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8.9 Limiting Torque

8-71

(3) Changes in Output Torque during External Torque Limiting

Example: External torque limit (Pn402, Pn403) set to 800%

Note: In this example, the servomotor rotation direction is Pn000 = n.0 (standard setting, CCW =

forward).

/P-CL (Forward External Torque Limit Input)

High level Low level

/N-CL

(Reverse

External

Torque Limit

Input)

High

level

Low

level

Pn403

Pn402

Torque

Speed

Pn403

Pn404

Pn402

Torque

Speed

Pn403

Pn405

Pn402

Torque

Speed

Pn403

Pn405

Pn404

Pn402

Torque

Speed

Default Chapter6
- Safety Information6
- Notes for Safe Operation7
- Table of Contents13
- Outline25
- Checking Products26
  - Check Items26
  - Servomotors26
1 Outline26
- Servopacks27
- Product Part Names28
  - Servomotors28
    - SGMAH and SGMPH Without Gears and Brakes28
    - SGMGH/SGMSH/SGMDH/SGMUH Without Gears and Brakes28
  - Servopacks29
    - SGDH for 30 W to 5.0 Kw29
    - SGDH for 6.0 Kw to 15.0 Kw30
- Examples of Servo System Configurations31
- Applicable Standards34
  - North American Safety Standards (UL, CSA)34
  - CE Marking34
2 Selections35
- Servomotor Model Designations36
- Selecting Servomotors48
  - Support Tool for the Capacity Selection of the AC Servomotors48
  - Servomotor Capacity Selection Examples48
- SERVOPACK Model Designations49
- Σ-II Series Servopacks and Applicable Servomotors50
- Selecting Cables51
  - Cables for SGMAH and SGMPH Servomotors51
  - Cables for SGMGH/SGMSH/SGMDH/SGMUH Servomotors56
- Selecting Peripheral Devices60
3 Specifications and Dimensional Drawings68
- Ratings and Specifications of SGMAH (3000 Min -1)70
- SGMAH Servomotors Without Gears70
- SGMAH Servomotors with Standard Backlash Gears72
- SGMAH Servomotors with Low-Backlash Gears74
- Ratings and Specifications of SGMPH (3000 Min -1)77
- SGMPH Servomotors Without Gears77
- SGMPH Servomotors with Standard Backlash Gears79
- SGMPH Servomotors with Low-Backlash Gears81
- 3.3.2 SGMGH Servomotors (1500Min87
- SGMGH Servomotors89
- Mechanical Specifications of Servomotors109
- Terms and Data for Servomotors with Gears112
- Servomotor Dimensional Drawings114
- With Standard Backlash Gears114
  - With Low-Backlash Gears114
    - Dimensional Drawings of SGMAH Servomotors (3000 Min -1)115
    - SGMAH Servomotors (3000 Min -1) Without Gears115
- Without Gears114
- Without Gears116
Dimensional Drawings of SGMAH Servomotors117
- Model SGMAH (3000 Min -1 )117
4 SERVOPACK Specifications and Dimensional Drawings225
- SERVOPACK Ratings and Specifications225
- SERVOPACK Installation231
- SERVOPACK Internal Block Diagrams233
- Overload Characteristics243
- Starting and Stopping Time244
- Load Moment of Inertia244
SERVOPACK Dimensional Drawings247
- Model247
- Single-Phase 100 V: 200 W (02BE) Single-Phase 200 V: 400 W (04AE)249
  - Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AE/08AE/10AE)250
  - Single-Phase 220 V: 750 W (08AE-S)250
- Three-Phase 200 V: 1.5 Kw (15AE)251
- Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05DE/08DE/10DE/15DE)251
- Single-Phase 220 V: 1.5 Kw (15AE-S) Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE/30AE) Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE/30DE)252
- Three-Phase 200 V: 5.0 Kw (50AE) Three-Phase 400 V: 5.0 Kw (50DE)253
- Three-Phase 200 V: 6.0 Kw/7.5 Kw (60AE/75AE)254
- Three-Phase 400 V: 6.0 Kw/7.5 Kw (60DE/75DE)255
- Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AAE/1EAE)256
- Three-Phase 400 V: 11.0 Kw/15.0 Kw (1ADE/1EDE)257
- Single-Phase 100 V: 200 W (02BE-R) Single-Phase 200 V: 400 W (04AE-R)259
- Single-Phase 220 V: 1.5 Kw (15AE-S-R)262
  - Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE-R/30AE-R)263
  - Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE-R/30DE-R)263
- Three-Phase 200 V: 5.0 Kw (50AE-R) Three-Phase 400 V: 5.0 Kw (50DE-R)264
- Dimensional Drawings of Duct-Ventilated SERVOPACK Model265
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices269
- Main Circuit Cable269
- Specifications and Dimensional Drawings of Servomotor Main Circuit Cable271
- Cables for SGMAH and SGMPH Servomotors Without Brakes271
- Cables for SGMAH and SGMPH Servomotors with Brakes271
- Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes272
- Flexible Cables for SGMAH and SGMPH Servomotors with Brakes273
- Cables for 400 V SGMAH and SGMPH Servomotors Without Brakes273
- Cables for 400 V SGMAH and SGMPH Servomotors with Brakes274
- Servomotor Main Circuit Wire Size and Connectors275
SERVOPACK Main Circuit Wire Size313
- Cable Types313
- Encoder Cable for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors316
  - Encoder Cable with Connectors for SGMAH and SGMPH Servomotors316
  - Encoder Cables for CN2 Connector316
- Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors317
- Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors318
- Encoder Flexible Cables for SGMAH and SGMPH Servomotors320
- Encoder Flexible Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors321
Connectors and Cables for Encoder Signals323
- Connectors and Cables for SGMAH and SGMPH Servomotors323
- Connectors and Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors325
Flexible Cables327
I/O Signal Cables for CN1 Connector328
- Standard Cables328
- Connector Type and Cable Size328
- Connection Diagram330
Peripheral Devices331
- Cables for Connecting Personal Computers331
- Digital Operator332
- Cables for Analog Monitor333
- Connector Terminal Block Converter Unit334
- Brake Power Supply Unit335
- External Regenerative Resistor337
- Regenerative Resistor Unit339
- Absolute Encoder Battery340
- Molded-Case Circuit Breaker (MCCB)341
- Noise Filter343
- Magnetic Contactor348
- Surge Suppressor352
- DC Reactor for Harmonic Suppression354
- Variable Resistor for Speed and Torque Setting356
- Encoder Signal Converter Unit357
- MECHATROLINK-I I/F Unit358
- Devicenet I/F Unit359
- PROFIBUS-DP I/F Unit360
- INDEXER Module362
- Setup Support Tool Sigmaindexer363
- Fully-Closed I/F Unit364
6 Wiring365
- Wiring Main Circuit366
- Wiring Encoders372
  - Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)372
  - Encoder Connector (CN2) Terminal Layout373
- Examples of I/O Signal Connections374
- Others383
7 Digital Operator/Panel Operator402
- Functions on Digital Operator/Panel Operator403
- Operation in Utility Function Mode (Fn )409
- Operation in Parameter Setting Mode (Pn )420
- Operation in Monitor Mode (un )429
  - List of Monitor Modes429
8 Operation433
- Trial Operation436
- Control Mode Selection449
- Setting Common Basic Functions450
- Absolute Encoders459
- Operating Using Speed Control with Analog Reference470
- Operating Using Position Control480
- Operating Using Torque Control493
- Limiting Torque501
- Control Mode Selection507
  - Setting Parameters507
- Other Output Signals509
9 Adjustments512
- Autotuning513
  - Servo Gain Adjustment Methods513
  - List of Servo Adjustment Functions514
- Online Autotuning516
- Manual Tuning523
- Servo Gain Adjustment Functions526
- Analog Monitor539
10 Inspection, Maintenance, and Troubleshooting541
- Alarm Display Table542
- Troubleshooting542
- Warning Display544
- Alarm Display Table When the Application Module Is Used545
- Warning Display Table When the Application Module Is Used546
- Alarm Display Table When the Linear Motor Is Used546
- Troubleshooting of Alarm and Warning547
- Warning Display and Troubleshooting556
- Troubleshooting for Malfunction Without Alarm Display557
- Inspection and Maintenance562
11 Appendix564
- Selection Example for Speed Control565
- Servomotor Capacity Selection Examples565
  - Selection Example for Position Control567
  - Calculating the Required Capacity of Regenerative Resistors570
- Connection to Host Controller579
- Example of Connection to Omron's Position Control Unit584
- Example of Connection to Omron's Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)585
- Example of Connection to Omron's Position Control Unit585
- Example of Connection to Omron’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)586
- Example of Connection to Mitsubishi's AD72 Positioning Unit (SERVOPACK in Speed Control Mode)587
- Example of Connection to Mitsubishi's AD75 Positioning Unit (SERVOPACK in Position Control Mode)588
List of Parameters589
- Utility Functions List589
- List of Parameters590
- Monitor Modes606
Parameter Recording Table607
- Index610
- Revision History615

Series	SGDH
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Protection Class	IP20
Type	Servo Drive
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback System	Incremental Encoder, Absolute Encoder

YASKAWA SGDH User Manual

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YASKAWA SGDH Specifications

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