YASKAWA SGM series User manual

YASKAWA
YA S K A WA
MANUAL NO. SIE-S800-26.3B

!
!
Safety Information
iii
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precau-
tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-
ucts or to related equipment and systems.
WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or
serious injury.
CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
Yaskawa, 1998
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form,
or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to
change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa as-
sumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the
information contained in this publication.

OVERVIEW
v
OVERVIEW
Safety Information iii..........................................
TABLE OF CONTENTS vii.....................................
Preface xiii...................................................
Features xiii..................................................
Related Manuals xiii...........................................
Safety Precautions xiv.........................................
1Configuration and Model Numbers
1.1 Configuration 1 -2..........................................
1.2 Models 1 -3................................................
2Ratings and Characteristics
2.1 Ratings/Specifications for 200-VAC SGM Servomotors 2 -2.......
2.2 Ratings/Specifications for 100-VAC SGM Servomotors 2 -5.......
2.3 Ratings/Specifications for 200-VAC SGMP Servomotors 2 -8.....
2.4 Ratings/Specifications for 100-VAC SGMP Servomotors 2 -10.....
2.5 SERVOPACK Ratings and Specifications 2 -12..................
2.6 Standard Peripheral Device Combinations 2 -14.................
3Servodrive Characteristics
3.1 Overload Characteristics 3 -2................................
3.2 Starting and Stopping Time 3 -3..............................
3.3 Allowable Repeatability 3 -4..................................
3.4 Large-amplitude Frequency Characteristics 3 -6................
3.5 Mechanical Characteristics 3 -7..............................
4Configuration and Connections
4.1 Internal Connection Diagram 4 -3.............................
4.2 Main Circuit Terminals 4 -4...................................
4.3 Applicable Receptacles 4 -4..................................
4.4 Connecting an Incremental Encoder 4 -5.......................
4.5 Connecting an Absolute Encoder 4 -9.........................
4.6 Output Circuits 4 -13.........................................
4.7 Connector Terminal Block Converter Unit for 1CN 4 -13...........
4.8 2CN Encoder Connector Terminals 4 -16........................
4.9 3CN Connector for MECHATROLINK Communication 4 -20.......
5Application
5.1 Turning Power ON/OFF 5 -3.................................
5.2 Position Control 5 -4........................................
5.3 Setting Up an Absolute Encoder 5 -6..........................
5.4 Protection Functions 5 -7....................................
5.5 Indications 5 -8.............................................
5.6 Precautions 5 -9............................................
5.7 Application Precautions 5 -14..................................

vi
5.8 Appropriate Applications 5 -19.................................
5.9 Adjustments 5 -20...........................................
6MECHATROLINK Communication
6.1 Specifications and Configuration 6 -2..........................
6.2 1SW Rotary Switch for MECHATROLINK Station
Address Settings 6 -3.....................................
6.3 MECHATROLINK Command List 6 -4.........................
6.4 Special Descriptions 6 -7....................................
6.5 Power ON Sequence (Communication Sequence) 6 -16...........
6.6 List of Alarm and Warning Codes 6 -19.........................
7User Constants
7.1 Setting User Constants 7 -2..................................
7.2 List of User Constants 7 -13...................................
7.3 Memory Switch Bit Details 7 -16...............................
7.4 Limits to User Constant Changes 7 -21.........................
7.5 Procedure for Transferring User Constants 7 -21.................
8Installation and Wiring
8.1 Checking on Delivery 8 -2...................................
8.2 Installation 8 -2.............................................
8.3 Wiring Specifications 8 -6....................................
9Servodrives Dimensional Drawings
9.1 Servomotor Dimensional Drawings 9 -2........................
9.2 SERVOPACK Dimensional Drawings 9 -34......................
9.3 Regenerative Resistor Unit Dimensional Drawings 9 -37..........
9.4 Cable Specifications 9 -38....................................
9.5 Connector Kits 9 -44.........................................
9.6 Noise Filters 9 -47...........................................
9.7 Peripheral Devices 9 -48......................................
10 Trial Operation
10.1 Check Items before Trial Operation 10 -2......................
10.2 Trial Operation Procedure 10 -3..............................
11 Settings
11.1 Characteristics at the Factory 11 -2...........................
11.2 Resetting 11 -2.............................................
11.3 Adjusting Servo Performance 11 -3............................
12 Maintenance and Inspection
12.1 Servodrive Maintenance and Inspection of Servodrives 12 -2.....
12.2 Troubleshooting 12 -4.......................................

TABLE OF CONTENTS
vii
TABLE OF CONTENTS
Safety Information iii...............................................
TABLE OF CONTENTS vii.........................................
Preface xiii........................................................
Features xiii.......................................................
Related Manuals xiii................................................
Safety Precautions xiv..............................................
1 Configuration and Model Numbers
1.1 Configuration 1 −2..............................................
1.2 Models 1 −3....................................................
1.2.1 Servomotor Model Numbers 1 −3...........................................
1.2.2 SERVOPACK Model Numbers 1 −3.........................................
2 Ratings and Characteristics
2.1 Ratings/Specifications for 200-VAC SGM Servomotors 2 −2........
2.1.1 Ratings and Specifications 2 −2............................................
2.2 Ratings/Specifications for 100-VAC SGM Servomotors 2 −5........
2.2.1 Ratings and Specifications 2 −5............................................
2.3 Ratings/Specifications for 200-VAC SGMP Servomotors 2 −8......
2.3.1 Ratings and Specifications 2 −8............................................
2.4 Ratings/Specifications for 100-VAC SGMP Servomotors 2 −10......
2.4.1 Ratings and Specifications 2 −10............................................
2.5 SERVOPACK Ratings and Specifications 2 −12.....................
2.6 Standard Peripheral Device Combinations 2 −14...................
3 Servodrive Characteristics
3.1 Overload Characteristics 3 −2...................................
3.2 Starting and Stopping Time 3 −3.................................
3.3 Allowable Repeatability 3 −4.....................................
3.3.1 Allowable Repeatability as Limited by the Servomotor 3 −4.....................
3.4 Large-amplitude Frequency Characteristics 3 −6..................

viii
3.5 Mechanical Characteristics 3 −7.................................
3.5.1 Mechanical Strength 3 −7..................................................
3.5.2 Allowable Radial Load and Allowable Thrust Load 3 −7........................
3.5.3 Mechanical Tolerances 3 −7...............................................
3.5.4 Direction of Motor Rotation 3 −8............................................
3.5.5 Impact Resistance 3 −9...................................................
3.5.6 Vibration Resistance 3 −9.................................................
3.5.7 Vibration Class 3 −9......................................................
4 Configuration and Connections
4.1 Internal Connection Diagram 4 −3................................
4.2 Main Circuit Terminals 4 −4......................................
4.3 Applicable Receptacles 4 −4.....................................
4.3.1 1CN Connector for I/O Signals 4 −4.........................................
4.3.2 2CN Connector for Encoder 4 −4...........................................
4.3.3 3CN Connector for MECHATROLINK Communication 4 −4.....................
4.4 Connecting an Incremental Encoder 4 −5.........................
4.4.1 Typical Example 4 −5.....................................................
4.4.2 1CN I/O Connector Terminals 4 −6..........................................
4.5 Connecting an Absolute Encoder 4 −9............................
4.5.1 Typical Example 4 −9.....................................................
4.5.2 1CN I/O Connector Terminals 4 −10..........................................
4.6 Output Circuits 4 −13.............................................
4.7 Connector Terminal Block Converter Unit for 1CN 4 −13............
4.7.1 Application 4 −13..........................................................
4.7.2 Connection Specifications 4 −14.............................................
4.7.3 Cable Specifications (Accessory for Connector Terminal Block Converter Unit) 4 −15
4.8 2CN Encoder Connector Terminals 4 −16..........................
4.8.1 2CN Terminal Layout 4 −16.................................................
4.8.2 Applicable Cables 4 −17....................................................
4.8.3 2CN Connection Method 4 −18..............................................
4.9 3CN Connector for MECHATROLINK Communication 4 −20.........
4.9.1 3CN Terminal Layout 4 −20.................................................
4.9.2 3CN Connection Method 4 −20..............................................
5 Application
5.1 Turning Power ON/OFF 5 −3.....................................

TABLE OF CONTENTS
ix
5.2 Position Control 5 −4............................................
5.2.1 Electronic Gear Function 5 −4..............................................
5.2.2 Feed-forward Control Function 5 −5.........................................
5.3 Setting Up an Absolute Encoder 5 −6.............................
5.3.1 Battery 5−6.............................................................
5.3.2 Setup Procedure 5 −6.....................................................
5.4 Protection Functions 5 −7.......................................
5.4.1 Dynamic Brake Function 5 −7..............................................
5.4.2 Error Detection Function 5 −7..............................................
5.4.3 Servo Alarm Output (ALM, ALM-SG) 5 −8....................................
5.4.4 Handling Protection Circuit Operation 5 −8...................................
5.4.5 Servo Alarm Reset 5 −8...................................................
5.5 Indications 5 −8.................................................
5.6 Precautions 5 −9................................................
5.6.1 Overhanging Load 5 −9...................................................
5.6.2 Load Moment of Inertia JL 5 −9.............................................
5.6.3 Regenerative Unit 5 −11....................................................
5.6.4 High Voltage Lines 5 −13...................................................
5.7 Application Precautions 5 −14....................................
5.7.1 Noise Control 5 −14........................................................
5.7.2 Power Supply Line Protection 5 −17..........................................
5.8 Appropriate Applications 5 −19...................................
5.8.1 Holding Brake Interlock Signal 5 −19.........................................
5.9 Adjustments 5 −20...............................................
5.9.1 Servo System Adjustments 5 −20............................................
5.9.2 User Constants 5 −21......................................................
5.9.3 Functions that Improve Response 5 −24......................................
5.9.4 Guidelines for Setting the Load Inertia Ratio 5 −25.............................
6 MECHATROLINK Communication
6.1 Specifications and Configuration 6 −2............................
6.1.1 Specifications 6 −2.......................................................
6.1.2 Control Structure 6 −2.....................................................
6.2 1SW Rotary Switch for MECHATROLINK Station
Address Settings 6 −3.........................................
6.3 MECHATROLINK Command List 6 −4.............................

x
6.4 Special Descriptions 6 −7.......................................
6.4.1 Option Field Specifications 6 −7............................................
6.4.2 I/O Monitor Specifications 6 −9.............................................
6.4.3 Monitor 1/2 Type Field Specifications 6 −10...................................
6.4.4 CONFIG Specifications 6 −11...............................................
6.4.5 ALM_RD Specifications 6 −11...............................................
6.4.6 ALM_CLR Specifications 6 −12..............................................
6.4.7 CONNECT Specifications 6 −12.............................................
6.4.8 INTERPOLATE Specifications 6 −13.........................................
6.4.9 LATCH Specifications 6 −13................................................
6.4.10 POSING Command Specifications 6 −14....................................
6.4.11 INTERPOLATE Command Specifications 6 −14...............................
6.4.12 ID_RD Specifications 6 −14................................................
6.4.13 Unsupported Commands 6 −15............................................
6.5 Power ON Sequence (Communication Sequence) 6 −16.............
6.6 List of Alarm and Warning Codes 6 −19............................
7 User Constants
7.1 Setting User Constants 7 −2.....................................
7.1.1 Gain-related Constants 7 −2...............................................
7.1.2 Torque-related Constants 7 −3.............................................
7.1.3 Sequence-related Constants 7 −3..........................................
7.1.4 Motion-related Constants 7 −5.............................................
7.1.5 Pulse-related Constants 7 −7..............................................
7.1.6 Other Constants 7 −8.....................................................
7.1.7 Memory Switches 7 −9....................................................
7.2 List of User Constants 7 −13......................................
7.3 Memory Switch Bit Details 7 −16..................................
7.3.1 Cn-0001: Memory Switches 1 7 −16..........................................
7.3.2 Cn-0002: Memory Switches 2 7 −18..........................................
7.3.3 Cn-0013: Memory Switches 3 7 −19..........................................
7.3.4 Cn-0014: Memory Switches 4 7 −20..........................................
7.4 Limits to User Constant Changes 7 −21............................
7.5 Procedure for Transferring User Constants 7 −21..................
8 Installation and Wiring
8.1 Checking on Delivery 8 −2.......................................
8.2 Installation 8 −2.................................................
8.2.1 Installing Servomotors 8 −2................................................
8.2.2 Installing SERVOPACKS 8 −4..............................................

TABLE OF CONTENTS
xi
8.3 Wiring Specifications 8 −6.......................................
8.3.1 Rated Current and Cable Specifications 8 −6.................................
8.3.2 Wiring Instructions 8 −7...................................................
8.3.3 Power Loss 8 −8.........................................................
8.3.4 Leakage Current 8 −9.....................................................
9 Servodrives Dimensional Drawings
9.1 Servomotor Dimensional Drawings 9 −2..........................
9.1.1 SGM Servomotors 9 −2...................................................
9.1.2 SGMP Servomotors 9 −18..................................................
9.2 SERVOPACK Dimensional Drawings 9 −34.........................
9.2.1 SGD-A3AN to 02AN, SGD-A3BN to 01BN 9 −34...............................
9.2.2 SGD-04AN, SGD-02BN 9 −35.............................................
9.2.3 SGD-08AN, SGD-03BN 9 −36.............................................
9.3 Regenerative Resistor Unit Dimensional Drawings 9 −37............
9.4 Cable Specifications 9 −38........................................
9.4.1 Cables from Yaskawa 9 −38................................................
9.4.2 Cables without SERVOPACK Connectors (PG Cables Only) 9 −40...............
9.4.3 Cables Only 9 −42.........................................................
9.5 Connector Kits 9 −44.............................................
9.5.1 Encoder Cable Connectors 9 −44............................................
9.5.2 Motor Cable Connectors 9 −44..............................................
9.5.3 SERVOPACK Connectors 9 −44.............................................
9.6 Noise Filters 9 −47...............................................
9.6.1 Dimensional Diagram 9 −47.................................................
9.7 Peripheral Devices 9 −48.........................................
9.7.1 Connector Terminal Block Converter Unit 9 −48................................
9.7.2 Brake Power Supply 9 −48..................................................
9.7.3 Analog Monitor Cables 9 −49................................................
10 Trial Operation
10.1 Check Items before Trial Operation 10 −2.........................
10.1.1 Servomotors 10 −2.......................................................
10.1.2 SERVOPACKS 10 −2.....................................................
10.2 Trial Operation Procedure 10 −3.................................
10.2.1 Preparation for Trial Operation 10 −3........................................
10.2.2 Operation 10 −3..........................................................
10.2.3 Trial Operation Inspection 10 −4............................................

xii
11 Settings
11.1 Characteristics at the Factory 11 −2..............................
11.2 Resetting 11 −2.................................................
11.3 Adjusting Servo Performance 11 −3..............................
11.3.1 Setting User Constants 11 −3..............................................
11.3.2 Setting Optimum Position and Speed Loop Gain 11 −3........................
12 Maintenance and Inspection
12.1 Servodrive Maintenance and Inspection of Servodrives 12 −2......
12.1.1 Servomotor 12 −2........................................................
12.1.2 SERVOPACK Inspection 12 −3.............................................
12.1.3 Replacing Battery for Absolute Encoder 12 −3................................
12.2 Troubleshooting 12 −4..........................................
12.2.1 Servomotor 12 −4........................................................
12.2.2 SERVOPACK 12 −5......................................................

Preface
xiii
Preface
Based on Yaskawa servo manufacturing technology and servo application technology accumulated
over the last half a century, Yaskawa has launched the AC Servo Series that, together with its rich line
of products, meets the needs of the modern needs of FA and FMS in their application to machining
tools and robots.
AC Servos not only provide stable, highly accurate, and high-speed response control even under ad-
verse environments, but also provide such features as easy application, flexibility, and easy maintain.
The new Yaskawa AC Servos can be used in various servo fields, including machining tools and ro-
bots.
Features
DThe highest available power rates and response in this class of servo.
DCompared with conventional products, these servomotors are approximately 1/3 both in volume
and weight and SERVOPACKS are approximately 1/4 in volume.
DThe book-shape SERVOPACKS can be used with either incrementalencoders or absoluteencoders.
DPositioning is performed using the MECHATROLINK High-speed Field Network.
DElectronic gear function provided.
DFor incremental encoders, there are now only 9 lines to wire between the encoder and the SERVO-
PACK (previously: 15 lines).
DThere are now only 6 I/O points to wire (previously: 15 I/O points).
DImproved environmental resistance by using varnish coating.
DImproved dispersion with command cable length up to 50 m (previously: 3 m).
Related Manuals
Refer to the following manuals as required
Read this manual carefully to ensure the proper use of the SERVOPACKS. Also, keep this manual in
a safe place so that it can be referred to whenever necessary.
Manual Name Manual No. Contents
MECHATROLINK Systems
User’s Manual
SIE-S800-26.1 Gives a detailed description of the MECHA-
TROLINK Network.
MECHATROLINK Servo
Command User’s Manual
SIE-S800-26.2 Provides a detailed description of the ME-
CHATROLINK servo commands.

xiv
Safety Precautions
The following precautions are for checking products upon delivery, installation, wiring, operation,
maintenance and inspections.
JChecking Products on Delivery
CAUTION
!
DBe sure to use the specified Servomotor and SERVOPACK combination.
Fire or damage may result if the wrong combination is used..
JInstallation
CAUTION
!
DDo not use the products in or near environments exposed to moisture, corrosive gases, flammable
gases , or other flammable materials.
Electric shock or fire may result.
JWiring
WARNING
!
DBe sure to ground the SERVOPACK ground terminal less than 100 Ω.
Electric shock or fire may result if the SERVOPACK is not grounded properly.
CAUTION
!
DDo not connect a three−phase power supply to the U, V, and W output terminals of the SERVO-
PACK.
Injury or fire may result.
DMake sure the power supply and Servomotor output terminals are securely tightened.
Fire may result if terminals are loose.

Safety Precautions
xv
JOperation
WARNING
!
DDo not touch rotating parts of the Servomotor during operation.
Injury may result.
CAUTION
!
DIn order to avoid accidents, do not connect the Servomotor shaft to the controlled equipment dur-
ing the trial operation.
Injury may result.
DBe sure to set the proper user constants for the controlled equipment prior to starting operation
with the Servomotor connected to the equipment.
Equipment overrun or damage may result without proper settings prior to the start of operation.
DAlways set up an emergency stop prior to starting operation with the Servomotor connected to the
equipment.
Injury may result if an emergency stop is not readily available.
DDo not touch the heat sink area during operation.
Severe burns due to high temperatures may result.
JMaintenance and Inspection
WARNING
!
DDo not touch areas inside the SERVOPACK.
Electric shock may result.
DMake sure the panel cover is attached when power is ON.
Electric shock may result if the panel cover is left open.
DTurn OFF power and wait 5 minutes before touching terminals.
Electric shock from residual voltage may result if terminals are touched within 5 minutes of turning OFF
power.
CAUTION
!
DDo not disassemble the Servomotor.
Electric shock or injury may result.
DDo not change wiring with the power turned ON.
Electric shock or injury may result.

xvi
JGeneral Precautions
Note the following to ensure safe application.
SThe drawings presented in this manual are sometimes shown without covers or protective guards.
Always replace the cover or protective guard as specified first, and then operate the products in
accordance with the manual.
SThe drawings presented in this manual are typical examples and may not match the product you
received.
SThis manual is subject to change due to product improvement, specification modification, and
manual improvement. When this manual is revised, the manual code is updated and the new
manual is published as a next edition. The edition number appears on the front and back covers.
SIf the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative
or one of the offices listed on the back of this manual.
SYaskawa will not take responsibility for the results of unauthorized modifications of this product.
Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.
Warning Label and Grounding Label
Sticker Attachment Positions
Warning Label
Grounding Label
Warning Label
Grounding Label

1-1
1
Configuration and Model Numbers
This chapter describes the configuration and model numbers for Servo-
drives.
1.1 Configuration 1 -2.............................
1.2 Models 1 -3..................................
1.2.1 Servomotor Model Numbers 1 -3..................
1.2.2 SERVOPACK Model Numbers 1 -3................
1

Configuration and Model Numbers
1-2
1.1 Configuration
Servodrives are configured using a SERVOPACK (Controller) and Servomotors.
SGD-jjAN SERVOPACK
SERVOPACK
Servomotors
1

1.2 Models
1-3
1.2 Models
1.2.1 Servomotor Model Numbers
SGM - 01 A 3 1 2 j
Σ-Series Servomotor
SGM: SGM Servomotor
SGMP: SGMP Servomotor
(cube type)
Rated Output (Motor Capacity)
Model SGM Only
A3: 30 W A5: 50 W
SGM and SGMP
01: 100 W 02: 200 W 03: 300 W
04: 400 W 08: 750 W
Supply Voltage
A: 200 V
B: 100 V
Options
B: With brake (90 V)
C: With brake (24 V)
D: With brake (90 V) and shaft seal
E: With brake (24 V) and shaft seal
P: Drip-proof
S: With shaft seal
Shaft Specifications
2: Straight without key
4: Straight with key
6: Straight with key and tap
Design Revision Order
Encoder Specifications
3: 2048 P/R incremental encoder
W: 12-bit absolute encoder
Not Standard
5: 2000 P/R incremental encoder
S: 15-bit absolute encoder
1.2.2 SERVOPACK Model Numbers
SGD - 01 A N
Command interface type
N: MECHATROLINK
Σ-Series SGD SERVOPACK
Rated Output (Motor Capacity)
A3: 30 W A5: 50 W 01: 100 W
02: 200 W 03: 300 W 04: 400 W
08: 750 W
Supply Voltage
A: 200V
B: 100V
1

2-1
2
Ratings and Characteristics
This chapter provides Servomotor ratings, specifications, and torque-
speed characteristics, as well as SERVOPACK ratings and specifications.
2.1 Ratings/Specifications for 200-VAC SGM
Servomotors 2 -2..............................
2.1.1 Ratings and Specifications 2 -2....................
2.2 Ratings/Specifications for 100-VAC SGM
Servomotors 2 -5..............................
2.2.1 Ratings and Specifications 2 -5....................
2.3 Ratings/Specifications for 200-VAC SGMP
Servomotors 2 -8..............................
2.3.1 Ratings and Specifications 2 -8....................
2.4 Ratings/Specifications for 100-VAC SGMP
Servomotors 2 -10..............................
2.4.1 Ratings and Specifications 2 -10....................
2.5 SERVOPACK Ratings and Specifications 2 -12....
2.6 Standard Peripheral Device Combinations 2 -14....
2

Ratings and Characteristics
2.1.1 Ratings and Specifications
2-2
2.1 Ratings/Specifications for 200-VAC SGM Servomotors
2.1.1 Ratings and Specifications
STime Rating: Continuous SVibration Class: 15 µm or below
SEnclosure: Totally enclosed, self cooled SAmbient Humidity: 20% to 80% (with no con-
densation)
SExcitation: Permanent magnet SMounting: Flange method
SThermal Class: B SWithstand Voltage: 1500 VAC
SAmbient Temperature: 0 to 40°CSInsulation Resistance: 500 VDC, 10 MΩmin.
SDrive Method: Direct drive
Table 2.1 200-VAC SGM Servomotor Ratings and Specifications
SGM Servomotor Type: SGM- A3A A5A 01A 02A 04A 08A
Rated Output*1W30 50 100 200 400 750
Rated N¡m0.095 0.159 0.318 0.637 1.27 2.39
Rated
Torque*1*2oz¡in *3 13.5 22.5 45.0 90.2 180 338
Instantaneous
Pk
T
*
1
N¡m0.29 0.48 0.96 1.91 3.82 7.1
Peak Torque*1oz¡in *3 41.1 68.0 136 270 541 1005
Rated
Current*1A (rms) 0.42 0.6 0.87 2.0 2.6 4.4
Instantaneous
Max Current*1A (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Rated Speed*1min−13000
Instantaneous
Max Speed*1min−14500
Torque
C*
1
N¡m/A (rms) 0.255 0.286 0.408 0.355 0.533 0.590
q
Constant*1kgf¡cm/A (rms) *3 2.60 2.92 4.16 3.62 5.44 6.01
Moment of
Ii
[J
]
×10−4kg¡m20.021 0.026 0.040 0.123 0.191 0.671
Inertia [JM]×10−3oz¡in¡s2*3 0.288 0.368 0.576 1.74 2.70 9.52
Rated Power
Rate*1kW/s 4.36 9.63 25.4 32.8 84.6 85.1
Rated Angular
Acceleration*1rad/s245200 61200 79500 51800 66600 35600
Inertia Time
Constant
ms 1.5 0.9 0.5 0.4 0.3 0.3
Inductive Time
Constant
ms 1.5 1.8 1.9 5.4 6.4 13
* 1. Theseitemsandtorque-motor speedcharacteristicsquotedin combinationwith aSERVOPACKareat anarmature
winding temperature of 100°C. Other values quoted at 20°C. All values are typical.
* 2. Rated torques are continuous allowable torque values at 40°C with a 250 ×250 ×6 (mm) (9.84 ×9.84 ×0.24 (in.))
heat sink attached.
* 3. These values are reference values.
Note When a motor is fitted with a shaft seal, use the following reduction ratings because of the higher friction torque.
SGM- A3A A5A 01A 02A 04A 08A
Reduction Rating (%) 70 80 90 95
2

2.1 Ratings/Specifications for 200-VAC SGM Servomotors
2-3
Add the numerical values given below to the moment of inertia values in the table for a motor attatched with a
holding brake and/or a 12-bit absolute encoder. Other specifications will also change.
Type SGM-
yp
Item A3A A5A 01A 02A 04A 08A
Holding brake ×10−4kg¡m20.0085 0.058 0.14
g
×10−4oz.in¡s2* 0.12 0.821 1.98
12-bit absolute
d
×10−4kg¡m20.025
encoder ×10−4oz.in¡s2* 0.354
*These values are reference values.
2