YASKAWA E-II SGM H Series User manual

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AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

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SafetyInformation
iii
SafetyInformation
Thefollowing conventionsareusedtoindicateprecautionsinthismanual.Failureto heed precau-
tionsprovidedinthismanualcanresult inseriousorpossiblyevenfatal injuryordamagetotheprod-
uctsortorelatedequipmentand systems.
WARNINGIndicatesprecautionsthat, ifnotheeded,could possiblyresultinloss oflife or
seriousinjury.
CAUTIONIndicatesprecautionsthat, ifnotheeded,couldresultinrelatively seriousor minor
injury,damage tothe product, orfaultyoperation.
PROHIBITEDIndicatesactionsthatmustneverbe taken.
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Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmitted,inanyform,
orby any means,mechanical,electronic,photocopying,recording,orotherwise,without thepriorwritten permission of
Yaskawa.No patent liabilityisassumedwithrespect totheuseoftheinformation contained herein.Moreover,because
Yaskawaisconstantlystriving toimproveitshigh-quality products,theinformation containedinthismanual is subject to
changewithoutnotice.Every precaution hasbeentakeninthepreparation ofthismanual.Nevertheless,Yaskawa as-
sumesno responsibilityforerrorsoromissions.Neitherisany liabilityassumedfordamagesresulting from theuseofthe
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iv
VisualAids
Thefollowing aidsareusedtoindicate certaintypesofinformation foreasier reference.
Indicatesapplication examples.
Indicates supplemental information.
Indicatesimportant information thatshould bememorized,including precautions suchasalarmdisplays
toavoid damaging thedevices.
Indicatesdefinitionsofdifficult termsortermsthathavenotbeen previouslyexplainedinthis
manual.
TERMS
AEXAMPLE"
INFO
IMPORTANT
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v
CONTENTS
SafetyInformation iii...............................................
VisualAidsiv.....................................................
Overviewxi.......................................................
Using ThisManualxii..............................................
SafetyPrecautions xiii..............................................
SGDH Servopack Standardsand Certification xv......................
1Checking Products and PartNames
1.1Checking S-II Series Productson Delivery 1 -2...................
1.1.1Servomotors1-2.........................................................
1.1.2Servopacks 1-6.........................................................
1.2ProductPartNames 1 -8........................................
1.2.1Servomotors1-8.........................................................
1.2.2Servopacks 1-9.........................................................
2Installation
2.1Servomotors 2 -2...............................................
2.1.1Storage Temperature 2 -2.................................................
2.1.2Installation Site 2 -3.......................................................
2.1.3Alignment2-3...........................................................
2.1.4Orientation 2 -3..........................................................
2.1.5AllowableShaft Loads2-4................................................
2.1.6Handling Oil and Water2-6................................................
2.1.7CableStress 2-6.........................................................
2.2Servopacks 2 -7................................................
2.2.1Storage Conditions2-7...................................................
2.2.2Operating Conditions2-7.................................................
2.2.3Installation Site 2 -8.......................................................
2.2.4Orientation 2 -8..........................................................
2.2.5Installation 2 -9..........................................................
2.2.6Voltage ResistanceTest2-10...............................................
3Wiring
3.1Connecting toPeripheralDevices 3 -3...........................
3.1.1Single-phase(100 Vor200 V)MainCircuitSpecifications3-4..................
3.1.2Three-phase(200 V)MainCircuitSpecifications3-5..........................
3.1.3Three-phase(400 V)MainCircuitSpecifications3-6..........................
3.2Servopack InternalBlock Diagrams 3 -7.........................
3.2.1 30 to 400 W200-Vand 30 to 200 W100-VModels3-7........................
3.2.2 0.5kWto 1.5kW200-VModels3-8........................................
3.2.3 2.0kWto 5.0kW200-VModels3-8........................................
3.2.4 6.0kWto 15.0kW200-VModels3-9.......................................
3.2.5 0.5kWto 3.0kW400-VModels3-9........................................
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vi
3.2.6 5.0kW400-VModels3-10.................................................
3.2.7 6.0kWand 7.5kW400-VModels3-10.......................................
3.2.8 11.0kWand 15.0kW400-VModels3-11....................................
3.3MainCircuitWiring 3-12.........................................
3.3.1Namesand DescriptionsofMainCircuitTerminals3-13........................
3.3.2TypicalMainCircuitWiring Example 3 -14.....................................
3.3.3CableSpecificationsand PeripheralDevices3-14.............................
3.3.4Servopack PowerLosses3-15.............................................
3.3.5Wiring MainCircuitTerminalBlocks 3-16.....................................
3.4I/O Signals 3 -18.................................................
3.4.1Examplesof I/OSignalConnections3-19....................................
3.4.2 ListofCN1Terminals3-20.................................................
3.4.3I/OSignalNamesand Functions3-21.......................................
3.4.4InterfaceCircuits3-24.....................................................
3.5Wiring Encoders 3 -27...........................................
3.5.1Connecting an Encoder (CN2)and OutputSignalsfromthe Servopack (CN1)3-27.
3.5.2CN2EncoderConnectorTerminalLayoutand Types3-28......................
3.6Examples ofStandardConnections 3 -29.........................
3.6.1Single-phasePowerSupplySpecifications3-29...............................
3.6.2Three-phasePowerSupplySpecifications(200 V)3-31........................
3.6.3Three-phasePowerSupplySpecifications(400 V)3-33........................
3.6.4Position ControlMode 3 -35................................................
3.6.5Speed ControlMode 3 -37..................................................
3.6.6Torque ControlMode 3 -39.................................................
4Trial Operation
4.1Two-step Trial Operation 4-2....................................
4.1.1Step 1:TrialOperation forServomotorwithoutLoad 4 -3.......................
4.1.2Step 2:TrialOperation withthe ServomotorConnected tothe Machine 4 -9.......
4.2SupplementaryInformation on Trial Operation 4-10...............
4.2.1ServomotorswithBrakes4-10..............................................
4.2.2Position ControlbyHostController4-11......................................
4.3MinimumUserConstants and InputSignals 4 -12..................
4.3.1UserConstants4-12......................................................
4.3.2InputSignals4-13........................................................
5UserConstantSettings and Functions
5.1SettingsAccording toDevice Characteristics 5 -4................
5.1.1Switching ServomotorRotation Direction 5 -4.................................
5.1.2Setting the OvertravelLimitFunction 5 -5....................................
5.1.3 Limiting Torques5-9.....................................................
5.2SettingsAccording toHostController5-13.......................
5.2.1Speed Reference 5 -13....................................................
5.2.2Position Reference 5 -15...................................................
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vii
5.2.3Using the EncoderSignalOutput5-21.......................................
5.2.4SequenceI/OSignals5-24.................................................
5.2.5Using the ElectronicGearFunction 5 -27.....................................
5.2.6Contact InputSpeed Control5-31...........................................
5.2.7Using Torque Control5-36.................................................
5.2.8Torque Feed-forwardFunction 5 -42.........................................
5.2.9Speed Feed-forwardFunction 5 -43..........................................
5.2.10 Torque Limiting byAnalog Voltage Reference,Function 1 5 -44.................
5.2.11 Torque Limiting byAnalog Voltage Reference,Function 2 5 -45.................
5.2.12 ReferencePulseInhibitFunction (INHIBIT)5-47..............................
5.3Setting UptheServopack 5 -48...................................
5.3.1UserConstants5-48......................................................
5.3.2JOG Speed 5 -49.........................................................
5.3.3InputCircuitSignalAllocation 5 -49..........................................
5.3.4OutputCircuitSignalAllocation 5 -55.........................................
5.3.5ControlMode Selection 5 -58...............................................
5.4Setting Stop Functions 5 -60.....................................
5.4.1Adjusting Offset5-60......................................................
5.4.2Using the DynamicBrake 5 -61..............................................
5.4.3Using the ZeroClampFunction 5 -62.........................................
5.4.4Using the Holding Brake 5 -64...............................................
5.5Forming aProtective Sequence 5 -68.............................
5.5.1Using ServoAlarmand AlarmCode Outputs5-68.............................
5.5.2Using the ServoONInputSignal5-70.......................................
5.5.3Using the Positioning Completed OutputSignal5-71...........................
5.5.4Speed CoincidenceOutput5-72............................................
5.5.5Using the Running OutputSignal5-74.......................................
5.5.6Using the ServoReadyOutputSignal5-75...................................
5.5.7Using the Warning OutputSignal5-76.......................................
5.5.8Using the NearOutputSignal5-77..........................................
5.5.9Handling PowerLoss 5-79.................................................
5.6Selecting aRegenerative Resistor5-80...........................
5.6.1ExternalRegenerativeResistors5-81........................................
5.6.2Calculating the Required CapacityofRegenerativeResistors5-84...............
5.7AbsoluteEncoders 5 -92.........................................
5.7.1InterfaceCircuit5-93......................................................
5.7.2Selecting an AbsoluteEncoder5-94.........................................
5.7.3Handling Batteries5-94....................................................
5.7.4AbsoluteEncoderSetup 5 -95...............................................
5.7.5AbsoluteEncoderReception Sequence 5 -97.................................
5.7.6Multiturn LimitSetting 5 -101.................................................
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viii
5.8SpecialWiring 5-105.............................................
5.8.1Wiring Precautions5-105...................................................
5.8.2Wiring forNoiseControl5-109...............................................
5.8.3Using MoreThan One Servodrive 5 -113......................................
5.8.4Extending EncoderCables5-114............................................
5.8.5 400-V PowerSupplyVoltage 5 -116...........................................
5.8.6DC ReactorforHarmonicSuppression 5 -117..................................
6ServoAdjustment
6.1SmoothOperation 6-2..........................................
6.1.1Using the Soft StartFunction 6 -2...........................................
6.1.2Smoothing 6 -3..........................................................
6.1.3Adjusting Gain 6 -4.......................................................
6.1.4Adjusting Offset6-4......................................................
6.1.5Setting the Torque ReferenceFilterTimeConstant6-5........................
6.1.6NotchFilter6-5..........................................................
6.2High-speedPositioning 6-6.....................................
6.2.1Setting ServoGain 6 -6...................................................
6.2.2Using Feed-forwardControl6-8............................................
6.2.3Using ProportionalControl6-8.............................................
6.2.4Setting Speed Bias6-9...................................................
6.2.5Using Mode Switch 6 -10...................................................
6.2.6Speed Feedback Compensation 6 -13........................................
6.3Autotuning 6-16.................................................
6.3.1Online Autotuning 6 -16....................................................
6.3.2Machine RigiditySettingsforOnline Autotuning 6 -19...........................
6.3.3Saving ResultsofOnline Autotuning 6 -21....................................
6.3.4UserConstantsRelated toOnline Autotuning 6 -23.............................
6.4ServoGainAdjustments 6 -25....................................
6.4.1ServoGainUserConstants6-25............................................
6.4.2BasicRulesofGainAdjustment6-25........................................
6.4.3Making ManualAdjustments6-27...........................................
6.4.4GainSetting ReferenceValues6-31.........................................
6.5Analog Monitor6-33.............................................
7Using theDigital Operator
7.1BasicOperation 7-2............................................
7.1.1Connecting the DigitalOperator7-2........................................
7.1.2Functions7-3...........................................................
7.1.3Resetting ServoAlarms7-4...............................................
7.1.4BasicMode Selection 7 -5.................................................
7.1.5StatusDisplayMode 7 -5..................................................
7.1.6Operation inUserConstantSetting Mode 7 -8................................
7.1.7Operation inMonitorMode 7 -14.............................................
7.2AppliedOperation 7-19..........................................
7.2.1Operation inAlarmTraceback Mode 7 -20....................................
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ix
7.2.2Controlling Operation Through the DigitalOperator7-22........................
7.2.3AutomaticAdjustmentof the Speed and Torque ReferenceOffset7-24...........
7.2.4ManualAdjustmentof the Speed and Torque ReferenceOffset7-27..............
7.2.5Clearing AlarmTraceback Data 7 -31........................................
7.2.6Checking the MotorModel7-33.............................................
7.2.7Checking the SoftwareVersion 7 -36.........................................
7.2.8OriginSearchMode 7 -37..................................................
7.2.9Initializing UserConstantSettings7-39......................................
7.2.10 ManualZeroAdjustmentand GainAdjustmentofAnalog MonitorOutput7-41....
7.2.11 Adjusting the MotorCurrentDetection Offset7-46............................
7.2.12 PasswordSetting (WriteProhibited Setting)7-50.............................
7.2.13 Clearing Option UnitDetection Results7-52.................................
8Ratings and Characteristics
8.1Servomotors 8 -2...............................................
8.1.1Ratings,Specifications,and DimensionalDrawings8-2.......................
8.2Servopacks 8 -28................................................
8.2.1Combined Specifications8-28..............................................
8.2.2Ratingsand Specifications8-33.............................................
8.2.3DimensionalDrawings8-40................................................
9Inspection,Maintenance,and Troubleshooting
9.1Servodrive Inspection and Maintenance 9 -2.....................
9.1.1ServomotorInspection 9 -2................................................
9.1.2Servopack Inspection 9 -3.................................................
9.1.3Replacing BatteryforAbsoluteEncoder9-4.................................
9.2Troubleshooting 9-5...........................................
9.2.1Troubleshooting ProblemswithAlarmDisplays 9-5...........................
9.2.2Troubleshooting ProblemswithNoAlarmDisplay9-32.........................
9.2.3AlarmDisplayTable 9 -34...................................................
9.2.4Warning Displays 9-36.....................................................
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x
A HostControllerConnection Examples
A.1Connecting theGL-series MC20 Motion ModuleA-2..............
A.2Connecting theCP-9200SHServoControllerModule(SVA)A-3. .
A.3Connecting theGL-series B2813 Positioning ModuleA-4.........
A.4Connecting OMRON’sC500-NC221 Position ControlUnitA-5.....
A.5Connecting OMRON’sC500-NC112 Position ControlUnitA-6.....
A.6Connecting MITSUBISHI’sAD72 Positioning UnitA-7............
A.7Connecting MITSUBISHI’sAD75 Positioning UnitA-8............
BListofUserConstants
B.1UserConstantsB-2............................................
B.2Switches B-6..................................................
B.3InputSignalSelectionsB-11.....................................
B.4OutputSignalSelectionsB-13...................................
B.5AuxiliaryFunctionsB-15........................................
B.6MonitorModes B-16.............................................
INDEX Index-1.............................................
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Overview
xi
Overview
JJ About thisManual
Thismanualprovidesthefollowing information fortheS-II SeriesSGMjH/SGDH Servodrives.
DProceduresforinstalling and wiring theServomotorand Servopack.
DProceduresfortrialoperation oftheServodrive.
DProceduresforusing functionsand adjusting theServodrives.
DProceduresforusing thebuilt-inPanelOperatorand theHand-heldDigitalOperator.
DRatingsand specificationsforstandardmodels.
DProceduresformaintenance and inspection.
JJ RelatedManuals
Refertothefollowing manualsasrequired.
ReadthismanualcarefullytoensuretheproperuseofS-II SeriesServodrives.Also,keepthis
manual inasafeplace sothatitcan bereferredtowhenevernecessary.
ManualNameManualNumber Contents
S-II SeriesSGMjH/SGDH
User’sManual
Servo Selection and DataSheets
SIE-S800-32.1DescribestheprocedureusedtoselectS-II
SeriesServodrivesand capacities.
S-II SeriesServopackPersonal
ComputerMonitoring Software
Operation Manual
SIE-S800-35 Describesthe applicationsand operation of
softwarefortheS-II SeriesServodrivemoni-
toring devicesforuseon personalcomputers.
S-II SeriesSGMjH/SGDM
DigitalOperator
Operation Manual
TOE-S800-34 Providesdetailedinformation on theopera-
tion oftheJUSP-OP02A-2DigitalOperator,
whichisan optionalproduct.
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xii
Using ThisManual
JJ IntendedAudience
Thismanual isintendedforthefollowing users.
DThosedesigning S-II SeriesServodrivesystems.
DThoseinstalling orwiring S-II SeriesServodrives.
DThoseperforming trialoperation oradjustmentsofS-II SeriesServodrives.
DThosemaintaining orinspecting S-II SeriesServodrives.
JJ Description ofTechnicalTerms
Inthismanual,thefollowing termsaredefinedasfollows:
DServomotor=S-II SeriesSGMAH,SGMPH,SGMGH,SGMSH,SGMDH,orSGMUH Servo-
motor.
DServopack=S-II SeriesSGDH Servopack.
DServodrive=Aset including aServomotorand Servo Amplifier.
DServo System=Aservo controlsystem that includesthe combination ofaServodrivewithahost
computerand peripheraldevices.
JJ Indication ofReverse Signals
Inthismanual,thenamesof reversesignals(onesthatarevalidwhenlow)arewrittenwithaforward
slash(/)beforethesignalname,as showninthefollowing examples:
D/S-ON
D/P-CON
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SafetyPrecautions
xiii
SafetyPrecautions
Thefollowing precautionsareforchecking productsupon delivery,installation,wiring,operation,
maintenance and inspections.
JJ Checking Productsupon Delivery
CAUTION
!
DAlways usethe Servomotorand Servopack in one of the specified combinations.
Notdoing somaycausefireormalfunction.
JJ Installation
CAUTION
!
DNeverusethe productsin an environmentsubject towater,corrosive gases,inflammable gases,
orcombustibles
Doing somayresult inelectricshock or fire.
JJ Wiring
WARNING
!
DConnect the ground terminalto electricalcodes(ground resistance:100 Worless).
Impropergrounding mayresult inelectricshock or fire.
CAUTION
!
DDo notconnectathree-phase powersupplytothe U,V,orWoutput terminals.
Doing somayresult ininjury or fire.
DSecurelyfasten the powersupplyterminalscrewsand motoroutput terminalscrews.
Notdoing somayresult infire.
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xiv
JJ Operation
WARNING
!
DNevertouch anyrotating motorpartswhilethe motorisrunning.
Doing somayresult ininjury.
CAUTION
!
DConduct trialoperation on the Servomotoralone withthe motorshaft disconnected from machine
to avoid anyunexpected accidents.
Notdoing somayresult ininjury.
DBeforestarting operation with a machine connected,change the settingstomatchthe user’s
constantsof the machine.
Starting operation withoutmatching thepropersettingsmaycausethemachinetorun outofcontrolormal-
function.
DBeforestarting operation withamachine connected,makesurethatan emergency stop can be
applied atanytime.
Notdoing somayresult ininjury.
DDo not touchthe heatsinks during operation.
Doing somayresult in burnsdueto high temperatures.
JJ Maintenance and Inspection
WARNING
!
DNevertouchthe inside of the Servopacks.
Doing somayresult inelectricshock.
DDo notremovethe panelcoverwhilethe powerisON.
Doing somayresult inelectricshock.
DDo not touchterminalsforfiveminutesafterthe poweristurned OFF.
Residualvoltagemaycause electricshock.
CAUTION
!
DDo notdisassemblethe Servomotor.
Doing somayresult inelectricshock orinjury.
DDo notattempt tochange wiring whilethe powerisON.
Doing somayresult inelectricshock orinjury.
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SGDH ServopackStandardsand Certification
xv
JJ GeneralPrecautions
Notethe following to ensuresafe application.
SThedrawingspresentedinthismanualaresometimes shownwithoutcoversorprotective
guards.Alwaysreplace the coverorprotectiveguardas specifiedfirst,and then operatethe
productsinaccordance withthemanual.
SThedrawingspresentedinthismanualaretypicalexamplesand may not matchtheproductyou
received.
SThismanual is subject tochangedueto product improvement,specification modification,and
manual improvement.Whenthismanual isrevised,themanualcodeisupdatedand thenew
manual ispublishedasanextedition.The edition numberappearson thefrontand backcovers.
SIf themanual mustbeordered duetoloss ordamage,informyournearestYaskawarepresenta-
tiveoroneoftheofficeslistedontheback ofthismanual.
SYaskawawill not takeresponsibilityfortheresultsofunauthorizedmodificationsofthisprod-
uct.Yaskawashall notbeliableforany damagesortroublesresulting fromunauthorizedmodifi-
cation.
SGDH Servopack Standards and Certification
SGDH Servopacksconform tothefollowing standards.
DEN55011 group 1 class A
DEN50082-2
However,becausethisproduct isabuilt-intype,reconfirmation isrequiredafterbeing installedin
thefinalproduct.
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1-1
1
Checking Products and PartNames
Thischapterdescribestheprocedureforchecking productsupon delivery
aswell asnamesforproductparts.
1.1Checking S-II SeriesProductson Delivery1-2
1.1.1Servomotors1-2................................
1.1.2Servopacks 1-6.................................
1.2ProductPartNames1-8...................
1.2.1Servomotors1-8................................
1.2.2Servopacks 1-9.................................
1
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Checking Productsand PartNames
1.1.1Servomotors
1-2
1.1Checking S-II Series Productson Delivery
Thefollowing procedureisusedtocheckS-II Seriesproductsupon delivery.Checkthefollowing
itemswhenS-II Seriesproductsaredelivered.
Check ItemsComments
Arethedelivered productstheones
thatwereordered?
Checkthemodelnumbersmarkedonthenameplates
oftheServomotorand Servopack.(Refertothede-
scriptionsofmodelnumberson following pages)
Does theServomotorshaft rotate
smoothly?
TheServomotorshaft isnormal ifit can beturned
smoothly by hand.Servomotorswith brakes,however,
cannotbeturnedmanually.
Isthere anydamage?Checktheoverall appearance,and checkfordamage
orscratchesthatmay haveoccurred during shipping.
Arethere anyloose screws?Checkscrewsforlooseness using ascrewdriver.
If any ofthe aboveitemsarefaulty orincorrect,contactyourYaskawasalesrepresentativeorthe
dealer fromwhomyou purchasedtheproducts.
1.1.1Servomotors
JJ ExternalAppearance and NameplateExamples
S-II SeriesServomotor
Manufacturing date
Rated rotation
speed
Servomotormodel
Rated output
Serialnumber
ACSERVOMOTOR
TYPE SGMSH-10ACA21
1000 W
5.7A
3.18 Nm
200 V
3000 r/min
CONTinsF
O/N9W0774 002A--039
S/NBB2 753000039 0002
YASKAWA ELECTRICMADEINJAPAN
DATE
PRODUCTSERVIS
Bauart
gepruft
1
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1.1Checking S-II SeriesProductson Delivery
1-3
JJ ModelNumbers
StandardServomotors
SGMPH-- 01 AAA2S
1)ServomotorCapacity(See Table 1.1.)
2)SupplyVoltage
A:200 VD:400 V*2
B:100 V*1
8)Brake and Oil SealSpecifications
1:No brake,no oil seal
S:With oil seal
B:With90VDC brake
C:With24VDC brake
D:S+B
E:S+C
7)Shaft End Specification
(See Table 1.3)
4)Design Revision Order
A:SGMAH
SGMPH
SGMGH(1500 r/min)
SGMSH
SGMDH
SGMUH
B SGMGH(1000 r/min)
C:SGMGH(1500 r/min)high-precision machinery
D:SGMGH(1000 r/min)high-precision machinery
E:SGMPH(IP67 waterproofspecification)
3)SerialEncoderSpecifications(See Table 1.2.)
*1.ForonlytypesSGMAH and SGMPHServomotor
less than 0.2 kW.
*2.ForonlyTypesSGMGH (1500 r/min),SGMSH,
and SGMUH Servomotor.
S-II SeriesServomotorName
SGMAH
SGMPH
SGMGH
SGMSH
SGMDH
SGMUH (Foronly400 V)
Table 1.1ServomotorCapacity(kW)
SymbolSGMAH SGMPHSGMGHSGMSHSGMDH SGMUH SymbolSGMAH SGMPHSGMGHSGMSHSGMDH SGMUH
3000
r/min
3000
r/min
1500
r/min
1000
r/min
3000
r/min
2000
r/min
6000
r/min
3000
r/min
3000
r/min
1500
r/min
1000
r/min
3000
r/min
2000
r/min
6000
r/min
A30.03 -- -- -- -- -- -- 15 -- 1.5-- -- 1.5-- 1.5
A50.05 -- -- -- -- -- -- 20 -- -- 1.8 2.0 2.0-- --
01 0.1 0.1-- -- -- -- -- 22 -- -- -- -- 2.2--
02 0.2 0.2-- -- -- -- -- 30 -- -- 2.9 3.0 3.0-- 3.0
03 -- -- -- 0.3-- -- -- 32 -- -- -- -- -- 3.2--
04 0.4 0.4-- -- -- -- -- 40 -- -- 4.0 4.0 4.0 4.0
05 -- -- 0.45 -- -- -- -- 44 -- -- 4.4-- -- -- --
06 -- -- -- 0.6-- -- -- 50 -- -- -- -- 5.0-- --
08 0.75 0.75 -- -- -- -- -- 55 -- -- 5.5 5.5-- -- --
09 -- -- 0.85 0.9-- -- -- 75 -- -- 7.5-- -- -- --
10 -- -- -- -- 1.0-- 1.01A-- -- 11 -- -- -- --
12 -- -- -- 1.2-- -- -- 1E-- -- 15 -- -- -- --
13 -- -- 1.3-- -- -- --
Table 1.2SerialEncoders
CodeSpecification SGMAH SGMPHSGMGHSGMSHSGMDH SGMUH
116-bit absolute encoderStandardStandard-- -- -- --
217-bit absolute encoder -- -- StandardStandardStandard--
A13-bit incrementalencoderStandardStandard-- -- -- --
B16-bit incrementalencoderOptionalOptional-- -- -- --
C17-bit incrementalencoder -- -- StandardStandardStandardStandard
Table 1.3Shaft End Specifications(Straight)
CodeSpecification SGMAH SGMPHSGMGHSGMSHSGMDH SGMUH
2StraightwithoutkeyStandardStandardStandardStandardStandardStandard
3Taper1/10,with parallelkey-- -- OptionalOptional-- Optional
4Straightwith keyOptionalOptional-- -- -- --
5Taper1/10,withwoodruff key-- -- Optional*-- -- --
6Straightwith keyand tapOptionalOptionalOptionalOptionalOptionalOptional
8StraightwithtapOptionalOptional-- -- -- --
*Varieswiththemotorcapacity.
1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]

Checking Productsand PartNames
1.1.1Servomotors
1-4
ServomotorswithGears
SGMPH-- 01 AAAG12B
2)SupplyVoltage
A:200 V
B:100 V*
6)GearRatio(See Table 1.7.)
(Varieswith geartype.)
5)GearType (See Table 1.6.)
4)Design Revision Order
A:SGMAH
SGMPH
SGMGH(1500 r/min)
SGMSH
B:SGMGH(1000 r/min)
E:SGMPH(IP67 waterproofspecification)
3)SerialEncoderSpecifications(See Table 1.5.)
8)BrakeSpecifications
1:Withoutbrake
B:With90VDC brake
C:With24VDC brake
7)Shaft End Specifications
(See Table1.8.)
*ForonlytypesSGMAH and SGMPHServomo-
torless than 0.2 kW.
1)ServomotorCapacity(See Table 1.4.)
S-II SeriesServomotorName
SGMAH
SGMPH
SGMGH
SGMSH
Table 1.4ServomotorCapacity(kW)
SymbolSGMAH SGMPHSGMGHSGMSHSymbolSGMAH SGMPHSGMGHSGMSH
S
y
m
b
o
l
3000
r/min
3000
r/min
1500
r/min
1000
r/min
3000
r/min
S
y
m
b
o
l
3000
r/min
3000
r/min
1500
r/min
1000
r/min
3000
r/min
A30.03 -- -- -- -- 15 -- 1.5-- -- 1.5
A50.05 -- -- -- -- 20 -- -- 1.8 2.0 2.0
01 0.1 0.1-- -- -- 22 -- -- -- -- --
02 0.2 0.2-- -- -- 30 -- -- 2.9 3.0 3.0
03 -- -- -- 0.3-- 32 -- -- -- -- --
04 0.4 0.4-- -- -- 40 -- -- -- 4.0 4.0
05 -- -- 0.45 -- -- 44 -- -- 4.4-- --
06 -- -- -- 0.6-- 50 -- -- -- -- 5.0
08 0.75 0.75 -- -- -- 55 -- -- 5.5 5.5--
09 -- -- 0.85 0.9-- 75 -- -- 7.5-- --
10 -- -- -- -- 1.0
12 -- -- -- 1.2--
13 -- -- 1.3-- --
Table 1.5SerialEncoders
CodeSpecification SGMAH SGMPHSGMGHSGMSH
116-bit absolute encoderStandardStandard-- --
217-bit absolute encoder -- -- StandardStandard
A13-bit incrementalencoderStandardStandard-- --
B16-bit incrementalencoderOptionalOptional-- --
C17-bit incrementalencoder -- -- StandardStandard
1
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : [phone] - Fax : [phone] - Web : http: www.audin.fr - Email : [email protected]