YASKAWA SGM series User manual

YASKAWA
YA S K A WA
MANUAL NO. SIE-S800-26.4B

!
!
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 writ-
ten 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 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.

OVERVIEW
v
OVERVIEW
Overview v..................................................
Safety Precautions xiv.........................................
Safety Precautions xiii.........................................
1Configuration and Models
1.1 Configuration 1 -2..........................................
1.2 Model Numbers 1 -2........................................
2Ratings and Characteristics
2.1 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1500 r/min 2 -2...........................
2.2 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1000 r/min 2 -6...........................
2.3 SGMS Servomotor Ratings and Specifications 2 -10..............
2.4 SGMD Servomotor Ratings and Specifications
(with Holding Brake) 2 -13..................................
2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15......
2.6 SERVOPACK Ratings and Specifications 2 -17..................
2.7 Combined Specifications 2 -19................................
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 Name and Description of Main Circuit Terminals 4 -7............
4.3 Applicable Receptacles 4 -7..................................
4.4 Connecting an Incremental Encoder 4 -9.......................
4.5 Connecting an Absolute Encoder 4 -14.........................
4.6 Output Circuits 4 -18.........................................
4.7 Connector Terminal Block Converter Unit for 1CN 4 -19...........
4.8 2CN Encoder Connector Terminals 4 -22........................
4.9 4CN Connectors for MECHATROLINK Communications 4 -26.....
5Application
5.1 Turning Power ON/OFF 5 -3.................................
5.2 Position Control 5 -4........................................
5.3 Setting Up a 12-bit Absolute Encoder 5 -6......................
5.4 Protection Functions 5 -8....................................
5.5 Indications 5 -9.............................................
5.6 Precautions 5 -10............................................
5.7 Application Precautions 5 -13..................................

vi
5.8 Appropriate Applications 5 -18.................................
5.9 Adjustments 5 -19...........................................
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 (Communications Sequence) 6 -15.........
6.6 List of Alarm and Warning Codes 6 -18.........................
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 -22.........................
7.5 Procedure for Transferring User Constants 7 -23.................
8Installation and Wiring
8.1 Checking on Delivery 8 -2...................................
8.2 Installation 8 -3.............................................
8.3 Wiring Specifications 8 -7....................................
9Servodrives Dimensional Drawings
9.1 AC Servomotors 9 -3........................................
9.2 SERVOPACKS 9 -53.........................................
9.3 Cables 9 -64................................................
9.4 Connectors 9 -75............................................
9.5 Noise Filters 9 -94...........................................
9.6 Peripheral Devices 9 -96......................................
10 Trial Operation
10.1 Check Items before Trial Operation 10 -2......................
10.2 Trial Operation Procedure 10 -3..............................
11 Settings
11.1 Characteristics when Shipped 11 -2...........................
11.2 Resetting 11 -2.............................................
11.3 Adjusting Servo Performance 11 -2............................
12 Maintenance and Inspection
12.1 Maintenance and Inspection of Servodrives 12 -2...............
12.2 Troubleshooting 12 -5.......................................

TABLE OF CONTENTS
vii
TABLE OF CONTENTS
Overview v.......................................................
Safety Precautions xiv..............................................
1Configuration and Models
1.1 Configuration 1 -2..............................................
1.2 Model Numbers 1 -2............................................
1.2.1 Servomotor Model Numbers 1 -2...........................................
1.2.2 SERVOPACK Model Numbers 1 -4.........................................
2Ratings and Characteristics
2.1 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1500 r/min 2 -2................................
2.1.1 Ratings and Specifications 2 -2.............................................
2.2 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1000 r/min 2 -6................................
2.2.1 Ratings and Specifications 2 -6.............................................
2.3 SGMS Servomotor Ratings and Specifications 2 -10................
2.3.1 Ratings and Specifications 2 -10.............................................
2.4 SGMD Servomotor Ratings and Specifications
(with Holding Brake) 2 -13.......................................
2.4.1 Ratings and Specifications 2 -13.............................................
2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2 -15.......
2.5.1 Ratings and Specifications 2 -15.............................................
2.6 SERVOPACK Ratings and Specifications 2 -17.....................
2.6.1 Ratings and Specifications 2 -17.............................................
2.7 Combined Specifications 2 -19...................................
2.7.1 Standard Combinations 2 -19...............................................
2.7.2 Peripheral Device Combinations 2 -22........................................
3Servodrive 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.....................

viii
3.4 Large-amplitude Frequency Characteristics 3 -6..................
3.5 Mechanical Characteristics 3 -7.................................
3.5.1 Mechanical Strength 3 -7..................................................
3.5.2 Allowable Radial and Thrust Load 3 -7.......................................
3.5.3 Mechanical Tolerances 3 -8................................................
3.5.4 Direction of Motor Rotation 3 -8............................................
3.5.5 Impact Resistance 3 -8....................................................
3.5.6 Vibration Resistance 3 -9..................................................
3.5.7 Vibration Class 3 -9.......................................................
4Configuration and Connections
4.1 Internal Connection Diagram 4 -3................................
4.1.1 0.5 kW to 1.5 kW Servodrives 4 -3..........................................
4.1.2 2.0 kW to 3.0 kW Servodrives 4 -4..........................................
4.1.3 5.0 kW Servodrive 4 -5....................................................
4.1.4 6.0 kW to 15.0 kW Servodrives 4 -6.........................................
4.2 Name and Description of Main Circuit Terminals 4 -7..............
4.3 Applicable Receptacles 4 -7.....................................
4.3.1 1CN Connector for I/O Signals 4 -7.........................................
4.3.2 2CN Connector for Encoder 4 -7............................................
4.3.3 4CN Connector for MECHATROLINK Communication 4 -8.....................
4.4 Connecting an Incremental Encoder 4 -9.........................
4.4.1 Typical Example 4 -9......................................................
4.4.2 1CN I/O Connector Terminals 4 -10..........................................
4.5 Connecting an Absolute Encoder 4 -14............................
4.5.1 Typical Example 4 -14......................................................
4.5.2 1CN I/O Connector Terminals 4 -15..........................................
4.6 Output Circuits 4 -18.............................................
4.7 Connector Terminal Block Converter Unit for 1CN 4 -19............
4.7.1 Application 4 -19...........................................................
4.7.2 Connection Specifications 4 -20.............................................
4.7.3 Cable Specifications Accessory (for Connector Terminal Block Converter Unit) 4 -21
4.8 2CN Encoder Connector Terminals 4 -22..........................
4.8.1 2CN Terminal Layout 4 -22..................................................
4.8.2 Applicable Cables 4 -23....................................................
4.8.3 2CN Connection Method 4 -24..............................................
4.9 4CN Connectors for MECHATROLINK Communications 4 -26.......
4.9.1 4CN Terminal Layout 4 -26..................................................
4.9.2 4CN Connection Method 4 -26..............................................

TABLE OF CONTENTS
ix
5Application
5.1 Turning Power ON/OFF 5 -3.....................................
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 a 12-bit Absolute Encoder 5 -6........................
5.3.1 Battery 5-6..............................................................
5.3.2 Absolute Encoder Setup Procedure 5 -6.....................................
5.4 Protection Functions 5 -8.......................................
5.4.1 Dynamic Brake Function 5 -8..............................................
5.4.2 Error Detection Function 5 -8...............................................
5.4.3 Servo Alarm Output (ALM, ALM-SG) 5 -9....................................
5.4.4 Handling Protection Circuit Operation 5 -9...................................
5.4.5 Servo Alarm Reset 5 -9...................................................
5.5 Indications 5 -9.................................................
5.6 Precautions 5 -10................................................
5.6.1 Overhanging Load 5 -10....................................................
5.6.2 Load Inertia JL5 -10.......................................................
5.6.3 Regenerative Resistor Unit 5 -10............................................
5.6.4 High Voltage Lines 5 -12....................................................
5.7 Application Precautions 5 -13....................................
5.7.1 Noise Control 5 -13........................................................
5.7.2 Power Supply Line Protection 5 -16..........................................
5.8 Appropriate Applications 5 -18...................................
5.8.1 Holding Brake Interlock Signal 5 -18..........................................
5.9 Adjustments 5 -19...............................................
5.9.1 Servo System Adjustments 5 -19............................................
5.9.2 User Constants 5 -20......................................................
5.9.3 Functions that Improve Response 5 -23......................................
5.9.4 Guidelines for Setting the Load Inertia Ratio 5 -24..............................
6MECHATROLINK 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 -8.............................................
6.4.3 Monitor 1/2 Type Field Specifications 6 -9....................................
6.4.4 CONFIG Specifications 6-10................................................
6.4.5 ALM_RD Specifications 6 -10...............................................
6.4.6 ALM_CLR Specifications 6 -11..............................................
6.4.7 CONNECT Specifications 6 -11.............................................
6.4.8 INTERPOLATE Specifications 6 -12..........................................
6.4.9 LATCH (Interpolation Feed with Position Detection) Specifications 6 -12..........
6.4.10 POSING Command Specifications 6 -13.....................................
6.4.11 INTERPOLATE Command Specifications 6 -13...............................
6.4.12 ID_RD (ID Read) Specifications 6 -13.......................................
6.4.13 Unsupported Commands 6 -14.............................................
6.5 Power ON Sequence (Communications Sequence) 6 -15............
6.6 List of Alarm and Warning Codes 6 -18............................
7User Constants
7.1 Setting User Constants 7 -2.....................................
7.1.1 Basic User Constants 7 -2.................................................
7.1.2 Gain-related Constants 7 -2................................................
7.1.3 Torque-related Constants 7 -3..............................................
7.1.4 Sequence-related Constants 7 -4...........................................
7.1.5 Motion-related Constants 7 -5..............................................
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 -22............................
7.5 Procedure for Transferring User Constants 7 -23...................
8Installation and Wiring
8.1 Checking on Delivery 8 -2.......................................
8.2 Installation 8 -3.................................................
8.2.1 Installing the Servomotor 8 -3..............................................
8.2.2 Installing the SERVOPACK 8 -4............................................

TABLE OF CONTENTS
xi
8.3 Wiring Specifications 8 -7.......................................
8.3.1 Rated Current and Cable Specifications 8 -7.................................
8.3.2 Wiring Instructions 8 -9....................................................
8.3.3 Power Loss 8 -11..........................................................
9Servodrives Dimensional Drawings
9.1 AC Servomotors 9 -3............................................
9.1.1 SGMG-jjAjA Servomotors 9 -3.........................................
9.1.2 SGMG-jjAjB Servomotors 9 -16.........................................
9.1.3 SGMS-jjA Servomotors 9 -26.............................................
9.1.4 SGMD-jjA Servomotors 9 -34.............................................
9.1.5 SGMP-15A Servomotor 9 -38...............................................
9.1.6 List of Encoder and Servomotor End Connectors 9 -46.........................
9.2 SERVOPACKS 9 -53.............................................
9.2.1 SGDB-05ANjto 15ANjSERVOPACKS (0.5 to 1.5 kW) 9 -53..................
9.2.2 SGDB-20ANjto 30ANjSERVOPACKS (2.0 to 3.0 kW) 9 -54..................
9.2.3 SGDB-50ANjSERVOPACKS (5.0 kW) 9 -55.................................
9.2.4 SGDB-60ANjto 75ANjSERVOPACKS (6.0 to 7.5 kW) 9 -56..................
9.2.5 SGDB-1AAN, 1EAN SERVOPACKS (11, 15 kW) 9 -57.........................
9.2.6 SGDB-05ANj-P to 15ANj-P SERVOPACKS 9 -58...........................
9.2.7 SGDB-20ANj-P to 30ANj-P SERVOPACKS 9 -59...........................
9.2.8 SGDB-50ANj-P SERVOPACK 9 -60........................................
9.2.9 SGDB-60ANjto 75ANj-P SERVOPACKS 9 -61.............................
9.2.10 SGDB-1AAN-P, 1EAN-P SERVOPACKS 9 -62...............................
9.3 Cables 9 -64.....................................................
9.3.1 Encoder Cables 9 -64......................................................
9.3.2 Servomotor Cables 9 -73...................................................
9.3.3 I/O Signal Cables (1CN) 9 -74...............................................
9.3.4 MECHATROLINK Communication Cables (4CN) 9 -74.........................
9.4 Connectors 9 -75................................................
9.4.1 SGMG, SGMS and SGMD Servomotors Connections 9 -75.....................
9.4.2 SGM and SGMP Servomotors Connections 9 -87..............................
9.4.3 SGMP-15A Servomotor Connectors 9 -89....................................
9.4.4 SERVOPACK Encoder Connectors 9 -90.....................................
9.4.5 1CN, 2CN Connector for SERVOPACK 9 -92..................................
9.4.6 4CN Connector for SERVOPACK 9 -93.......................................
9.5 Noise Filters 9 -94...............................................
9.5.1 Dimensional Diagram 9 -94.................................................
9.6 Peripheral Devices 9 -96.........................................
9.6.1 Connector Terminal Block Converter Unit 9 -96................................
9.6.2 Brake Power Supply 9 -96..................................................
9.6.3 Molded-case Circuit Breaker 9 -98...........................................
9.6.4 Magnetic Contactor 9 -98...................................................
9.6.5 Surge Suppressor 9 -100....................................................
9.6.6 Regenerative Resistor Unit 9 -100............................................
9.6.7 Analog Monitor Cable 9 -101.................................................

xii
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 Preparations for Trial Operation 10 -3.......................................
10.2.2 Operating the Servodrive 10 -4.............................................
10.2.3 Trial Operation Inspection 10 -4............................................
11 Settings
11.1 Characteristics when Shipped 11 -2..............................
11.2 Resetting 11 -2.................................................
11.3 Adjusting Servo Performance 11 -2..............................
11.3.1 Setting User Constants 11 -2...............................................
11.3.2 Setting Optimum Position and Speed Loop Gain 11 -3.........................
12 Maintenance and Inspection
12.1 Maintenance and Inspection of Servodrives 12 -2.................
12.1.1 Servomotor Inspection 12 -2...............................................
12.1.2 SERVOPACK Inspection 12 -3.............................................
12.1.3 Replacing the Battery for Absolute Encoders 12 -4............................
12.2 Troubleshooting 12 -5..........................................
12.2.1 Servomotors 12 -5........................................................
12.2.2 SERVOPACKS 12 -6......................................................

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 machin-
ing 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 main-
tain. The new Yaskawa AC Servos can be used in various servo fields, including machining tools
and robots.
Features
DThe base-mounted SERVOPACKS are provided as a single unit compatible with either incremen-
tal encoders or absolute encoders.
DPositioning via 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).
DWiring is reduced by a reduction in the number of I/O from 15 to 6.
DDistributed system design is now possible with a maximum cable length of 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 representa-
tive 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 prod-
uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modifi-
cation.
Warning Label
Grounding Label
Warning Label and Grounding Label Sticker
Attachment Positions
Warning Label
Grounding Label
SERVOPACK

1-1
1
Configuration and Models
This chapter describes the configuration and model numbers for Servo-
drives.
1.1 Configuration 1 - 2.............................
1.2 Model Numbers 1 - 2...........................
1.2.1 Servomotor Model Numbers 1 - 2..................
1.2.2 SERVOPACK Model Numbers 1 - 4.................
1

Configuration and Models
1.2.1 Servomotor Model Numbers
1-2
1.1 Configuration
Servodrives are configured using a SERVOPACK (Controller) and Servomotors.
DAC Servomotor
DSGDB-jjAN SERVOPACK
1.2 Model Numbers
1.2.1 Servomotor Model Numbers
JSGMP Servomotors
Servomotor Capacity
04: 400 W, 08: 750 W, 15: 1.5 kW
SGMP - 15 A312j
Σ-Series
SGMP: SGMP Servomotor
Supply Voltage
A: 200 V
Options
B: With brake
D: With brake 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 Specification
3: 2048 P/R incremental encoder
W: 12-bit absolute encoder
(special order)
1

1.2 Model Numbers
1-3
JSGMG/SGMS/SGMD Servomotors
Servomotor Capacity
03: 0.3 kW, 05: 0.45 kW, 06: 0.6 kW
09: 0.85 kW/0.9 kW, 10: 1.0 kW
12: 1.2 kW, 13: 1.3 kW, 15: 1.5 kW
20: 1.8 kW/2.0 kW, 22: 2.2 kW
30: 2.9 kW/3.0 kW, 32: 3.2 kW
40: 4.0 kW, 44: 4.4 kW, 50: 5.0 kW
55: 5.5 kW, 60: 6.0 kW, 75: 7.5 kW
1A: 11 kW, 1E: 15 kW
SGMj-03A2AAjj
Σ-Series
SGMG: SGMG Servomotor
SGMS: SGMS Servomotor
SGMD: SGMD Servomotor
Supply Voltage
A: 200 V
Lead Specification
Blank: Standard connector
Shaft Specification
Blank:Standard
[Straight without key]
A: Standard [Straight without key]
(with an optional/lead specification)
B: Straight with key, with axis end tap (1)
C: Taper 1/10, with parallel key
D: Taper1/10, with woodruff key
(G Series 05 and 09 only)
Rated Motor Speed
A: SGMG 1500 r/min
SGMS 3000 r/min
SGMD 2000 r/min
B: SGMG 1000 r/min
Encoder Specification
2: 8192 P/R incremental encoder
6: 4096 P/R incremental encoder
W: 12-bit absolute encoder
S: 15-bit absolute encoder
Options
Blank:Standard
1: Standard
(with a lead specification)
S: With shaft seal
B: With 90 VDC brake
C: With 24 VDC brake
F: With shaft seal
and 90 VDC brake
G: With shaft seal
and 24 VDC brake
1

Configuration and Models
1.2.2 SERVOPACK Model Numbers
1-4
1.2.2 SERVOPACK Model Numbers
Rated Output
05: 0.5 kW, 10: 1.0 kW, 15: 1.5 kW
20: 2.0 kW, 30: 3.0 kW, 50: 5.0 kW
60: 6.0 kW, 75: 7.5 kW, 1A: 11.0 kW
1E: 15.0 kW
SGDB - 10 A N - j
Σ-Series
SGDB SERVOPACK
Supply Voltage
A: 200 V
Command Interface Type
N: MECHATROLINK
Options
P: Duct ventilation
1

2-1
2
Ratings and Characteristics
This chapter provides Servodrive ratings, specifications, and torque-speed
characteristics.
For SGM Servomotors (400 W, 750 W) and SGMP Servomotors (400 W,
750 W), refer to “ΣSeries SGM/SGMP/SGD-jN USER’S MANUAL”
(SIE-S800-26.3).
2.1 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1500 r/min 2 -2.................
2.1.1 Ratings and Specifications 2 -2....................
2.2 Ratings and Specifications of SGMG Servomotors
for Rated Speed 1000 r/min 2 -6................
2.2.1 Ratings and Specifications 2 -6....................
2.3 SGMS Servomotor Ratings and Specifications 2 -10
2.3.1 Ratings and Specifications 2 -10....................
2.4 SGMD Servomotor Ratings and Specifications
(with Holding Brake) 2 -13.......................
2.4.1 Ratings and Specifications 2 -13....................
2.5 SGMP Servomotor (1.5 kW) Ratings and
Specifications 2 -15.............................
2.5.1 Ratings and Specifications 2 -15....................
2.6 SERVOPACK Ratings and Specifications 2 -17.....
2.6.1 Ratings and Specifications 2 -17....................
2.7 Combined Specifications 2 -19...................
2.7.1 Standard Combinations 2 -19.......................
2.7.2 Peripheral Device Combinations 2 -22...............
2

Ratings and Characteristics
2.1.1 Ratings and Specifications
2-2
2.1 Ratings and Specifications of SGMG Servomotors for
Rated Speed 1500 r/min
2.1.1 Ratings and Specifications
STime Rating: Continuous SAmbient Temperature: 0 to 40°C
SEnclosure: Totally enclosed, self cooled,
IP67 (except shaft-through section)
SMounting: Flange method
SExcitation: Permanent magnet SWithstand Voltage: 1500 VAC
SInsulation Class: Class F SAmbient Humidity: 20% to 80% (with no
condensation)
SDrive Method: Direct drive SInsulation Resistance: 500 VDC, 10 MΩ
min.
SVibration Class: 15 µm or below
Table 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min
Servomotor Model:
SGMG-
05AjA 09AjA 13AjA 20AjA 30AjA 44AjA 55AjA 75AjA 1AAjA 1EAjA
Rated
Output*1
kW (HP) 0.45
(0.6)
0.85
(1.1)
1.3
(1.7)
1.8
(2.4)
2.9
(3.9)
4.4
(5.9)
5.5
(7.4)
7.5
(10)
11
(15)
15
(20)
Rated N⋅m2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
Torque*1*2lb⋅in 25 48 74 102 165 252 310 425 620 845
Instantaneous N⋅m8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224
Peak Torque*1lb⋅in 79 122 207 254 404 630 775 1050 1550 1988
Rated
Current*1
A (rms) 3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0
Instantaneous
Max Current*1
A (rms) 11 17 28 42 56 84 110 130 140 170
Rated Speed*1r/min 1500
Instantaneous
Max Speed*1
r/min 3000 2000
Torque
Constant*1
N⋅m/A
(rms)
0.82 0.83 0.84 0.73 0.83 0.91 0.88 0.93 1.25 1.32
lb⋅in/A
(rms)
7.3 7.3 7.4 6.5 7.3 8.0 7.8 8.2 11 11.7
Moment of
Inertia [JM]
kg⋅m2×
10−4
7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315
[
M
]
lb⋅in⋅s2×
10−3
6.41 12.3 18.2 28.1 40.7 59.8 78.8 111 249 279
Rated Power
Rate*1
kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184 174 289
Rated Angular
Acceleration*1
rad/s23930 3880 4060 3620 4050 4210 3930 3850 2490 3030
2