YASKAWA SGDM User Manual

3 Servomotor Specifications and Dimensional Drawings
3.4.3 SGMGH Servomotors (1000 min
-1
) With Low-backlash Gears
3-26
3.4.3 SGMGH Servomotors (1000 min
-1
) With Low-backlash Gears
Note: 1. Output torque and motor speed produce the following trends in efficiency. Values in the table are
at the rated motor speed.
2. The no-load torque for a servomotor with gears is high immediately after the servomotor starts,
and it then decreases and becomes stable a few minutes later. This is a common phenomenon
caused by grease being circulated in the gear and not by a faulty gear.
• Time Rating: Continuous • Thermal Class: F
• Vibration Class: 15 μm or below • Withstand Voltage: 1500 VAC for one minute
• Insulation Resistance: 500 VDC, 10 MΩ min. • Enclosure: Totally enclosed, IP44 self-cooled (or the equivalent)
• Surrounding Air Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (no condensation)
• Excitation: Permanent magnet • Drive Method: Direct drive
• Mounting: Flange-mounted (can be mounted in any
direction)
• Gear Mechanism: Planetary gear mechanism
• Gear Lubricating Method: Grease
• Backlash: 0.05° (3 min) at the gear output shaft
• Gear Rotation Direction: Same direction as servomotor
Servomotor
Model
SGMGH-
Servomotor Gear Output
Moment of Inertia J
×10
-4
kg·m
2
Out-
put
kW
Rated
Speed
min
-1
Rated
Tor que
Nxm
Gear
Ratio
Rated
Torque/
Efficiency
N·m/%
Instanta-
neous
Peak
Torque/
Effective
N·m/%
Rated
Speed
min
-1
Max.
Speed
min
-1
Motor +
Gears
Gears
03ABL14
0.3
1000
2.84
1/5 11.4/80 28.7/80 200 400 8.50 1.26
03ABL24
1/9 20.4/80 51.6/80 111 222 8.18 0.96
03ABL54
1/20 45.4/80 115/80 50 100 8.64 1.40
03ABL74
1/29 65.9/80 166/80 34 68 10.0 2.76
03ABL84
1/45 102/80 258/80 22 44 9.05 1.81
06ABL14
0.6 5.68
1/5 22.7/80 56.4/80 200 400 15.2 1.30
06ABL24
1/9 40.9/80 101/80 111 222 14.8 0.90
06ABL54
1/20 90.9/80 226/80 50 100 18.6 4.70
06ABL74
1/29 132/80 327/80 34 68 16.7 2.80
06ABL84
1/45 204/80 508/80 22 44 18.4 4.50
09ABL14
0.9 8.62
1/5 34.5/80 77.2/80 200 400 23.9 3.40
09ABL24
1/9 62.1/80 139/80 111 222 25.3 4.80
09ABL54
1/20 138/80 309/80 50 100 27.4 6.90
09ABL74
1/29 200/80 448/80 34 68 30.9 10.4
09ABL84
1/45 310/80 695/80 22 44 27.2 6.70
12ABL14
1.2 11.5
1/5 46/80 112/80 200 400 41.9 10.2
12ABL24
1/9 82.8/80 202/80 111 222 39.5 7.80
12ABL54
1/20 184/80 448/80 50 100 51.9 20.2
12ABL74
1/29 267/80 650/80 34 68 45.1 13.4
12ABL84
1/45 414/80 1008/80 22 44 41.4 9.70
20ABL14
2.0 19.1
1/5 76.4/80 176/80 200 400 56.2 10.2
20ABL24
1/9 138/80 317/80 111 222 53.8 7.80
20A
BL54
1/20
306/80 704/80 50 100 66.2 20.2
30ABL14
3.0 28.4
1/5 114/80 255/80 200 400 87.9 20.4
30ABL24
1/9 204/80 459/80 111 222 80.0 12.5
Output torque
Efficiency
Efficiency
Output torque

YASKAWA SGDM Specifications

General

Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Overload, Overheat
Ambient Temperature	0°C to 55°C
Storage Temperature	-20 to +85°C (-4 to 185°F)
Vibration	5.9 m/s2 (0.6 G) at 10 to 55 Hz