YASKAWA SGM7J-A5A Manual

yaskawa.com
SIGMA-7
AC Servo Drives and Motors Technical Supplement

2
Servomotors
Direct Drive Servomotors Linear Servomotors
SGLG (Coreless model)
12.5 N to 750 N
SGLT (Model with T-type iron core)
130 N to 900 N
SGLFW2 (Model with F-type iron core)
45 N to 2520 N
Rotary Servomotors
SGM7A (Low inertia, high speed)
50 W to 7 kW
SGM7J (Medium inertia, high speed)
50 W to 1.5 kW
SGM7G (Medium inertia, large torque)
300 W to 15 kW
SGM7P (Medium inertia, at type)
100 W to 1.5 kW
Product Lineup
SGMMV (Low inertia, ultra-small capacity)
10 W to 30 W
Small capacity, with core, inner rotor (SGM7F)
2 Nm to 35 Nm
Small capacity, coreless (SGMCS)
2 Nm to 35 Nm
Medium capacity, with core (SGMCS)
45 Nm to 200 Nm
Small and medium capacity, with core,
inner rotor (SGM7D), 1.3 Nm to 240 Nm
Linear Stages
ST2F Sigma Trac II
45 N to 180 N

3
Additional Options
SERVOPACKs
Fully-Closed Module Advanced Safety Module
+
SGDV-OFA01A SGDV-OSA01A
Single-axis Analog Voltage/Pulse
Train Reference
SGD7S- 00A
Single-axis MECHATROLINK-III
Communications Reference
SGD7S- 30A
Single-axis EtherCAT
Communications Reference
SGD7S- A0A
Two-axis MECHATROLINK-III
Communications Reference
SGD7W- 30A
Single-Axis Control Option
(Sigma-7Siec)
+
SGD7S AM0A000F50
1.5 Axis Control Option
(MP2600iec)
Network Indexer Option
(SigmaLogic7 Compact)
+
Special Purpose Options
(FT Options)
+
SGD7S AE0A000300 SGD7S- AQ0A000F51 SGD7S- A 0A000F
• FT19: Less Deviation Control
• FT79: Built-in Indexer
• FT81: Harmonic Drive SHA Actuators
• FT82/83: for SGM7D Direct Drive Motor
Two-axis EtherCAT
Communications Reference
SGD7W- DA0A (400V only)

I/O Signal Cable
External devices such as
LED indicators
CN1
CN6
CN7
CN8
CN2
Computer Cable
Note: When not using the safety function, leave
the safety jumper connector connected to
the SERVOPACK.
Servomotor Main
Circuit Cable
Direct Drive Servomotor
Encoder Cable
Holding Brake
Power Supply Unit
Servomotor Main
Circuit Cable
Encoder Cable
Battery Case
(Required when an
absolute encoder is
used.)
Magnetic
Contactor
External
Regenerative
Resistor
Noise Filter
Molded-case
circuit breaker
(MCCB)
Magnetic
Contactor
R S T
Turns the servo
ON and OFF.
Install a surge
absorber.
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Used for a
servomotor
with a brake.
(Wiring required for the brake)
Power supply
Three-phase 200 VAC
Protects the power supply
line by shutting the circuit
OFF when overcurrent is
detected.
Used to eliminate
external noise from
the power line.
Connect an external
regenerative resistor to
terminals B1 and B2 if the
regenerative capacity is
insufficient.
To
MECHATROLINK Communications Cable
Safety Function
Devices Cable
To next
MECHATROLINK-III station
Rotary Servomotor
Single-axis
MECHATROLINK-III
Communications Reference
SERVOPACK
Power supply
Three-phase 200 VAC
R S T
Linear Servomotor
Linear encoder
(Not provided by Yaskawa.)
Sensor Cable
Linear
Encoder
Cable
Linear Servomotor
Main Circuit Cable
Serial Converter Unit
Serial Converter Unit Cable
Noise Filter
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the circuit
OFF when overcurrent is
detected.
Used to eliminate
external noise from
the power line. Magnetic
Contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Single-axis
MECHATROLINK-III
Communications Reference
SERVOPACK
CN8
External
Regenerative
Resistor
Connect an external
regenerative resistor to
terminals B1 and B2 if the
regenerative capacity is
insufficient.
Note: When not using the safety function, leave
the safety jumper connector connected to
the SERVOPACK.
Safety Function
Devices Cable
I/O Signal Cable
External devices such as
LED indicators
CN6
CN7
Computer Cable
MECHATROLINK Communications Cable
To next
MECHATROLINK-III station
4
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)
System Conguration Example
1For MECHATROLINK-III Communications
Three-phase 200 VAC

Power supply
Three-phase 200 VAC
R S T
Linear Servomotor
Linear encoder
(Not provided by Yaskawa.)
Sensor Cable
Linear
Encoder
Cable
Linear Servomotor
Main Circuit Cable
Serial Converter Unit
Serial Converter Unit Cable
Noise Filter
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the circuit
OFF when overcurrent is
detected.
Used to eliminate
external noise from
the power line. Magnetic
Contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Single-axis
MECHATROLINK-III
Communications Reference
SERVOPACK
CN8
External
Regenerative
Resistor
Connect an external
regenerative resistor to
terminals B1 and B2 if the
regenerative capacity is
insufficient.
Note: When not using the safety function, leave
the safety jumper connector connected to
the SERVOPACK.
Safety Function
Devices Cable
I/O Signal Cable
External devices such as
LED indicators
CN6
CN7
Computer Cable
MECHATROLINK Communications Cable
To next
MECHATROLINK-III station
5
Combination of SERVOPACK and Linear Servomotor (200V Power)
1For MECHATROLINK-III Communications
Three-phase 200 VAC

CN1
CN6
CN7
External devices such as
LED indicators
Holding Brake
Power Supply Unit
Magnetic
Contactor
External
Regenerative
Resistor
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Used for a
servomotor
with a brake.
Connect an external
regenerative resistor to
terminals B1 and B2 if the
regenerative capacity is
insufficient.
R S T
Power supply
Three-phase 200 VAC
Noise Filter
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the circuit
OFF when overcurrent is
detected.
Used to eliminate
external noise from
the power line.
Magnetic
Contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Two-axis
MECHATROLINK-III
Communications Reference
SERVOPACK
(Wiring required for the brake)
Battery Case
(Required when an
absolute encoder is
used.)
Encoder Cable
Encoder Cable
Servomotor Main
Circuit Cable
Servomotor Main
Circuit Cable
Rotary Servomotor Direct Drive Servomotor
CN2
I/O Signal Cable
Computer Cable
MECHATROLINK Communications Cable
To next
MECHATROLINK-III station
1For MECHATROLINK-III Communications
Three-phase 200 VAC
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)
6
System Conguration Example

L1 L2 L3
CN1 I/O Connector
Host controller
Computer
Support
Software
Computer Cable
Motor Connection
Shielding Clamp
Analog Monitor Cable
Three-phase, 400 VAC
Control Power Supply
Cable 24 VDC
SERVOPACK
main circuit wires
Communications Cable
Digital
Operator cable
Bottom of SERVOPACK
Safety Function Device Cable
Noise Filter
7
Combination of SERVOPACK and Rotary Servomotor (400V Power)
1For MECHATROLINK-III Communications
Three-phase 400 VAC

1For MECHATROLINK-III Communications
Three-phase 400 VAC
Combination of SERVOPACK and Linear Servomotor (400V Power)
System Conguration Example
2-13
L1 L2 L3
Serial Converter Unit
Cable
CN1 I/O Connector
Host controller
Computer
Support
Software
Computer Cable
Analog Monitor Cable
Power supply
Three-phase, 400 VAC
Control Power Supply
Cable 24 VDC
SERVOPACK
main circuit wires
Communications Cable
Digital
Operato
r
Digital
Operator cable
Safety Function Device Cable
Bottom of SERVOPACK
Sensor Cable
(between Serial
Converter Unit and
polarity sensor)
Serial Converter Unit
Linear Encoder Cable
Linear Encoder
(Not provided by Yaskawa.)
Polarity sensor
Linear Servomotor
Noise Filter
Motor Connection
Shielding Clamp
8

Combination of SERVOPACK and Rotary Servomotors (400V Power)
1For MECHATROLINK-III Communications
Three-phase 400 VAC
CN1 I/O Connector
Host controller
Computer
Support
Software
Computer Cable
Motor Connection
Shielding Clamps
Analog Monitor Cable
Noise Filter
Power supply
Three-phase, 400 VAC
Control Power Supply
Cable 24 VDC
SERVOPACK
main circuit wires
Communications Cable
Digital
Operator
Digital
Operator cable
Bottom of SERVOPACK
Safety Function Device Cable
L1 L2 L3
9

Stock Status Definitions
The product selection tables in this catalog contain stock status codes, which are
subject to change. The codes are defined below:
SStock Item
Normally 3 to 5 days leadtime for most order quantities. 3 to 5 weeks maximum
if temporary outages occur. For critical lead time or large quantity shipments,
check with your Yaskawa sales representative.
LS Limited Stock Item
Typically small quantites are available from stock. Items may become stock
items as demand increases.
NS Non-Stock Item
Non-stock items typically carry a 12 - 16 week delivery time.
10

11
Rotary Servomotor Model Rated
Output
Sigma-7 SERVOPACK Model
100V/200V 200V 400V
SGD7S- SGD7W- SGD7S- SGD7W-
SGMMV
(Low inertia, ultra-
small capacity)
6000 RPM
SGMMV-A1A 10 W R90A, R90F
1R6A*1, 2R8A*1
2R9E
−
SGMMV-A2A 20 W
SGMMV-A3A 30 W 1R6A, 2R1F
SGM7J
(Medium inertia, high
speed)
3000 RPM
SGM7J-A5A 50 W R70A, R70F
−
SGM7J-01A 100 W R90A, R90F
SGM7J-C2A 150 W 1R6A, 2R1F
SGM7J-02 200 W 1R9D 2R6D*
SGM7J-04 400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1 2R6D* or 5R4D*
SGM7J-06A 600 W 5R5A 5R5A, 7R6A − −
SGM7J-08 750 W 3R5D 2R6D or 5R4D*
SGM7J-15D 1.5 kW N/A N/A 5R4D 5R4D
SGM7A
(Low inertia, high
speed)
3000 RPM
SGM7A-A5A 50 W R70A, R70F 1R6A*1, 2R8A*1
− −
SGM7A-01A 100 W R90A, R90R
SGM7A-C2A 150 W 1R6A, 2R1F 1R6A, 2R8A*1
SGM7A-02 200 W 1R9D 2R6D*
SGM7A-04 400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1 2R6D* or 5R4D*
SGM7A-06A 600 W 5R5A 5R5A, 7R6A − −
SGM7A-08 750 W 3R5D 2R6D or 5R4D*
SGM7A-10 1.0 kW 120A
−
5R4D 5R4D*
SGM7A-15A 1.5 kW 5R4D 5R4D
SGM7A-20A 2.0 kW 180A 8R4D
−
SGM7A-25A 2.5 kW 200A 120D
SGM7A-30A 3.0 kW 120D
SGM7A-40A 4.0 kW 330A 170D
SGM7A-50A 5.0 kW 170D
SGM7A-70A 7.0 kW 550A −
SGM7P
(Medium inertia, at
type)
3000 RPM
SGM7P-01A 100 W R90A, R90F 1R6A*1, 2R8A*1
− −
SGM7P-02A 200 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1
SGM7P-04A 400 W
SGM7P-08A 750 W 5R5A 5R5A, 7R6A
SGM7P-15A 1.5 kW 120A −
SGM7G
(Medium inertia,
large torque)
1500 RPM
SGM7G-03A 300 W 3R8A 5R5A*1, 7R6A*1 − −
SGM7G-05A 450 W 1R9D 2R6D or 5R4D*
SGM7G-09A 850 W 7R6A 7R6A 3R5D 5R4D*
SGM7G-13A 1.3 kW 120A
−
5R4D 5R4D
SGM7G-20A 1.8 kW 180A 8R4D
−
SGM7G-30A 2.9 kW*2
330A 120D
SGM7G-44A 4.4 kW 170D
SGM7G-55A 5.5 kW 470A 210D
SGM7G-75A 7.5 kW 550A 260D
SGM7G-1AA 11 kW 590A 280D
SGM7G-1EA 15 kW 780A 370D
1Combination of Rotary Servomotors and SERVOPACKs
*1. If you use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with using a SERVOPACK.
*2. The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
Series Combination

12
Direct Drive Servomotor Model
Rated Torque
Nm
Instantaneous
Max. Torque
Nm
SERVOPACK Model
SGD7S- SGD7W-
1Combination of Direct Drive Servomotors and SERVOPACKs
SGM7D
(With core, outer rotor)
SGM7D-30F 30.0 50.0
120A
−
SGM7D-58F 58.0 100
SGM7D-90F 90.0 150
SGM7D-1AF 110 200
SGM7D-01G 1.30 4.00 2R8A, 2R8F
SGM7D-05G 5.00 6.00
SGM7D-08G 8.00 15.0
120A
SGM7D-18G 18.0 30.0
SGM7D-24G 24.0 45.0
SGM7D-34G 34.0 60.0
SGM7D-45G 45.0 75.0
SGM7D-03H 3.00 4.00 2R8A, 2R8F
SGM7D-28I 28.0 50.0
120A
SGM7D-70I 70.0 100
SGM7D-1ZI 100 150
SGM7D-1CI 130 200
SGM7D-2BI 220 300
SGM7D-2DI 240 400
SGM7D-06J 6.00 8.00
SGM7D-09J 9.00 15.0
SGM7D-18J 18.0 30.0
SGM7D-20J 20.0 45.0
SGM7D-38J 38.0 60.0
SGM7D-02K 2.06 5.00
2R8A, 2R8F
SGM7D-06K 6.00 10.0
SGM7D-08K 8.00 15.0
SGM7D-06L 6.00 10.0
SGM7D-12L 12.0 20.0
SGM7D-30L 30.0 40.0 120A
SGM7F
(With core, inner rotor)
SGM7F-02A 2 6 2R8A, 2R1F
2R8A
SGM7F-05A 5 15
SGM7F-07A 7 21
2R8A, 2R8FSGM7F-04B 4 12
SGM7F-10B 10 30
SGM7F-14B 14 42 5R5A
SGM7F-08C 8 24 2R8A, 2R8F 2R8A
SGM7F-17C 17 51 5R5A
SGM7F-25C 25 75 7R6A
SGM7F-16D 16 48 5R5A
SGM7F-35D 35 105 7R6A, 120A 7R6A
Small capacity, coreless
(SGMCS)
SGMCS-02B 2 6
2R8A
SGMCS-05B 5 15
SGMCS-07B 7 21
SGMCS-04C 4 12
SGMCS-10C 10 30
SGMCS-14C 14 42
SGMCS-08D 8 24
SGMCS-17D 17 51
SGMCS-25D 25 75
SGMCS-16E 16 48 5R5A
SGMCS-35E 35 105
Medium capacity, with core
(SGMCS)
SGMCS-45M 45 135 7R6A
SGMCS-80M 80 240 120A
−
SGMCS-80N 80 240
SGMCS-1AM 110 330 180A
SGMCS-1EN 150 450 200A
SGMCS-2ZN 200 600
Series Combination

13
Series Combination
1Combination of Linear Servomotors and SERVOPACKs
*: The SGLFW model is an earlier product. Select the SGLFW2 model when newly installing a linear servomotor to a machine.
Linear Servomotor Model Rated Force
N
Max. Force
N
SERVOPACK Model
SGD7S- SGD7W-
SGD7C-
SGLG
(Coreless model, with
standard magnetic way)
SGLGW-30A050C 12.5 40 R70A, R70F
1R6A
SGLGW-30A080C 25 80 R90A, R90F
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280 1R6A, 2R1F
SGLGW-40A365C 140 420 2R8A, 2R8F 2R8A
SGLGW-60A140C 70 220 1R6A, 2R1F 1R6A
SGLGW-60A253C 140 440 2R8A, 2R8F 2R8A
SGLGW-60A365C 210 660 5R5A
SGLGW-90A200C 325 1300 120A
−SGLGW-90A370C 550 2200 180A
SGLGW-90A535C 750 3000 200A
SGLG
(Coreless model, with high-
force magnetic way)
SGLGW-40A140C 57 230 1R6A, 2R1F 1R6A
SGLGW-40A253C 114 460 2R8A, 2R8F 2R8A
SGLGW-40A365C 171 690 3R8A 5R5A
SGLGW-60A140C 85 360 1R6A, 2R1F 1R6A
SGLGW-60A253C 170 720 3R8A 5R5A
SGLGW-60A365C 255 1080 7R6A
SGLF
(Model with F-type iron core)
SGLFW2*
SGLFW2-30A070A 45 135 1R6A, 2R1F 1R6A
SGLFW2-30A120A 90 270
SGLFW2-30A230A 180 540 3R8A −
170 500 2R8A, 2R8F 2R8A
SGLFW2-45A200A 280 840 5R5A
SGLFW2-45A380A 560 1680 180A
−
1500 120A
SGLFW2-90A200A 560 1680
SGLFW2-90A380A 1120 3360 200A
SGLFW2-90A560A 1680 5040 330A
SGLFW2-1DA380A 1680 5040 200A
SGLFW2-1DA560A 2520 7560 330A
SGLFW*
SGLFW-20A090A 25 86
1R6A, 2R1F 1R6ASGLFW-20A120A 40 125
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440 3R8A 5R5A
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B 560 1200 120A −SGLFW-1ZA200B
SGLFW-1ZA380B 1120 2400 200A
SGLT
(Model with T-type iron core)
SGLTW-20A170A 130 380 3R8A 5R5A
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140 120A −
SGLTW-35A170A 220 660 5R5A
SGLTW-35A170H 300 600
SGLTW-35A320A 440 1320 120A
−
SGLTW-35A320H 600 1200
SGLTW-35A460A 670 2000 180A
SGLTW-40A400B 670 2600
SGLTW-40A600B 1000 4000 330A
SGLTW-50A170H 450 900 5R5A
SGLTW-50A320H 900 1800 120A
−SGLTW-80A400B 1300 5000 330A
SGLTW-80A600B 2000 7500 550A
ST2F
(Sigma Trac II
Linear Stages)
SGT2F-A1A 45 135 1R6A, 2R1F 1R6A
SGT2F-A2A 90 270
SGT2F-A3A 180 540 3R8A, 2R8A, 2R8F 2R8A, 2R8F
SGT2F-A1D 45 135
1R9D 2R6DSGT2F-A2D 90 270
SGT2F-A3D 180 540

14
1Incremental Linear Encoders
1Absolute Rotary Encoder
Recommended Encoders
: Possible
Output Signal Manufacturer
Linear
Encoder
Type
Model
Linear
Encoder
Pitch
μ m
Resolution
nm
Maximum
Speed*3
m/s
Support for
Polarity
Sensor
Input
Application
to Linear
Motors
Application to
Fully-Closed
Loop Control
Scale Sensor
Head
Interpolator (Serial
Converter Unit)
1 Vp-p Analog
Voltage*1
Heidenhain
Corporation
Exposed
LIDA48
JZDP-H003/-H006
*5
20 78.1 5
JZDP-J003/-J 006
*5 4.9 2 *8
LIF48
JZDP-H003/-H006
*5
415.6 1
JZDP-J003/-J 006
*5 1.0 0.4 *8 *8
Renishaw plc*4 Exposed RGS20 RGH22B
JZDP-H005/-H008
*5
20 78.1 5
JZDP-J005/-J 008
*5 4.9 2 *8
Encoder for
Yaskawa’s Serial
Interface*2
( -LINK)
Magnescale
Co., Ltd.
Exposed
SL7 0 PL101-RY*6 800 97.7 10 −
PL101 MJ620-T13*7 *8
SQ10 PQ10 MQ10-FLA 400 48.83 3 −
MQ10-GLA −
BL57- RED*8
BD96-Y1051LC 0.4 0.78 0.8 −
BD96-Y1025LC 0.4 1.56 1.0 −
BD96-Y2051LC 0.4 0.78 0.8 −
BD96-Y2025LC 0.4 1.56 1.0 −
BD96-YJ051LC 0.4 0.78 0.8 −
BD96-YJ025LC 0.4 1.56 1.0 −
BF1- RY F*8 0.25 0.49 1.77
BF1- RY F*8 0.25 0.98 1.8
Sealed
SR75- LF −80 9.8 3.33 −
SR75- MF −80 78.1 3.33 −
SR85- LF −80 9.8 3.33 −
SR85- MF −80 78.1 3.33 −
*1: You must also use a Yaskawa Serial Converter Unit. The output signal will be
multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter
Unit.
*2: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must
write the motor constant file to the Linear Encoder in advance.
*3: The maximum speeds given in the above table are the maximum applicable speeds
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed
will be restricted by either the maximum speed of the Linear Servomotor or the
maximum speed of the Linear Encoder (given above).
*4: If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may
sometimes be falsely detected. If that occurs, use the BID/DIR signal to output the
origin signal only in one direction.
*5: Use this model number to purchase the Serial Converter Unit.
*6: Use this model number to purchase the Sensor Head with Interpolator.
*7: Use this model number to purchase the Interpolator.
*8: Contact your Yaskawa representative.
Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and
operating environment, with the manufacturer of the Encoder before you use it.
2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.
Output Signal Manufacturer Rotary Encoder
Type
Model
Relay Device between Fully-Closed
Module and Rotary Encoder
Resolution
Bits
Maximum Speed*1
RPM
Scale Sensor Head
Encoder for Yaskawa’s
Serial Interface
(-LINK)
Magnescale
Co., Ltd. Sealed RU77-4096ADF*2 −20 2000
RU77-4096AFFT01*2 −22 2000
Heidenhain
Corporation
Exposed ECA4412*2
EIB3391Y
27 1600
28 800
29 400
Sealed
RCN2 10*2 26 3000
RCN5 10*2 28 800
RCN8 10*2 29 400
ROC2310*2 26 3000
ROC7310*2 28 800
Renishaw plc Exposed
RA23Y- *2 −23 14600
RA26Y- *2 −26 3250
RA30Y- *2 −30 200
The following Absolute Rotary Encoders are for fully-closed control. Can not use it to control the motor.
*1: The maximum speeds given in the above table are the maximum applicable speeds
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed
will be restricted by either the maximum speed of the Linear Servomotor or the
maximum speed of the Linear Encoder (given above).
*2: This is a single-turn absolute encoder.
Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and
operating environment, with the manufacturer of the Encoder before you use it.
2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.

15
Output Signal Manufacturer
Linear
Encoder
Type
Model
Linear
Encoder
Pitch
*2
μ m
Resolution
nm
Maximum
Speed*3
m/s
Support for
Polarity
Sensor
Input
Application
to Linear
Motors
Application to
Fully-Closed
Loop Control
Scale Sensor
Head
Interpolator (Serial
Converter Unit)
Encoder for
Yaskawa’s Serial
Interface*1
( -LINK)
Magnescale
Co., Ltd.
Exposed
SQ47 - S F
−20.48 5 3.33 −
SQ47 - T F
SQ47 - A F
−40.96 10 3.33 −
SQ47 - F F
SQ57 - S F
−20.48 5 3.33 −
SQ57 - T F
SQ57 - A F
−40.96 10 3.33 −
SQ57 - F F
Sealed
SR77- LF −80 9.8 3.33 −
SR77- MF −80 78.1 3.33 −
SR87- LF −80 9.8 3.33 −
SR87- MF −80 78.1 3.33 −
Mitutoyo
Corporation
Exposed
ST781A −256 500 5 −
ST782A −256 500 5 −
ST783A −51.2 100 5 −
ST784A −51.2 100 5 −
ST788A −51.2 100 5 −
ST789A*4 −25.6 50 5 −
ST1381 −5.12 10 8 −
ST1382 −0.512 1 3.6*6 −
Heidenhain
Corporation
Exposed
LIC4100 Series
EIB3391Y*5
20.48 5 10 −
LIC2100 Series 204.8 50 10 −
409.6 100 10 −
Sealed LC115 40.96 10 3 −
LC415 40.96 10 3 −
Renishaw plc Exposed
EL36Y - 050F −12.8 50 100 −
EL36Y - 1 00F −25.6 100 100 −
EL36Y - 5 00F −128 500 100 −
RL36Y - 05 0−12.8 50 100 −
RL36Y - 001 −0.256 1 3.6 −
1Absolute Linear Encoder : Possible
*1: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must
write the motor constant file to the Linear Encoder in advance.
*2: These are reference values for setting SERVOPACK parameters. Contact the
manufacturer for actual linear encoder scale pitches.
*3: The maximum speeds given in the above table are the maximum applicable speeds
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed
will be restricted by either the maximum speed of the Linear Servomotor or the
maximum speed of the Linear Encoder (given above).
*4: Contact Mitutoyo Corporation for details on the Linear Encoders.
*5: Use this model number to purchase the Interpolator.
*6: The speed is restricted for some SERVOPACKs.
Note: 1. Confirm detailed specifications, such as the tolerances, dimensions, and
operating environment, with the manufacturer of the Encoder before you use it.
2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.

16
The documents that are related to the MP3300 Machine Controllers and series AC Servo Drives are
shown in the following table. Refer to these documents as required.
Brochure/Catalog Name
(Document No.)
Manual Name
(Manual No.) Description of Document
Yaskawa Motion Product Brochure:
Condent, Consistent, Capable
(BL.MTN.01)
−
This brochure presents an introduction to
Yaskawa America Motion Products and
services, with an emphasis on AC Servo,
Machine Controller, and IO products.
Series AC Servo Drives and Motors
Technical Supplement
(YAI-KAEPS80000123)
MP3300iec Machine Controller
Hardware Manual
(YAI-SIA-IEC-7)
Provides detailed information on selection
and installation MP3300iec machine
controller components/accessories.
SERVOPACK with
MECHATROLINK-3Communications References
Product Manual
(SIEPS80000128)
Provides detailed information on
selecting -Series SERVOPACKs
and information on installing,
connecting, setting, performing
trial operation for, tuning, and monitoring the
Servo Drives.
SERVOPACK with Analog
Voltage/Pulse Train References
Product Manual
(SIEPS80000126)
SERVOPACK with EtherCAT (CoE)
Communication References
Product Manual
(SIEPS80000155)
SERVOPACK with
MECHATROLINK-3Communications References
Product Manual
(SIEPS80000129)
-Series/ -Series for Large-
Capacity Models/ -Series User’s
Manual Safety Module
(SIEPC72082906)
Provides details information required for the
design and maintenance of a Safety Module.
Rotary Servomotor Product Manual
(SIEPS80000136)
Provide detailed information on
selecting, installing, and connecting
the -Series Servomotors.
Linear Servomotor Product Manual
(SIEPS80000137)
Direct Drive Servomotor Product Manual
(SIEPS80000138)
Peripheral Device Selection Manual
(SIEPS80000132)
Describes the peripheral devices
for a -Series Servo System.
MECHATROLINK-3Communications
Standard Servo Prole Command Manual
(SIEPS80000131)
Provides detailed information on the
MECHATROLINK-3communications
standard servo prole commands that are
used for a - Series Servo System.
Digital Operator Operating Manual
(SIEPS80000133)
Describes the operating procedures for a Digital
Operator for a -Series Servo System.
Engineering Tool
SigmaWin+ Online Manual
Component
(SIEPS80000148)
Provides detailed operating procedures
for the SigmaWin+ Engineering Tool
for a -Series Servo System.
Related Documents

17
Brochure/Catalog Name
(Document No.)
Manual Name
(Manual No.) Description of Document
Series AC Servo Drives and Motors
Technical Supplement
(YAI-KAEPS80000123)
SERVOPACK with 400V-Input
Power and EtherCAT (CoE) Communi-
cations References Product Manual
(SIEPS80000180)
Provides detailed information on
selecting -Series SERVOPACKs
and information on installing, connecting,
setting, performing trial operation for, tuning,
and monitoring the Servo Drives.
SERVOPACK with 400V-Input
Power and MECHATROLINK III
Communications References Product
Manual (SIEPS80000214)
SERVOPACK with 400V-Input
Power and EtherCAT (CoE)
Communications References Product
Manual (SIEPS80000219)
SERVOPACK with
400V-Input Power and MECHATROLINK
III Communications References Product
Manual(SIEPS80000220)
-Series User Manual Safety Module
(SIEPC 72082906E)
Supplement for using with Sigma-7
SERVOPACKs (400 V-Input power
models) (900-200-100)
Provides details information required for the
design and maintenance of a Safety Module.
Rotary Servomotor with 400 V-Input
Power Product Manual
(SIEPS80000186) Provide detailed information on
selecting, installing, and connecting
the -Series Servomotors.
Linear Servomotor with 400 V-Input
Power Product Manual
(SIEPS8000181)

18

1
CONTENTS
Rotary Servo Motors
SGMMV 4
SGM7J 18
SGM7A 54
SGM7P 116
SGM7G 134
Direct Drive Servo Motors
SGM7F (With Core, Inner Rotor) 190
SGM7D (With Core, Outer Rotor) 206
SGMCS (Small Capacity, Coreless or Medium Capacity, with Core) 234
Linear Servo Motors
SGLFW2 (Models with F-type Iron Cores, 200V) 260
SGLFW2 (Models with F-type Iron Cores, 400V) 288
SGLG (Coreless Models) 308
SGLT (Models with T-type Iron Cores) 338
Recommended Linear Encoders and Cables 368
SGLFW (Earlier Models with F-type Iron Cores) 392
Linear Stages
ST2F Sigma Trac II Linear Stages 418
SERVOPACKs
Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs 424
Single-axis MECHATROLINK-III Communications Reference SERVOPACKs 434
Single-axis EtherCAT Communications Reference SERVOPACKs 448
Two-axis MECHATROLINK-III Communications Reference SERVOPACKs 464
Two-axis EtherCAT Communications Reference SERVOPACKs 478
SERVOPACK External Dimensions 484
Option Modules
Feedback Option Module 500
Safety Option Module 506
Sigma-7Siec Option 510
MP2600iec Option 512
SigmaLogic7 Compact Option 520
FT19 Option - Less Deviation Control 522
FY79 Option - Built-in Indexer 524
FT81 Option - Support for Harmonic Drive SHA Series Actuators 526
FT82/83 Option - Support for SGM7D Direct Drive Motor 528

2
Cables and Peripheral Devices
Cables for SERVOPACKs 530
Peripheral Devices 540
Appendices
Capacity Selection for Servo Motors 572
Capacity Selection for Regenerative Resistors 582
International Standards 598
Warranty 600