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8 Operation

8.6.3 Position Reference

8-56

When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-

PACK internal power supply is used, the circuit will not be isolated.

* : Represents twisted-pair wires.

When the open-collector output is used, input signal noise margin lowers. When a position error caused by

the noise occurs, set the parameter Pn200.3 to 1.

(3) Position Control Block Diagram

A block diagram for position control is shown below.

CN1

/PULS

SIGN

/SIGN

CLR

/CLR

PULS

PL1

PL2

PL3

150Ω

1kΩ

+12V

∗

Tr1

1.5 V max. at ON

SERVOPACKHost controller

Photocoupler

IMPORTANT

Pn201

Pn204

Pn202

Pn203

Pn102

Pn203

Pn202

Pn10A

Pn107

Pn109

Pn200.0

Pn108

Differ-

ential

Smoothing

Error

counter

Feed-

forward

Feed-for-

ward fil-

ter time

constant

Bias

Speed

loop

Current

loop

Dividing

Servomotor

Reference

pulse

PG signal

output

SERVOPACK (in position control)

Encoder

Bias adding

width

× 4

× 2

× 1

Front Cover1
About this Manual3
Related Manuals5
Safety Information6
Notes for Safe Operation7
CONTENTS13
1 Outline24
- 1.1 Checking Products25
- 1.2 Product Part Names27
  - 1.2.1 Servomotors27
  - 1.2.2 SERVOPACKs29
- 1.3 Examples of Servo System Configurations31
- 1.4 Applicable Standards34
  - 1.4.1 North American Safety Standards (UL, CSA)34
  - 1.4.2 CE Marking34
- 1.5 Sigma-II Series SGDM SERVOPACK Upgraded Functions35
2 Selections37
- 2.1 Servomotor Model Designations38
- 2.2 SERVOPACK Model Designations50
- 2.3 Sigma-II Series SERVOPACKs and Applicable Servomotors51
  - 2.3.1 SGDM SERVOPACKs and SGM*H Servomotors51
  - 2.3.2 SGDM SERVOPACKs and SGMCS Servomotors52
- 2.4 Selecting Cables53
- 2.5 Selecting Peripheral Devices62
3 Servomotor Specifications and Dimensional Drawings67
- 3.1 Ratings and Specifications of SGMAH (3000 min-1)70
  - 3.1.1 SGMAH Servomotors Without Gears70
  - 3.1.2 SGMAH Servomotors With Standard Backlash Gears72
  - 3.1.3 SGMAH Servomotors With Low-backlash Gears74
- 3.2 Ratings and Specifications of SGMPH (3000 min-1)76
  - 3.2.1 SGMPH Servomotors Without Gears76
  - 3.2.2 SGMPH Servomotors With Standard Backlash Gears79
  - 3.2.3 SGMPH Servomotors With Low-backlash Gears80
- 3.3 Ratings and Specifications of SGMGH (1500 min-1)81
  - 3.3.1 SGMGH Servomotors (1500 min-1) Without Gears81
  - 3.3.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears84
  - 3.3.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears86
- 3.4 Ratings and Specifications of SGMGH (1000 min-1)88
  - 3.4.1 SGMGH Servomotors (1000 min-1) Without Gears88
  - 3.4.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears90
  - 3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears92
- 3.5 Ratings and Specifications of SGMSH (3000 min-1)93
  - 3.5.1 SGMSH Servomotors (3000 min-1) Without Gears93
  - 3.5.2 SGMSH Servomotors (3000 min-1) With Low-backlash Gears95
- 3.6 Ratings and Specifications of SGMDH (2000 min-1)97
  - 3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes97
- 3.7 Ratings and Specifications of SGMCS Servomotors99
  - 3.7.1 Small-capacity Series SGMCS Servomotors99
  - 3.7.2 Middle-capacity Series SGMCS Servomotors102
- 3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors104
  - 3.8.1 Precautions on Servomotor Installation104
  - 3.8.2 Mechanical Tolerance105
  - 3.8.3 Direction of Servomotor Rotation105
  - 3.8.4 Impact Resistance106
  - 3.8.5 Vibration Resistance106
  - 3.8.6 Vibration Class106
- 3.9 Mechanical Specifications of SGMCS Servomotors107
  - 3.9.1 Allowable Loads107
  - 3.9.2 Mechanical Tolerance108
  - 3.9.3 Direction of Servomotor Rotation108
  - 3.9.4 Impact Resistance109
  - 3.9.5 Vibration Resistance109
  - 3.9.6 Vibration Class109
  - 3.9.7 Enclosure109
  - 3.9.8 Heating Conditions109
- 3.10 Terms and Data for Servomotors With Gears110
- 3.11 Servomotor Dimensional Drawings112
- 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)113
  - 3.12.1 SGMAH Servomotors (3000 min-1) Without Gears113
  - 3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes116
  - 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears119
  - 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes123
  - 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears128
- 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)132
  - 3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes132
  - 3.13.2 SGMPH Servomotors (3000 min-1) With Brakes134
  - 3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes136
  - 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes139
  - 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears142
- 3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors145
  - 3.14.1 SGMAH Servomotors145
  - 3.14.2 SGMPH Servomotors145
- 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)146
  - 3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes146
  - 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes148
  - 3.15.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)150
  - 3.15.4 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)155
  - 3.15.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)161
- 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)164
  - 3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes164
  - 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes166
  - 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)169
  - 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)174
  - 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)179
- 3.17 Dimensional Drawings of SGMSH Servomotors (3000 min-1)182
  - 3.17.1 SGMSH Servomotors (3000 min-1) Without Gears and Without Brakes182
  - 3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes184
  - 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)186
- 3.18 Dimensional Drawings of SGMDH Servomotors (2000 min-1)190
  - 3.18.1 SGMDH Servomotors (2000 min-1) Without Gears and With/Without Brakes190
- 3.19 Dimensional Drawings of SGMCS Servomotors192
  - 3.19.1 SGMCS Servomotors 135 dia. Model192
  - 3.19.2 SGMCS Servomotors 175 dia. Model193
  - 3.19.3 SGMCS Servomotors 230 dia. Model194
  - 3.19.4 SGMCS Servomotors 290 dia. Model195
  - 3.19.5 SGMCS Servomotors 280 dia. Model196
  - 3.19.6 SGMCS Servomotors 360 dia. Model197
- 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors201
  - 3.20.1 SGMGH Servomotors202
  - 3.20.2 SGMSH Servomotors203
  - 3.20.3 SGMDH Servomotors204
4 SERVOPACK Specifications and Dimensional Drawings205
- 4.1 SERVOPACK Ratings and Specifications207
- 4.2 SERVOPACK Installation210
- 4.3 SERVOPACK Internal Block Diagrams212
- 4.4 SERVOPACK’s Power Supply Capacities and Power Losses214
- 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia215
- 4.6 SERVOPACK Dimensional Drawings219
- 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model220
- 4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model228
- 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model234
  - 4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P)234
  - 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P)235
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices236
- 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable238
- 5.2 Servomotor Main Circuit Wire Size and Connectors242
- 5.3 SERVOPACK Main Circuit Wire Size272
- 5.4 Encoder Cables for CN2 Connector274
- 5.5 Connectors and Cables for Encoder Signals285
- 5.6 Flexible Cables290
- 5.7 I/O Signal Cables for CN1 Connector291
- 5.8 Peripheral Devices294
6 Wiring318
- 6.1 Wiring Main Circuit319
- 6.2 Wiring Encoders324
  - 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)324
  - 6.2.2 Encoder Connector (CN2) Terminal Layout325
- 6.3 Examples of I/O Signal Connections326
- 6.4 Others335
- 6.5 Connecting Regenerative Resistors347
  - 6.5.1 Regenerative Power and Regenerative Resistance347
  - 6.5.2 Connecting External Regenerative Resistors347
7 Digital Operator/Panel Operator351
- 7.1 Functions on Digital Operator/Panel Operator352
- 7.2 Operation in Utility Function Mode (Fn***)357
- 7.3 Operation in Parameter Setting Mode (Pn***)369
- 7.4 Operation in Monitor Mode (Un***)378
  - 7.4.1 List of Monitor Modes378
8 Operation382
- 8.1 Trial Operation385
- 8.2 Control Mode Selection398
- 8.3 Setting Common Basic Functions399
- 8.4 Absolute Encoders410
- 8.5 Operating Using Speed Control with Analog Reference420
- 8.6 Operating Using Position Control430
- 8.7 Operating Using Torque Control442
- 8.8 Operating Using Speed Control with an Internally Set Speed447
- 8.9 Limiting Torque450
- 8.10 Control Mode Selection455
  - 8.10.1 Setting Parameters455
  - 8.10.2 Switching the Control Mode455
- 8.11 Other Output Signals456
9 Adjustments459
- 9.1 Autotuning460
  - 9.1.1 Servo Gain Adjustment Methods460
  - 9.1.2 List of Servo Adjustment Functions461
- 9.2 Online Autotuning463
- 9.3 Manual Tuning468
- 9.4 Servo Gain Adjustment Functions471
- 9.5 Analog Monitor482
10 Upgraded Versions484
- 10.1 Upgraded Versions for SGDM SERVOPACK485
- 10.2 Upgraded Functions486
  - 10.2.1 Additional Functions486
  - 10.2.2 Improved Functions486
- 10.3 Additional Functions487
- 10.4 Improved Functions498
- 10.5 Additional and Improved Parameters501
11 Inspection, Maintenance, and Troubleshooting506
- 11.1 Troubleshooting507
- 11.2 Inspection and Maintenance523
12 Appendix525
- 12.1 Servomotor Capacity Selection Examples526
- 12.2 Connection to Host Controller539
- 12.3 List of Parameters549
- 12.4 Parameter Recording Table568
INDEX571
- A571
- B571
- C571
- D571
- E571
- F572
- G572
- H572
- I572
- L572
- M572
- N572
- O572
- P572
- Q573
- R573
- S573
- T575
- U575
- V575
- W575
- Z575
Revision History576
Back Cover578

Brand	YASKAWA
Model	Sigma II Series
Category	Controller
Language	English

YASKAWA Sigma II Series User Manual

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YASKAWA Sigma II Series Specifications

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