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AC Servo

Systems

SGDH-@, SGM@H-@

Sigma-II Series
The Ideal servo family for motion control.
Fast Response, High Speed, and High
Accuracy.

Online autotuning with 10 levels of rigidity


Peak torque 300% of nominal
Automatic motor recognition
Analogue control for speed and torque
Pulse train control for positioning
Optional Units for system flexibility and network connectivity
Smooth operation
Oscilloscope available via SigmaWin tool
Windows based Configuration and commissioning
software

Ratings
230VAC Single-phase 30 W to 1.5kW (4.77 Nm)
400VAC Three-phase 450 W to 15 kW (95.4 Nm)

System Configuration

Sigma-II Series
SERVODRIVE

Battery for Absolute


Encoder

Option Unit
NS115
S
W
1
A
R
S
W
2

Analog Monitor
Cable

C
N
6
A

SERVOPACK

C
N
6
B

SGDH- 08AE - S- OY
Ver.

400V
C
N
4

Digital
Operator
MODE/SET

1- Mechatrolink-I/II
2- DeviceNet
3- Profibus
4- Motion Controller
5- Indexer

DATA/
CHARGE

Personal computer

POWER

CN3

L1
L2
+1
+2
-

Motion Control
Unit

CN1

L1C
L2C
B1
B2

I/O signal

Position Control
Unit

Servo Relay

Power Cable

W
CN2

General Purpose Cable


Terminal Block

Encoder Cable

Power Cable
Encoder Cable
Serial convertr unit

Encoder Cable
Linear scale
Power Cable

Linear servomotor
wirh core

SGMAH / SGMPH
SERVOMOTOR

Sigma-II Series

SGMGH / SGMSH / SGMUH


SERVOMOTOR

SGL LINEAR
SERVOMOTOR

Servomotor / Servo Drive Combination

SGMAH
(3000 min-1)

SGMPH
(3000 min-1)

SGMGH
(1500 min-1)

SGMSH
(3000 min-1)

SGMUH
(6000 min-1)

Servomotor
Voltage
Rated Torque
230 V
0.0955 N.m
0.159 N.m
0.318 N.m
0.637 N.m
1.27 N.m
2.39 N.m
400 V
0.955 N.m
2.07 N.m
230 V
0.318 N.m
0.637 N.m
1.27 N.m
2.39 N.m
4.77 N.m
400 V
0.637 N.m
1.27 N.m
2.39 N.m
4.77 N.m
400 V
2.84 N.m
5.39 N.m
8.34 N.m
11.5 N.m
18.6 N.m
28.4 N.m
35.0 N.m
48.0 N.m
70.0 N.m
95.4 N.m
400 V
3.18 N.m
4.90 N.m
6.36 N.m
9.80 N.m
12.6 N.m
15.8 N.m
400 V
1.59 N.m
2.45 N.m
4.9 N.m
6.3 N.m

Capacity
30 W
50 W
100 W
200 W
400 W
750 W
300 W
650 W
100 W
200 W
400 W
750 W
1500 W
200 W
400 W
750 W
1500 W
0.45 kW
0.85 kW
1.3 kW
1.8 kW
2.9 kW
4.4 kW
5.5 kW
7.5 kW
11 kW
15 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW
1.0 kW
1.5 kW
3.0 kW
4.0 kW

SGLGW
Linear Motors

230 V

Refer to the Linear Motors chapter for details

SGLFW
Linear Motors

230 V,
400 V

Refer to the Linear Motors chapter for details

SGLTW
Linear Motors

400 V

Refer to the Linear Motors chapter for details

230 V (1-phase)
SGDH-A3AE-OY
SGDH-A5AE-OY
SGDH-01AE-OY
SGDH-02AE-OY
SGDH-04AE-OY
SGDH-08AE-S-OY
SGDH-01AE-OY
SGDH-02AE-OY
SGDH-04AE-OY
SGDH-08AE-S-OY
SGDH-15AE-S-OY
-

Servo Drive
400 V (3-phase)
SGDH-05DE-OY
SGDH-10DE-OY
SGDH-05DE-OY
SGDH-05DE-OY
SGDH-10DE-OY
SGDH-15DE-OY
SGDH-05DE-OY
SGDH-1ODE-OY
SGDH-15DE-OY
SGDH-20DE-OY
SGDH-30DE-OY
SGDH-50DE-OY
SGDH-60DE-OY
SGDH-75DE-OY
SGDH-1ADE-OY
SGDH-1EDE-OY
SGDH-10DE-OY
SGDH-15DE-OY
SGDH-20DE-OY
SGDH-30DE-OY
SGDH-50DE-OY
SGDH-50DE-OY
SGDH-10DE-OY
SGDH-15DE-OY
SGDH-30DE-OY
SGDH-50DE-OY

AC Servo Systems

AC Servo
Systems

Type Designation
Servomotor

SGMAH - 01 A 1 A 6 S D - OY
Sigma-II Servomotor Type
SGMAH: Super High Power Rate Type
SGMPH: Cube Type
SGMGH: High-speed Feed Type
SGMSH: Super High Power Rate Type
SGMUH: High Speed Type

Connector Specifications
Blank
D

Brake, Oil Seal Specifications

Capacity (kW)
Code
A3
A5
01
02
03
04
05
06
07
08
09
10
12
13
15
20
22
30
32
40
44
50
55
60
75
1A
1E

SGMAH
3000
min-1

SGMPH
3000
min-1

0.03
0.05
0.1
0.2
0.3
0.4

0.1
0.2

SGMGH
1500
min-1

SGMSH
3000
min-1

No option
Hypertac Connector
(SGMAH,SGMPH)

1
S
B
C
D
E
F
G
H

SGMUH
6000
min-1

No Brake, No Oil/Dust Seal


Oil Seal
90V Brake
24V Brake
Oil Seal + 90VDC Brake
Oil Seal + 24VDC Brake
Dust Seal
Dust Seal + 90VDC Brake
Dust Seal + 24VDC Brake

0.4

Shaft End Specifications

0.45
0.65
0.75

Code

Shaft End

2
4
6
8

Straight, No key
Straight, Key
Straight, Key, Tapped
Straight, Tapped

0.75
0.85
1.0

1.0

1.5

1.8

1.5
2.0

2.9

3.0

3.0

4.0

4.0

1.3
1.5

Type
SGMAH SGMPH SGMGH SGMSH SGMUH

Design Procedure:

: Standard

: Option

A: Standard
E: SGMPH (IP67)

4.4
5.0
5.5
7.5
11
15

F: SGMAH (prepared for oil seal mounting)

Serial Encoder Specifications


Code

Encoder

1
2
A
B
C

16-bit Absolute
17-bit Absolute
13-bit Incremental
16-bit Incremental
17-bit Incremental

Type
SGMAH SGMPH SGMGH SGMSH SGMUH

: Standard

Voltage
A: 230 V
D: 400 V

: Option

Servo Drive

SGDH - 04 A E - S - OY
Phase

Sigma-II Servo Drive

Blank
S

Capacity
A3
A5
01
02
04
05
08
10

30 W
50 W
100 W
200 W
400 W
500 W
750 W
1.0 kW

Sigma-II Series

15
20
30
50
60
75
1A
1E

1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
11 kW
15 kW

Three-phase (0.5 to 15kW)


Single-phase (30 to 400W)
Single-phase (750W/1.5kW)

Model
E: Speed, Torque, Position

Source Voltage
A: 230V
D: 400V

Servomotor Specifications
Type SGMAH, 230V/400V
Ratings and Specifications

Basic Specifications

Applied Voltage
Servomotor Model SGMAH- @
Rated Output
W
Rated Torque
Nm
Instantaneous Peak Torque
Nm
Rated Current
A (rms)
Instantaneous Max. Current
A (rms)
Rated Speed
min-1
Max. Speed
min-1
Torque Constant
Nm/A (rms)
Rotor Moment of Inertia (JM)
kgm2x10-4
Alowable Load Moment of Inertia (JL) Multiple of (JM)
Rated Power Rate
kW/s
Rated Angular Acceleration
rad/s2
Aplicable Encoder
Standard
Option
Holding Brake Moment of Inertia J
kgm2x10-4
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting

A3A@
30
0.096
0.286
0.44
1.3

A5A@
50
0.159
0.477
0.64
2.0

230 V
01A@
02A@
100
200
0.318
0.637
0.955
1.91
0.91
2.1
2.8
6.5

400 V
04A@
400
1.27
3.82
2.8
8.5

08A@
750
2.39
7.16
4.4
13.4

03D@
300
0.955
3.82
1.3
5.1

07D@
650
2.07
7.16
2.2
7.7

0.498
0.173

0.590
0.672

0.837
0.173

1.02
0.672

84.8
35500

52.9
55300

63.8
30800

0.14

0.058

0.14

3000
5000
0.238
0.017

0.268
0.022

0.378
0.036

0.327
0.106

30
5.49
11.5
27.8
38.2
93.7
57500
72300
87400
60100
73600
Incremental Encoder (13 bits: 2048P/R)
Incremental/Absolute Encoder (16 bits: 16384P/R)
0.0085
0.058
Continuous
Class B
0 to +40 C
20 to 80% (non-condensing)
15m or below
Totally-enclosed, self-cooled, IP55 (excluding shaft opening)
Vibration acceleration 49m/s2
Flange-mounted

20

Torque-Speed Charecteristics

( A : Continuous Duty Zone B : Intermittent Duty Zone)


SGMAH-A3A

SPEED
(min-1)

SGMAH-A5A
5000

5000

4000

4000

4000

3000

3000

SPEED
(min-1)

2000
1000
0

A
2000

0.1

0.2

0.3

0.4

0.15

0.3

0.45

0.6

SGMAH-04A
5000

4000

4000

4000

3000

SPEED
(min-1)

2000

3000
A

1000

0.5

1.5

SGMAH-03D

3000
A

2000

TORQUE (N m)

SGMAH-07D
5000

4000

4000

3000

SPEED
(min-1)

2000
1000
0

1000

TORQUE (N m)

5000

SPEED
(min-1)

2000

1000

0.75

0.5

SGMAH-08A

5000

0.25

TORQUE (N m)

5000

2000

TORQUE (N m)

TORQUE (N m)

3000
A

2000
1000

TORQUE (N m)

3000

1000

1000

SGMAH-02A

SPEED
(min-1)

SPEED
(min-1)

TORQUE (N m)

SPEED
(min-1)

SGMAH-01A

5000

TORQUE (N m)

AC Servo Systems

AC Servo
Systems

Type SGMPH, 230V/400V


Ratings and Specifications

Basic Specifications

Applied Voltage
Servomotor Model SGMPH- @
Rated Output
W
Rated Torque
Nm
Instantaneous Peak Torque
Nm
Rated Current
A (rms)
Instantaneous Max. Current
A (rms)
Rated Speed
min-1
Max. Speed
min-1
Torque Constant
Nm/A (rms)
Rotor Moment of Inertia (JM)
kgm2x10-4
Alowable Load Moment of Inertia (JL) Multiple of (JM)
Rated Power Rate
kW/s
Rated Angular Acceleration
rad/s2
Aplicable Encoder
Standard
Option
Holding Brake Moment of Inertia J
kgm2x10-4
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting

01A@
100
0.318
0.955
0.89
2.8

230 V
04A@
400
1.27
3.82
2.6
8.0

02A@
200
0.637
1.91
2.0
6.0

08A@
750
2.39
7.16
4.1
13.9

15A@
1500
4.77
14.3
7.5
23.0
3000
5000
0.687
4.02

0.392
0.349
0.535
0.641
0.0491
0.193
0.331
2.10
25
15
7
5
20.6
21.0
49.0
27.1
56.7
64800
33000
38500
11400
11900
Incremental Encoder (13 bits: 2048P/R)
Incremental/Absolute Encoder (16 bits: 16384P/R)
0.029
0.109
0.875
Continuous
Class B
0 to +40 C
20 to 80% (non-condensing)
15m or below
Totally-enclosed, self-cooled, IP55 (excluding shaft opening)
Vibration acceleration 49m/s2
Flange-mounted

02D@
200
0.637
1.91
1.4
4.6

400 V
04D@
08D@
400
750
1.27
2.39
3.82
7.16
1.4
2.6
4.4
7.8

0.481
0.193
15
21.0
33000

0.963
0.331
7
49.0
38500

0.109

15D@
1500
4.77
14.3
4.5
13.7

0.994
2.10

1.14
4.02
5

27.1
11400

56.7
11900

0.875

Torque-Speed Charecteristics

( A : Continuous Duty Zone B : Intermittent Duty Zone)


SGMPH-01A

SPEED
(min-1)

SGMPH-02A
5000

5000

4000

4000

4000

3000
A

SPEED
(min-1)

2000

3000
A
2000

0.25

0.5

0.75

0.5

1.5

5000

4000

4000

4000

3000

SPEED
(min-1)

2000

3000
A

SPEED
(min-1)

2000
1000

1000

12

16

SGMPH-08D

4000

4000

4000

SPEED
(min-1)

2000
1000

3000
A

SPEED
(min-1)

2000

TORQUE (N m)

1.5

3000
A

2000
1000

1000

SGMPH-15D
5000

0.5

TORQUE (N m)

5000

2000

5000

3000

TORQUE (N m)

3000

1000

TORQUE (N m)

SGMPH-04D

SGMPH-02D

SGMPH-15A
5000

TORQUE (N m)

5000

2000

TORQUE (N m)

SGMPH-08A

Sigma-II Series

3000

1000

TORQUE (N m)

SPEED
(min-1)

SPEED
(min-1)

1000

1000

SPEED
(min-1)

SGMPH-04A

5000

TORQUE (N m)

12

16

TORQUE (N m)

Type SGMGH, 400V


Ratings and Specifications
Applied Voltage
Servomotor Model SGMGH- @
Rated Output
kW
Rated Torque
Nm
Instantaneous Peak Torque
Nm
Rated Current
A (rms)
Instantaneous Max. Current
A (rms)
Rated Speed
min-1
Max. Speed
min-1
Torque Constant
Nm/A (rms)
Rotor Moment of Inertia (JM)
kgm2x10-4
Alowable Load Moment of Inertia (JL) Multiple of (JM)
Rated Power Rate
kW/s
Rated Angular Acceleration
rad/s2
Aplicable Encoder
Standard
Option
Holding Brake Moment of Inertia J
kgm2x10-4
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting

05D@
0.45
2.84
8.92
1.9
5.5

09D@
0.85
5.39
13.8
3.5
8.5

13D@
1.3
8.34
23.3
5.4
14

1.64
7.24

1.65
13.9

1.68
20.5

400 V
30D@
44D@
2.9
4.4
18.6
28.4
45.1
71.1
11.9
16.5
28
40.5
1500

20D@
1.8
11.5
28.7
8.4
20

3000
1.46
1.66
31.7
46.0

75D@
7.5
48.0
123
25.4
65

1AD@
11
70.0
175
28.1
70

1ED@
15
95.4
221
37.2
85

1.74
89.0

2.0
125

2.56
281

2.64
315

137
3930

184
3850

174
2490

289
3030

18.8

37.5

2000
1.82
67.5

5
11.2
20.9
33.8
41.5
75.3
120
3930
3880
4060
3620
4050
4210
Incremental Encoder (17 bits: 16384P/R)
Absolute Encoder (17 bits: 16384P/R)
2.10
8.50
Continuous
Class F
0 to +40 C
20 to 80% (non-condensing)
15m or below
Totally-enclosed, self-cooled, IP67 (excluding shaft opening)
Vibration acceleration 24.5m/s2
Flange-mounted

Basic Specifications

55D@
5.5
35.0
90.7
20.8
55

Torque-Speed Charecteristics

( A : Continuous Duty Zone B : Intermittent Duty Zone)


SGMGH-05D

SGMGH-09D

3000

2000

3000

2000

SPEED
(min-1)

2000

SPEED
(min-1)

1000

10

SGMGH-20D

15

20

20

30

2000
A

40

SPEED
(min-1)

1000

10

TORQUE (N m)

20

30

40

50

20

SGMGH-55D

SGMGH-75D

60

80

SGMGH-1AD

SGMGH-1ED

2000

3000

2000

40

TORQUE (N m)

TORQUE (N m)

3000

30

SGMGH-44D

1000

10

20

3000

SPEED
(min-1)

1000

10

TORQUE (N m)

2000
A

SGMGH-30D

2000

10

3000

SPEED
(min-1)

A
1000

TORQUE (N m)

3000

2000

2000

SPEED
(min-1)

SPEED
(min-1)

1000

SPEED
1000
(min-1)

SPEED
1000
(min-1)

1000

20

40

60

TORQUE (N m)

SPEED
(min-1)

1000

TORQUE (N m)

SGMGH-13D

3000

80

100

50

100

TORQUE (N m)

150

50

100

150

TORQUE (N m)

200

50

100

150

200

250

TORQUE (N m)

AC Servo Systems

AC Servo
Systems

Type SGMSH, 400V


Ratings and Specifications
Applied Voltage
Servomotor Model SGMSH- @
Rated Output
Rated Torque
Instantaneous Peak Torque
Rated Current
Instantaneous Max. Current
Rated Speed
Max. Speed
Torque Constant
Rotor Moment of Inertia (JM)
Alowable Load Moment of Inertia (JL)
Rated Power Rate
Rated Angular Acceleration
Aplicable Encoder

400 V
kW
Nm
Nm
A (rms)
A (rms)
min-1
min-1
Nm/A (rms)
kgm2x10-4
Multiple of (JM)
kW/s
rad/s2
Standard
Option
kgm2x10-4

Basic Specifications

Holding Brake Moment of Inertia J


Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting

10D@
1.0
3.18
9.54
2.8
8.5

15D@
1.5
4.9
14.7
4.7
14

20D@
2.0
6.36
19.1
6.2
19.5

30D@
3.0
9.8
29.4
8.9
28

40D@
4.0
12.6
37.8
12.5
38

50D@
5.0
15.8
47.6
13.8
42

1.19
7.0

1.07
9.60

1.24
12.3

166
13160

202
12780

3000
5000
1.27
1.74

1.15
2.47

1.12
3.19

5
57.9
97.2
127
137
18250
19840
19970
14000
Incremental Encoder (17 bits: 16384P/R)
Absolute Encoder (17 bits: 16384P/R)
0.325
Continuous
Class F
0 to +40 C
20 to 80% (non-condensing)
15m or below
Totally-enclosed, self-cooled, IP67 (excluding shaft opening)
Vibration acceleration 24.5m/s2
Flange-mounted

2.10

Torque-Speed Charecteristics

( A : Continuous Duty Zone B : Intermittent Duty Zone)


SGMSH-10D

SPEED
(min-1)

5000

5000

4000

4000

4000

3000

SPEED
(min-1)

2000
A

3000

SPEED
(min-1)

2000

1000

10

3000
2000

10

15

SGMSH-30D

SGMSH-40D

4000

4000

4000

3000

3000

SPEED
(min-1)

2000

SPEED
(min-1)

2000

1000

20

TORQUE (N m)

Sigma-II Series

30

15

20

3000
2000
A

1000

10

10

SGMSH-50D
5000

TORQUE (N m)

5000

TORQUE (N m)

5000

1000

1000

TORQUE (N m)

SPEED
(min-1)

SGMSH-20D

SGMSH-15D

5000

1000

10

20

30

TORQUE (N m)

40

10

20

30

40

50

TORQUE (N m)

Type SGMUH, 400V


Ratings and Specifications

Basic Specifications

Applied Voltage
Servomotor Model SGMUH- @
Rated Output
kW
Rated Torque
Nm
Instantaneous Peak Torque
Nm
Rated Current
A (rms)
Instantaneous Max. Current
A (rms)
Rated Speed
min-1
Max. Speed
min-1
Torque Constant
Nm/A (rms)
Rotor Moment of Inertia (JM)
kgm2x10-4
Alowable Load Moment of Inertia (JL) Multiple of (JM)
Rated Power Rate
kW/s
Rated Angular Acceleration
rad/s2
Aplicable Encoder
Standard
Option
Holding Brake Moment of Inertia J
kgm2x10-4
Time Rating
Insulation Class
Ambient Temperature
Ambient Humidity
Vibration Class
Enclosure
Vibration Resistance
Mounting

400 V
10D@
1.0
1.59
6.5
2.7
8.5

15D@
1.5
2.45
11
4.1
14

30D@
3.0
4.9
21.5
8.1
28

40D@
4.0
6.3
29
9.6
38.5

0.81
7.0

0.80
9.6

34.3
7000

41.3
6550

6000
6000
0.81
1.74

0.83
2.47

5
14.5
24.3
9130
9910
Incremental Encoder (17 bits: 16384P/R)
0.25
Continuous
Class F
0 to +40 C
20 to 80% (non-condensing)
15m or below
Totally-enclosed, self-cooled, IP67 (excluding shaft opening)
Vibration acceleration 24.5m/s2
Flange-mounted

2.10

Torque-Speed Charecteristics

( A : Continuous Duty Zone B : Intermittent Duty Zone)


SGMUH-10D

SGMUH-15D

6000

6000

5000

5000

4000

4000

SPEED
3000
(min-1)

SPEED
3000
(min-1)

2000

2000

1000
0

12

TORQUE (N m)

SGMUH-30D
5000

5000

4000

4000

SPEED
3000
(min-1)

SPEED
3000
(min-1)
A

2000

1000

1000
0

10

20

TORQUE (N m)

15

SGMUH-40D
6000

2000

10

TORQUE (N m)

6000

1000

30

10

20

30

TORQUE (N m)

AC Servo Systems

AC Servo
Systems

Servo Drive Specifications


Single-Phase, 230 V
SGDH- @
SGMAH-@
SGMPH-@
Max. Applicable Motor capacity
W
Continuous Output Current
Arms
Max. Output Current
Arms
Input Power
Main Circuit
Supply
Control Circuit
Control Method
Feedback
Usage /storage Temperature
Usage /storage Humidit
Altitude
Vibration/Shock Resistance
Configuration
Approx. Mass
Kg

Basic Specifications

Conditions

Servo Drive Type


Applicable
Servomotor

A3AE-OY
A5AE-OY
01AE-OY
02AE-OY
04AE-OY
08AE-OY
15AE-S-OY
A3A@
A5A@
01A@
02A@
04A@
08A@
01A@
02A@
04A@
08A@
15A@
30
50
100
200
400
750
1500
0.44
0.64
0.91
2.1
2.8
5.7
11.6
1.3
2.0
2.8
6.5
8.5
13.9
28
For single-phase, 200 to 230 VAC + 10 to -15%
220 to 230 VAC
+10 to -15% (50/60Hz)
For single-phase, 200 to 230 VAC + 10 to -15%
Single phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Serial encoder ( incremental/absolute value )
0 to +55 C / -20 to 85 C
90%RH or less (non-condensing)
1000m or less above sea level
4.9m/s2 / 19.6m/s2
Base mounted
0.8
1.1
1.7
3.8

Three-Phase, 400 V

Basic Specifications

SGDH-@
SGMGH-@
SGMSH-@
SGMUH-@
Max. Applicable Motor capacity
kW
Continuous Output Current
Arms
Max. Output Current
Arms
Input Power
Main Circuit
Supply
Control Circuit
Control Method
Feedback
Usage /storage Temperature
Usage /storage Humidit
Altitude
Vibration/Shock Resistance
Configuration
Approx. Mass
Kg
Conditions

Servo Drive Type


Applicable
Servomotor

05DE-OY 10DE-OY 15DE-OY 20DE-OY 30DE-OY


50DE-OY 60DE-OY 75DE-OY 1ADE-OY 1EDE-OY
05D@
09D@
13D@
20D@
30D@
44D@
55D@
75D@
1AD@
1ED@
10D@
15D@
20D@
30D@
40D@/50D@
10D@
15D@
30D@
40D@
0.45
1.0
1.5
2.0
3.0
5.0
6.0
7.5
11
15
1.9
3.5
5.4
8.4
11.9
16.5
20.8
25.4
28.1
37.2
5.5
8.5
14
20
28
40.5
55
65
70
85
For three-phase, 380 to 480 VAC + 10 to -15% (50/60Hz)
24VDC+ 15%
Single phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Serial encoder ( incremental/absolute value )
0 to +55 C / -20 to +85 C
90%RH or less (non-condensing)
1000m or less above sea level
4.9m/s2 / 19.6m/s2
Base mounted
2.8
3.8
5.5
15
22

Performance
Input Signal
Performance

Position Control Mode


I/O Signal

Input Signal

Speed/Torque Control Mode

General Specifications
Speed Control Range
Speed
Load Variance
Variance
Voltage Variance
Temperature Variance
Frequency characteristics
Torque Controll Accuracy (Reproducibility)
Soft Start Time Setting
Reference Voltage
Speed
Reference
Input Empedance
Input
Circuit Time Constant
Torque
Reference Voltage
Reference
Input
Imput Impedance
Circuit Time Constant
Bias Setting
Feed Forward Compensation
Position Completed Width Setting

Input pulse Type


Command
Pulse

Input Pulse Form


Input Pulse Frequency

Control Signal

Position Signal Output


Sequence Input Signal
Sequence Output Signal

Sigma-II Series

1:5000
During 0 to 100% load 0.01% max. (at rated speed)
Rated voltage 10%:0% (at rated speed)
25 25 C: 0.1 % max (at rated speed)
400Hz (at JL= JM)
2%
0 to 10s (Acceleration, deceleration can each be set.)
6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery
Variable setting range: 2 to 10 VDC at rated speed/ max. input voltage: 12V
Approx. 14 k
3 VDC (forward rotation if positive reference) at rated speed: Set at delivery
Variable setting range 1 to 10 VDC at rated torque reference
Approx. 14 K
Approx. 47 s
0 to 450 min-1 (setting resolution: 1 min-1)
0 to 100 % (setting resolution: 1%)
0 to 250 command units (Setting resolution: 1 command unit)

Sign + pulse train, 90 phase displacement 2-phase pulse (A-phase+ B-phase) or


CCW/CW pulse train
Line driver (+5V level) , open collector (+5V or +12 level)
0 to 500 Kpps (200Kpps max. at open collector)
Clear Signal (input pulse is same as reference pulse)
A-phase, B.phase, C-phase, (S-phase): Line driver output S-phase is for absolute encoder only.
Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run
prohibit, alarm reset, forward/ reverse current limit (or internal speed switching)
Servo alarm, alarm codes (3-bit output): CN1 output terminal is fixed
It is possible to output three types of signals form among: positioning complete (speed agree), motor rotation,
servo ready, current limit, speed limit, brake release, warning, NEAR, and zero point pulse signal

Integrated Functions

Interface
1:N Communications
Communications Axis Address Setting
Functions
Auto Tuning Function
Dynamic Brake (DB)
Regenerative Processing
Overtravel (OT) Prevention Function
Encoder Divider Function
Electronic Gearing
Internal Speed Setting Function
Protective Functions
Analog Monitor Functions for Supervision
Display Functions
Others

Digital operator (hand- held type), RS-422 port for PCs, etc. (RS-232C ports under some conditions)
N may equal up to 14 when an RS-422A port is used
Set by user setting
Status display, user constant setting monitor display, alarm traceback display, JOG run /autotuning
operations, and graphing functions for speed/torque command signal, etc
Position speed loop gain and integral time constant can be automatically set.
Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative resistor externally mounted (option)
DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Optional division possible
0,01< A/B<100
3 speeds may be set internally
Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power
phase loss, overflow, overspeed, encoder error, runaway, CPU error, parameter error, etc.
Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc.
CHARGE, POWER, 7-segments LEDx5 (Integrated digital operator function)
Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal
for high frequency power suppression function (except: 6 to 15kW)

I/O Specifications
I/O Signals (CN1) - Input signals
Pin No.
40
41

Signal Name
Common
/S-ON
/P-CON

Function
Servo ON: Turns ON the servomotor when the gate block in the inverter is released.
Function selected by parameter.
Proportional control reference
Switches the speed control loop from PI (proportional/
integral) to P (proportional) control when ON.
Direction reference
With the internal set speed selected: Switch the rotation direction.
Control mode
Position speed
switching

Position torque

Enables control mode switching.

Torque speed
Zero-clamp reference

42
43

P-OT
N-OT

45
46

/P-CL
/N-CL

44
47

/ALM-RST
+24VIN

4 (2)
21
22
5 (6)
9 (10)
7
8
11
12
15
14
3
13
18

SEN
BAT (+)
BAT (-)
V-REF
T-REF
PULS
/PULS
SIGN
/SIGN
CLR
/CLR
PL1
PL2
PL3

Speed
Torque
Position

Speed control with zero-clamp function: Reference


speed is zero when ON.
Position control with reference pulse stop: Stops reference pulse input when ON.
Overtravel prohibited: Stops servomotor when movable part travels beyond the allowable range of motion.

Reference pulse block


Forward run
prohibited
Reverse run
prohibited
Function selected by parameter.
Forward external torque limit ON Current limit function enabled when ON.
Reverse external torque limit ON
Internal speed
With the internal set speed selected: Switches the
switching
internal speed settings.
Alarm reset: Releases the servo alarm state.
Control power supply input for sequence signals: Users must provide the +24 V power supply.
Allowable voltage fluctuation range: 11 to 25 V
Initial data request signal when using an absolute encoder.
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Speed reference speed input: 2 to 10 V/rated motor speed (Input gain can be modified using a parameter.)
Torque reference input: 1 to 10 V/rated motor torque (Input gain can be modified using a parameter.)
Reference pulse input
Input mode is set from the following pulses.
for only line driver
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90 phase differential)
Positional error pulse clear input: Clears the positional error pulse during position control.
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are
open-collector outputs (+12 V power supply is built into the SERVOPACK).

Note: 1. Pin numbers in parentheses () indicate signal grounds.


2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters.
3. The voltage input range for speed and torque references is a maximum of 12 V.

10

AC Servo Systems

Pin No.
31
32
27
28
29
30
33 (1)
34
35
36
19
20
48
49
37
38
39 (1)
Shell
25
26
25
26

Signal Name
Common
ALM+
ALM/TGON+
/TGON/S-RDY+
/S-RDYPAO
/PAO
PBO
/PBO
PCO
/PCO
PSO
/PSO
ALO1
ALO2
ALO3
FG
Speed
/V-CMP+
/V-CMPPosition
/COIN+
/COIN-

Reserved

16
17
23
24
50

/CLT
/VLT
/BK
/WARN
/NEAR
-

AC Servo
Systems

I/O Signals (CN1) - Output signals


Function
Servo alarm: Turns OFF when an error is detected.
Detection during servomotor rotation: Detects when the servomotor is rotating
at a speed higher than the motor speed setting. Detection speed can be set by using the parameters.
Servo ready: ON if there is no servo alarm when the control/main circuit power
supply is turned ON.
Phase-A signal
Converted two-phase pulse (phases A and B) encoder output
signal and zero-point pulse (phase C) signal: RS-422 or the
equivalent
Phase-B signal
(Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent
corresponding to MC3486.)
Phase-C signal
Phase-S signal

With an absolute encoder: Outputs serial data corresponding


to the number of revolutions (RS-422 or the equivalent)
Alarm code output: Outputs 3-bit alarm codes.
Open-collector: 30 V and 20 mA rating maximum
Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.
Speed coincidence (output in Speed Control Mode): Detects whether the motor
speed is within the setting range and if it matches the reference speed value.
Positioning completed (output in Position Control Mode): Turns ON when the
number of positional error pulses reaches the value set. The setting is the number of positional error pulses set in reference units (input pulse units defined by the electronic gear).
Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT,
/BK, /WARN, and /NEAR signals can also be changed.

Terminals not used


Do not connect relays to these terminals.

Note: 1. Pin numbers in parentheses () indicate signal grounds.


2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT, /BK, /WARN,
and /NEAR signals can also be changed.

Terminal Specifications
Symbol
L1, L2 or
L1, L2, L3
U
V
W
L1C, L2C

Name
Main circuit AC input terminal

Function
AC power input terminals for the main circuit

Servomotor connection terminal

Red
Terminals for outputs to the Servomotor.
White
Blue
Control power input terminal
AC power input terminals for the control circuit.
Frame ground
Ground terminal. Ground to a maximum of 100. (class 3)
B1, B2 or Main circuit DC output terminal
5 kW or less: Connect an external regenerative resistor if regenerative energy is high.
B1, B2, B3
5.5 kW: There is no internal regenerative resistor. Be sure to connect an external Regenerative Resistor Unit.
1, 2
DC reactor connection terminal for sup- Normally, short 1 and 2.
pressing power supply harmonic waves If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and
2.

Main circuit DC output terminal (posi- Normally, not connected.


tive)
This terminal exists on the Servo Drives with a capacity opf 6.0 kW or higher only.
Main circuit DC output terminal (nega- Normally, not connected.
tive)

Encoder Connector (CN2)


Pin No.
1
2
3
4
5
6

Signal Name
E5V
E0V
BAT+
BAT
S+
S

Sigma-II Series

Function
Encoder power supply + 5V
Encoder power supply ground
Battery + (used only with absolute encoder)
Battery (used only with absolute encoder)
Encoder serial signal input
Encoder serial signal input

11

Operation
Operating Functions
Parameter Unit
R88A-PR02W

Unit Keys
Servodrive
SGDH-@

R88A-PR02W

SGDH-@

Function
Resets an alarm.
Switches between status display
mode, system check mode, setting mode, and monitor mode.
Used as a data setting key while in
setting mode.
Turns ON or OFF the Servo while
jog operations are being performed.
Switches between parameter display and data display, and records
data.
Increments parameter settings.
Used as a forward rotation start
key during jog operation.
Decrements parameter settings.
Used as a reverse rotation start
key during jog operation.
Selects the digit whose setting is
to be changed. When selected,
the digit flashes.

Display Panel
Displays motor speed,
speed commands, torque
command motor values,
user parameter settings,
and Servodriver status.

Changing Modes
To change modes, press the MODE/SET Key.
Power ON
(Display example)
Status display mode
Baseblock
System check mode

Mode Details
Power ON

Alarm history display mode


Status display
mode

Setting mode
Function selection switch
Monitor mode
Speed feedback

Bit Display
Main-circuit power supply ON, control-circuit power supply ON, baseblock (motor
OFF), speed conformity, positioning complete 1, torque command being input, error
counter reset signal being input, speed
command being input, command pulses
being input, motor rotation detection
Symbol Display
Baseblock, operating, forward rotation prohibited, reverse rotation prohibited, alarm
display

Status Display Mode


Control-circuit power supply ON
Baseblock
Speed conformity (during
speed control)
Positioning complete 1
(during position control)

Motor rotation detection


Speed command being input
(during speed control)
Command pulses being input
(during position control)

System check
mode

Torque command being input


(during torque control)
Error counter reset signal being
input (during position control)
Main-circuit power supply ON

Setting mode

Monitor mode
Bit display

Symbol
bb
rUn
p%t
n%t
a.02

12

Alarm history display, robustness setting


during online auto-tuning, jog operations,
motor origin search, user parameter initialization, alarm history data clear, online autotuning results saving, command offset automatic adjustment, command offset manual
adjustment, password setting

Symbol display

Status
Baseblock (motor OFF)
Operating
Forward rotation prohibited (forward overtravel)
Reverse rotation prohibited (reverse overtravel)
Alarm display

User Parameters
Pn000 to Pn600

Speed feedback, speed commands, torque


commands, number of pulses from origin,
electrical angle, input signal monitoring,
output signal monitoring, command pulse
speed display, position error, input pulse
counter/feedback pulse counter

AC Servo Systems

Parameter
No.
Pn000

Name

Setting Range

Function Selection Basic Switches


Digit Function name
0
Direction Selection

Control Method Selection

Axis Address

Rotation Type/Linear Type Startup Selection

Setting
0
1
2 and 3
0
1
2
3
4
5
6
7
8
9
A
B
0 to F
0
1

Pn001

Function Selection Application Switches 1


Digit Function name
0
Servo OFF or Alarm Stop Mode

Overtravel (OT) Stop Mode

Setting
0
1
2
0
1
2

Pn002

Pn003

Pn004
Pn005
Pn100
Pn101
Pn102
Pn103
Pn104

AC/DC Power Input Selection

Warning Code Output Selection

1
0
1

Function Selection Application Switches 2


Digit Function name
0
Speed Control Option

Torque Control Option

Absolute Encoder Usage

Setting
0
1
2
0
1
0
1

3
Reserved (Do not change)
Function Selection Application Switches 3
Digit Function name
Setting
0
Analog Monitor 1 Torque Reference Moni- 0
tor
1
2
3
4
5
6
7
8 to F
1
Analog Monitor 2 Speed Reference Monitor 0 to F
2
Reserved (Do not change)
3
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Speed Loop Gain
Speed Loop Integral Time Constant
Position Loop Gain
Moment of Inertia Ratio
2nd Speed Loop Gain

Sigma-II Series

Units

Factory Setting

Setting Validation

0000
After restart
Explanation
Sets CCW as forward direction
Sets CW as forward dirextion (Reserve Rotation Mode)
Reserved ( Do not change.)
Speed control (analog reference)
Position control (pulse train reference)
Torque control (analog reference)
Internal set speed control (contact reference)
Internal set speed control (contact reference)<>Speed control (analog reference)
Internal set speed control reference<>Position control (pulse train reference)
Internal set speed control (contact reference)<>Torque control (analog reference)
Position control (pulse train reference)<>Speed control (analog reference)
Position control (pulse train reference)<>Torque control (analog reference)
Torque control (analog reference)<>Speed control (analog reference)
Speed control (analog reference)<>Zero clamp
Position control (pulse train reference)<>Position control (Inhibit)
Sets ServoDrive axis address (Function supported by PC software SigmaWin 100/
200).
Starts up as rotation type.
Starts up as linear type.
0000
After restart
Explanation
Stops the motor by applying dynamic brake (DB)
Stops the motor by applying dynamic brake (DB) and then realeases DB
Makes the motor coast to a stop state without using the dynamic brake (DB)
Same setting as Pn001.0 (Stops the motor by applying DB or by coasting)
Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop, and
then set it to servolock state
Sets the torque of Pn406 to the maximum value. decelerates the motor to a stop, and
then sets it to coasting state
Not applicable to DC power input: Input AC power supply through L1, L2 (,and L3) terminals
Applicable to DC power input: Input DC power supply between (+1) and ( - )
ALO1, ALO2, and ALO3 output only alarm codes.
ALO1, ALO2, and ALO3 output both alarms codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
0000
After restart
Explanation
N/A
Uses T-REF as an extended
Uses T-REF as an external torque limit input when P-CL and N-CL are ON.
N/A
Uses V-REF as an external speed limit input.
Uses absolute encoder as an absolute encoder
Uses absolute encoder as an incremental encoder
0002
Explanation
Motor speed: 1V/1000 min-1
Speed reference: 1V/1000 min-1
Torque reference: 1 V/100%
Position error: 0,05 V/1 reference unit
Position error:0,05 V/100 reference units
Reference pulse frequency (converted to min-1: 1V/1000 min-1
Motor Speed x 4: 1V/250 min-1
Motor Speed x 8: 1V/250 min-1
Reserved (Do not change)
Same as Analog Monitor 1 Torque Reference Monitor

After restart

1 to 2000 Hz
0.15 to 512.00 ms
1 to 2000/s
0 to 20000%
1 to 2000 Hz

Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately

1 Hz
0.01 ms
1/s
1%
1 Hz

0000
0000
40 Hz
20.00 ms
40/s
0%
40 Hz

13

AC Servo
Systems

Parameters

Parameter
No.
Pn105
Pn106
Pn107
Pn108
Pn109
Pn10A
Pn10B

Pn10C
Pn10D
Pn10E
Pn10F
Pn110

Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn11A
Pn11B
Pn11C
Pn11D
Pn11E
Pn11F
Pn120
Pn121
Pn122
Pn123
Pn124
Pn125

14

Name

Setting Range

2nd Speed Loop Integral Time Constant


2nd Position Loop Gain
Bias
Bias Width Addition
Feed-forward
Feed-forward Filter Time Constant
Gain-related Application Switches
Digit Function name
0
Mode Switch Selection

Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Setting Validation
Immediately

1
2
3
4
0
1
2 and 3
0
1
2
3

0.15 to 512.00 ms
0.01 ms
20.00 ms
1 to 2000/s
1/s
40/s
1 min-1
0 min-1
0 to 450 min-1
0 to 250 reference units
Reference unit
7 reference units
0 to 100%
1%
0%
0.00 to 64.00 ms
0.01 ms
0.00 ms
0000
Explanation
Uses internal torque reference as the condition (Level setting:
Pn10C)
Uses speed reference as the condition (Level setting: Pn10D)
Uses acceleration as the condition (Level setting: Pn10E)
Uses position error pulse as the condition (Level sentting: P10F)
No mode switch function available
PI control
IP control
Reserved (Do not change)
Automatic Gain Switching Disabled
Position Reference
Position error
Position Reference and Position Error
200%
0 min-1
0 min-1/ s
0 reference unit
0010

Setting
0
1
2
0
1
0
1
2

0 to 800%
1%
1 min-1
0 to 10000 min-1
0 to 3000 min-1/ s
1 min-1/ s
0 to 10000 reference units 1 reference unit
Explanation
Tunes only at the beginning operation
Always tunes.
Does not perform autotuning.
Applicable
N/A
Friction compensation: Disabled
Friction compensation: Small
Friction compensation: Large

Immediately
Immediately
Immediately
Immediately
Setting Validation
After restart

3
Reserved (Do not change)
Speed Feedback Compensation 2
Reserved (Do not change)

1 to 500%
-

1%
-

Automatic Gain Switching Timer


Automatic Gain Switching Width

1 to 10000 ms
1 to 250 reference units

1 ms
1 reference

100%
100%
1000
200
32
16
100%
100%
50 /s
1000%
50 Hz
70 Hz
100%
100%
0 ms
0 ms
50 Hz
0 Hz
0%
100 ms
7 reference units

Speed Loop Control Method

Automatic Gain Switching Selection

3
Reserved (Do not change)
Mode Switch Torque Reference
Mode Switch Speed Reference
Mode Switch Acceleration
Mode Switch Error Pulse
Online Autotuning Switches 1
Digit Function name
0
Online Autotuning Method

Speed feedback Compensation Selection

Friction Compensation Selection

Setting
0

Units

Factory Setting

Setting Validation

After restart

After restart

Immediately
Immediately

Immediately
-

Immediately
Immediately

AC Servo Systems

Pn201
Pn202
Pn203
Pn204
Pn205
Pn206
Pn207

Name

Setting Range

Position Control References Selection Switches


Digit Function Name
0
Reference Pulse Form

Error Counter Clear

Clear Operation

Filter Selection

PG Dividing Pulse (16bit or less)


Electronic Gear Ratio (Numerator)
Electronic Gear Ratio (Denominator)
Position Reference Accel/Decel Time Constant
Multiturn Limit Setting *
Reserved (Do not change)
Position Control Function Switches
Digit Function Name
0
Position Reference Filter selection
1

Position Control Option

Dividing Pulse Parameter Selection

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

Setting
0
1
0
1
0
1

Pn300
Pn301
Pn302
Pn303
Pn304
Pn305
Pn306
Pn307
Pn308
Pn309
Pn400

Speed 1
Speed 2
Speed 3
JOG Speed
Soft Start Acceleration Time
Soft Start Deceleration Time
Speed Reference Filter Time Constant
Speed Feedback Filter Time Constant
Reserved (Do not change)
Torque Reference Input Gain

1.50 to 30.00 V/ rated


speed
0 to 10000 min-1
0 to 10000 min-1
0 to 10000 min-1
0 to 10000 min-1
0 to 10000 ms
0 to 10000 ms
0.00 to 655.35 ms
0.00 to 655.35 ms
0 - 500 min-1
1.0 to10.0 V/rated torque

Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407

Torque Reference Filter Time Constant


Forward Torque Limit
Reverse Torque Limit
Forward External Torque Limit
Reverse External Torque Limit
Emergency Stop Torque
Speed Limit during Torque Control

0.00 to 655.35 ms
0 to 800%
0 to 800%
0 to 800%
0 to 800%
0 to 800%
0 to 10000 min-1

Sigma-II Series

Factory Setting

Setting Validation

0000
After restart
Explanation
Sign + Pulse, positive logic
CW + CCW, positive logic
Phase A + Phase B (x 1), positive logic
Phase A + Phase B (x 2), positive logic
Phase A + Phase B (x 4), positive logic
Sign + Pulse, negative logic
CW + CWW, negative logic
Phase A + Phase B (x 1), negative logic
Phase A + Phase B (x 2), negative logic
Phase A + Phase B (x 4), negative logic
Clears error counter when the signal is at H level
Clears error counter at the rising edge of the signal
Clears error counter when the signal is at L level.
Clears error counter at the falling edge of the signal
Clear error counter at the baseblock
Does not clear error counter (Only possible to clear error counter with CLR signal)
Clears error counter when an alarm occurs.
Reference input filter for line driver signals
Reference input filter for open collector signals
16 to 16384 P/rev
1 P/rev
16384 P/rev
After restart
1 to 65535
4
After restart
1 to 65535
1
After restart
0.00 to 64.00 ms
0.01 ms
0.00 ms
Immediately
0 to 65535 rev
rev
65535 rev
After restart
16384 P/rev
0000
After restart
Explanation
Acceleration/deceleration filter
Average movement filter
N/A
Uses V-REF as a speed feed-forward input
Use Pn201 (16-bit or less)
Use Pn212 (17-bit or more)

3
Reserved (Do not change)
Position Reference Movement Averaging Time
PG Dividing Pulse (17 bit or more)*
Reference Pulse Input Multiplication
Reference Pulse Multiplication Function Selection
Digit Function Name
Setting
0
Reference Pulse Multiplication Function Se- 0
lection
1
1
Reserved (Do not change)
2
Reserved (Do not change)
3
Reserved (Do not change)
Speed Reference Input Gain

Pn208
Pn212
Pn217
Pn218

Units

0.00 to 64.00 ms
16 to 1073741824 P/rev
1 to 99
Explanation
Disabled
Enabled

0.01 ms
1 P/rev
1
-

0.00 ms
2048P/rev
1
0000

After restart
After restart
Immediately
After restart

0.01V/ rated
speed
1 min-1
1 min-1
1 min-1
1 min-1
1 ms
1 ms
0.01 ms
0.01 ms
1 min-1
0.1 V/rated
torque
0.01 ms
1%
1%
1%
1%
1%
1 min-1

6.00 V/ rated
speed
100 min-1
200 min-1
300 min-1
500 min-1
0 ms
0 ms
0.40 ms
0.00 ms
60 min-1
3.0 V/ rated
torque
1.00 ms
800%
800%
100%
100%
800%
10000 min-1

Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately

15

AC Servo
Systems

Parameter
No.
Pn200

Parameter
No.
Pn408

Name

Setting Range

Torque Function Switches


Digit Function Name
0
Notch Filter Selection
1
2

Reserved (Do not Change)


2nd Notch Filter Selection

Immediately

1 Hz
0.01
1 Hz
0.01

2000 Hz
70(0.70)
2000 Hz
70(0.70)

Immediately
Immediately
Immediately
Immediately

1 reference unit
1 min-1
1 min-1
1 min-1
1 reference unit
256 reference
unit
10 ms
1 min-1
10 ms

7 reference units
10 min-1
20 min-1
10 min-1
7 reference units
1024 reference
units
10 ms
100 min-1
500 ms

Immediately
Immediately
Immediately
Immediately
Immediately
Immediately

Disabled
Enabled

Positioning Completed Width


Zero Clamp Level
Rotation Detection Level
Speed Coincidence Signal Output Width
NEAR Signal Width
Overflow Level

Pn506
Pn507
Pn508

Brake Reference - Servo OFF Delay Time


Brake Reference Output Speed Level
Timing for Brake Reference Output during Motor Operation

Pn509
Pn50A

Momentary Hold time


Input Signal Selections 1
Digit Function Name
0
Input Signal Allocation Mode

16

0000

0
1

Pn500
Pn501
Pn502
Pn503
Pn504
Pn505

Setting Validation

Explanation
N/A
Uses a notch filter for torque reference

3
Reserved (Do not Change)
Notch Filter Frequency
Notch Filter Q Value
2nd Notch Filter Frequency
2nd Notch Filter Q Value

Factory Setting

Setting
0
1

Pn409
Pn40A
Pn40B
Pn40C

Units

Setting
0
1
/S-ON Signal Mapping
0
Signal Polarity:Normal:Servo ON when ON 1
Signal Polarity:Reverse: Servo ON when
2
OFF
3
4
5
6
7
8
9
A
B
C
D
E
F
/P-CON Signal Mapping (P control when
0 to F
ON(L-level)
/P-OT Signal Mapping(Overtravel when
0
OFF(H-level)
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

50 to 2000 Hz
50 to 400(0.50 to 4.00)
50 to 2000 Hz
50 to 400
(0.50 to 4.00)
0 to 250 reference units
0 to 10000 min-1
1 to 10000 min-1
0 to 100 min-1
1 to 250 reference units
1 to 32767reference units

1 to 50 (10 to 500 ms)


Immediately
Immediately
0 to 10000 min-1
10 to 100
Immediately
(100 to 1000 ms)
20 to 1000 ms
1 ms
20 ms
Immediately
2100
After restart
Explanation
Uses the sequence input signal terminals with standard allocation
Changes the sequence input signal allocation for each signal
ON when CN1-40 input signals is ON (L-level).
ON when CN1-41 input signals is ON (L-level)
ON when CN1-42 input signals is ON (L-level)
ON when CN1-43 input signals is ON (L-level)
ON when CN1-44 input signals is ON (L-level)
ON when CN1-45 input signals is ON (L-level)
ON when CN1-46 input signals is ON (L-level)
Sets signal ON
Sets signal OFF
OFF when CN1-40 input signals is OFF (H-level)
OFF when CN1-41 input signals is OFF (H-level)
OFF when CN1-42 input signals is OFF (H-level)
OFF when CN1-43 input signals is OFF (H-level)
OFF when CN1-44 input signals is OFF (H-level)
OFF when CN1-45 input signals is OFF (H-level)
OFF when CN1-46 input signals is OFF (H-level)
Same as /S-ON
Forward run allowed when CN1-40 input signal is ON (L-level)
Forward run allowed when CN1-41 input signal is ON (L-level)
Forward run allowed when CN1-42 input signal is ON (L-level)
Forward run allowed when CN1-43 input signal is ON (L-level)
Forward run allowed when CN1-44 input signal is ON (L-level)
Forward run allowed when CN1-45 input signal is ON (L-level)
Forward run allowed when CN1-46 input signal is ON (L-level)
Forward run prohibited.
Forward run allowed.
Forward run allowed when CN1-40 input signals is OFF (H-level)
Forward run allowed when CN1-41 input signals is OFF (H-level
Forward run allowed when CN1-42 input signals is OFF (H-level
Forward run allowed when CN1-43 input signals is OFF (H-level
Forward run allowed when CN1-44 input signals is OFF (H-level
Forward run allowed when CN1-45 input signals is OFF (H-level
Forward run allowed when CN1-46 input signals is OFF (H-level

AC Servo Systems

Name

Setting Range

Input Signal Selections 2


Digit Function Name
0
N-OT Signal Mapping (Overtravel when
OFF (H-level)

Pn50C

/ALM-RST Signal Mapping (Alarm Reset


when ON(L-level)
2
/P-CL Signal Mapping(Torque Limit when
ON(L-level)
3
/N-CL Signal Mapping(Torque Limit when
ON(L-level)
Input Signal Selections 3
Digit Function Name
0
/SPD-D Signal Mapping

1
2
3

Pn50D

/SPD-A Signal Mapping


/SPD-B Signal Mapping
/C-SEL Signal Mapping (Control mode
change when ON (L-level))
Input Signal Selections 4
Digit Function Name
0
/ZCLAMP Signal Mapping (Zero clamp
when ON (L-level))

1
2
3

Sigma-II Series

Units

Factory Setting

Setting Validation

Setting
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0 to F

6543
After restart
Explanation
Reserve run allowed when CN1-40 input signals is ON (L-level).
Reserve run allowed when CN1-41 input signals is ON (L-level).
Reserve run allowed when CN1-42 input signals is ON (L-level)
Reserve run allowed when CN1-43 input signals is ON (L-level)
Reserve run allowed when CN1-44 input signals is ON (L-level)
Reserve run allowed when CN1-45 input signals is ON (L-level)
Reserve run allowed when CN1-46 input signals is ON (L-level)
Reserve run prohibited.
Reserve run allowed
Reserve run allowed when CN1-40 input signals is OFF (H-level)
Reserve run allowed when CN1-41 input signals is OFF (H-level)
Reserve run allowed when CN1-42 input signals is OFF (H-level)
Reserve run allowed when CN1-43 input signals is OFF (H-level)
Reserve run allowed when CN1-44 input signals is OFF (H-level)
Reserve run allowed when CN1-45 input signals is OFF (H-level)
Reserve run allowed when CN1-46 input signals is OFF (H-level)
Same as N-OT

0 to F

Same as S-ON, the setting of Pn50A.1

0 to F

Same as S-ON, the setting of Pn50A.1


8888
Explanation
ON when CN1-40 input signal is ON (L-level).
ON when CN1-41 input signal is ON (L-level).
ON when CN1-42 input signal is ON (L-level).
ON when CN1-43 input signal is ON (L-level).
ON when CN1-44 input signal is ON (L-level).
ON when CN1-45 input signal is ON (L-level).
ON when CN1-46 input signal is ON (L-level).
Set signal ON.
Set signal OFF.
ON when CN1-40 input signal is OFF (H-level).
ON when CN1-41 input signal is OFF (H-level).
ON when CN1-42 input signal is OFF (H-level).
ON when CN1-43 input signal is OFF (H-level).
ON when CN1-44 input signal is OFF (H-level).
ON when CN1-45 input signal is OFF (H-level).
ON when CN1-46 input signal is OFF (H-level).
Same as SPD-D
Same as SPD-D
Same as SPD-D

After restart

Setting
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0 to F
0 to F
0 to F

8888
Explanation
ON when CN1-40 input signal is ON (L-level).
ON when CN1-41 input signal is ON (L-level).
ON when CN1-42 input signal is ON (L-level).
ON when CN1-43 input signal is ON (L-level).
ON when CN1-44 input signal is ON (L-level).
ON when CN1-45 input signal is ON (L-level).
ON when CN1-46 input signal is ON (L-level).
Set signal ON.
Set signal OFF.
ON when CN1-40 input signal is OFF (H-level).
ON when CN1-41 input signal is OFF (H-level).
ON when CN1-42 input signal is OFF (H-level).
ON when CN1-43 input signal is OFF (H-level).
ON when CN1-44 input signal is OFF (H-level).
ON when CN1-45 input signal is OFF (H-level).
ON when CN1-46 input signal is OFF (H-level).
Same as /Z CLAMP

After restart

Setting
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
/INHIBIT Signal Mapping (Reference pulse 0 to F
inhibit when ON (L-level))
/G-SEL Signal Mapping (Gain change when 0 to F
ON (L-level))
Reserved (Do not Change)

Same as /Z CLAMP

17

AC Servo
Systems

Parameter
No.
Pn50B

Parameter
No.
Pn50E

Pn50F

Pn510

Pn511
Pn512

Pn513

Pn51A
Pn51B
Pn51C

18

Name

Setting Range

Output Signal Selections 1


Digit Function Name
0
Positioning Completion Signal Mapping
(/COIN)

3211
Explanation
Disabled (the above signal is not used)
Outputs the signal from CN1-25, 26 output terminal
Outputs the signal from CN1-27, 28 output terminal
Outputs the signal from CN1-29, 30 output terminal
Same as /COIN

Setting
0
1
2
3
1
Speed Coincidence Detection Signal Map- 0 to 3
ping (/V-CMP)
2
Speed Coincidence Detection Signal Map- 0 to 3
ping (/V-CMP)
3
Speed Coincidence Detection Signal Map- 0 to 3
ping (/V-CMP)
Output Signal Selections 2
Digit Function Name
Setting
0
Torque Limit Detection Signal Mapping
0
(/CLT)
1
2
3
1
Speed Limit Detection Signal Mapping
0 to 3
(/VLT)
2
Brake Interlock Signal Mapping (/BK)
0 to 3
3
Warning Signal Mapping (/WARN)
0 to 3
Output Signal Selections 3
Digit Function Name
Setting
0
Near Signal Mapping (/NEAR)
0
1
2
3
1
Reserved (Do not Change)
2
Reference Pulse Input Multiplication Selec- 0
tion Signal Mapping (/PSELA)
1
2
3
3
Reserved (Do not Change)
Reserved (Do not change)
Output Signal Reversal Settings
Digit Function Name
Setting
0
Output Signal Reversal for CN1-25 or -26 0
Terminals
1
1
Output Signal Reversal for CN1-27 or -28 0
Terminals
1
2
Output Signal Reversal for CN1-29 or -30 0
Terminals
1
3
Reserved (Do not Change)
Input Signal Selections 5
Digit Function Name
Setting
0
/PSEL Signal Mapping (Reference pulse in- 0
put multiplication when ON (L-level))
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1
Reserved (Do not change)
2
Reserved (Do not change)
3
Reserved (Do not change)
Positionb Error Level Between Motor and Load
Reserved (Do not Change)
Reserved (Do not Change)

Units

Factory Setting

Setting Validation
After restart

Same as /COIN
Same as /COIN
0000
Explanation
Disabled (the above signal is not used)
Outputs the signal from CN1-25, 26 output terminal
Outputs the signal from CN1-27, 28 output terminal
Outputs the signal from CN1-29, 30 output terminal
Same as /CLT
Same as /CLT
Same as /CLT
0000
Explanation
Disabled (the above signal is not used)
Outputs the signal from CN1-25 or -26 output terminal
Outputs the signal from CN1-27 or -28 output terminal
Outputs the signal from CN1-29 or -30 output terminal

After restart

After restart

Disabled (the above signal is not used)


Outputs the signal from CN1-25 or -26 output terminal
Outputs the signal from CN1-27 or -28 output terminal
Outputs the signal from CN1-29 or -30 output terminal
Explanation
Output signal is not reversed
Output signal is reversed
Output signal is not reversed
Output signal is reversed
Output signal is not reversed
Output signal is reversed

8888
0000

Immediately
After restart

0088
Explanation
ON when CN1-40 input signal is ON (L-level).
ON when CN1-41 input signal is ON (L-level).
ON when CN1-42 input signal is ON (L-level).
ON when CN1-43 input signal is ON (L-level).
ON when CN1-44 input signal is ON (L-level).
ON when CN1-45 input signal is ON (L-level).
ON when CN1-46 input signal is ON (L-level).
Set signal ON.
Set signal OFF.
ON when CN1-40 input signal is OFF (H-level).
ON when CN1-41 input signal is OFF (H-level).
ON when CN1-42 input signal is OFF (H-level).
ON when CN1-43 input signal is OFF (H-level).
ON when CN1-44 input signal is OFF (H-level).
ON when CN1-45 input signal is OFF (H-level).
ON when CN1-46 input signal is OFF (H-level).

After restart

0 - 32767 Reference Unit


1 - 32767 min-1
0 - 10000 %

Immediately
Immediately
Immediately

1 Reference Unit 0
1 min-1
100 min-1
1%
450 %

AC Servo Systems

Name

Setting Range

Units

Factory Setting

Setting Validation

Excessive Position Error Warning Level


Regenerative Resistor Capacity

1%
10 W

0%
0W

Immediately
Immediately

Pn601

Reserved (Do not change)

0 to 100%
Depends on ServoDrive
Capacity
Depends on Servo DriveCapacity

0W

Immediately

Monitor Mode Details


Monitor No.
Un000
Un001

Monitor item
Speed Feedback
Speed Command

Unit
min-1
min-1

Un002

Torque Command

Un003
Un004
Un005
Un006
Un007
Un008

Number of Pulses from Z-Phase


Electrical Angle
Input Signal Monitor
Output Signal Monitor
Command Pulse Speed Display
Position Deviation (Error Counter)

Un009

Motor Load Rate

Pulses
degrees
----r/min
Reference
units
%

Un00A

Regeneration Load Rate

Un00B

Un00C

Dynamic Brake Resistance Load


Rate
Input Pulse Counter

Un00D

Feedback Pulse Counter

Reference
units
Pulses

Explanation
Displays the actual motor speed.
Displays the speed command value or internally set speed value during speed control. 0 is displayed during pulse-train input control.
Displays the command value for a current loop that is expressed by treating the rated torque as
100%.
Displays the number of pulses from Z-Phase in encoder resolution units (times 4).
Displays the motor electrical angle.
Displays driver I/O signal status by turning ON or OFF each signal bit.
Displays command pulse frequency converted in r/min.
Displays the number of pulses accumulated in the error counter (Position Deviation) that are converted in reference units (input pulse references).
Displays effective torque at intervals of 10 s that is expressed by treating the rated torque as
100%.
Displays the amount of regeneration energy absorbed at intervals of 10 s that is expressed by
treating the Pn600 setting (Regenerative Resistor Capacity) as 100%.
Displays the resistance load factor at intervals of 10 s that is expressed by treating the rated load
factor as 100%.
Displays the number of counted input pulses in hexadecimal notation.
Displays the number of counted encoder feedback pulses in hexadecimal notation (multiplied by
4).

List of Function Modes


Parameter No.
Fn000
Fn001
Fn002
Fn003
Fn004
Fn005
Fn006
Fn007
Fn008
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Fn014

Function
Alarm traceback data display
Rigidity setting during online autotuning
JOG mode operation
Zero-point search mode
Fixed parameter
Parameter setting initialization
Alarm traceback data clear
Writing to EEPROM moment of inertia ratio data obtained from online autotuning
Absolute encoder multiturn reset and encoder alarm reset
Automatic tuning of analog (speed, torque) reference offset
Manual adjustment of speed reference offset
Manual adjustment of torque reference offset
Manual zero-adjustment of analog monitor output
Manual gain-adjustment of analog monitor output
Automatic offset-adjustment of motor current detection signal
Manual offset-adjustment of motor current detection signal
Password setting (protects parameters from being changed)
Motor models display
Software version display
Multiturn limit setting change when a Multiturn Limit Disagreement Alarm (A.CC) occurs
Application module detection results clear

Sigma-II Series

19

AC Servo
Systems

Parameter
No.
Pn51E
Pn600

Dimensions
Servomotors
Type SGMAH (230/400V)
Dimensions (mm)
Model
SGMAH-A3A@A6@D-OY
SGMAH-A5A@A6@D-OY
SGMAH-01A@A6@D-OY
SGMAH-02A@A6@D-OY
SGMAH-03D@A6@D-OY
SGMAH-04A@A6@D-OY
SGMAH-07D@A6@D-OY
SGMAH-08A@A6@D-OY

Without Brake
L
LL
94.5
69.5
102.0
77
119.5
94.5
126.5
96.5
154.5
124.5
185

145

With Brake
L
LL
126
101
133.5 108.5
160
135
166
136
194
164

LR

229.5

189.5

Flange surface
LC
LE
40
2.5

25

LA
46

LB
30h7

30

70

50h7

60

40

90

70h7

80

LG
5

LZ
4.3

S
6h6

QK
14

W
2

5.5

8h6
14h6

20

3
5

16h6

30

Shaft end
T U Tap Depth
2 1.2
M2.5 x 5L
3
5

1.8
3

M3 x 6L
M5 x8L

300 30

300 30

Shaft End
U

L
LL

LR

LR
LG

QK

LC

LB

LB

QK

LC

2-LZ

LE

LE

LG

L
LL

300 30

300 30

Tap Depth
4-LZ

Holding brake

Models without Brake

SGMAH-A3,-A5,-01

Models with Brake

Tap Depth

SGMAH-02 to -08

Type SGMPH (230/400V)


Dimensions (mm)
Model
SGMPH-01@@@6@D-OY
SGMPH-02@@@6@D-OY
SGMPH-04@@@6@D-OY
SGMPH-08@@@6@D-OY
SGMPH-15@@@6@D-OY

Without Brake
L
LL
87
62
97
67
117
87
126.5
86.5
154.5
114.5

With Brake
L
LL
116
91
128.5
98.5
148.5 118.5
160
120
188
148

LR
25
30

LA
70
90

LB
50h7
70h7

40

145

110h7

Flange surface
LC
LE
60
3
80
3
120

3.5

LG
6
8

LZ
5.5
7

S
QK
8h6 14
14h6 16

W
3
5

10

10

16h6
19h6

Shaft end
T U Tap Depth
3 1.8
M3x6L
5
3
M5x8L

22
6

3.5

M6x10L

300 30

Shaft End
U

30030

L
LL

LR

LG

LE

LC

L
LL

LR
LG

LE

LA

QK
LB

LB

QK

Holding brake

Models without Brake

20

30030

4-LZ

Tap Depth

Models with Brake

AC Servo Systems

Without Brake
L LL KB2
196 138 117
219 161 140
243 185 164
245 166 144
271 192 170
305 226 204
373 260 238
447 334 312
454 338 316
573 457 435

With Brake
L LL KB2 KB3
234 176 154 109
257 199 177 132
281 223 201 156
296 217 195 137
322 243 221 163
356 277 255 197
424 311 289 231
498 385 363 305
499 383 362 315
635 519 497 415

LR LT KB1
KL3
98 58 46 65
88
112
123 79 47 89
115
149
113
174
248
142 116 47 251
48 343

L
LL

KL1
LA
109 145

LB
110

Flange surface
LC LE LG LH LZ
130 6 12 165 9

22
140 200 114.3 180 3.2 18 230 13.5 35

150

Shaft end
Q QK W T U
40 25 5 5 3

76

P
M5x12L

6 6 3.5
60 10 8 5 M12x25L

42 110 90 12

168 235

200

220

M16x32L

18 270 13.5 42 110 90 12 8 5


20
55
16 10 6

M16x32L
M20x40L

LR

LL

LT

LR

LT
LE

LG

LC
LR

LA

Shaft End

LE
Q
QK

LB

100
KL1
KL3
88

KB1
KB3
KB2

KB1

U
W

LB

100
KL1
88

L
H

LE

LG

S
19

Dimensions (mm)
Model
SGMGH-05D@A6@-OY
SGMGH-09D@A6@-OY
SGMGH-13D@A6@-OY
SGMGH-20D@A6@-OY
SGMGH-30D@A6@-OY
SGMGH-44D@A6@-OY
SGMGH-55D@A6@-OY
SGMGH-75D@A6@-OY
SGMGH-1AD@A6@-OY
SGMGH-1ED@A6@-OY

4-LZ Mounting holes

KB2

Models with Brake

Models without Brake

Type SGMSH (400V)


With Brake
LR LT KB1 KL1
Flange surface
Shaft end
L LL KB2 KB3 KL3
LA LB LC LE LG LH LZ S
Q QK W T U
P
238 193 171 120 85 45 46 76 96 115 95h7 100 3 10 130 7 24h6 40 32 8 7 4 M8x16L
264 219 197 146
102
287 242 220 169
125
300 237 216 170 98 63
124 114 145 110h7 130 6 12 165 9 28h6 55 50
337 274 253 207
161
377 314 293 247
201

L
LL

LR

LL

LT

LC

4-LZ Mounting
holes
LA

LR

Shaft End

LE

Q
QK

LB

100

LB

LG
Q

KL1
88
KL3

KL1
88

LR

LT

LG

H
W

Without Brake
L
LL KB2
194 149 128
220 175 154
243 198 177
262 199 178
299 236 215
339 276 255

Dimensions (mm)
Model
SGMSH-10D@A6@-OY
SGMSH-15D@A6@-OY
SGMSH-20D@A6@-OY
SGMSH-30D@A6@-OY
SGMSH-40D@A6@-OY
SGMSH-50D@A6@-OY

KB1
KB2

Models without Brake

Sigma-II Series

KB1
KB3
KB2

Models with Brake

21

AC Servo
Systems

Type SGMGH (400V)

Type SGMUH (400V)


With Brake
LR LT
LL KB2 KB3 KL3
193 171 120 85 45 46
219 197 146
237 219 173 98 60
302 281 210
71

L
238
264
300
362

L
LL

KB1 KL1
LA
96 130

76
102
127 114 165
164

LB
110
130

Flange surface
Shaft end
LC LE LG LH LZ S
Q QK W T U
116 3.5 10 150 9 24h6 40 32 8 7 4

LL

LT

LR

LT

LG

LC

LG
Q

4-LZ Mounting
holes
LA

LR

Shaft End

LE

Q
QK

LB

100

KL1
88
KL3

KL1
88

LB

50

LR

12 190 11 28h6 55

155

P
M8x16L

H
W

Without Brake
L LL KB2
194 149 128
220 175 154
262 202 181
327 269 245

Dimensions (mm)
Model
SGMUH-10D@A6@-OY
SGMUH-15D@A6@-OY
SGMUH-30D@A6@-OY
SGMUH-40D@A6@-OY

KB1
KB2

KB1
KB3
KB2

Models without Brake

Models with Brake

Servodrives
SGDH-A3AE-OY to -02AE-OY (230V, 30 to 200W)
5.5

Mounting Hole Diagram

SGDH-

39
CHARGE

POWER

CN3

160

106

160

CN3

CN1

CN1

149.50.5
(Mounting pitch)

200V

Ver.

Terminal
block

2M4 screw holes

CN10

SERVOPACK

CN2

Ground terminal
2M4 screws

CN2

10

55

75

130

55

SGDH-04AE-OY (230V, 400W)

5.5
CN10

SERVOPACK

SGDH200V

39

Ver.

POWER

CN3

CN3

160
149.50.5

CHARGE

160
149.5

Terminal
block

2M4 screw holes

CN1
106

CN1

(Mounting pitch)

5.5

Mounting Hole Diagram


25 holes

CN2

Ground terminal
2M4 screws
12

22

5
63
75

10

(5)

CN2

75

130

12
75

AC Servo Systems

5 hole

Mounting Hole Diagram


5.5

96.2

CN10

SERVOPACK

SGDH-

160
149.50.5
(Mounting pitch)

39

94.4

220V

Ver.

Terminal
block

CHARGE

POWER

CN3

CN1

106

160

CN3

CN1

2M4 screw
holes

CN2
CN2

15
35

55

Ground terminal
2M4 screws
10

Cooling fan

90

180

75

90

27

SGDH-05DE-OY to -15DE-OY (400V, 0.5 to 1.5kW)


25 holes
Heat sink

Mounting Hole Diagram


5.5

4M4 screw holes

CN10

SERVOPACK

SGDH400V

CHARGE

160
149.50.5
(Mounting pitch)

39

Ver.

POWER

CN3
106

160

CN3

CN1

CN1

CN2
CN2

1000.5

110

180

75

Terminal
block

Ground
terminal
2M4 screws

(Mounting pitch)
110

SGDH-15AE-S (230V, 1.5 kW)

26 holes
Heat sink

Mounting Hole Diagram


4M5 tap

SGDH-20/30DE-OY (400V, 2/3kW)

SERVOPACK

SGDH-

CN10
39

Ver.

POWER

CN1

250
238.5

CN1

Ground terminal
5
2M4 screws

196

5.5

5.5

14-pin terminal
M4 mounting
screw

250

CN2
CN2

6
100

110

5
8

75

4
180

(Mounting pitch)

CN3

CN3

238.50.5

CHARGE

1000.5

(Mounting pitch)
110

Nameplate

Sigma-II Series

23

AC Servo
Systems

SGDH-08AE-S-OY (230V, 750W)

SGDH-50DE-OY (400V, 5kW)


Mounting Hole Diagram

4-pin terminal
M4 screw
CN10
CN3

SERVOPACK

SGDH400V

Ver.

L1
L2
CHARGE

4M5 screw taps

6-pin terminal
M5 screw
8

Heat sink

POWER

L3

238.50.5
(Mounting pitch)

CN1

+1
+2

250
238.5

250

CN2
L1C
L2C
B1
B2
B3
U
V

5.7

1.6

125
135

230

75

5.5

5.5

3-pin terminal
M5 screw

Ground terminal
M5 screw

1250.5
(Mounting pitch)

SGDH-60/75DE-OY (400V, 6/7.5kW)

Cooling fan

4M6 screw holes

7.5

7.5

Mounting Hole Diagram

10
CN3

CHARGE

CN8

POWER

SERVOPACK

SGDH BATTERY

Ver.

400V

CN5

CN10

CN1 CN2

L3

+1

+2

24V

0V

B1

B2

7
158

25

L2

20

24

90
235

25

180
230
Main circuit Control circuit
terminal M5 terminal M4

121

180

25

Ground
terminal

25

7.5

L1

Main circuit
terminal M5

46

7.5

32

130

Main circuit/
Control circuit
terminal

211

335
350

283

110

335

39

Ground
terminal M5

SGDH-1A/1EDE-OY (400V, 11/15kW)


Mounting Hole Diagram
4M6 screw holes
7.5

7.5

Cooling fan
10

SERVOPACK
SGDH Ver.

400V

8
CN3
CHARGE

CN8
POWER

BATTER

CN10

39

CN5

435
450

CN1 CN2

36
9

123.5

Main circuit
terminal M5

24

7
30

52

200
260
Control circuit
terminal M4

17
125

19

84.5
30

Main circuit
terminal M5
Ground terminal
M8

117
285

7.5

B1 B2

7.5

248

320

Main circuit/
Control circuit
terminal

L1 L2 L3 +1 +2

24

435

140

30

200

30

Ground terminal
M8

AC Servo Systems

R88A-FIW104-SE

R88A-FIW107-SE, R88A-FIW115-SE

M4

32

GNYE

Units:mm

16

wires AWG16

265 +50 (10.43 +0.20


)
0
6(0.24)

14(0.55)

240 +50 (9.45 +0.20


)
0

M4(2)
10(0.39)

70(2.76)
19(0.75)

R88A-FIW115-SE
90
300+5
60
15
1.2

33(1.30)

5
(0.20)

M4
5
(0.20)

R88A-FIW107-SE
75
240+5
50
12
1

A
B
C
D
E

11.5(0.45)

202(7.95)
192(7.56)
149.5(5.89)

28.25(1.11)

56(2.20)

Model
Dimensions
in mm

1
(0.04)

32(1.26)

Units:mm (in)

5.5(0.22)

AC Servo
Systems

Filters

202
192
150

15(0.59)

168(6.61)

28

M4
5

M4(2)

10

wires AWG16
B

14

GNYE
M4

265 +50

5.5

70
19

R88A-FIW125-SE

R88A-FIW4006-SE, R88A-FIW4010-SE

Units:mm(in)

R88A-FIW4006-SE
32 (1.26)
16 (0.63)
202 (7.95)
192 (7.56)
150 (5.91)
300 (11.81)
70 (2.76)
168 (6.61)

A
B
C
D
E
F
G
H

1.2
(0.05)

M5

10(0.39)

5(0.20)

118(4.65)

239(9.41)

19(0.75)

281(11.06)

80(3.15)

291(11.46)

100(3.94)

18
(0.71)

35(1.38)

Model
Dimensions
in mm (in)

28(1.10)

10(0.39)

R88A-FIW4010-SE
35 (1.38)
18 (0.71)
291 (11.46)
281 (11.06)
239 (9.41)
270 (10.63)
90 (3.54)
257 (10.12)

Units:mm(in)

M4(4)

1.2
(0.05)

D
E

10(0.39)

M4

C
28(1.10)

19(0.75)

GNYE

80(3.15)

wires AWG16
M4

100(3.94)

14(0.55)

355 +50 (13.98 +0.02


)
0

5.5(0.22)

+0.02
245+0.5
0 (9.65 0 )

5
(0.20)

15

168

90(3.54)

L2

L3

5(0.20)

15(0.59)

10(0.39)
M4(4)

wires AWG16

5.5(0.22)
F

14(0.55)

GNYE
M4

G
19(0.75)

Sigma-II Series

310 +50 (12.20 +0.20


)
0

M4
5
(0.20)

L1

257(10.12)

118(4.65)

19(0.75)

15(0.59)

25

R88A-FIW4020-SE

R88A-FIW4030-SE

Units:mm(in)

250 +50 (9.84 +0.20


)
0

AWG 12

25
(0.98)

20
(0.79)

50(1.97)

40(1.57)

Units:mm(in)

302(11.89)
285(11.22)
7.5(0.30)

8.5(0.33)

gb/gr

AWG 14

6.5(0.26)

180(7.09)

230(9.06)
200(7.87)
24.5(0.96)

238.5(9.39)
253(9.96)

24.5(0.96)

M5
6.5
(0.26)

AWG 20

370 +50 (14.57 +0.20


)
0

580 +50 (22.83 +0.20


0 )

M5

9.5(0.37)

12
(0.47)

5.5(0.22)

125(4.92)
M5

350 +50 (13.78 +0.20


)
0

140(5.51)

114(4.49)
10
5.5
(0.39)
(0.22)

8.5(0.33)

M5

M5

405(15.94)
386(15.20)

yellow/green

M6

335(13.19)
352(13.86)

26.5(1.04)

26.5(1.04)

R88A-FIW4055-SE

32.5
(1.28)
6.5
(0.26)

65(2.56)

Units:mm(in)

505(19.88)
487(19.17)

9(0.35)

12
(0.47)

6.5
(0.26)

8.5(0.33)

WIRE AWG6
YELLOW/GREEN

200(7.87)
M6

M8

M5

M6

3 WIRE AWG6
BLACK

435(17.13)
26.5(1.04)

452(17.80)

26.5(1.04)

Regenerative Resistor Units


Model
JUSP-RA18
JUSP-RA19

W
220
300

H
350
350

Digital Operator
M1
180
250

M2
335
335

Approx. Mass kg
4
7

Units: mm (in)
63 (2.48)
2 (0.08) 4.5 (0.18)
50 (1.97)
mounting holes

18.5 (0.73)
7 (0.28)

Protective cover

M2

125 (4.92)

46 (0.24) Mounting holes

D
92
95

135 (5.31)

260(10.24)
220(8.66)

370 +50 (14.57 +0.20


)
0

26 (1.02)

M1

(8)
(0.31)

YASKAWA

39 (1.54)

W
Ground terminal (M4 screw)

29.5 (1.16)

External terminals (M5 screws)

30 (1.18)

Cement resistor

26

AC Servo Systems

AC Servo
Systems

Installation
Single-phase, 230VAC
5

Servo Drive
Type SGDH

(
*6 )

*6)

*1
*2
*3
*4
*5
*6

The time constant for the primary filter is 47 s.


Connect when using an absolute encoder.
Used only with an absolute encoder.
Regenerative resistor can be connected between B1 and B2.
For types SGDH-08AE-S-OY and SGDH-15AE-S-OY, voltage is 220 to 230 VAC (+10% -15%)
TI stands for Texas Instruments Inc.

Sigma-II Series

27

Three-phase, 400VAC

L1

L2

L3

Servo Drive
Type SGDH

(
*6 )

*6)

*1
*2
*3
*4

The time constant for the primary filter is 47 s.


Connect when using an absolute encoder.
Used only with an absolute encoder.
For using an external regenerative resistor, connect it between B1 and B2.
(Be sure to connect a regenerative resistor unit to ServoDrive of 6/7.5/11/15kW)
*5 It is the users responsibility to obtain 24VDC power supply.
*6 TI stands for Texas Instruments Inc.

28

AC Servo Systems

AC Servo
Systems

Ordering Information
System Configuration

Sigma-II Series
SERVODRIVE

I
J

Battery for Absolute


Encoder

Option Unit
M
NS115

S
W
1
A
R
S
W
2

Analog Monitor
Cable

C
N
6
A

SERVOPACK

C
N
6
B

SGDH- 08AE - S- OY
Ver.

400V

Digital
Operator

1- Mechatrolink-I/II
2- DeviceNet
3- Profibus
4- Motion Controller
5- Indexer

C
N
4

K
MODE/SET

DATA/
CHARGE

Personal computer

POWER

CN3

L1
L2
+1

+2
L1C
L2C
B1
B2

C
I/O signal

Position Control
Unit

Servo Relay

Power Cable

Motion Control
Unit

CN1

General Purpose Cable

CN2

Encoder Cable

Terminal Block

B
Power Cable

Encoder Cable
Serial convertr unit

Encoder Cable

Linear scale
Power Cable

Linear servomotor
wirh core

SGMAH / SGMPH
SERVOMOTOR

SGMGH / SGMSH / SGMUH


SERVOMOTOR

See linear
Motors Chapter

SGL LINEAR
SERVOMOTOR

Servo Drives
Specifications
1 Phase 200 V AC

30 W
50 W
100 W
200 W

Model
SGDH-A3AE-OY
SGDH-A5AE-OY
SGDH-01AE-OY
SGDH-02AE-OY

400 W
750 W

SGDH-04AE-OY
SGDH-08AE-S-OY

1500 W SGDH-15AE-S-OY
3 Phase 400 V AC

0.5 kW
1.0 kW

SGDH-05DE-OY
SGDH-10DE-OY

1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
11.0 kW
15.0 kW

SGDH-15DE-OY
SGDH-20DE-OY
SGDH-30DE-OY
SGDH-50DE-OY
SGDH-60DE-OY
SGDH-75DE-OY
SGDH-1ADE-OY
SGDH-1EDE-OY

Compatible Servomotors
SGMAH-A3A@
SGMAH-A5D@
SGMAH-01A@, SGMPH-01A@
SGMAH-02A@, SGMPH-02A@

Linear Motors
SGLGW-30A050@
SGLGW-30A080@, SGLGW-40A140@
SGLFW-20A@, SGLFW-35A120@,
SGLGW-40A253A@,SGLGW-60A140@
SGMAH-04A@, SGMPH-04A@
SGLGW-40A365A@, SGLGW-60A253A@
SGMAH-08A@, SGMPH-08A@
SGLFW-35A230@, SGLFW-50A200@,
SGLGW-60A365A@
SGMPH-15A@
SGLFW-50A380@, SGLFW-1ZA200@,
SGLGW-90A200A@
SGMGH-05D@, SGMAH-03D@, SGMPH-02D@/04D@ SGLFW-35D@
SGMGH-09D@, SGMSH/UH-10D@, SGMAH-07D@,
SGLFW-50D200@, SGLTW-35D170@,
SGMPH-08D@
SGLTW-50D170@
SGMGH-13D@, SGMSH/UH-15D@, SGMPH-15D@
SGLFW-50D380@, SGLFW-1ZD200@
SGMGH-20D@, SGMSH-20D@
SGLTW-35D320@, SGLTW-50D320@
SGMGH-30D@, SGMSH/UH-30D@
SGLFW-1ZD380@, SGLTW-40D400@
SGMGH-44D@, SGMSH/UH-40D@, SGMSH-50D@
SGLTW-40D60@, SGLTW-80D400@
SGMGH-55D@
SGMGH-75D@
SGLTW-80D600@
SGMGH-1AD@
SGMGH-1ED@

Note: SGLGW-@ Linear motor combination is made considering the use of Standard Magnets. Reffer to the Linear motors chapter for details.

Sigma-II Series

29

200 V Servomotors
SGMAH - Cylindrical Servomotors 3000 r/min (30 - 750 W)

SGMPH - Flat Type Servomotors 3000 r/min (100 - 1500 W)

Specifications
Without brake 0.096 Nm
Incremental
Encoder
0.159 Nm
(13 bit)
0.318 Nm
Straight shaft
0.637 Nm
with key & Tap
1.27 Nm
2.39 Nm
With brake
0.096 Nm
0.159 Nm
0.318 Nm
0.637 Nm
1.27 Nm
2.39 Nm
Absolute
Without brake 0.096 Nm
Encoder
0.159 Nm
(16 bit)
0.318 Nm
0.637 Nm
Straight shaft
with key & Tap
1.27 Nm
2.39 Nm
With brake
0.096 Nm
0.159 Nm
0.318 Nm
0.637 Nm
1.27 Nm
2.39 Nm

Specifications
Without brake 0.318 Nm
Incremental
Encoder
0.637 Nm
(13 bit)
1.27 Nm
Straight shaft
2.39 Nm
with key & Tap
4.77 Nm
With brake
0.318 Nm
0.637 Nm
1.27 Nm
2.39 Nm
4.77 Nm
Absolute
Without brake 0.318 Nm
Encoder
0.637 Nm
(16 bit)
1.27 Nm
2.39 Nm
Straight shaft
with key & Tap
4.77 Nm
With brake
0.318 Nm
0.637 Nm
1.27 Nm
2.39 Nm
4.77 Nm

30 W
50 W
100 W
200 W
400 W
750 W
30 W
50 W
100 W
200 W
400 W
750 W
30 W
50 W
100 W
200 W
400 W
750 W
30 W
50 W
100 W
200 W
400 W
750 W

Model
SGMAH-A3AAA61D-OY
SGMAH-A5AAA61D-OY
SGMAH-01AAA61D-OY
SGMAH-02AAA61D-OY
SGMAH-04AAA61D-OY
SGMAH-08AAA61D-OY
SGMAH-A3AAA6CD-OY
SGMAH-A5AAA6CD-OY
SGMAH-01AAA6CD-OY
SGMAH-02AAA6CD-OY
SGMAH-04AAA6CD-OY
SGMAH-08AAA6CD-OY
SGMAH-A3A1A61D-OY
SGMAH-A5A1A61D-OY
SGMAH-01A1A61D-OY
SGMAH-02A1A61D-OY
SGMAH-04A1A61D-OY
SGMAH-08A1A61D-OY
SGMAH-A3A1A6CD-OY
SGMAH-A5A1A6CD-OY
SGMAH-01A1A6CD-OY
SGMAH-02A1A6CD-OY
SGMAH-04A1A6CD-OY
SGMAH-08A1A6CD-OY

100 W
200 W
400 W
750 W
1500 W
100 W
200 W
400 W
750 W
1500 W
100 W
200 W
400 W
750 W
1500 W
100 W
200 W
400 W
750 W
1500 W

Model
SGMPH-01AAA61D-OY
SGMPH-02AAA61D-OY
SGMPH-04AAA61D-OY
SGMPH-08AAA61D-OY
SGMPH-15AAA61D-OY
SGMPH-01AAA6CD-OY
SGMPH-02AAA6CD-OY
SGMPH-04AAA6CD-OY
SGMPH-08AAA6CD-OY
SGMPH-15AAA6CD-OY
SGMPH-01A1A61D-OY
SGMPH-02A1A61D-OY
SGMPH-04A1A61D-OY
SGMPH-08A1A61D-OY
SGMPH-15A1A61D-OY
SGMPH-01A1A6CD-OY
SGMPH-02A1A6CD-OY
SGMPH-04A1A6CD-OY
SGMPH-08A1A6CD-OY
SGMPH-15A1A6CD-OY

400 V Servomotors
SGMAH - Cylin. Servomotors 3000 r/min (300 - 650 W)

SGMPH - Flat Type Servomotors 3000 r/min (0.2 - 1.5 kW)

Specifications
Specifications
Incremental
Encoder
(13 bit)
Straight shaft
with key
Absolute
Encoder
(16 bit)
Straight shaft
with key

Without brake 0.955 Nm


2.07 Nm
With brake
0.955 Nm
2.07 Nm
Without brake 0.955 Nm
2.07 Nm
With brake
0.955 Nm
2.07 Nm

300 W
650 W
300 W
650 W
300 W
650 W
300 W
650 W

SGMAH-03DAA61D-OY
SGMAH-07DAA61D-OY
SGMAH-03DAA6CD-OY
SGMAH-07DAA6CD-OY
SGMAH-03D1A61D-OY
SGMAH-07D1A61D-OY
SGMAH-03D1A6CD-OY
SGMAH-07D1A6CD-OY

Incremental
Encoder
(13 bit)
Straight shaft
with key

Absolute
Encoder
(16 bit)
Straight shaft
with key

30

Model

Model
Without brake 0.637 Nm
1.27 Nm
2.39 Nm
4.77 Nm
0.637 Nm
With brake
1.27 Nm
2.39 Nm
4.77 Nm
Without brake 0.637 Nm
1.27 Nm
2.39 Nm
4.77 Nm
With brake
0.637 Nm
1.27 Nm
2.39 Nm
4.77 Nm

200 W
400 W
750 W
1500 W
200 W
400 W
750 W
1500 W
200 W
400 W
750 W
1500 W
200 W
400 W
750 W
1500 W

SGMPH-02DAA61D-OY
SGMPH-04DAA61D-OY
SGMPH-08DAA61D-OY
SGMPH-15DAA61D-OY
SGMPH-02DAA6CD-OY
SGMPH-04DAA6CD-OY
SGMPH-08DAA6CD-OY
SGMPH-15DAA6CD-OY
SGMPH-02D1A61D-OY
SGMPH-04D1A61D-OY
SGMPH-08D1A61D-OY
SGMPH-15D1A61D-OY
SGMPH-02D1A6CD-OY
SGMPH-04D1A6CD-OY
SGMPH-08D1A6CD-OY
SGMPH-15D1A6CD-OY

AC Servo Systems

SGMGH - Servomotors 1500 r/min (0.45 - 15 kW)

SGMSH - Servomotors 3000 r/min (1 - 5 KW)

Specifications
Specifications
Incremental
Encoder
(17 bit)

Without brake 2.84 Nm


5.39 Nm
8.34 Nm
Straight shaft
11.5 Nm
with key & Tap
18.6 Nm
28.4 Nm
35.0 Nm
48.0 Nm
70.0 Nm
95.4 Nm
With brake
2.84 Nm
5.39 Nm
8.34 Nm
11.5 Nm
18.6 Nm
28.4 Nm
35.0 Nm
48.0 Nm
70.0 Nm
95.4 Nm
Absolute
Without brake 2.84 Nm
Encoder
5.39 Nm
(17 bit)
8.34 Nm
11.5 Nm
Straight shaft
with key & Tap
18.6 Nm
28.4 Nm
35.0 Nm
48.0 Nm
70.0 Nm
95.4 Nm
With brake
2.84 Nm
5.39 Nm
8.34 Nm
11.5 Nm
18.6 Nm
28.4 Nm
35.0 Nm
48.0 Nm
70.0 Nm
95.4 Nm

Sigma-II Series

Model
0.45 kW
0.85 kW
1.3 kW
1.8 kW
2.9 kW
4.4 kW
5.5 kW
7.5 kW
11.5 kW
15.0 kW
0.45 kW
0.85 kW
1.3 kW
1.8 kW
2.9 kW
4.4 kW
5.5 kW
7.5 kW
11.5 kW
15.0 kW
0.45 kW
0.85 kW
1.3 kW
1.8 kW
2.9 kW
4.4 kW
5.5 kW
7.5 kW
11.5 kW
15.0 kW
0.45 kW
0.85 kW
1.3 kW
1.8 kW
2.9 kW
4.4 kW
5.5 kW
7.5 kW
11.5 kW
15.0 kW

SGMGH-05DCA6F-OY
SGMGH-09DCA6F-OY
SGMGH-13DCA6F-OY
SGMGH-20DCA6F-OY
SGMGH-30DCA6F-OY
SGMGH-44DCA6F-OY
SGMGH-55DCA6F-OY
SGMGH-75DCA6F-OY
SGMGH-1ADCA6F-OY
SGMGH-1EDCA6F-OY
SGMGH-05DCA6H-OY
SGMGH-09DCA6H-OY
SGMGH-13DCA6H-OY
SGMGH-20DCA6H-OY
SGMGH-30DCA6H-OY
SGMGH-44DCA6H-OY
SGMGH-55DCA6H-OY
SGMGH-75DCA6H-OY
SGMGH-1ADCA6H-OY
SGMGH-1EDCA6H-OY
SGMGH-05D2A6F-OY
SGMGH-09D2A6F-OY
SGMGH-13D2A6F-OY
SGMGH-20D2A6F-OY
SGMGH-30D2A6F-OY
SGMGH-44D2A6F-OY
SGMGH-55D2A6F-OY
SGMGH-75D2A6F-OY
SGMGH-1AD2A6F-OY
SGMGH-1ED2A6F-OY
SGMGH-05D2A6H-OY
SGMGH-09D2A6H-OY
SGMGH-13D2A6H-OY
SGMGH-20D2A6H-OY
SGMGH-30D2A6H-OY
SGMGH-44D2A6H-OY
SGMGH-55D2A6H-OY
SGMGH-75D2A6H-OY
SGMGH-1AD2A6H-OY
SGMGH-1ED2A6H-OY

AC Servo
Systems

400V Servomotors

Model

Without brake 3.18 Nm


4.9 Nm
6.36 Nm
Straight shaft
9.8 Nm
with key & Tap
12.6 Nm
15.8 Nm
With brake
3.18 Nm
4.9 Nm
6.36 Nm
9.8 Nm
12.6 Nm
15.8 Nm
Absolute
Without brake 3.18 Nm
Encoder
4.9 Nm
(17 bit)
6.36 Nm
9.8 Nm
Straight shaft
with key & Tap
12.6 Nm
15.8 Nm
With brake
3.18 Nm
4.9 Nm
6.36 Nm
9.8 Nm
12.6 Nm
15.8 Nm
Incremental
Encoder
(17 bit)

1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
4.0 kW
5.0 kW

SGMSH-10DCA6F-OY
SGMSH-15DCA6F-OY
SGMSH-20DCA6F-OY
SGMSH-30DCA6F-OY
SGMSH-40DCA6F-OY
SGMSH-50DCA6H-OY
SGMSH-10DCA6H-OY
SGMSH-15DCA6H-OY
SGMSH-20DCA6H-OY
SGMSH-30DCA6H-OY
SGMSH-40DCA6H-OY
SGMSH-50DCA6H-OY
SGMSH-10D2A6F-OY
SGMSH-15D2A6F-OY
SGMSH-20D2A6F-OY
SGMSH-30D2A6F-OY
SGMSH-40D2A6F-OY
SGMSH-50D2A6H-OY
SGMSH-10D2A6H-OY
SGMSH-15D2A6H-OY
SGMSH-20D2A6H-OY
SGMSH-30D2A6H-OY
SGMSH-40D2A6H-OY
SGMSH-50D2A6H-OY

SGMUH - Servomotors 6000 r/min (1 - 4 kW)

Specifications
Incremental
Encoder
(17 bit)
Straight shaft
with key

Model
Without brake 1.59 Nm
2.45 Nm
4.9 Nm
6.3 Nm
With brake
1.59 Nm
2.45 Nm
4.9 Nm
6.3 Nm

1.0 kW
1.5 kW
3.0 kW
4.0 kW
1.0 kW
1.5 kW
3.0 kW
4.0 kW

SGMUH-10DCA61-OY
SGMUH-15DCA61-OY
SGMUH-30DCA61OY
SGMUH-40DCA61-OY
SGMUH-10DCA6C-OY
SGMUH-15DCA6C-OY
SGMUH-30DCA6C-OY
SGMUH-40DCA6C-OY

31

Power Cables
Symbol

Specifications
For 200V Servomotors without brake
SGMAH-@@A@@@1D-OY
SGMPH-(01/02/04/08)A@@41D-OY

For 200V Servomotors with brake


SGMAH-@@A@@@CD-OY
SGMPH-(01/02/04/08)A@@4CD-OY

For 200V Servomotors without brake


SGMPH-15A@@@1D-OY

For 200V Servomotors with brake


SGMPH-15A@@@CD-OY

For 400V Servomotors without brake


SGMAH-@@D@@@1D-OY
SGMPH-@@D@@@1D-OY

For 400V Servomotors with brake


SGMAH-@@D@@@CD-OY
SGMPH-@@D@@@CD-OY

For 400V Servomotors


SGMGH-(05/09/13)D@
SGMSH-(10/15/20)D@
SGMUH-(10/15)D@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

For 400V Servomotors


SGMGH-(20/30)D@
SGMSH-(30/40/50)D@
SGMUH-(30/40)D@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

For 400V Servomotors


SGMGH-44D@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

For 400V Servomotors


SGMGH-55D@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

For 400V Servomotors


SGMGH-(75/1A)D@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

For 400V Servomotors


SGMGH-1ED@
For servomortors with Brake a separate cable
(R88A-CAWC0@@B-E) is needed

Brake Cable only.


For 400V Servomotors with Brake
SGMGH-@@D@
SGMSH-@@D@
SGMUH-@@D@

32

3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m

Model
R88A-CAWA003S-DE
R88A-CAWA005S-DE
R88A-CAWA010S-DE
R88A-CAWA015S-DE
R88A-CAWA020S-DE
R88A-CAWA003B-DE
R88A-CAWA005B-DE
R88A-CAWA010B-DE
R88A-CAWA015B-DE
R88A-CAWA020B-DE
R88A-CAWB003S-DE
R88A-CAWB005S-DE
R88A-CAWB010S-DE
R88A-CAWB015S-DE
R88A-CAWB020S-DE
R88A-CAWB003B-DE
R88A-CAWB005B-DE
R88A-CAWB010B-DE
R88A-CAWB015B-DE
R88A-CAWB020B-DE
R88A-CAWK003S-DE
R88A-CAWK005S-DE
R88A-CAWK010S-DE
R88A-CAWK015S-DE
R88A-CAWK020S-DE
R88A-CAWK003B-DE
R88A-CAWK005B-DE
R88A-CAWK010B-DE
R88A-CAWK015B-DE
R88A-CAWK020B-DE
R88A-CAWC003S-E
R88A-CAWC005S-E
R88A-CAWC010S-E
R88A-CAWC015S-E
R88A-CAWC020S-E
R88A-CAWD003S-E
R88A-CAWD005S-E
R88A-CAWD010S-E
R88A-CAWD015S-E
R88A-CAWD020S-E
R88A-CAWG003S-E
R88A-CAWG005S-E
R88A-CAWG010S-E
R88A-CAWG015S-E
R88A-CAWG020S-E
R88A-CAWF003S-E
R88A-CAWF005S-E
R88A-CAWF010S-E
R88A-CAWF015S-E
R88A-CAWF020S-E
R88A-CAWH003S-E
R88A-CAWH005S-E
R88A-CAWH010S-E
R88A-CAWH015S-E
R88A-CAWH020S-E
R88A-CAWJ003S-E
R88A-CAWJ005S-E
R88A-CAWJ010S-E
R88A-CAWJ015S-E
R88A-CAWJ020S-E
R88A-CAWC003B-E
R88A-CAWC005B-E
R88A-CAWC010B-E
R88A-CAWC015B-E
R88A-CAWC020B-E

Appearance

AC Servo Systems

Symbol

Specifications
Encoder cable forSGMAH/PH
Servomotors
SGMAH-@@@@@@@D-OY
SGMAP-@@@@@@@D-OY

3m
5m
10 m
15 m
20 m
Encoder cable for SGMGH/SH/UH/BH 3 m
Servomotors
5m
SGMGH-@
10 m
SGMSH-@
15 m
SGMUH-@
20 m

AC Servo
Systems

Encoder Cables (for CN2)


Model
Appearance
R88A-CRWA003C-DE
R88A-CRWA005C-DE
R88A-CRWA010C-DE
R88A-CRWA015C-DE
R88A-CRWA020C-DE
R88A-CRWB003N-E
R88A-CRWB005N-E
R88A-CRWB010N-E
R88A-CRWB015N-E
R88A-CRWB020N-E

Control Cables (for CN1)


Symbol

Description
Control Cable
(1 Axis)

Connect to
Motion Control Units
CS1W-MC221
CS1W-MC421
C200H-MC221

Control Cable
(2 Axis)

Motion Control Units


CS1W-MC221
CS1W-MC421
C200H-MC221

Terminal Block
Motion Control Unit
(4 Axes)
C200HW-MC402-E
Servodrive connecting
Cable (1 Axis)
PLC Unit Control Cables
(4 Axes)

Servo Relay Unit

Cable to Servo drive

Servo Relay Units XW2B-@0J6-@B

Position Control Unit


Connecting Cable

C200H-NC112
C200H-NC211
CQM1-CPU43-V1 and CQM1H-PLB21
CS1W-NC113 and C200HW-NC113
CS1W-NC213/413 and
C200HW-NC213/413
CS1W-NC133
CS1W-NC233/433
CJ1W-NC113
CJ1W-NC213/413
CJ1W-NC133
CJ1W-NC233/433
CJ1M-CPU22/23

Control Cable

Model
R88A-CPW001M1
R88A-CPW002M1
R88A-CPW003M1
R88A-CPW005M1
R88A-CPW001M2
R88A-CPW002M2
R88A-CPW003M2
R88A-CPW005M2
R88A-TC04-E

1M

R88A-CMUK001J3-E2

1m
1m

R88A-CMX001S-E
R88A-CMX001J1-E
XW2B-20J6-1B (1 axis)

CS1W-NC1@3,
CJ1W-NC1@3, or C200HW-NC113
Position Control Unit
CS1W-NC2@3/4@3, CJ1W-NC2@3/4@3,
or C200HW-NC213/413 Position Control
Unit
CQM1H-PLB21
CQM1-CPU43
CJ1M-CPU22/23

1m
2m
3m
5m
1m
2m
3m
5m
-

For General purpose Controllers

XW2B-40J6-2B (2 axes)

XW2B-20J6-3B (1 axis)

1m
2m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
0.5 m
1m
1m
2m

Relay Terminal Block Ca- General-purpose Controller


ble
Relay Terminal Block

Sigma-II Series

1m
2m
-

XW2B-20J6-8A (1 axis)
XW2B-40J6-9A (2 axes)
XW2Z-100J-B4
XW2Z-200J-B4
XW2Z-050J-A1
XW2Z-100J-A1
XW2Z-050J-A2
XW2Z-100J-A2
XW2Z-050J-A3
XW2Z-100J-A3
XW2Z-050J-A6
XW2Z-100J-A6
XW2Z-050J-A7
XW2Z-100J-A7
XW2Z-050J-A10
XW2Z-100J-A10
XW2Z-050J-A11
XW2Z-100J-A11
XW2Z-050J-A14
XW2Z-100J-A14
XW2Z-050J-A15
XW2Z-100J-A15
XW2Z-050J-A18
XW2Z-100J-A18
XW2Z-050J-A19
XW2Z-100J-A19
XW2Z-050J-A27
XW2Z-100J-A27
R88A-CPW001S
or JZSP-CKI01-1
R88A-CPW002S
or JZSP-CKI01-1
R88A-CTW001N
R88A-CTW002N
XW2B-50G5

33

Battery Backup for absolute encoder (for CN8)

Option Units (for CN10)

Symbol

Symbol

Name
Battery for 30W to 5 kW Drives
Battery for 6kW to 15 kW Drives

Model
JZSP-BA01
JZSP-BA01-1

Cable (for CN5)


Symbol

Name
Analog Monitor Cable

Model
R88A-CMW001S
or DE9404559

Options (for CN3)


Symbol

Name
Parameter Unit with Cable

Computer Connecting Cable

Model
JUSP-OP02A-2
or R88A-PR02W
R88A-CCW002P2
or JZSP-CMS02

Name
1.5 axis Advanced Motion Controller
with Host Link Interface
1.5 axis Advanced Motion Controller
with DeviceNet Interface
Mechatrolink-I Interface unit
Mechatrolink-II Interface unit
DeviceNet Interface unit with
Positioning Fuctionality
PROFIBUS-DP Interface unit with
Positioning Fuctionality
Indexer Unit. Versatile Point to Point
Positioning

Model
R88A-MCW151-E
R88A-MCW151-DRT-E
JUSP-NS100
JUSP-NS115
JUSP-NS300
JUSP-NS500
JUSP-NS600

Connectors
Specification
Control I/O connector (For CN1)
Sigma-II Drive Encoder connector (For CN2)
Hypertac Power Connector IP67
(For 200V Motors SGMAH/PH-@@A@@@@D-OY)
Hypertac Power Connector IP67
(For 400V Motors SGMAH/PH-@@D@@@@D-OY)
Hypertac Encoder Connector IP67
(For Motors SGMAH/PH-@@@@@@@D-OY)
Military Power connector IP67
(For 400V Motors SGMGH-(05/10/13)D@,
SGMSH-(10/15/20)D@ , SGMUH-(10/15)D@)
Military Power connector IP67
(For 400V Motors SGMGH-(20/30/44)D@,
SGMSH-(30/40/50)D@, SGMUH-(30/40)D@)
Military Power connector IP67
(For 400V Motors SGMGH-(55/75/1A/1E)D@)
Military Brake connector IP67 (For 400V ServoMotors SGMGH-@, SGMSH-@, SGMUH-@)
Military Encoder connector IP67
(For Motors SGMGH-@, SGMSH-@, SGMUH-@)

Model
R88A-CNU11C
or JZSP-CKI9
JZSP-CMP9-1
SPOC-06K-FSDN169
LPRA-06B-FRBN170
SPOC-17H-FRON169
MS3108E18-10S

MS3108E22-22S

MS3108E32-17S
MS3108E10SL-3S
MS3108E20-29S

Filters
Specifications
(applicable Servo Drive)
SGDH-A3AE-OY,SGDH-A5AE-OY,
SGDH-01AE-OY, SGDH-02AE-OY
SGDH-04AE-OY
SGDH-08AE-S-OY
SGDH-15AE-S-OY
SGDH-05DE-OY, SGDH-10DE-OY,
SGDH-15DE-OY
SGDH-20DE-OY, SGDH-30DE-OY
SGDH-50DE-OY
SGDH-60DE-OY, SGDH-75DE-OY
SGDH-1ADE-OY, SGDH-1EDE-OY

Model

Rated Current Rated Voltage

R88A-FIW104-SE

4A

R88A-FIW107-SE
R88A-FIW115-SE
R88A-FIW125-SE
R88A-FIW4006-SE

7A
15 A
25 A
6A

R88A-FIW4010-SE
R88A-FIW4020-SE
R88A-FIW4030-SE
R88A-FIW4055-SE

10 A
20 A
30 A
55 A

250 VAC
Single-Phase

400 VAC
Three-Phase

External Regenerative Resistor


Servo Drive Model
SGDH-60DE-OY to -75DE-OY
SGDH-1ADE-OY to -1EDE-OY

Regenerative Resistor Unit Model


JUSP-RA18
JUSP-RA19

Specifications
18 , 880 W
14.25 , 1760 W

Allowable Power Loss


180 W
350 W

Computer Software
Specifications
SigmaWin
WMON Win Version 2.0

34

Model
MOTION TOOLS

AC Servo Systems

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