YASKAWA E Series Product Manual Download Page 36

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This chapter describes calculation methods to use when
selecting Servomotor capacities.

2.1

Selecting the Servomotor Capacity . . . . . . 2-2

2.1.1

Capacity Selection Example for a Rotary
Servomotor: For Speed Control . . . . . . . . . . . . . 2-2

2.1.2

Capacity Selection Example for a Rotary
Servomotor: For Position Control . . . . . . . . . . . . 2-4

Capacity Selection

Summary of Contents for E Series

Page 1: ...Appendices Specifications Ratings and External Dimensions of SGMMV Servomotors Connections between Servomotors and SERVOPACKs Specifications Ratings and External Dimensions of SGM7G Servomotors Speci...

Page 2: ...liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Page 3: ...how to interpret the model numbers of SGM7J Servomotors and gives their specifications ratings and external dimensions 5 Specifications Ratings and External Dimensions of SGM7A Servomotors Describes...

Page 4: ...rs 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals 7 Series 7S 7...

Page 5: ...iled information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series 7...

Page 6: ...d procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for ins...

Page 7: ...Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001...

Page 8: ...rive 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual AC Servo Drives V Series V Series for Large Capacity Mode...

Page 9: ...chine Controller MP3000 Series Motion Programming Manual SIEP C880725 14 Provides detailed information on the motion programming and sequence programming specifica tions and instructions for MP3000 Se...

Page 10: ...r A 7 Series Rotary Servomotor SERVOPACK A 7 Series 7S Servo Amplifier Servo Drive The combination of a Servomotor and SERVOPACK Main Circuit Cable One of the cables that connect to the main circuit t...

Page 11: ...tion marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss...

Page 12: ...ontact 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 n...

Page 13: ...ocations 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 Although machined surfaces are covered with an anticorrosive...

Page 14: ...ine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be...

Page 15: ...Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure If you use oil as the gear lubricant always inject the specified oil before starting operation You can inst...

Page 16: ...main circuit terminals Turn ON the power supply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals r...

Page 17: ...he Servomotor or machine during operation There is a risk of injury CAUTION Do not use the holding brake built into a Servomotor to stop the Servomotor The holding brake is designed to hold the motor...

Page 18: ...y by qualified engineers There is a risk of electric shock or product failure If you replace a Servomotor with a Holding Brake secure the machine before you replace the Servomotor There is a risk of i...

Page 19: ...ever local ordinances and national laws must be observed Implement all labeling and warnings as a final product as required Figures provided in this document are typical examples or conceptual represe...

Page 20: ...ed 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 whic...

Page 21: ...roperty 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...

Page 22: ...tandards North American Safety Standards UL 1 Certification is pending 2 SGM7F B C and D Certified SGM7F A Certification is pending Product Model North American Safety Standards UL File No SERVOPACKs...

Page 23: ...8 EN 61800 5 1 SGD7W EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2014 35 EU EN 50178 EN 61800 5 1 Rotary...

Page 24: ...vel IEC 61508 SIL3 IEC 62061 SILCL3 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous...

Page 25: ...W 1 3 1 2 Interpreting the Nameplates 1 4 1 2 1 SGMMV Servomotors 1 4 1 2 2 SGM7J SGM7A SGM7P and SGM7G Servomotors 1 4 1 3 Outline of Model Designations 1 5 1 3 1 Servomotor 1 5 1 3 2 SERVOPACKs 1 5...

Page 26: ...pplications Where the Surrounding Air Temperature of the Servomotor Exceeds 40 C 4 11 4 2 10 Applications Where the Altitude of the Servomotor Exceeds 1 000 m 4 12 4 3 External Dimensions 4 13 4 3 1 S...

Page 27: ...ristics 6 8 6 2 6 Load Moment of Inertia 6 8 6 2 7 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built in Regenerative Resistors 6 9 6 2 8 Servomotor Heat Dissipation Conditio...

Page 28: ...s 9 2 9 1 1 System Configurations 9 2 9 1 2 Servomotor Main Circuit Cables 9 3 9 1 3 Encoder Cables of 20 m or Less 9 3 9 1 4 Relay Encoder Cables of 30 m to 50 m 9 4 9 2 Cables for the SGM7J and SGM7...

Page 29: ...1 1 Terminology for Servomotors with Low backlash Gears 11 2 11 1 2 Noise Data 11 2 11 1 3 Efficiency 11 3 11 2 Reference Information for Servomotor Capacity Selection 11 4 11 2 1 Formulas Required to...

Page 30: ...Servomotors Up to 450 W 1 2 1 1 4 SGM7A Servomotors of 1 5 kW to 5 0 kW and SGM7G Servomotors of 850 W and Higher 1 3 1 1 5 SGM7A Servomotors of 7 0 kW 1 3 1 1 6 SGM7P Servomotors of 750 W and 1 5 kW...

Page 31: ...Brakes Servomotors with Gears Connector for Servomotor Main Circuit Cable Connector for Encoder Cable Encoder Nameplate Motor shaft Motor flange Encoder Nameplate Motor flange Motor shaft Connector fo...

Page 32: ...Standard Servomotors Servomotors with Brakes Motor flange Motor shaft Encoder Connector for Servomotor Main Circuit Cable Connector for Encoder Cable Nameplate Connector for Servomotor Main Circuit Ma...

Page 33: ...e Servomotor The layout of the nameplate depends somewhat on the model of the Servomotor Certification marks for the standards for which the Servomotor has been certified by certification bodies are s...

Page 34: ...rtia ultra small capacity Medium inertia high speed Low inertia high speed Medium inertia flat Medium inertia low speed high torque 200 VAC 17 bit absolute encoder 24 bit batteryless absolute encoder...

Page 35: ...GM7J 06A 600 W 5R5A 5R5A 7R6A SGM7J 08A 750 W SGM7A Low inertia high speed 3000 min 1 SGM7A A5A 50 W R70A R70F 1R6A 1 2R8A 1 SGM7A 01A 100 W R90A R90F SGM7A C2A 150 W 1R6A 2R1F 1R6A 2R8A 1 SGM7A 02A 2...

Page 36: ...selecting Servomotor capacities 2 1 Selecting the Servomotor Capacity 2 2 2 1 1 Capacity Selection Example for a Rotary Servomotor For Speed Control 2 2 2 1 2 Capacity Selection Example for a Rotary S...

Page 37: ...10 4 kg m2 Linear Motion Section Mass m 250 kg Number of Feeding Operations n 40 rotations min Ball Screw Length B 1 0 m Feeding Distance 0 275 m Ball Screw Diameter dB 0 02 m Feeding Time tm 1 2 s m...

Page 38: ...1 JB JG 1 58 0 31 0 40 10 4 2 29 10 4 kg m2 Item Value Rated Output 200 W Rated Motor Speed 3 000 min 1 Rated Torque 0 637 N m Instantaneous Maximum Torque 2 23 N m Motor Moment of Inertia 0 263 10 4...

Page 39: ...ue Motor Speed Item Code Value Item Code Value Load Speed L 15 m min Coupling Outer Diam eter dC 0 03 m Linear Motion Section Mass m 80 kg Number of Feeding Operations n 40 rotation min Ball Screw Len...

Page 40: ...R 3 000 1 3 000 min 1 Linear motion section Ball screw Coupling Load moment of inertia at motor shaft JL JL1 JB Jc 1 25 10 4 kg m2 Item Value Rated Output 100 W Rated Motor Speed 3 000 min 1 Rated To...

Page 41: ...m pulse so the reference pulse frequency is calculated with the following for mula The reference pulse frequency is less than the maximum input pulse frequency so the provisionally selected Servomotor...

Page 42: ...acteristics 3 5 3 2 4 Servomotor Overload Protection Characteristics 3 5 3 2 5 Load Moment of Inertia 3 6 3 2 6 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built in Regenera...

Page 43: ...cation Code Specification 6th digit Shaft End 7th digit Options Without options With holding brake 24 VDC Straight Code Specification Straight with flat seats Code Specification Code Specification C A...

Page 44: ...Rating Continuous Thermal Class B Insulation Resistance 500 VDC 10 M min Withstand Voltage 1 500 VAC for 1 minute Excitation Permanent magnet Mounting Flange mounted Drive Method Direct drive Rotatio...

Page 45: ...em so that the thrust and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the table Voltage 200 V Model SGMMV A1A A2A A3A Rated Output 1 W 10 20 30...

Page 46: ...haracteristics will become smaller because the voltage drop increases 3 2 4 Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomoto...

Page 47: ...ng deceleration if the load moment of inertia exceeds the allowable load moment of inertia SERVOPACKs with a built in regenerative resis tor may generate a Regenerative Overload Alarm A 320 Perform on...

Page 48: ...urface for heat dissipation becomes smaller Refer to the following graphs for the relation between the heat sink size and derating rate When using Servomotors with derating change the overload warning...

Page 49: ...at Seats Model SGMMV L L1 L2 Flange Dimensions Approx Mass kg S LB A1A2A 1 70 54 27 5 5 20 0 13 A2A2A 1 80 64 37 5 5 20 0 17 A3A2A 1 90 74 47 5 5 20 0 21 300 30 Servomotor connector 30 300 Encoder con...

Page 50: ...ht with Flat Seats Model SGMMV L L1 L2 Flange Dimensions Approx Mass kg S LB A1A2A C 94 5 78 5 27 5 5 20 0 215 A2A2A C 108 5 92 5 37 5 5 20 0 27 A3A2A C 118 5 102 5 47 5 5 20 0 31 300 30 30 300 25 16...

Page 51: ...Specifications SGMMV A1 A2 and A3 with Holding Brakes Encoder Connector Specifications 24 bit Encoder Servomotor Connector Specifications Model 55102 0600 Manufacturer Molex Japan LLC Mating connector...

Page 52: ...ection Characteristics 4 8 4 2 6 Load Moment of Inertia 4 9 4 2 7 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built in Regenerative Resistors 4 10 4 2 8 Servomotor Heat Diss...

Page 53: ...Design Revision Order A5 01 C2 02 200 W 150 W 50 W 04 400 W 06 600 W 08 750 W 0 2 6 1 C B 1 11 1 C 1 21 1 1 5 1 9 2 2 7 H A 200 VAC A 1 33 100 W 7 Series Servomotors SGM7J Rated Output 5th digit Desig...

Page 54: ...thod Direct drive Rotation Direction Counterclockwise CCW for forward reference when viewed from the load side Vibration Class 1 V15 Environmen tal Condi tions Surrounding Air Temperature 0 C to 40 C...

Page 55: ...3 16 9 Rated Motor Speed 1 min 1 3000 Maximum Motor Speed 1 min 1 6000 Torque Constant N m Arms 0 316 0 413 0 321 0 444 0 544 0 493 0 584 Motor Moment of Inertia 10 4 kg m2 0 0395 0 0659 0 0915 0 263...

Page 56: ...stics are the same for a single phase 200 V and single phase 100 V input 2 The characteristics are the same for three phase 200 V and single phase 200 V input Note 1 These values are for operation in...

Page 57: ...l Models Gear Mechanism Protective Structure Lost Motion arc min Planetary gear mechanism Totally enclosed self cooled IP55 except for shaft opening 3 max Servomotor Model SGM7J Servomotor Gear Output...

Page 58: ...mm Motor Gear Gear Motor Gear Gear A5A AH1 0 0455 0 006 0 0445 0 005 95 431 37 A5A AH2 0 0425 0 003 0 0425 0 003 113 514 37 A5A AHC 0 0435 0 004 0 0435 0 004 146 663 37 A5A AH7 0 0845 0 045 0 0845 0 0...

Page 59: ...orque and motor speed conditions The temperature rise depends on the loss and heat dissipation conditions For the heat dissipation conditions always refer to the following table and check the gear and...

Page 60: ...rvoltage Alarm A 400 is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia SERVOPACKs with a built in regenerative resis tor may generate a...

Page 61: ...eleration at the rated torque or higher Applicable SERVOPACK models SGD7S R70A R90A 1R6A 2R8A R70F R90F 2R1F and 2R8F Motor speed min 1 Motor speed min 1 SGM7J A5A 0 1000 2000 3000 4000 5000 6000 7000...

Page 62: ...re that exceeds 40 C 60 C max apply a suitable derating rate from the following graphs When using Servomotors with derating change the overload warning and overload alarm detection timing in advance b...

Page 63: ...g in advance based on the overload detection level of the motor Refer to the following section for the overload detection level of the motor 4 2 5 Servomotor Overload Protection Characteristics on pag...

Page 64: ...s 4 3 2 Shaft End Specifications on page 4 15 3 Refer to the following section for information on connector mounting dimensions 4 3 3 Connector Mounting Dimensions on page 4 16 Specifications of Optio...

Page 65: ...or information on connector mounting dimensions 4 3 3 Connector Mounting Dimensions on page 4 16 Specifications of Options Oil Seal Model SGM7J L 1 LL 1 LM Flange Dimensions S MD MW MH ML Approx Mass...

Page 66: ...With two flat seats Shaft End Details Servomotor Model SGM7J A5 01 C2 02 04 06 08 Code 2 Straight without Key LR 25 30 40 S 8 14 19 Code 6 Straight with Key and Tap LR 25 30 40 QK 14 14 22 S 8 14 19 W...

Page 67: ...s SGM7J A5 01 and C2 SGM7J 02 04 and 06 SGM7J 08 Cable Installed on Load Side Cable Installed on Non load Side Cable Installed on Load Side Cable Installed on Non load Side Cable Installed on Load Sid...

Page 68: ...5 162 210 120 168 101 4 42 2 2 5 29 39 5 40 40 46 3 4 C2A AHB 1 11 202 5 250 5 144 5 192 5 125 9 58 2 5 8 40 55 5 56 60 70 5 5 C2A AHC 1 21 227 275 147 195 128 4 80 7 5 10 59 84 85 90 105 9 C2A AH7 1...

Page 69: ...LK No of Taps Tap Size Depth Approx Mass kg A5A AH10 1 5 111 151 5 15 18 5 24 3 3 M4 6L 0 6 0 9 A5A AH20 1 9 A5A AHC0 1 21 120 160 5 A5A AH70 1 33 141 5 182 21 30 14 40 5 6 M4 7L 1 2 1 5 01A AH10 1 5...

Page 70: ...60 70 5 5 04A AHB 1 11 236 5 277 156 5 197 138 2 80 7 5 10 59 84 85 90 105 9 04A AHC 1 21 04A AH7 1 33 322 5 363 189 5 230 171 2 133 12 5 13 84 114 115 120 135 11 06A AH1 1 5 258 5 312 5 178 5 232 5 1...

Page 71: ...Gear Ratio L LR LJ F G No of Taps Tap Size Depth Approx Mass kg 02A AH10 1 5 154 5 195 21 30 14 40 6 M4 7L 1 7 2 3 02A AHB0 1 11 1 8 2 4 02A AHC0 1 21 167 5 208 27 45 24 59 6 M6 10L 3 3 3 9 02A AH70 1...

Page 72: ...t shaft with key and tap If a key and tap are not necessary specify shaft end code 2 for the 8th digit Model SGM7J Gear Ratio L LL LM Flange Dimensions LR LE LG B LD LB LC LA LZ 08A AH1 1 5 255 302 17...

Page 73: ...rs on page 4 23 Note 1 The values in parentheses are for Servomotors with Holding Brakes 2 Dimensions not found in the above table are the same as those in the table on the previous page Model SGM7J G...

Page 74: ...ors without Gears Note The values in parentheses are for Servomotors with Holding Brakes Shaft End Specification Straight Model SGM7J L LL Approx Mass kg A5A6A2 89 5 130 64 5 105 0 3 0 6 01A6A2 101 5...

Page 75: ...149 5 198 2 1 2 7 04A6AHB 236 5 285 184 5 205 4 0 4 6 04A6AHC 04A6AH7 330 5 371 197 5 238 8 6 9 2 06A6AH1 266 5 320 5 186 5 240 5 4 3 4 9 06A6AHB 4 5 5 1 06A6AHC 352 5 406 5 219 5 273 5 9 1 9 7 06A6AH...

Page 76: ...ut Gears for the SGM7A 15 to 70 5 7 5 2 5 Torque Motor Speed Characteristics of the SGM7A 15 to 70 5 8 5 2 6 Ratings of Servomotors with Gears 5 9 5 2 7 Servomotor Overload Protection Characteristics...

Page 77: ...5 19 5 3 3 Connector Mounting Dimensions for SGM7A A5 to 10 5 20 5 3 4 Servomotors without Gears and without Holding Brakes 5 21 5 3 5 Servomotors without Gears and with Holding Brakes 5 24 5 3 6 Sha...

Page 78: ...n 3rd digit 4th digit 5th digit 6th digit 7th digit 7 Series Servomotors SGM7A 6 7 Code Specification 24 bit batteryless absolute 24 bit absolute F 24 bit incremental 40 4 0 kW 50 5 0 kW 70 7 0 kW A5...

Page 79: ...erating usage is possible between 40 C and 60 C 4 Surrounding Air Humidity 20 to 80 relative humidity with no condensation Installation Site Must be indoors and free of corrosive and explosive gases M...

Page 80: ...2A 02A 04A 06A 08A 10A Rated Output 1 W 50 100 150 200 400 600 750 1000 Rated Torque 1 2 N m 0 159 0 318 0 477 0 637 1 27 1 91 2 39 3 18 Instantaneous Maximum Torque 1 N m 0 557 1 11 1 67 2 23 4 46 6...

Page 81: ...20 times With External Regenerative Resistor and External Dynamic Brake Resistor 5 40 times 30 times 20 times 30 times Allowable Shaft Loads 6 LF mm 20 25 35 Allowable Radial Load N 78 245 392 Allowa...

Page 82: ...4 kg m2 2 00 2 47 3 19 7 00 9 60 12 3 12 3 With Holding Brake 2 25 2 72 3 44 9 20 11 8 14 5 With Batteryless Absolute Encoder 2 00 2 47 3 19 7 00 9 60 12 3 12 3 Rated Power Rate kW s 120 164 199 137 1...

Page 83: ...dynamic brake resistor select hardware option specification 020 for the SERVOPACK However you cannot externally connect a dynamic brake resistor if you use the following SERVOPACKs maxi mum applicabl...

Page 84: ...ted Torque Efficiency 1 N m Instanta neous Maxi mum Torque N m Rated Motor Speed min 1 Maxi mum Motor Speed min 1 A5A AH1 50 3000 6000 0 159 0 557 1 5 0 433 64 2 2 37 600 1200 A5A AH2 1 9 1 12 78 3 78...

Page 85: ...your Yaskawa representative if you use a Servomotor under these conditions Servomotor Model SGM7A Moment of Inertia 10 4 kg m2 With Gears Reference Diagram Shaft Output Flange Output Allowable Radial...

Page 86: ...conditions The temperature rise depends on the loss and heat dissipation condi tions For the heat dissipation conditions always refer to the following table and check the gear and motor temperatures...

Page 87: ...ng conditions An Overvoltage Alarm A 400 is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia SERVOPACKs with a built in regenerative resis...

Page 88: ...ide reference data for deceleration at the rated torque or higher Applicable SERVOPACK models SGD7S R70A R90A 1R6A 2R8A R70F R90F 2R1F and 2R8F 0 5 10 15 20 25 30 35 40 45 0 Motor speed min 1 SGM7A A5...

Page 89: ...age 5 11 Note The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed If the average motor speed exceeds the rated motor speed consult with y...

Page 90: ...rvomotor Overload Protection Characteristics on page 5 11 Note 1 Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for both the SERVOPACK and Servomotor...

Page 91: ...5 2 7 Servomotor Overload Protection Characteristics on page 5 11 Note 1 Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for both the SERVOPACK and S...

Page 92: ...haft End Specifications for SGM7A A5 to 10 on page 5 19 3 Refer to the following section for information on connector mounting dimensions 5 3 3 Connector Mounting Dimensions for SGM7A A5 to 10 on page...

Page 93: ...3 Connector Mounting Dimensions for SGM7A A5 to 10 on page 5 20 Specifications of Options Oil Seal Model SGM7A L 1 LL 1 LM Flange Dimensions S MD MW MH ML Approx Mass kg LR LE LG LC LA LB LZ 02A A2 99...

Page 94: ...fastening type B With two flat seats Shaft End Details Servomotor Model SGM7A A5 01 C2 02 04 06 08 10 Code 2 Straight without Key LR 25 30 40 S 8 14 19 Code 6 Straight with Key and Tap LR 25 30 40 QK...

Page 95: ...r SGM7A A5 to 10 SGM7A A5 01 and C2 SGM7A 02 04 and 06 SGM7A 08 and 10 Cable Installed on Load Side Cable Installed on Non load Side Cable Installed on Load Side Cable Installed on Non load Side Cable...

Page 96: ...ction for information on connectors SGM7A 15 to 50 without Holding Brakes on page 5 35 Model SGM7A L LL LM LP LR KB1 KB2 KL1 15A A21 202 157 121 36 45 107 145 94 20A A21 218 173 137 36 45 123 161 94 2...

Page 97: ...Brakes on page 5 35 Model SGM7A L LL LM LP LR KB1 KB2 KL1 30A A21 257 194 158 36 63 145 182 114 40A A21 296 233 197 36 63 184 221 114 50A A21 336 273 237 36 63 224 261 114 Model SGM7A Flange Dimensio...

Page 98: ...del SGM7A L LL LM LR KB1 KB2 KL1 Flange Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 70A A21 397 334 291 63 224 261 108 145 110 130 6 12 165 9 28 55 18 5 R 1 30 dia Q 63 6 S...

Page 99: ...Holding Brakes on page 5 36 Model SGM7A L LL LM LP LR KB1 KB2 KB3 KL1 15A A2C 243 198 162 36 45 107 186 139 102 20A A2C 259 214 178 36 45 123 202 155 102 25A A2C 292 247 211 36 45 156 235 188 102 Mode...

Page 100: ...15 to 50 with Holding Brakes on page 5 36 Model SGM7A L LL LM LP LR KB1 KB2 KB3 KL1 30A A2C 293 232 196 36 63 145 220 181 119 40A A2C 332 269 233 36 63 184 257 220 119 50A A2C 372 309 273 36 63 224 29...

Page 101: ...y 6 Straight with key and tap for one location Key slot is JIS B1301 1996 fastening type Shaft End Details Servomotor Model SGM7A 15 20 25 30 40 50 70 Code 2 Straight without Key LR 45 63 Q 40 55 S 24...

Page 102: ...5 162 210 120 168 101 4 42 2 2 5 29 39 5 40 40 46 3 4 C2A AHB 1 11 202 5 250 5 144 5 192 5 125 9 58 2 5 8 40 55 5 56 60 70 5 5 C2A AHC 1 21 227 275 147 195 128 4 80 7 5 10 59 84 85 90 105 9 C2A AH7 1...

Page 103: ...LK No of Taps Tap Size Depth Approx Mass kg A5A AH10 1 5 111 151 5 15 18 5 24 3 3 M4 6L 0 6 0 9 A5A AH20 1 9 A5A AHC0 1 21 120 160 5 A5A AH70 1 33 141 5 182 21 30 14 40 5 6 M4 7L 1 2 1 5 01A AH10 1 5...

Page 104: ...60 70 5 5 04A AHB 1 11 236 5 277 156 5 197 138 2 80 7 5 10 59 84 85 90 105 9 04A AHC 1 21 04A AH7 1 33 322 5 363 189 5 230 171 2 133 12 5 13 84 114 115 120 135 11 06A AH1 1 5 258 5 312 5 178 5 232 5 1...

Page 105: ...Gear Ratio L LR LJ F G No of Taps Tap Size Depth Approx Mass kg 02A AH10 1 5 154 5 195 21 30 14 40 6 M4 7L 1 7 2 3 02A AHB0 1 11 1 8 2 4 02A AHC0 1 21 167 5 208 27 45 24 59 6 M6 10L 3 3 3 9 02A AH70 1...

Page 106: ...LR LE LG B LD LB LC LA LZ 08A AH1 1 5 255 302 175 222 156 5 80 7 5 10 59 84 85 90 105 9 08A AHB 1 11 08A AHC 1 21 334 381 201 248 182 5 133 12 5 13 84 114 115 120 135 11 08A AH7 1 33 10A AH1 1 5 280...

Page 107: ...th Holding Brakes 2 Dimensions not found in the above table are the same as those in the table on the previous page Model SGM7A Gear Ratio L LR LJ F G No of Taps Tap Size Depth Approx Mass kg 08A AH10...

Page 108: ...105 0 3 0 6 01A6A2 101 5 142 76 5 117 0 4 0 7 C2A6A2 113 5 161 5 88 5 136 5 0 5 0 8 02A6A2 107 5 148 77 5 118 0 8 1 4 04A6A2 123 5 164 93 5 134 1 2 1 8 06A6A2 145 5 198 5 115 5 169 5 1 6 2 2 08A6A2 14...

Page 109: ...371 197 5 238 8 6 9 2 06A6AH1 266 5 320 5 186 5 240 5 4 3 4 9 06A6AHB 4 5 5 1 06A6AHC 352 5 406 5 219 5 273 5 9 1 9 7 06A6AH7 08A6AH1 263 310 183 230 5 0 5 9 08A6AHB 5 2 6 1 08A6AHC 342 389 209 256 9...

Page 110: ...g CM10 SP10S D for Straight Plug depends on the applicable cable size Manufacturer DDK Ltd Manufacturer DDK Ltd Receptacle CM10 R10P D Applicable plug Not provided by Yaskawa Plug CM10 AP10S D for Rig...

Page 111: ...epends on the applicable cable size Manufacturer DDK Ltd Manufacturer DDK Ltd Receptacle CM10 R10P D Applicable plug Not provided by Yaskawa Plug CM10 AP2S D for Right angle Plug CM10 SP2S D for Strai...

Page 112: ...vomotor Overload Protection Characteristics 6 8 6 2 6 Load Moment of Inertia 6 8 6 2 7 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built in Regenerative Resistors 6 9 6 2 8...

Page 113: ...on Code 6 7 Code Specification 24 bit batteryless absolute 24 bit absolute F 24 bit incremental 01 02 04 08 750 W 400 W 100 W 15 1 5 kW 01 A 7 A 0 B H 1 C B 1 11 C 1 21 1 1 5 7 H A IP55 SGM7P 1 33 200...

Page 114: ...e Method Direct drive Rotation Direction Counterclockwise CCW for forward reference when viewed from the load side Vibration Class 1 V15 Environmental Conditions Surrounding Air Temperature 0 C to 40...

Page 115: ...or Speed 1 min 1 6000 Torque Constant N m Arms 0 401 0 355 0 524 0 476 0 559 Motor Moment of Inertia 10 4 kg m2 0 0592 0 263 0 409 2 10 4 02 With Holding Brake 0 0892 0 415 0 561 2 98 4 90 With Batter...

Page 116: ...lustrated in the following figure Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the table 6 2...

Page 117: ...ening 3 max Servomotor Model SGM7P Servomotor Gear Output Rated Output W Rated Motor Speed min 1 Maxi mum Motor Speed min 1 Rated Torque N m Instanta neous Maxi mum Torque N m Gear Ratio Rated Torque...

Page 118: ...2 707 53 04A AHB 0 979 0 570 0 969 0 560 435 1856 75 04A AHC 0 899 0 490 0 897 0 488 528 2254 75 04A AH7 1 03 0 620 1 01 0 610 951 4992 128 08A AH1 3 20 1 10 3 16 1 06 343 1465 75 08A AHB 2 70 0 600 2...

Page 119: ...ears on page 6 4 This value is provided strictly as a guideline and results depend on Servomotor driving conditions An Overvoltage Alarm A 400 is likely to occur during deceleration if the load moment...

Page 120: ...istor is not connected If the Servomotor exceeds the allowable load moment of inertia an overvoltage alarm may occur in the SERVOPACK These graphs provide reference data for deceleration at the rated...

Page 121: ...ding air temperature that exceeds 40 C 60 C max apply a suitable derating rate from the following graphs When using Servomotors with derating change the overload warning and overload alarm detection t...

Page 122: ...rning and overload alarm detection timing in advance based on the overload detection level of the motor Refer to the following section for the overload detection level of the motor 6 2 5 Servomotor Ov...

Page 123: ...Brakes 2 Refer to the following section for detailed shaft end specifications 6 3 2 Shaft End Specifications on page 6 14 Specifications of Options Oil Seal Model SGM7P L LL LM Flange Dimensions S MD...

Page 124: ...Servomotors with Holding Brakes 2 Refer to the following section for detailed shaft end specifications 6 3 2 Shaft End Specifications on page 6 14 Model SGM7P Dimensions with Oil Seal E1 E2 LS1 LS2 LE...

Page 125: ...hout key 6 Straight with key and tap for one location Key slot is JIS B1301 1996 fastening type Shaft End Details Servomotor Model SGM7P 01 02 04 08 15 Code 2 Straight without Key LR 25 30 40 S 8 14 1...

Page 126: ...3 04A AH1 1 5 200 231 5 142 173 5 118 58 2 5 8 40 55 5 56 60 70 5 5 04A AHB 1 11 235 266 5 155 186 5 131 80 7 5 10 59 84 85 90 105 9 04A AHC 1 21 04A AH7 1 33 314 345 5 181 212 5 157 133 12 5 13 84 11...

Page 127: ...r Ratio L LR LJ F G LK No of Taps Tap Size Depth Approx Mass kg 01A AH10 1 5 114 5 144 5 15 18 5 24 3 3 M4 6L 0 8 1 2 01A AHB0 1 11 145 175 21 30 14 40 5 6 M4 7L 1 5 1 9 01A AHC0 1 21 01A AH70 1 33 15...

Page 128: ...05 9 08A AHB 1 11 08A AHC 1 21 326 5 360 193 5 227 174 6 133 12 5 13 84 114 115 120 135 11 08A AH7 1 33 15A AH1 1 5 354 5 387 5 221 5 254 5 202 6 133 12 5 13 84 114 115 120 135 11 15A AHB 1 11 15A AHC...

Page 129: ...as those in the table on the previous page Model SGM7P Gear Ratio L LR LJ F G LK No of Taps Tap Size Depth Approx Mass kg 08A AH10 1 5 200 5 234 27 45 24 59 5 6 M6 10L 6 5 8 2 08A AHB0 1 11 6 7 8 4 0...

Page 130: ...0 132 162 1 6 2 0 01A6AHC 01A6AH7 219 249 139 169 3 4 3 8 02A6AH1 198 229 5 140 171 5 2 4 3 0 02A6AHB 2 5 3 1 02A6AHC 233 264 5 153 184 5 4 3 5 1 02A6AH7 04A6AH1 208 239 5 150 181 5 2 7 3 3 04A6AHB 24...

Page 131: ...Torque Motor Speed Characteristics of the SGM7G 30 to 1E 7 6 7 2 6 Servomotor Overload Protection Characteristics 7 7 7 2 7 Load Moment of Inertia 7 8 7 2 8 Servomotor Heat Dissipation Conditions 7 8...

Page 132: ...5th digit Design Revision Order Code Specification 6th digit Shaft End 7th digit Options Without options With holding brake 24 VDC With oil seal and holding brake 24 VDC With oil seal Straight withou...

Page 133: ...VAC 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 C...

Page 134: ...1 8 Rated Torque 1 2 N m 1 96 2 86 5 39 8 34 11 5 Instantaneous Maximum Torque 1 N m 5 88 8 92 14 2 23 3 28 7 Rated Current 1 Arms 2 8 3 8 6 9 10 7 16 7 Instantaneous Maximum Current 1 Arms 8 0 11 17...

Page 135: ...Torque N m Intermittent duty zone 3500 3000 2500 2000 1500 1000 500 0 0 1 2 2 4 3 6 4 8 6 Motor speed min 1 Motor speed min 1 Motor speed min 1 Motor speed min 1 Motor speed min 1 Torque N m 0 2 4 6...

Page 136: ...24 VDC Capacity W 18 5 25 32 35 Holding Torque N m 43 1 72 6 84 3 114 6 Coil Resistance at 20 C 31 23 18 17 Rated Current A at 20 C 0 77 1 05 1 33 1 46 Time Required to Release Brake ms 170 250 Time R...

Page 137: ...e thrust and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the table 6 This is the value if you combine the SGM7G 30A with the SGD7S 200A 7 2 6 Se...

Page 138: ...nent the Servomotor tem perature may rise considerably because the surface for heat dissipation becomes smaller Refer to the following graphs for the relation between the heat sink size and derating r...

Page 139: ...he heat dissipation effect of the air is reduced Apply the appropriate derating rate from the following graphs When using Servomotors with derating change the overload warning and overload alarm detec...

Page 140: ...r Yaskawa representative for details Note Servomotors with Oil Seals have the same dimensions Refer to the following section for information on connectors SGM7G 03 and 05 without Holding Brakes on pag...

Page 141: ...SGM7G L 2 LL 2 LM LP 2 LR KB1 KB2 2 IE KL1 Flange Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09A A21 195 137 101 36 58 83 125 104 145 110 130 6 12 165 9 24 3 40 5 5 13A A2...

Page 142: ...ation on connectors SGM7G 09 to 1E without Holding Brakes on page 7 18 Model SGM7G L LL LM LP LR KB1 KB2 IE KL1 Flange Surface Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S S1...

Page 143: ...Servomotors are also available Contact your Yaskawa representative for details Note Servomotors with Oil Seals have the same dimensions Refer to the following section for information on connectors SG...

Page 144: ...nge Surface Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09A A2C 231 173 137 36 58 83 161 115 104 80 145 110 13 0 6 12 165 9 24 3 40 7 5 13A A2C 247 189 153 36 58 99 177 131...

Page 145: ...ection for information on connectors SGM7G 09 to 1E with Holding Brakes on page 7 19 Model SGM7G L LL LM LP LR KB1 KB2 KB3 IE KL1 KL3 Flange Surface Dimensions Shaft End Dimensions Approx Mass kg LA L...

Page 146: ...49 7 1 20A6A21 237 179 44 167 8 6 30A6A21 247 168 44 156 13 5 44A6A21 271 192 44 180 17 5 55A6A21 342 229 44 217 21 5 75A6A21 388 275 44 263 29 5 1AA6A21 455 339 44 327 57 1EA6A21 514 401 44 389 67 Mo...

Page 147: ...ails Servomotor Model SGM7G 03 05 09 13 20 30 44 55 75 1A 1E Code 2 Straight without Key LR 40 40 58 58 58 79 79 113 113 116 116 Q 30 30 40 40 40 76 76 110 110 110 110 S 16 16 24 24 24 35 35 42 42 42...

Page 148: ...e applicable cable size Manufacturer DDK Ltd Manufacturer Japan Aviation Electronics Industry Ltd Receptacle CM10 R10P D Applicable plug Not provided by Yaskawa Plug CM10 AP10S D for Right angle Plug...

Page 149: ...licable plug Not provided by Yaskawa Plug CM10 AP10S D for Right angle Plug CM10 SP10S D for Straight Plug depends on the applicable cable size Manufacturer DDK Ltd Manufacturer DDK Ltd Receptacle CM1...

Page 150: ...ons 8 2 8 1 2 Installation Environment 8 3 8 1 3 Installation Orientation 8 3 8 1 4 Using Servomotors with Oil Seals 8 3 8 1 5 Using Servomotors with Holding Brakes 8 4 8 2 Coupling to the Machine 8 5...

Page 151: ...rvomotor is used in an application where it is subject to excessive water or oil drops We recommend that you keep the connectors facing downward Do not connect a Servomotor with an Absolute Encoder or...

Page 152: ...e oil seal would be below the oil surface If you do oil will enter the Servomotor which may damage the Servomotor Installation Orientation Figure Precautions Horizontal If you are using a Servomotor w...

Page 153: ...lems in the holding operation In applications in which safety is a concern such as for a load falling on a vertical axis determine if safety measures are required on the machine such as adding a redun...

Page 154: ...oth shafts and make adjustments so that it does not catch Use a flexible coupling that is designed for Servomotors We recommend that you use a dou ble spring coupling which provides some tolerance in...

Page 155: ...red When you attach the coupling do not subject the shaft to direct shock Also do not sub ject the area around the encoder to shock Shock may damage the encoder If the coupling makes any abnormal nois...

Page 156: ...so that the allowable radial load given in the Servo motor specifications is not exceeded For details refer to the catalog of the belt manufacturer Adjust the belt tension to adjust the radial load Me...

Page 157: ...source would come into contact with the Servomotor If contact with oil or water is unavoidable implement countermeasures in the machine so that oil from the gear box does not enter the Servomotor Do n...

Page 158: ...small the temperature of the Servomotor may increase abnormally If the operating environment makes it difficult to use a large heat sink or if the surrounding air temperature or altitude given in the...

Page 159: ...2 3 Encoder Cables of 20 m or Less 9 14 9 2 4 Relay Encoder Cable of 30 m to 50 m 9 15 9 3 Cables for the SGM7G Servomotors 9 16 9 3 1 System Configurations 9 16 9 3 2 Servomotor Main Circuit Cables 9...

Page 160: ...information Cable dimensional drawings and cable connection specifications Order numbers and specifications of individual connectors for cables Order numbers and specifications for wiring materials 7...

Page 161: ...M20 50 E For Ser vomo tors with Holding Brakes 3 m JZSP CF2M03 03 E JZSP CF2M23 03 E 5 m JZSP CF2M03 05 E JZSP CF2M23 05 E 10 m JZSP CF2M03 10 E JZSP CF2M23 10 E 15 m JZSP CF2M03 15 E JZSP CF2M23 15 E...

Page 162: ...otor Model Name Length L Order Number for Standard Cable Appearance All SGMMV models Cables with Connectors on Both Ends for incre mental or absolute encoder 30 m JZSP UCMP00 30 E 40 m JZSP UCMP00 40...

Page 163: ...maller because the voltage drop increases 4 Refer to the following manual for the following information Cable dimensional drawings and cable connection specifications Order numbers and specifications...

Page 164: ...JZSP C7M10F 30 E JZSP C7M12F 30 E 40 m JZSP C7M10F 40 E JZSP C7M12F 40 E 50 m JZSP C7M10F 50 E JZSP C7M12F 50 E SGM7J 02 to 06 SGM7A 02 to 06 200 W to 600 W 3 m JZSP C7M20F 03 E JZSP C7M22F 03 E 5 m J...

Page 165: ...7M32G 50 E SGM7J A5 to C2 SGM7A A5 to C2 50 W to 150 W For Servo motors with Holding Brakes Cable installed toward load 3 m JZSP C7M13F 03 E JZSP C7M14F 03 E 5 m JZSP C7M13F 05 E JZSP C7M14F 05 E 10 m...

Page 166: ...JZSP C7M24G 10 E 15 m JZSP C7M23G 15 E JZSP C7M24G 15 E 20 m JZSP C7M23G 20 E JZSP C7M24G 20 E 30 m JZSP C7M23G 30 E JZSP C7M24G 30 E 40 m JZSP C7M23G 40 E JZSP C7M24G 40 E 50 m JZSP C7M23G 50 E JZSP...

Page 167: ...JZSP UVA131 03 E JZSP UVA141 03 E 5 m JZSP UVA131 05 E JZSP UVA141 05 E 10 m JZSP UVA131 10 E JZSP UVA141 10 E 15 m JZSP UVA131 15 E JZSP UVA141 15 E 20 m JZSP UVA131 20 E JZSP UVA141 20 E Right angle...

Page 168: ...20 E JZSP UVA341 20 E Right angle 3 3 m JZSP UVA332 03 E JZSP UVA342 03 E 5 m JZSP UVA332 05 E JZSP UVA342 05 E 10 m JZSP UVA332 10 E JZSP UVA342 10 E 15 m JZSP UVA332 15 E JZSP UVA342 15 E 20 m JZSP...

Page 169: ...61 15 E 20 m JZSP U7A551 20 E JZSP U7A561 20 E Right angle 3 3 m JZSP U7A552 03 E JZSP U7A562 03 E 5 m JZSP U7A552 05 E JZSP U7A562 05 E 10 m JZSP U7A552 10 E JZSP U7A562 10 E 15 m JZSP U7A552 15 E JZ...

Page 170: ...20 E JZSP UVA641 20 E Right angle 3 3 m JZSP UVA632 03 E JZSP UVA642 03 E 5 m JZSP UVA632 05 E JZSP UVA642 05 E 10 m JZSP UVA632 10 E JZSP UVA642 10 E 15 m JZSP UVA632 15 E JZSP UVA642 15 E 20 m JZSP...

Page 171: ...20 E JZSP UVA721 20 E Right angle 3 m JZSP UVA702 03 E JZSP UVA722 03 E 5 m JZSP UVA702 05 E JZSP UVA722 05 E 10 m JZSP UVA702 10 E JZSP UVA722 10 E 15 m JZSP UVA702 15 E JZSP UVA722 15 E 20 m JZSP U...

Page 172: ...SP C7PA2D 15 E 20 m JZSP C7PA0D 20 E JZSP C7PA2D 20 E For absolute encoder With Battery Case 2 Cable installed away from load 3 m JZSP C7PA0E 03 E JZSP C7PA2E 03 E 5 m JZSP C7PA0E 05 E JZSP C7PA2E 05...

Page 173: ...talled away from load 0 3 m JZSP C7PRCE E Cable with Connectors on Both Ends for all types of encoders 30 m JZSP UCMP00 30 E 40 m JZSP UCMP00 40 E 50 m JZSP UCMP00 50 E Cable with a Battery Case Requi...

Page 174: ...r Main Circuit Cable that exceeds 20 m the intermittent duty zone in the torque motor speed characteristics will become smaller because the voltage drop increases 4 Refer to the following manual for t...

Page 175: ...me Length L Order Number Appearance SGM7G 03 to 05 0 3 kW 0 45 kW For Servomotors without Holding Brakes 3 m JZSP CVM21 03 E 5 m JZSP CVM21 05 E 10 m JZSP CVM21 10 E 15 m JZSP CVM21 15 E 20 m JZSP CVM...

Page 176: ...A141 03 E 5 m JZSP UVA131 05 E JZSP UVA141 05 E 10 m JZSP UVA131 10 E JZSP UVA141 10 E 15 m JZSP UVA131 15 E JZSP UVA141 15 E 20 m JZSP UVA131 20 E JZSP UVA141 20 E Right angle 3 3 m JZSP UVA132 03 E...

Page 177: ...JZSP UVA332 03 E JZSP UVA342 03 E 5 m JZSP UVA332 05 E JZSP UVA342 05 E 10 m JZSP UVA332 10 E JZSP UVA342 10 E 15 m JZSP UVA332 15 E JZSP UVA342 15 E 20 m JZSP UVA332 20 E JZSP UVA342 20 E Continued o...

Page 178: ...A632 03 E JZSP UVA642 03 E 5 m JZSP UVA632 05 E JZSP UVA642 05 E 10 m JZSP UVA632 10 E JZSP UVA642 10 E 15 m JZSP UVA632 15 E JZSP UVA642 15 E 20 m JZSP UVA632 20 E JZSP UVA642 20 E Continued on next...

Page 179: ...3 3 m JZSP UVA732 03 E JZSP UVA742 03 E 5 m JZSP UVA732 05 E JZSP UVA742 05 E 10 m JZSP UVA732 10 E JZSP UVA742 10 E 15 m JZSP UVA732 15 E JZSP UVA742 15 E 20 m JZSP UVA732 20 E JZSP UVA742 20 E Cont...

Page 180: ...ZSP UVAA42 03 E 5 m JZSP UVAA32 05 E JZSP UVAA42 05 E 10 m JZSP UVAA32 10 E JZSP UVAA42 10 E 15 m JZSP UVAA32 15 E JZSP UVAA42 15 E 20 m JZSP UVAA32 20 E JZSP UVAA42 20 E Continued on next page 1 Use...

Page 181: ...JZSP UVAB21 10 E 15 m JZSP UVAB01 15 E JZSP UVAB21 15 E 20 m JZSP UVAB01 20 E JZSP UVAB21 20 E Right angle 3 m JZSP UVAB02 03 E JZSP UVAB22 03 E 5 m JZSP UVAB02 05 E JZSP UVAB22 05 E 10 m JZSP UVAB02...

Page 182: ...20 m JZSP CVP02 20 E JZSP CVP12 20 E For absolute encoder With Battery Case 2 3 m JZSP CVP06 03 E JZSP CVP26 03 E 5 m JZSP CVP06 05 E JZSP CVP26 05 E 10 m JZSP CVP06 10 E JZSP CVP26 10 E 15 m JZSP CV...

Page 183: ...bles Order numbers and specifications for wiring materials 7 Series AC Servo Drive Peripheral Device Selection Manual Manual No SIEP S800001 32 Encoder Cable of 20 m or Less Encoder Cable of 30 m to 5...

Page 184: ...50 m JZSP CSM01 50 E JZSP CSM21 50 E SGM7P 02 and 04 200 W 400 W 3 m JZSP CSM02 03 E JZSP CSM22 03 E 5 m JZSP CSM02 05 E JZSP CSM22 05 E 10 m JZSP CSM02 10 E JZSP CSM22 10 E 15 m JZSP CSM02 15 E JZSP...

Page 185: ...5 m JZSP CSM12 05 E JZSP CSM32 05 E 10 m JZSP CSM12 10 E JZSP CSM32 10 E 15 m JZSP CSM12 15 E JZSP CSM32 15 E 20 m JZSP CSM12 20 E JZSP CSM32 20 E 30 m JZSP CSM12 30 E JZSP CSM32 30 E 40 m JZSP CSM12...

Page 186: ...P10 10 E 15 m JZSP CMP00 15 E JZSP CMP10 15 E 20 m JZSP CMP00 20 E JZSP CMP10 20 E SGM7P 01 02 04 100 W 200 W 400 W For absolute encoder With Battery Case 2 Cable installed toward load 3 m JZSP C7PA0D...

Page 187: ...actors reactors or other devices on the cables that connect the SERVOPACK and Servomotor Failure to observe this caution may result in malfunction or damage Do not subject the cables to excessive bend...

Page 188: ...of a Flexible Cable is reference data under special test conditions The service life of a Flexible Cable greatly depends on the amount of mechanical shock how the cable is attached and how the cable i...

Page 189: ...ve Stress will accumulate at the point that is secured and the cable will break faster Secure the cable in as few locations as possible If a Flexible Cable is too long looseness will cause it to break...

Page 190: ...of Servomotors do not have protective tape The number of connectors depends on the model of the Servomotor Servomotor Model Tightening Torque Servomotor Model Tightening Torque SGM7J A5 to 06 0 15 N m...

Page 191: ...rvomotors and SERVOPACKs 9 33 To extend the Encoder Cable to from 30 to 50 m proceed to step 4 4 Connect a Cable with Connectors on Both Ends to the Encoder Cable 5 If necessary connect a Cable with a...

Page 192: ...chapter describes the maintenance inspection and disposal of a Servomotor 10 1 Periodic Inspections 10 2 10 2 Service Lives of Parts 10 3 10 3 Disposing of Servomotors 10 4 Maintenance and Inspection...

Page 193: ...Maintenance Procedure Remarks Check the cou pling between the Servomotor and the machine Before starting opera tion Make sure that there are no loose mounting screws between the Ser vomotor and machi...

Page 194: ...ce lives in the table are only for reference The actual service lives will depend on the application conditions and environment Part Standard Service Life Remarks Bearing 20 000 hours The service life...

Page 195: ...10 4 10 3 Disposing of Servomotors When disposing of a Servomotor treat it as ordinary industrial waste However local ordinances and national laws must be observed Implement all labeling and warnings...

Page 196: ...rminology for Servomotors with Low backlash Gears 11 2 11 1 2 Noise Data 11 2 11 1 3 Efficiency 11 3 11 2 Reference Information for Servomotor Capacity Selection 11 4 11 2 1 Formulas Required to Selec...

Page 197: ...sh Gear Rated Torque N m The rated output torque of the Servomotor is the input torque to the gear The rated torque is this value multiplied by the inverse of the gear ratio and effi ciency Lost Motio...

Page 198: ...1 3 11 1 3 Efficiency The output torque and motor speed produce the following trends in efficiency The values in the tables of ratings and specifications for Servomotors with Gears are given at the ra...

Page 199: ...e Calcu lated at Motor Shaft N m Load Moment of Iner tia Calculated at Motor Shaft kg m2 JL JL1 JL2 JL3 Linear Motion Section Rotary Motion Section Minimum Starting Time s Continued on next page 1 R S...

Page 200: ...When Rotary Shaft Is Aligned with Center Line of Cylinder When Rotary Shaft Runs Through Gravitational Center When Rotary Shaft Is on One End When Rotary Shaft Is Outside Rotating Body Continued on ne...

Page 201: ...ation when shaft that is parallel to rotary shaft and runs through center of gravity virtually operates as a rotary shaft General formula for diameter of rotation when rotary shaft Is outside rotating...

Page 202: ...is not required A large torque can be generated by a small motor Falling when W1 W2 Brake timing Continued on next page Gear ratio 1 R Friction coefficient Pitch PB mm 1 R W kg Fv kg FN kg Pitch PB mm...

Page 203: ...separately Can be used for positioning with long travel distances A separate pulse generator is often installed Continued on next page Bearing friction coefficient Applied pressure N kg Tension F1 kg...

Page 204: ...vement and pitch error are problems not suitable for frequent use Radial load for overtightened belt chains Dolly slipping FV kg FH kg 1 R W kg Number of teeth ZP Pitch LP mm dp mm W kg 1 R C Resistan...

Page 205: ...European directives Chapters 1 and 9 Addition Information on SGMMV Servomotors Chapter 3 Newly added Chapters 6 and 7 Order of chapters changed Back cover Revision Address April 2015 1 0 All chapters...

Page 206: ...one 66 2 017 0099 Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http...

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