Adjustment Functions9-2399.4.8 Switching Gain SettingsGain switching by the external signal is possible with the SGDJ SERVOPACK. For

9 Adjustments9.4.9 Torque Reference Filter9-249.4.9 Torque Reference FilterAs shown in the following diagram, the torque reference filter contains

9.4 Servo Gain Adjustment Functions9-2591. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter fre-qu

9 Adjustments9-269.5 Analog MonitorSignals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cab

9.5 Analog Monitor9-2799.5.1 Related Parameters The following signals can be monitored.(1) Pn003: Function Selections * When using speed control or

9 Adjustments9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)9-289.5.2 Manual Zero Adjustment and Gain Adju

2 Selections2.1.1 Model SGMMJ2-22.1 Servomotor Model DesignationsThis section explains how to check the servomotor model and ratings. The alphanum

9.5 Analog Monitor9-299(1) Manual Zero Adjustment of Analog Monitor Output (Fn00C)Follow the procedure below to execute the manual zero adjustment of

9 Adjustments9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)9-30(2) Manual Gain Adjustment of Analog Monito

10-11010Inspection, Maintenance, andTroubleshooting10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-210.1.1 Alarm

10 Inspection, Maintenance, and Troubleshooting10.1.1 Alarm Display Table10-210.1 Troubleshooting10.1.1 Alarm Display TableThe relation between al

10.1 Troubleshooting10-310A.81Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared.N/AHHHHA

10 Inspection, Maintenance, and Troubleshooting10.1.2 Warning Display10-410.1.2 Warning DisplayThe relation between warning displays and warning co

10.1 Troubleshooting10-51010.1.3 Troubleshooting of Alarm and WarningWhen an error occurs in servodrive, an alarm display such as A. and CPF or

10 Inspection, Maintenance, and Troubleshooting10.1.3 Troubleshooting of Alarm and Warning10-6A.10Overcurrent (An overcurrent flowed through the MOS

10.1 Troubleshooting10-710A.51Overspeed(Detected when the feedback speed is the max-imum motor speedOccurred when the control power sup-ply was turne

10 Inspection, Maintenance, and Troubleshooting10.1.3 Troubleshooting of Alarm and Warning10-8A.74Overload of Surge Current Limit Resistor(Detected

2.1 Servomotor Model Designations2-32(2) With GearsSGMMJ−A1 C A J 1 2 1A1st+2nddigits3rddigits4thdigits5thdigits6thdigits7thdigits8thdigits9thdigi

10.1 Troubleshooting10-910A.84Encoder Data Error(Detected on the encoder side.) Occurred when the control power sup-ply was turned ON.A malfunction o

10 Inspection, Maintenance, and Troubleshooting10.1.3 Troubleshooting of Alarm and Warning10-10A.C8Absolute Encoder Clear Error and Multi-turn Limit

10.1 Troubleshooting10-1110* 1. This alarm occurs when the communications is still disabled five seconds after digital opera-tor power supply is ON,

10 Inspection, Maintenance, and Troubleshooting10.1.3 Troubleshooting of Alarm and Warning10-12(2) Warning Display and TroubleshootingTable 10.4 Wa

10.1 Troubleshooting10-131010.1.4 Troubleshooting for Malfunction without Alarm DisplayThe troubleshooting for the malfunctions that causes no alarm

10 Inspection, Maintenance, and Troubleshooting10.1.4 Troubleshooting for Malfunction without Alarm Display10-14Servomotor Rotates With-out Refer-en

10.1 Troubleshooting10-1510Servomotor Vibrates at about 200 to 400 HzSpeed loop gain value (Pn100) too high.Factory setting: Kv=40.0 HzRefer to 9.3.

10 Inspection, Maintenance, and Troubleshooting10.1.4 Troubleshooting for Malfunction without Alarm Display10-16Overtravel (OT)(Movement over the zo

10.1 Troubleshooting10-1710Servomotor OverheatedAmbient temperature too high Measure servomotor ambient temperature. Reduce ambient temperature to 40

10 Inspection, Maintenance, and Troubleshooting10.2.1 Servomotor Inspection10-1810.2 Inspection and Maintenance10.2.1 Servomotor InspectionThe AC

iiiAbout this ManualIntended AudienceThis manual is intended for the following users.• Those selecting Σ-II Series servodrives or peripheral devices

2 Selections2.1.2 Model SGMAJ2-42.1.2 Model SGMAJ(1) Standard TypeSGMAJ − A5 C A A 2 11st+2nddigits:RatedOutput(kW)CodeA5A8010203Rated

10.2 Inspection and Maintenance10-191010.2.3 SERVOPACK’s Parts Replacement ScheduleThe following electric or electronic parts are subject to mechani

10 Inspection, Maintenance, and Troubleshooting10.3.1 Example of Connection to MP920 4-axes Analog Module SVA-0110-2010.3 Connection to Host Contro

10.3 Connection to Host Controller10-211010.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)*

10 Inspection, Maintenance, and Troubleshooting10.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC2010-2210.3.3 Example of Co

10.3 Connection to Host Controller10-231010.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Cont

10 Inspection, Maintenance, and Troubleshooting10.3.5 Example of Connection to OMRON’s Motion Control Unit10-2410.3.5 Example of Connection to OMRO

10.3 Connection to Host Controller10-251010.3.6 Example of Connection to OMRON’s Position Control Unit* 1. The ALM signal is output for about two s

10 Inspection, Maintenance, and Troubleshooting10.3.7 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control

10.3 Connection to Host Controller10-271010.3.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mod

10 Inspection, Maintenance, and Troubleshooting10.3.9 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)1

2.1 Servomotor Model Designations2-52(2) With GearsSGMAJ−A5 C A J 1 2 1A1st+2nddigit:RatedOutput(kW)CodeA5A8010203RatedOutput0.050.080.10.20.3

10.3 Connection to Host Controller10-291010.3.10 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)*

10 Inspection, Maintenance, and Troubleshooting10.4.1 Utility Functions List10-3010.4 List of Parameters10.4.1 Utility Functions ListThe following

10.4 List of Parameters10-311010.4.2 List of Parameters(1) Parameter DisplayParameter settings are displayed as shown below.(2) Definition of Displa

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-32Param-eter No.Name Setting Range Units Factory Setting Setting Validati

10.4 List of Parameters10-3310Pn001 Function Selection Application Switches 1−−0000 0010 After restart−Param-eter No.Name Setting Range Units Factory

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-34Pn002 Function Selection Application Switches 2−−0000 0000 After restar

10.4 List of Parameters10-3510* Used only for SGDJ-P SERVOPACK for position control mode.Pn003 Function Selection Application Switches 3−−0002 00

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-36* Used only for SGDJ-P SERVOPACK for position control mode.Param-et

10.4 List of Parameters10-3710* The parameter Pn111 setting is enabled only when the parameter Pn110.1 is set to 0.Param-eter No.Name Setting Range

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-38* 1. Used only for SGDJ-P SERVOPACK for position control mode.* 2.

2 Selections2-62.2 SERVOPACK Model DesignationsSelect the SERVOPACK according to the applied servomotor.1st+2nddigits3rddigits4thdigits5thdigitsA

10.4 List of Parameters10-3910* Used only for SGDJ-P SERVOPACK for position control mode.Param-eter No.Name Setting Range Units Factory Setting S

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-40* Used only for SGDJ-P SERVOPACK for position control mode.Param-et

10.4 List of Parameters10-4110* When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are com-patible: Pn50A.1

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-42 Input signal polaritiesParam-eter No.Name Setting Range Units Factory

10.4 List of Parameters10-4310Parame-ter No.Name Setting Range Units Factory Setting Setting ValidationReference SectionS PPn50C Input Signal S

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-44Pn50D Input Signal Selections 4−−8888 8888 After restart−Parame-ter No.

10.4 List of Parameters10-4510Pn50E Output Signal Selections 1−−3211 3211 After restart−Pn50F Output Signal Selections 2−−0000 0000 After restart−Par

10 Inspection, Maintenance, and Troubleshooting10.4.2 List of Parameters10-46* 1. Normally set to “0.” When using an external regenerative resisto

10.4 List of Parameters10-471010.4.3 Monitor ModesThe following list shows monitor modes available.Parameter No.Content of Display UnitUn000 Actual

IndexIndex-1INDEXAabsolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13absolute encoder reception sequence - - - - -

2.3 SGDJ SERVOPACKs and Applicable Servomotors2-722.3 SGDJ SERVOPACKs and Applicable ServomotorsServomotorSGDJ SERVOPACK24 VDC 48 VDC24 VDCSGMMJA1CA

IndexIndex-2load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3lost motion - - - - - - - - - - - - - - - - - -

IndexIndex-3servomotor inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18servomotor main circuit cablespecifications and dimens

IndexIndex-4wiringabsolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6incremental encoders - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of Printing Rev. No.Section Revi

YASKAWAYASKAWA ELECTRIC CORPORATIONPrinted in Japan August 2004 00-6MANUAL NO. SIE-S800-38CIRUMA BUSINESS CENTER480, Kamifujisawa, Iruma, Saitama

2 Selections2-82.4 Selecting CablesCN4cdeFG

2.4 Selecting Cables2-92Name Length Type SpecificationsRefer-encecEncoder CableCable with connec-tors at both ends3 m(9.84 ft)JZSP-CMP00-035.3.15 m(1

2 Selections2-10dServomo-tor Main Circuit Cables and Con-nectorsSGMMJWithout brakes3 m(9.84 ft)JZSP-CDM00-035.2.25 m(16.4 ft)JZSP-CDM00-0510 m(32.8 f

2.4 Selecting Cables2-112For a flexible cable, contact your Yaskawa representative.dServomo-tor Main Circuit Cables and Con-nectors(Cont’d)SGMAJ conn

2 Selections2.5.1 Special Options2-122.5 Selecting Peripheral Devices2.5.1 Special Options* Install the battery for the absolute encoder on the s

2.5 Selecting Peripheral Devices2-1322.5.2 Molded-case Circuit Breaker and Fuse CapacityNote: 1. Connect the fuse or the molded-case circuit breaker

ivQuick access to your required informationRead the chapters marked with 9 to get the information required for your purpose. Visual AidsThe follo

2 Selections2.5.3 AC/DC Power Supply and Power Supply Input Capacitor2-14The following table shows the fuse or the molded-case circuit breaker speci

2.5 Selecting Peripheral Devices2-1522.5.4 Noise Filters, Surge Suppressors, Magnetic Conductors, and Brake Power Supply Note: 1. Connect a noise fi

3-133Specifications and DimensionalDrawings 3.1 Ratings and Specifications of SGMMJ (3000 min-1) - - - - - - - - - - - - - - - - 3-23.1.1 SGMMJ Serv

3 Specifications and Dimensional Drawings3.1.1 SGMMJ Servomotors Without Gears3-23.1 Ratings and Specifications of SGMMJ (3000 min-1)3.1.1 SGMMJ S

3.1 Ratings and Specifications of SGMMJ (3000 min-1)3-33(2) Holding Brake Moment of InertiaThe moment of inertia of the servomotor with holding brake

3 Specifications and Dimensional Drawings3.1.2 SGMMJ Servomotors With Standard Backlash Gears3-43.1.2 SGMMJ Servomotors With Standard Backlash Gear

3.2 Ratings and Specifications of SGMAJ (3000min-1)3-53* 1. Gear output torque is expressed using the following equation. (Gear output torque) = (s

3 Specifications and Dimensional Drawings3.2.1 SGMAJ Servomotors Without Gears3-6(2) Holding Brake Moment of InertiaThe moment of inertia of the ser

3.2 Ratings and Specifications of SGMAJ (3000min-1)3-73(5) Holding Brake Electrical SpecificationsNote: The holding brake is only used to hold the l

3 Specifications and Dimensional Drawings3.2.2 SGMAJ Servomotors With Standard Backlash Gears3-83.2.2 SGMAJ Servomotors With Standard Backlash Gear

vRelated ManualsRefer to the following manuals as required.Manual Name Manual Number ContentsΣ-II Series SGMH/SGDM Digital Operator Operation ManualT

3.2 Ratings and Specifications of SGMAJ (3000min-1)3-93* 1. Maximum motor speed is up to 4000 min-1 at the shaft.* 2. Gear output torque is express

3 Specifications and Dimensional Drawings3.2.3 SGMAJ Servomotors With Low-backlash Gears3-103.2.3 SGMAJ Servomotors With Low-backlash Gears• Time R

3.2 Ratings and Specifications of SGMAJ (3000min-1)3-113* 1. Maximum motor speed is up to 4000 min-1 at the shaft.* 2. Gear output torque is expres

3 Specifications and Dimensional Drawings3.3.1 Precautions on Servomotor Installation3-123.3 Mechanical Specifications of SGMMJ and SGMAJ Servomoto

3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors3-1331. Before starting installation, thoroughly remove the anticorrosive paint that coa

3 Specifications and Dimensional Drawings3.3.2 Mechanical Characteristics of SGMMJ Servomotors3-143.3.2 Mechanical Characteristics of SGMMJ Servomo

3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors3-153(5) Vibration ClassThe vibration class for the servomotors at rated motor speed is s

3 Specifications and Dimensional Drawings3.3.3 Mechanical Characteristics of SGMAJ Servomotors3-16(3) Impact ResistanceMount the servomotor with the

3.4 Terms and Data for Servomotors With Gears3-1733.4 Terms and Data for Servomotors With Gears(1) Terms for Servomotors With Standard Backlash Gear

3 Specifications and Dimensional Drawings3-18(3) EfficiencyThe output torque and motor speed produce the following trends in efficiency. The values i

viSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3.5 Dimensional Drawings of SGMMJ Servomotors (3000min-1)3-1933.5 Dimensional Drawings of SGMMJ Servomotors (3000min-1)3.5.1 SGMMJ Servomotors (300

3 Specifications and Dimensional Drawings3.5.2 SGMMJ Servomotors (3000min-1) Standard and With Brakes3-203.5.2 SGMMJ Servomotors (3000min-1) Standa

3.5 Dimensional Drawings of SGMMJ Servomotors (3000min-1)3-2133.5.3 SGMMJ Servomotor (3000min-1) With Gears and Without Brakes(1) 10 W, 20 WNote: Th

3 Specifications and Dimensional Drawings3.5.3 SGMMJ Servomotor (3000min-1) With Gears and Without Brakes3-22(2) 30 WNote: The key slot conforms to

3.5 Dimensional Drawings of SGMMJ Servomotors (3000min-1)3-2333.5.4 SGMMJ Servomotors (3000min-1) With Gears and Brakes(1) 10 W, 20 WNote: The key s

3 Specifications and Dimensional Drawings3.5.4 SGMMJ Servomotors (3000min-1) With Gears and Brakes3-24(2) 30 WNote: 1. The key slot conforms to the

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-2533.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3.6.1 SGMAJ Servomotors (3

3 Specifications and Dimensional Drawings3.6.1 SGMAJ Servomotors (3000 min-1) Without Gears3-26• Dimensional Tolerances(2) 200 W, 300 WUnits: mm (i

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-2731. The dimensions for L and LL of a servomotor incorporating an encoder with super-ca

3 Specifications and Dimensional Drawings3.6.2 SGMAJ Servomotors (3000 min-1) Without Gears and With Brakes3-283.6.2 SGMAJ Servomotors (3000 min-1)

viiNotes for Safe OperationRead this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operat

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-293• Dimensional Tolerances(2) 200 W, 300 WUnits: mm (in)Model SGMAJ-Shaft-end Dimension

3 Specifications and Dimensional Drawings3.6.3 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes3-301. The dimensions

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-313Units: mm (in)Model SGMAJ-Gear RatioL LL LM LR LG B LD LB L1 L2 L3 Q QK SA5AJ111/51

3 Specifications and Dimensional Drawings3.6.3 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes3-321. The dimensions

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-333(2) 200 W, 300 WφSh7φBφLDφLBh7Aφ0.05(φ0.0020)A 0.04 (0.0016)LLL LRLML1L3LGLEL2QKQA0.06

3 Specifications and Dimensional Drawings3.6.3 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes3-341. The dimensions

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-3533.6.4 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Brakes(1) 50 W,

3 Specifications and Dimensional Drawings3.6.4 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Brakes3-361. The dimensions for L an

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-373(2) 200 W, 300 WA8CAJ7101EAJ101EAJ301EAJC01EAJ7Units: mm (in) (cont’d)Mo

3 Specifications and Dimensional Drawings3.6.4 SGMAJ Servomotors (3000 min-1) With Standard Backlash Gears and Brakes3-381. The dimensions for L an

viiiChecking on DeliveryStorage and TransportationInstallation• Always use the servomotor and SERVOPACK in one of the specified combinations.F

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-3933.6.5 SGMAJ Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes(1) 50

3 Specifications and Dimensional Drawings3.6.5 SGMAJ Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes3-401. The dimensions for L

3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min-1)3-413(2) 200 W, 300 WA8CAHC1A8CAH7101EAH1101EAHB101EAHC101EAH71Units: mm (in)

3 Specifications and Dimensional Drawings3.6.5 SGMAJ Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes3-421. The dimensions for L

3.7 Dimensional Drawing of Output Shafts With Oil Seals3-4333.7 Dimensional Drawing of Output Shafts With Oil SealsFor the SGMAJ servomotors with oi

4-144SERVOPACK Specifications andDimensional Drawings4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-24.1.

4 SERVOPACK Specifications and Dimensional Drawings4.1.1 SERVOPACK Ratings and Specifications 14-24.1 SERVOPACK Ratings and Specifications4.1.1 SE

4.1 SERVOPACK Ratings and Specifications4-344.1.2 SERVOPACK Ratings and Specifications 2Item Ratings and SpecificationsSGDJ-S PBasic Specifi-c

4 SERVOPACK Specifications and Dimensional Drawings4.1.2 SERVOPACK Ratings and Specifications 24-4* 1. Use the SERVOPACK within the ambient tempera

4.2 SERVOPACK Installation4-544.2 SERVOPACK InstallationThe SGDJ SERVOPACKs can be mounted on a compact servo amplifier with a book-end design. Inco

ixWiring• Do not connect a three-phase power supply to the U, V, or W output terminals.Failure to observe this caution may result in injury or fire.

4 SERVOPACK Specifications and Dimensional Drawings4-6InstallationFollow the procedure below to install multiple SERVOPACKs side by side in a control

4.3 SERVOPACK Internal Block Diagrams4-744.3 SERVOPACK Internal Block Diagrams4.3.1 Speed and Torque Control (SGDJ-S)POWERA/DI/O1KML1L2FU1,FU3CN

4 SERVOPACK Specifications and Dimensional Drawings4.3.2 Position Control (SGDJ-P)4-84.3.2 Position Control (SGDJ-P)POWERI/O1KML1L2FU1,FU3CN7

4.4 SERVOPACK’s Power Supply Capacities and Power Losses4-944.4 SERVOPACK’s Power Supply Capacities and Power LossesThe following table shows SERVOP

4 SERVOPACK Specifications and Dimensional Drawings4.5.1 Overload Characteristics4-104.5 SERVOPACK Overload Characteristics and Allowable Load Mome

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia4-1144.5.2 Starting and Stopping TimeThe motor starting time (tr) and sto

4 SERVOPACK Specifications and Dimensional Drawings4.5.4 Overhanging Loads4-124.5.4 Overhanging Loads A servomotor may not be operated with an over

4.6 Dimensional Drawings4-1344.6 Dimensional Drawings4.6.1 24 VDC: 10/50 W (A1C/A5C)48 VDC: 50 W to 200 W (A5E to 02E)External dimensions commo

5-155Specifications and Dimensional Drawings of Cables and Peripheral Devices5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Ca

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices5.1.1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes5-25.1 Specifi