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SGM-A3
YASKAWA SGM-A3 User Manual
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5.2
SGM
Servomotor
219
T
ype
SGM
−
yp
Item
A3A
A3V
A5A
A5V
01A
01V
02A
02V
04A
04V
08A
08V
Holding
brake
kg
¡
m
2
¢
10
−
4
0.0085
0.058
0.14
g
(oz
¡
in
¡
s
2
¢
10
−
3
)
(0.120)
(0.816)
(1.98)
12-bit
absolute
d
kg
¡
m
2
¢
10
−
4
0.025
encoder
(oz
¡
in
¡
s
2
¢
10
−
3
)
(0.352)
Electrical
Specifications
of
the
Holding
Brake
a)
SGM
T
ype
(Rated
V
oltage:
90
VDC)
Standard
..
Motor
Model
Motor
Capacity
(W)
Holding
Brake
Specifications
Capacity
(W)
Holding
T
orque
(kg-cm)
Coil
Resistance
(
Ω
at
20
°
C)
Rated
Current
(A
at
20
°
C)
SGM-A3
jjjj
30
6
2.0
1350
0.067
SGM-A5
jjjj
50
6
2.0
1350
0.067
SGM-01
jjjj
100
6
3.5
1350
0.067
SGM-02
jjjj
200
6.5
15
1246
0.072
SGM-04
jjjj
400
6.5
15
1246
0.072
SGM-08
jjjj
750
6
25
1350
0.067
b)
SGM
T
ype
(Rated
V
oltage:
24
VDC)
Semi-standard
..
Motor
Model
Motor
Capacity
(W)
Holding
Brake
Specifications
Capacity
(W)
Holding
T
orque
(kg-cm)
Coil
Resistance
(
Ω
at
20
°
C)
Rated
Current
(A
at
20
°
C)
SGM-A3
jjjj
30
6
2.0
96
0.25
SGM-A5
jjjj
50
6
2.0
96
0.25
SGM-01
jjjj
100
6
3.5
96
0.25
SGM-02
jjjj
200
6.5
15
89
0.27
SGM-04
jjjj
400
6.5
15
89
0.27
SGM-08
jjjj
750
6
25
96
0.25
5
230
232
Table of Contents
Chapter 1 For First-Time Users of Ac Servos
6
Table of Contents
10
Basic Understanding of AC Servos
16
Servo Mechanisms
16
Servo Configuration
19
Features of Σ-Series Servos
25
Chapter 2 Basic Uses of Σ-Series Products
29
Precautions
30
Notes on Use
30
Installation
32
Checking on Delivery
32
Installing the Servomotor
33
Installing the Servopack
36
Connection and Wiring
39
Connecting to Peripheral Devices
39
Main Circuit Wiring and Power on Sequence
42
Examples of Connecting I/O Signal Terminals
44
Conducting a Test Run
51
Test Run in Two Steps
51
Step 1: Conducting a Test Run for Motor Without Load
53
Step 2: Conducting a Test Run with the Motor Connected to the Machine
57
Supplementary Information on Test Run
59
Minimum User Constants Required and Input Signals
61
Chapter 3 Applications of Σ-Series Products
62
Before Reading this Chapter
64
Setting User Constants According to Machine Characteristics
65
Changing the Direction of Motor Rotation
65
Setting the Overtravel Limit Function
67
Restricting Torque
70
Setting User Constants According to Host Controller
77
Inputting Speed Reference
77
Inputting Position Reference
82
Using Encoder Output
89
Using Contact I/O Signals
93
Using Electronic Gear
95
Using Contact Input Speed Control
99
Using Torque Control
104
Using Torque Feed-Forward Function
110
Using Torque Restriction by Analog Voltage Reference
111
Using the Reference Pulse Inhibit Function (INHIBIT)
113
Using the Reference Pulse Input Filter Selection Function
114
Using the Analog Monitor
115
Setting up the Σ Servopack
116
Setting User Constants
116
Setting the Jog Speed
117
Setting the Number of Encoder Pulses
118
Setting the Motor Type
119
Setting Stop Mode
120
Adjusting Offset
120
Using Dynamic Brake
121
Using Zero-Clamp
122
Using Holding Brake
123
Running the Motor Smoothly
127
Using the Soft Start Function
127
Using the Smoothing Function
128
Adjusting Gain
128
Adjusting Offset
129
Setting the Torque Reference Filter Time Constant
129
Minimizing Positioning Time
131
Using Autotuning Function
131
Setting Servo Gain
131
Using Feed-Forward Control
133
Using Proportional Control
133
Setting Speed Bias
134
Using Mode Switch
135
Forming a Protective Sequence
141
Using Servo Alarm Output and Alarm Code Output
141
Using Servo on Input Signal
145
Using Positioning Complete Signal
146
Using Speed Coincidence Output Signal
147
Using Running Output Signal
149
Using Servo Ready Output Signal
151
Special Wiring
153
Wiring Instructions
153
Wiring for Noise Control
153
Wiring for Noise Control
155
Using more than One Servo Drive
160
Using Regenerative Units
161
Using an Absolute Encoder
164
Extending an Encoder Cable
172
Using DR2 Servopack with High Voltage Line
174
Connector Terminal Layouts
176
Chapter 4 Using the Digital Operator
182
Basic Operations
183
Connecting the Digital Operator
183
Resetting Servo Alarms
184
Basic Functions and Mode Selection
185
Operation in Status Display Mode
186
Operation in User Constant Setting Mode
189
Operation in Monitor Mode
192
Using the Functions
196
Operation in Alarm Trace-Back Mode
196
Using the Functions
198
Operation Using the Digital Operator
199
Autotuning
201
Reference Offset Automatic Adjustment
208
Speed Reference Offset Manual Adjustment Mode
210
Clearing Alarm Trace-Back Data
213
Checking Motor Type
214
Checking Software Version
214
Chapter 5 Servo Selection and Data Sheets
215
Selecting a Σ-Series Servo
217
Selecting a Servomotor
217
Selecting a Servopack
224
Digital Operator
228
SGM Servomotor
229
Ratings and Specifications
229
Mechanical Characteristics
242
Servopack Ratings and Specifications
245
Power Consumption
250
Overload Characteristics
251
Starting Time and Stopping Time
252
Load Inertia
253
Overhanging Loads
258
Σ-Series Dimensional Drawings
259
Servomotor Dimensional Drawings
259
Servomotor Dimensional Drawings
301
(TÜV Approved, Conforming to the Machine Instructions)
301
Servomotor Dimensional Drawings (TÜV Approved, Conforming to the Machine Instructions)
301
Servopack Dimensional Drawings
341
Digital Operator Dimensional Drawing
346
Selecting Peripheral Devices
347
Order List
353
Connector Kits
358
Specifications and Dimensional Drawings of Peripheral Devices
361
Cable Specifications and Peripheral Devices
362
Motor Cables
367
Motor Cables
368
Connector Kits
370
Brake Power Supply
375
Encoder Cables
377
Encoder Cables
378
Battery for Absolute Encoder
383
1CN Connector
383
CN Connector
384
Circuit Breaker
385
Noise Filter
386
Magnetic Contactor
387
Surge Suppressor
388
Regenerative Unit
388
Variable Resistor for Speed Setting
391
Encoder Signal Converter Unit
391
Encoder Signal Converter Unit
392
Cables for Connecting PC and Servopack
393
Cables for Connecting PC and Servopack
394
4CN Connector
397
CN Connector
398
Chapter 6 Inspection, Maintenance, and Troubleshooting
400
Inspection and Maintenance
401
Servomotor
402
Troubleshooting
404
Troubleshooting Problems with no Alarm Display
422
Internal Connection Diagram and Instrument Connection Examples
424
Chapter 7 Measures to Satisfy the Requirements of Emc Directive
428
What Is European Safe Standard
429
EMC Directive
430
Measures to Satisfy the Requirements of EMC Directive
431
Applicable Servomotor
435
Motor Cables
436
B.4 Gain Setting References
454
C List of I/O Signals
455
Wiring
488
Index
510
4
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YASKAWA SGM-A3 Specifications
General
Brand
YASKAWA
Model
SGM-A3
Category
Servo Drives
Language
English
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