YASKAWA E Series User manual

Model: SGMMV/SGM7J/SGM7A/SGM7P/SGM7G
Rotary Servomotor
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800001 36D
Basic Information on Servomotors
Capacity Selection
Servomotor Installation
Maintenance and Inspection
Appendices
Specifications, Ratings, and
External Dimensions of SGMMV Servomotors
Connections between
Servomotors and SERVOPACKs
Specifications, Ratings, and
External Dimensions of SGM7G Servomotors
Specifications, Ratings, and
External Dimensions of SGM7A Servomotors
Specifications, Ratings, and
External Dimensions of SGM7P Servomotors
1
2
3
4
5
6
7
8
9
10
11
Specifications, Ratings, and
External Dimensions of SGM7J Servomotors

Copyright © 2014 YASKAWA ELECTRIC CORPORATION
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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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.

iii
About this Manual
This manual provides information required to select, install, connect, and maintain Rotary Servo-
motors for Σ-7-Series AC Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter Chapter Title Contents
1 Basic Information on Servomotors Provides basic information on Rotary Servomotors, including Servomo-
tor part names and combinations with SERVOPACKs.
2 Capacity Selection Describes calculation methods to use when selecting Servomotor
capacities.
3
Specifications, Ratings, and
External Dimensions of
SGMMV Servomotors
Describes how to interpret the model numbers of SGMMV Servomotors
and gives their specifications, ratings, and external dimensions.
4
Specifications, Ratings, and
External Dimensions of
SGM7J Servomotors
Describes how to interpret the model numbers of SGM7J Servomotors
and gives their specifications, ratings, and external dimensions.
5
Specifications, Ratings, and
External Dimensions of
SGM7A Servomotors
Describes how to interpret the model numbers of SGM7A Servomotors
and gives their specifications, ratings, and external dimensions.
6
Specifications, Ratings, and
External Dimensions of
SGM7P Servomotors
Describes how to interpret the model numbers of SGM7P Servomotors
and gives their specifications, ratings, and external dimensions.
7
Specifications, Ratings, and
External Dimensions of
SGM7G Servomotors
Describes how to interpret the model numbers of SGM7G Servomotors
and gives their specifications, ratings, and external dimensions.
8 Servomotor Installation Describes the installation conditions, procedures, and precautions for
Servomotors.
9Connections between Servomo-
tors and SERVOPACKs
Describes the cables that are used to connect the Servomotors and
SERVOPACKs and provides related precautions.
10 Maintenance and Inspection Describes the maintenance, inspection, and disposal of a Servomotor.
11 Appendices Provide additional information on Servomotors with Gears and refer-
ence information on selecting Servomotor capacity.

iv
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
ManualsCatalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manual
Σ-7-Series
Σ-7C
SERVOPACK
Product Manual

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection
Manual
Σ-7-Series
Operation
Interface
Operating
Manuals
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manual
Σ-7-Series
Servomotor
Product
Manuals
(such asthismanual)

v
Classification Document Name Document No. Description

Machine Controller and
Servo Drive
General Catalog
Machine Controller and
AC Servo Drive
Solutions Catalog
KAEP S800001 22
Describes the features and applica-
tion examples for combinations of
MP3000-Series Machine Control-
lers and Σ-7-Series AC Servo
Drives.

MP3300 Catalog
Machine Controller
MP3300 KAEP C880725 03
Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.

Σ-7-Series Catalog
AC Servo Drives
Σ-7 Series KAEP S800001 23
Provides detailed information on Σ-
7-Series AC Servo Drives, including
features and specifications.

Built-in Function Manuals
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Motion Control
User’s Manual
SIEP S800002 03
Provides detailed information on
the specifications, system configu-
ration, and application methods of
the Motion Control Function Mod-
ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Provides detailed information on
the specifications, system configu-
ration, and communications con-
nection methods for the Ethernet
communications that are used with
MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.

Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Provide detailed information on the
specifications and communica-
tions methods for the Communica-
tions Modules that can be mounted
to MP3000-Series Machine Con-
trollers and Σ-7-Series Σ-7C
SERVOPACKs.
Machine Controller
MP2000 Series
262IF-01 FL-net
Communication Module
User’s Manual
SIEP C880700 36
Machine Controller
MP2000 Series
263IF-01 EtherNet/IP
Communication Module
User’s Manual
SIEP C880700 39
Machine Controller
MP2000 Series
I/O Module
User’s Manual
SIEP C880700 34
Provide detailed information on the
specifications and communica-
tions methods for the I/O Modules
that can be mounted to MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP2000 Series
Analog Input/Analog Output
Module AI-01/AO-01
User’s Manual
SIEP C880700 26
Machine Controller
MP2000 Series
Counter Module CNTR-01
User’s Manual
SIEP C880700 27
Continued on next page.

vi

Enclosed Documents
Σ-7-Series AC Servo Drive
Σ-7S and Σ-7W SERVOPACK
Safety Precautions
TOMP C710828 00
Provides detailed information for
the safe usage of Σ-7-Series
SERVOPACKs.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Safety Precautions
Option Module
TOBP C720829 00 Provides detailed information for
the safe usage of Option Modules.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Command Option Module
TOBP C720829 01
Provides detailed procedures for
installing the Command Option
Module in a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed procedures for
installing the Fully-closed Module in
a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Safety Module
TOBP C720829 06
Provides detailed procedures for
installing the Safety Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
INDEXER Module
TOBP C720829 02
Provides detailed procedures for
installing the INDEXER Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
DeviceNet Module
TOBP C720829 07
Provides detailed procedures for
installing the DeviceNet Module in a
SERVOPACK.

Σ-7-Series
Σ-7C SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Product Manual
SIEP S800002 04
Provides detailed information on
selecting Σ-7-Series Σ-7C SERVO-
PACKs; installing, connecting, set-
ting, testing in trial operation, and
tuning Servo Drives; writing, moni-
toring, and maintaining programs;
and other information.

Σ-7-Series
Σ-7C SERVOPACK
Troubleshooting
Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Troubleshooting Manual
SIEP S800002 07
Provides detailed troubleshooting
information for Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

vii

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 28
Provide detailed information on
selecting Σ-7-Series SERVO-
PACKs and information on install-
ing, connecting, setting, performing
trial operation for, tuning, monitor-
ing, and maintaining the Servo
Drives.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-II
Communications References
Product Manual
SIEP S800001 27
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
Analog Voltage/Pulse Train
References
Product Manual
SIEP S800001 26
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with INDEXER Module
Product Manual
SIEP S800001 64
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with DeviceNet Module
Product Manual
SIEP S800001 70
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 29

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK with
Hardware Option
Specifications
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S/Σ-7W SERVOPACK with
Hardware Option Specifica-
tions
Dynamic Brake
Product Manual
SIEP S800001 73
Provide detailed information on
Hardware Options for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7W/Σ-7C SERVOPACK with
Hardware Option Specifica-
tions
HWBB Function
Product Manual
SIEP S800001 72
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

viii
Σ-7-Series
Σ-7S/Σ-7W SERVOPACK
FT/EX
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Index-
ing Application
Product Manual
SIEP S800001 84
Provide detailed information on the
FT/EX Option for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Track-
ing Application
Product Manual
SIEP S800001 89
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Application with Special
Motor,
SGM7D Motor
Product Manual
SIEP S800001 91
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Press and Injection
Molding Application
Product Manual
SIEP S800001 94
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Transfer and Alignment
Application
Product Manual
SIEP S800001 95
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Torque/Force Assistance
for Conveyance Application
Product Manual
SIEP S800002 09
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Cutting Application
Feed Shaft Motor
Product Manual
SIEP S800002 10
Option Module
User’s Manual
AC Servo Drives
Σ-V Series/Σ-V Series
for Large-Capacity Models/
Σ-7 Series
User’s Manual
Safety Module
SIEP C720829 06
Provides details information
required for the design and mainte-
nance of a Safety Module.
Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
Σ-7-Series
Servomotor
Product Manuals
Σ-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
This manual
(SIEP S800001 36)
Provide detailed information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.
Σ-7-Series AC Servo Drive
Linear Servomotor
Product Manual
SIEP S800001 37
Σ-7-Series AC Servo Drive
Direct Drive Servomotor
Product Manual
SIEP S800001 38
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix
Σ-7-Series
Peripheral Device
Selection Manual
Σ-7-Series AC Servo Drive
Peripheral Device
Selection Manual
SIEP S800001 32 Describes the peripheral devices
for a Σ-7-Series Servo System.
Σ-7-Series
MECHATROLINK
Communications
Command Manuals
Σ-7-Series AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
SIEP S800001 30
Provides detailed information on
the MECHATROLINK-II communi-
cations commands that are used
for a Σ-7-Series Servo System.
Σ-7-Series AC Servo Drive
MECHATROLINK-III
Communications
Standard Servo Profile
Command Manual
SIEP S800001 31
Provides detailed information on
the MECHATROLINK-III communi-
cations standard servo profile com-
mands that are used for a Σ-7-
Series Servo System.
Programming
Manuals
Machine Controller
MP3000 Series
Ladder Programming
Manual
SIEP C880725 13
Provides detailed information on
the ladder programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed information on
the motion programming and
sequence programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Σ-7-Series
Operation Interface
Operating Manuals
Machine Controller
MP2000/MP3000 Series
Engineering Tool
MPE720 Version 7
User’s Manual
SIEP C880761 03 Describes in detail how to operate
MPE720 version 7.
Σ-7-Series AC Servo Drive
Digital Operator
Operating Manual
SIEP S800001 33
Describes the operating proce-
dures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-7-Series Servo
System.
Distributed
I/O Module
User’s Manuals
MECHATROLINK-III
Compatible I/O Module
User’s Manual
SIEP C880781 04
Describes the functions, specifica-
tions, operating methods, and
MECHATROLINK-III communica-
tions for the Remote I/O Modules
for MP2000/MP3000-Series
Machine Controllers.
Continued from previous page.
Classification Document Name Document No. Description

x
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Trademarks
•MECHATROLINK is a trademark of the MECHATROLINK Members Association.
•QR code is a trademark of Denso Wave Inc.
•Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the ®mark do not appear with product or company names in this
manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Te rm Meaning
Servomotor A Σ-7-Series Rotary Servomotor.
SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier.
Servo Drive The combination of a Servomotor and SERVOPACK.
Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit
Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine damage.
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Important
Term
Example
Information