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YASKAWA S Series User Manual
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9.1
A
C
Se
rvo
mo
t
o
rs
Mo
d
e
l
SG
MG
-
Flange
Dimensions
[mm
(i
n
)]
Sh
a
f
t
End
Dimensions
[mm
in)]
Ap
p
ro
x.
Ma
ss
[
kg
(I
b
)]
LA
LB
LC
LE
LF1
LF2
LG
LH
LJ1
L
J
2
LZ
S
S1
0
0
5
A2
A
145
(5
.
7
1
)
IL
,
v
,..,
-
0.
0
035
(4.33
-
00014)
130
(5
.
1
2
)
6'
(0
.
2
4
)
6
(0
.
2
4
)
-
12
(0
.
4
7
)
165
(6
.
5
0
)
45
(1
.
7
7
)
-
9
(0
.
3
5
)
in
-
0
17
0.013
(0.75
-
(l
o
co
s)
30
(1
.
1
8
)
40
(1
.
5
7
)
5.5
(1
2
.
1
)
0
9
A2
A
145
(5
.
7
1
)
1
,.,
0
1
i
v
_
0
.
0
3
5
(4.33
-
1
14)
130
(5
.
1
2
)
6
(0
.
2
4
)
6
(0
.
2
4
)
-
12
(0
.
4
7
)
165
(6
.
5
0
)
45
(1
.
7
7
)
9
(0
.
3
5
)
i
n
0
17
-
0.013
(0.75
-
().0005)
30
(1
.
1
8
)
40
(1
.
5
7
)
7.6
(1
6
.
8
)
1
3
A2
A
145
(5
.
7
1
)
,
,
0
1
iv
_ 0.035
0
(4.33
-
0.0014)
130
(5
.
1
2
)
6
(0
.
2
4
)
6
(0
.
2
4
)
-
12
(0
.
4
7
)
165
(6
.
5
0
)
45
(1
.
7
7
)
9
(0
.
3
5
)
0
22
-
0.013
0
(0.87
-
0.0005)
30
(1
.
1
8
)
40
(1
.
5
7
)
9.6
(2
1
.
2
)
2
0
A2
A
200
(7
.
8
7
)
11
4
.
3
-
00 025
.
0
)
(4.50
-
0.0010
180
(7
.
0
9
)
3.2
(0
.
1
3
)
3
(0
.
1
2
)
0.5
(0
.
0
2
0
)
18
(0
.
7
1
)
230
(9
.
0
6
)
76
(2
.
9
9
)
62
(2
.
4
4
)
13.5
(0
.
5
3
)
lc
+
0.01
JJ
0
+
0.0004)
(1.380
45
(1
.
7
7
)
76
(2
.
9
9
)
14
(3
0
.
9
)
3
0
A2
A
200
(7
.
8
7
)
0
1
14.3
-
0.025
0
(4.50
-
0.00]0)
180
(7
.
0
9
)
3.2
(0
.
1
3
)
3
(0
.
1
2
)
0.5
(0
.
0
2
0
)
18
(0
.
7
1
)
230
(9
.
0
6
)
76
(2
.
9
9
)
62
(2
.
4
4
)
13.5
(0
.
5
3
)
-
35
+
0
0
.
0
1
+
0.0004
(1.38
0
)
45
(1
.
7
7
)
76
(2
.
9
9
)
18
(3
9
.
7
)
4
4
A2
A
200
(7
.
8
7
)
,
,
A
,
0
1
I.T
.
J
-00.025
(4.50
-
(l
o
o
m)
180
(7
.
0
9
)
•
3.2
(0
.
1
3
)
3
(0
.
1
2
)
0.5
(0
.
0
2
0
)
18
(0
.
7
1
)
230
(9
.
0
6
)
76
(2
.
9
9
)
62
(2
.
4
4
)
13.5
(0
.
5
3
)
+
0.01
35
()
+
0.0004)
(1.38
0
45
(1
.
7
7
)
76
(2
.
9
9
)
23
(5
0
.
7
)
5
5
A2
A
200
(7
.
8
7
)
1
1
A
/
°
.,
..-,...i
-
0.025
(4.50
-
o'Cl.0010)
180
(7
.
0
9
)
3.2
(0
.
1
3
)
3
(0
.
1
2
)
0.5
(0
.
0
2
0
)
18
(0
.
7
1
)
230
(9
.
0
6
)
76
(2
.
9
9
)
62
(2
4
4
)
13.5
(0
.
5
3
)
0
42
-
0.016
)
X0
1
6
\
1
(1.65
-
0.0006
45
(1
.
7
7
)
11
0
(4
.
3
3
)
30
(6
6
.
1
)
7
5
A2
A
200
(7
.
8
7
)
,
,
A
,
0
I
14...)
-
0.025
(4.50
-
00.0010)
180
(7
.
0
9
)
3.2
(0
.
1
3
)
3
(0
.
1
2
)
0.5
(0
.
0
2
0
)
18
(0
.
7
1
)
230
(9
.
0
6
)
76
(2
.
9
9
)
62
(2
.
4
4
)
13.5
(0
.
5
3
)
0
42
-
0.016
o
(1.65
-
0.0000)
45
(1
.
7
7
)
11
0
(4
.
3
3
)
40
(8
8
.
2
)
1
AA2
A
235
(9.25)
•
200
_
(())0
4
6
0
(7.87
-
00018)
220
(8
.
6
6
)
4
(0
.
1
6
)
4
(0
.
1
6
)
-
(8
(0
.
7
1
)
270
(1
0
.
6
3
)
62
(2
.
4
4
)
-
13.5
(0
.
5
3
)
0
42
-
0.016
0
(1.65
-
0.0006)
45
(1
.
7
7
)
11
0
(4
.
3
3
)
5
7
-5
(1
2
7
)
1
EA2
A
235
(9
.
2
5
)
200
_
(())0
4
6
0
(7.87
-
0.0018)
220
(8
.
6
6
)
4
(0
.
1
6
)
4
-
(0
.
1
6
)
-
'
20
(0
.
7
9
)
270
(1
0
.
6
3
)
85
(3
.
3
5
)
-
13.5
(0
.
5
3
)
55
+
oaf?
(
+
0.0012)
2.17
-0.0004
65
(2
.
5
6
)
11
0
(4
.
3
3
)
80
(3
.
1
5
)
Note 1.
T
h
e
Encoder
uses
8
1
9
2
-P/
R
incremental
e
n
co
d
e
r
.
2.
Eyebolts
are
n
o
t
p
ro
vi
d
e
d
with
the
SGMG-05A
to
44A2A
Se
rvo
mo
t
o
r
.
9
-5
163
165
Table of Contents
6.4 Special Descriptions 6 -7
11
Table of Contents
11
Servodrive Characteristics
44
Overload Characteristics
45
Starting and Stopping Time
46
Allowable Repeatability
47
Allowable Repeatability as Limited by the Servomotor
47
Large-Amplitude Frequency Characteristics
49
Mechanical Characteristics
50
Mechanical Strength
50
Allowable Radial and Thrust Load
50
Mechanical Tolerances
51
Direction of Motor Rotation
51
Impact Resistance
51
Vibration Resistance
52
Vibration Class
52
Configuration and Connections
54
Internal Connection Diagram
56
Kw to 1.5 Kw Servodrives
56
Kw to 3.0 Kw Servodrives
57
Kw Servodrive
58
Kw to 15.0 Kw Servodrives
59
Name and Description of Main Circuit Terminals
60
Applicable Receptacles
60
1CN Connector for I/O Signals
60
2CN Connector for Encoder
60
4CN Connector for MECHATROLINK Communication
61
Connecting an Incremental Encoder
62
Typical Example
62
1CN I/O Connector Terminals
63
Mechatrolink Communication
108
Special Descriptions
112
Option Field Specifications
112
I/O Monitor Specifications
113
Monitor 1/2 Type Field Specifications
114
CONFIG Specifications
115
ALM_RD Specifications
115
ALM_CLR Specifications
116
CONNECT Specifications
116
INTERPOLATE Specifications
117
LATCH (Interpolation Feed with Position Detection) Specifications
117
LATCH (Interpolation Feed with Position Detection)
117
Specifications
117
POSING Command Specifications
118
INTERPOLATE Command Specifications
118
ID_RD (ID Read) Specifications
118
Unsupported Commands
119
Power on Sequence (Communications Sequence)
120
Power on Sequence
120
List of Alarm and Warning Codes
123
Setting User Constants
125
Basic User Constants
125
Gain-Related Constants
125
Torque-Related Constants
126
Sequence-Related Constants
127
Motion-Related Constants
128
Other Constants
131
Memory Switches
132
List of User Constants
136
Memory Switch Bit Details
139
Cn-0001: Memory Switches
139
Cn-0002: Memory Switches
141
Cn-0013: Memory Switches
142
Cn-0014: Memory Switches
143
Limits to User Constant Changes
145
Procedure for Transferring User Constants
146
Installation and Wiring
148
Checking on Delivery
149
Installation
150
Installing the Servomotor
150
Installing the SERVOPACK
151
Wiring Specifications
154
Rated Current and Cable Specifications
154
Wiring Instructions
156
Wiring Instructions
157
Power Loss
158
Servodrives Dimensional Drawings
160
A C Servomotors
162
SGMS-DDA Servomotors
185
SGMP-15A Servomotor
197
List of Encoder and Servomotor End Connectors
205
Servopacks
212
SGDB-05AND to 15AND SERVOPACKS (0.5 to 1.5 Kw)
212
SGDB-50AND SERVOPACKS (5.0 Kw)
214
SGDB-1AAN, 1EAN SERVOPACKS (11, 15 Kw)
216
SGDB-20AND-P to 30AND-P SERVOPACKS
218
Sgdb-50And-P Servopack
219
Sgdb-1Aan-P, 1 Ean-P Servopacks
221
Cables
223
Encoder Cables
223
I/O Signal Cables (1CN)
233
MECHATROLINK Communication Cables (4CN)
233
Connectors
234
SGMG, SGMS and SGMD Servomotors Connections
234
SGM and SGMP Servomotors Connections
246
SGMP-15A Servomotor Connectors
248
SERVOPACK Encoder Connectors
249
1CN, 2CN Connector for SERVOPACK
251
4CN Connector for SERVOPACK
252
Noise Filters
253
Dimensional Diagram
255
Peripheral Devices
255
Connector Terminal Block Converter Unit
255
Brake Power Supply
255
Molded-Case Circuit Breaker
257
Magnetic Contactor
257
Surge Suppressor
259
Regenerative Resistor Unit
259
Analog Monitor Cable
260
Trial Operation
262
Check Items before Trial Operation
263
Servomotors
263
Servopacks
263
Trial Operation Procedure
264
Preparations for Trial Operation
264
Operating the Servodrive
265
Trial Operation Inspection
265
Settings
266
Characteristics When Shipped
267
Resetting
267
Adjusting Servo Performance
267
Setting User Constants
267
Setting Optimum Position and Speed Loop Gain
268
Maintenance and Inspection
270
Maintenance and Inspection of Servodrives
271
Servomotor Inspection
271
SERVOPACK Inspection
272
Replacing the Battery for Absolute Encoders
273
Troubleshooting
274
Servomotors
274
Servopacks
275
4
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YASKAWA S Series Specifications
General
Brand
YASKAWA
Model
S Series
Category
Controller
Language
English
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