YASKAWA Sigma II Series User manual

Sigma II Series Servo System
User’s Manual

Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed
precautions provided in this manual can result in serious or possibly even fatal injury or
damage to the products 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.
•
•PROHIBITED: Indicates actions that must never be taken.
WARNING
!
CAUTION
!
PROHIBITED
©Yaskawa,1999
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 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 man-
ual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Never-
theless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.

Sigma II User’s Manual Chapter 2: Installation
i
Overview....................................................................................................................... viii
Using This Manual.......................................................................................................... ix
Safety Precautions.............................................................................................................x
1: Checking Product and Part Names ...................................................................... 1-1
1.1 Checking the Sigma II Series Products on Deliver.............................................. 1-2
1.1.1 Servomotors................................................................................................ 1-2
1.1.2 Servo Amplifiers......................................................................................... 1-4
1.2 Product Part Names ............................................................................................. 1-5
1.2.1 Servomotors................................................................................................ 1-5
1.2.2 Servo Amplifiers......................................................................................... 1-6
2 Installation ........................................................................................................... 2-1
2.1 Servomotors......................................................................................................... 2-2
2.1.1 Storage Temperature................................................................................... 2-2
2.1.2 Installation Site ........................................................................................... 2-2
2.1.3 Alignment ................................................................................................... 2-3
2.1.4 Orientation .................................................................................................. 2-3
2.1.5 Allowable Shaft Loads................................................................................ 2-4
2.1.6 Handling Oil and Water .............................................................................. 2-5
2.1.7 Cable Stress................................................................................................. 2-5
2.2 Servo Amplifiers.................................................................................................. 2-6
2.2.1 Storage Conditions...................................................................................... 2-6
2.2.2 Installation Site ........................................................................................... 2-6
2.2.3 Orientation .................................................................................................. 2-7
2.2.4 Installation .................................................................................................. 2-7
3Wiring .................................................................................................................. 3-1
3.1 Connecting to Peripheral Devices....................................................................... 3-2
3.1.1 Single-Phase (100V or 200V) Main Circuit Specifications....................... 3-3
3.1.2 Three-Phase (200V) Main Circuit Specifications....................................... 3-4
3.2 Servo Amplifier Internal Block Diagrams.......................................................... 3-5
3.2.1 30 to 400W 200V and 30 to 200W 100V Models...................................... 3-5
3.2.2 0.5kW to 1.5kW 200V Models................................................................... 3-6
3.2.3 2.0kW and 3.0kW 200V Models ................................................................ 3-6

Sigma II User’s Manual Chapter 2: Installation
ii
3.3 Main Circuit Wiring............................................................................................. 3-7
3.3.1 Names and Descriptions of Main Circuit Terminals................................... 3-8
3.3.2 Typical Main Circuit Wiring Example........................................................3-9
3.3.3 Cable Specifications and Peripheral Devices ............................................. 3-9
3.3.4 Servo Amplifier Power Losses ................................................................. 3-10
3.3.5 Wiring Main Circuit Terminal Blocks ...................................................... 3-11
3.4 I/O Signals ......................................................................................................... 3-12
3.4.1 Examples of I/O Signal Connections........................................................3-13
3.4.2 List of CN1 Terminals .............................................................................. 3-14
3.4.3 I/O Signal Names and Functions .............................................................. 3-15
3.4.4 Interface Circuits....................................................................................... 3-17
3.5 Wiring Encoders ................................................................................................ 3-20
3.5.1 Connecting an Encoder (CN2) and Output Signals from the
Servo Amplifier (CN1)............................................................................. 3-20
3.5.2 CN2 Encoder Connector Terminal Layout and Types.............................. 3-21
3.6 Examples of Standard Connections.................................................................. 3-22
3.6.1 Single-Phase Power Supply Specifications .............................................. 3-23
3.6.2 Three-Phase Power Supply Specifications ............................................... 3-24
3.6.3 Position Control Mode.............................................................................. 3-25
3.6.4 Speed Control Mode................................................................................. 3-26
3.6.5 Torque Control Mode................................................................................ 3-27
4Trial Operation..................................................................................................... 4-1
4.1 Two-Step Trial Operation .................................................................................... 4-2
4.1.1 Step 1: Trial Operation for Servomotor without Load................................ 4-3
4.1.2 Step 2: Trial Operation with the Servomotor Connected to the Machine.. 4-9
4.2 Supplementary Information on Trial Operation................................................ 4-10
4.2.1 Servomotors with Brakes.......................................................................... 4-10
4.2.2 Position Control by Host Controller......................................................... 4-11
4.3 Minimum Parameters and Input Signals........................................................... 4-11
4.3.1 Parameters................................................................................................. 4-11
4.3.2 Input Signals ............................................................................................. 4-12

Sigma II User’s Manual Chapter 2: Installation
iii
5: Parameter Settings and Functions........................................................................ 5-1
5.1 Settings According to Device Characteristics .................................................... 5-4
5.1.1 Switching Servomotor Rotation Direction ................................................. 5-4
5.1.2 Setting the Overtravel Limit Function........................................................ 5-5
5.1.3 Limiting Torques......................................................................................... 5-9
5.2 Settings According to Host Controller.............................................................. 5-14
5.2.1 Speed Reference ....................................................................................... 5-14
5.2.2 Position Reference.................................................................................... 5-16
5.2.3 Using the Encoder Signal Output .............................................................5-22
5.2.4 Sequence I/O Signals................................................................................ 5-25
5.2.5 Using the Electronic Gear Function..........................................................5-28
5.2.6 Contact Input Speed Control..................................................................... 5-32
5.2.7 Using Torque Control ............................................................................... 5-38
5.2.8 Torque Feed–forward Function................................................................. 5-44
5.2.9 Torque Limiting by Analog Voltage Reference........................................ 5-46
5.2.10 Reference Pulse Inhibit Function (INHIBIT)........................................... 5-48
5.3 Setting Up the Servo Amplifier ......................................................................... 5-49
5.3.1 Parameters................................................................................................. 5-49
5.3.2 JOG Speed ................................................................................................ 5-49
5.3.3 Input Circuit Signal Allocation................................................................. 5-50
5.3.4 Output Circuit Signal Allocation.............................................................. 5-54
5.3.5 Control Mode Selection............................................................................ 5-57
5.4 Setting Stop Functions....................................................................................... 5-60
5.4.1 Adjusting Offset........................................................................................ 5-60
5.4.2 Using the Dynamic Brake......................................................................... 5-61
5.4.3 Using the Zero Clamp Function................................................................ 5-62
5.4.4 Using the Holding Brake .......................................................................... 5-64
5.5 Forming a Protective Sequence ........................................................................ 5-69
5.5.1 Using Servo Alarm and Alarm Code Outputs .......................................... 5-69
5.5.2 Using the Servo ON Input Signal .............................................................5-71
5.5.3 Using the Positioning Completed Output Signal...................................... 5-72

Sigma II User’s Manual Chapter 2: Installation
iv
5.5.4 Speed Coincidence Output........................................................................ 5-74
5.5.5 Using the Running Output Signal.............................................................5-75
5.5.6 Using the Servo Ready Output Signal...................................................... 5-76
5.5.7 Using the Warning Output Signal.............................................................5-77
5.5.8 Using the Near Output Signal................................................................... 5-79
5.5.9 Handling Power Loss................................................................................ 5-80
5.6 Selecting a Regenerative Resistor..................................................................... 5-82
5.6.1 External Regenerative Resistor................................................................. 5-84
5.6.2 Calculating the Required Capacity of Regenerative Resistors................. 5-86
5.7 Absolute Encoders............................................................................................. 5-90
5.7.1 Interface Circuit........................................................................................ 5-90
5.7.2 Selecting an Absolute Encoder................................................................. 5-91
5.7.3 Handling Batteries .................................................................................... 5-92
5.7.4 Absolute Encoder Setup............................................................................ 5-93
5.7.5 Absolute Encoder Reception Sequence.................................................... 5-97
5.8 Special Wiring.................................................................................................. 5-102
5.8.1 Wiring Precautions.................................................................................. 5-102
5.8.2 Wiring for Noise Control........................................................................ 5-104
5.8.3 Using More Than One Servodrive..........................................................5-109
5.8.4 Extending Encoder Cables...................................................................... 5-110
5.8.5 400V Power Supply Voltage................................................................... 5-112
5.8.6 Reactor for Harmonic Suppression......................................................... 5-113
5.9 Reserved Parameters........................................................................................ 5-114
6Servo Adjustment ................................................................................................ 6-1
6.1 Smooth Operation................................................................................................ 6-2
6.1.1 Using the Soft Start Function...................................................................... 6-2
6.1.2 Smoothing................................................................................................... 6-3
6.1.3 Adjusting Gain............................................................................................ 6-4
6.1.4 Adjusting Offset.......................................................................................... 6-5
6.1.5 Setting the Torque Reference Filter Time Constant.................................... 6-5
6.1.6 Notch Filter................................................................................................. 6-6

Sigma II User’s Manual Chapter 2: Installation
v
6.2 High-speed Positioning........................................................................................ 6-7
6.2.1 Setting Servo Gain...................................................................................... 6-7
6.2.2 Using Feed-Forward Control...................................................................... 6-9
6.2.3 Using Proportional Control......................................................................... 6-9
6.2.4 Setting Speed Bias .................................................................................... 6-10
6.2.5 Using Mode Switch .................................................................................. 6-11
6.2.6 Speed Feedback Compensation ................................................................ 6-14
6.3 Auto-Tuning....................................................................................................... 6-17
6.3.1 Online Auto-Tuning.................................................................................. 6-17
6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning............................. 6-20
6.3.3 Saving Results of Online Auto-Tuning.....................................................6-22
6.3.4 Parameters Related to Online Auto-Tuning.............................................. 6-24
6.4 Servo Gain Adjustments.................................................................................... 6-26
6.4.1 Servo Gain Parameters.............................................................................. 6-26
6.4.2 Basic Rules of Gain Adjustment............................................................... 6-26
6.4.3 Making Manual Adjustments.................................................................... 6-28
6.4.4 Gain Setting Reference Values ................................................................. 6-33
6.5 Analog Monitor.................................................................................................. 6-35
7. Using the Digital Operator................................................................................... 7-1
7.1 Basic Operation.................................................................................................... 7-2
7.1.1 Connecting the Digital Operator................................................................. 7-2
7.1.2 Functions..................................................................................................... 7-3
7.1.3 Resetting Servo Alarms .............................................................................. 7-4
7.1.4 Basic Mode Selection ................................................................................. 7-5
7.1.5 Status Display Mode................................................................................... 7-5
7.1.6 Operation in Parameter Setting Mode ........................................................7-8
7.1.7 Operation in Monitor Mode...................................................................... 7-16
7.2 Applied Operation.............................................................................................. 7-21
7.2.1 Operation in Alarm Traceback Mode .......................................................7-22
7.2.2 Operation Using the Digital Operator....................................................... 7-23
7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset.......... 7-26

Sigma II User’s Manual Chapter 2: Installation
vi
7.2.4 Manual Adjustment of the Speed and Torque Reference Offset .............. 7-29
7.2.5 Clearing Alarm Traceback Data ............................................................... 7-34
7.2.6 Checking the Motor Model....................................................................... 7-36
7.2.7 Checking the Software Version................................................................. 7-39
7.2.8 Origin Search Mode.................................................................................. 7-40
7.2.9 Initializing Parameter Settings.................................................................. 7-42
7.2.10 Manual Zero Adjustment and Gain Adjustment of
Analog Monitor Output ............................................................................ 7-44
7.2.11 Adjusting the Motor Current Detection Offset......................................... 7-49
7.2.12 Write Protected Setting)............................................................................ 7-53
8Ratings and Characteristics.................................................................................. 8-1
8.1 Servomotors......................................................................................................... 8-2
8.1.1 Ratings, Specifications, and Dimensional Drawings.................................. 8-2
8.2 Servo Amplifiers................................................................................................ 8-17
8.2.1 Combined Specifications.......................................................................... 8-17
8.2.2 Ratings and Specifications........................................................................ 8-21
8.2.3 Dimensional Drawings ............................................................................. 8-24
9: Inspection, Maintenance, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1 Servodrive Inspection and Maintenance............................................................. 9-2
9.1.1 Servomotor Inspection................................................................................ 9-2
9.1.2 Servo Amplifier Inspection......................................................................... 9-3
9.1.3 Replacing Battery for Absolute Encoder.................................................... 9-4
9.2 Troubleshooting................................................................................................... 9-5
9.2.1 Troubleshooting Problems with Alarm Displays........................................ 9-5
9.2.2 Troubleshooting Problems with No Alarm Display ................................. 9-35
9.2.3 Alarm Display Table................................................................................. 9-37
9.2.4 Warning Displays...................................................................................... 9-39
A: Host Controller Connection Examples ............................................................... A-1
A.1 Connecting the GL-series MC20 Motion Module.............................................. A-2
A.2 Connecting the CP-9200SH Servo Controller Module (SVA) ........................... A-3
A.3 Connecting the GL-series B2813 Positioning Module...................................... A-4
A.4 Connecting OMRON's C500-NC221 Position Control Unit.............................. A-5

Sigma II User’s Manual Chapter 2: Installation
vii
A.5 Connecting OMRON's C500-NC112 Position Control Unit.............................. A-6
A.6 Connecting MITSUBISHI's AD72 Positioning Unit.......................................... A-7
A.7 Connecting MITSUBISHI's AD75 Positioning Unit.......................................... A-8
B: List of Parameters................................................................................................B-1
B.1 Parameters............................................................................................................B-2
B.2 Switches...............................................................................................................B-5
B.3 Input Signal Selections ........................................................................................B-9
B.4 Output Signal Selections....................................................................................B-11
B.6 Monitor Modes ..................................................................................................B-12

Sigma II User’s Manual Chapter 2: Installation
viii
Overview
nManual Outline
This manual provides the following information for the Sigma II Series SGMoH/SGDH
servodrives.
•Procedures for installing and wiring the servomotor and servo amplifier.
•Procedures for trial operation of the servodrive.
•Procedures for using functions and adjusting the servodrives.
•Procedures for using the built-in panel operator and the hand-held digital operator.
•Ratings and specifications for standard models.
•Procedures for maintenance and inspection.
nRelated Manuals
Refer to the following manuals as required.
Read this manual carefully to ensure the proper use of Sigma II Series servodrives. Also,
keep this manual in a safe place so that it can be referred to whenever necessary.
Manual Name Manual Number Contents
Sigma II Series Servo System
Catalog Supplement
Servo Selection and Data
Sheets
G-MIAZ#99001 Describes the procedure used to select Sigma II Series servodrives and capaci-
ties.
Sigma Win Software
Operation Manual SIA–S800–1.0 Describesthe applications andoperation
of software for the Sigma servodrive
monitoring devices for use on personal
computers.
Sigma II Series SGMoH/
SGDH
Digital Operator
Operation Manual
TOE–S800–34 Provides detailed information on the
operation of the JUSP–OP02A–1
digital operator, which is an optional
product.

Sigma II User’s Manual Table of Contents/Preface
ix
Using This Manual
nIntended Audience
This manual is intended for the following users.
•Those designing Sigma IΙSeries servodrive systems.
•Those installing or wiring Sigma IΙSeries servodrives.
•Those performing trial operation or adjustments of Sigma IΙSeries servodrives.
•Those maintaining or inspecting Sigma IΙSeries servodrives.
nDescription of Technical Terms
In this manual, the following terms are defined as follows:
•Servomotor = Sigma IΙSeries SGMAH/SGMPH/SGMGH/SGMSH servomotor.
•Servo Amplifier = Sigma IΙSeries SGDH servo amplifier.
•Servodrive = A set including a servomotor and servo amplifier.
•Servo System = A servo control system that includes the combination of a servodrive
with a host computer and peripheral devices.
nIndication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written
with a forward slash (/) before the signal name, as shown in the following equations:
•/S–ON = S–ON
•/P–CON = P–CON

Sigma II User’s Manual Table of Contents/Preface
x
Safety Precautions
The following precautions are for checking products upon delivery, installation, wiring,
operation, maintenance and inspections.
nChecking Products upon Delivery
nInstallation
nWiring
•Always use the servomotor and servo amplifier in one of the specified combinations.
Not doing so may cause fire or malfunction.
•Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Doing so may result in electric shock or fire.
•Connect the ground terminal to a class 3 ground (100ΩΩ or less).
Improper grounding may result in electric shock or fire.
•Required for 7.5kW amplifiers: use of Yaskawa kit Number XXX for wiring the power input and
output terminals, or equivalent UL listed closed-loop ring terminals designed to accept 4 AWG wires.
•Do not connect a three-phase power supply to the U, V, or W output terminals.
Doing so may result in injury or fire.
•Securely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.
CAUTION
!
CAUTION
!
WARNING
!
CAUTION
!

Sigma II User’s Manual Table of Contents/Preface
xi
nOperation
nMaintenance and Inspection
•Never touch any rotating motor parts while the motor is running.
Doing so may result in injury
•Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Not doing so may result in injury.
•Before starting operation with a machine connected, change the settings to match the parameters of
the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
•Before starting operation with a machine connected, make sure that an emergency stop can be applied
at any time.
Not doing so may result in injury.
•Do not touch the heat sinks during operation.
Not doing so may result in burns due to high temperatures.
•Do not remove the panel cover while the power is ON.
Doing so carries a risk of electric shock.
•Do not touch terminals for five minutes after the power has been turned OFF.
Residual voltage may cause electric shock.
•Never touch the inside of the servo amplifier.
Doing so may result in electric shock.
CAUTION
!
CAUTION
!
WARNING
!

Sigma II User’s Manual Table of Contents/Preface
xii
nGeneral Precautions
•Do not disassemble the servomotor.
Doing so may result in electric shock or injury
•Do not attempt to change wiring while the power is ON.
Doing so may result in electric shock or injury
•The 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.
•The drawings presented in this manual are typical examples and may not match the product you received.
•This 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.
•If 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.
•Yaskawa 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.
CAUTION
!
Note the following to ensure safe application:

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-1
1Checking Product and Part Names
This chapter describes the procedure for checking products
upon delivery as well as names for product parts.
1.1 Checking the Sigma II Series Products on Deliver.............................................. 1-2
1.1.1 Servomotors................................................................................................ 1-2
1.1.2 Servo Amplifiers......................................................................................... 1-4
1.2 Product Part Names ............................................................................................. 1-5
1.2.1 Servomotors................................................................................................ 1-5
1.2.2 Servo Amplifiers......................................................................................... 1-6

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-2
1.1 Checking the Sigma II Series Products on Delivery
The following procedure is suggested to check Sigma II series products upon delivery.
Use the following checklist when Sigma II series products are delivered.
If any of the above are faulty or incorrect, contact Yaskawa or an authorized distributor.
1.1.1 Servomotors
nExternal Appearance and Nameplate Example
Initial Inspection Comments
Are the delivered products
the ones that were ordered?
Check the model numbers marked on
the nameplates of the servomotor and
servo amplifier. (Refer to the descrip-
tions of model numbers on following
pages)
Does the servomotor shaft
rotate smoothly?
The servomotor shaft is normal if it can
be turned smoothly by hand. Servomo-
tors with brakes, however, cannot be
turned manually.
Is there any damage? Check the overall appearance, and check for damage or scratches that may
have occurred during shipping.
Are there any loose screws? Check screws for looseness using a
screwdriver.
Manufacturing date
Rated motor speed
Servomotor model
Rated output
Serial number

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-3
nModel Numbers
Standard Servomotors
Table 1.1: Servomotor Capacity (kW)
Table 1.2: Serial Encoders
Table 1.3: Axis End Specifications (Straight)
Symbol SGMAH SGMPH SGMGH SGMSH Symbol SGMAH SGMPH SGMGH SGMSH
3000rpm 3000rpm 1500rpm 3000rpm 3000rpm 3000rpm 1500rpm 3000rpm
A3 0.03 — — — 08 0.75 0.75 — —
A5 0.05 — — — 09 — — 0.85 —
01 0.1 0.1 — — 10 — — — 1.0
02 0.2 0.2 — — 12 — — — —
03 — — — — 13 — — 1.3 —
04 0.4 0.4 — — 15 —1.5 —1.5
05 — — 0.45 —20 — — 1.8 2.0
06 — — — — 30 — — 2.9 3.0
Code Specification SGMAH SGMPH SGMGH SGMSH
116–bit absolute encoder Standard Standard — —
217–bit absolute encoder — — Standard Standard
A13–bit incremental encoder Standard Standard — —
B16-bit incremental encoder Optional Optional — —
C17–bit incremental encoder — — Standard Standard
Code Specification SGMAH SGMPH SGMGH SGMSH
2Straight without key Optional Optional Standard Standard
4Straight with key Standard Standard — —
6Straight with key and tap Optional Optional Optional Optional
8Straight with tap Optional Optional — —
SGMPH - 01 A A A 2 S
Sigma II Series Servomotor Name
SGMAH
SGMPH
SGMGH
SGMSH
Servomotor Capacity (See Table 1l1)
A: 200V
B: 100V
*The only 100V servomotors are the 0.2kW or less
SGMAH and SGMPH models.
Serial Encoder Specifications (See Table 1.2)
Brake and Oil Seal Specifications
1: With brake, no oil seal
S: With oil seal
C: With 24VDC brake
E: S + C
Shaft End Specifications
(See Table 1.3)
Design Revision Order
ASGMAH
SGMPH
SGMGH (1500rpm)
SGMSH
SGMPH (IP67 waterproof specification)
E:

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-4
1.1.2 Servo Amplifiers
nExternal Appearance and Nameplate Examples
nModel Numbers
L1
L2
L3
U
V
W
L1C
L2C
B1
B2
B3
1
2
C
N
3
C
N
1
C
N
2
YASKAWA
SERVOPACK
MODE/SET DATA/
CHARGE POWER
SGDH-
200V
Sigma II series SGDH
servo amplifier
Servo amplifier model
Serial number
Applicable
power supply
Applicable capacity
SGDH - 10 A E - o
Sigma II Series
SGDH Servo Amplifier
Maximum Applicable Servomotor Capacity
(See Table 1.9)
Supply Voltage
A: 200V
B: 100V*
Type
E: For torque, speed,. and position control
Options
R: Rack mounted
*The only 100V servomotors are the 2.0kW or
or less SGMAH and SGMPH
S: Single-Phase

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-5
Table 1.4: Maximum Applicable Servomotor Capacity
1.2 Product Part Names
This section describes product part names.
1.2.1 Servomotors
The figure below shows part names for servomotors with or without brakes.
Maximum Applicable Servomotor Capacity
Symbol Capacity (kW) Symbol Capacity (kW)
A3 0.03 08 0.75
A5 0.05 10 1.0
01 0.10 15 1.5
02 0.20 20 2.0
04 0.40 30 3.0
05 0.50 ——-
Encoder Frame Flange
Output shaft

Sigma II User’s Manual Chapter 1: Checking Products and Part Names
1-6
1.2.2 Servo Amplifiers
The figure below shows the part names for servo amplifiers.
Battery Holder
CN5 Analog Monitor Connector
CN8 Battery Connector
Panel Display
Panel Keys
Power ON Indicator
Charge Indicator
CN10 Connector for Option Unit
CN3 Connector to PC or Digital Operator
CN1 I/O Signal Connector
Nameplate
CN2 Encoder Connector
Ground Terminal
Main Circuit Power Supply Terminal
Control Power Supply Terminal
Servomotor Terminal
Used to house the backup battery for an
absolute encoder.
Used to monitor motor speed, torque refer-
ence, and other values through a special cable.
Used to connect to the backup battery for an
absolute encoder.
Five-digit 7-segment display panel used to
show servo status, alarm status, and other
values when parameters are entered.
Used to set parameters.
Lights when the control power supply is ON.
Lights when the main circuit power supply is
ON and stays as long as that component’s
capacitor remains charged. Therefore, if this
indicator is ON, do not touch the servo
amplifier, even after the power supply is
turned OFF.
Connects option units for expanding the amplifier’s functions.
Used to communicate with a personal computer or to con-
nect to an optional digital operator.
Used for both reference input and sequence I/O signals.
Indicates the servo amplifier model and its specific ratings.
Connects to the encoder in the servomotor.
Must be connected to protect against electrical shock.
Used for the main circuit power supply input.
Connects to the control power supply and to externally
mounted regenerative resistor (where applicable).
Connects to the servomotor power line.