Yaskawa Electric Co.

Motion Control Division Solution & Support center Marketing section

Procedure for Replacing I with V

Applicable Model Motor ( SGM , SGMP , SGMG ) Servo Amplifier ( SGDAS , SGDASGDN , SGDH , SGDBAD )

P,

Table of Contents Notes on application....2 1-1. Check List at updating.... 4 1-2. Concept of replacement.....6 1-3. Replacement list..7 Motor 2-1. Type comparison table .....11 2-2. Characteristics (1) Standard product without reduction gears..... 15 2-3. Installation sizes (1) Without reduction gearas (standard)...17 (2) With general-purpose reduction gears.19 (3) With precise reduction gears.24 2-4. Notes on machine installation...28 Servo Amplifier 3-1. Type comparison table..29 3-2. Terminal table ....29 (1) Main circuit terminal....29 (2) Control circuit terminal....30 3-3. Installation size ..35 3-4. Notes on control board installation ..38 Cable and peripherals...39 Parameter converter..43 Revision history..44 1/47

Notes on Application Check Item Notes Usage condition in Using SGD/SGDA/SGDB Using S-phase output of absolute Type Servo Amplifier encoder Using auto tuning function Usage of -V S-phase output is not available in SGDV. There are no alternatives. The same auto-tuning function as is not provided in SGDV. The tuneless function is the alternative function. Please use the advanced auto-tuning function or moment of inertia identification function of SigmaWin+ when you need to know the moment of inertia ratio. Using speed bias function The speed bias function is not provided in SGDV. The positioning time can be shortened by using "Positioning setting (model following control)" of the advanced auto tuning function. The main circuit power supply input terminal and control power supply input terminal are common in the SGD/SGDA series Using SGD(A)control type) The main circuit power supply input terminal and control power supply input terminal are separated. Please confirm the method of power activation. S (speedtorque There is no distinction between the speed torque control type and positional control type in SGDV. It is possible to use either control type. Using SGD(A)control type) P (position There is no distinction between the speed torque control type and positional control type in SGDV. It is possible to use either control type.

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Using SGDsupport type)

N or SGDB-

AN

Please use MECHATROLINK-II communication reference servo amplifier (SGDVSGDV1 type). 1 type servo amplifier

(MECHATROLINK communication

corresponds to MECHATROLINK-II communication (4Mbps). Changing software of the host controller may become necessary when using the SGDVSGD1 type to replace N type, SGDBAN type,

because the corresponding MECHATROLINK command is different. Using SGDSGDBH (RS-422 There is no option module with the interface that can replace these. Please consider the replacement with MECHATROLINK-II communication reference servo amplifier (SGDVUsing SGDBventilation type) -P (duct 1 type). Please inquire to the factory. Although there is a model that corresponds to the duct ventilation type but the capacity is limited and the installation size is different. The following functions and performances were improved by replacing with - V. Added the small capacity medium inertia series (SGMJV type) to the motor lineup. Increased the peak speed of the motor from 4500rpm to 6000 rpm. (SGMJV type and SGMAV type) Improved the speed frequency response characteristic for performance. SGDA / SGDB 250Hz SGDV 1.6kHz (Load inertiaRotor inertia of motor Supports pulse train command input frequency of 4Mpps. SIGN+PULSE and CW/CCW are 4Mpps. The A/B-phase 2-phase pulse train becomes 4Mpps at 1x2, 2Mpps at 2x2, and 1Mpps at 4x2. However, it is 200kpps when connecting with open collector output. RoHS compliant as standard product. Safety standard (Safety Stop-0) embedded in standard products. PC connection changed from RS-232C communication to USB. communication support type) or AM (for multi-function position control)

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Check List when replacing with Category Motor Item Main Body Where to check <Confirmation of main body installation dimension/position> Please confirm installation dimensions of the motor in-use and machine in-use. Inside low diameter Mounting hole pitch Mounting hole diameter Axis diameter Axis shape (straight, key, center tap, and taper) < Confirmation of special specification > Please confirm whether the motor you are using now is a special type. Please confirm the specification with the delivery specifications if you are using a special type. Voltage Correspondence of AC100V specification Selected the both servo motor and servo amplifier which were for 100V when using the AC100V power supply in -I. However, only AC200V motor is available in the V. Select the proper servo amplifier when using AC100V power supply. Cable Confirmation of wiring direction Please confirm how to wire, and also confirm that the machine has no interference. Servo Amplifier Hardware Main Body < Confirmation of main body mounting position > Please confirm the size (WHD) and the mounting hole position of the servo amplifier in-use. < Confirmation of special specification > Please confirm whether the servo amplifier in-use does not have your own NP, and product shape, and also confirm that any special processes etc. are not done by referring the delivery specification. Main Circuit < Confirmation of wiring > Changed to the connector connection from the terminal block for models of 1.5kW or less. The main circuit connector, terminal block position, terminal marking and order are different between the servo amplifier in-use and the replacement servo amplifier. Please consider the substitution of extension of wiring when there is not enough room in wiring. Checked

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<Regenerative process> Regenerative processing unit (JUSP-RG08/JUSP-RG08C) is used when regeneration processing is necessary in SGD/SGDA. In the SGDV, the regeneration processing is possible by connecting the regenerative resistor between the terminal B1 and B2. AC100V specification Corresponds with the voltage specification "F" (Input 100V, Output 200V) servo amplifier. The servo motors are AC200V. Single phase AC200V specification Three-phase circuit AC200V is standard in the -V series servo amplifier. Change the parameter "Function selection switch B" when using single-phase power supply. (Pn00B.2=1) Connect to terminal L1 and L2 when using the single-phase power supply. Please note that the torque-speed characteristic is different from the three-phase circuit power supply specifications. Also please note that the size of the1.5kW single-phase AC200V servo amplifier (SGDV-120A DC power supply input Change the parameter "Function selection switch 1" when using DC power supply input. (Pn001.2=1) Note) Connect the main circuit DC power supply only after changing the parameter. Control circuit Servo amplifier software Software Confirmation of wiring The control circuit power supply input terminal is separated in the SGDV type when it is replaced from the SGD type and SGDA type. Confirmation of special software existence Confirm whether the software of the servo amplifier in-use is standard software from the version number. not. Constant Confirmation of user constant Confirm the user constant of the servo amplifier in-use. SigmaWin + has a function to convert from the user constant of into the parameter of - V. Peripherals Confirmation of the digital operator The digital operators for and -V are different. Please purchase a new digital operator if needed. 5/47 Contact Yaskawa with the version number if you are not sure the software is standard or A008000) is the same as the 3kW A). three-phase AC200V amplifier (SGDV-200A

Confirmation of PC connection cable The PC connection cables for and -V are different. Please purchase a new cable when using SigmaWin+. Others In the series, the stopping method is DB stop or free-run stop when an alarm is detected. On the other hand, factory setting for G2 is 0 speed stop in -V series. It is possible to change to the DB stop or free-run stop when the parameter Pn00B.1=0 is set to. The user constant conversion function of SigmaWin + is not able to convert this.

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Concept of Replacement When replacing series servo motor/servo amplifier with -V series, the following methods are available.

Encoder Cable

Motor Cable

Case 1 Replacing all the motors, servo amplifier, and cables with -V series.

Encoder Cable

Motor Cable Case 2 Only the motor or amplifier cannot be replaced by itself and the existing cable of series cannot be used as is.

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1-3. Replacement List

Replacing SGM with SGMJV Type in-use of series Servo Amplifier Servo Motor SGDA-A3AS SGM-A3A SGDA-A3AP SGD-A3AN SGDA-A3BS SGDA-A3BP SGM-A3B SGD-A3BN SGDA-A5AS SGDA-A5AP SGD-A5AN SGDA-A5BS SGDA-A5BP SGD-A5BN SGDA-01AS SGDA-01AP SGD-01AN SGDA-01BS SGDA-01BP SGD-01BN SGDA-02AS SGDA-02AP SGD-02AN SGDB-02AM SGDA-02BS SGDA-02BP SGD-02BN SGDA-03BS SGDA-03BP SGD-03BN SGDA-04AS SGDA-04AP SGD-04AN SGDB-05AM SGDA-08AS SGDA-08AP SGD-08AN SGDB-10AM SGM-04A SGDV-2R8A11A SGDV-5R5A01A SGM-08A SGDV-5R5A11A SG0MJV-08 Applicable N/A Axis diameter changes to 19 from 16 SGM-03B SGM-A5A Replacing type -V series Replacing Method Servo Amplifier Servo Motor Case 1 Case 2 SGDV-R70A01A SGDV-R70A11A SGDV-R70F01A SGDV- R70F11A SGDV-R70A01A SGDV-R70A11A SGM-A5B SGDV-R70F01A SGDV- R70F11A SGM-01A SGDV-R90A01A SGDV-R90A11A SGM-01B SGDV-R90F01A SGDV- R90F11A SGDV-1R6A01A SGM-02A SGDV-1R6A11A SGM-02B SGDV-2R1F01A SGDV-2R1F11A SGDV-2R8F01A SGDV-2R8F11A SGDV-2R8A01A SGMJV-04A Applicable N/A SGMJV-04A Applicable N/A 300W version is not available. Use 400W . SGMJV-02A Applicable N/A SGMJV-01A Applicable N/A SGMJV-A5A Applicable N/A Axis diameter changes to 8 from 6 SGMJV-A5A Applicable N/A

Note 30W version is not available. Use 50W . Axis diameter changes to 8 from 6

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Replacing SGM with SGMAV Type in-use of series Replacing type -V series Replacing Method Servo Amplifier Servo Motor Servo Amplifier Servo Motor Case 1 Case 2 SGDA-A3AS SGDV-R70A01A SGDA-A3AP SGM-A3A SGD-A3AN SGDV-R70A11A N/A SGMAV-A5A Applicable SGDA-A3BS SGDV-R70F01A SGDA-A3BP SGM-A3B SGD-A3BN SGDV- R70F11A SGDA-A5AS SGDA-A5AP SGD-A5AN SGDA-A5BS SGDA-A5BP SGD-A5BN SGDA-01AS SGDA-01AP SGD-01AN SGDA-01BS SGDA-01BP SGD-01BN SGDA-02AS SGDA-02AP SGD-02AN SGDB-02AM SGDA-02BS SGDA-02BP SGD-02BN SGDA-03BS SGDA-03BP SGD-03BN SGDA-04AS SGDA-04AP SGD-04AN SGDB-05AM SGDA-08AS SGDA-08AP SGD-08AN SGDB-10AM SGM-04A SGDV-2R8A11A SGDV-5R5A01A SGM-08A SGDV-5R5A11A SGMAV-08A Applicable N/A SGM-03B SGDV-2R8F11A SGDV-2R8A01A SGMAV-04A Applicable N/A SGM-02A SGDV-1R6A11A SGM-02B SGDV-2R1F01A SGDV-2R1F11A SGDV-2R8F01A SGMAV-04A Applicable N/A SGMAV-02A Applicable N/A SGM-01B SGM-01A SGDV-R90A11A SGDV-R90F01A SGDV- R90F11A SGDV-1R6A01A SGMAV-01A Applicable N/A SGM-A5B SGM-A5A SGDV-R70A01A SGDV-R70A11A SGDV-R70F01A SGDV- R70F11A SGDV-R90A01A SGMAV-A5A Applicable N/A

Note

30W version is not available. Use 50W . Axis diameter changes to 8 from 6

Axis diameter changes to 8 from 6

300W version is not available. Use 400W .

Axis diameter changes to 19 from 16

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Replacing SGMP with SGMJV or SGMPS

Type in-use of series Servo Amplifier SGDA-01AS SGDA-01AP SGD-01AN SGDA-01BS SGDA-01BP SGD-01BN SGDA-02AS SGDA-02AP SGD-02AN SGDB-02AM SGDA-02BS SGDA-02BP SGD-02BN SGDA-03BS SGDV-2R8F01A SGDA-03BP SGMP-03B SGMJV-04A or SGMPS-04A SGMP-02B SGDV-2R1F11A 300W version is not available. Use 400W. Flange angle changes to 60 from 80 when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder 20bit. Flange angle is 80 (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. Flange angle changes to 60 from 80 when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder 20bit. Flange angle is 80 (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. Flange angle changes to 80 from 120 and shaft diameter changes to 19 from 16 when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder 20bit. Flange angle is 80 (no change) and shaft diameter is 16 (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. SGMP-02A SGDV-1R6A11A SGMJV-02A or SGMPS-02A Available N/A SGMP-01B SGDV- R90F11A SGDV-1R6A01A SGMP-01A Servo Motor Replacing type -V series Servo Amplifier SGDV-R90A01A SGDV-R90A11A SGDV-R90F01A SGMJV-01A or SGMPS-01A Servo Motor Replacing Method Case 1 Case 2 Note Flange angle changes to 40 from 60 when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder 20bit. Flange angle is 60 (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit. Flange angle changes to 60 from 80 when replacing with SGMJV. SGMJV encoder is either the incremental encoder 20bit, incremental encoder 13bit or absolute encoder 20bit. Flange angle is 80 (no change) when replacing with SGMPS. SGMPS encoder is either the incremental encoder 17bit or absolute encoder 17bit.

Available

N/A

SGDV-2R1F01A

Available

N/A

SGD-03BN SGDA-04AS SGDA-04AP SGDB-05ADP SGD-04AN SGDB-05AN SGDB-05AM SGDA-08AS SGDA-08AP SGDB10ADP SGD-08AN SGDB-10AN SGDB-10AM SGDB-15ADP SGDB-15AN SGDB-15AM SGMP-15A SGMP-08A SGMP-04A

SGDV-2R8F11A

SGDV-2R8A01A SGMJV-04A or SGMPS-04A SGDV-2R8A11A Available N/A

SGDV-5R5A01A SGMJV-08A or SGMPS-08A SGDV-5R5A11A Available N/A

SGDV-120A01A SGDV-120A11A SGMPS-15A Available N/A

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Replacing SGMG (1500min-1) with SGMGV Type in-use of series Replacing type -V series Replacing Method Case 2 N/A N/A Servo Amplifier Servo Motor Servo Amplifier Servo Motor Case 1 SGDV-3R8A01A SGMGV-03A N/A SGDV-3R8A11A SGDB-05ADG SGDB-05AN SGDB-10ADG SGDB-10AN SGDB-15ADG SGMG-13A A SGDB-15AN SGDB-20ADG SGDB-20AN SGDB-30ADG SGDB-30AN SGDB-44ADG SGDB-44AN SGMG-30A A SGMG-20A A SGDV-120A11A SGDV-180A01A SGDV-180A11A SGDV-330A01A SGMGV-30A Available SGDV-330A11A SGDV-330A01A SGDV-330A11A SGMGV-44A Available N/A N/A SGMGV-20A Available N/A SGMG-05A A SGDV-3R8A01A SGDV-3R8A11A SGDV-7R6A01A SGDV-7R6A11A SGDV-120A01A SGMGV-13A Available N/A SGMGV-05A Available Note Flange angle: 90mm Shaft diameter: 14mm Flange angle: 130 90(mm) Shaft diameter: 19 16(mm) Rotar inertia moment: 7.24 3.33(x10-

SGMG-09A A

SGMGV-09A Available

N/A

Rotar inertia moment: 20.5 19.9(x104kgm2) Flange angle: 180 130(mm) Shaft diameter: 35 24(mm) Rotar inertia moment: 31.7 26.0(x104kgm2)

SGMG-44A A

Replacing SGMG (1000min-1) with SGMGV Capacity of the servo motor SGMGV and servo amplifier go up Type in-use of series Replacing type -V series Replacing Servo Servo Servo Servo Motor Case 1 Case 2 Amplifier Motor Amplifier SGDVSGDB-03ADM SGMGVAvailable N/A SGMG-03A 3R8A01A SGDV05A SGDB-05AN 3R8A11A SGDVSGDB-07ADM SGMGV7R6A01A Available N/A SGMG-06A SGDV09A SGDB-10AN 7R6A11A SGDB-10ADM SGDV-120A01A SGMGVAvailable N/A SGMG-09A 13A SGDB-10AN SGDV-120A11A SGDB-15ADM SGDB-15AN SGDB-20ADM SGDB-20AN SGDB-30ADM SGDB-30AN SGMG-12A SGDV-180A01A SGDV-180A11A SGDV-330A01A SGDV-330A11A SGDV-330A01A SGDV-330A11A SGMGV20A SGMGV30A SGMGV44A Available N/A

Note

Flange angle: 130 90(mm) Shaft diameter: 19 16(mm) Rotar inertia moment: 7.24 3.33(x10Rated torque: 5.68 5.39(Nm) Peak torque: 14.1 13.8(Nm) Rotar inertial moment: 20.5 19.9(x104kgm2) Rated torque: 8.62 8.34(Nm) Flange angle: 180 130(mm) Shaft diameter: 35 24(mm) Rotar inertia moment: 31.7 26.0(x10Rated torque: 19.1 18.6(N

SGMG-20A

Available

N/A -

SGMG-30A

Available -

N/A -

SGDB-44ADM SGMG-44A SGDB-44AN

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2. Motor 2-1. Type Comparison Table

Comparison Table of SGM, SGMP and SGMAV, SGMJV (w/o reduction gears) Type Name
Series Name Supplement Servo Motor Type SGM- SGMP- SGMAV- SGMJV30 A3 50W setting (30W setting is not available) 50 A5 A5 A5 100 01 01 01 01 Capacity W 200 02 02 02 02 300 03 03 400W setting (300W setting is not available) 400 04 04 04 04 750 08 08 08 08 B Standard Corresponds by combining the Servo amplifier 100V power 100V UL certified L Voltabe supply spec. "F" and motor for 200V W CE certified Spec. A Standard 200 UL certified A U CE certified 3 2048p/r incremental encoder 20bit serial incremental encoder (13bit is selectable for SGMJV 2 8192p/r incremental encoder 20bit serial incremental encoder 13bit serial incremental encode A Detector 20bit serial incremental encode W 12bit absolute encoder 20bit serial absolute encoder S 15bit absolute encoder 20bit serial absolute encoder 3 20bit serial absolute encoder SGMJV Standard: Fully-closed, Self-cooling IP65 (excluding Design shaft penetrated part) A 1 Order Standard SGMAV Standard: Fully-closed, Self-cooling IP55 (excluding shaft penetrated part) 2 2 Shaft- w/o straight key 4 w/ straight key Handle with straight key tap end Spec. w/ straight key tap 6 6 w/o straight key w/tap 8 8 1 No option Set to "1" for no option instead of leaving as a blank B 90 brake 24V brake (90V brake setting is not available) C C Option 24 brake S S Oil seal 90 brake, Oil seal 24V brake (90V brake setting is not available) E 24 brake, Oil seal E 100V input type only for 300W of SGM and SGMP

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Comparison Table of SGMG and SGMGV (w/o reduction gears) G Type Name

Series Name Servo Motor Type 0.3 0.45 0.6 0.85/0.9 Capacity kW 1.2 1.3 1.8/2.0 2.9/3.0 4.4 Voltabe 200 Spec. 4096p/r incremental encoder 8192p/r incremental encoder 13bit serial incremental encod Detector 20bit serial incremental encod 12bit absolute encoder 15bit absolute encoder 20bit serial absolute encoder Design 1500min-1 Order 1000min-1 Shaft- w/o straight key end w/ straight key tap Spec. 1/10 taper w/ key No option DC90 brake Option DC24 brake DC90V brake, Oil seal DC24V brake, Oil seal Oil seal

SGMG03 05 06 09 12 13 20 30 44 A 6 2 W S A B A B C,D B C F G S

SGMGV03 05 09 13 20 30 44 A 3 A 2 6 1 B C D E S

Supplement Rating 1000min-1model is not provided in SGMGV. If you are using SGMG rating B) please use 1000min-1 model (SGMGthe rating 1500min-1 model though the rated torque and externals are different.

20bit serial incremental encoder 20bit serial incremental encoder 20bit serial absolute encoder 20bit serial absolute encoder Standard: Fully-closed, Self-cooling IP67 (excluding shaft penetrated part) Rating 1000min-1model is not provided please use the rating 1500min-1 model. No taper is available. Use straight key. Set to "1" for no option instead of leaving as a Use 24V Brake version Use 24V Brake version -

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Comparison Table of SGM, SGMP and SGMAV, SGMJV (w/ reduction gears)
Type Name Series Name Servo Motor Type 30 50 Capacity 100 W 200 300 400 750 Standard 100V UL certified Voltage CE certified Spec. Standard 200 UL certified CE certified 2048p/r incremental encoder 8192p/r incremental encoder 13bit serial incremental encoder Detector 20bit serial incremental encoder 12bit absolute encoder 15bit absolute encoder 20bit serial absolute encoder Design Order Standard Reduction Precision reduction gears Gears Spec. General-purpose reduction gears 1/5 1/9 Reduction 3/31 Ratio 1/11 1/21 1/33 Flange mounting Shaft- w/o straight key end Spec. w/ straight key w/ straight key tap w/ straight tap No Option Option 90 brake 24 brake

SGMA3 A5 01 02 03 04 08

Supplement SGMP- SGMAV- SGMJV50W setting (30W setting is not available) A5 A5 01 01 01 02 02 02 03 400W setting (300W setting is not available) 04 04 04 08 08 08 B Combining the Servo amplifier 100V power supply spec. "F" L and motor for 200V W A A U 3 20bit serial incremental encoder (13bis is selectable for SGMJV 2 20bit serial incremental encoder A W 20bit serial absolute encoder S 20bit serial absolute encoder 3 SGMJV Standard: Fully-closed, Self-cooling IP55 (excluding shaft penetrated part) 1 A SGMAV Standard: Fully-closed, Self-cooling IP55 (excluding shaft penetrated part) H J H 1 2 7 0 2 6 8 1 C Use the precision reduction gears (general-purpose reduction gears are not available) Corresponding to 50W Correspond by 1/9 (only 50W) or 1/11 Not corresponding to 50W Handle with straight key tap Set to "1" for no option instead of leaving as a blank 24V brake (90V brake setting is not available) -

1 2 2 2 3 4 0 2 4 6 8 B C

series SGMPrecision1/51/9(50100W1/11(except 50100W1/211/33 General-Purpose1/53/311/211/33 SGMPPrecision 1/51/111/211/33 General-Purpose1/53/311/211/33

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Comparison Table of SGMG and SGMGV (w/ reduction gears) G Type Name

Series Name Servo Motor Type 0.3 0.45 0.6 0.85/0.9 Capacity kW 1.2 1.3 1.8/2.0 2.9/3.0 4.4 Voltabe 200 Spec. 4096p/r incremental encoder 8192p/r incremental encoder Detector 20bit serial incremental encode 12bit absolute encoder 15bit absolute encoder 20bit serial absolute encoder Design Order 1500min-1 1000min-1

SGMG03 05 06 09 12 13 20 30 44 A 6 2 W S A B L S,T 1 A 2 B 5 C 7 8 K R B C

SGMGV-

Quotes in each case

Reduction Precision reduction gears Gears Spec. General-purpose reduction gea 1/5 1/6 1/9 Reduction 1/11 Ratio 1/20 1/21 1/29 1/45 Flange mounting (w/o shaft) Shaft-end w/o straight key Spec. w/ straight key w/ straight key tap w/ straight tap No option Option DC90 brake DC24 brake

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2-2. Characteristic (Comparison between SGM, SGMP and SGMJV, SGMAV)

Servo Motor S G M - A3 A S G M - A5 A SGM -01A SGM -02A SGM -04A SGM -08A S G M - A3 A S G M - A5 A SGM -01A SGM -02A SGM -04A SGM -08A SGM P-01A SGM P-02A SGM P-04A SGM P-08A Motor Characteristic
Rotar (x1 Inertia Moment 0 kg m ) 0 .0 2 1 0 .0 4 1 4 0 .0 2 6 0 .0 4 1 4 0 .0 4 0 0 .0 6 6 5 0 .1 2 3 0 .2 5 9 0 .1 9 1 0 .4 4 2 0 .6 7 1 1 .5 7 0 .0 2 1 0 .0 2 4 2 0 .0 2 6 0 .0 2 4 2 0 .0 4 0 0 .0 3 8 0 .1 2 3 0 .1 1 6 0 .1 9 1 0 .1 9 0 .6 7 1 0 .7 6 9 0 .0 6 5 0 .0 6 6 5 0 .2 0 9 0 .2 5 9 0 .3 4 7 0 .4 4 2 2 .1 1 1 .5 7
2 - 4 -4 (x10 kgm2 )

Servo Motor S G M JV- A5 A S G M JV- A5 A S G M JV- 0 1 A S G M JV- 0 2 A S G M JV- 0 4 A S G M JV- 0 8 A S G M AV- A5 A S G M AV- A5 A S G M AV- 0 1 A S G M AV- 0 2 A S G M AV- 0 4 A S G M AV- 0 8 A S G M JV- 0 1 A S G M JV- 0 2 A S G M JV- 0 4 A S G M JV- 0 8 A

Rated Torque (Nm) (N m )

Peak Torque (N m (Nm) )

0 .0 9 5 0 .1 5 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9 0 .0 9 5 0 .1 5 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9

0 .1 5 9 0 .1 5 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9 0 .1 5 9 0 .1 5 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9 0 .3 1 8 0 .6 3 7 1 .2 7 2 .3 9

0 .2 9 0 .4 8 0 .9 6 1 .9 1 3 .8 2 7 .1 0 .2 9 0 .4 8 0 .9 6 1 .9 1 3 .8 2 7 .1 0 .9 6 1 .9 1 3 .8 2 7 .1

0 .5 5 7 0 .5 5 7 1 .1 1 2 .2 3 4 .4 6 8 .3 6 0 .4 7 7 0 .4 7 7 0 .9 5 5 1 .9 1 3 .8 2 7 .1 6 1 .1 1 2 .2 3 4 .4 6 8 .3 6

Load Ratio of SGM [Rated Ratio]

100% 80% 60% 40% 20% 0% 0 5 10 15 20 25 30

Please refer to the graph on the left

SGMAV SGMJV

to replace the SGM type with the types of SGMJV or SGMAV. Replace with the SGMAV type when the ratio of load inertia moment and rotor inertia moment is five times or less, or the load ratio is 60% or more. Replace with the SGMJV type as for the rest of that.

Load Inertia Moment Ratio [SGMAV ratio]

100%

Effective Torque [Rated Ratio %]

80%

Reference The graph on the left shows the load ratio when replacing the SGM type which is used by 70% with the types of SGMJV and SGMAV. The load ratio increases though the
SGM-02 SGMAV-02 SGMJV-02

60%

40%

20%

control is steady because the rotor inertia moment of SGMJV type is large.
30

0% 0

10

15

20

25

Load Inertia Moment [Jm Ratio]

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(Comparison between SGMG and SGMGV)

(Rating 1500min-1) (1500min-1)
Servo Motor

Servo Motor

Motor Characteristic
Rotor Inertia Moment (x10kgm 2 ) ) (x10 -4 kgm
-4 2

Rated Torque (Nm) (Nm)

Peak Torque (Nm) (Nm)

7.24 13.9 20.5 31.7 46.0 67.5

3.33 13.9 19.9 26.0 46.0 67.5

2.84 5.39 8.34 11.5 18.6 28.4

SGMG-05AA SGMG-09AA SGMG-13AA SGMG-20AA SGMG-30AA SGMG-44AA

SGMGV-05A SGMGV-09A SGMGV-13A SGMGV-20A SGMGV-30A SGMGV-44A

2.86 5.39 8.34 11.5 18.6 28.4

8.92 13.8 23.3 28.7 45.1 71.1

8.92 13.8 23.3 28.7 45.1 71.1

The capacity of the servo motor SGMGV and servo amplifier SGDV goes up because of the SGM G(1 0 0 0 m in - 1 )SGMGV rated torque differences when replacing SGMG (Rating 1000min-1) with SGMGV. SGMGVSGDV Motor Characteristic -4-4kgm2) Rotor Inertia Moment (x10 kgm 2 ) Rated Torque (Nm) Peak Torque (Nm) (1000min-1) (Rating 1000min-1) (Nm) (Nm) (x10 Servo Motor Servo Motor SGMGV-03A 2.48 1.96 5.88 7.24 2.84 7.17 SGMG-03AB SGMGV-05A 3.33 2.86 8.92 SGMGV-05A 3.33 2.86 8.92 5.68 14.1 SGMG-06AB 13.9 SGMGV-09A 13.9 5.39 13.8 SGMGV-09A 13.9 5.39 13.8 20.5 8.62 19.3 SGMG-09AB SGMGV-13A 19.9 8.34 23.3 SGMGV-13A 19.9 8.34 23.3 SGMG-12AB 31.7 11.5 28.0 SGMGV-20A 26.0 11.5 28.7 SGMGV-20A 26.0 11.5 28.7 SGMG-20AB 46.0 19.1 44.0 SGMGV-30A 46.0 18.6 45.1 SGMGV-30A 46.0 18.6 45.1 SGMG-30AB 67.5 28.4 63.7 SGMGV-44A 67.5 28.4 71.1 SGMG-44AB SGMGV-44A 89.0 67.5 41.9 28.4 107.0 71.1

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2-3. Mounting Dimensions (1) Without Reduction Gears (Standard) Hatching-displayed the part where size is different between the motor and -V motor.

LL

LC

Motor Reductio Capacity Brake n Gears [] N/A 30 Available N/A 50 Available No 100 N/A Available Redution 200 N/A Gears Available 400 N/A Available 750 N/A Available

LC 40 40 40 60 60 80

series SGM LL 69.5 101 77 108.5 94.5 135 96.5 136 124.5 164 145 189.5

series S 6 6 8 14 14 16 40 40 60 60 80 70.5 115.5 82.5 127.5 80 120 98.5 138.5 115 160 8 8 14 14 19 40 40 60 60 80 69 114 82.5 127.5 80 120 98.5 138.5 115 160 8 8 14 14 19 LC LL S LC SGMJV LL S

Reduction Gears

No Reduction Gears

Motor Capacity Brake [] LC N/A 100 60 Available 200 N/A 80 Available 400 N/A 80 Available 750 N/A 120 Available

series SGMP LL 57 86 62 93.5 82 113.5 81.5 115

S 8 14 14 16

series SGMJV LC LL S 82.5 40 8 127.5 80 60 14 120 98.5 60 14 138.5 115 80 19 160

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Reduction Gears

Motor Capacity [kW] 0.45 0.85

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 130 130 130 180 180 180

Series SGMG(1500r/min) LL 138 176 161 199 185 223 166 217 192 243 226 277 Series SGMG(1000r/min) LC LL 138 176 161 199 185 223 166 217 192 243 226 277 260 311 S 19 19 22 35 35 35 42 LC 130 130 130 180 180 180 180 S 19 19 22 35 35 35 LC 130 130 130 180 180 180

No Reduction Gears

1.3 1.8 2.9 4.4

- Series SGMGV LL 139 172 137 173 153 189 171 207 160 208 184 232 - Series SGMGV LL 126 159 139 172 137 173 153 189 171 207 160 208 184 232

S 16 19 22 24 35 35

Reduction Gears

Motor Capacity [kW] 0.3 0.6 0.9

Brake N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 130 130 130 180 180 180 180

S 14 16 19 22 24 35 35

No Reduction Gears

1.2 2.0 3.0 4.4

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Shaft Key Size Shaded area displayed the part where size is different between the motor and -V motor.

QK

T
Motor Reduction Capacity Oil Seal Gears [] QK N/A 14 30 Available N/A 14 50 Available No 100 N/A 14 Available Reduction 20 Gears 200 N/A Available 14 20 400 N/A Available 14 30 750 N/A Available 25 Series SGM U W 1.2 1.2 1.8 3 3 3 2 2 3 5 5 5 Series T 2 2 3 5 5 5 14 14 14 14 22 1.8 1.8 3 3 3.5 3 3 5 5 6 3 3 5 5 6 14 14 14 14 22 1.8 1.8 3 3 3.5 3 3 5 5 6 3 3 5 5 6 QK U W T QK SGMJV U W T

Motor Reduction Capacity Brake Gears [] QK N/A 100 14 Available No 200 N/A 16 Available Reduction 400 N/A 16 Gears Available 750 N/A 22 Available

Series SGMP U W 1.8 3 3 3 3 5 5 5

T 3 5 5 5

QK 14 14 14 22

Series SGMJV U W 1.8 3 3 3.5 3 5 5 6

T 3 5 5 6

(2) With General-Purpose Reduction Gears

The customers need to prepare the general-purpose reduction gears by themselves or it might be necessary for them to consider replacing with a precise decelerator because there is no general-purpose reduction gears in the in the -V .
LL LC

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Motor Reduction Reduction Capacity Gear Gears Ratio [] 1/5 1/10.3 30 1/21 1/33 1/5 1/10.3 50 1/21 1/33 1/5 1/10.3 100 1/21 GeneralPurpose 1/33 1/5 1/10.3 200 1/21 1/33 1/5 1/10.3 400 1/21 1/33 1/5 1/10.3 750 1/21 1/33

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 60 60 60 60 60 70 70 70 70 70 90 90 90 90 105 105 90 105 120 120 105 120 145 145

Series SGM LL 101.5 133.5 101.5 133.5 116.5 148.5 116.5 148.5 109 141 114 146 131 163 131 163 131.5 173 131.5 173 153 194 153 194 138 178.5 138 178.5 165.5 206 165.5 206 166 206.5 172.5 213 200.5 241 200.5 241 193 238.5 196 241.5 223 268.5 223 268.5

S 14 14 14 14 14 16 16 16 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40

Series (precision reduction gears) SGMJV LC LL S LC LL S

40 40 40 60 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120

110 155 110 155 119 164 134.5 179.5 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264

10 10 10 16 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40

40 40 40 60 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120

108.5 153.5 108.5 153.5 117.5 162.5 133 178 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264

10 10 10 16 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40

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Motor Reduction Reduction Capacity Gears Gear Ratio [] 1/5 1/10.3 100 1/21 1/33 1/5 1/10.3 200 1/21 GeneralPurpose 1/33 1/5 1/10.3 400 1/21 1/33 1/5 1/10.3 750 1/21 1/33

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 70 70 90 90 90 90 105 105 90 105 120 120 105 120 145 145

Series SGMP
LL 112 141 112 141 116.5 145.5 116.5 145.5 121.5 153 121.5 153 132 163.5 132 163.5 141.5 173 152 183.5 159 190.5 159 190.5 151.5 188 158.5 195.5 169.5 206 169.5 206 S 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 LC 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120

Series (precision reduction gears) SGMJV LL S LC LL 122 122 10 40 167 167 146.5 146.5 16 60 191.5 191.5 146.5 146.5 16 60 191.5 191.5 149 149 25 90 194 194 144 144 16 60 184 184 144 144 16 60 184 184 151 151 25 90 191 191 151 151 25 90 191 191 162.5 162.5 16 60 202.5 202.5 169.5 169.5 25 90 209.5 209.5 169.5 169.5 25 90 209.5 209.5 202.5 202.5 40 120 242.5 242.5 193 193 25 90 238 238 193 193 25 90 238 238 219 219 40 120 264 264 219 219 40 120 264 264

S 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40

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Reduction Gears

Motor Capacity [kW]

Reduction Gear Ratio 1/6 1/11

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 160 160 160 160 160 160 210 210 160 210 210 260 210 210 260 260 210 210 260 340 260 260 340 400

Series SGMG(1500r/min) LL 138 190 138 190 138 190 138 190 161 213 161 213 161 213 161 213 185 237 185 237 185 237 185 237 166 231 166 231 166 231 166 231 192 257 192 257 192 257 192 257 226 291 226 291 226 291 226 291 S 28h6 28h6 28h6 38h6 28h6 28h6 38h6 38h6 28h6 38h6 38h6 58h6

Series (precision reduction gears) G LC LL S

0.45 1/21 1/29 1/6 1/11 0.85 1/21 1/29 1/6 1/11 1.3 1/21 GeneralPurpose 1/29 1/6 1/11 1.8 1/21 1/29 1/6 1/11 2.9 1/21 1/29 1/6 1/11 4.4 1/21 1/29

Quotes in Each Case 38h6 38h6 58h6 58h6 38h6 38h6 58h6 68h6 58h6 58h6 68h6 78h6

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Reduction Gears

Motor Capacity [kW]

Reduction Gear Ratio 1/6 1/11

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 160 160 160 160 160 160 210 210 160 160 210 210 210 210 260 260 210 210 260 340 260 260 340 400 260 260 400 400

Series SGM(1000r/min) LL 138 190 138 190 138 190 138 190 161 213 161 213 161 213 161 213 185 237 185 237 185 237 185 237 166 231 166 231 166 231 166 231 192 257 192 257 192 257 192 257 226 291 226 291 226 291 226 291 260 325 260 325 260 325 260 325 S 28h6 28h6 28h6 28h6 28h6 28h6 38h6 38h6 28h6 28h6 38h6 38h6 38h6 38h6

Series (precision reduction gears) G LC LL S

0.3 1/21 1/29 1/6 1/11 0.6 1/21 1/29 1/6 1/11 0.9 1/21 1/29 1/6 GeneralPurpose 1/11 1.2 1/21 1/29 1/6 1/11 2.0 1/21 1/29 1/6 1/11 3.0 1/21 1/29 1/6 1/11 4.4 1/21 1/29

Quotes in each time 58h6 58h6 38h6 38h6 58h6 60h6 50h6 50h6 60h6 70h6 50h6 50h6 70h6 70h6

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With Precision Reduction Gears

LL LC

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Motor Reduction Reduction Capacity Gear Ratio Gears [] 1/5 1/9 30 1/21 1/33 1/5 1/9 50 1/21 1/33 1/5 1/11 100 1/21 Precision Reduction Gears 200 1/21 1/33 1/5 1/11 400 1/21 1/33 1/5 1/11 750 1/21 1/33 1/33 1/5 1/11

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 60 60 60 60 60 70 70 70 70 70 90 90 90 90 105 105 90 105 120 120 105 120 145 145

Series SGM LL 97.5 129.5 97.5 129.5 112.5 144.5 112.5 144.5 105 137 106 138 123 155 123 155 123.5 164.5 140.5 181.5 149.5 190.5 149.5 190.5 134.5 175 151.5 192 159.5 200 159.5 200 162.5 203 187.5 228 195.5 236 195.5 236 187 232.5 216 261.5 223 268.5 223 268.5

Sereis S 14 14 14 14 14 16 16 16 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 40 40 40 60 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120 110 155 110 155 119 164 134.5 179.5 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264 10 10 10 16 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40 40 40 40 60 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120 108.5 153.5 108.5 153.5 117.5 162.5 133 178 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264 10 10 10 16 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40 LC LL S LC SGMJV LL S

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Motor Reduction Reduction Brake Capacity Gears Gear Ratio [] N/A 1/5 Available N/A 1/11 Available 100 N/A 1/21 Available N/A 1/33 Available N/A 1/5 Available N/A 1/11 Available 200 N/A 1/21 Available N/A Precision 1/33 Available Reduction N/A 1/5 Gears Available N/A 1/11 Available 400 N/A 1/21 Available N/A 1/33 Available N/A 1/5 Available N/A 1/11 Available 750 N/A 1/21 Available N/A 1/33 Available

Series SGMP
LC 70 70 90 90 90 90 105 105 90 105 120 120 105 120 145 145 LL 104 133 104 133 113 142 113 142 118 149.5 118 149.5 126 157.5 126 157.5 138 169.5 146 177.5 154 185.5 154 185.5 145.5 182 153.5 187 169.5 203 169.5 203 S 16 16 20 20 20 20 25 25 20 25 32 32 25 32 40 40 LC 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120

Series LL 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264 S 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40 LC 40 60 60 90 60 60 90 90 60 90 90 120 90 90 120 120 SGMJV LL 122 167 146.5 191.5 146.5 191.5 149 194 144 184 144 184 151 191 151 191 162.5 202.5 169.5 209.5 169.5 209.5 202.5 242.5 193 238 193 238 219 264 219 264 S 10 16 16 25 16 16 25 25 16 25 25 40 25 25 40 40

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Reduction Gears

Motor Reduction Capacity Gear Ratio [] 1/5 1/9 0.45 1/20 1/29 1/45 1/5 1/9 0.85 1/20 1/29 1/45 1/5

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 140 140 245 245 245 140 140 245 245 310 245 245 245 310 310 245 245 310 310 310 310 310 310 310

Precision Reduction Gears

1/9 1.3 1/20 1/29 1/45 1/5 1/9 1.8 1/20 1/29 1/5 2.9 1/9 1/20 1/5 4.4 1/9

Series SGMG(1500r/min) LL S 138 35h6 190 138 35h6 190 138 50h6 190 138 50h6 190 138 50h6 190 161 35h6 213 161 35h6 213 161 50h6 213 161 50h6 213 161 60h6 213 185 50h6 237 185 50h6 237 185 50h6 237 185 60h6 237 185 60h6 237 166 50h6 231 166 50h6 231 166 60h6 231 166 60h6 231 192 60h6 257 192 60h6 257 192 60h6 257 226 60h6 291 226 60h6 291

LC

Series G LL

Quotes each time

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Reduction Gears

Motor Reduction Capacity Gear Ratio [] 1/5 1/9 0.45 1/20 1/29 1/45 1/5 1/9 0.85 1/20 1/29 1/45 1/5

Brake LC N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available N/A Available 140 140 245 245 245 140 140 245 245 310 245 245 245 310 310 245 245 310 310 310 310 310 310 310

Precision Reduction Gears

1/9 1.3 1/20 1/29 1/45 1/5 1/9 1.8 1/20 1/29 1/5 2.9 1/9 1/20 1/5 4.4 1/9

Sereies SGMG(1000r/min) LL S 138 35h6 190 138 35h6 190 138 50h6 190 138 50h6 190 138 50h6 190 161 35h6 213 161 35h6 213 161 50h6 213 161 50h6 213 161 60h6 213 185 50h6 237 185 50h6 237 185 50h6 237 185 60h6 237 185 60h6 237 166 50h6 231 166 50h6 231 166 60h6 231 166 60h6 231 192 60h6 257 192 60h6 257 192 60h6 257 226 60h6 291 226 60h6 291

LC

Series G LL

Quotes each time

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2-4. Notes at Machine Installation Please cautious about the cable wiring as well as the size of the flange, spigot, and shaft at machine installation. The pictures shown below are the part of the motor cable wiring of 40 and 60.

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3. Servo Amplifier 3-1. Type Comparison Table 1-3. Please refer to the replacement list The servo amplifier type has been changed from the capacity value to output current value. 3-2. Terminal Table (1) Main circuit terminal
SGDA type Terminal marking R T U V W R T SGDB type Terminal marking R S T U V W t P,P1,B SGDV type Terminal marking L1 L2 L3 U V W L1C L2C B1/(+) B2 B3 (+)1 (+)2 (-)1 (-)2 B1/(+) (-) (-)2

Function Main circuit power supply input terminal Servomotor connection terminal Control power supply input terminal (100V/200V type) External regenerative resistor connection terminal The connection method is different in - DC reactor conncetion terminal for power line harmonics control

P N

P N

Main circuit forward side terminal Main circuit reverse side terminal

Single-phase power supply AC200V: It is possible to change to single phase power supply AC200V by the parameter (Factory setting is 3-phase power supply) however, the torque - rotational speed characteristic is different from the three-phase power supply specification.

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(2) Control Circuit Terminal -V Notes 1. Do not use the reserved terminal of "" 2. Connect the shield line of the cable for I/O with the connector shell. It should be connected with frame ground (FG) at the servo amplifier side connector. 3. The following input signals can change the parameter allocation /DEC,P-OT,N-OTEXT1, EXT2 ,EXT3 4. The signals of /COIN, /V-CMP, /TGON, /S-RDY, /CLT, /VLT, /BK, /WARN, /NEAR are able to allocate to /SO1, /SO2, /SO3 Please refer to the V manual for details. Comparison between SGDAS type [Analog voltage reference type] (speed & torque control type) and SGDV type
Terminal No. SGDA typeSGDV typeTerminal Marking 36pin 50pin 1 9 T-REF 3 5 V-REF 2,4,6,10 1,2,6,10 GND 5 4 SEN 7 /BK+ 8 25 /V-CMP+(./COIN+) 9 27 /TGON+ 11 45 /P-CL 12 46 /N-CL 13 47 +24VIN 14 40 /S-ON 15 41 /P-CON 16 42 P-OT 17 43 N-OT 18 44 /ALM-RST 19 SG-PG 20 33 PAO 21 34 /PAO 22 35 PBO 23 36 /PBO 24 19 PCO 25 20 /PCO 26 PSO 27 /PSO 28 21 BAT(+) 29 22 BAT(-) 30 37 ALO1 31 38 ALO2 32 39 ALO3 33 SG-AL 34 31 ALM+ 35 32 ALM36 Shell FG Function Torque reference input Speed reference input Ground SEN signal input Brake interlock output (*3) Speed match detection output (*2) Rotation detection output (*2) Forward side external torque control input (*2) Reverse side external torque control input (*2) External power supply input Servo ON input (*2) P operation input (*2) Forward drive prohibited input (*2) Reverse drive prohibited input (*2) Alarm reset inupt (*2) Single ground for PG signal output PG frequence dividing output A-phase PG frequence dividing output B-phase PG frequence dividing output C-phase S-phse signal output Battery(+) Battery(-) Alarm code output Signal ground for alarm code output Servo alarm output Frame Ground

(*2) The sequence I/O is factory setting The allocation change is possible by using the user parameter in -V, but not in series (*3)Change the setting of one of three factory setting output signals by user parameter if needed

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The number of CN1 input signal connector pins of series SGDA type and -V series SGDV type are different. The CN2 encoder connector is not compatible. The CN5 analogue monitor connector is compatible.

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Comparison between SGDAP type [pulse train reference type] (position control type) and SGDV type
SGDA typeSGDV typeTerminal Marking 36pin 50pin 1 7 PULS 2 8 /PULS 3 11 SIGN 4 12 /SIGN 5 15 CLR 6 14 /CLR 7 /BK+ 8 25 /V-CMP+(./COIN+) 9 27 /TGON+ 10 1,2,6,10 GND 11 45 /P-CL 12 46 /N-CL 13 47 +24VIN 14 40 /S-ON 15 41 /P-CON 16 42 P-OT 17 43 N-OT 18 44 /ALM-RST 19 SG-PG 20 33 PAO 21 34 /PAO 22 35 PBO 23 36 /PBO 24 19 PCO 25 20 /PCO 26 PSO 27 /PSO 28 21 BAT(+) 29 22 BAT(-) 30 37 ALO1 31 38 ALO2 32 39 ALO3 33 SG-AL 34 31 ALM+ 35 32 ALM36 Shell FG Function Reference pule input Reference symbol input Clear input Brake interlock output (*3) Speed match detection output (*2) Rotation detection output (*2) Ground Forward side external torque control input (*2) Reverse side external control input (*2) External power supply input Servo ON input (*2) P operation input (*2) Forward drove prohibited input (*2) Reverse drive prohibited input (*2) Alarm reset input (*2) Single ground for PG signal output PG frequency dividing output A-phase PG frequency dividing output B-phase PG frequency dividing output C-phase S-phase signal output Battery(+) Battery(-) Alarm code output Signal ground for alarm code output Servo alarm output Frame ground

(*2) The sequence I/O is factory setting The allocation change is possible by using the user parameter in -V, but not in series (*3)Change the setting of one of three factory setting output signals by user parameter if needed

The number of CN1 input signal connector pins of series SGDA type and -V series SGDV type are different. The CN2 encoder connector is not compatible. The CN5 analogue monitor connector is compatible.

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Comparison between SGDBD type and SGDV type Terminal No. SGDB typeSGDV typeTerminal Marking Function 50pin 50pin Signal Ground 1 1 SG Signal Ground 2 2 SG Battery for open collector reference 3 3 PL1 SEN signal input 4 4 SEN Speed reference input 5 5 V-REF Signal Ground 6 6 SG Reference pulse input 7 7 PULS Reference pulse input 8 8 /PULS Tordque reference input 9 9 T-REF Signal Ground 10 10 SG Reference code input 11 11 SIGN Reference code input 12 12 /SIGN Battery for open collector reference 13 13 PL2 Clear input 14 14 /CLR Clear input 15 15 CLR Torque monitor 16 - TRQ-M Speed monitor 17 - VTG-M Battery for open collector reference 18 18 PL3 PG frequency dividing output C-phase 19 19 PCO PG frequency dividing output C-phase 20 20 /PCO Battery (+) 21 21 BAT /BAT(+) 22 22 BAT0 / BAT(-) Battery (-) Battery for analog refernce 23 - +12V Battery for analog refernce 24 - -12V 25 25 /V-CMP/COIN Speed match detection output 26 26 /V-CMP/COIN Speed match detection output Rotating detection output 27 27 /TGON+ Rotating detection output 28 28 /TGONServo-ready output 29 29 /S-RDY+ Servo-ready output 30 30 /S-RDYServo alarm output 31 31 ALM+ Servo alarm output 32 32 ALMPG frequency dividing output A-phase 33 33 PAO PG frequency dividing output A-phase 34 34 /PAO PG frequency dividing output B-phase 35 35 PBO PG frequency dividing output B-phase 36 36 /PBO Alarm code output 37 37 ALO1 Alarm code output 38 38 ALO2 Alarm code output 39 39 ALO3 Servo ON inuput (*2) 40 40 /S-ON P operation input (*2) 41 41 /P-CON Forward drive prohibit input (*2) 42 42 P-OT Reverse drive prohibit input (*2) 43 43 N-OT Alarm reset input 44 44 /ALMRST Forward side external torque limit input 45 45 /P-CL Reverse side external torque limit input 46 46 /N-CL External power supply input 47 47 +24 VIN S-phase signal output 48 - PSO S-phase signal output 49 - /PSO Frame Ground 50 - FG
(*2) The sequence I/O is factory setting The allocation change is possible by using the user parameter in -V, but not in series (*3)Change the setting of one of three factory setting output signals by user parameter if needed

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Comparison between SGDAN type [MECHATROLINK communication reference type] and SGDV type
- SGDV-1 SGDA-N Function Terminal Terminal Terminal Terminal No. No. Marking Marking 26pin 26pin /BK(+) 1 /BK 1 Brake interlock output (/SO1+) /BK(-) 2 BK-SG 2 Brake interlock output (/SO1-) 3 ALM 3 ALM+ Servo alarm outptu 4 ALM-SG 5 6 +24VIN 7 P-OT 8 N-OT 9 /DEC 10 /EXT 4 ALM5 6 +24VIN P-OT 7 (/SI1) N-OT 8 (/SI2) /DEC 9 (/SI3) /EXT1 10 (/SI4) /EXT2 11 (/SI5) /EXT3 12 (/SI6) 13 /S0 14 BAT(+) 15 BAT(-) 16 SG 17 PAO 18 /PAO 19 PBO 20 /PBO 21 PCO 22 /PCO 23 /SO2+ 24 /SO225 /SO3+ 26 /SO3 Servo alarm outptu External power supply input Forward drive prohibit input Reverse drive prohibit input Homing deceleration LS input External latch signal 1 input External latch signal 2 input External latch signal 3 input General purpose inut Battery(+) Battery(-) Signal ground PG frequency dividing output A-phase PG frequency dividing output B-phase PG frequency dividing output C-phase General purpose General purpose General purpose General purpose Frame Ground output output output output When using absolute encoder When using absolute encoder There is just one external latch signal in

Remarks

Function is the same though the terminal marking is different Function is the same though the terminal marking is different Reserved terminal

14 BAT(+) 15 BAT(-) 26 FG

The connector is different though the number of CN1 I/O signal pins of the series and -V series are the same.

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Comparison between SGDBN type [MECHATROLINK communication reference type] and SGDV type

- SGDB-N SGDV-1 Function Terminal Terminal Terminal Terminal No. No. Marking Marking 26pin 26pin /BK(+) 1 /BK 1 Brake interlock output (/SO1+) /BK(-) 2 BK-SG 2 Brake interlock output (/SO1-) 3 ALM 3 ALM+ Servo alarm output 4 ALM-SG 5 6 +24VIN 7 P-OT 8 N-OT 9 /DEC 10 /EXT 26 FG 4 ALM5 6 +24VIN P-OT 7 (/SI1) N-OT 8 (/SI2) /DEC 9 (/SI3) /EXT1 10 (/SI4) /EXT2 11 (/SI5) /EXT3 12 (/SI6) 13 /S0 14 BAT(+) 15 BAT(-) 16 SG 17 PAO 18 /PAO 19 PBO 20 /PBO 21 PCO 22 /PCO 23 /SO2+ 24 /SO225 /SO3+ 26 /SO3 Servo alarm output External power supply output Forward drive prohibit input Reverse drive prohibit input Homing deceleration LS input External latch signal 1 input External latch signal 2 input External latch signal 3 input General input Battery(+) Battery(-) Signal Ground PG frequency dividing A-phase PG frequency dividing B-phase PG frequency dividing C-phase General purpose General purpose General purpose General purpose Frame Ground output output output output

Remarks

Funciton is the same though the terminal marking is different Funciton is the same though the terminal marking is different Reserved terminal

There is just one external latch signal in

When using absolute encoder When using absolute encoder

The connector is different thought the number of CN1 I/O signal pins of the series and - series are the same

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3-3. Installation Size -V series servo amplifier is not compatible with series servo amplifier in the dimension and mounting dimension. The position of the screw for the installation is different. AC200V, 200W or less 2-M4 Tap

AC100V, 200W or less and AC200V, 400W

2-M4 Tap

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AC100V, 400W and AC200V, 750W

S-N4 Tap

0.5kW~1.5kW

Vent 10 or more

4-M4 Screw Hole

Mounting Pitch 4-M5 Mounting Hole Mounting Pitch

External

10 or more 39/47

Mounting Pitch

2.0 kW, 3.0kW 4-M5 Screw Hole Vent 10 or more External Mounting Pitch 4-M5 Mounting Hole

10 or more Mounting Pitch

5.0kW 4-M5 Screw Hole 4-M5 Tap Vent Hole External

Mounting Pitch

Mounting Pitch

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3-4. Notes when Installing Control Board Please note the difference of the electrical conduction state of frame ground when producing the attachment to accommodate the difference of the installation hole size. An alarm may occur and the machine may operate improperly because the amount of noise changes when the electrical conduction state changes.

Control Board Side

Attachment

Control Board Side

Conducting Part

Servo Amplifier The frame ground of the control board and servo amplifier conduct through the installation screw.

Servo Amplifier When painting and/or surface treatment is given to the attachment for rust prevention, electrical conduction between the attachment and control board may be impossible.

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4. Cable and Peripherals All the cables and peripherals of series are not compatible with -V seriess so please confirm the applicable products by referring to the catalog and manual, etc. Please refer to the following comparison table for the type of the applicable products. Connector for I/O Signal AnalogPulse Train Reference Type
Name
Connector Terminal Block Conversion Unit Type
(for SGDA type) SGDA (for SGDB type) SGDB

JUSP-TA36P

JUSP-TA50P

One-sided individual pull out cable Connector Kit (for (CN1) CN1)

DE9404859

DP9420007

DE9406969-1 DE9406969-2 DE9406969-3 DE9406970

Type

(for SGDV type) -SGDV JUSP-TA50PG-E JUSP-TA50PG-1-E JUSP-TA50PG-2-E JZSP-CSI01-1-E JZSP-CSI01-2-E JZSP-CSI01-3-E JZSP-CSI9-1-E

MECHATROLINK Communication Reference Type MECHATROLINK

Name
Connector Terminal Block Conversion Unit Connector Kit (for (CN1) CN1)

(SGD-N) JUSP-TA26P DE9411354

(SGDB-N) JUSP-TA26P DE9411354

-(SGDV) JZSP-CSI9-2-E

Analog Monitor
Name
Cable for Analog Monitor Type (SGDA) DE94094559

(SGDB) DE94094559

-(SGDV) JZSP-CA01-E

PC Connection Cable
Name
PC Connection Cable Type (SGDA) DE9405258 DE9408564 DE9408565

(SGDB) DE9405258 DE9408564 DE9408565

-(SGDV) JZSP-CVS06-02-E (USB connection) USB

MECHATROLINK Communication Cable MECHATROLINK

Name
Terminator Cable with both-ended Connector Type (SGDA)

(SGDB)

-(SGDV) JEPMC-W6002-A5-E JEPMC-W6002-01-E JEPMC-W6002-**-E JEPMC-W6022-E

Cable for Safety Feature

Name
Cable for Safety Feature Type (SGDA)

(SGDB)

-(SGDV) JZSP-CVH03-03-E

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 Digital Operator

Name Digital Operator

Type

(SGDA) JUSP-OP02A-1 JUSP-OP03A

(SGDB) JUSP-OP02A-1 JUSP-OP03A

-(SGDV) JUSP-OP05A-1-E

Noise Filter AC100V

Name

/ Servo Capacity
/Current Display

50W/R70 Noise 100W/R90 200W/1R6 Filter 300W 400W/2R8

AC200V AC200V

Type (SGDA) LF205-A LF-210 LF-210 LF-220

-(SGDV) FN2070-6/07 FN2070-6/07 FN2070-10/07 FN2070-16/07

Name

Servo Capacity / /Current Display

50W/R70 Noise 100W/R90 Filter 200W/1R6 400W/2R8 750W/5R5 1.0kW/7R6 1.5kW/120 2.0kW/180 3.0kW/200 5.0kW/330
Battery

Type (SGDA) LF-205A LF-205A LF-205A LF-210 LF-220

(SGDB) LF-315 LF-315 LF-320 LF-330 LF-340

-(SGDV) FN2070-6/07 FN2070-6/07 FN2070-6/07 FN2070-10/07 FN2070-16/07 FN258L-16/07 HF3020C-UQC HF3020C-UQC HF3030C-UQC HF3050C-UQC

Name
Battery

Type (SGDA) ER6V C3 Equivalent to

(SGDB) ER6V C3 Equivalent to

ER6V C3

ER6V C3 Cable with both-ended connector () (w/ battery unit) Brake Power Supply Type (SGDA) Brake Power AC100V LPDE-1H01 Supply AC200V LPSE-2H01 Brake Power Supply (for DC24V brake) Customer Provides (DC24V)

-(SGDV) JZSP-BA01 Equivalent to ER6V ER6V C3N C3 JZSP-CSP--E

Name

Input Voltage

(SGDB) LPDE-1H01 LPSE-2H01 Customer Provides

-(SGDV) LPDE-1H01-E LPSE-2H01-E Customer Provides

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 DC Reactor for Power Line Harmonics Control DC AC100V AC100V

/ Servo Capacity /Current Display 50 W/R7 0F 10 0W/ R90 F 20 0W/ 2R1 F 40 0W/ 2R8 F
AC200V AC200V Servo Capacity / /Current Display 50 W/R7 0A 10 0W/ R90 A 20 0W/ 1R6 A 40 0W/ 2R8 A 50 0W/ 3R8 A 75 0W/ 5R5 A 1.0 kW/7 R6A 1.5 kW/1 20 A 2.0 kW/1 80 A 3.0 kW/2 00 A 5.0 kW/3 30 A

Type

(SGDA)

- (SGDV) X505 3 X505 4 X505 6

Type

(SGDASGDB) - (SGDV) X506 1 X506 0 X505 9 X506 8

Surge Absorber/Serge Protector/Surge Suppressor AC100V

// AC100V
Name

/ 5 0W/ R70F 1 00W/R90 F 2 00W/2 R1 F 4 00W/2 R8 F

Servo Capacity /Current Display

(SGDA)

Type -
LT-C1 2G8 01WS

Surge Absorber/Surge Protector / / /Surge Suppressor

CR5 050 0BA

AC200V
Name
/ 5 0W/ R70A 1 00W/R90 A 2 00W/1 R6 A 4 00W/2 R8 A 7 50W/5 R5 A 1 .0kW/7 R6 A 1 .5kW/1 20A 2 .0kW/1 80A 3 .0kW/2 00A 5 .0kW/3 30A

Servo Capacity /Current Display

Type (SGDA,SGDB) -

Surge Absorber/Surge Protector /Surge Suppressor / /

CR5 050 0BA

LT-C1 2G8 01WS

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 Electromagnetic Contactor

AC100V
Name / Servo Capacity

/Current Display

Electromagnetic Contactor 50W/R70 100W/R90 200W/2R1 400W/2R8

Type (SGDA) HI-15E5 HI-15E5 HI-15E5 HI-15E5

- SC-03 SC-03 SC-03 SC-4-1

AC200V
Name

Servo Capacity / /Current Display

Electromagnetic Contactor 50W/R70 100W/R90 200W/1R6 400W/2R8 750W/5R5 1.0kW/7R6 1.5kW/120 2.0kW/180 3.0kW/200 5.0kW/330

Type (SGDA) HI-15E5 HI-15E5 HI-15E5 HI-15E5 HI-15E5

(SGDB) HI-15E5 HI-15E5 HI-18E HI-18E HI-18E

-(SGDV) SC-03 SC-03 SC-03 SC-03 SC-4-1 SC-4-1 SC-4-1 SC-5-1 SC-5-1 SC-N1

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5.Parameter Converter The user constant of the series servo amplifier is able to be converted automatically into the parameter of the -V servo amplifier by using a parameter converter in the Sigma V engineering tool SigmaWin+ Ver.5.00 or later. The procedure is shown below. 1. Open the Sigma Component of SigmaWin+ then confirm and save the user constant of the servo amplifier. If a user constant file taken from the servo amplifier is available use that file. Example of user constant save screen Example of parameter converter screen

2. 3. 4. 5.

Open Sigma V Component, and start the parameter converter. Specify the user constant file of the servo amplifier which was saved in step 1 to the former conversion file name. Specify where to save the converted file. The user constant is converted to the parameter when the conversion button is pushed. The part where readjustment might be needed is highlighted in yellow.

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6.

Click "Write to the servo" button on the parameter edit screen to write the conversion result in the servo amplifier after connecting to the writing destination servo amplifier online.

Parameter Converter Directions The tune-less function is valid for the parameter converted (Pn170.0=1) The gain parameter readjustment is necessary because there is a possibility that the rotor inertia of the motor changes when disabling the tune-less function (Pn170.0=0). Change the reference of the host controller, or change the setting of an electronic gear because the resolution of the encoder changes when using positional control mode. Revision History Revision No. 0 1 2 3 6/12/07 7/5/07 7/9/07 11/7/07 First edition. Use "L1" and the "L2" terminals as a main circuit terminal when using SGDV in the single phase power supply. Changed the shaft end specification with the reduction gears due to DPI-C-7015. Newly added the following. Notes of replacement from MECHATROLINK and parameter converter. Stop methods of auto-tuning, velocity bias, at alarm occurrence. And control circuit terminal explanation of CN1 of SGD4 5 12/25/07 2/12/08 SGMPS support. Peripherals type correction. N. Newly added 100V model, models up to 200V medium capacity 5kW and Date Changes

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