Sigma SGDB User's Manual (E) PDF

2 Series SGM~/SGDB
USER’S MANUAL
AC Servomotors and Driver
SGMGISGMSISGMDISGMISGMP Servomotors
SGDB Servopack
TSE-S800-16B
PREFACE
The rapid progress being made in today’s automation and information

technologies is resulting in a growing need for even more-advanced motion
control for future high-tech equipment. The end result is a need for devices
that can provide more-precise and quicker motion at higher speeds, Servo
control technology makes this possible., Launched by Yaskawa in 1993, the
Z Series consists of innovative AC Servos that were developed using
leading-edge servo control technology.
This manual covers all products in the 2 Series, which feature superior
functions and performance, This manual was designed to provide
comprehensible information for users who are about to use a servo for the
first time as well as for users who already have experience in using servos.
This manual enables users to understand what Z-Series AC Servos are all
about and how to design, install, operate, and maintain a servo system,
Keep this manual in a convenient location and refer to it whenever
necessary in operating and maintaining the servo system.
YASKAWA ELECTRIC CORPORATION
General Precautions
s Some drawings in thk manual are shown with the protective cover or shields removed, in order to
describe the detail with more claity. Make sure all covers and shields are replaced before operat-
ing this product.
Q Some drawings in this manual are shown as typical example and may differ from the shipped
product.
● This manual maybe modified when necessary because of impro vement of the product, modifica-
tion or changes in specifications.
Such modification is made as a revision by renewing the manual No.
I
●
●
To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA
representative listed on the last page stating the manual No. on the front cover.
YAS KAWA is not responsible for accidents or damages due to any modlfkation of the product
made by the user since that will void our guarantee.
NOTES FOR SAFE OPERATION
Read this manual thoroughly before installation, operation, maintenance or inspection of the
AC Servo Drives, In this manual, the NOTES FOR SAFE OPERATION are classified as
“WARNING” or “CAUTION”.
~
Indicates a potentially hazardous situation which, if not avoided, could result in death or seri-
ous personal injury.
Indicates a potentially hazardous situation which, if not avoided, may result in minor or mod-
erate personal injury snd/or damage to the equipment.
In some instances, items described in ~ CAUTION may also result in a serious accident. In
either case, follow these important items.
–iv-
~ WARNING
(WIRING)
. Grounding must be in accordance with the national code and consistent
with sound local practices.
Failure to observe this warning may lead to electric shock or fire.
(OPERATION)
. Never touch any rotating motor parts during operation.
Failure to observe this warning may result in personal injury,
(INSPECTION AND MAINTENANCE)

Be sure to turn OFF power before inspection or maintenance.
Otherwise, electric shock may result.
. Never open the terminal cover while power is ON, and never turn ON pow-
er when the terminal cover is open,
Otherwise, electric shock may result.
. After turning OFF power, wait at least five minutes before servicing the
product.
Otherwise, residual electric charges may result in electric shock.
~ CAUTION
(RECEIVING)
Use the specified combination of SERVOMOTOR and SERVOPACK.
Failure to observe this caution may lead to fire or failure.
(INSTALLATION)
Never use the equipment where it maybe exposed to splashes of water,
corrosive or flammable gases, or near flammable materials.
Failure to observe thk caution may lead to electric shock or fire.
(WIRING)
I Do not connect three–phase power supply to output terminals (j) (J and
@.
Failure to observe this caution may lead to personal injury or fire.
I Securely tighten screws on the power supply and motor output terminals.
Failure to observe this caution can result in a fire.
-v-
~ CAUTION
(OPERATION)
. To avoid inadvertent accidents, run the SERVOMOTOR only in test run
(without load).
Failure to observe this caution may result in personal injury.
. Before starting operation with a load connected, set up user constants

suitable for the machine.
Starting operation without setting up user constants may lead to overrun failure.
. Before starting operation with a load connected, make sure emergency-

stop procedures are in place.
Failure to observe this caution may result in personal injury.
. During operation, do not touch the heat sink.

Failure to observe this caution may result in burns.
(INSPECTION AND MAINTENANCE)

. Do not disassemble the SERVOMOTOR.
Failure to observe this caution may result in electric shock or personal injury.
. Never change wiring while power is ON.

Failure to observe this caution may result in electric shock or personal injury.
–vi–
Manual Contents
This manual provides X-Series users with information on the following:
. An overview of servo systems for first-time users.
. Checking the product on delivery and basic applications of the servo.
. Servo applications.
. Selecting an appropriate servo for your needs and placing an order.
. Inspection and maintenance
Manual Structure
All chapters in this manual areclassified into oneormoreof three areas according totheircontents:A, B, and
C. Refer to the applicable chapters for the information you require,
A: Chapters explaining how to select a servo: For usere who wish to gain a basic understanding of
Z Series products or who need to select an appropriate servo.
B: Chapters explaining how to design a servo system: For users who are about to design, install, and
operate a X-Series Servo Control System.
C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot X-Series
Chapter Title Page

CHAPTER1 For First-time Useraof AC Servos ....................... 1 . . . A, B
Provides an overview of servos and the Z Series.
CHAPTER 2 Bssic Uses of Z-series Products ... 15 ..,,..,.. B

Describes steps to take when product is received, plus basic
wiring and application methods.
CHAPTER 3 Applications of2-series Products.. .. .. . .. . 51 . . . . . . . . . B

Describes the effective usage of X-Series features according to
application.
CHAPTER 4 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..l75 B

Describes operating procedures for Z-Series servos, turning
features ON and OFF, setting control constants, etc.
CHAPTER 5 Servo Selection and Data Sheets . . . . . . . . . . . . . . . . . . . . . ...217 A, B

Describes selection methods for Z-Series servos and peripher-
als and provides servo specifications.
CHAPTER 6 lnepection, Maintenance, and Troubleshooting . . . . . . . . ...435 . ... c

Describes user maintenance and troubleshooting.
APPENDIXES
A Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...475 B, C
B List ofl/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...491 .. B, C
C List of User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...497 B, C
D Listof Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...505 B, C
lNDEx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..5o9 A, B, C
– vii -
Basic Terms
Unless otherwise specified, the following definitions are used:
Servomotoc X-Series SGMGISGMDISGMSISGMISGMP Servomotor
Servopeck An amplifier (Trademark of Yaskawa servo amplifier “X-Series SGDB-DAD

Servopack)
Servodrive: A Servomotor and an amplifier (SGDB Servopack)
Servo system: A complete servo control system consisting of servodrive, host controller,
and peripheral devices
Visual Aids
The following aids are used to indicate certain types of information for easier reference
Indicates references for additional information.

B
TERMe Technical terms placed in bold in the text are briefly explained in a “TERMS sec-
m tion at the bottom of the page. The following kinds of technical terms are explained:
Technical terms that need to be explained to users who are not very familiar with
servo systems or electronic devices and technical terms specific to Z Series Ser-
vos that need to be explained in descriptions of functions,
The text indicated by this icon explains the operating procedure using hand-held
type digital operator (Type: JUSP-0P02A-I ).
i
JUSP-0P02A-1
The text indicated by this icon explains the operating procedure using mount type
digital operator (Type: JUSP-0P03A).
mu
H Bo
JUeP-0P03A
NOTE A Z-Series Servodrive alone cannot ensure the functionality and performance of the entire
machine control system. It must be combined with an appropriate machine and host control-
ler so that the entire control system works properly. Therefore, carefully read the instruction
manuals for the machine to be used before attempting to operate the servodrive.
. ..
– VIII-
GYaskawa, 1995
All rights reserved. No part of this publication maybe reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yas-
kawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa
\ is constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the prepamtion of this manual. Nevertheless, Yaskawa assumes no re-
sponsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained in this publication.
–ix-
CONTENTS
CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS . . . . . . . . . . . . . . 1

1.1 Basic Understanding of AC Servos . . . . . . . 2
1,1,1 Servo mechanisms, .................. 2
1.1.2 Servo Configuration.......,.,.,,,,,,.. 5
1.1.3 Features of Z-Seri.s Servos,, ........... 11
CHAPTER 2 BASIC USES OF Z-SERIES PRODUCTS ................ 15

16
16
18
18
21
24
27
27
31
33
2,4 Conducting a Test Run . . . . . . . . . . . . 40
2.4.1 Test Runin Two Steps . . . . . . . . . . . . . . 40
2.4.2 Step 1: Conducting a Test Run for Motor without Load ., 42
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine 46
2.4.4 Supplementary In formation on Test Run 47
2.4.5 Minimum User Constants Required and Input Signals 49
CHAPTER 3 APPLICATIONS OF Z-SERIES PRODUCTS ............. 51

3.1 Setting User Constants According to Machine Characteristics ., ., 54
3.1.1 Changing the Direction of Motor Rotation 54
3.1.2 Setting the Ovcrtravel Limit Function 56
3.I.3 Restricting Torque . . . . . . . . . . . . . . . 59
3.2 Setting User Constants According to Host Controller 64
3.2,1 Inputting Speed Reference . . . . . . . . . 64
3.2.2 Inputting Position Reference...,,,, 68
3.2.3 Using Encoder Outputs.,,,,,,,,,. 73
3.2.4 Using COntact I/O Signals . . . . . . . . . . . 77
3.2.5 Using Electronic Gear . . . . . . . . . . . . . . . 79
3.2.6 Using Contact Input Speed Control . . . . 83
3.2.7 Using Torque Control 87
3.2,8 Using Torque Feed- forward Function ... 94
3.2,9 Using Torque Restriction hy Analog Voltage Reference 95
3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) 97
3.2.11 Using the Reference Pulse Input Filter Selection Function ., ., 98
3.2.12 Using the Analog Monitor ......... 99
3.3 Setting Upthe ZServopack ......... 100
3.3.1 setting userconstants . . . . . . . . 100
3,3.2 Setting the Jog Speed . . . . . . . . . . . 101
3.3.3 Setting the Number of Encoder Pulses 102
3.3.4 Setting the Motor Type 103
3.3.5 Adjusting the Encoder Supply Voltage 104
–x–
CONTENTS
3.4 105
105
106
107
108
3.5 112
112
113
113
114
114
3.6 116
116
116
118
118
119
120
3.7 126
126
129
130
133
135
137
139
140
3.8 141
3,8.1 W,ring Instmctions ................................. . . . 141
3.8.2 Wiring for Noise Control,,...,,...,.. ............................... 143
3.8.3 Using More Than One Servo Drive .,... ............................... 148
3.8,4 Using Regenerative Resistor Units ...... ............................. 150
3.8.5 Using an Absolute Encoder .......................................... 151
3.8.6 Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
3.8.7 Using SGDBServopackwith H~gh Voltage Line . .. .. 163
3.8.8 CmmeccorTerminalLa ymtts, . . . . . . . . . ......... ..................... 165
CHAPTER4 USING THE DIGITAL OPERATOR .................... 175

4.1 Basic Operations .................................... .. . . . 176
4.1,1 Connecting the Digital Operator, ...,. ................................ 176
4.1,2 Resetting Servo Alarms ., .,, ,., ,, ..., . . . . 177
4.1.3 Basic Functions mdMode Selection ..,... ..... ....................... 178
4.1.4 Operation in Status Display Mode..... . . .. 179
4.1,5 Operation in User Constant Setting Mode. .............................. 183
4.1.6 Operation in Monitor Mode . . . . . . . . . . . . .. 188
-xi-
CONTENTS
4.2 Using the Functions ............... 191

4.2.1 Operation in Alarm Trace-back Mode.. ...... ........................ 191
4.2.2 Operation Using the Digital Operator . . . . . . . . . . . . . . .’. . . . . . . . . . . . . . . . . . . 194
4.2.3 Autotuning ..................... . . . . 198
4.2.4 Reference Offset Automatic Adjustment ............................... 204
4.2.5 Reference Offset Manual Adjustment Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
4.2.6 Clearing Alarm Trace-back Data.... .. . 210
4.2.7 Checking Motor Type ........ ........................ 212
4.2.8 Checking Software Version . . . . . . . . . . . . . .. 212
4.2.9 Current Detection Offset Manual Adjustment Mode .............. 213
CHAPTER 5 SERVO SELECTION AND DATA SHEETS .............. 217

219
219
229
231
233
233
249
252
252
255
258
259
260
261
262
262
337
349
351
351
5.5.2 Order L,st . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
5.6 Specifications and Dimensional Drawings of Peripheral Devices . . 379
5.6.1 Cable Specifications and Peripheral Devices . 379
5.6.2 Motor Cables .................................................. 383
5.6.3 Connector ......................... . . . 384
403
406
417
418
420
422
423
423
425
426
– xii –
CONTENTS
5.6.14 Regenerative Resistor Unit . 427

5.6.15 Variable Resistor for Speed Setting., 428
5.6.16 Encoder Signal Converter Unit . . . . . . . . 428
5.6.17 Cables for Connecting PCand Servopack . . 430
CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 435

6.1 Inspection and Maintenance,,.......,,,. 436
6.1,1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
6.1.2 Servopack . . . . . . . . . . . . . . . . . . . . . . . . . 437
6.1.3 Replacing Battery fmAbsolute Encoder. 438
6.2 Troubleshootittg, ,,, . . . . . . . . . . . . . . . . 439
6.2.1 Troubleshooting Problems with Alarm Display . . 439
6.2.2 Troubleshooting Problems With No Alatm Display 465
6.2.3 Internal Connection D>agraand Instrument Connection Examples 467
APPENDIXES
A 475
A. 1 476
476
477
A.2 478
478
479
A.3 482
482
483
A.4 487
487
B 491
c 497
D 505
INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
. ..
- Xm –
FOR FIRST-TIME USERS OF AC
SERVOS 1❑
This chapter is intended for first-time users of AC servos. It describes the ba-
sic configuration of a servo mechanism and basic technical terms relating to
servos.
Users who already have experience in using a servo should also take a look at
this chapter to understand the features of Z-Series AC Servo,s.
1.1 Basic Understanding of AC Servos ......... 2

1.1.1 Servo mechanisms,..,,...,...,,..,,.. 2
1.1.2 ServOCO.fig.mtiOn .,,. .,,.. ,,,. ,, ..., 5
1.1,3 Feat.res of E-Series Sewos .,,...,,,,,,, 11
FOR FIRST-TIME USERS OF AC SERVOS
1.1,1 S.IW Mechanisms
1.1 Basic Understanding of AC Servos
Ii
This section describes the basic configuration of a servo mechanism and technical terms
relating to servos and also explains the features of X-Series AC Servos.
1.1.1 Servo Mechanisms .................. .. . .. . .. . 2

1.1.2 Servo Configuration......,.....,.. ............................... 5
1.1.3 Features of X-Series Servos, ..... . ... . .. . . . .. 11
1.1.1 Servo Mechanisms

You may be familiar with the following terms:
. Sewo
● Servo mechanism
. Setvo control system
In fact, these terms are synonymous, They have the following meaning:
A control mechanism that monitors physical quantities such as specified positions
In short, a servo mechanism is like a sefvant who does tasks faithfully and quickly according
to his master’s instructions, In fact, “servo” originally derives from the word “servant.”
rm Servomechanism
~
According to Japanesa Industrial Standard (JIS) terminology, a “servo mechanism” is de-
fined as a mechanism that uses the position, direction, or orientation of an object as a pro-
cess variable to control a system to follow any changes in a targat value (set point).
More simply, a servo mechanism is a control mechanism that monitors physical quantities
such as specified positions. Feedback control is normally periormed by a setvo mecha-
nism, (Source: JIS BO181)
2
Servo system could be defined in more detail as a mechanism that:
. Moves at a specified speed and
. Locates an object in a specified position
To develop such a servo system, an automatic control system involving feedback control
must be designed. This automatic control system can be illustrated in the following block dia-
❑
gram:
Configurationof ServoSystem
Specifiedposition + Controlled MacMne position

Servo servo
maclWe
input amplifier motor
(load) output
1
This servo system is an automatic control system that detects the machine position (output
data), feeds back the data to the input side, compares it with the specified position (input
data), and moves the machine by the difference between the compared data,
In other words, the servo system is a system to control the output data to match the
specified input data.
If, for example, the specified position changes, the servo system will reflect the changes.
In the above example, input data is defined as a position, but input data can be any physical
quantities such as orientation (angle), water pressure, or voltage.
Position, speed, force (torque), electric current, and soon are typical controlled values for a
servo system.
The main technical terms used in this manual are as follows:
1) Servo mechanism
2) Servo
Normally, servo is synonymous with servo mechanism, However, because “mechanism” is

omitted, the meaning becomes somewhat ambiguous. Servo may refer to the entire servo
mechanism but may also refer to an integral part of a servo mechanism such as a servomotor
or a servo amplifier, This manual also follows this convention in the use of the term “servo”.
m
TERMS;
Feedback control
A control that returns process variables to the input side and forms a closed loop. It is also
called closed-loop control.
3
1.1.1 Servo Mechanism cont.
3) Servo control system
Servo control system is almost synonymous with servo mechanism but places the focus on
system control. In this manual, the term “servo system” is also used as a synonym of servo
control system.
Related Terms Meaning

Servomotor General sewomotors or Yaskawa SGMU Servomotors. In
some cases, a position detector (encoder) is included in a
servo motor.
Servopack Trademark of Yaskawa servo amplifier “SGDB Servopack?
Servo drive A Servomotor and amplifier pair. Also called “servo?
SarvO systam A closed control system consisting of a host controller,
servo drive and controlled system to form a sewo
mechanism.
Hostcontroller
‘~o
m
Reference
1
OQ
AmpHier
c1
~l@
(Servopack) semOmOtor
:=
,_=’%: — @ o-m
~ .Sewo dflve ~
/
Servo system
4
1.1.2 Servo Configuration
1)Configuration of Servo System
The following diagram illustrates a servo system in detail:
Positionor
speed
d
f’
m ‘% Hostccmtdler
(5)
m<>
reference
eervo amplifier
Cornpara,or ::WeWe, (4)
—— (output)
+ Motor Position
(Input) - drive
circuit 130ClU@ Speed
P0sitiL7or
speed
Detector ServOmOtoF Dtivesystem
(1) Controlled system: Mechanical system for which the position or speed is to be con-
trolled.
This includes a drive system that transmits torque from a servo-
motor,
(2) Sewomotor A main actuator that moves a controlled system. Two types are
available: ACservomotor and DC servomotor.
(3) Detectoc A position or speed detactor. Normally, an encoder mounted on

a motor is used as a position detector.
(4) Servo amplifier: An amplifier that processes an error signal to correct the differ-
ence between a reference and faedback data and oparates the
servomotor accordingly. A servo ampliier consists of a
comparator, which processes error signals, and a power ampli-
fier, which operates the servomotor,
(5) Host controller A device that controls a servo amplifier by specifying a position
or spead as a set point,
5
1.1.2 servocon&ratio. cont.
Servo components (1) to (5) are outlined below
(1) Controlled system
In the previous figure, the controlled system is a movable table for which the position
or speed is controlled. The movable teble is driven by a ball screw and is connected to
the servomotor via gears.
So, the drive system consists of:
Geara + Ball Screw
This drive system ismost commonly used because the power transmission ratio
(gear ratio) can be freely set to ensure high positioning accuracy. However, play in the
gears must be minimized.
The following drive system is also possible when the controlled system is a movable
table: - -
Coupling + Ball Screw
When the power transmission ratio is 1:

1, a coupling is useful because it has no
play.
This drive system is widely used for ma-

chining tools,
Timing Belt + Trapezoidal Screw Thread
A timing belt is a coupling device that allows

the power transmission ratio to be set freely
and that has no play.
Trapezoidal
A trapezoidal screw thread does not provide
excellent positioning accuracy,
treated as a minor coupling device.
so can be
l-;-l--h
‘;:“ screw
thread
Setvomotor Tming belt
To develop an excellent servo system, it is important to select a rigid drive system that
has no play.
Configure the controlled system by using an appropriate drive system for the control
purpose.
m TERMS;
Drive system
Also called a drive mechanism.

A drive system connects an actuator (such as a servomotor) to a controlled system and
serves as a mechanical control component that transmits torque to the controlled system,
orientates the controlled system, andconverts motion from rotation tolinearmofion and
vice versa.
6
1.1 Basic U.darsfa.dins ofAC Servos
(a) DC Servomotor and AC Servomotor
Servomotors are divided into two types: DC servomotors and AC servomotors.
DC servomotors are driven by direct current (DC). They have a long history, Up
❑
until the 1980s, the term “servomotor” used to imply a DC servomotor,
From 1984, AC servomotors were emergingasa result of rapid progress in micro-

processor technology, Driven byalternating current (AC), ACsewomotors are
now widely used because of the following advantages:
● Easy maintenance: No brush
. High speed: Nolimitafionin rectification rate
Note however that servomotors and Servopacks use some parts that are subject
to mechanical wear or aging. For preventive maintenance, inspect and replace
parts at regular intervals,
For details, refer to Chapter 6 Inspection, Maintenance, and Troubleshooting,
(b) AC Servomotor
AC servomotors are divided into two types: synchronous type and induction type
The synchronous type is more commonly used.
For a synchronous type servomotor, motor speed is controlled by changing the

frequency of alternating current,
Asynchronous type servo motor provides strong holding torque when stopped, so
this type is ideal when precise positioning is required, Use this type for a servo
mechanism for position control,
The following figure illustrates the structure of a synchronous type servomoto~
Mght-receiving
tight-emi
element
Position detec
(encoder)
Yaskawa SGM ❑ Servo motors are of the synchronous t ype.
7
FOR FIR.$T-TIME USERS OF AC SERVOS
1.1.2 Servo Co@gwatiom 02”1,
(c) Performance Of ServOmOtOr /-
A servomotor must have “instantaneous power” so that it can start as soon as a

start reference is received.
The term “power rating (kW/s~ is used to represent instantaneous power.
It refers to the electric power (kW) that a servomotor generates per second.
The greater the power rating, the more powerful the servomotor.
A servo system requires a position or speed detector. It uses an encoder mounted on

a servomotor for this purpose.
Encoders are divided into the following two types:
/
(a) Incremental Encoder
An incremental encoder is a pulse generator, which generates a certein number

of pulses per revolution (e.g., 2,000 pulses per revolution). If this encoder is con-
nected to the mechanical system and one pulse is defined as a certain length
(e.g., 0.001 mm), it can be used as a position detector.
However, this encoder does not detect an absolute position and merely outputs a
pulse train. Hence zero return operation must be performed before positioning.
The following figure illustrates the operation principle of a pulse generato~ /
Rotary slit
(b) Absolute Encoder
An absolute encoder is designed to detect an absolute angle of rotation as well as

to perform the general functions of an incremental encoder. With an absolute en-
coder, therefore, it is possible to create a system that does not require zero return
operation at the beginning of each operation.
● DKferenceb etweena nabsolutea ndincrementale ncodec r

An absolute encoder will keep track of the motor shaft position even if system
power is lost and some motion occurs during that period of time. The incremental
encoder is incapable of the above.
1.1 Bask Understanding of AC Servos
>, (4) Servo amplifier
A servo amplifier is required to operate an AC aervomotor.
The following figure illustrates the configuration of a servo amplifiec
SsrvOamplifier
Motordiving AC power
~ Power
Comparator amplifier
Reference — fivfi”fi~
+
Input
A. 4
---
)@
I
Feedback Sewomotor
CommercialAC power
0
A servo amplifier consists of the following two sactions:
(a) Comparator
A comparator consists of a comparison function and a control function. The com-

parison function compares reference input (position or speed) with a feedback
signal and generates a differential signal.
The control function amplifies andtransforms the differential signal. In other

words, it performs proportional (P) control or proportiona!fintegral (Pi) control,
(Itis not important if you do not understand these control terms completely at this
point.)
(b) Power Amplifier
A power amplifier runs the servomotor at a speed or torque proportional to the

output of the comparator. Inother words, from thecommercial power supply of
50/60 Hz, it generates alternating currant with a frequency proportional to the ref-
erence speed and runs the servomotor with this current.
m
TERMS;
Proportional/intagral (Pi) control
PI control provides more accurate position or speed control than proportional control, which
is more commonly used.
9
1,1.2 SW-wConfi&.uract,J”
CO”t,
(5) Host Controller
A host controller controls a servo amplifier by specifying a position or speed as a set

point.
For speed reference, a position control loop maybe formed in the host controller when
a position feedback signal is received. Yaskawa PROGIC-8 is e typical host controller,
m TERMs ;
PROGIC-8
A programmable machine controller, If combined with a

servo amplifier for speed control (maximum eight axis
control), the PROGIC-8 can provide position control.
The PROGIC-8 also provides programmable controller
~lm~~~l “
functions,
-1
1.1.3 Features of Z-Series Servos
1) X-Series SGMO Servomotors are synchronous type servomotors end have the following
features:
Rated rotation speed Rated output

Maximum rotation speed
❑
SGMG 1500 rlmin 0.45 to 11 kW
3000 r/rein (9 models)
1000 r/rein 0.3 to 6,0 kW
2000 rlmin (8 models)
SGMS 3000 r/rein 1.0 to 5.0 kW SGMG type
SGfvfD 2000 r/rein 2,2 to 4.0 kW
SGM 3000 r/rein 0.4 to 0.8 kW
SGMP 3000 rlmin 0.4 to 1.5 kW
SGMP WpS
2) SGDB model Servopacks allow the control of
speed, position and torque,
. Speed control (analog reference)
Accepts an analog voltage speed reference.
. Speed control (contact reference)
There are 3 internally set speeds, One of

these is selected as a reference by a contact.
● Position control (pulse reference)
Accepts a pulse train position reference
● Torque control (analog reference)
Accepts an analog voltage torque reference
11
1.1,3 Features of X%viex Serum cont.
3) The most common use of a Servopack for speed control is shown below.
● Using Servopack for speed control
Host controller
Position reference+ w
Position
feedbacl
(Analog am IiHer
A
volts e) . ServOmOtOr
J
Position +Speed
IW
COnverf
7 JUUUL Pulse train
Position feedback Encoder
,
As shown in the above figure, a position control loop is formed in the host controller. The
host controller compares a position reference with a position feedback signal and sends
the processed result to the Servopack as a speed reference,
In this way the host controllercan be freed from petiormingtheservo mechanism control.
The Servopack undertakes the speed control loop and subsequent control processing.
The Yaskawaprogrammable machine controller PROGlC-8is usedasatypical hostcon- ,

troller.
,.
12
4) Servopack fortorque control can beusedas shown below,
. Using Setvopack for torque control
Host controller
Position
monitoring
Position
information@ Torque Swvopack
(torque control mode)
reference
am Ii’er
A
. SewOmOtOr
(Analog 1
voltsge)
(current)
)B
L ~ P,,&@j”
Encoder
Thehostcontrolleroutputs atorquereferenceto control the Swopack, Italsoreceivesa

pulse train (position information) from the Servopack and uses it to monitor the position.
5) Semopack forposition control canalso beusedas shown below
. Using Servopack for position control
I
P&ition Servopack
reference (position control mode)
I
Position
information
amplifier
Sewomotor
Pulse
train 1%
/ \
Speed/current loop
3
u . . . . *IWP.lse train
~ ‘nc:der
13
1.1.3 Features of Z-Series Servos cont.
The host controller can send a position reference (pulse train) to the Servopack to per-
form positioning or interpolation.
This type of Servopack contains a position control loop.
User constants can be used to select either of the following pulse trains:
(1) Code and pulse train
(2) Two-phase pulse train with 90° phase difference
(3) Forward and reverse pulse trains
The host controller receives a pulse train (position information) from the Servopack and
uses it to monitor the position.
6) A Digital Operator can be used to set user constants for a Servopack as follows:
(1) Setting user constants to enable or disable each furiction
(2) Setting user constants required for functions to be used
Set user constants according to the servo system to be set up.
14
BASIC USES OF X-SERIES
PRODUCTS 2
This chapter describes
ered. It also explains
X-Series products,
the first things to do when Z-Series
the most fundamental
Both first-time and experienced
ways of connecting
products
servo users
are deliv-
und operating
must read
❑
this chapter.
2.1 Precautions ............................. 16

2.1,1 Notes cm Use ., . . . . . . . . . . . . . . . . . . . . 16
2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2,1 Checking on Delive~y ., .,, ,,. . . . . . . . . . .,.,,,..,.,.. 18
2.2.2 InstaUinS the Sewmnotor 21
2.2.3 installing the Servopack . 24
2.3 Connection and Wiring . . . . . . . . . . . . . . . . . . . 27

2,3,1 Comecting to Peripheral Devices 27
2,3.2 Main Circuit Wiring and Power ON Sequence ., 31
2,3.3 Examples of Conn@ing 1/0 Signal Terminals ., 33
2.4 Conducting a Test Run . . . . . . . . . . . . . . . . . . . 40

2.4.1 Test Runin Two Steps . . . . . . . . . . . . . . . 40
2.4.2 Step 1: Conductinga Test Run for Motor without Load 42
2,4.3 Step 2: Conducting a Test Run with the Motor
Connected to the Machine . . . . . . . . . . . . 46
2.4.4 Supplementary Information o" Test R"n, ................ 47
2.4.5 Minim”m User Constants Required andlnpWSignds 49
15
BASIC USES OF X-SERIES PRODUCTS
2. Z.l NOWCVI Use
2.1 Precautions
~ This section provides notes on using Z-Series products.
2.1.1 Notes on Use . . . . . . . . . . . . . . . . . . . . . . . .. .. .. 16
2.1.1 Notes on Use

NOTE Always note the following to ensure safe use.
Use 200VAC power supply

,,
Be sure to use the correct type. Do not plug the Drect
Setvomotordirectly into the power frequency sup-
ply (Direct connection to the power frequency 200VA
supply will damage the Servomotor.) power
Damage will result!
Alweys use the SGMU Servomotor snd SGDB Servopack in psirs.
Check whether the combination of applicable mo- Recheck the setling

torseries of Servopack and of SGMU ( motor se- of user constant Cn-2A
n (motor select,on) after
ries) is correct or not. Check the setting of user Ii 0/
H changing its combina-
constant Cn-2A (motor selection) and always af- . tion.
7.
,- Refer to Section 3.3.4.
ter changing its combination. The motor may get DC
damaged if the combination is not correct.
Do not change wiring when power is ON.
Always turn the power OFF before connecting or
Q
disconnecting a connector. i~] , 1:
~j-n # , OFF
(Except for Digital Operator (Types: JUSP- (POWER and
& CHARGE lamp)
OP02A-1 , JUSP-0P03A)) ~%. ”
.-
Always turn the power
OFF before connect-
ing or tisconnectin~ a
-c co-nnector.
Note that residual voltage still remaina in the Servopack even after tha power ia
turned OFF.
Even after the power is turned OFF, residual elec-

&
tric charge still remains in the capacitor inside the r
=’8=
Servopack. To prevent an electric shock, always .—
wait for the CHARGE Iampto go OFF before starl-
ing inspection (if necessary). CHARGEIsmp M
2,1 Precautions
. Alwaya follow the specified inataliation method. Provide su@cient clearance

L_J lonm-
The Servopack generates heat. Install the Servo-
5orrlrnT +!4+!!..
pack so that it can radiate heat freely. Note also
that the Servopack must be in an environment
free from condensation, vibration and shock.
tem
Perform noise reduction and grounding properly.
m
If the signal line is noisy, vibration or malfunction
will result.
● Separate high-voltage cables from low-voltage cables.
s’””~>: ServOmOtOr
● Use cables as shofl as possible. $
● Use at least class 3 grounding (ground resistance
100Q or below) for the Servomotor and Servopack.

> Clsss 3
● Never use a line filter for the powar supply in the
grounding
motor circuit.
Conduct a voltage reaiatance teat under the following conditions.

● Voltaga: 1500 Vrms AC, one minute
n Conducta voltage
● Currant limit 100 mA {,0:
:! resistancetest
● Frequancy 50/60 Hz . underthe conti-
● Voltage application points: Between r, t, R, S, T ,_=Qs: fionsgiven on tha
terminals and frame ground (connect terminals Ien.
securely). B
Uses fsst-response type ground-fault interrupter.
For a ground-fault interrupter, always use a fast- Ground-fault interrupter
response type or one designed for PWM invert- GOOD GOOD POOR
ers. Do not use a time-delay type.
mmm
Do not perform continuous operation under overhanging Iosd.
Continuous operation cannot be performed by ro-

Sewomotor
tating the motor from the load and applying regen-
erative braldng. Regenerative brating by the Ser-
vopack can be applied only for a short period,
such as the motor deceleration time.
i
K
Regenerativebrahng
continuouslyappbed
The Servomotor csnnot be operated by turning the power ON and OFF.
Frequently turning the power ON and OFF causes Sewopack

.,. ~.
%.*
the internal circuit elements todetetiorate. Alwaya .,,,
start or stop the servomotor by using reference ““<,>$’’’’’’” ;
pulses. k
=~~.. 4
;
Stating and stopping by
turning power ON and OFF
17
2.2.1 Checking on Delivery
.
2.2 Installation
This section describes how to check Z-Series products on delivery and how to install
II them.
2.2.1 Checking on Delivery, ............................................ 18

2,2.2 installing the SerVomotor . . . . . . . . . . . . .,, . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2,3 installing the SerVopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2.1 Checking on Delivery

1) When Z-Series products are delivered, check the following items:
Check Items Remarks

Check if the delivered products are Check the types marked on the nameplates of
the ones you ordered. Sewomotor and Servopack (see the table below).
Check if the motor shaft rotates If the motor shaft is smoothly turned by hand, it is
smoothly. normal. However, if the motor has brakes, it cannot be
turned manually.
Check for damage. Check the overall appearance, and check for damage
or scratches resulting from transportation.
Check screws for looseness. Check for looseness by using a screwdriver as
necessary.
If any of the above items are faulty or incorrect, contact the dealer from which you pur-
chased the products or your nearest local sales representative.
18
2.2 I“stdfation
Nameplate I
SGMS-10
7. 7
❑ n
T optionspecifications
I
J
J
z-series ElDC90VBRAKE
Sewmmtor c DC24VBRAKE
.. .-,“!4 .. .. ..
seriesflame F DC90;aRAKE
ofDr.duc[,
G seMs G. DC24VBrake
S SGMS
D SGMD
Motorcaoacityi shefispecimamns
(SeetheTablebdow) A standard(straight
without
keY
withoptionspecifications)
Standard— 0 Straight
withkey,
A :YASKAWAStmdar~ shaftendtap(oneplace)
C.TaMr1/10,w,thParallel
kw
DTwer 1/10,withsemicirclekeY
(ForG sefles05,09 tYP,only)
Ratedrotation
spmd
A SGMG1500,/.1”
SQMS3000rlml”
SGMD2000rlmin
& SGMG1000rim!”
EncoderSwcilicallo.s
(SeetheT,blebelow)
Motor capacity (kW)
.,
E=4!%E@
‘Ex~:~.p
!l=A—
I U.45I I I
AC SERVOMOTOR -1 I:!Uo ‘ u.!
‘.6
L‘m,
TVPESGI4S.1OMA . I !
09 0.85 O.b
w N.m A ~,,
;ervo TWO 2.18 10 1.0
lotor dmi. m 94to 1.2
.W. VLwn,., .C.n
12
. .
x-Setias
ServOmotOr
~icoder specifi.ationa I
O Standard O Non-standard
Code Specification SG SG sG
MS MG MD
2 8192 P/R o 0 0
incremental
6 4096 P/R o 0 0
incremental
w 12 bit absolute o 0 0
s 15 bit absolute o 0 0
—
Note Refer to Item 3 in Section 5.1.1 Se/ecting a Semvrwforfor the SGMP-I 5A type.
19
BASIC USES OF Z-SERIRS PRODUCTS
2.2.1 Checking on Deliwy cent,
Appearance Nameplate Type

SGDB-IOAD S-O
..ser p :pMsH:fiPe
SGDBServoPack Applicable
..,., mm,
G SGMG(?,00 rlmi”)
MotorC.W.IIY J M SGMG(1000rl.io)
(S.s theTablebelow] s SGMS
D SGMD
P SGMP
BlankSGM
Servopack type
m torque,
speed,pmitioncontrol
L
c
F+ ~
..
= o,3;;~pacityW’)
?rvO- ‘p:..
,-... e ::r:::;ity
. SIU 412808-15-1
ick
y YP.SKAW&E:~C&l~ 05 0.5
07 0,7
n [D] ImuMmtimmMIu
10 1.0
x-Series SGDB
Semopack Serial output power 15 1.5
number
20 2.0
Applicablepowersupply 3.0
30
44 4.4
50 5.0
60 6.0
75 7.5
1A 11.0
20
2,2 I“,talkztion
2.2.2 Installing the Servomotor

Servomotor SGMD type can be installed either horizontal[yorveflically. However, if the Ser-
vomotor is installed incorrectly or in an inappropriate location, the service life will be shorl-
ened or unexpected problems will occur. To prevent this, always observe the installation
instructions described below.
Before installation:
Anticorrosive paint is coated on the edge of the motor shaft to prevent it from rusting dur-
ing storage. Clean off the anticorrosive paint thoroughly using a cloth before installing the
motor.
rosivepaintis m
here
Storage
When the Servomotor is to be stored with the power cable disconnected, store it in the
following temperature range
Between -20”C and 60”C
21
2.2,2 Imtalli.g the Servomotm cont.
The Servomotor SGMO type is designed for indoor use.

Install Servomotor in an environment which meets the following conditions:
a) Free from corrosive and explosive gases
b) Well-ventilated and free from dust and moisture
c) Ambient temperature of Oto40”C
d) Relative humidity of20%to 80%(non-condensing)
e) Inspection andcleaning can be performed easily
If the Servomotor is used in a location subject to water or oil mist, the motor can be pro-
tected by taking necessary precautions on the motor side. However, if the shaft opening
is to be sealed, specify the motor with oil seal. Install with the electrical connector facing
downward.
Align the shaft of the Servo motor with that of the equipment to be controlled, then connect
the shafts with couplings. Install the Servomotor so that alignment accuracy falls within
the range shown below.
Measure t~s tistance at four different positions in the circumference. The

tiffsrence betwesn the m=imum and minimum measurements must be
0.0S mm or less. (Turn together with couplings)
.> :.
;..
Measure !tis tistance at four different positions in the

ab
circumference. The Wference betweenthe maximumand minimum
measurementsmustbe 0.03 mm or less. (Turntogetherwith
C co.plings)
NOTE lftheshafts arenotaligned properly, vibration willoccur, resulting indamagetothe bearings.
m TERMS;
Shaft opening
Refers to the space where the shaft comes out from the motor.
1 /’
Shafi
opening
–~
22
2,2 I.st.iiatwn
A precision detector (encoder) is mounted on the opposite-drive end of the servomotor.

To mount a coupling, always protect the shaft from impacts that could damage the detec-
tor,
Perform a mechanical design so that thrust load and radial load aPDlied to the servo-
motor shaft end falls within-the range given in the following table
Allowable
Allowable
Thrust
Motor Type Radial Load Reference Drawing
Load Fs [m~~n.)]
Fr [N(lb)]
[N(lb)]
SGMG-05AUA 490 (110) 98 (22) 58 (2.28)
-09ARA 490 (110) 98 (22)
-13AnA 6a6 (154) 343 (77)
-20AnA 1176 (265) 490 (110) 79 (3.11)
-30AnA 1470 (331) 490 (110)
GEi%-
-l AAflA
SGMG-03AOB
-06AnB 490 (11
-09ADB 6?36(1:
,.
-12ADB
-20ACIB 1470 (331) 490(110)
-30AnB 1470(3 131) 490 illo)
-44AUB + 1764 (3397) 5aa (132) 113 (4.45)
-80AEIB 1764 (397) 588 (132)
.77)
54) I 196 (44)

.46)
?65) I 392 (86)
Note Allowable radial loads shown above arethemaximum values thatcouldbeap-

plied to the shaft end.
m
TERMS!
Thrust
1,
load and radial load
Thrust load: Shaft-end

centerline of a shaft
load applied parallel to the
Motor
8
2.
4-1.
2. Radial load: Shaft-end load applied perpendicularto
D Shaftend
the centerline of a shaft
23
BASIC USES OF .X-SERIES PRODUCTS
2.2.3 Installing the Sewopack
2.2.3 installing the Servopack
X-Series SGDB Servopack is a base-mount type ser-

vo controller.
n
Incorrect installation will cause problems. Always ob- ~j -n ~#1
serve the installation instructions described below.
:=
m.
.- ‘8-
Storage:
0
When the Servopack is to be stored with the pow- SGDe Servopack
er cable disconnected, store it in the following
temperature range:
Between –20°C and 85°C
Installation sitee:
Situation Notes on Installation

Design the control panel size, unit layout, and cooling
When installed in a control panel method so that the temperature around the periphey of
the Servopack does not exceed 55-C.
Suppress radiation heat from the heating unit and a
When installed near a heating temperature rise caused by convection so that the
unit temperature around the petipheiy of the Servopack does
not exceed 550C.
When installed near a source of Install a vibration isoletor underneath the Servopack to
vibration prevent it from receiving vibration.
Corrosive gases do not immediately effect the Servopack
When installed in a place
receiving corrosive gases
but will eventually cause contactor-related devices to
malfunction. Take appropriate action to prevent corrosive
I gases.
I
Avoid installation in a hot and humid place or where
Others
excessive dust or iron powder is present in the air.
Orientation: f?
❑
Install the Servo pack perpendicular to the wall as 1
shown in the figure.
n”
The Servopack must be orientated as shown in

the figure. E
??
Ventilation
. Firmly secure the Servopack through four

mounting holes.
24
2.2 Installation
installation method:
When installing multiple Servopacks side by side in a control panel, observe the following
installation method:
or more
xm’lre~ormore I 50 ml’ or more
a) Install Sewopack perpendicular tothewall sothatthe front panel (digital operator

mounted face) faces outward.
b) Provide suficient space around each Sewopackto allow cooling by fanand natural
convection.
c) Wheninstalling Sewopacksside byside, provide atleast 10mmspace between them

and at least 50 mm space above and below tham as shown in the figure above, Install
cooling fans above the Servopacks to prevent the temperature around each Servo-
pack from increasing excessively and also to maintain the temperature inside the
control panel evenly,
d) Maintain the following conditions inside thecontrol panel:
.Ambient temperature for Servopack 0t055°C
. Humidity: 90 °/~RH or less
●Vibration: O.5G (4.9 m/s2)
●Condensation and freezing: None
.Ambient temperature toensure long-term reliability :45 °C or less
25
BASIC USES OF Z-SERIES PRODUCTS
2,2.3 Installing the Servopack cont.
Power loss
Power loss of Servopack is given below:
Power loss for rated output
output Power loss Power loss Power [0ss

Power 10s.s
Servopack current in main of in control
in total
type (RMS~lue) circuit regenerative circuit
w
w resistor W w
SGDB-03AD0 3.0 18 30 20 66
SGDB-05AD0 3.6 27 77
SGDB-07AD0 5.7 41 91
SGDB-1 OADU 7.6 55 105
SGDB-15ADD 11.6 BO 130
SGDB-20AD0 18,5 120 170
SGDB-30ADD 24.6 170 22 222
SGDB-44AD0 32.9 250 60 24 334
SGDB-50ADD 28.2 260 344
SGDB-60ADD 46.9 290 27 317
SGDB-75ADD 54.7 330 357
SGDB-l AADU 58.6 360 30 390
Note a) Power loss of regenerative resistor is allowable loss. If the loss exceeds the
allowable loss, the regenerative resistor inside the Servopack should be re-
moved and connected externally. Because the model in which the regenera-
tive resistor is externally connected falls into non-standard specification cate-
gories, contact YASKAWA for further information.
For this non-standard type, “Y8 is appended to the end of the standard model
number.
b) For SGDB-60 to 1AAD models, the regenerative resistor is placed separately.

The regenerative resistor unit provided from YASKAWA is described in Sec-
tion 3.8,4 Using Regenerative Resistor Units. Its power loss for SGDB-60AD
is 180W (type: JUSP-RA04), and for SGDB-75AD and -1 AAD is 350W(type:
JUSP-RA05),
26
2.3 Connection and Wiring
7
2.3 Connection and Wiring
This section describes how to connect Z-Series products to peripheral devices and
explains a typical example of wiring the main circuit. It also descflbes an example of
connecting to main host controllers.
2.3.1 Connecting to Peripheral Devices .... . .. . .. 27

2.3.2 Main Circuit Wiring and Power ON Sequence 31
2.3.3 Examples of Connecting 1/0 Signal Terminals ., ,. ..., 33
2.3.1 Connecting to Peripheral Devices
This section shows a standard example of connecting X-Series products to peripheral de

vices and briefly explains how to connect to each peripheral device.
27
2,3.1 Co.nmttnCf. Peripheral Devices cont.
r \/ Host controller \
,-
Sewopack is compatible withI most P.L.C.
Connector terminal block conversion unit
motion controllers and indexem
1CN connector W
See next page
Cable with 1CN connector and cT-!l--l ”--”’’ ”’lllo
one end without connector }
\
;~~~~fl~ o
/
PROGlca
Power supply /’
\’@
3 phase AC 200V
Molded-case circuit )
Drgital Operator
breaker (MCCB) RST
In 1+‘
Allowstheuser,0 se, “s,, .Ons,mtsor
Used to protect ODemticm relerenmsandWPI.!Yowratior
SW”, orelwr st,,”,. Thefollowingtwo
power supply IYPMareavailable inaddton10Personal
o line. Shuts the ,.. ,....,.
.“”,., ,,.,..
circuit off if
F==Til
9
oB overcurrent is
detected.
..., Bn
clrcu(l meaKer ,-
.
Noise filter Mount type (JUSP-0P03A)
TMs type can be rnomt’ed
I II
1111
Used to eliminate external
noise from power supply directly on the Servopack.
fine.
‘m u
gg ~::;%$
cable included
Personal computer
,-
m II
~
Brake Power SUPPIY +’ 47’1 II II ;
~ ~Q?Kyyp’y ---=-J’ ~1,
/oi?%F1
--- ~egenera.aI
---
--k.~--~. ~ tive resistor I
--- ~:. (O@ I
--l I ‘fi
P
0
o
28
2.3 Connection and Wtif
. . Connector terminal block conversion unit (Type: JUSP-TA50P)
The terminal block allows connection to a host controller.
ICN
0.5 meter cable

1CN connector
. Cable with 1CN connector and one end without con-

nector
1m (3.3ft) DE9406969-1
2m (6.6ft) DE9406969-2
3m (9.8ft) DE9406969-3
● 1CN connector kit (Type DP9406970)
1CN
ID
. Cable for PG
This cable is used to connect the encoder of Servomotor to the Servopack,

The following three types of cables are available according to encoder types,
For models SGMG, SGMS, SGMD
a) Cable with a single connector (without connector on encoder side)
c-’+=
b) Cable with connectors on both side (straight plug on encoder side)
m ““ 29
2.3,1 ConnectiIIg to Peripheral Devices
c) Cable with connectors on both side (L-shape plug on encoder side) F
For models SGM, SGMP
a) Cable with connectors on both side

.
b) Cable with a single connector (without connector on Servopack)
.,
20m (65.6ft) I DP9320088-5 DP9320085-5
c) Cable without connectors
,-
. Connector kit (DE9406973)for PG. Servopack

Connector on Servopack side only side
2CN
:1 I
m
30
2.3 Cmndion and Wirizg
\ 2.3.2 Main Circuit Wiring and Power ON Sequence

1) The following diagram shows a typical example of wiring the main circuit for Z-Series
products:
Three-phsse200 to 230 VAC :$~~ (50/60 Hz)

Servopack
‘~’ R%!”)
UA
v ,s ~
WC
FG@ D
-.
\~
;,, PG
,,
I?iF .—
@FG
b;d W —
L
1SUP
1MCCE Circuit breaker (for inverter type)
FIL Noise filter
IMC: COntactOr
1Ry Relay
1PL Lamp for dsplay
IsUP; Surge suppressor
1D: Flywheel dode
2) The following table shows the name and description of each main circuit terminal:
Terminal
Name Description
Symbol
Main power input Three-phase 200 to 230 VAC ~~j %, 50/60Hz
@3@Q
terminals
~@@ Motor connection
Used to connect motor
termmal
Single phase 200 to 23o VAC ~;:./O , 50/60Hz
Connected to earth. (For power ground and motor ground).
Servopack with power capacity less than 5 kW (Normally,

external connection is not required).
~
Regenerative
resistor unit Terminalused to connect regenerative resistor for
@@ connection Servopack with power capacity more than 6 kW.
terminal
Main circuit minus
@ Normally, external connection is not required.
side terminal.
Note PI terminal is not available for Servopack with power capacity less than 5 kW.
31
BASIC USES OF x-SERIES PRODUCTS
2.3.2 Main Circuit Wiring mtd Power ON Sequenze cont.
3) Forma power ON sequence as follows: ,-
a) Form a power ON sequence so that the power is turned OFF when a servo alarm sig-
nal is output, (See the circuit diagram shown on the previous page.)
b) Hold down the power ON push-butlon for at least two seconds. The Servopack out-
puts a servo alarm signal for approximately two seconds or less when the power is
turned ON. This operation is required to initialize the Setvopack.
power,”,,,, ~
* maxz,os .
~ ~~
Servoalarm(ALM)outputsignal
NOTE
● Do not wire power lines and signal lines in the same duct or bundle them together.
Wire such that signal lines are kept apart from power lines by at least 30 cm.
.
● Twisted pair wire and multi-core twisted pair shielding wires should be used for signal
lines, encoder (PG) feedback line,
The Iengthforwiring is 3 m maximum forthe reference input line, 20 m maximum for the
PG feedback line.
. Do not touch the power terminal even if power was turned OFF.
High voltage may still remain in Servopack.
Perform inspection only after the CHARGE lamp is OFF.
.
. Avoid frequent[yturning thepower ON and OFF. Since the Servopackhas a capacitor in

the power supply, a high charging current flows (for 0.2 second) when the power is
turned ON. Therefore, frequently turning the power ON and OFF causes the main cir-
cuit devices (such as capacitors and fuses) to deteriorate, resulting in unexpected
problems.
32
\
2.3.3 Examples of Connecting l/O Signal Terminals
1) This sub-section provides typical examples of connecting to main host controllers. Con-
nection to other host controllers is also possible. Connect to the host controller according
to the connection examples shown below by referring to technical documentation for the
host controller.
NOTE This sub-section describes signals related to the SGDB Servopack only. For other sig-
nals, refer to the relevant technical documentation.
2) Connection to PROGIC-8
w
SpeedlTorque
Servopack for SpeecWorque Control
Je&&a
~“=it—-
‘ These pin numbers are also applicable to SV2 to SV4,
33
BASIC USES OF z-SERIES PRODUCTS
2,3.3 E.raqk of Connecting 1/0 Sigrtal Terminal, cont.
3) Connection to GL-Series Positioning Module B2833
Servopack for Speed/Torque Control
El
Speed~orque
.“
‘f +24VIN
‘B
sm— /
Par ~
N4T
4Ri
.
ALM 3 ,W
(+)
AL(Y 32
-R
49
+5V w
10 —.
11 I
tcv ,2 ,,2V ‘ These signals are output for approximately
+-q two seconds when the power is turned ON.
..-A!:& Take this into consideration when designing a
power ON sequence. /
Relay 1Ry is used to stop main circuit power
supply to the Servopack.
34
. 4) Connection to GL-Series Positioning Module B2813
Servopack for Position Control
k
Position
“n .1 -T
-1%
v ‘M
IS
Y=C
“
E
E
‘i ‘!1
/@j ,24 @4v
+24,,, ‘ 47
sm—
P4T
~a7 ,8 3
w .,
31 1Ry
ALU(.)
ALM(-)
._B 32
L-—.-. J
‘1 These signals are output for approximately

two seconds when the power is turned ON.
Take this into consideration when designing a
power ON sequence. Relay 1Ry is used to
stop main circuit power supply to Sewopack.
‘2 Change the Cn-02 setting as follow%
Sit No.3=1
Bit No.4=o
Sit No.5. O
35
2.3,3 E.rmnpla of Con.ecliaC ItO Signal Terminals cont.
5) Connection to OMRON Position Control Unit C500.NC221
Servopack for Speed/Torque Control
H
Speed florque
—.—
SERVOPACK
._.
t SGDB-[:X;AD:; 1
C500-NC221 bw-
;:
,:
(MADEBYOMRON)
P
~;,::-;:~y
m
CCWLX
—.—
STPx
ORDX P.OT m
EMGX 42
Cwlx 3Ry
.%m
N-OT
DC GND 43
DC QNO * .m. %v
! ‘“’ , ~ —
WT.1 x ?im
Xom’ v-REF
X.AG (T-REF)
I
!—. _ .=. r ~ FE I
‘ These signals are output for approximately two seconds when the power is turned
ON. Take ttis into consideration when designinga powerON sequence.Relay 1Ry is
used to stopmaincircuitpowersupplyto Servopack.
Note The signals shown here are applicable only to OMRON Sequencer
C500-NC221 and Yaskawa Servopack SGDB-DUADD.
,-
36
6) Connection to OMRON Position Control Unit C500-NCI 12
w
SSRVOPACK
t :p
I SGDB-;:!!3@~ _.—
Position
=$’
1)0
POWER
SUPPLY
- R
+....-+
I
i
=%=
.
~ i z+24V”
“-2 ALU
T ‘5V
7.i
=< &5E
-...-.”” - 1
DIRtiCTlON OUTPUT 10R 1: gsm 4
—.—. Cw —
;: <cm
~b —.— -1
V These signalsare outputfor approximatelytwosecondswhenthe poweris turnedON. Take dls

into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit
power supply to Sewopack.
‘2 Change the Cn-02 setting as follows
Bit No. 3=1
BtNo.4=0
~tNo.5=0
‘3 Manufactured by Yaskawa Controls Co., Ltd
Note The signals shown here are applicable only to OMRON Sequencer C500-NC112 and
Yaskawa Servopack SGDB-OOADU
37
2,3,3 Examples of Connecting 110 Signal Terminals cont.
7) Connection to MITSUBISHI Positioning Unit AD72 ,
Servopack for SpeecUTorque Control
El
SpeedKorque
‘I These signals are output for approximately two seconds when the power is turned ON. Take this into
consideration when designing a power ON sequence. Relay 1Ry is used to stopmaincircuitpower
supplyto eewopack.
‘2 These pin numbersare the same for bothX and Y axes.
Note The signals shown here are applicable only to MITSUBISHI SequencerAD72 and Yas-
kawa Servopack SGDB-ODADO.
38
2.3 Confection and Wirinz
8) Connection to MITSUBISHI Positioning Unit AD71 (B Type)
m
Position
!/0 pOWERSUPPLY
—
—
==&%-1 : X AXIS(YhlS1 I
—.— ._ 7
V These signals are output for approximately two seconds when the power is turned ON. Take this into
consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power
supply to Servopack.
,2 Manufactured by Yaskawa Controls Co., Ltd.
Note The signals shown here are applicable only to MITSUBISHI Sequencer AD72 (B Type)
and Yaskawa Servopack SGDB-nOADn.
39
2.4,1 Tes1 Run i. Two StqS
2.4 Conducting a Test Run
This section desctibes how to conduct a full test run. The test run is divided into two
I steps. Complete a test run in step 1 first, then proceed to step 2.
2.4.1 Test Runin Two Steps . . . . . . . . . . . . . . . . . . . . 40

2.4,2 Step 1: Conducting a Test Run for Motor without Load 42
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine 46
2.4.4 Supplementary information on Test Run . . . .. . . 47
2,4.5 Minimum User Constants Required and Input Signals 49
2.4.1 Test Run in Two Steps

Conduct the test run when wiring is complete.
Generally, conducting a test run for servo drives can be clifficult. However, by following the two
steps described below, the test run can be performed safely and correctly.
NOTE To prevent accidents, initially conduct a test run onlyfora servomotorunderno load (i.e., with
all couplings and belts disconnected). Do not run the servomotor while it is connected to a
machine.
The test run is divided here into steps 1 and 2.
Complete the test run in step 1 first, then proceed to step 2. The purposes of each step are
described on the next page.
2.4 Conducting a Test Run
f Step 1: Conducting a test run frmthe rnotorwitho.t load Check that the rnotoriswired cormctlv. \
Operate the mo-
Conduct a test run with the motor shatt disconnected
tor with a Oigital
from the machine.
~ilr~ ,- Operator.
ti~l~j ~f .-—J
@ Purpose . To check power supply circuit wiring
~& =,8: . To check motor wiring

. To check 1/0 signal (1CN) wiring
I ~’.-
, ,{
1- Outline . Turn the power ON
_\ ..z:z~,
D . Operate the motor with a digital op-
Check wiflng. erator
. Check 1/0 signals (1CN)
00 not connect
b . Conduct a test run using 1/0 signals
to a machine.
Step 2: Conducting a test run with the motor and

mac~neconnected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Adjust Sewopack according tomacMne
characteristics.
Connect to the macMne and conduct a test run.

I I
Purpose: . To periorm autotuning to adjust the mo-
tor according to macMne characteris-
Speed adjustment by
autotuning tics
. To match the speed and o!rection of
SGDB
rotation with the mac~ne specifications
. To check the tinal control mode
Connect to the machine.
/ \
For servomotors with a brake, refer to Section 2,4.4 .%pplernentary /nfornration on Test
Run before starting a test run,
The following pages describe the test run procedure in detail
41
2.4.2 Step 1: Conducting a Test Run for Motor withonf Load
2.4.2 Step 1: Conducting a Test Run for Motor without Load

Check that the motor is wired correctly.
If the motor fails to rotate properly during a servo drive test run, the cause most frequently lies
with incorrect wiring.
Conduct a test run for the motor without load according to the procedure described below.
For customers who use a servomotor with brake, refer to Section 2.4.4 Supp/ernentaiy /f-
ormation on Test Run before starting a test run.
Operate the motor with

s Digitsl Operstor.
Check witing.
00 not connect
to the mschine.
(1) Secure the servomotor. Secureserwmotor to mountingholes.

Secure the servomotor to mounting holes to Do not connect
prevent it from moving during operation. Alter-
natively, install the servomotor on the machine ‘:?[e #;!~the
and disconnect couplings and belts. @ status).
(2) Disconnect connector ICN, then check the

motor wiring in the power supply circuit. q], :g:::;t
1/0 signals (1 CN) are not to be used so leave
g i CN
connector ICN disconnected. -,*:
.-
D
“Y
(3) Turn the power ON.
Turn the Servopack power ON, If the Servo-
‘“’mm m
pack is turned ON normally, the LED on the Alternstely dsplayed
Digital Operator lights up as shown in the fig-
Example of alsrm dsplay
ure.
Power is not supplied to the servomotor be- (,F3 g;’ey~:~;
cause the servo is OFF. Alarm D!splays.
If an alarm display appears on the LED as

shown in the figure above, the power supply /
circuit, motor wiring or encoder wiring is incor-
rect. Inthiscase, turn the power OFF, then cor-
rect the problem.
42
(4) Operate using the Digital Operator Operation by ~gital Operator
D
Operate the motor with the Digital Operator.

Check that the motor runs normally.
Refer to Section 4.2.2 Operation Using the

EB
l--n
.
me
mo
If an alarm occurs, the powsr supply

circuit, motor witing, or encoder
Digits/ Operator witing Is incorrect.
(5) Connect signal lines,
Connect connector lCN as follows:
(1) Turn the power OFF.
(2) Connect connector lCN,
(3) Turn the power ON again.
(6) Check input signals, Internal status bit dklav
Check the input signal witing in monitor mode,

For the checking method, refer to Section
4.1.6 Operation in Monitor Mode.
. Checking method The memory switch can be

Turn each connected signal line ON and used to eliminate the need
fOr external short-circuits in
OFF to check that the monitor bit display wiring (see pages 56 and
changes accordingly. 130).
Input Signal ONIOFF Monitor Bit Display

High level or open OFF Extinguished
O V level ON Lit
If the signal lines below are not wired correctly, the motor fails to rotate. Always wire
them correctly. (If signal lines are not to be used, short them as necessary,)
P-OT 1CN-42 Motor can rotate in f(orward direction when this input signal is at O V.
N-OT I 1CN-43 I Motor can reverse when this inn,
.,mt signal is at O V.
s-or v 1CN-40 Sewo is turned ON when this input signal is at O V. However, leave
I I the servo in OFF status.
I
43
BASIC USES OF 2-SERIES PRODUCTS
2.4.2.@ 1: Conducting a Test Run for Motor nilhout Load cont.
(7) Turn servo (motor) ON. Setvopack Servomotor

,
Turn the servo ON as follows:

74’CN-40K
(1) Check that no reference has been input.

411
0“
Turn the sewo ON
For spaed/torque control:

V-REF (I CN-5) and T-REF (l CN-9) are at O V
For position control:

PULS (I CN-7) and SIGN (l CN1l) are fixed.
Note The user constant Cn-2B is usad to set control modes (refer to Section 3.2 Seftirrg
User Constants According to Host Corrtrollerj.
(2) Turn the servo ON signal ON. Dsplay whenservois turnedON
Set S-ON (I CN-40) to OV. If normal, the motor

m
starts and the Digital Operator displays the
dataaa shown in the figure. If an alarm display
appears, take appropriate action as described
in Apperrdk D List of A/arm Disp/ays.
(8) Operate by reference input
The operating procedure varies according to the setting of usar constant ‘Control
mode selection (Cn-2B)’
~] SemopackforSpeed~orque
L?ii?iJ This section describes the standard speed control Servopack
‘etting
(1) Gradually increase the speed reference input
(V-REF, 1CN-5) voltage. The motor will rotate. e
Servomotorrotatesat a speed
proportionalto the referencevoltage.
When a host controller such ass programmable controller performs position

control, it may be difficult to directly input the speed reference voltage. [n this
case, constant voltage reference should be input once to ensure correct opera-
tion.
(2) Check the following items in monitor mode (see page 188):
(1) Has a reference speed been input?
(2) Is the rotation speed the same value as

the satting one?
44
(3) Does the reference speed match the actual motor speed?
(4) Does the motor stop when no reference is input?
Un-00 Actual motor speed

Un-01 [ Reference s~eed
(3) If the motor rotates at an extremely slow speed when O V is specified as the reference
voltage, correct the reference offset value as described in Section 4.2.4 Reference
Offset Automatic Adjustment
(4) To change motor speed or the direction of rotation, reset the user constants shown
below,
Cn-03 I Speed reference gam (see page 68)

,R
Cn-02 blt O ] Reverse rotation mode (see page 54)
L!ik!!d
(1) Set user constant Cn-02 so that the reference pulse form matches the host controller
output form. (See page 183 for details on how to set user constants.)
Selecting reference pulse form (See psge 70)
en-02 ~
(2) Input slow speed pulses from the host control- Host
controller Ssrvopack
Ier and execute low-speed operation,
(3) Check the following items in monitor mode ~

(see page 188): L
(1) Has a reference pulse been input?
(2) Is the motor speed as designed?
(3) Does the reference speed match the actual motor speed?
(4) Does the motor stop when no reference is input?
Un-07 Reference pulse speed display
(4) To change motor speed or the direction of rotation, reset the user constants shown
below.
45
2.4,3 Step 2: Conducting. Test Run with the Motor Co.nec@d to the Machine
Cn-24,Cn-25 Electronic gear ratio (see page 81)

Cn-02 bit O ) Reverse rotation mode (see page 54)
If an alarm occurs or the motor fails to rotate during the above operation, connec-
tor 1 CN wiring is incorrect or the user constant aettinga do not match the host con-
troller specifications.
In this caae, check the wiring and review the user constant settinga, then repeat
step 1.
Refer to AppendixD List of Alarm Displays and Appendix C List of User Constants.
This is all that is required to complete step 1 (conducting a test run for motor without load).
Whenever possible, perform tuning associated with the host controller and other neces-
say adjustments in step 1 (before installing the motor on the machine).
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to

the-Machine -
After step 1 is complete, proceed to step 2 in which a test run is conducted with the motor
connected to the machine, The purpose of step 2 is to adjust the Servopack according to the
machine characteristics.
Conduct a test run according to the procedure described below.
Purpose% 1) Autotuning
2) Speed adjustment
r I 4 ●
Connect to the mschine. /
NOTE Before proceeding to step 2, repeat step 1 (conducting a test run for the motor without load)
until you are fully satisfied that the test has been completed successfully. Operation faults that
arise after the motor is connected to tha machine not only damage the machine but may also
cause an accident resulting in injury or death. Therefore, all items including user constants
setting and wiring should be tested as conclusively as possible before step 1 is complete.
(1) Check that power is OFF. Power

supply Servopack
Turn the Servopack power OFF.
:
1~~ -T
Power
,,
46
2,4 Conducting. Test Run
(2) Connect the servomotor to the machine. Installservomotoron machine.

Refer to Section 2.2.2 Installing the Servo- s~w~~~t~~
motoc
(3) Perform autotuning.

Tune the Servopack according to the machine
characteristics. Refer to Section 4.2.3 Auto-
tuning.
J2EEEE7
L1--m==
(4) Operate by reference input.
Se fvopack
Host
Servomotor
Servopack
❑
As in step 1 (conducting a test run for motor controller
n
k4ni Serv otof
without load), perform (8) Operate by refer- :;
ence input on page 44. Perform tuning %l.[. ... = 4
,_%
associated with the host controller.
m
(5) Set user constants and record the settings.
Set user constants as necessary, Record all
the user constant settings for maintenance Userconstsnls
purposes.
‘e
Record the seflngs
la
This is all that is required to conduct the test run
Normally, the machine may cause much friction because of an insufficient running-in pe-
riod. After a test run is complete, perform adequate running-in.
2.4.4 Supplementary Information on Test Run

1) In the following cases, always refer to the information described below before statiing a
test run:
● When using a servomotor with a brake
. When performing position control from the host controller
2) When using a servomotor with brake
The brake prevents the motor shaft from rotating due to a backdriving torque. Such a
torque may be created by an external force or the force of gravity acting on the load and
may result in undesired motion or the load, should motor power be lost.
47
2.4.4 SuPPlemetiaq Infw@im O“ Tat Run ccmt,
Servopack uses the brake interlock output (BK) signal to control holding brake operation
for a servomotor with brake.
. VerOcal axis . Axis to which extsrnal force is applied

omotor
Holding brake External force
Prevents the
motor from
I
rotating due to “s
gravity
NOTE Topreventfaulty operation caused bygravity(orexternal force), first checkthatthemotor

and holding brake operate normally with the motor disconnected from the machine.
Then, connect the motor to the machine and conduct a test run,
For wiring of a servomotor with a brake, refer to Secfion 3.4.4 Using Ho/ding Brake
Power supply
Three-phase
200 v %vopack
Brake control rela
Brake power supply

LPS+E-2HOI (200 Vinput)
LPDE.l Ho1 (100 V input)
Servomotor with brake
3) When performing poeition control from the host controller

Check motor operation first and then conduct a test run as described in the table below.
Speed
SGDS-::AD::
n
reference~j 8 I
ox
Host
controller
.-F
4%
._=-s:
o MM
Test run
for motor
Position Speed without
control control load
}
48
2,4 Conductin. . Test R“.
. NOTE Checkthemotoroperation withthemotordisconnected fromthe machine,lfthe hostcon-

troller does not perform position control correctly, the motor may run out of control.
Reference from
Check Items Check Method Review Items
Host Controller
Check the motor
speed as follows:
● Usethe speed
monitor (Un-00) of
the digital operator,
logging >heck whether the
constant-speed ● Runthe motor at peed reference gain
Motor speed low speed. For
eference input from alue (user constant
lost controller) example, inputa :n-03) is correct.
speed reference of
60 rlmin and check
that the motor
makes one
revolution per one
second.
● Input preference
equivalent to one
motor revolution >heck whether the
Number of motor hviding ratio count
;imple positioning and visually check
revolutions user constant
that the motor shaft ;n-OA) is correct,
makes one
revolution.
● Check that the
Whether the motor motor stops when the motor does not
)vertravel (when
>.cJTand N.OT stops rotating when P-OT and N-OT top, review the
P-OT and N-OT signals are input LOT and N.OT
ignals are used)
signals are input during continuous tiring.
motor operation.
2.4.5 Minimum User Constants Required and Input Signals

1) This section describes the minimum user constants that must be set to conduct a test run.
For details on how to set each user constant, refer to Section 4.1.5 Operation in User
Constant Setting Mode.
a) Basic parameters (common to speed, torque, position control)
Cn-11 Number of encoder pulses

Cn-01, bit E Encoder selection
Cn-2A Motor selection (check only in substance).
Cn-2C PG power supply voltage change
b) For speedltorque control
Cn-03 I Speed reference gain (see page 68)

Cn-OA I Dividing ratio setting
49
c) For position control
Cn-02 bits 3, 4 and 5 I Reference pulse form selection (see page 70)
Cn-24 I Electronic gear. ratio (numerator) (see page 81 )
Cn-25 I Electronic gear ratio (denominator) (see page 81 )
I
When these user constants (except for Cn-03) are changed, always turn the power
OFF, then back ON. This makes the new setting valid,
2) If the specified direction of rotation differs from the actual direction of rotation, the wiring
may be incorrect. In this case, recheck the wifing and correct it accordingly. Then, if the
direction of rotation is to be reversed, set the following user constant:
Cn-02 (bit O) I Reverse rotation mode (see page 54)
After changing the Cn-02 setting, always turn the power OFF, then ON, to make the new
setthg valid,
3) The following table Iiststhe minimum input signals required to conduct a test run. Forde-
tails of each input signal, refer to the relevant page,
Signal Name Function

I t4u!fier I
Switching between motor ON and OFF status. The
S-ON (servo ON) 1CN-40 memory switch can be used to eliminate the need for
external shod-circuit wiring (see page 130).
(forward
P-OT rotation lCN-42
prohibited) Overiravel limit switch
The memory switch can be used to eliminate the
(reveree need for external short-circuit wiring (see page 56).
N-OT rotet[on 1CN-43
,-
50
APPLICATIONS
PRODUCTS
OF Z-SERIES
3
This chapter is prepared for readers who wish to learn more about the applica-
tions of Z-series products after fully understanding Chapter 2 Basic Uses of
❑
X-series Products. It explains how to set user constants for each purpose and
how to use each function. Read the applicable sections according to your re-
quirements.
3.1 Setting User Constants According to Machine

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.1.1 Changing the Direction of Motor Rotation 54
3.1.2 Setting the Overf ravel Limit Function 56
3.1.3 Restricting Torque . . . . . . . . . . . . . . . . . . . . 59
3.2 Setting User Constants According to

Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.2.1 Inputting Speed Reference . . . . . . 64
3,2.2 Inpmting Position Reference. 68
3,2.3 Using Encoder Outputs .......... 73
3.2.4 Using Contact UOSignals .......... 77
3.2.5 Using Electronic Gear . . . . . . . . . . . . . . . 79
3.2.6 Using Contact Input Speed Control 83
3.2.7 Using Torque Control 87
3.2.8 Using Torque Feed-forward Function 94
3.2.9 Using Torque Restriction by Analog Voltage Reference 95
3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) 97
3.2.11 Using the Reference Pulse Input Filter Selection Function 98
3.2.12 Using the Analog Monitor . . . . . . . 99
3.3 Setting Up the Z Servopack ............... 100

3,3.1 Setting User Constants . ., .,..,... 100
3.3.2 Setting the Jog Speed . . . . . . . . . . . . . . . . 101
3,3.3 Setting the Number of Encoder Pulses ., 102
3.3.4 Setting the Motor Type . . . . . . . . . . . . . . 103
51
ChaDter Table of Contents. Continued
3.4 Setting Stop Mode . . . . . . . . . . . . . . . . . . . . . . . 105

3.4.1 Adjusting Offset ., . . . . . . . . . . . . . . . . . . 105
3.4.2 Using Dynamic Brake . . . . . . . . . . . . . . . 106
3.4.3 Using Zero-Clamp . .,, .,, ,, .,,,..... 107
3.4.4 Using Holding Brake.,.........,.. 108
3.5 Running the Motor Smoothly . . . . . . . . . . . . . . 112

3.5,1 Using [he Soft Start Function 112
3.5.2 Using the Smoothing Function 113
3.5.3 Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . 113
3.5.4 Adjusting Offset . . . . . . . . . . . . . . . . . . . . 114
3.5.5 Setting the Torque Reference Filter Time Constant 114
3.6 Minimizing Positioning Time . . . . . . . . . . . . . . 116

3.6.1 Using Autotuning Function . . . . . . . . . . . 116
3.6.2 Setting Servo Gain . . . . . . . . . . . . . . . . . . 116
3.6.3 Using Feed- forward Control 118
3.6.4 Using Proportional Control . . . . . . . . . . . 118
3.6.5 Setting Speed Bias . . . . . . . . . . . . . . . . 119
3.6,6 Using Mode Switch.,,,.,.,....,.,., 120
.
3.7 Forming a Protective Sequence . . . . . . . . . . . . 126

3.7.1 Using Servo Alarm Output and Alarm Code Output 126
3.7.2 Using Servo ON Input Signal 129
3.7.3 Using Positioning Complete Signal 130
3.7.4 Using Speed Coincidence Output Signal 133
3.7.5 Using Running Output Signal . . . . . . . . . 135
3.7.6 Using OL Warning and Alarm Output Signals 137
3.7.7 Using Servo Ready Output Signal 139 ,
3.7.8 Handling of Powerless 140
3.8 Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 141

3.8.1 Wiring Instructions 141
3.8.2 Wiring for Noise Control . . . . . . . . . . . . . 143
3.8.3 Using More Than One Servo Drive . . . . . 148
3.8.4 Using Regenerative Resistor Units 150
3.8.5 Using an Absol”tc E”coder. ., 151
3.8.6 Extending an Encoder Cable . .,.,...., 161
3.8.7 Using SGDB Sewopack with High Voltage Line 163
3.8,8 Connector Terminal Layo.ts ............ 165
..
Before Reading this Chapter
1) This chapter desctibes how to use each 1CN connector 1/0 signal for the SGDB Servo-
pack and how to set the corresponding user constant,
2) For a list of 1/0 signals of 1CN connector, refer to Appendix B List of //0 Signs/s,
For terminal arrangement for 1/0 signals of 1CN connector, refer to Secfion 3.8.8 Corr-
. . . . . . . . . . . . . ..
1/0 signsls
s ; Hostmntroller,[
— external
.,,.,;, :
3) For a list of user constants, refer to Appendix C List of User Corrsfants.
4) User constants are divided into the following two types,
1) Memory switch Set each bit to ON or OFF to select a function.

Cn-01 and Cn-02
2) Constant setting Set a numerical value such as a torque limit
Cn.03 and later value or speed loop gain,
5) For details
m User constsnts
on how to set
Constant Setting Mode.
user constants,
SGDa eervopack
k+l~
F+
..
=
.-
nt
=%:
refer to Section 4.7.5 Operation in User
53
APPLICATIONS OF Z-SERIES PRODUCTS
3.1.1 Ck..@g the Direction of MotorRotation
3.1 Setting User Constants According to Machine

Characteristics
This section describes how to set user constants according to the dime~sions and
performance of the machine to be used.
3.1.1 Changing the Direction of Motor Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

3.1,2 Setting the Overtravel Limit Function ............................... 56
3.1.3 Restricting Torque, ............................................... 59
3.1.1 Changing the Direction of Motor Rotation

1) This Servopack provides a reverse rotation mode in which the direction of rotation can be
reversed without altering the servomotor wiring. With the standard setting, forward
rotation is defined as counterclockwise (CCW)rotation viewed from the drive end.
2) If reverse rotation mode is used, the direction of motor rotation can be reversed without
other items being changed. The direction (+/–) of axial motion is reversed.
Standard Setting Reverse Rotation Mode
Q’
1-----
Ccw Encoder output
from Servopack
Forward Run Reference
3 (,,=. N
0— —
“.—
u
[,,.ss q
Reverse Run Reference

Q’s w%%%
n- ““”’h
D “-m
(ph.- 01
54
3.1 .$etting User Constants Accordinc to Machine Characteristics
. 3) Setting Reverse Rotation Mode:
Reverse rotation mode can be set in either of the following two ways. Normally, method 1
is easier to use.
Method 1: Setting Memory Switch
Set bit O of memory switch Cn-02 to select reverse rotation mode.
Cn-02 Bit O Rotation Direction Factory For Speed florque Control

Selection Setting: O and Position Control
Set the direction of rotation.
En
Setting Meaning
Forward rotation is
defined as
(Standard
o counterclockwise
setting)
rotation when viewed
from the drive end.
Fonvard rotation is
(Reverse
defined as clockwise
1 rotation
rotation when viewed
mode)
from the drive end.
Method 2: Shorting the Wiring in the 2CN Connector
Reverse rotation mode can be set for the 2CN SGDB Servopack SGMO Sewomotor
connector for the encoder. This method is used
to standardize user constant settings without
In tlls case, reverss rotation
=~j~::.packu2cN&N-
LJ+
55
APPL1CATIONS OF 2-SERIES PRODUCTS
3.1.2 Setting the Overtrawl Limit Functio.
3.1.2 Setting the Overtravel Limit Function
1) The overtravel limit function forces the moving part of the machine to stop when it ex-
ceeds the movable range,
2) To use the overtravel limit function, connect the following input signal terminals correctly.
Forward Rotation Prohibited For Speed~orque

(Forward Overtravel) Control and
Position Control
Reverse Rotation Prohibited For SpeeWTorque
(Reverse Overtravel) Control and
Position Control
Input terminals for overtravel limit switch, Reverse Forward

rotation side rotation side
u
For linear motion, connect a limit switch to prevent ~~)o~otor SGDB

damage to the machine. Limitswitch Servopack
P-OT ,CN.42
NOT
lCN-43
&
P-OT ON: lCN-42 is Forward rotation allowed. Normal operation status.

at low level,
OFF 1CN-42 Forward rotation prohibited (reverse rotation allowed).
is at high level.
N-OT ON: lCN-43 is Reverse rotstion allowed. Normal operation status.
at low level.
OFF: 1CN-43 Reverse rotation prohibited (forward rotation allowed).
is at high level.
3) Use the following user constants (memory switch) to specify whether input signals for
overfravel are to be used,
Use of P-OT Input Signal Factory For SpeediTorque Control

Cn-01 Bit 2
Setting O --’IU r“.,,,”,
a, n--’.’-- I U“,
“--.--’
,,, ”,
Use of N-OT Input Signal Factory For SpeedKorque Control
Cn-01 Bit 3
I 1 Setting: O and Position Control
Specifies whether the P-OT input signal for pro- SGDB Servopack
hi biting forward rotation at overlravel (1 CN-42) is 1CN
to be used and whether the N-OT input signal for -42
(POT)
prohibiting reverse rotation at overfravel .. .
(1 CN-43) is to be used. (N-OT)
Ovo /
The shoe-circuit wiring shown in the
Specifies “1” when external short-circuit wiring is figurecan be omittedwhen P.OT a“d
~-OT are not.,ed,
to be omitted.
3.1 .sallin~ User ConstantsAcawdinz m Machine Chczracterisda
Bit Setting Meaning

Uses the P-OT input signal for prohibhing forward rotation. (Forward
o
rotation is allowed when 1CN-42 is at OV.)
Bit 2 Does not use the P-OT input signal for prohibiting forward rotation.
1 (Forward rotation is always allowed, This has the same effect as shotiing
1CN-47 to n v )
Uses the N-OT input signal for prohibiting reversa rotation, (Reverse
o rotation is prohibited whan 1CN-43 is open. Reverse rotation ie allowed
when 1CN.43 is at O V.)
sit 3
Does not use the N-OT input signal for prohibiting reverse rotation.
1 (Reverse rotation is always allowed. This has the same effect as shorting
lCN-43 to O V.)
4) If the P-OT and N-OT input signals are used, set the following user constants to specify
how to stop the motor.
❑
How to Stop Motor at Factory Invalid for Torque Control
Cn-01 Bit 8
Ovetiravel Satting O
Operation to be Pe!formed Factory Invalid for Torque Control
Cn-01 Bit 9 when Motor Stops after Setting: O
Overtravel
. Inputs signal for prohibiting forward rotation O.ertravel

(P-OT, 1CN-42)
Stop mode After stop
I
. Inputs signal for prohibiting reverse rotation

(N-OT, ICN-43)
-
Specify how to stop the motor when either of the

above signals is input.
-
Stop the motor in the same way as when the servo is turned OFF.
The motor is atopped by dynamic brake or coaats to a stop. Either of

these stop modes IS selected by aeftmg bit 6 of Cn-01,
Stop the motor by decelerating it with the preset torque.
Praset value: Cn-06 (EMGTRQ) emergency stop torque
~
If deceleration stop mode is selected, specify the operation to be done after the motor
stops.
Setting Meaning
o Turns the servo OFF when the motor stops in deceleration stop mode.
Cn-01
bit 9 Causes the motor to enter zero-clamp statua after it stops in dacelerafion
i
stop mode.
In torque control mode, the motor stops in the same way aa when the servo is
turned OFF, regardieaa of the bit 8 setting.
57
3.1.2 S@nK the Owvtrawl Limit Function cont.
EMGTRQ Unit Setting Factory Valid when Cn-01 bit 8

Emergency Stop “/. Range: O to Setting: =1
Cn-06
Torque Maximum Maximum
Torque Torque
Specifies the stop torque to be applied at overtra- ,.P,,,ig,,,f., M.,nov

,Wl,oh
vel when the input signal for prohibiting forward or ~h’ti!(ng WC,,
reverse rotation is to be used.
Specifies a torque value in terms of a percentage

oftheratedtorque.
:x
mlow reverse
N-OT(ICN-43]
How to Stop Motor at Servo Factory

Cn-01 Bit 6
OFF Setting: 0
Operation to Be Performed Factory Invalid for 2,0 kW or more
Cn-01 Sit 7 when Motor Stops after Servo Setting: 1
OFF
The Servopack enters servo OFF status when: ServoOFF Afterstop

R.le,sIng
Stopmode 0 dy”micbr,ke
. Servo ON input signal (S-ON, 1CN-40) is turned SWby
OFF. 0 dynm[Cbr,k. ‘t 7
HoldnQ
m6 I dynamic
brak.
. Servo alarm arises. coast8nQ
toa
e stop
. Power is turned OFF. Dynamicbrakeis a functionthat

electricallyappliesbrakesby usinga
resistorto consumemotorrotation
energy,
Specify how to stop the motor when one of the
above events occurs during operation.
Setting Meaning
o Stops the motor by dynamic brake.
Cn-01 Causes the motor to coast to a stop.
bit 6 1
The motor power is OFF and stops due to machine friction.
If dynamic brake stop mode is selected, specify the operation to be performed when the
motor stops.
Setting Meaning
Cn-01 o Releases dynamic brake after the motor stops.
bit 7 1 Does not release dynamic brake even after the motor stops.
.
Note For Servopacks of 2.0 kW or more, bit 7 of Cn-01 can be set to O only
3.1 Sarine user Conw..tS A.corditw f. Machine Chamcteristis
3.1.3 Restricting Torque

1) The Servopack can provide the following torque control:
. Torque restriction Level 1: To restrict the maximum output torque to

protect the machine or workpiece
T
~ Level 2: To restrict torque after the motor moves the
machine to a specified position
. Torque control Level 3: To always control output torque, not speed
~ IJ#I#of To alternately .s. speed control and torque
This 3ection describes how to use levels 1 and 2 of the torque restriction function.
2) How to Set Level 1: internal Torque Limit
The maximum torque is restricted to the values set in the following user constants.
TLMTF For Speed~orque
E
Cn-08 Forward Rotatk Control and Position
Torque Limit Control
TLMTR -, .,.. --..,, ,. For SpeeclfTorque
Cn-09 Reverse Rotation % Range Oto Control and Position
E Torque I imi+ ,, 800 ‘-
I aoo “ Control
Sets the maximum torque values for

forward rotation and reverse rotation,
respectively, Output Signal for Torque Reatric-
tion Function
Sets these user constants when torque
must be restricted according to ma- .m
chine conditions. . Monitor mode (Un-06) M 4
This torque restriction function always ‘user ~on~tant setting:
monitors torque, and outputs the signal (Cn-2D) = ❑ 03, ❑ 30, 300
shown on the right when the limit value
is reached. -
Specifies a torque Iimitvalue intermsof
a percentage of the rated torque.
If a value higher than the maximum
torque is set, the maximum torque val-
ue is used.
Example of Use: Machine Protection
Torque limit Note that too small a torque limit val-
Torque
59
APPLICATIONS OF X-SERIES PRODUCTS
3.1.3 Rewicting Torqua m“t.
. Using CLT Signal
This section describes how to use contact output signal CLT as a torque limit output sig-
nal
For Speed florque
Position Control
This signal indicates whether motor output torque (current) is being restricted.
ON status: The circuit between 1CN-~ Motor output torque is being restricted.
and lCN-H is closed. (Internal torque reference is greater than the
lCN-~ isat low level. preset value.)
OFF status: The circuit between 1CN-~ Motor output torque is not being restricted.
and lCN-~ ~ ,- ~....” Internal torque reference is equal to or below
,-r, -
lCN-~ IS
i at hmh. level. “’”– l~hepresetval”e.)
Preset Value: Cn-08(TLMTF)

Cn-09 (TLMTR)
Cn-18(CLMlF) :P-CL input only
Cn-19(CLMlR) :N-CL input only
Output Signal Selection Factory For SpeedTorque Control

Cn-2D
Setting: 210 and Position Control
Specifies the terminal to which CLT is to be output.
-~m~::
3.I Setting User ConstantsAccording to Machine Chamctwistia
3) Howto Set Leve12: External Torque fJmit
First, use a contact input signal to make the torque SGDB ServoDack
(current) limit value set in the user constant valid.
Torque limit can be set separately for forward and
reverse rotation.
To use this function, always set bit 2 of memofy

switch Cn-02 to O (standard setiing). The contact
input speed control function cannot be used,
ON: 1CN-45 is at Torque restriction applies during forward rotation. Limit value
❑
E
low level. Cn-le
P-CL
OFF lCN-45 is at Torque restriction does not apply during forward
high level. rotation,
ON: 1CN-46 is at Torque restriction applies during reverse rotation. Limit value
low level. Cn-19
N-CL
OFF 1CN-46 is at Torque restriction does not apply duting reverse
high level. rotation.
Output Signal for Torque Restriction Function

This torque restriction . TGON
function outputs the signal . Status indication mode bit data
shown on the right, . Monitor mode Un-05 bit 4
User Constant Setting:
Cn-2D = ❑ 03, ❑ 3D, 3D0 I
Examples of Use:
. Forced stopping
. Holding workpiece by robot
CLMIF Unit Setting Factory For Speed florque

Cn-18 Forward External “A Range O to Setting: Control and Position
Torque Limit 800 100 Control
CLMIR Unit Setting Factory For SpeediTorque

Cn-19 Reverse External “/. Range O to Setting Control and Position
Torque Limit 800 100 Control
Sets a torque limit value when torque is restricted by external contact input
This function is valid when Cn-2B is set to O, 1,2, 7,8, 9, 10, 11.
When P-CL (1 CN-45) is input Applies torque restriction as specified in c.-l e
When N-CL (l CN-46) is input I Applies torque restriction as specified in Cn-1 g
For torque restriction by analog voltage reference, refer to Secfion 3,2.9 Using Torque
Restriction by Ana/og Vo/tage Reference.
61
3.1.3 Reslrictin~ TorqIIe cont.
● Using P-CL and N-CL Signals
This section describes how to use input signals P-CL and N-CL as torque limit input sig-
nals,
1/0 DON,, sum” SGDB Servopack
T .24v
.24,,, ?CN-47_4.7kQ ‘hot”c;upler
Host controller
. . ~ w ;4
=L 1CN-4B ,. ..1
m ~?“
Forward External Torque Limit For Spee&Torque

Input (Speed Selection 1) Control and
Position Control
Reverse External Torque Limit For SpeedTorque
Input (Speed Selection 2) Cont;ol and
Position Control
These signals are for forward and reverse exter- Output Signal for Torque
nal torque (current) limit input. Restriction Function
This function is useful in forced stopping. . Status indication mode bit data
ON: lCN-45 is at Torque restriction applies duting forward rotation. Limit value:
P-CL low level. Cn-18
OFF 1CN-45 is at Torque restriction does not apply during forward
high level. rotation. Normal operation status.
ON: 1CN-46 is at Torque restriction applies during reverse rotation. Limit value
N-CL low level. Cn-19
OFF 1CN-46 is at Torque restriction does not apply during reverse
high level. rotation. Normal operation status.
The signal shown on the above are output while torque is being restflcted.
Note This function ischangedto anotherfunction depending onthesetingofmemo~

switch Cn-2B (see below).
62
To use P-CL and N-CL as torque limit input signals, set the following constant.
Control Mode Selection Factory For Speed/Torque Control

Cn-2B
Setting: O and Position Control
t-r
Prohibits the contact input speed control function. SGDa Servopack
-—.6— :.:O, tha:
+—
Ifthecontact input speed control function is used, -– &;$~d sGMn
the contents of the input signals shown below will Contact sPEEDl ServOmOtOr
change, jnp”~ SPEED2
HSpEE03
After this memory switch is reset, the meanings of the following signals will
aleo change:
Monitor mode (Un-05) bit 7 and bit 8
Setting Meaning Input Sfgnal
I
Used to switch between P control and
Does not use P-CON(ICN-41) Plcontrol andtoperformother
functions.
0,1,2, the contact
7,8,9, input speed P-CL (1CN-45) Used for forward external torque limit
10, 11 control .
inout
function. Used for reverse external torque limit
N-CL (ICN-46)
input
0 OFF, 1: ON
Uses the contact

3,4, 5,6 input speed
control function. ~
I 1 I 4 I C.-2O (SPEED2) i
i o Cn.zl (SPEED3)
63
3.2.1 r“PUtti.~ Sgeed Reference
3.2 Setting User Constants According to Host Controller
This section describes how to connect a X-series Servo to a host ~ontrOl[er and hOw tO
1 set user constants,
3.2,1 Inputting Speed Reference, .,,,,,... 64

3.2,2 Inputting Position Reference,,.,,,,,, 68
3,2,3 Using Encoder Outputs.,,....,,.,,. 73
3.2.4 Using Contact l/O Signals, ........ 77
3.2.5 Using Electronic Gear . . . . . . . 79
3.2.6 Using Contact input Speed Control,,,, 83
3.2.7 Using Torque Control....,..,.,,.,,, 87
3.2.8 Using Torque Feed-forward Function 94
3.2.9 Using Torque Restriction by Analog Voltage Reference 95
3.2,10 Using the Reference Pulse Inhibit Function (INHIBIT) ,,, ,,, ,,., ,,, ,,. 97
3,2,11 Using the Reference Pulse Input Filter Selection Function 98
3.2.12 Using the Analog Monitor ,. .,,. 99
3.2.1 Inputting Speed Reference

1) Input a speed reference by using the following input signal “speed reference input,” Since
this signal can be used in different ways, set the optimum reference input for the system
to be created.
SGDe Servopack
T-REF iCN.9
~ Torque
Torque reference input so p ,1CN.1O reference
(analog voltage input)
V-REF lCN-5
~ Speed
Speed reference input SG P ..i CN-6 reference
(analog voltage input)
v
tP: Represents twisted.pair cables
Speed Reference Input For Speed Control

Only
Signal Ground for Speed For Speed Control
Only
Use these signals when speed control (analog

reference) mode is selected (Cn-2B is set to O, 4, ,,’,,..,. 4’00 ,“ ‘“. .’.
,Peed 3000 ;.: ;.:.. .
7,9, or 10). v,.>. ) ; ~ i:..,..;.
1=Q ;,..;“,-’”
For ordinary speed control, always wire the V- “’5 “’0 “5.:. ~-” ~ ,0 ,5
Standard ,.,,7. ,,$ 1“0,! voltwe (v) ‘
REF and SG terminals. se”l”g .,:..’:,;.:;:,..,; -t00
Motor speed is controlled in proportion to the input .:. : -200

8 +M S8!the slow in
voltage between V-REF and SG. C.-O3(VREH3N).
3,2 .%tti.g U,er Constants According to Host Controller
Y, ● Standard Example:
Cn-03 = 500 This setting means that 6 V is 3000 r/rein
Examples:
+6 V input + 3000 r/rein in forward direction
–3 V input + 1500 r/rein in reverse direction
User constant Cn-03 can be used to change the voltage input range.
SGDBS,rvopa,k
. Example of Input Circuit
(See the figure on the right)
For noise control, always use twisted-pair ““v-

. cables.
❑
Recommended Variable Resistor for Speed Setting:
Type 25 HP-1OB manufactured by Sakae Tsushin Kogyo Co., Ltd.
When position control is performed by a host con- ~o~t~ontroller Servopack

troller such as a programmable controller.
SP.d V-RE~ ,CN4
,Sfermee
Wm.! p Sa-v ,CN4
{
Connect V-REF and SG-V to speed reference ‘erm’na’s
output terminals on the host controller. In this
case, adjust Cn-03 according to output voltage ~,,m,~k. ‘AO ICW20
p“(,. ‘“p”, ‘pm ;:~:;j
specifications.
,erm!”ak { lCN.23
m“
~P Represents tvdsted-pair csbles
The internal ~12 V power supply can be used.
4 ’12V lCN-23
. EEzl
Msximum output current 3omA
Voltage: 12V*2V
65
3.2.1 lnPuttinESpeed Reference cont.
2) Set constant Cn-2B to select one of the following control modes,
Cn-2B Control Mode Selection Factory For SpeediTorque Control

Ca+ti.
-. n snrl
a,, Dmel,;-mC,.n+,al
I I 1 ““,,,, ,y . , ” “.,,, ”,, ““,,,,”,
I
Cn-2B
Control Method
jetting
Speed Control
This is normal speed control, eGDB Servopacl
. Speed reference is input from V-REF (1 CN-5),

. P-CON (I CN-41) signal is ussd to switch
between P control and PI control.
‘“a
Speed Control (Contact Reference) ++ Speed SGDB Sewopacl

Control (Analog Reference) speed
reference “.REF
This speed control allows switching between
contact and analog references.
. Analog reference is input from V-REF (1CN-5). ~onta,t
. P-CL (1CN-45) and N-CL (1CN-46) are used to $% ,.”,,.,
switch between contact and analog references. ,efe,e.ce ~
. Contact input speed is selected. z
4 e ‘“c’;’
PositionITorque Control++ Speed Control

This control mode can be switched between SGDBServopacl
positionltorque control and speed control. sw.d
refer.”,, “.~~~
1cN-5
. Speed reference is input from V-REF (1 CN-5).
. P-CON (I CN-41) is used to switch the c.nm DMLW P-cON,~N,,
changeover
control mode between positionltorque
control and speed control.
7, 9
lCN-41 is Positioflorque control

open
lCN-41 is Spaad control
atOV
66
3,2 .%ffinr UWr Conwant$ Accordinr to Host Con fmller
Cn-2B
Control Method
;ett ing
:ero-clamp Speed Control
“hisspeed control allows the zero-clamp function
‘a
~ be set when the motor stops.
V-REF ~cN5
Speed reference is input from V-REF (1 CN-5).
P-CON (1 CN-41 ) signal is used to turn the 1GN-41
zero-clamp function ON or OFF.
Zsro.clamp is performed when
thefollowing two conditions
Bremeti
:ondition 1: ::ON is turned
10
:ondition 2 Motor speed
drops below the
preset value.
beset value: Cn-OF(ZCLVL)
E’
. Using P-CON Signal:
Promotional Control, etc. For Speed Control

and Position
Control
The function of input signal P-CON changes with Cn-2B setting,
SGDB Servopack
~ SwmngbetweenP mntr.1andPIcontrol I
*— –J
P-cc+.
0=-
\
SwltcM”g
betweenzercAamP enabled
.-clampProtibted
mode
.Wtching between
modeand
INHIBITambled modeand INHIBIT
~ :Z::n,ro$
mode
1
m
TERMS ;
Zero-clamp function
This function is ussd for a system in which the host controller doss not forma position loop.
In this case, ths stopping position may shift svsn if a speed reference is set to 0. If the zero-
clamp funcfion is turned ON, a position Ioopis internally formed sothatthestopping position
is firmly “clamped.”
67
3,2.2 lWXW@ P.stit.ti Reference
Cn-2B Setting Meaning of P-CON Signal

Switching between promotional (P) control and
o, 1
propottionaliintegral (Pi) control
2 (Not used)
Changing the direction of rotation during contact input speed
3, 4, 5, 6
control
7,6, 9 Switching the control mode
Switching between zero-clamp enabled and zero-clamp
10
prohibited modes
Switching between INHIBIT enabled and INHIBIT prohibited
11
modes
3) Adjust the speed reference gain using the following user constant
./
VREFGN Speed Unit Setting For Speed Control
Reference Gain (r/min)N Range Only
Cn-03
loto
2000
Sets the voltage range for speed reference input

V-REF (1 CN-5). Sets this userconstant according
to the output form of the host controller or external ~~%$,%, setItissop,
circuit. ,-
R. fwa.m
.Ol,aw (v)
+
The factory setting is as follows:
Rated “speed ~1 “/./6V
3.2.2 Inputting Position Reference

1) Input a position reference by using the following input signal “reference pulse input?
Since there are several specifications for input signal, select reference input for the sys-
tem to be created.
Inputs a move reference by pulse SGDB Setvopad

input. Phc,t.aco,+ler
Reference pUISe ,-
input ‘{= !-(:
Position reference can correspond lCN.7 . . . . ..
to the following three types of out- Reference sign
input HGN ICN-12 j,q,:
{- .*
put form: lCN.I . ...>
Error counter
LR
clear input .CLR p . ICN-14 Of:
{- ,-
68
$P: Represents twisted-pair cables
h . Line driver output
. +12V Open collector output
. +5V Open collector output
Connection Example 1: Line Driver Output
Line Driver Used: Host controller SGDB Servopack
SN75174 manufactured
Texas Instruments Inc.,
MC3487 or equivalent.
‘w
N SIG&,CN.,, .,, >
A
p .SIGN!CN-12
7T14:
I
Sets the value of limiting re- Hostcontroller SGDBServoPack
sister RI so that input cur-
Vm
rent ifallswithin the following
I
range:
ICN-8
Input Current i: 7 to 15 mA T,l
+
Examples: RI
● When Vcc is 12 V,
., ...,
Rl=lkQ mm
. When Vcc is 5 V,
R1 =180f2
tP: Representstisted-m=ir cables
—’
Note The signal logic for open collector output is as follows,
When Trl is ON I Equivalent to high level input

When Trl is OFF I Equivalent to low level input
The power supply inside the Host controller SGDa Sewopack

Servopack can be used, *+12V
Photmo”mr
&c :’C*’ ,..J
.
If this power supply is used, it Trl
1P 4,7kn
will not be isolated from O V 1.5 V or less
in the SeWODaCk. when ON
% 1P
+ 1P
69
3,2,2 I.jmttinr Position Ref.w.e. cont.
2) Use the following memory switch to select the reference pulse form to be used: /
Reference Pulse Input For Position Control Only,
Reference Pulse Input For Position Control Only
Reference Sign Input For Position Control Only
Reference Sign Input For Position Control Only
The motor only rotates at an angle propotiional to the input pulse.
Reference Pulse Form Factory For Position Control Only

Cn-02 Bit 3
Selection Setting: O
Reference Pulse Form Factory For Position Control Only ,
Cn-02 Bit 4
Selection Setting: 0
Reference Pulse Form Factory For Position Control Only
Cn-02 Bit 5
Sets the form of a reference pulse that is external- ~;;& ,O~itiOn SQD6
%rvowck
,.lerence
Iy output to the Servopack.
Sets the pulse form according to the host control- ,

ler specifications. m
Set also the input pulse logic in bit D of Cn-02
Cn-02 Input Refer-

ence
Bit D
T
5
z
4
Bit
3
Pulse
Multipli. Pulse
Motor Forward Run
Reference
Motor Reverse Run
Reference
,-
er Form
— —
Sign +
pulse
o o o train
— —
Two-
o 1 0 xl phase [lCN-i
— — pulse
train
o o 1 1 x2
Positive with 90”
logic
— — phase
setting) differ-
e nce
1 o o X4
— —
Cw
pulse + PULS 1 “P
o o 1 Ccw [1CN.7)
yy,+’dML
pulse S(GN1 “L”
.%NII* (I CN-111
— —
70
3.2 smti.t? Lwr ConStan& A.cordi?u to Host Controller
Cn-02 I Input I Refer-

Pulse ence Motor Forward Run Motor Reverse Run
Bit D
T Bit Bit Multipli- Puise Reference Reference
5 4 3 er Form
—
Sign +
pulse
0 o 0 train ‘“’s—u—ulr—
(::N7)
w
(lCN.171
—
Two-
0 1 0 xl phase
1 — pulse
~Nega- train
ive 10g- 0 1 1 X2 with 9fY
ic set- — phase
ting) diffsr-
1 0 0 X4 ence
Pus , .H. {:fj, —u—rlr

0 0 1 (lCN.7)
,;~,,l~ SIGN
(lcN-lI)J .W
Input Pulse Multiply Function:

8 X4
Numb., of
.0,0, . . . . 6
X2
When the reference form is two-phaae pulse ‘“’s”s ~
xl
train with 90° phase difference, the input pulse
o Inputreferencem%.
multiply function can be used.
;:;,,*
.!...,. ~
., - _
(lCN.11]
The electronic gear function can slao be used
to convert input pulses.
Exemple of 1/0 Signal Generation liming
ServoON 1 w
—~
Release
1* ti s 30 ms
Base block 1,
Ii r2s6ms
(When user
~gn , ‘cN”” +,3 constant Cn-12 Is
H
set to o)
pulse train [ ICN.7 rl~ L nnnnn.nrln
f3 240 ms
H
:L t4, t5, f6 s 2 ms
PA
PG pulse f7? 20@
;L
( PB
EN
ON
CLR ,,
+
Note The interval from the time the servo ON signal is turned ON until a reference pulse is
input must be at least 40 ms. Otherwise, the reference pulse may not be input.
The error counter clear (CLR) signal must be ON for at least 20 W. Otherwise, it be-
comes invalid.
71
3,2,2 Inyitti”g Position Rafe,me COBI.
Allowable Voltage Level and Timing for Reference Pulse Input .,
Reference Pulse Form Electrical Specifications Remarks

sign + pulse train input The signs for each
SIGN + PULS signal) ~loN reference pulse are as
vfaximum reference t, follows
requency 450 kpps EB:High level
e: Low level
e refer
.... e reiem.,
*
t>. ,,s 0.,”, , > ,., ,,
,,. ,7s 01,,
t.. ,5. !6> 3,,
10° different two-phase Pbase

A
mlse train
phase A + phase B)
,’
:::::~reference “F ‘P:EE%”
c1 multiplie~
150 kpps 4L
Plm,.BIs90” Phase
Bi, 90~
:2 multiplier forward
i,.. Phase
B be~ndOh,,. B
100 kpps ,,. ,,. ,.!,5 ,.,., ,s
:4 multiplier + x ,00s60%
?00 kpps
;CW pulse + CW pulse
‘:’2’’:’K “s
I*, 12s0.1,, r >1.1”8
,, >!, s :X foosw%
3) The following describes how to clear the error counter.

,’-
Error Counter Clear Input For Position

Control Only
Error Counter Clear Input For Position
Control Only
Setting the CLR signal to high level does the fol-

SGDBSewopack
lowing:
GLR
● Sets the error counter inside the Servopackto O. Clem
. Prohibits position loop control, Posit,.”loop

errorcounter
a
Use this signal to clear the error counter from the
host controller,
Bit A of memory switch Cn-02 can be set so that the error counter is cleared only once
when the leading edge of an input pulse rises,
72
3.2 SettiIIE Uwr ConstantsAccording to How Controller
Cn-02 Bit A
Error Counter Clear Signal Factory For Position Control Only
Selects the pulse form of error counter clear signal CLR (I CN-15),
eetting Meaning
E ==7
Clears the error counter when the CLR
signal is set at high level, Error pulses
o
do not accumulate while the signal
remains at high level.
Clears the error counter only once when
I
1
the king edge of the CLR signal tises, cm
ICN-15
1 ...
A
Clearedonly0“,. at tMsroi”t
3.2.3 Using Encoder Outputs
1) Encoder output signals divided inside the Servopack can be output externally. These
signals can be used to form a position control loop in the host controller.
-.
&*
Host
SGDB Sewopack controller
SGMO
Sewonlotor
encoder
2CN lGN, . . . .
Freq”e”c ;>;
Wang
C,rcut ,.,!. - ;
mTERMS :
Divided (or dividing)
“Dividing” means converting an input pulse train from the encoder mounted on the motor
according to the preset pulse density and outputting the converted pulse. The unit is pulses
per revolution.
73
APPLICATIONS OF 2-SERIES PRODUCTS
3,2.3 Using Encoder Outputs cont.
The output circuit is for line driver output. Connect each signal line according to the fol- z
lowing circuit diagram.
SGDS Servopack Host controller
Line receiver
lCN-33, MO <“-: R2 >
Phas eA Phase A
\ P!
1CN.34 .PAO 1
;!
;:
I CN.S .Pe.2. !46 5
Phas eB Phase B
1CN-S .pm : Pi 7
::
h 10+I9, .Pco, ,
Phase C
lCN.20,_ti
*PCO : ‘Q: “ ‘h ‘“C
~:
w .
-.5V
;:
ICN.1 :: T- Ov
4 iCN.$0 7. Smoothing
Ov capacitor
$P RepresentsWisted.paircables Line receiver used SN75175 manufactured by

Texas Instruments Inc. or
MC3486 (or equivalent)
R (termination resistor): 220 to 470 n
C (decoupling capacitorti 0.1 $F ,’
2) 1/0 signals are described below
For Speed florque Control

and Position Control
For Speed~orque Control
For Speed~orque Control ,,
For Speed/Torque Control
For Speed/Torque Control
=
Divided encoder signals are output.
Always connect these signal terminals when a position loop is formed in the host control
Ier to perform position control.
Set a dividing ratio in the following user constant.
Dividing ratio setting I Cn-OA PGRAT
The dividing ratio setting is not relevant to the gear ratio setting (Cn-24, 25) for the
electronic gear function of the Servopack when used for position control.
74
3.2 Settim User Constants Attording to Hml Controller
\ Output Phaae Form
Incremental Encoder
Fmwardrotstion +H+”” Reverse rotation

PhaseA
-wL-.r PhaseA
Phase B Phase B
n
PhaseC
—t Phase c
Absolute Encoder
Forwardrotation Reverse rotation
PhaseA Phase A
PhaseB Phase B
PhaseC Phase C
—!
Use these sianals (SEN to BATO) for absolute encoders, For details. refer ta Section
3.8.5 Using &Absolute Encode;
For SpeedKorque Control

Frame Ground For SpeedKorque Control
SG: Connect to O V on the host controller.

FG: Connect to the cable shielded wire.
75
3.2.3 Using Encoder Outputs cow
3) Use the following memory switch to specify the type of the encoder to be used. ,,
Encoder Type Selection Factory For Speed/Torque Control

Cn-01 Bit E
Sets the encoder type according to the servomotor type as shown in the table,
After changing the memory switch setting, always turn the power OFF, then ON.
Motor Type Number of Encoder Pulses Per Revolution (PIR)

encoder Setting
[ sr3ecifications
2 Incremental encoder
8192 pulses per revolution
3 Incremental encode~
o
204a pulses per revolution
6 Incremental encode~ .
w Absolute encoder
t 024 pulses per revolution
1
s Absolute encode~
4) Set the pulse dividing ratio in the following user constant,
,
PGRAT Unit: Setting For Speed florque
Cn-OA Dividing Ratio Setting P/R Range: 1a Control and Position
to 3276a Control
Sets the number of output pulses for PG output output

term
[.81.
PAO(lCN.33)
SGMO
signals (PAO, *PAO, PBO and *PBO).
Pulses from motor encoder (PG) are divided by

the preset number of pulsee before being output. ‘“=2 ,
The number of output pulses per revolution is set in this user constant. Set this value ac-
cording to the reference unit of the machine or controller to be used.
The setting range varies according to the encoder used.

P,eset value: i 6
Setting example: pm —
Pm -
r q
1 revolution
Motor Type Number of Encoder Pulses Per Revolution setting Range
encoder
specification
2 Incremental encode~ 8192 pulses per revolution 16t08192
3 Incremental encode~ 2048 pulses per revolution 16 to 204a

6 Incremental encoder 4096 Pulse. Per re”olutio” 16 m 4096
w Absolute encode~ 1024 pulses per revolution 16to 1024 .
s Absolute encode~ el 92 pulses per revolution 16t08192
After chenging the ueer conetant setting, elwaye turn the power OFF, then ON.
76
3.2 settim- User constants Accordine to Host Controller
\
3.2.4 Using Contact 1/0 Signals
1) Contact Input Signal Terminal Connections
These signals are used to control SGDB Servopack operation. Connect these signal ter-
minals as necessary
SGDB Servopack
1)0pow,,
supply
.24 v
-r
Host controller
],CN,, l_q+
E 5mA
-7
[ I L
Note Provide an external 1/0 power supply separately.

There are no power terminals available from the SGDB Sewopack outputs sig-
nals externally.
External Power Supply: 24 & 1 VDC

50 mA or more
Yaskawa recommends that this external power supply be the same type as for the
output circuit.
For Speed~orque
Position Control
This external power supply input terminal is com- SGDB Servopack

mon to the following contact input signals:
Contact Input Signala: P-CL (l CN-45)

-
N-CL (l CN-46)
connect . . external !/0 power supply.
S-ON (1 GN-40)
P-CON (lCN.41)
P-OT (1 CN-42)
N-OT (1 CN-43)
ALMRST (1 CN-44)
’77
3.2.4 UsingContact 1/0 Signals cont.
.
2) Contact Output Signal Terminal Connections
SGDB Servopack 1/0power

These output signals are used w~p:y24
“ & ~v \
to indicate SGDB Sewopack
Photmo”~ler
operation status. lCN-31 ALM.
.. ..
::~ ~~
R lCN.32,AI-M
PhotoCoupler output lCN.25 VCMP+
,.. .,—
Per output
>. : -C:.:* m.
M~imum operational
voltage: 30 VDC 1CN.27
Muimum output 1CN.28m.
current 50 mA DC 3.:
~;, ~ ‘cN-
1CN-?4~.
- -l;l-: ;+:: ‘
I I I
I
1CN-37 ALO1 1>
El+
Open collector output
Per output
1cN-2@mm
Maximum operational
voltage: 30 VDC
M%imum output
current 20 mA DC 4CN.39ALCO Tb
1CM-’ sc-
Ho,l
v Ov oV mnlrolle,
Note Provide an external 1/0 power supply separately.

There are no power terminals to which the SGDB Servopack outputs signals ex-
ternally.
Yaskawa recommends that this external power supply be the same type as for the
input circuit.
78
3,2 .%tting USer ConW.nts .&cording to How Controller
.
3.2.5 Using Electronic Gear
1) Outline
The electronic gear function enables the motor travel distance per input reference pulse
to be set to any value. It allows the host controller to perform control without having to
consider the machine gear ratio and the number of encoder pulses.
When Electronic Gear Function When Electronic Gear Function

is Not Used is Used
Workpiece Reference
unit 1 km
WorkDiece ~
~
,5==Y= Ball screw

Number of
encoder
pulses: 2,048
call screw
pitch 6 mm
Number of
encoder pitch: 6 mm
pUkeS 2,048
lYYEuYd~
Q Machine conditions and reference unit
To move a workpiece 10 mm, must be defined for the electronic gear
One revolution is equivalent to 6 mm, so

10+ 6 = 1.6666 (revolutions)
2046 x 4 (pulses) IS equwalent to one revolution, so
To move a workpiece f O mm:
1.6666 x 2,04S x 4 = 13,653 (pulses)
Reference unit is i pm, so
A total of 13653 pulses must be input as a reference.
r 10 mm + 1 pm= 10,000 pulses
The host controller needs to make this calculation.
2) Setting the Electronic Gear
Calculate the electronic gear ratio (B/A) according to the procedure below and set the
value in Cn-24 and Cn-25.
a) Check the machine specifications.
Items related to electronic gear

– Gear ratio
– Ball screw pitch S
– Pulley diameter
b) Check the number of encoder pulses for the SGMU Servomotor
Motor Type Encoder Type Number of Encoder

encoder Pulses Per Revolution
specifications (PIR)
2 Incremental encoder 8192
3 2048
6 4096
w Absolute encoder 1024
s a192
Same as user constantCn-11 settings.
79
APPLICATIONS OF X.SERIES PRODUCTS
3.2.5 Using Electronic Gear cont.
c) Determine the reference unit to be used.
Reference unit is the minimum unit of posi- To move a table in 0.001 mm units
Reference unit 0.001 mm
tion data used for moving the load.
(Minimum unit of reference from host con-
troller)
Examples:
0.01 mm, 0.001 mm, 0.1”, 0.01 inch -
Determine the reference unit according to

Reference input of one pulse moves the load machhe specifications and positioning
accuracy.
by one reference unit.
Example: When reference unit is 1 ~m

If a reference of 50,000 pulses is input, the load moves 50 mm (50,000x 1 Am).
d) Determine the load travel distance per revolution of load shaft in reference units.
Load travel distance per revolution of load shaft (in reference units)
Load travel tistance per revolution of load shaff (in unit of distance)
Reference unit
Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm

5/0.001 = 5,000 (reference units)
e) Determine the electronic gear ratio ~

(A)
If the load shaft makes “n” revolutions when the motor shaft makes “m” revolutions,
the gear ratio of motor shaft and load shaft is ~
‘[ectr”nicgearrati”
(?)=
Number of encoder pulses x 4 ~~
Travel distance per revolution of load shaft@ reference units) n
NOTE Make sure that the electronic gear ratio meets the following condition:
(A)
0.01 s Electronic gear ratio B s 100
If the electronic gear ratio is outeide this range, the Servopeck does not work
properly. In this case, modify the load configuration or reference unit.
Precautions when ~ < 1
Since the reference unit becomes smaller than the en~der pulse
resolution, positioning accuracy becomes lower as value
A
becomes smaller.
80
3,2 .%tfing User Constants According to Host Controller
. f) Set the electronic gear ratio in the user constants below
Reduce the electronic gear ratio

(A)
~ to their lowest terms so that both A and B are an
integer smaller than 65535, then set A and B in the following user constants.
— Cn-24 RATB Electronic gear ratio (numerator)

(B)
Ah Cn-25 I RATA Electronic gear ratio (denominator)
This is all that is required to set the electronic gear
RATB Unit: Setting Factory For Position

Cn-24 Electronic Gear Ratio None Range: 1 Setting: 1 Control Only
(Numerator) to 65535
❑
RATA Unit Setting Factory For Position
Cn-25 Electronic Gear Ratio None Range 1 Setting: 1 Control Only
(Denominator) to 65535
Set the electronic gear ratio according to machine

specifications. Input SGDB Swvormk
Electronic gear ratio B _ @

(A) - Cn-25 ‘w
B= [(Number of encoder pulses) x 4] x [Motor shaft rotating speed]

A = [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft
rotating speed]
Note that the user constant settings must meet the following condition:
0“01 s (i) < ‘OO

3,2.5 WW Elecfmmic Gear cont.
3) Examples of Setting an Electronic Gear Ratio for Different Load Mechanism ~
Ball Screw
Reference unit 0.001 mm Travel distance per QM?!?L . ~~oo
revolution of Ioadshafi = 0.001 mm
Load shaff
(:)
“ec’rOnicgearratiO ‘*=*
Ball screw
Increments pitch: 6 mm
encoder
Diet Table
Travel rkfance per m . ~~oo
s
revolution of load shaff = ~,1.
Reference unit Gear ratio
o.1~
Load shaft
3:1
(:)‘-”’=*
“ec’r”ni”gearratio
Incremental encoder
Belt & Pulley

Reference unit 0.0254 mm Travel tisfance per 3.14 x 100mm s ,2362
Load shaft revolution of load shaft = 0.0254mm
Gear ratio:
2.4:1 Pulley diameter ‘ec’ronicgearrati” (f)= ‘“fi:::~ ‘*
100 mm
F
_ 9830.4 _ Q&
Absolute encoder 12362
“’”m
4) Control Block Diagram for Position Control
SGDBSewcwck forpositioncontrol
I I
Re SGMD
Smmmlo,
pul
--QM
PG
Pc
0“
nal
.
C“.OA
1 Encoder
3.2.6 Using Contact Input Speed Control
1) The contact input speed control function provides easy-to-use speed control. It allows
the user to initially set three different motor speeds in user constants, select one of the
speeds externally by contact input and run the motor.
SGDe Servopack
H
sPEEDI G-IF
No external speed setting SPEED2 C.-w The motor is operated at the

device or pulse generator is speed set in the user constant.
sPEED3 c.-21
required.
u,,, ..”s,.”,,
I I
2) To use the contact input speed control function, periorm Steps. a) to C).
a) Set memory switch Cn-02 as follows.
Control Mode Selection Factory For SpeediTorque Control

Cn-2B
Enables the contact input speed control function. Servopack

+— }O;o:h:,
If the contact input speed control function is ~~ ,,,.,,,IIY
,., Servomm!
used, the contents of the input signals shown be- Contactinput speed
❑
low will change. SPE01
SPEED2
SPEED8
r
When this memory switch is reset, the mesnings of the following signsks will
also chsnge
Monitor mode (Un-05) bit 7 snd bit 8
83
3,2.6 Using Contact input Speed Control cont.
Input Signal
Does not use the P-CON(I CN-41) Used to switchbetween P control and PI
1,1,2, control and to perform other functions.
contact input
7,8, 9,
speed control P-CL(l CN-45) Used for forward external current limit input
10, 11
function. N.CL(I CN-46) Used for reverse external current limit input
0 OFF, 1: ON
contact input
speed control P-CON P-CL N-CL Speed Setting
function.
Iml,.?,. the case
of the posi-
3,4,5, tion control
6 type, the
reference
pulse inhibit I \
function
(INHIBIT)
I 1 0 Cn-21, SPEED3
cannot be
used.
b) Set three motor speeds in the following user constants.
SPEED1 Unit: Setting Factory For Speed Control only

Cn-1 F 1st Speed (Contact rlmin Range. O to Setting
Input Speed Control) 10000 100
SPEED2 Unit Setting Factory For Speed Control only
Cn-20 2nd Speed (Contact rlmin Range O to Setting:
SPEED3 Unit: Setting Factory For Speed Control only
Cn-21 3rd Speed (Contact rlmin Range O to Sening:
CON.CI
input
wed control
Use these user constants to set motor speeds
when the contact input speed control function
Serqmk
is used.
-— R.. the
If a value higher than the maximum speed is 4— motor
at
+— l“t.melly ~ewomo,or
set, the maximum speed value is used. se!weed
Co”t*cl
❑
input SPEED,
SPEE02
Speed selection input signals P-CL (1 CN-45) S?E5D3
T
and N-CL (l CN-46), and rotation direction
selection signal P-CON (1 CN-41) enable the
motor to run at the preset epeeds.
c) Set the soft staft time.
S FSACC Unit Setting Feet. ty For speed control only

Cn-07 Soft Starf Tme Ins Range O Setiing: O
(Acceleration) to 10000
SFSDEC Unit Setting Factory For Speed Control only
Cn-23 Soft Starf Tme ms Range: O Setting: O
(Deceleration) to 10000
3.2 Setting User ComtarItS Accordin~ to Host Controller
in the Servopack, a speed reference is multi-

Speed
plied by the preset acceleration or decelera- reference
tion value to provide speed control.
Se.opack J ~::k
,,, ~ weed
contact input
When a progressive speed reference is input speed
or contact input speed control is used, smooth
speed control can be performed, (For normal Cn-07 Sst this time interval. Maximum
;... ,peee
speed control, set”0 in each user constant,)
n
Set the following value in each user constant.
Cn-23: Set this time interval.
. Cn-07: Time interval from the time the motor starts until it reaches the maximum
speed
. Cn-23: Time inteiwal from thetime the motor is running at the maximum speed until it
stops
3) Contact input speed control performs the following operation.
The following input signals are used to start and stop the motor,
Speed Selection 1 (Forward For Speed~orque

External Torque Limit Input) Control and
Position Control
Speed Selection 2 (Reverse For Speetiorque
External Torque Limit Input) Control and
Position Control
a) When Contact input Speed Control is used:
Contact Signal User Constsnt

Selected Speed
P-CON P-CL N-CL Cn-2B
Stopped by internal speed refer-
3
ence O
Analog speed reference input
4
(V-REF)
o 0
Pulse reference input (position
5
control)
Analog torque reference input
6
(torque control)
Direction of o 1 SPEED 1 (Cn-1 F)

rotation
O: Fonvard Common t;3, 4,5 and SPEED 2 (Cn.21J)
1 1
rotation
1: Reverse
rotation 1 0 SPEED 3 (Cn-21)
—: Not used
b) Modea Other Than Contact Input Speed Control

Input signals are used as external torque limit input,
85
3,2.6 UsingContactInput .$~eed Control cont.
Input signal P-CON is used to specify the direction of motor rotation.
Proportional Control, etc. For Spee~orque

Control and L
Position Control
a) When Contact Input Speed Control is used:

Use input signal P-CON to specify the direction of motor rotation.
I P-CON I Meanina I
1 Reverse rotation
o Forward rotation
O: OFF (high level), 1: ON (low level)
b) Modes Other Than Contact Input Speed Control

P-CON signal is used for proportional control, zero-clamp and torque/speed control
changeover.
4) The figure below illustrates an example of operation in contact input speed control mode
Using the soft start function reduces physical shock at speed changeover.
When Contact Input Speed Control is Used

Motor speed
3rdweed
,SPEED3
Set acceleration and
2ndweed deceleration values in Cn-07
,SPEED2 snd Cn-23 (soft start time).
Slowed Stowed
o
-SPEED2
,!!’
,!,’
,, ,,! 3rds@d
,, ,!! “
,, ,!!’ :
,, ,!!’
Km
OFF OFF ON ON
1
,, ,!!!
Fi55 ii
‘OF.41 oN ON ON OFF , OFF, OFF OFF 06F
86
3.2 Setting User Constant, Acmdimg to How Comt,oller
Note Whenthe userconstant Cn-2Bissetto5, thesoftstaflfunction works onlyincon-

tact input speed control mode, The soft start function is not available when pulse
reference input is used.
If contact input speed control mode is switched to pulse reference input mode
when the motor is running at the Ist, 2nd or 3rd speed, the Servopack does not
receive a pulse reference until positioning complete signal COIN is output.
Always start outputting a pulse reference from the host controller after a position-
ing complete signal is output from the Servopack,
Signal Generation Timing for Position Control Type
MOW,o,d
o‘/ml” 1 +
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... . . .
COIN 1{1 i
!:
:, rfrl w!:
Pulsereference :::
- t! J *t,
N-CL ON ;ON: OFF: OFF ON
P-CL OFF ~ ON [ON! OFF \ OFF
Selected
weed ls,,~eed ; 2,ds0,e,j ~ s,d,pe,d [ P.1s.reference ~ Istsoeed
tl>6ms
The above figure illustrates signal generation timing when the soft stari function is
used.
Thevalueoftl isnotinfluenced byuseof thesoff start function.
A maximum of 6 ms delay occurs when P-CL or N-CL signal is read.
3.2.7 Using Torque Control

1) The Servopack can provide the following torque control:
● Torque restriction Level 1: To restrict the maximum output torque to protect

the machine or workpiece
I Level 2: To restrict torque after the motor moves the

mechine to a specified position
● Torque control Level 3: To alwsys control output torque, not speed
T Level 4; To switch between torque control and other

control
This section describes how to use levels 3 and 4 of the torque control function,
87
3.2.7 CJsin~TorqueControlcont.
2) Usethefollowing userconstant toselect level 3orlevel 4torque control.
Control Mode Selection Factory For SpeedTorque Control

Cn-2B
Setting: O and position Control
This is dedicated torque control.
A motor torque reference value is externally input into the Servopack to control torque.
EXamDlee of Uec Teneion control

Pressure control
C..7
-., --R I Cr,ntml
-. ..-. MrIde
....
Servopacl
Torque Control
T#e ~.REF
This is a dedicated torque control mode, 1CN.5
. A torque reference isinputfrom T-REF Speedirnil

v-RpF ,CN.5
(l CN-9).
=
. P-CON is not ussd.
● Spsedrsference input V-REF (l CN-5) can

be used as speed hmit when bit 2 of Cn-02
2 is set to 1.
. User constant Cn-14 can be used for

maximum speed control.
Example of Use:
Tension,.”!,.1
T=
(-)
Torque Control ++ Speed Control (Analog

Reference)
Torque control and speed control can be ServoPack

switched. speed
reference v.REF
lCN-
Torque 5
. Aspeedreference orspeed limit value is ,ef,renc, T.REF
input from V-REF (l CN-5), 1CN-
Swltchhg 9
between ~
smed
. T-REF (l CN-9) inputs a torque reference, ,nd ICN-4
9 torque feed- forward reference ortorque limit :::,,, 3

value depending on the control mode used.
. P-CON (l CN-41) is used to switch between

torque control and speed control.
When lCN-41 is Torque

open control
When ICN-41 is Speed
atov control
88
3.2 sating User constants According to Host Controller
Cn-2B Control Mode

1 the Torque Control mode (P-CON is OFF):
T-REF reference controls torque
V-REF can be used to limit motor speed.

(when bit 2 of C.-O2 is 1)
V-REF voltage (+) flmits motor speed during
forward or reverse rotation.
User constant Cn-14 can be used to limit the I .

maximum motor speed. Mm, ,Pe~d
Principle of Speed Restriction
When the speed exceeds the speed

limit, negative feedback of torque
IA
~ge
v-BE
F
proportional to the difference
between the current speed end the
limit epeed is performed to return
the speed to within the normal speed
range. Therefore, the actual motor
epeed limit velue has a certain range
depending cm the load conditions.
9 n the Speed Control mode (P-CON is ON):

I Values set in bit 9 of user constant Cn-02 and bit 8 of Cn-02 determine the
owing:
User Constant Speed Torque
4==4
Reference
Input
Input Remarks
~g~.y~, (I:JT;O)
=t%-
Speed control
i—
SDeed Cannotbe
010 reference I used I
T mz~:EiK’:
Any value can be set in Mt e
speed control with torque of Cn-02 (Oand 1 have the
feed.forward same effect).
fead-fonvard Torque %od-forward

I
E
Speed control with torque For detailsO!speed control
0 1
I Restriction by Analog Voltage
89
3.2,7 Using Torgw Control cont.
Cn-2B Control Mode

Position Control u Torque Control
This mode allows switching between position control and torque control.
. P-CON (1 CN-41 ) is used to switch the control mode between position L
control and torque control.
Speed Control (Contact Reference) ++ Torque Control

This mode allows switching between speed control (contact
reference) and torque control.
● P-CL (1CN-45) and N-CL (1CN-46) are used to switch the control mode
between speed control (contact reference) and torque control.
6 ~1CN-45 I 1CN-46 I
Torque
Open Open
control
Open Closed Speed
Closed Closed ;:;gft
Closed Open reference)
3) The following input signals perform torque control.
SODB
Smmmk
T-REE 1CN-9 TOW,

Torquereferenceinput
(Analogvoltageinput) { sG p ~GN-lo “’’r=””
v-REF
SpeedImit input speed
(Analogvoltageinput) { ‘e p 1 “iere”ce
=
$P:Representstwkted-paircables
Torque Reference Input For SpeedKorque

Control Only
Signal Ground for Torque For SpeedfTorque
These signals are used when torque control is se- 300

Iected,
(%]
Motor torque is controlled so that it is proportional
10 the input voltage between T-REF and SG. %;;;”
Standard Setting
Cn-13= 30: This setting maansthat 3 V is equiva-
(TCRFGN).
lent to rated torque.
90
3,2 Set!ing User CcmWantr According to Host Controller
Examples: +3 V input. -+ Rated torque in forward direction

+9 V input + 300% of rated torque in forward direction
–0.3 V input+ 10% of rated torque in reverse direction
User constant Cn-13 can be used to change the voltage input range,
Example of Input Circuit: SGDB

Sewop<
See the figure on the right.
. For noise control, always use twisted-

pair cables, “2v-
. Example of Variable Resistor for Speed Setting:

Type 25HP-1 OB manufactured by Sakae Tsushin Kogyo Co., Ltd.
❑
Speed Reference Input (or For SpeediTorque
Speed Limit Input) Control Only
Signal Ground for Speed For Speed fiorque
Control Only
These signals are used when speed control is se-

45~ ; ... ... ..,,.!,:.:..
lected. Rele,ence
,Pend(r,min) 3520 ::.:.’:..?,;;’:.:,
~, :, ..... . . . . .
For normal speed control, always connect these .,5 .W .5 ‘“..-””

StmderO ... -*, o 5 ,0 ,5
signal terminals. se,mg /, . .. ,.,
100 Inputvolt%!,
(v)
,.-,;. .. : . ,
.,.; # -200 y~:lope
Motor speed is controlled so that it is proportional
‘ .sOO(vREFeNI.
to the input voltage between V-REF and SG. $
Standard Example
Cn-03 = 500: This setting means that 6 V is equivalent to 3000 r/rein,
Examples: +6 V input + 3000 r/rein in forward direction

-3 V input.+ 1500 r/rein in reverse direction
User constant Cn-03can be used tochangethevoltage input range, (This is also applica
ble to speed restriction,)
Example of Input Circuit SGDS

sewapeck
See the figure on the right.
. For noise control, always use twisted-

pair cables.
“2v-
. Example of Variable Resistor for Speed Setting:

Type 25HP-I OB manufactured by Sakae Tsushin Kogyo Co., Ltd.
91
3.2.7 LWnxTow.. Conlml cont.
. Using P-CON Signal
Promotional Control, etc. For SpeediTorque

Control and
Position Control
. The funcfion of this input signal varies according

to the Cn-2B setiing.
c“-”i~
SGDB Servopack
Swchm betweenP controlandPI control
Svmh,ng betweenzero-clam enabled

rmde andzero-dam wotiti!ed nmde
4F Cn-2B
SWIICII”9betweenINHIBITenablednmde
8“6 INHIBITPrd+bled nmde
tirection
changingthe ofrotation I
Cn-2B
Meaning of P-CON Signal
Setting
I Switching between P control
o, 1 and PI control.
2 (Not used)
Switching the direction of
3,4, 5, 6 rotation when contact input
speed control mode is selected.
7, 8, 9 Switching the control mode.
Switching between zero-clamp
10 enabled and zero-clamp
prohibited modes.
Switching between INHIBIT
11 enabled and INHIBIT prohibited
modes.
4) Set the following user constants for torque control according to the servo system used.
TCRFGN Unit Setting Factory For Speedflorque

Cn-13 Torque Reference 0,1 V/Rated Range Setting: Control Only
Gain Torque lo to 100 30
Referencetorque
Sets the voltage range of torque reference input
Rated
torque --
T-REF (l CN-e) according totheoutput form of the
host controller or external circuit. Rdermce
v.!leQe
[v)
*
setm%r’af.rence
voltage.
The factory setting is 30, so the rated torque is 3 V
(30 x 0.1).
92
3.2 Setting User Constants According m Host Controller
TCRLMT Unit Seting Factory For Speed florque

Cn-14 Speed Umit for Torque rlmin Range O to Setting Control Only
Control 10000 10000
Sets a motor speed limit value in torque control SPeed Control Rangefor 70,?4”. Control
Motorsc’eed
mode,
. .>.?..?:,?
TCRLMT ~.-y,-: ...:....,
Torque .,
This user constant is used to prevent machine .: .0.,,.1 ~:..
,range
overspeed during torque control. B
TOW.
VREFGN Unik Setting For Speed~orque

Cn-03 Speed Reference (r/min)N ~;:ngoo Control Only
Gain
Sets the voltage range of speed reference input V- setm’,

slope.
REF (1 CN-5) according to the output form of the ~$~
(,/.!”)
host controller or external circuit.
R.f.r.n..
voltage
(v)
+
The factory setting is rated speed il %/6V.
93
3.2.8 Using Torque Feed- fwwwd Fu.dio.
3.2.8 Using Torque Feed-forward Function

For speed control (analog reference) only.
1) Outline
The torque feed-forward function reduces positioning time. It differentiates a speed refer-
ence at the host controller (prepared by the customer) to generate a torque feed-forward
reference, then sends this torque feed-forward reference and the speed reference to the
Servopack.
Too high a torque feed-forward value will result in overshoot or undershoot. To prevent
this, set the optimum value while observing system response.
Connect a speed reference signal line and torque feed-forward reference signal line from
the host controller to V-REF (l CN-5, lCN-6) and T-REF (I CN-9, lCN-10), respectively.
Schematic ❑lock Oiagram for Torque Feed.forward Control

Hostcontroller Servopack
,~.REF Sewo.oto’
V-REP
d - Encoder
———
KP: Position loop gain
KFF Feed-forward gain
2) How to Use Torque Feed-forward Function
To use the torque feed-forward function, set the following memory switch to 1.
Sslection of Torque Factory For SpeedKorque Control

Cn-02 Bit 9
Feed-forward Function Setting: O Only
Enables the torque feed-foiward function.
To use the torque feed-forward function, input a speed reference to the V-REF terminal
and a torque feed-forward reference to the T-REF terminal.
The host controller must generate a torque feed-forward reference.
Setting Meaning
o Does not use tha torque feed-forward function.
1 Uses the torque feed-forward function.
94
3.2 Setline Use, ConstantsAccordine 10 Host Cont,olier
. This function cannot be used with the function for torque restriction by analog voltage
reference, described in Section 3.2.9 Using Torque Restriction by Ana/og Vo/tage Ffet-
erence.
. For user constants and control modes, refer to Appendix C List of User Constants,
3) Setting a Torque Feed-forward Value in User ConstantCn-13
The factory eefting is Cn-13 = 30. If, for example, the torque feed-forward value is +3 V,
torque is restricted to * 100% (rated torque).
TCRFGN Unik 0.1 Setting Factory For Speed florque

Cn-13 Torque Reference V/Rated Range Setting: Control Only
Gain Torque Ioto 100 30
3.2.9 Using Torque Restriction by Analog Voltage Reference

For speed control (analog reference) only,
❑
1) Outline
This function restricts torque by assigning the T-REFterminal (l CN-9, 1CN-10) a torque
limit value in terms of analog voltage. Since torque reference input terminal T-REF is
used as an input terminal, this function cannot be used for torque control.
Schematic Block Oiagram for Torque Restriction by Analog Voltage Reference
TorqueUnit“81”,
Speedrefemw~
~w SP.ed ieedb.ck
~
2) How to ‘Use Torque Restriction by Analog Voltage Reference
To use this torque restriction function, set the following memory switch to 1.
Torque Restriction by Analog Factory For Speed florque Control

Cn-02 Bit S
Voltage Reference Setting: O Only
Enables this torque restriction function.
95
3.2.9 Usinx Torque Re>trictwn b~ Analog VoltaZe R,fw, ”., . ..1.
To use this function, input a speed reference to the V-REF terminal and a torque limit val-
ue to the T-REF terminal.
This function cannot be used for torque control.
Torque restriction cannot be set separately for forward and reverse rotation. (The same
setting applies to both forward and reverse rotation.)
Setting Meaning
o Does not use the T-REF terminal as a torque limit value input terminal.
1 Uses the T-REF terminal ss e torque limit value input terminal.
● This function cannot be used with the torque feed-forward function dascribed in Section
3.2,8 Using Torque Feed-forward Function.
● For user constants and control modes, refer to Appendix C List of User Constants.
3) Setting a Torque Limit Value in User Constant Cn-13
The factory setting is Cn-13 = 30. If, for example, the torque limit value is 3 V, torque is
restricted to 10OOA(rated torque), A torque value in excess of 100% is clamped at 100%.
TCRFGN Unit 0.1 VI Setting Factory

For Speed florque
Cn-13 Torque Reference Rated Range Seting:
Control Only
Gain Torque Ioto loo 30
96
3.2 Selling User Constants AccordinC co Host Controller
Y
3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)
1) Outline
This function causes the Servopack to stop counting input reference pulses in position
control mode.
While this function is being used, the motor remains in servo locked (clamped) status,
The P-CON signal is used to enable or prohibit this function.
When this function is used, therefore, the P-CON signal cannot be used to switch be-
tween proportion (P) control and proportionalfinteg ral (Pi) control for speed loop. (P1con-
trol is always used.)
echematic Block Oiagram for lNHlelT Function

-1 s. “R....”....,
f:j:%a E
2) How to Use Reference Pulse Inhibit Function: INHIBIT
To use the INHIBIT function, set the Cn-2B constant as follows
Control Mode Selection Factory For Position Control Only

Cn-2B
Setting: O
Enables the INHIBIT function
Meaning
Does not use tthe INHIBIT function.
Reference pukIses are always counted.
=he INHIBIT function.
P-CON signal is used to enable or prohibit the INHIBIT function.
P-cc ON I Meaning I
OFF I Counts reference pul=s.
I Prohibit ts the ServoDack from eountina reference I
I I
pulses.
ON
The motor remains in servo locked (clamped)
status.
97
3,2,11 UsinE the Reference Puke Input Filter Sde&m Fu.cticm
3) Relationship between INHIBIT Signal and Reference Pulse ,--
ON ~L ON
1=
[P-CON)
signal J.
nnnnn;
ReferencePulse
:;
,, ~;
-m-t! +-k-
,,”
,,
4 ● 11,12> 0.5 nls
Input‘eferen.e pulse,
are notcounted
ourlng!MSperiod.
3.2.11 Using the Reference Pulse Input Filter Selection Function ~
1) Outline
This function selects a reference pulse input filter inside the Servopack according to the
output form of reference pulses from the host controller.
2) How to Use Reference Pulse Input Filter

,
Set the following memory switch according to the output form of reference pulses from
the host controlled
Reference Pulse Input Filter Factory For Position Control Only

Cn-02 Bit F
Selection Function Setting: O
Sets the memory switch according to the output form (line driver or open collector) of ref-
erence pulses from the host controller.
Setting Meaning
Output form of reference pulses from host controller tine driver output (m~imum
o
frequency of reference pulse 450 kpps)
Output form of reference pulses from host controller: Open collector output
1
(maximum frequency of reference pulse 200 kpp!
● For open collector output, the wire length must be as shori as possible (maximum 3 m).
3.2 Setting Uwr Constants Accordin~ to Host Conlndfer
\
3.2.12 Using the Analog Monitor
1) The following two analog voltage monitor signals are output,
Torque Monitor For Speedflorque Control

The following memory switch is used to modify the signal specifications,
TRQ-M Specifications Facto~

Bit 6
Setting: 0
VTG-M Specifications Factory
Cn-02 Bit 7
Setting: 0
. Error Pulse Monitor Level Factory
Bit E
Changeover Setting: O
TRQ-M
❑
.
VTG-M
Cn-02 Bit 7 Control Mode Specifications

o I I SDeed monitor’
1 Speed/torque (Undefined)
control
I
Position control I Error pulse Cn-02bit E=0 =0.05 V/&t
momtor reference unit
Cn-02bit E=t: =F0.05 V/+100
reference units
‘ For the SGMG and SGMD sefles, the unit is +2V/* 1000 r/rein,
For the SGMS, SGM and SGMP series, the unit is + lV/+ 1000 r/rein.
2) Analog monitor can also be available with exclusive-use cable (type: DE9404559) from
5CN connector.
White
Red
Cable Color Signal Name Contents
.
Red I VTG-M I Speed/error pulse
5CN
‘( Black
Biack
99
3.3.1 SettinE User Constants
.
3.3 Setting Up the Z Servopack
~ This section describes how to set user constants to operate the SGDB Servopack.
3.3.1 Setting User Constants 100

3.3.2 Setting the Jog Speed .............. 101
3.3.3 Setting the Number of Encoder Pulses . .. . . . 102
3.3.4 Setting the Motor Type . . . . . . . . . . . . . . . . .. . 103
3.3.1 Setting User Constants

1) Z-series Servopacks provide many functions, and have parameters called “user
constants” to allow the user to specify each function and perform fine adjustment.
SGDB Servopack
User constants
~
F+ ~
.. DigitalOperatoris used to set
=s
userconstsnts.
=8:
.—
E ‘ -
2) User constants are divided into the following two typea.
1) Memory switch Each bit of this switch is turned ON or OFF to specify a ‘--
Cn-01, Cn-02 function.
2) User constant setting A numetical value such as a torque limit value or speed
Cn-03 and later loop gain is set in this constant.
User Remarks
Name and Code
Constant
Cn-ol Memory switch
} ~~;b;;;;:;,maa
Cn-02 Memory switch
Cn-03 VREFGN Speed reference gain

Cn-.,
Cn-.. User constant setting
Cn-2D OUTSEL Output signal selection 1
3) For a list of user constants, refer to Appendix C List of User Constants.
100
3.3 .%m’nc U. the X ,Wvomxk
Y
3.3.2 Setting the Jog Speed
1) Use the following user constant to set or modify a motor speed when operating the
x-series Servo from a Digital OperatoK
JOGSPD Unit Setting Factory For Speed/Torque

Cn-1 O Jog Speed rlmin Range: O Setting: Control and Position
to 10000 500 Control
This constant is used to set a motor speed when O!aeratlc.”U,IW Dlgkd OPWat.ar
the motor is operated using a Oigital Operator,
=H
If a value higher than the maximum speed is set,
n
the maximum speed value is used.
101
3.3.3 .%tli”~the Numb.. of Encoder Pukes
3.3.3 Setting the Number of Encoder Pulses
1) To ensure that the Z-series Servo System operates properly, set the type of the encoder
to be used and the number of encoder pulses per revolution in the following user
constants:
Encoder Type Selection Factory For Speed florque Control

Cn-01 Sit E
Set the encoder type eccording to the sewomotor type to be used.
After changing the memory ewitch setting, turn the power OFF, then ON.
.
Motor Type Number of Encoder Pulses Per Revolution Preset Value
encoder
specifications
2 Incremental encoder 8192 pulses per revolution
3 Incremental encoder 2048 pulses per revolution o
6 Incremental encode~ 4096 pulses per revolution
VJ Absolute encodec 1024 pulses per revolution
1
s Absolute encodec 8192 pulses per revolution
PULSNO Unit Pulses Setting For Speedi’Torque

Number of Per Revolution Range: Control and
Cn-11 Encoder Pulses Number of Position Control
Encoder
Pulses
Set the number of encoder pulses according to the servomotor type to be used. If this
user constant is set incorrectly, system operation cannot be guaranteed. ,
After changing the memory switch eetting, turn the power OFF, then ON.
Motor Type Number of Encoder Pulsee Per Revolution Preset Value

encoder
specifications
2 Incremental encode~ 8192 pulses per revolution 8192
w Absolute encodeK 1024 pulses per revolution 1024
s Absolute encoder 6192 pulses per revolution 8192
.-
102
.
3.3.4 Setting the Motor Type
1) To ensure that the X-series Servo System operates properly, set the type of the servomo.
tor to be used in the following user constant.
Motor Selection For Speed~orque Control

Cn-2A
Set this memory switch according to the servomotor type to be used,

After changing the user constant setting, turn the power OFF, then ON,
Group Servopack Type Motor Type Cn-2A Setting

\ 05 SGDB-03ADM SGMG-03ADB 171
SGDB-05AD SGM-04A 106
10
SGDB-05ADP
SGDB-05ADG
SGDB-07ADM
SGDB-IOAD
SGDB-1OADP
SGMP-04A
SGMG-05ADA
SGMG-06AUB
SGM-08A
SGMP-08A
126
142
172
107
127
❑
SGDB-1OADG SGMG-09AUA 143
SGDB-1OADM SGMG-09ADB 173
.
SGDB-IOADS SGMS-1OAUA 163
15 SGDB-15ADM sGMG-12AnB 174
20
30 SGDB-30ADD SGMD-22AUA 155

SGDB-30ADG SGMG-30AUA 146
SGDB-30ADM SGMG-30AUB t 76
SGDB-30ADS SGMG-30AUA 166
44 SGDB-44ADD SGMD-32A~A 156
SGDB-44ADG sGMG-44AnA 147
SGDB-44ADM SGMG-44AUB t 77
SGDB-44ADS SGMS-40ARA 167
The motor type used can be changed within the same group by altering the Cn-2A set.
ting.
103
3.3.5 Adjustingthe Encoder Supply Voltage
3.3.5 Adjusting the Encoder Supply Voltage

1) The encoder power voltage at the encoder input parl must be between 4.75 and 5.25 V. If
the encoder cable is long, adjust the encoder supply voltage by setting the following user
constant.
Encoder Power Unit 0.1 mV Factory Setting 52500 For Speed~orque

Cn-2C Voltage Control and
Adjustment Position Control
The following values apply to standard cables:
Length of cables 3m 5m 10m 15m 20 m

Encoder ,
15-bit absolute encoder 55000 57000
12-bit absolute encoder 52500 54000 55500
Incremental encoder
Note that the system may fail to operate normally or breakdown ifthesetting is tOOhigh Or
too low.
104
3,4 SettinE Stov Mods
.
3.4 Setting Stop Mode
~ This section describes how to stop the motor properly,
3.4.1 Adjusting Off set . . . . . . . . . . . . . . . . . . . . . . . .. 105

3,4.2 Using Dynamic Brake,,,......,.,,.. . . . . 106
3,4.3 Using Zero-Clamp....,,.,......,,. . .. . .. .. . . . . 107
3,4.4 Using Holding Brake .,, . . . . . . . . . . . . . .. . .. .. ... ... 108
3.4.1 Adjusting Offset

\
1) “Why does not the motor stop?”
When O V is specified as reference voltage for speed/torque control (analog reference),

the motor may rotate at a very slow speed and fail to stop. This happens when reference
voltage from the host controller or external circuit has a slight reference offset (in mV
❑
units), Ii this offset is adjusted to O V, the motor will stop.
When reference voltage from the host

controller or external circuit has an offset
, 1
I Otis
IYF’!
Relere”.e
voltage
Reference
,Lmdm
reference,Orq”e
2) The following two methods can be used to adjust the reference offset to O V.
1) Automatic adjustment of
Reference offset is automatically adjusted to O V.
reference offset
2) Manual adjustment of reference Reference offset can be intentionally set to a
offset specified value.
NOTE If a position control loop is formed in the host controller, do not use automatic adjustment
in 1. Always use manual adjustment in 2.
105
3.4.2 Usinz Dytamic Brake
3) For detailed adjustment procedures, refer to the following sections.
Adjustment Method
1) Automatic adjustment of
Section 4.2.4 Reference Offset Automatic Adjustmerf?
reference offset
2) Manual adjustment of reference Section 4.2.5 Reference Offset Marrua/ Adjustment
offset Mode
3.4.2 Using Dynamic Brake

1) To stop the servomotor by applying dynamic brake (DB), set desired values in the fol-
lowing memory switch. If dynamic brake is not used, the servomotor will stop naturally
due to machine friction.
How to Stop Motor When Factory For Speedfrorque Control

Cn-01 Sit 6
Servo is Turned OFF Setting: O and Position Control
Operation to Be Performed For SpeediTorque Control
Cn-01 Bit 7 When Motor Stops After and Position Control
Servo is Turned OFF
The Servopack enters servo OFF status when:

serv.OFF
Ah’ 4.P
. Servo ON input signel (S-ON, ICN-40) is turned
b=
StOPmode R.!.,,!.
OFF Stooby
0 dynamici rake
. Servo alarm arises ~ ~;;;ernic BII7
, Ho14”9
. Power is turned OFF m 6
Specify how to stop the motor when one of the ‘ m ““am’’brake
above events occurs during operation.
Setting Meaning
o Stops the motor by dynamic brake.
Cn-01 bit 6 Causes the motor to coast to a stop.
1
The motor power is OFF and stops due to machine friction.
If dynamic brake stop mode is selected, specify the operation to be performed when
the motor stops.
Setting Meaning
0 Releases dynamic brake after the motor stops.
Cn-01 bit 7
1 Does not release dynamic brake even after the motor stop.
For 2.0 kW type, bit 7 of Cn-01 can be set to O only.
m TERMS ,
Dynamic
“Dynamic
breke (DB)
One of the general methods to cause a motor sudden stop.

brake” suddenly stops a servomotor by shorting its
electrical circuit.
This dynamic brake circuit is incorporated in the Servopack.
106
.
3.4.3 Using Zero-Clamp
1) The zero-clamp function is used forasystem in which the host controller does not form a
position loop by speed reference input.
In other words, this function is used to cause the motor to stop and enter a servo locked
status when the input voltage of speed reference V-REF is not OV, When the zero-clamp
function is turned ON, an internal position loop is temporarily formed, causing the motor
to be clamped within one pulse. Even if the motor is forcibly rotated by external force, it
returns to the zero-clamp position.
Speed reference less than

Cn.29 Seting is ignored
Host controller m
/
‘~’”= ~Jl, \
+
~ ~010~ ii.::::, ;.
~~ H] --&” :=s: ....,,
‘~-E@
2) Set the following memory switch so that input signal P-CON can be used to enable or
disable the zero-clamp function.
Control Mode Selection Factory For Speed Control Only

Cn-2B
Setfing:O
Proportional Control, etc, For Speed florque

Control and
Position Control
Cn-2B Control Mode

Zero-clamp Speed Control I SGDB Servooack
This speed control allows the Speed reference V-REF
zero-clamp function to be set when 1CN-5
the motor stops.
● A speed reference is input from
V-REF (l CN-5).
‘er”’c’am%
● P-CON (1 CN-41 ) is used to turn the
10 zero-clamp function ON or OFF.

Zero-clemp is performed when the
following two conditions are met:
P-CON signal ia closed.
Motor speed is below the value
set in Cn-29 (ZCLVL).
E
107
3.4.4 Using Holding Brake
3) Set in the following user constant the motor speed level at which zero-clamp is to be per- Z
formed:
ZCLVL Unit: Setting Range Factory For Speed Control

cn-2e Zero-Clamp Level rlmin 0 to 10000 Seting: Only
10
I
If zero-clamp speed control is selected, set the motor speed level at which zero-clemp is
to be performed. If a value higher than the maximum motor speed is set, the maximum
speed value is used.
Conditions for Zero-clamp
Zero-clamp is performed when all the following conditions are met:
a) Zero-clamp speed control is selected (User constant Cn-2B=l O).
b) P-CON (1 CN-41 ) is turned ON (O V).
c) Motor speed drops below the preset value.
Speed
Preset value for --

zero-clsmp -Vine
P-CON input
Zero-clamp being
periormed
3.4.4 Using Holding Brake

1) Outline _
,..
Sewomotor
F’
Holding brake is useful when a servo drive is used
HolrJng brake
to control a vertical axis. A servomotor with brake
prevents the movable part from dropping due to
gravitation when the system power is turned OFF.
I Prevents movable
part from shifting
due to gravitation
when power is
turned OFF
I I
NOTE The built-in brake in Servomotor with brake is a de-energization operation type, which is ,
used for holding purposes only and cannot be used for braking purposes. Use the holding
brake only to retain a stopped motor. Brake torque is more than 120% of the rated motor
torque,
108
3,4 .%tdnz .$ton Mode
2) Use Servopack contact output-signal BK and brake power supply to form a brake
ON/OFF circuit.
An example of standard wiring is shown below.

SGMU Sewomotor
SGDa Servopsck with brake
Powersupply i 1 I
—
1 1
BrakePower,umly
BK-RY Brake control relsy Brake power supply has two types (200 V, 100 V).
This output signal controls the brake when a motor with brake is used. This signal termi-
nal need not be connected when a motor without brake is used,
Related User Constanta

Cn-12 Time delay from brake signal until semo OFF
Cn-15 Speed level for brake signal output duting operation
Cn-16 Output timing of brake signal during motor operation
ON Status:
Releases the brake.
Circuit is closed or signal is at low level,
lC3FFStatus:
\Apptiesthebrake.
C!rcult IS oDen or smnal !s at hmh level. I
Set the following user constant to specify the lCN pinto which the BK signal is output.
Setting Factory For

Range: Setting Speed~orque
Cn-20 OUTSEL Output Signal Selection Iloto 210 Control and
666 Position Control
This user constant is used to select a function signal as the ICN output signal.
1s place Select the 1CN-25 and 1CN-26 (COINiV-CMP) functions.

10s place Select the 1CN-27 and 1CN-26 (TGON) functions.
100s place Select the 1CN-29 and 1CN-30 (S-RDY) functions.
109
3.4.4 Using Holding Brake cont.
Example:BK isoutputto lCN-27andl CN-28

Cn-2D=040
Preset
Function
valua
CONN-CMP
o
(Can be allocated to 1CN-25 and 1CN-26 only.)
\
4 BK
5 Overload warning
6 Overload alarm
3) lfthemachine moves slightly duetogravity whenthe brake isapplied, setthefollowing ‘

user constant to adjust brake ON timing:
Time delay from the Unit Setting Factory For

~n.,* ~RWIM fimeabrakesignalis 10 ms Range: Sstting SpeedKorque
output until servo OFF o to 50 0 Control and
status occurs Position Control
This user constant is used to set output timing of S,,keTlmlng

‘tIh.nMOWIs1“StowedSt~tUS
brake control signal BK and servo OFF operation
m =’”’””””
(motoroutputstop) when SGMD Servomotorwith
brake is used. D
i,
EEEl‘“’”ris”~-
- “’’’’’’””
Motor
~RKTIi
With the standard setting, the servo is turned OFF when BK signal (brake operation) is
output. The machine may move slightly due to gravitation. This movement depends on
machine configuration and brake characteristics. If this happens, use this user constant
to delay servo OFF timing to prevent the machine from moving.
For brake ON timing during motor operation, useCn-15 andCn-16.
110
3.4 Settizg StoPMode
. 4) Setthefollowing userconstants toadjustbrake ONtimingsothat holding brake isapplied

when the motor stops.
Speed Level at which Unit Setting Factory For

Brake Signal Is Output rlmin Range Setting: Spee~Orque
Cn-15 BRKSPD duting Motor Operation 0 to 10000 100 Control and
Position
Control
Output Timing of Brake Unit Setting Factory For
Signal during Motor 10ms Range 10 Setting: Speed~orque
Cn-16 BRKWAI Operation to 100 50 Control and
Position
Control
Bre.kaThing when MotorIs in StoppedStat..

Cn-15 and Cn-16 are used for SGMU Serdomo-
n-
tors with brake. Usethese userconstants to set
PowLOFF
brake timing used when the servo is turned OFF by S-ON input ‘ewo ON servo OFF
(lCN-40) or
by input signal S-ON (I CN-40) or alarm occur- alarm
rence during motor rotation.
a&
Brakes for SGMO Servomotors are designed as BRKSPD ::
(C.-l 5)
holding brakes. Therefore, brake ON timing when :’
the motor stops must be appropriate. Adjust the

user constant settings while obsewing machine
operation.
. Conditions for BK signal output during motor

operation. The circuit is opened in either of the
following situations.
1 Motor speed drops below the value set in Cn-15 (BRKSPD) after servo OFF occurs.
2 The time set in Cn-16 (BRKWAI) has elapsed since servo OFF occurred.
If a value higher than the maximum speed is set, the maximum speed value is used
111
3.5.1 U@ the Soft StaTt Function
3.5 Running the Motor Smoothly
# This section explains how to run the servomotor smoothly.
3.5.1 Using the Soft Start Funcfion 112

3.5.2 Using the Smoothing Function..,,,,, 113
3,5.3 Adjusting Gain ..................... 113
3.5.4 Adjusting Offset..............,,,,,. 114
3.5.5 Setting the Torque Reference Filter Time Constant ,, ., ... ,. 114
3.5.1 Using the Soft Start Function
1) The soft start function adjusts progressive speed reference input inside the Servo pack so
that acceleration and deceleration can be as constant as possible. To use this function,
set the following user constants.
~n.07 Soft Stafl Tme (Acceleration) ms
~n-23 Soft Start Tires (Deceleration) ms
In the Servopack, a speed reference is multiplied Sm,d

by the acceleration or deceleration value set in ‘e’’’””’”
Cn-07 or Cn-23 to provide speed control.
d ~::f
Smooth speed control can be achieved when pro- E:@&

gressive speed references are input or when con- Cn-07 Set ttis timeinterval,
tact input apeed control is used.
d
Set these user constants as follows. C.-23 Set thisUmBinterval,
Cn-07: Time interval from the time the motor sterfs until the maximum speed is
reached
Cn-23: Time interval from the time the motor is running at the maximum speed until it
stops
112
3.5 Rutming the Motor Smoothly
\ 3.5.2 Using the Smoothing Function
1) The smoothing function adjusts constant-frequency reference input inside the Servo-
pack so that acceleration and deceleration can be as constant as possible. To use this
function, set the following user constant.
ACCTME Position Reference Unit: Seting Factory For

Acceleration/Deceleration 0.1 ms Range Setting: Position
Cn-26
Time Constant O to 640 0 Control
I (Smoothina) I I I I 0.1.
This function performs acceleration/deceleration ~eferene, S,,”.mck

processing for input raference pulses (primary lag
characteristics).
‘~
This function prevents the motor from running at
progressive speeds in the following cases:
[g::+
Amy,Cmler.tiotideceieration
. When the host controller which outputs refer- P,O..S.,.9
ences cannot perform accelerationldecelera- “z jw, C“.26(ACC7W
tion processing R*ermc. / \
D.lse
freq”e”cy ~
. When reference pulse frequency is too low
. When reference electronic gear ratio is too high (more than 10 times)
This function does not change the travel distance (number of pulses).
3.5.3 Adjusting Gain

1) If speed loop gain or position loop gain exceeds the allowable limit for the servo system
including the machine to be controlled, the system will vibrate or become too susceptible.
Under such conditions, smooth operation cannot be expected. Reduce each loop gain
value to an appropriate value.
2) For servo gain adjustment, refer to the following section:
Section 3.6.2 Setting Servo Gain
113
APPLICATIONS OF >-SERIES PRODUCTS
3.5,5 .%tti.g the TorqIIe Refer . . . Filter Tint. Constant
3.5.4 Adjusting Offset .
1) If reference voltage from the host controller or external circuit has an offset in the vicinity
of O V, smooth operation cannot be expected. Adjust the reference offset to O V, ,
,,
When ReferenceVoltage from Host Controller or Extemsl Circuit has an Offset
onset
M
Reference
7+7
Reference ,’ 08s., is mr,eded by
“01,,9, .Ol,ege ,,
,, the ServoPeck,
Reference ,,, Fleferenc

sPesdof o ,, SF9edor
reference r.lwance
torque Offset adjustment
to,,”.
1 I
2) The following two methods are available to adjust the reference offset to O V,
1) Automatic adjustment of reference

Reference offset is automatically adjusted.
offset
2) Manuel adjustment of reference Reference offset can be intentionally set to a
offset specified velue.
NOTE If a position control loop is formed in the host controller, do not use automatic adjustment
in 1), Always use manual adjustment in 2).
3) For detailed adjustment procedures, refer to the following sections:
Adjustment Method
1) Automatic adjustment of reference Section 4.2.4 Reference Offset Automat;c
offset Adjustment
2) Manual adjustment of reference Section 4.2.5 Reference Offset Manual Adjustment
offset Mode
3.5.5 Setting the Torque Reference Filter Time Constant

1) lfthemachinecauses vibration, possibly resulting fromthesewo dtive, adjust the follow-
ing filter time constant. Vibration may stop,
TRQFIL To~que Refarence Unit Setting For Speed florque

Cn-17 Filter Time Constant 100 ~s Range Control and
Oto 250 Position Control
Cn-17 is a torque reference filtertime constentforthe SGDB Servopack. Thesmallerthe

value, the higher the torque control response. There is, however, a certain limit depend-
ing on machine conditions.
With thestandard setting, the machine may cause vibration resulting from the servo
drive. lnthiscase, increase theconstant setting. Mbration maystop. Mbration can be
caused byincorrect gain adjustment, machine problems and soon.
114
3.5 Rtmni.g the Motor Snmwthlj
2) The following memory switch can be used to switch between the primary and secondary
torque reference filters. The filter to beuseddepends on machine characteristics. If
vibration occurs, select the appropriate filter by changing the memory switch setting.
Torque Reference Hlter Factory For Speed florque

Cn-02Bit C Selection Setting: Control and
o Position Control
O Primayfilter
1: Secondatyfilter
115
APPLICATIONS OF z-SERIES PRODUCTS
3.6.2 St?tfiiIgSWW Gain
3.6 Minimizing Positioning Time
~ Thissection describes howtominimize positioning time,
3.6.1 Using Autotuning Function . . . . . .. 116

3.6.2 Setting Servo Gain . . . . . . . . . . . . . . . . . . . .. 116
3.6,3 Using Feed-forward Control . . .. . . . . . ...,, 118
3.6.4 Using Proportional Control . . .. .. . 118
3.6.5 Setting Speed Bias . . . . . . . . . . . . . . . . . . . . . .. 119
3,6,6 Using Mode Switch . . . . . . . . . . . . . . . . . . . .. .. . ... 120
3.6.1 Using Autotuning Function

1) lfspeed loopgain andposition loopgain forthesewo system arenotset properly, posi-
tioning may become slow, Techniques and experience are required to set these servo
gain values according to machine configuration and machine rigidity,
2) Z-series Servopacks have an autotuning function that automatically measures machine

characteristics and sets the necessary servo gain values, With this function, even first-
time servo users can easily perform tuning for servo gain, Servo gain values are set in
user constants.
3) The following user constants can be automatically set by the autotuning function,
User Constant Meaning

Cn-04 Speed loop gain
Cn-05 Speed loop integration time constant
Cn-l A Position loop gain
4) Fordetails ofhowto peflorm autotuning, refer to Secfion 4.2,3 Aufofuning
3.6.2 Setting Servo Gain

1) Check andreset theservo gain when:
a) Automatically setsewo gain values need to rechecked after autotuning.
b) Each sewogain value checked ina)isto bedirectly set foranother Sewopack.
c) Response petiormance needs to be fufiherenhanced after autotuning, orsewo gain

values need to be reset for a system with lower response performance.
116
3,6 Minimizing Positioni?wISme
2) Setthefollowing userconstants related tospeed ioopasnecessay
Cn-04 and Cn-05 ara a speed loop gain and an in- smed SPeedlow Q.i”
tegration time constant for the Servopack,

respectively, ‘e’er~
Speedfeedback
Tha higher the speed loop gain value or the small- Note lfthe Cn-28constant is set, the
er the speed loop integration time constant value, maximumallowsbleCn-04 seting
maybecomesmallerthan 2000.
the higher the speed control response, There is,
however, a certain limit depending on machine
characteristics,
The unit of speed loop gain (Kv) is Hz, but this value is obtained when GD2M equals GD2L.
Therefore, the value must be converted using load G D2 (= GD2L) as follows:
Kv value= setting x 2/[1 + (GD2L/GD2M)
setting x 2
Kv value =
I + (GD1./GDj.)
These user constants are automatically set by the autotuning function.
The unit of speed loop integration time constant Cn-05 (Ti) can be changed to
0.01 ms.
3) Set the following user constants related to position loop as necessary.
POSGN Unit Setting Factory For Position Control

Cn-1 A Position Loop Gain (Kp) 1Is Range 1 Seting: Only
to 200 40
Pcmii IOcQgah
This user constant is a position loop gain for the ~s~~,
Servopack.
~
1
mm.. Ieedmck
Increasing the position loop gain value provides
position control with higher response and less
error. Uowever, there is a certain limit depending
on machina characteristics. This gain is also valid
for zero clamp operation.
This user constant is automatically set by the autotuning function.
117
3.6.4 Wing Progom’omd Control
OVERLV Unit 256 Setting Factory For Position Control

Cn-1 E Ovetilow References Range: 1 Setting Only
to 32767 1024
Set in this user constant the error pulse level at

+ ,..:. (A,arm”i:w]:::
which a position error pulse overflow alarm (alarm -------------- Cn-l E
OVERLU
A.31 ) is detected,
Error
0.1s, o ‘“’ma’ C“”””’
v 4
If the machine permits only a small position loop

..l”----”;i:i;;;i
gain value to be set in Cn-lA, an overflow alarm
may arise during high-speed operation. In this
case, increase the value set in this user constant
to suppress alarm detection.
3.6.3 Using Feed-forward Control

Feed-forward control shortens positioning time. To use feed-forward control, aet the follow-
ing user constant.
FFGN Unit Sef6ng Factory For Position Control

Cn-1 D Feed- fomvard Gain % Range: O Setting: O Only
to 100
This user constant is set to appl yfeed-fow4ard f re-

quency compensation to position control inside
the Servopack,
Use this user constant to shorten positioning time.
Too high a value may cause the machine to ‘“+
vibrate, For ordinary machines, set 80% or less in
this constant,
3.6.4 Using Proportional Control

1 ) If user constant Cn-2B ia aet to O or 1 as shown below, input signal P-CON serves as a
Pi/P control changeover switch.
. PI Control: Proportional/integral control
m TERMS :
Feed-forwerd control
Control for making necessary corrections beforehand to prevent the control system from
receiving the effects of disturbance.
,
Using feed-forward control increases effective servo gain, enhancing response perfor-
mance.
118
3.6 Mi.imizi.g Po$iticmin~ Time
. P Control: ProDodional control
Cn-2B Control Mode Selection Factory For Speed Control and

Setting: O Position Control
Cn-2B
Speed Control, Position Control
control.
Control Mode
This is normal speed control or position
● Signal P-CON (1 CN-41 ) is used to switch
between P control and PI control.

.7
SGDB
. ....,”....“.,...
0“ E ‘:”’’”””= ‘“4’
2) Proportional control can be used in the following two ways,

‘m
a) When operation is performed by sending speed references f rom the host controller to
the Servopack, the host controller can selectively use P control mode for particular
conditions only. This method can prevent the occurrence of overshoot and also short-
en setiling time. For particular conditions, refer to Section 3.6.6 Using Mode Switch.
b) If PI control mode is used when the speed reference has a reference offset, the motor
may rotate at a very slow speed and fail to stop even if O is specified as a speed refer-
ence. in this case, use P control mode to stop the motor.
3.6.5 Setting Speed Bias
The settling time for positioning can be reduced by assigning biaato the speed reference out-
put parl in the Servopack. To assign bias, use the following constant.
BIASLV Unit: Setting Factory For Position Control

Cn-1 C Bias rlmin Range O Setting: O Only
to 450
This user constant is set to assign an offset to a con!.., ,nput

,,te,enC:
speed reference in the SGDB Servopack. (In
position control mode) :;;:V3
Error
,“(s,
+
Use this constant to reduce the settling time. /1
Set this user constant according to machine conditions.
119
3.6.6 SJain.gMode Swit.k
3.6.6 Using Mode Switch

1) Use the mode switch for the following purposes:
a) To prevent overshoot during acceleration or deceleration (for speed control).
b) To prevent undershoot during positioning in order to reduce settling time (for position
control).
1 Overshoot
k
SDeed Actual motol
b
.. ope ratlon
,,7
>
,’” Reference”,,
,,,
lime
Undershoot ‘H
Setiling time
2) In other words, the mode switch is a function that automatically switches the speed con-
trol mode inside the Servo pack from PI control to P control while cetiain conditions are
being established.
NOTE The mode switch is used to fully utilize performance of asewo drive to achieve vary high-
speed positioning, Tha speed response waveform must be observed to adjust the mode
switch.
For normal use, the speed loop gain and position loop gain set by autotuning provide suf-
ficient speed/position control,
Even if overshoot or undershoot occurs, they can be suppressed by setting the accelera-
tion/deceleration time constant for the host controller, the soft stafl time constants
(Cn-07, Cn-23), or smoothing time constant (Cn-26) for the Servopack.
m TERMS
From PI control to P control
PI control means propottional/integral control and P control means proportional control, In

short, switching “from PI control to P control” reduces effective servo gain, making the servo
system more stable.
120
3) Servopacks can use four types of mode switches (1 to 4), To select a mode switch, use
the following memory switch.
Memory
Switch Cn-01
Mode Switch Setting User Constant Unit
F# ah Bit
c B
Does not use mode

1
switch.
Uses torque reference as

Percentage of rated
o 0 0 a detection point. Cn-OC
torque: “/0
(Standard setting)
Uses speed reference as
o 1 0 Cn-OD Motor speed: rlmin
a detection point.
Uses acceleration refer- Motor acceleration:
1 0 0 Cn-OE
ence as a detection point. 10 (rlmin)ls
Uses error pulse as a
1 1 0 Cn-OF Reference unit
detection point.
,m
When Torque Reference Is Used aa a Detection Point of (Standard
Mode Switch Setting)
Reference Motor
If a torque reference exceeds the torque value set
in user constant Cn-OC, the speed loop switches
to P control.
‘Peed E
The SGDB Servopack is factory set to this stan-

dard mode (Cn-OC = 200).
‘2R
plcmm , , Plc..t,ol .:,.;. plc.n,rol
Example of Use: P.0.,,0, P.0.,,.1
[f a mode switch ia not used and PI control ia alwaya performed, torque may
enter a saturation state during acceleration or deceleration, causing the motor
spaed to have overshoot or undershoot.
Using the mode switch suppressed torque saturation and prevents the motor
speed from having overshoot and undershoot.
Wh modeswitch
Wth.ut modeswitch
““bti.A@ ‘“6
mm
ml.
121
3.6.6 Using Mod. Switck . ..(.
I When Speed Reference Is Used ss a Detection Point of Mode Switch J

If a speed reference exceeds the value set in user SpeEc
reference M.!.,
constant Cn-OD, the speed loop switches to P
control.
‘::DU
Exsmple of Use: PI. ...,01 : ~~on,,ol / PI..”1,.1
~~
The mode switch is used to reduce settling time.

Generally, speed loop gain must be increased to reduce settling time. Using the
mode switch suppresses the occurrence of overshoot and undershoot when
spaed loop gain is increased.
Wthoutmodeswitch W!hO,\ modeswitch
“&Qn’reasagain “h
P
I Wh nmdeswllch
I
Motor ,-- ‘-- - Suppress the occurrence

speea ‘s, of ove rshoot and
,,,
,/,
‘, undershoot.
Q Set,mgme
When Acceleration Is Used aa a Detection Point of Mode (Stsndard

Switch Setting)
If motor acceleration exceeds the value set in user RBfe,mce
constant Cn-OE, the speed loop switches to P

control.
““””=
“’9’’:2S
PImom & .,. Plc.”m
Example of Use: Pcontrol
Pcontra!
If a mode switch is not used and PI control is always performed, torque may
enter a saturation state during acceleration or deceleration, causing the motor
speed to have overshoot or undershoot.
Using the mode switch suppresses torque saturation and prevents the motor
epeed from having overshoot and undershoot.
I Who.t modeswitch I [ VJthmodeswitch I

Ovemhool
b@=’-
MOW Motor
,Lmd s,,.,
U“der$hoot
T,me mm
122
3.6 Minimizing Positioning i%m
\
When Error Pulse Is Used as a Detection Point of Mode Switch
This is for position control only,
If an error pulse exceeds the value set in user ‘peed

~~, “=
constant Cn-OF, the speed loop switches to P con- ~n4F . . . . . . . . . . . . . . . . . . .
trol. Plco.,rol [ ?.0,,,01 \ PI ,O”trol
u w—
Example of Use:
The mode switch is used to reduce settling time.

Generally, apeed loop gain must be increaaed to reduce settling time. Ueing the
mode switch suppresses the occurrence of overshoot and undershoot when
speed loop gain is increased.
W,hw, mode,wit,h Wthoutode switch

$Peed reference Motorweed IncreaSe Speed IOOp gain
‘“~ e ““ &
W“h modewhtch
Suppress the occurrence
.. . . . . . . ‘P
... of overshoot and
Motorweed undershoot.
,,
k
SettNngtime +-!4
4) The user constants required to set each mode switch are summarized as follows.
Mode Switch ONIOFF Factory For Speed Control and

Cn-01 Bit B
This user constant is used to enable ordisablethe

mode switch function.
‘Peedm
Mode switch is used to reduce settling
Does not use the mode switch function
~ time and suppress undershoot when the
motor stops. It switches PI control to P
control when certsin conditions are met.
The Servopack allows use of four different types
of mode switch. To select a mode switch, set bits C
and D of memory switch Cn-01.
123
3.6.6 Udxg Mode Switch conr.
Mode Switch Selection Factory For Speed Control and

Cn-01 Bit C
Setting: 0 Position Control
Mode Switch Selection Factory For Speed Control and
Cn-01 Bit D
Use the following user constants to set the mode switch to be used,
Memory User Constant

Switch for Setting
Cn-01 Mode Switch Type
Detection
Bit D Bit C Point
o 0 Uses torque reference as a detection point. Cn-OC

o 1 Uses speed reference as a detection point. Cn-OD
1 0 Uses acceleration reference as a detection point. Cn-OE
1 1 Uses error pulse as a detection point. Cn-OF
Mode switch is used to reduce settling time and suppress undershoot when the motor
stops, It switches PI control to P control when certain conditions are met,
TRQMSW Mode Switch Unit % Setting Factory For Speed
1
Cn-OC (Torque Range: O Setting: Control and
Reference) tO eoo 200 Position Control
REFMSW Mode Switch Unit Setting Factory For Speed
Cn-OD (Speed rlmin Range: O setting: O Control and
Reference) to 10000 Position Control
ACCMSW Mode Switch Unit 10 Setting Factory For Speed
Cn-OE (Acceleration (r/min)/s Range: O Setting: O Control and
Reference) to 3000 Position Control
ERPMSW Mode Switch Unit Setting Factory For Position
(Error Pulse) Refer- Range: o Settina: Control Onlv
Cn-OF
ence to 10000 10000”
I ‘1
,-
Mode switch is used to reduce settling time and

suppress undershoot when the motor stops, It
switches PI control to P control when certain
conditions are met.
‘pee”K
3.. H
The Servopack allows use of four different types Semng
till.
of mode switch. To select a mode switch, set bits
B, C and D of memory switch Cn-01.
124
3.6 MinimizhE Pmtiioniw ‘3hne
. Memory Switch
Cn-01 Mode Switch Set-
Ueer Constant Unit
ting
Bit C Bit ❑
Does not use
T
1
mode switch.
Uses torque refer-

Percentage of rated
o 00 ence as a detec- Cn-OC
torque: %
tion point.
Uses speed refer-
0 10 ence as a detec- Cn-OD Motor speed: rlmin
tion point.
—
Uses acceleration
Motor acceleration:
1 00 reference as a Cn-OE
10 (rlmin)ls
detection point.
Uses error pulse
1 10 as a detection Cn-OF Reference unit
point.
—
125
3,7.1 Using Senw Alarm OutPut cmdAlarm Code Output
/
3.7 Forming a Protective Sequence
This section describes how to use 1/0 signals from the Servopack to form a protective
! sequence for safety purposes.
3.7.1 Using Servo Alarm Output and Alarm Code Output 126
3.7.2 Using Sewo ONlnput Signal 129
3.7.3 Using Positioning Complete Signal 130
3.7.4 Using Speed Coincidence Output Signal 133
3.7.5 Using Running Output Signal,.,,..,.. 135
3.7.6 Using OLWarning and Alarm Output Signals 137
3.7.7 Using Servo Ready Output Signal .... 139 ,
3.7.8 Handling of Power Loss.,,..,.,,,,,. 140
3.7.1 Using Servo Alarm Output and Alarm Code Output
1) Basic Wiring for Alarm Output Signals
,’
SGDBSewmack 1 1/0 Power I
IT %% +0 v /
Photomwler
Ph@oco”Pler OutPut ICN.31AM+
Peroutput . ; ~d
Maximum operation
voltage,30VDC :.. : lCN-3ZALM-
Maximum output “ -{r ~
current50 mADC
iCN-37ALO1
ad
OP.. CollectorOutput
lCN.S AL02 ./
R.Y:;P:’OP.,MO”
voltage30VDC
Maximum output IcN.a, ALC@
current20 mADC
lCN-1 SG
- --l + : – ~~ Host,0”,,011,,
Ov
Provide an external l/O power supply separately. There is no DC power available

from Servopsck for output signals.
126
3,7 Formirw a Protective S......8
2) Contact Output Signal ALM
Servo Alarm Output For SpeediTorque

Control and
Position Control
Signal Ground for Servo For Speed~orque
Cont~ol and
Position Control
Signal ALM is output when the Servopack detects $.rv.lmk

an alarm.
arm ALMo“!w!
B em
Design the external circuit so that the main circuit

power to the SGDB Servopack is turned OFF by
u“ Turn, the ..in
.,,,”,, power
OFF
this alarm output signal,
ON
status:
OFF
status
Circuit between 1CN-31 and t CN-32 is closed.
1CN-31 is at low level.
Circuit between 1CN-31
lCN-31 is at high level.
and 1 CN-32 is ouen.
Normal state
Alarm state ❑
Alarm codes ALOI, AL02, and AL03 are output to indicate each alarm type
For Speed~orque
Control and
Position Control
For Spee~orque
Control and
Position Control
For Speed florque
Control and
Position Control
For Speed florque
Control and
Position Control
These signals output an alarm code to indicate the type of an alarm detected by the Ser-
vopack.
Use these signals to display alarm codes at the host controller.
127
3.7.1 Usinz Senv Alarm Output and Alarm Code OUCPUC
CO.I.
4) Relationship between Alarm Diapiay and Alarm Code Output ,
Alarm Display and Alarm Code Output
;ervo
Alarm Code Output
Uarm
Alarm
I I
ALM) Alarm Type Alarm Description
Display
$L02 AL03 out-
kLOl
put
User An absolute encoder error
x x x x constant occurred or user constant is
o f x x x
Regenerative Regenerative circuit is faulty.
0 o x x
+
—
x x o x
—
Overspeed Motor speed has exceeded
o x o x the maximum allowable
0 0 0 x
0 x o x
I connected. I
1
Absolute en- Absolute encoder is faulty.
x x x x coder error
I
,q.
~
Heataink Servopack heat sink over-
o o 0 x overheat heated.
1
,-
Reference Reference input failed to be
x x x x input read er- detected,
IH El :
I ror
—
Power hne One phase is missing from
F F
x o x x open phase main circuit power supply.
Digital Oper- Communication error Oc-

10c l-, ,-, ator trans- curred between Digital Oper-
l-l I Lllu
mission error ator and Sewopack.
Undefined
,- c, c l-, ,
,., ,1.11
--- No error
L
I I
H ‘2 5
.‘
0: Output transistor is ON /
x : Output transistor is OFF
“ : Displays an alarm categoty number.
For details, refer to Appendix D Lisf of A/arm Disp/ays
3.7 Forming a Protective Sequence
. 5) When the servo alarm (ALM) is output, eliminate the cause of the alarm and the turn ON
the following ALMRST input signal to reset the alarm state.
Alarm Reset For Speed/Torque

Control and
Position Control
This signal is used to reset the servo alarm state.
Form an external circuit so that the main circuit power supply is turned OFF when servo
alarm is output, Alarm state is automatically reset when control power supply is turned
OFF.
Alarm state can be reset using the Digital Operator,
❑
When an alarm occurs, slways eliminate the cauae before resetting the alarm
atate. 6.2.1 Troubleshooting Problems with Alarm Display describes how to trou-
bleshoot the ayatem when an alarm ariaea.
3.7.2 Using Servo ON Input Signal

1) This section describes how to wire and use contact input signal “servo ON (S-ON).” Use
this signal to forcibly turn the servomotor OFF from the host controller,
For Speed florque

Control and
Position Control
This signal is used to turn tha motor ON or OFF
ON: 1CN-14 Turns the motor ON. This is normal

Sarvo ON
is at low operation state (called “servo ON Motor is ON
level state”).
1 Motoris
OFF Turns the motor OFF. This is inop- operated
according to
lCN-14 ia at g[gm;,state (called “sewo OFF input signals
high Ieval
The servo can be turned OFF dur- Servo OFF
ing motor operation only when an
emergency stop is required. Motoris OFF
Motor
cannotrun.
129
3,7,3 Usifig Pmitioninz Com@W Sigmd
NOTE Do not use the S-ON signal to start or stop the motor, Always use an input reference to .-
starl and stop the motor.
2) If the S-ON signal is not to be used, set the following memory switch to 1:
Use of Servo ON Input Signal Factory For Speed/Torque Control

Cn-01 Bit O
This memory switch is used to enable or disable .SGDeServopack

the servo ON input signal S-ON (I CN-40). m
-&
When external short-circuit wiring is omitted, set
OvU
the memory switch to”1 ,“
WhenS-ONis not used,this shofi-circuit
witingcan be omitted. /
Setting Meaning
Uses sewo ON signal S-ON,
o
(When 1CN-40 is open, seivo is OFF, When 1CN-40 is at O V, servo is ON.)
1 Does not use servo ON signal S-ON,
3.7.3 Using Positioning Complete Signal

1) This section describes how to wire and use contact output-signal “positioning complete
output (COIN),” This signal is output to indicate that servomotor operation is complete.
I 1/0power*“W f
I
S13DBsew.p..k
I w
(
I I
130
3,7 Forming a Frott?ctiw .%quwtce
Positioning Complete Output For Position

Control Only
This output signal indicates that motor operation R#.renc,

is complete during position control, The host con-
troller uses this signal as an interlock to confirm ‘peed E
that positioning is complete,
$5-
CON
(ICN.25)
‘~
circuit between 1CN-25 and 1CN.26 is Positioning is complete (position error is
ON
closed. below the preset value).
status
1CN-25 is at low level.
circuit between 1CN-25 and 1CN-26 is Preset value Cn-1 B (positioning
OFF
open. complete range)
status:
t CN-25 is at high level.
Preset Value: Cn-1 B (positioning complete range)
2) Use the following user constant to output the COIN signal,
This user constant is used to specify a function signal as the 1CN output signal.
1s place Select the 1CN-25 and 1CN-26 (COIN/VCMP) functions.

100s Dlace Select the 1CN-29 and 1CN-30 (S-RDY) functions.
Example: Outputting a COIN signal

Cn-2D=UU0
(~ is output to ICN-25 and lCN-26 only.)
Preset
Function
II Value I
COIN/V-CMP
o
1 TGON
2 S-RDY
3 CLT
4 BK
1
5 Overload warning
6 Overload alarm
131
3.7.3 WW Positioning Conplete Signal cont.
3) Setthenumber oferror pulses inthefollowing userconstant toadjust output timing of -

COIN (positioning complete output).
COINLV Positioning Unit Setting Factory For Position

Cn-1 B Complete Reference Range: O Seting: 1 Control Only
Range Unit to 250
This user constant is used to set output timing of R,f,’,”c,

positioning complete signal (COIN, 1CN-25) to be
output when motor operation incomplete aftera
‘peed-
position reference pulse has been input. Cn.l S (CCXNLV)
ErrorP.ise . . . . . . .. . . . . . . . . .
[was) :
Set the number of error pulses in terms of refer-

~~
ence unit (the number of input pulses that is de- (1CN-25)
fined using the electronic gear function).
If too large a value is set in this user constant, error may become too small when the mo-
tor runs at a low speed, causing COIN to be output continuously.
COINLV does not affect the final positioning accuracy.
NOTE COIN is a signal for position control.

Forspeed control, V-CMP(speed coincidence output) isused instead, Fortorque con-
trol, COIN is always ON.
132
3.7 Forming a Protective Seguence
.
3.7.4 Using Speed Coincidence Output Signal
1) This section describes how to wire and use contact output signal “speed coincidence out-
put (V-CMP).” This signal is output to indicate that actual motor speed matches a refer-
ence speed, The host controller uses this signal as an interlock,
1/0 powersupply
ServoPack
[-+1 .24V Ov
Photoco.pierOutrmt
Peroutput
Maximumoperationvoltage
30VDC ‘z: ~,
outputcurrent50 +
Mexirnum –(xi:! ::
mADC
00 . Speed Coincidence Output For Speed Control

Onl
~u
This output signal indicates that actual motor ,,

Motor
speed matches the input speed reference during weed ,.,’; ;
,, ,-
speed control. rcn$’z+ ,/.. ,,
,, .“
,, ...
,.,,. ~eference
,<,,. meed
,,, +,., _
V-CM? i, OWUt wltti”
,,,. ,,; , IM$ range.
#,+,’
CirCUitbetween 1CN-25 and 1CN.26 is Actual motor speed matches the speed
ON
closed. reference (speed difference is below the
status
1CN-25 is at low level. preset value).
Circuit between 1CN-25 and 1CN.Z6 is Actual motor speed does not match the
OFF
open. speed reference (speed difference is
status
1CN-25 is at hiah level. greater thsn the preset value).
Preset value: Cn-22 (speed coincidence signal output width)
2) Use the following user constant to output the V-CMP signal.
OUTSEL Output signal Seting Range Factory

Cn-2D selection l10t0666 Setting:
210
This user constant is used to specify a function signal as the lCN output signal.
1s place Select the 1CN-25 and 1CN-26 (COINiVCMP) functions.
133
3,7.4 Using Speed Coincidence Out@ Signal cont.
Example: Outputting a V-CMP signal

Cn-2D=0U0
(m is output to lCN-25 and lCN-26 only.)
Preset
Function
Value
COIN/V-CMP
o
(Can be allocated to lCN-25 and 1CN-26 only.)
1 TGON
2 S-RDY
3 CLT
4 BK
5 Overload warning
6 Overload alarm
3) Set the following user constant to specifv the output conditions for speed coincidence
signal V-CMP. -
VCMPLV Speed Coincidence Unit: Setting Factory For Speed

Cn-22 Signal Output Width rlmin Range O Setting: Control Only
to 100 10
Set the output conditions for speed coincidence MOlor ,,’

signal V-CMP (1 CN-25). speed ,<.;;.
lC”-22J
VCMPLV ,9’’:;’
,.. ,
V-CMP signal is output when the difference be- ,,,.. . Reference
speed
tween the reference speed and actual motor ,,, ”; .’”
,,.. ,. v.CMP isoutput
speed is not greater than the preset value. , .,.;. WIm.m, ,.,9,
+;,,
Example: When preset value is 100 and reference speed is 2000 r/rein. /
V-CMP is ON (circuit between lCN-25 and 1CN-26 is closed) when the speed
is between 1900 and 2100 r/rein.
NOTE V-CMP is a signal for speed control.

For position control, COIN (position complete output) is used instead. For torque control
V-CMP is always ON,
134
3.7 Forming a Protective Sewe.ce
3.7.5 Using Running Output Signal
1) This section describes how to wire and use photocoupler output: a running output signal
TGON. This signal indicates that a servomotor is currently running.
m 1/0 power
,Umy
+24V OV
m’+
Running Output For Speed~orque
0. a Control and
Position Control
~m
This output signal indicates that the motor is cur-

rently running.
‘:-
It is usad as an external interlock,
Motor is running.
ON
Circuit is closed or signal is at low level, (Motor speed is greater than the preset
status
value.)
OFF Motor is stopped.
Circuit is open or signal is at high level.
status: (Motor speed is below the preset value.)
Preset value: Cn-OB (zero-speed level)
2) Use the following user constant to specify the pin to which the TGON signal is to be out-
put.
OUTSEL Output signal Setting Range: Factory

Cn-2D selection l10t0666 Setting
210
This user constant is used to specify a function signal as the 1CN output signal
1s place Select the 1CN-25 and 1CN-26 (COIN/V-CMP) functions.

10s place Select the 1CN-27 and 1CN-2e (TGON) functions.
Example: TGON isoutputto lCN-27andl CN-26.

Cn-2D=Ul ❑
135
3.7,5 US2W Ru.ninc Out~ut ,Sigmzl cont.
Preset
Function
value
COINIV-CMP
o
1 TGON
2 S-RDY
3 CLT
4 BK
5 Overload warning
6 Overload alarm
3) Usethefollowing userconstanttospecify theoutputconditionsforTGON(runningoutput

signal).
For
unit Setting Factory
Zero-Speed Speed florque
Cn-OB TGONLV Range 1 to Setting:
Level rlmin ,0000 Control and
20
Position Control
This user constant is used to set the speed level at which the Servopack determines that
the motor is running and then outputs a signal.
The following signals are output when motor speed exceeds the preset value. (The circuit
is closed when motor speed exceeds the preset value.)
Output signal of zero-speed

● TGON
● Status indication mode bit data
● Monitor mode Un.05bit4
:-r
136
3,7 Fom@ a Pmfecfiw .%guencc
3.7.6 Using OLWarning and Alarm Output Signals

1) This section describes how to wire and use photocoupler output signals OLWRN (over-
load warning) and OL (overload alarm).
These two output signals are output when operation under the rated torque or more con-
tinuesfor acertain period of time. Theoverload warning signal isoutput in20Y~ of the
time required to output the ovarload alarm signal
10!330
Isiil
10s0
ODeramQml,
OVe,lO,dAlar. level
(seconds) ioo
Overloadwar”,rq (,,,(
10
1
Retedtorque
1“,,mt.a”eou, Peak40,w,
Torque
1/0 powersupply
SGDB ServoPack
‘+24V OV
Photocoupler Output
OLWRN+
Per output (OL+)
Maximum operation
voltage, 30 VDC OLWRN- U
Maximum outo,t “ –[34:! 0-!
current 50 mADC
Overload Warning Output For Speed florque

Control and
Position Control
Overload Alarm Output For SpaecVlorque
Control and
Position Control
OLWRN is an overload warning output signal, and OL is an overload alarm output signal.
ON
Circuit is closed or signal is at low level. Normal state
status:
OFF
Circuit is open or signal is at high level. Warning or alarm state
status
2) Usethefollowing userconstant tospecify thepinto which thesignal isto beoutput.
OUTSEL output Setting Range Factory For

Cn-2D signal l10t0666 Setting; SpeedKorque
selection 210 Control and
Position Control
This user constant is used to specify a function signal as the lCN output signal
137
3.7.6 UsinE OL Warning and Alarm Ou@t Signals cont.
1s place Select the 1CN-25 and 1CN-26 (CO IN/V-CMP) functions.

10s place Select the 1CN-27 snd 1CN-28 (TGON) functions.
100s place Select the 1CN-29 snd 1CN-30 (S-RDY) functions.
Example: Overload warning isoutput tol CN-27andl CN-28

Cn-2D.05Cl
Preset
Function
Value
COINIV-CMP
o
1 TGON
2 S-RDY
3 CLT
4 BK
5 Overload warning
6 Overload alarm
138
3.7.7 Using Servo Ready Output Signal
1) This section describes how to wire and use photocoupler output signal S-RDY (servo
ready).
“Servo ready” means that the Servopack is not in servo alarm state when the main circuit
isturned ON. Forabsolute encoder specifications, ''sawoready'' means that, in addition
to the abova, the SEN signal is at high level and tha absolute encoder is also in ready
state.
1/0power
SGDB Ser”.Pack
1- ,Updy
+24V AOV
Photmmupler Output
Per output S-RDY+
Maximumope,aflon
* _[ ~qj + rra
voltage:30 VDC S-RDY-
Maximumout~ut
cwrent 50 rnADC
‘R
Servo Ready Output For Speed~orque

Control and
Position Control
This signal indicates that the Servopack is ready to receive sewo ON signals.
ON
Circuit is closed or signal is at low level. Servo ready state
status
1
OFF
Circuit is open or signal is at high level. Not in servo ready state
status
2) Usethefollowing userconstantto specify thepinto which tha S-RDYsignal istobeout-

put.
OUTSEL Output Setting Range Factory For

signal l10t0666 Setting: Speedfrorque
Cn-2D
selection 210 I Control and I
This user constant is used to specify a function signal as the 1CN output signal.
1s place Select the 1CN-25 and 1CN-26 (COIN/V-CMP) functions.

10s place Select the 1CN-27 and 1CN-2e (TGON) functions.
100s place Select the 1CN-2SJand 1CN-30 (S-ROY) functions.
Example: S-RDY is output to lCN-29 and lCN-30.

Cn-2B=200
139
3.7.8 .%,tdlinc of Pow, ,%ss
Preset
Function
Value
I COIN/V-CMP
u
[Can be allocated to ICN-25 and 1CN-26 only.)
1 I TGON
I_
3 I CLT
1
5 Overload warning
6 10verload alarm
3.7.8 Handling of Power Loss

1) Usethefollowing memory switch to specify whether to output a servo alarm when power
loss occurs.
Operation to Be Performed at Factory For Speedflorque Control

Cn-01 Bit 5
Recovery from Power Loss Setting: O and Position Control
If the SGDB Servopack detects instantaneous

voltage drop in power supply, it can output servo
alarm A.F3 to prevent a hazardous situation. This Pie E
memory switch is used to specify whether to out- Cn-Oi bit 5 = O
put this alarm, ALM
[lCN-31) Cn-01 txt 5.1
{:
Setting Meaning
o Does not output a servo alarm after recovery from power loss.
1 Outputs a servo alarm after recovery from power loss.
2) Normally, set this memory switch to O. If the S-RDY signal is not to be used, set the
memory switch to 1. The S-RDYsignal remains OFFwhilethe main power supply is OFF,
regardless of the memory switch setting.
140
3.8 SjIecial Wiring’
3.8 Special Wiring
This section describes special wiring methods including the one for noise control. Always
refer to Section 3.8.l Wh’inglnstructions and 3.8.2 Wiring for Noise Control, and refer
to other sections as necessary.
3.8.1 Widnglnstructions 141

3.8.2 Wiring for Noise Control . . . . . . . . . . . 143
3.8.3 Using More Than One Sewo Drive. ...,,.,..,..,,..,,,,,...,,.,,,, 148
3.8.4 Using Regenerative Resistor Units 150
3.8,5 Using an Absolute Encoder . . . . 151
3.8.6 Extending an Encoder Cable .,, ., ,,. 161
3.8.7 Using SGDBServopack with High Voltage Line 163
❑
3.8.8 Connector Terminal Layouts ......... 165
3.8.1 Wiring Instructions

To ensure safe and stable operation, always refer to the following wiring instructions,
NOTE Always usethefollowing cables forreference input andencoderwiting.
. .
I
(for incremental
,-, ,, .,,, =,,.””=, , 1. . ... .. . . .. .
ror encooer snmoea zum ~omon.)
DP8409\ 23 (for absolute
twisted-pair cable
encoder)
NOTE Foreground wire, useasthick acable as possible,
● Trim off the excess portion of the cable to minimize the cable length.=
.At least class 3 grounding (ground to 100Qor

less) is recommended.
● Always use one-line grounding.
. Ifthemotor isinsulated from the machine, ground the motor directly.
. Select grounding phase and grounding point in accordance with the national code and
consistent with sound local practices.
NOTE Donotbend orapplytension vocables.
.Sincethe conductor of asignal cable is very thin (0,2 to0.3 mm), handle it with ade-
quate care.
141
3.8,1 Wiring Instructions cwt.
NOTE Useanoise filter toprevent noiae interference. Noise filter
(For details, refer to the following Caution.)
. Iftheservo isto be used near private houses or e

0° ~
may receive noise interference, a noise
install
o 0
filter on the input side of the power supply line. 0
@ 0
Since this Servopack is designed as an indus-
trial device, it provides no mechanism to prevent
noise interference.
NOTE Toprevent malfunction duetonoise, takethe following actions:
. Posifion the input reference device and noise filter asclose tothe Servopackas pos-
sible.
.Always install a surge absorber circuit in the relay, solenoid and magnetic contactor
coils.
. The distance between a power line (such as a power supply line or motor cable) and a
signal line must beat least 30 cm (12 in). Do not put the power and signal lines in the
same duct or bundle them together.
● Donotshare thepowersupply with anelectflc welder orelectflcal discharge machine.

When the Servopack is placad near a high-frequency oscillator, install a noise filter on
the input side of the power supply line.
Note c) Since Sewopack uses high-speed switching elements, signal lines mayre-
ceive noise. To prevent this, always take the above actions.
d) For details of grounding and noise filters, refer to Sectior? 3.8.2 Wiring for
Noise Control.
NOTE Useamolded-case circuit breaker (MCCB)orfuseto protect thepowersupply line fromhigh

voltage.
.Thia Servopack is directly connected to com- MCCB

mercial power supply without a transformer.
Always use an MCCB or fuss to protect the ser- .
vo system from accidental high voltage.
● Select an appropriate MCCB or fuse according .
to the Servopack capacity and the number of
Dll
.
Servopacks to be used as shown below.
n
142
3,8 Special Wiring
MCCB or Fuse for Each Power Capacity
Power Capacity Per Servopack Current Capacity Per MCCB or

Servopack Type (kVA) Fuse (A)
(see note 1) (see note 2)
SGDB-03AD0 0.65
5
SGDB-05AD0 1.1
SGDB-07ADU 1.5
6
SGDB-1 OADO 2.0
SGDS-I 5AD0 2.5 10
SGDB-20ADU 4.0 12
SGDB-30ADU 5.0 18
SGDB-44ADU 7.0 24
SGDB-50ADD 7.5 28
SGDB-60ADD 12.5 32
SGDS-75AD0 15.0 41
❑
SGDB-lAADD 19.0 60
Note 1) Power capacity at rated load
2) Operating characteflstics (250C):2seconds ormorefor200Y~, O.Olsecondormorefor

700%
3) A fast-operating fuse cannot be used because the Servopack power supply is a capaci.
tor input type. A fast-operating fuse may blow out when the power is turned ON.
3.8.2 Wiring for Noise Control

1) Example of Wiring for Noise Control
a) This Servopack uses high-speed switching elements inthe main circuit. It mayre-
ceive “switching noise” from these high-speed switching elements if wiring or ground-
ing around the Servopack is not appropriate, To prevent this, always wire and ground
the Servopack correctly.
b) This Sewopack hasabuilt-in microprocessor (CPU) .Toprotect the microprocessor

from external noise, install a noise filter in place.
143
3.8.2 Widng for Noise Control cont.
c) The following isanexample ofwiting fornoise control,
Noisefilter”
–.1.—.—.—.—.—.—.—.—.—.—..
Ser..mmm
-b
+
!El
-
)
+
%!
5 mm,
- .,
E—.
more
(casing P
FG
35 mm,
ormore
I ‘-
3.5 mm,
or more
L._..
‘ When using a noise filter, always observe the following wiring instructions:
Note a) Foreground wiretobe connected tothecasing, useathickwire withathick-

ness of at least 3.5 mmz (preferably, plain stitch cooper wire).
b) Forwires indicated by P~, usetwisted-pair cables whenever possible.
2) Correct Grounding
.A[ways ground the motor frame
Always connect servomotor frame terminal FG to the Servopack ground terminal@. Be

sure to ground the ground terminal@.
. lfthesewomotor isgrounded viathemachine, aswitching noise current will flow from

the Servopack power unit through motor stray capacitance. The above grounding is re-
quired to prevent the adverse effects of switching noise.
. If the reference input line receives noise, do the following.
GroundtheOVline (SG)ofthereference inputline, lfthemain circuitwitingforthe motor

isaccommodated ina metal conduit, ground the conduit and its junction box. For all
grounding, always use one-line grounding.
144
3.8 .%cid wiring
3) Noise Filter installation
a) Useaninhibit type noise filter toprevent noise

from the power supply line,
o
0°
Install a noise filter on the power supply line for
. 0
peripheral equipment as necessary. 0
@ 0
The following table lists recommended noise

filters for each Servopack type.
Noiee Filter Types
Noise Filter Recommended Noise Filter

Servopack Type
Connection Type Specifications
0.3 kW SGDB-03ADU LF-31O Three-phase 200
0.5 kW SGDB-05ADD VAC, 10A
0.7 kW SGDB-07AD0 LF-315 Thres-phase 200

1.0 kW SGDB-1OADO VAC, 15A
(Correct)
1.5 kW SGDB-15AD0
-T-= LF-320
2,0 kW SGDB-20ADU Three-phase 200
VAC, 20A
LF-330 Three-phase 200
3.0 kW SGDB-30ADD
(Incorrect) VAC, 30A
4,4 kW SGDB-44AD0 LF-340 Three-phase 200
5.0 kW VAC, 40 A
SGDB-50AD0 w
6.0 kW SGDB-60AD0
VAC, 50A
7.5 kW SGDB-75AD0
VAC, 60A
LF-380K Three-phase 200
11.OkW SGDB-lAADU
VAC, 80 A
Note These noise fiitersare manufactured by ToKn Corp. andavailablefrom Yaskawa,

For noise filters, contact your nearest Yaskawa sales representatives.
145
3.8,2 Wiring for Noise Control cont.
b) Always obsewethe following installation andwiring instructions. lncorrectuse ofa

noise filter halves its benefits.
. Separate input lines from output lines.
. Separate the noise filter ground wire from the output lines.
Oo not accommodate the
I?b
noise filter ground wire, output
lines and other signal lines in
the same duct or bundle them Noise No;,.
filter *IIW
together.
The woundwire
cm k ,1.s, to
a ,. Puttine,.
‘xx ‘0
146
3,8 Special Wiring
\ .Connect thenoise filter ground wire directly to the ground plate.
P
Do not connect the noise filter
ground wire to other ground
wires. Noise Noise
me, filter
a
k
qn El
F
‘x
Eo
SMeldedground
w,,,
Thbk
and
,hon
“x
. When grounding a noise filter inside a Unit,
If a noise filter is located inside

a Unit, connect the noise filter
ground wire and the ground
wires from other devices
inside the Unit to the ground
plate for the Unit first, then
ground these wires.
+1 +(3,0..,
Box-. -._. -J
147
3.8.3 Using More Than One .%vvoDrive
3.8.3 Using More Than One Servo Drive
Example of Wiring More than One Servo Drive
wEl=
*)*)*)- ,Ower ~
Power
OFF a IMC
No,seWar “T’~
c
SGDB SGMO
— :
ServoPwk servmndm
— T
t M
IMO
Y
— R SGD8 SGMO
— s ServoPack Ser.omotor
— T
M
a
,
l—
. R SGDB SGMU
s SeiVOPack Servomoto,
T
u
t+
Nota Wire the Servopack
“’;’’’’”;”s’
1) Connect the alarm output (ALM) terminals for the three Servopacks in series to enable
alarm detection relay 1RY to operate. This is becausa ALM is a logical complement out-
put signal, so the output transistor is turned OFF when the system enters an alarm state. ‘
The output transistor is turned OFF when the ALM output signal invokes alarm state,
148
.7.X .s’..,-<”1mm...
. 2) Multiple servos can share a single MCCB or noise filter. Always select a MCCB or noise
filter that has enough cepacity for the total power capacity (load conditions) of those ser-
vos. For details, refer to page 143.
MCCB Noise filter
e
o 0°
. 0
D .2
@ 0
m
Noise Filter Types
. ....... .
1
=f=a
3.0 kW I SGDB-30AD0 I
(Correct)
T
LF-320
LF-330
Thres-phase 200
VAC, 20A
Three-phase 200
VAC, 30A
(Incorrect) LF-340 Three-phase 200
VAC, 40A
w
6.0 kW I SGDB-60ADU I
VAC, 50A
7.5 kW I SGDB-75AD0 I
VAC, 60A
LF-360K Three-phase 200
11.0 kW I SGDB-lAADO I \/Al-! Rn A
Note These noise filters are manufactured by To kin Corp. and available from Yaskawa
For noise tilters, contact your nearest Yaskawa sales representatives,
149
APPLICATIONS OF x-SERIES PRODUCTS
3.8.4 LW.g ReEenerdiw Resistor UniIS
3.8.4 Using Regenerative Resistor Units
Servopacks of 6.0 kW or higher have no built-in regenerative resistor. For such Servo-
packs, connect an external regenerative resistor unit.
1) Connecting a Regenerative Reaiator Unit
The standard connection diagram for a regenerative resistor unit is shown below.
SermPack
i MC
1=
R u
Three-phase
200-230 VAC s v M
(J ;
—
k
5RY 2CN Pa
mu ,. .(PHC)
. ...
24V
31:_;-
1
Alarm
>-+;
Ov
32 Pi B
1 1
[
RI
I
u?
Regenerativeresistor“nil
Connecting a Rsgsnerstive Resistor Unit
/
2) Regenerative Reeistor Units
Regenerative Resistor Unit Regenerative Resistance

Servopsck Type
Type (Q)
SGDB-60AD0 JUSP-RA04 6.25
SGDB-75ADD JUSP-RA05 3.13
SGDB-lAADO
NOTE A regenerative resistor unit becomes very hot under some regenerative operation condi-
tions of the servo system. Therefore, provide a cooling mechanism for the regenerative
resistor unit, use heat resistant and incombustible cables, and route the cables so that
they are not in contact with the unit.
The resistor specifications of each regenerative resistor unit areas follows:
.
JUSP-RA04 Type: 25Q (220 W) x 4 (connected in parallel)

JUSP-RA05 Type: 25Q (220 W) x B (connected in parallel)
150
3.8 .@cid Wiring
A regenerefive resistor reaches approximately 90”C when it is used at 20% of the rated
allowable dissipation value of the resistor, The allowable motor regenerative power (av-
erage) is 180 W for the JUSP-RA04 Type, and 350 W for the JUSP-RA05 Type, If the
regenerative power (average) exceeds the allowable limit value when the servo system
is operating in regenerative operation mode, select an additional regenerative resistor
that has a greater rated allowable dissipation value (W), Therefore, always take the ser-
vo system operation conditions into consideration when determining which regenerative
resistor unit to use.
Example of allowable motor duty conditions
,*W 25 s
● Motor deceleration torque: Maximum torque
. Load inertia ~ve times the motor rotor inetia

Assuming that there is no mechanical loss.
❑
3.8.5 Using an Absolute Encoder
1) Outline
An absolute value detection system detects an absolute position of the machine even
when the servo system is OFF. If such a system is to be formed in the host controller, use
an SGMO Servomotor with absolute encoder. Consequently, automatic operation can
be performed without zero return operation immediately after the power is turned ON.
SGMO-OOOWO 12.U, ab,ol,,e e“mder

SGMU-CIOUSCJ 15-M,ab,aluk encode,
Absolute encoder
151
3.8.5 USiIIZmmAbsolute Encode, cont.
2) Standard Connection Dtagram for an Absolute Encoder Mounted on a Servomotor
● Interface Circuit
or
I o v+ I
? P : %pre,ent, ,.;,,.8 pal,.1,.,
L’.. Re.elv’arIJ,ed SN75175 or MC3486nmn”fact”redby Tex.$s,,,,,”., ”,, ,“..
Term[“,80” ResistorR 220 to 470 Cl
PS, “PS, PSO and “PSO are for 12-bit absolute encoders only.
SEN signal
Ho,! ,0”,,.11., SGDB ServoPack
● The SEN signal must be set at high level af-
+5 v SEN >CN.4 IWQ
ter at least three seconds after the power is
Attigll ,.”,,
turned ON.
eq”rvalent
. When the SEN signal is changed from low oV4
level to high level, +5 V is applied to the ab-
. A PNP ,r.msistoris recommended.
solute encoder, and serial data and initial in- . Sg”al 1,”,1 MLIh(e”ebM“. 2.5 V
LowIevekMa.. 0,8 V
cremental pulses are transmitted,
. The motor is not turned ON until these operations arecomplete, regardless of the servo
ON signal (S-ON),
3) Memory Switch to Determine Whether to Use Input Signal SEN
Use of SEN Input Signal Factory For SpeediTorque Control

Cn-01 Bit 1
This memory switch is used to determine whether Servopack

to use input signal SEN (I CN-4).
This memory switch is available for absolute en.
-
coders only (not for incremental encoders), Abe.!”,. encoder
152
F (The SGDB Servopack always assumes
that the SEN signal is at high level,
regardless of the actual signal level, )
3,8 .%ecial Wirirw
NOTE lfthe SENsignal istobeturned OFF, then ONagain, itmustremain athighlevelforat

least 1.3 seconds before being turned OFF.
SEN signsl OFF
1.3 seconds or more
~:%?t-
4) Memory Switchtol to Select Absolute Encoder
Encoder Type Selection Factory For Speed florque Control

Cn-01 Sit E
Sets the encoder type according to the servomotor type to be used,
After changing the memory switch satting,turn the power OFF, then ON.
R
Motor Type Number of Encoder Pulses Per Revolution Preset Value
encoder
specifications
2 Incremental encoder 8192 pulses per revolution
3 Incremental encodeK 2048 pulses per revolution o
6 Incremental ancoder 4096 pulSeS per reVOIUfiOfl
w Absolute encode~ 1024 pulses per revolution
1
s Absolute encoder 8192 pulses per revolution
Use the following user constant to set the number of pulses for the absolute en-
coder to be used:
PULSNO Unit Setting Factory For SpeedAorque

Number of Encoder P/R Range Setting: Control and Position
Cn-11 Pulses Number of 2046 Control
Encoder
Pulses
Sats the number of encoder pulses according to the servomotor type to be used.
After changing the memory switch setting, turn the power OFF, then ON.
Motor Type Number of Encoder Pubiee Par Revolution Preset Value

encoder
specifications
2 Incremental encoder 8192 pulses per revolution 8192
3 Incremental encodeK 2048 pulses per revolution 204a
8 Incremental encoder 4096 pulses per revolution 4096
w Absolute encodex 1024 pulses per revolution 1024

s Absolute encoder 6192 pulses per revolution 8192
153
3.8.5 llsin~ an Absolute .%codw cont.
NOTE Incorrect settings of the above user constants may result in abnormal motor operation.
To prevent this, always set the user constant correctly,
5) Usings Battery
Use the following battery to enable the absolute encoder to store position information
even when the Dower is turned OFF. Load the batterv in the host controller and connect it
to Servopack input terminals BAT and BATO,
~Recommended battery ● Connect the battery securely to prevent contact faults

resulting from environmental changes or aging.
Lithium battery ● Battery voltage is not monitored inside the Servopack.
Toshiba Battery ER6v C3 Type Provide a battery voltage monitor circuit as necessary.
3.6 V, 2000 mAH Minimum voltage: 2.8 V
6) Setting up Absolute Encoder
a) Set up the absolute encoder in the following cases:
. When starting the machine for the first time
. When the absolute encoder is not connected to power supply or backup power supply
(battery) for more than two days
154
b) The setup procedure is as follows:
5-bit absolute encoder (Motortype encodw specifications.S)

1
n
Discharging Electricity from the Encoder
. T.,” the SGDB ServoPackOFF, thendsm”nec!

the e.mder ..””,.,0,, 2 Turning Power ON
. Shofl-.ircuitencoderconnectorter. inelsR andS . Relur”the wiring10the normalslate.
10,al leas,w. minutes. . Cm”,., lhe baltev, 1“,” the SGDB ServoPack
I ON andse!the SEN $imel N hhh 1,”.1.
. I{alar. ,A.00 ekes, rewa! the same procedure
fro. the begi.n;no.
. If“o Problemha, omti,,ed,theset’$ Droced”<e
1,
complete.
v
12-bit absolute encoder (Motortype encoderspeciflcations=W)
1 TurningSGDB ServopackON
o
. W,, the SGDB ServoPeck,mol., ,“d encoderi“
the nomal way, I Reseting Data
. Cm”,,, thebatteryendW“ th- SGDBSermoack T“,” the SGDB SerfoP.mk
ON. OFF, lhen awonned the en-
coderemnectnr.
e
Shofl-cirt.itencodero.....(w
!erm!nals13 and 14fortwo$e- Key
mud, or mare. Po.mr
v’ [For SGM end SGMP Servo- .; ::..
2 I Turning the Encoder ON !llO,.rs] “.? ~ y
She”-drc”;tencodercm...,.,
ter. ioalhR and S 10, al least Q ~~
. Set the SEN signalet highlevel.
!.0 wcond$.
. Kew theen,odwt”r”ed ONlora[ Ieas!!hreemi”- lForSGMG,SGMD,a“dSGMS
.,.s. I Smmotorsl
. It doe, ,.! mat!,, eve” Ifalar. ,Calu$afises,
F
4 Turning the Power ON
. ReturntheWlri”g
10the C@.al stale.
. Turnthe SGDB SerVOPmkON and set the SEN
s,g.el ., Mgh1,..1.
. (falar. .A.00 a,],,., rwea, the SW!!.Procedure
fromthe Woi””<”g.
. If “0 Problemhe, OCCU,,M,!he,etuo.?mced”mIS
mmplele,
I
NOTE Setting up the encoder sets the revolution count inside the encoder to O.
After setting up the encoder, always reset the machine home position. Operating the ma-
chine without the home position being reset does not only damage the machine but may
also cause an accident resulting in injury or death.
7) Absolute Dats Exchange Sequence
The Servopack sends absolute data to the host controller when receiving output from an
absolute encoder, This data exchange sequence is described below.
Use the following detailed information when designing a host cmtroller.
155
3.&5 ll,in~ an Absolute Encoder cost.
a) Outline of Absolute Signal Servmack
The absolute encoder outputs PAO, PBO,

PCO and PSO as shown on the right,
*
I I
Signal status Contents

Name
Initial state Serial data
PAO Initial incremental pulse
Normal state Incremental pulse

Initial state Initial incremental pulse
PBO
Normal state Incremental pulse
Pco Normal state Home position pulse
Normal state Rotation count serial data
Pso
(1 2-bit absolute encoder only)
b) Contents of Absolute Data
Serial Data: Indicates how many turns the motor shaft has made from
the reference position (position specified at setup),
Initial Incremental Pulse: Outputs pulses at the same pulse rate as when the motor
shaft rotates from the home position to the currant posi-
tion at the maximum speed of 4,900 r/rein,
Referenceposition Currentposi*on
(setup)
-$ v o .! y
Coordinatedata “?
/
Absolute data PM can be determined using the following formula.
F’E Current value read by encoder
E!El
M Serial data (rotation count data)
PO Number of initial incremental pulses
(Normally, this is a negative value)
Ps Number of inidal incremental pulses read at setup
pM Current value required for the customer system
R Number of pulses per encoder revolution
(pulse count after dividing, value of Cn-OA)
156
3,8 SrJecial Wirin#
c) Absolute Data Transmitting Sequence
(1) Set the SEN signal at

high level.
(2) After 100 ms, set the
system to serial data
reception-waiting-state,
Clear the incremental
pulse upldown counter
to zero,
(3) Receive eight bytes of
serial data.
(4) The system enters a
normal incremental op-
eration state approximately 50 ms after the last serial data is received,
d) Detailed Specifications of Each Signal
“p O,“N ,,+.or ,,.,, ,,0,0,,,”. .~R”

. Specifications of PAO Serial Data
\ /
TIUwuuuu
The number of revolutions is output in five dig- ~ “’”-- . . . . “m
its. Itj. nn-r
000001010
t—t De,,
( Data transmission I Start-stoD synchronization \ s.fi M Even~e,ity
method (ASYNCj ‘
. Data is P+OOOO(CR) or P–0000
Baud rate e600 (CR) when the number of revolu-
tions is zero,
Start bit 1 bit
. The maximum number of revolu-
Stop bit 1 bit tions is * 999e9. If this value is ex-
Parity Even number ceeded, it returns to 0000.
Character code ASCII 7-bit code
Data format 8 characters. As shown on

the right.
AbsolutePosition
. Specifications of PSO Serial Data: NumberOf w,,. .“. rw.lumm
,.”01”,1.”. “0 ,0 “9 “u t. “9, ,
The number of revolutions and the abso-

lute position within one revolution are al- “P
weys output in five and four digits, respec-
tively. The transmission cycle is
approximately 40 ms.
o~~
b D.,, +
I
Ev& wfity
Data transmission Start-stop synchronization ‘tan‘t
method (ASYNC)
. Absolutepositiondata witbn one resolu-
Baud rate 9600
tion is a value beforefrequencydiviting.
Stan bt 1 bit (4,096 pulsesper revolution)
stop bit 1 bit . Absolute posidon data increases during

forwardrotation(standardsetO”9).
Parity Even number (Not“afidin reverserotationmode)
Character code ASCII 7-bit code
Data format 13 characters. As shown on
the riaht.
157
3,8,5 Usingan Absolwte Encoder cont.
● Incremental Pulse and Home Position Fmw,’d R,v.,s,

,0[,[,0”
Pulse: PhaseA~ PM,. A ~
ph~,e B~Pha$e B-
Initial incremental pulses which pro- ‘h= c -P= -t

vide absolute data are first divided by
the frequency divider inside the Servo-
. Note that phase C is not dvided so its pulSO
pack and then output in the same way
width is narrower than phase A.
as normal incremental pulses.
● Use the following user constant to set the pulse dividing ratio.
PG RAT Unit P/R Setting Range: For Speed florque

~n-oA Dividing Ratio 16 to Number Control and
Setting of Encoder Position Control
Pulses
output termi”d.
Set the number of output pulses for PG output SGDB
signals (PAO, *PAO, PBO and *PBO).
Pulses from motor encoder (PG) are divided

‘“=
by the preset number of pulses before being
output.
setting Wmple
The number of output pulsea per revolution is Preset“.1”% 16
set in this user constant. Set this value accord- pm —u mm.
p~~rLnnnn,—
ing to the reference unit of the machine or con-
~—”-’
troller to be used. 1 rwol.mn
The setting range varies according to the en-

coder used.
158
3.8 SzmiczlWirimz
8) Alarm Oiaplay
When a 12-bit absolute encoder is used, the following alarms are detected and dis-
played.
List of Alarms
Digital
PAO Serial PSO eerial
Alarm Type Meaning Operator
Data Data
Display
Indicates that backup
voltage drop was ALARMOA
Backup Alarm detected. (This alarm (m] ALMS1. @ BACK @~
helps maintain reliability of
rotation count data.)
Indicates that backup
voltage drop was
detected. (This alarm
Battery Alarm [-] AL.8c3. ~ %%””~
warns of battery
replacement and
disconnection.)
Checksum
was detected
:::;;::an in memory
“r”’ m ALfvf82. ~ &Y&
Error
Indicates that the motor

was running at a speed
Overspeed exceeding 400 rlmin when [~]
the encoder was turned ““85” @ ~~”b
ON.
Indicates that an error
Absolute Error [m] ALM84. @ ;kF&
~;~~$~tll~;;;;er.
Backup/Battery
Combination / (ml ALM81. @ $~”~
Alarm
The SEN signal can be used to output slsrm information from PAO snd PSO aa ae-
rial data.
“P ,,p
SEN Signal I ~
‘<H E~
‘Digital m (md eencodera,arm

Operator
Oisplay 0’ m ;’:%%;%)a’arm (Alarmtype identified)
PAO Serial ALM8*.

Data ALMSO.@ ‘LARMO’
Incrementalpulse @ @
PSO Serial A’y& (Undefined)

%%”~ :~p (Undefim?d)
Data
159
3.8.5 Usi.g cmAbsolute Encoder cont.
9) Absolute Encoder Home Position Error Detection
Absolute Encoder Home Factory For Spee~orque Control

Cn-02 Bit 1
Position Error Detection Setdng: 0 and Position Control
This memory switch is used to specify whether to use home position error detection
(alarm A.80) when an absolute encoder is used.
Setting Meaning
o Detects a home position error.
1 Does not detect a home position error.
Normally, set this memory switch to “O.
This memory switch has no significance when an incremental encoder is used.
m TERMS :
Home position error detection
This WKXion detects an enGOder count error resulring from noise. It checks the number
pUISeS per mOtOrreVOIUfiOn, and outputs a home position error alarm if that number is incor-
of
rect.
If the absolute encoder detects an error, it inverts phase C and notifies the Servopack of the
error, In this case, this “home position error detection” function also works.
160
.?.X ,S.dd Win...
3.8.6 Extending an Encoder Cable
1) Both incremental and absolute encoders have a standard encoder cable (maximum 20
meters (65.6 ft.)). If a Iongercable is required, prepare an extension cable as described
below. The maximum allowable cable length is 50 meters (164 ft.).
a) 3-meter (19.8 ft.) Cable with Connectors (for SGM and SGMP)
. For incremental encoder DP9320089-1

. For absolute encoder DP9320088-1
b) 3-meter (1 .98 ft) Cable with Connector
c) Encoder Plug and Cable Clamp (for SGMG, SGMD, and SGMS)
. For incremental encoder: DE9406971 -1

. For absolute encode~ DE9406972-1
● L-type plug: MS3108B20-29S
or
. Straight plug: MS3106B20-29S
. Cable clamp: MS3057-12A
161
3.8.6 Extending an Encoder Cable cont.
d) 50-meter(164 ft.) Extension Cable:
m
. For both incremental and absolute encoder% DP8409179
e
—
Cut this cable 30 cm (0.98 ft.) or less from each end.
cut cut
/ \
~ _.:,:,:
id Be sure to connect
each wire correctly
For SGMG, SGMD and (see the following
SGMS Types, connect
directly to the plug.
O
* I
Maximum 50m(164 R.)
162
3.8 Soecial l?iri.~
2) Connect cables of the same color to each other as shown in the table below. Note that
wiring for incremental and absolute encoders is different.
Color and Wire Size of Color and Wire Size of

Signal
Name Cable with Connectors 50-meter Extension
Cable (DP84091 79)
PG5V Red AVVG22 Red AWG16
PGOV Black AWG22 Black AWG16
PA Blue AWG26 Blue AWG26
● PA WhitelBlue AWG26 White/Blue AWG26
PB Yellow AWG26 Yellow AWG26
I *PB I White/Yellow AWG26 I White/Yellow AWG26 I

I 1
Pc Green AWG26 Green AWG26
I*PC I White/Green AWG26 I White/Green AWG26 I

1 !
Ps Purple AWG26 Purple AWG26
1)
I *PS I White/Green AWG26 I White/Green AWG26 I I
Only the absolute
RESET White/Gray AWG26 White/G ray AWG26 encoder csn be
connected.
BAT Orange AWG26 Orange AWG26
BATo White/Orange AWG26 White/Orange AWG26 1
Note Make sure to connect the shielded wires.
3.8.7 Using SGDB Servopack with High Voltage Line

1) SGDB Servopacks use three-phase 200 VAC.
If, however, three-phase 400 VAC class (400 V, 440 V) power supply must be used, pre-
pare the following power transformer (for three-phase).
163
3.8.7 Using SGDB ServoPack with High Voltage Line cont.
2) Select appropriate power transformer capacity according to the following table.
Power Supply Capacity Per

Servopack Type SGDA Servopack (kVA)
(see note)
SGDB-03AD0 0.65
SGDB-05ADD 1.1
SGDB-07AD0 1.5
SGDB-1 OADD 2.0
SGDB-15ADD 2.5
SGDB-20AD0 4.0
SGDB-30BDD 5.0
., .“.
SC-- “’”’--
UUD-44DVU I I
SGDB-50BD0 7.5
SGDB-60BDU 12.5
,.n
I0.”
SC’-- ““”--
UUB-ICIDUU I
I SGDB-l AADCI 19.0
Note At rated load.
3) When 400-V-class supply voltage is used, power must be turned ON and OFF on the pri-
mary side of the power transformer.
164
3.8 special wiring
3.8.8 Connector Terminal Layouts
This section describes connector terminal layouts for Servopac,ks, SGMU Servomotors and
Digital Operators,
1) Servopack Connectors
1CN Terminal Layout
1 se w ,, V*P SDeedCOlnCl-
(COIN-] de”m O“!P”I
2 S@ Ov 27 TGON+ ~,:”y *IQ”,,
Powersupply
formen ,01.
3 PL, ,,,,.,,,,,,. 28 TGON- ::;uy ,ional
.. .. Sew. ready
4 29 S-ROY.
0.1put
5 Servormdy
30 S-RDY- ~u,pu,
6 SG ml 31 ALM+ ~~,~,a$arm
7 32 ALM– %;;, al’rm
❑
Fe ti.idm~
8 .a”!pu!
PhaseA PG diviting
9 34 .PAO output
PG diviti”g PhaseA
output
phe,e B PG Wang
38 .PBO O“m”t
PhaseB
37 ALOi ~,am ~ode
m.., sup. AI*MI Code
plyforopen O“twt (09,” 38 ~Lo2 output(open
13 PL2 ~ollee,o,,,f
c.lle”or ..t- GOlle.t.r0.,.
em”,, put)
15 CLR ~Q ;P;’er 40 S-ON :Lw” ‘N ‘n-
Torquenm”!tor P .0.,,.1 i“o.,
17 VTG-M speed monitor 42 P.OT ~~.jy-

P..., supply
PG d,vidhg
AH- Alar. reseti“-
1’3 PCO OUlp”! 44
PST p.t
PG d,viti”g phasec Forwardeaier-
Re.erse ener-
21 SAT Banmy(+) 46 N-CL .,1 torquefiml,
ON i,wi
Powersupply
forSpeed/
23 +12V 48 pm ‘has” s
Power,“pply tom.. refer- Sh3n.1output
for,Deedi .“,,
24 -?,V 4’3 ?so gyny :U,pu,
torquerefer.
..,. SP.ed colnci-
50 FG Framewound
= (%:) ~;, si9”a1
● Servopack Side Connector type 10250-52A2JL (manufactured by 3M)

● Cable Side Connector type 10150-3000VE (manufactured by 3M)
Connector case type: 10350-52AO-OOe(manufactured by 3M)
165
3.8.8 Con.ec<or Terminal Layn@ cont.
2CN Terminal Layout
1 PGOV 11
B.sttew(+) [for
2 PGOV PGp..,, SUP- PG Pow+’sup. ,2 ~AT, .b,o,”,e ~,.
ply0v plyo v
coderonly) Battery(-) [for
3 PGoV 13 BAT- .bwl”te en-
coderonly]
4 PGW 14 Pc PG inwt
phasec
PGpower,.p- 5 Pe5v Pa powersup. 15 ,Pc PG (“p.,
Oly+5v ply+5 v phasec
PG input
6 PG5U 16 PA PhaseA
7 DIR ;;~$ut~rec- 17 .PA PG inP,,

ph.,. A
PGInput
8 Ps PhaseS(Im
,b$olute
~n. 18 PB
PO input
PG ;,W, PhaseB
coder
only) phases (for PG lnP”l
9 *PS ~b,ol”,e ,n. 19 ‘P B
PhaseB
coder. . Iy)
10 20 FG F,.., ground
E I 1 I I
. Sewopack Side Connector type: 10220-52A2JL (manufactured by 3M)

s Cable Side Connector type 10120-3000VE (manufactured by 3M)
Connector case type: 10320-52AO-O08(manufactured by 3M)
2) Connectors for Incremental Encoder

[SGM and SGMP seties]
1 Channel A output Blue
1=1==
2 Channel ~ output Blue/Black
3 Channel B output Yellow
4 Channel ~ output Yellow/Black
5 Channel C output Green
6. Channel ~ output Green/Black
7 0 V (power supply) Gray
8 +5 V (power supply) Red
m
9 Frame ground (FG) Orange
rl
,Cn *
❑~ ❑ II&y to b, PrePm.d by Customer

172161-1 2CN
D Q a Socket 170361-1 (chainlyre) or
❑ mm 170365-1 (100$,IyDe)
Olzmn#
Items to be Prepared by Customer

Case:
10320-52A0-OOS
~~n;~c;red by 3M)
1012O-3OOOVE
(manufacturedby 3M)
[
166
3) Connectors for Absolute Encoder
[SGM and SGMP series]
i Channel A output Blue

2 Channel ~ output White/Blue
3 Channel B output Yellow
4 Channel ~ output White/Yellow
5 Channel Z output Green
6 Channel ~ output White/Green
7 0 V (power supply) Black
Do not use this termi-
nal. (It is used to dia- 8 +5 V (power supply) Red
charge electricity from 9 Frame ground (FG) GreenNellow
capacitor before ship-
ment.) 10 Channel S output Purple
11 Channel ~ output White/Purple
\ - — ~
12 (Camacitor
. reset),. (Grav)
.,
13 Reset W bite/Gray
14 0 V (battery) Whale/Orange
I 1513.6 V (battev) I Orange I
i 1 I 1
Items to be Prepared by Custome#

Case:
10320-52A0.008
(manufacturedby 3M)
Connector
10120-3000VE
(manufacturedby 3M)
0.3 md “
167
3,8,8 Co.neetor Terminal ZZYOTXScont.
4) Connectors for Incremental Encoder

[SGMG, SGMD and SGMS series]
A Channel A output
+=3
B
C
D
Channel K output
Channel B output
Channel ~ output
Y “-
H
,CN m
2CN
d 0.12 *ms
Items to be Prepared by Customer

Case:
10320.52A0.008
(manufacturedby 3M)
Connector
10120-3000VE
(manufacturedby 3M)
168
3.8 Sxxial W’Uinz
. 5) Connectors for Absolute Encoder

A Channel A output
B Channel ii output
c Channel B output
D Channel ~ outvut
a
H +5 V (power supply)
J Frame ground (FG)
K Channel S output
,..
L. Channel ~ output
R Reset
S O V (battety)
m
T 3.6 V (battery)
a
Rem,toM Pre~ar.d byCus,mm,
Plug (Lshwed) MSSI05B20-2SS m
(Straight) MSSI08020.2sS
Cable
clanwM$3057- 12A 2CN
0.12 mm?
Items to be Prepared by
Customer
Case:
10320-52A0-008
(manufacturedby 3M)
Connectoc
10120-3000VE
(manufacturedby 3M)
169
3,8,8 Connector Terminal tiywts cont.
6) Connectors and Terminala for Standard-tvpe. Motor without Brake

4 I Frsme wound (FG) I Green
W.R m ..
ForSGMP.15A o,~
“ “.w4#a
. !.. *N
-,,.””.
(3
❑a
F- ~=~ M4 crtm~term,nal
b
Cap 172159-1
fimn, to IM Pr,pa,ed by Customer
Socket 170362.1 or 170366-1
RoundcrlmP1,,.1”81 RI .25-4TOR
lmm.fatiured by AMP.I
ForSGMP-15A
Cap 350780-1
Sock., 3505364 or 350530.6
,-
170
.7.8 S.ecial Win.?
7) Connector and Terminale for Motor with Brake

m
ForSC3MP.15A
Y
L ,.. m, J
Items to ~ PreParedby Customer
Gap 350781-1
Sock.? 350536-6 m 350550.6
....
6’
Brake ,UPPIY(nlWl”faCWmC
Ya,kawa CO”t<OIS
CO.,Ltd.)
by
. 100 VACI“P”I 90 VDC [LPDE-IHOI)

. 200 VACI“PuI 90 VDC (LPSE.2H01)
171
3.8.8 Connector TermiIw1 La.vouts cont.
8) Connectors snd Terminals for Standsrd-type Motor without Brake

,-
172
\ 9) Connectors and Terminals for Motor with Brake
[SGMG, SGMD and SGMS seties]
F I Brake terminal
-a: clamp types, refer to

Section 5.6.3 Connec-
to~
r o
‘:;~e’c’n’u’
BrakePOW.,s“PPly[rn.m”f.wt”red
W,kawa ControlsCo., W)
by
. lCOVAC inP”t 90 VDC (LPDE.l HO1]

. 209 VACi“P”t 90 VDC (LPSE-2HOI)
173
3,8.8 Connector Terminal I.awuts cont.
1O) Connectors for Oigital Operator /
. JUSP-0P02 A-I (Hand-heldType) ● JuSP-0P03A (MountType)
fits diectly into

“OPERATOW on the
Sewopack.
‘N
Pin Signal Signal Circuit Name Signal
No. Name Direction
1 TXD Transmit data (non-inversion side) P+s
2 *TX O Transmit data (inversion side) P+s

3 RXO Receive data (non-inversion side) P+s
4 ,RXO Receive data (inversion side) P+s /
5 OPH #
6 .RXD Shorting pins 6 and 7 produces a terminal

7 RT resistance of 220 Q between RXD and .RXD.
8 5VPP 1#
9 GND Signal ground O V
174
USING THE DIGITAL OPERATOR 4
This chapter describes the basic operation of the digital operator and the con-
venient features it offers.
All constarrt settings and motor operations are possible by simple, conve-
nient, operation.
Operate the digital operator as you read through this chapter.
4.1 Basic Operations

4.1.1
4.1.2
........................
Connecting the Digital Operator
Resetting Servo Alarms . . . . . . . . . . . . . . . .
176
176
177
o
A
4.1.3 Basic Functions and Mode Selection 178

4,1.4 Operation in Status Display Mode . . . . . . 179
4,1.5 Operation in User Constant Setting Mode 183
4,1.6 Operation in Monitor Mode . . . . . . . . . . . 1SS
4.2 Usinz the Functions ...................... 191

4.2.1 Operation in Alarm Trace-back Mode 191
4.2.2 Opemtion Using the Digital Operator 194
4,2.3 Autotuning ........................ 19S
4.2,4 Reference Offset Automatic Adjustment 204
4.2.5 Reference Offset Manual Adjustment Mode 207
4,2.6 Clearing Alarm Trace-bac kDat a....... 210
4,2.7 Checking Motor Type . . . . . . . . . . . . . . . 212
4.2.S Checking So ftware Version . . . . . . . . . . . 212
4.2.9 Current Detection Offset Manual Adjustment Mode 213
175
USING THE DIGITAL OPERATOR
4.1.1 Corm..tinz zA.Di@I OPeratoT
~ This section describes the basic operations using the Digital Operator.
4.1,1 Connecting the Digital Operator .,,... . . . .. . .. .. .. .. 176

4.1,2 Resetting Servo Alarms.,,.....,,,.. .. . . . . . . 177
4,1.3 Basic Functions and Mode Selection . .. . . . .. . 178
4.1.4 Operation in Status Display Mode,.,. . .. . ... . . ... 179
4.1,5 Operation in User Constant Setting Mode . . .. . . . .. 183
4.1.6 Operation in Monitor Mode .,, . . . . . . . . .. . .. . 188
4.1.1 Connecting the Digital Operator

The Digital Operator is available as two types: JUSP-0P02A-1 (Hand-held Type) and JUSP.
OP03A (Mount Type).
Each type is connected to the Servopack as shown below.
JUSP-0P02A-1 (Hand-held Type) JUSP-0P03A (Mount Type)
.,$*,
.,z,
%
%*. Attach directly on
“:’%%1: Servopack
\ I Connect using the 1 m

cable supplied.
S%ACK
II -mu
I
Sewop.ack
● The Digital Operator connector can be connected or disconnected while the Servopack
power ie ON.
176
.
4.1.2 Resetting Servo Alarms
Servo alarms can be reset using the Digital Operator. (Servo alarms can also be reset by the
1 CN-44, ALM RST input signal. Refer to Section 3.7.1 Using Servo A/arm Output and A/arm
Code Output for details,)
The alarm state can be clesred by turning the main power supply OFF, then turning the con-
trol power supply OFF.
Type: JUSP-0P02A-1 Type JUSP-0P03A
I
Press 8aB
w DOWN
AL,..
Alarm Reset
Press W @@ “
B
simultaneously Alsrm Reset
NOTE After an alarm occurs, remove the cause of the alarm before resetting it. Refer to Section
6.2 Troubleshooting to determine and remedy the cause of an alarm,
177
4,3,3 Basic Ftmcdons and Mode Selection
4.1.3 Basic Functions and Mode Selection ,
Digital Operator operation allows status display, user constant setting, operating reference,
and auto-tuning operations,
Basic Mode Selection

The four basic modes are listed below. Each time the mode key is pressed, the next mode in
the sequence is selected.
JUSP-0P02A-I JUSP-0P03A
E
Press the Press the
aaa
MODESET
“m
key to switch the mode.
R
o
0
key to switch the mode
v
7=2
Status Oisplay
Mode + Section4.1.4
m
~,olay,theServo~eck
stat”,S,tit
dataandcodes,
Setting Mode + Section4.1.5
Setsthe “se, con,lant$to selectand +

Special Modes
These modes are selected by ssting
~ a value for user constant ~”- ~~
Monitor Mode + Section 4.f.6
[
m
m@ays the sPeedreference,,. the .%wc$mk,
M. ,.1..1 SPeed,and1“!.,”.1 slat.,,
Alarm Trace-back
Mode + Siection 4.2.1
E
WOC Operation mode from Dgital
/
=
Dkplays?,logofpre.lom ,!.,.s.
2 Reference offset manual

0G03
E
adjustment mode
+ Section 4.2.5
Oo-oq Motor-type check mode

+ Section 4.2.7
Auto-tuning mode
OCI-05 + Section 4.2.3
00-06 Software-version check

mode + Section ‘4.2.8
Current detection offset .

0!?-09 nmn”al adjustment mode
+ Section 4.2.9
178
\ 4.1.4 Operation in Status Display Mode
The status display mode displays the Servopack status as bit data and codes.
. Selecting Status Display Mode
Press
❑ 0
mode is selected when the
Keys to the status display are shown below.
For Speed Control
❑it Data Code

——
Code
Base block
Status
I
m Servo OFF (motor power OFF)
m :::ooN@lotorpoweroN,
Forward Rotation Prohibited (P-OT)
~ lCN-42(P-OT)OFF. SeeCn-01 Bit2(pageW),
Reverse Rotation Prohibded (N-OT)

m lcN-43(N-oT,oFF. seecn-ol Bit3@?3e57,.
Displays the alarm number. See the table of alarms on page 193.
m “armsta’us
m
)
179
4.1,4 Operation in Status Display Mode cmt,
Bit Data Description

Control Power ON Lit when Sewopack control power ON. Not lit when
Servopack control power OFF.
Base Block Ut for base block. Not lit at servo ON,
Speed Coincidence Lit if motor speed reaches speed reference. Otherwise,
not lit,
Lit if motor speed exceeds preset value.

Not lit if motor sDeed is below oreset value.
Preset value: Set in Cn-OB (20 r/rein is factory setting)
Speed Reference Input Lit if input speed reference exceeds preset value.
Not lit if input speed reference is below preset value,
Specified value Set in Cn-OB (2o r/rein is factory setting)
Torque Reference Input tit if input torque reference exceeds preset value.
Not tit if input torque reference is below preset value.
Preset value: Set in Cn-OB (1O“Arated torque is standard
seting)
(Used for torque feed-forward or current restriction)
Power Ready tit when main power supply circuit is normal.
Not N when power is OFF or main power supply circuit is
faulty.
For Position Control
Bit Data Code

——
I
“= Code I
Base block
%5-r PowerReadv )
status
plq Servo OFF
Fonvard Rotation Prohibited

lCN-42(P-OT) OFF. See Cn-Ol Sit2(page57),
m
m ‘!armsta’”s Displays the alarm number. See the table of alarms on page 193,
m
.
Base Block tit for base block. Not lit at servo ON.
Positioning Complete Lit if error between position reference and sctual motor
position is below preset value.
Not lit if error between position reference and actual
motor position exceeds preset value.
Preset value: Set in Cn-1 B (1 pulse is standard setting)
TGON Lit if motor speed exceeds preset value.
Not lit if motor speed is below preset value.
Preset value: Set in Cn-OB (2o r/rein is standard setting)
Reference Pulse Input M if reference pulse is input

Not fit if no reference pulse is input.
Error Counter Clear Input Lit when error counter clear signsl is input.
Not titwhen error counter clear signal is not input.
Power Ready Lit when main power supply circuit is normal.
Not lit when power is OFF or main power supply circuit is
faulty.
181
4,1.4 OpercztWn
in Statu, Dis@aY Mode cont.
For Torque Control ,’
Code
lase block
Em ;ewo OFF (motor power OFF)
m 3un
;ervo ON (motor power ON) /
m
‘orward Rotation Prohibited (P-OT)
CN-42 (P-OT) OFF. See Cn-01 Bit 2 (page 57).
m leverse Rotation Prohibited (N-OT)

CN-43 (N-OT) OFF. See Cn-01 Bit 3 (page 57).
m
Uarm Status
)isplays the alarm number. See the table of alarms on page 193.
.
m
)
,
Bit Date Description
Control Power ON ] Lit when Servopack control power ON. Not lit when
Servopack control power OFF.
Base Block Lit for base block. Not lit at se!vo ON.
Speed Coincidence Lit if motor speed reaches speed reference. Otherwise,
not lit,
TGON Lit if motor speed exceeds preset value.
I I Not lit if motor sveed is below Dreset value.
Preset value Set in Cn-OB (20 r/rein is factory setting)
Speed Reference Input tit if input speed reference exceads preset value.
Not lit if input speed reference is below preset value.
Preset value: Set in Cn-OB (2o r/rein is factory setting)
(Used as speed limit)
Torque Reference Input Lit if input torque reference exceeds preset value.
Not lit if input torque reference is below preset value.
Preset value: Set in Cn-OB (1 O% rated torque is standard
setting) .
Power Ready I Lit when main power supply circuit is normal.
Not M when power is OFF or main power supply circuit is

faulty.
182
4.1 Basic Opratiom
.
4.1.5 Operation in User Constant Setting Mode
1) Two types of user constant are used
a) Constant Settings (Cn-03 to Cn-2D)

b) Memory Switches (Cn-01, Cn-02)
The setting method is different for each type.

The Servopack offers a large number of functions, which are selected and adjusted by
the user constant settings.
The constant settings (Cn-03 to Cn-2D) allow setting of a constant within a fixed range.
The memory switches (Cn-01, Cn-02) allow the required functions to be selected.
Refer to Appendix C List of User Corwfanfs.
183
4,1..5Opemtionifi User Constant S@ing Mode cont.
2) Using the Setting Mode for Constant Settings (Cn-03 to Cn-2D) .
The constant settings (Cn-03 to Cn-23) allow seting of a constant, Check the permitted
range of the constant in Appendix C List of User Constants, before changing the data,
The example below shows how to change user setting Cn-15 from 100 to 85.
For JUSP-0P02A-1
G— 1) Press = to select the user constant

A
v
setting mode.
i
JUSP-0P02A-1
2) Select the user constant number to set.
Press the ~ and ❑ keys to select the

digit,
Press the ~ and ~ keys to change the

value,
3) Press B’
EN,,, to dlspiay the current data for Ussr Constant
Number B ‘a”
the user constant selected at step 2.
-“m
4) Set the required data,
Press the ~ and ❑ keys to select the

digit,
Press the ~ and ~ keys to change the

value.
5) Press B
WZ~ to store the data
6) Press B.=, once more to display the user User Constant

Number R ““
constant number again.
---
7) Repeat steps 2 to 6 as often as required.
184
. For JUSP-0P03A
E?!l
mn
mn
JUSP-0P03A
1) Press
MODEISET
H
setting mode.
to select the user constant .0.=s,,
m
P->
%%g m
Q
\[~)J
UP DOWN
2) Press the ~ and ~ keys to select the
user constant number to set. ~ui”oyw
DATA
User Constant
3) Press n to display the current data for Number u
the user constant selected at step 2, -“-
UP DOWN
4) Press the ~ and ~ keys to change the m
data to the required value. @
W(W91
(
❑
Valuschangesrapidly
whenkey held down
m
A
DATA
5) Press Otostore the data. uuY~S Thestored data flashes.
DATA
UserConstant
6) Press O once more todisplay the user Number @ .ata
---
7) Repeat steps 2t06asoften as required.
. Refer to Append/x CLisfof User Constants.
185
4,1,5 Opwati.. in User Co.stmzt ,%idng Mode cont.
3) Using the Setting Mode for Memory Switches (Cn-01, Cn-02) /
Turn the bits of the memory switches ON and OFF to select the functions required.
The example below shows how to turn ON Bit 4 of memory switch Cn-01.
For JUSP-0P02A-1
E!l
.
.
JUSP-0P02A-I
1) Press=
setijng mode.
to select the user constant
2) Select the user constant number to set.
Press the ~ and ~ keys to select the @3#GE@

The selected
digit. 4fB,8 digit flashes.
Press the 00
A and V keys to change the
value.
3) Press B“
EWE.to display the current data for us.,C.nstant
Ed
Memory
Switch
Data
‘;”’”
,. se,
the memory switch selected at step 2.
L*J -m?

bit number to set.
5) Press the H and m keys to set the

memory switch data ON or OFF for the bit
number.
6) Repeat steps 4 and 5 as oflen as required.
7) Press E to store the data.

‘m
l! f\\
The stored dsta
flashes.
m
TERMe ;
Turning Bits ON and OFF
Memory switches use bits, not numbers, to select

functions.
ECA8S ,20
mFOB
S753i
Sixteen bits are available (1 to 9 and A to E). Select .
: = OFF
the required functions by turning the appropriate bit 1=0”
ON (function ON) or OFF (function OFF).
186
4.1 Ba.vic 0“,,.6”,,,
8) Press B once rnoretoclisplaythe user ~J5erWant ~ ~;~~ata

constant number again,
m-m
. Refer to Appendix C List of User Constants,
For JUSP-0P03A
Elloo
@lo
JUSP-0P03A
1) Press
MODEL5ET
D
setting mode.
to select the user constant SET
m
P->
%$9 m
Q
K~~JJ
UP DOWN

user constant number to set.
‘-,-, :~z;
*
MODEISET m
Memory
3) Press O to display the current data ~;v @ M,., D,,. &&’
for the memory switch selected at step 2,
(~~ ~ ~1
A
n
UP DOWN
4) Press the ~
bit number to set.
and @ keys to select the
~,”’yber’OfiD
Number
!:::t.::y
m(( @g
:?~;I,:i
““’’753’ D
MOOEISET
5) press O” to set the memory switch

data ON or OFF for the bit number. ~m ~
6) Repeat steps 4 and 5 as often as required.
DATA
❑ to store the data.

7) Press
Mm’
//\\’
The stored data
,,,s,,s.
DATA
Kc ~ Me4&r;sts
8) Press n once more to display the user
m . [m]
. Refer to Appendix C List of User Constant Settings
187
4,1.6 Operationin Monitor Mode
4.1.6 Operation in Monitor Mode ,.
1) The monitor mode allows the reference values input into the Servopack, 1/0 signal status,
and Servopack internal status to be monitored.
The monitor mode can be set during motor operation.
2) Using the Monitor Mode
The exampla below shows how to display 1500, the contents of monitor number Un-00.
For JUSP-0P02A-I
H ,.
.
JUSP-0P02A-1
1) Press m
2) Press the B
to select the monitor mode
and ~ keys to select the

monitor number to display,
B’
3) Press WC. to display the data for the mon- Monitor
Number ~ Data
itor number selected at step 2,
-“- “’
PI
4) Press ENTER
once more to display the moni- Monitor
Number @ ‘ata
tor number again.
-“m
For JUSP-0P03A
H @Jo
@lo
JUSP-0P03A
1) Press
MODEiSET
a to select the monitor mode.
UP DOWN

monitor number to display.
DATA
Monitor
3) Press O to display the data for the moni- Number
B ‘“a
tor number selected at step 2.
m-m
,--
DATA Monitor
Number Data
4) Press O once more to display the moni-
tor number again. - R m
4,1 Basic Operations
3) Keys to Monitor Mode Display are shown below,
Monitor Monitor Display

Number
Actual motor speed Units: rlmin.
Lh- IX
~,n.~ ; Input speed reference
Units: rlmin.
Units: rlmin.
En- g?
(with resuect to rated toraue)
Number of pulses from motor U-phase edge
Internal etau~
~
M Display
Internal status bit display
Un-u -5.
Internal status bit display

Gr, -Es
Input reference pulse speed display
Units xl reference unit(Cn-02Bit E=O)

xtOO reference unit (Cn-02 Sit E=l)
=
U“-39 Reference pulse counter reading
Units: reference units
A value between O to 65535 inclusive is
displayed,
flonitor Bit Description Relsted f/O Signsl, User

No No Conetent
in-05 t Servo alarm 1CN-31 (ALM)
2 Dynamic brake ON
3 Reverse rotation mode Cn-02 Bit O, 2CN-7 (D1 R)
4 Duting motor rotation
5 Speed coincidence or positioning
complete
6 Mode switch ON
7 During forward Or contact input lCN-45 (P-CL)
current limit speed control
6 During reverse 1CN-46 (N-CL)
current limit
9 Motor power ON
10 A-phase 2CN-16(PA), 2CN-17(XPA)
11 B-phase 2CN-16(PB), 2CN-19(XPB)
12 C-phase 2CN-14(PC), 2CN-15(XPC)
13 U-phase
14 V-phase
15. W-phase
16 Sewo ON 1CN-40 (S-ON)
17 P operation or rotation direction input ICN-41 (P-CON)
18 Forward overtravel lCN-42(P-OT), Cn-Ol Bit2
19 Reverse overtravel lcN-43(N-oT), cn-ol Bit3
20 SEN signal input lCN-4(SEN), Cn-01 Bitl
189
4,1,6 O~eratim in Moni4mMode cont.
MO;for Bit Description Related UO Signal, User /

No Constant
Un-06 1 Input reference pulse lCN-7 (PLUS), lCN-8 (XPULS)
2 Input pulse sign ICN-II(SIGN), ICN-12(XSIGN)
3 Error counter clear input lCN-15 (CLR), lCN-14 (XCLR)
4 Current hmit
5 Brake interlock output
6 Overload warning
7 Main power supply ON
8 Servo ready
9 Not used
to
20
190
4.2 UsinC the Functions
4.2 Using the Functions
1
This section desctibes how to use the basic operations described in section 1 to operate
and adjust the motor,
4.2.1 Operation in Alarm Trace-back Mode. 191

4.2.2 Operation Using the Digital Operator . . .. . ... 194
4.2.3 Autotuning . . .. . . .. 198
4.2.4 Reference Offset Automatic Adjustment 204
4.2.5 Reference Offset Manual Adjustment Mode 207
4.2.6 Clearing Alarm Traca-back Data .. . .. . . .. .. 210
4.2,7 Checldng Motor Type ..,.., .......... 212
4.2.8 Checldng Software Version.........,,,.,,., 212
4.2.9 Current Detection Offset Manual Adjustment Mode ., 213
4.2.1 Operation in Alarm Trace-back Mode

A
1) The alarm trace-back mode displays up to ten alarms which occurred previously. By al-
lowing confirmation of what alarm occurred when, it is a usaful aid to speed up trouble- m
shooting,
Alarm eequence Number Alarm Code See the table of

The Maher the number, alarms on page i 93.
the old& the alarm data
NOTE Tha alarm trace-back data is not cleared on alarm reset or when the Servopack powar is
turned OFF. This does not adversely affect operation.
The data is cleared using the special mode: Clear alarm trace-back data.
Refer to Section 4.2,6 C/earing A/arm Trace-back Data for details.
191
4.2.1 Operationin Alarm Tmte-beck Mode cont.
2) Using the Alarm Trace-back Mode /.

Follow the procedure below to determine which alarms occurred previously.
For JUSP-0P02A-1
E!iill
,.
.
JUSP-0P02A-1
1) Press =
back mode.
to select the alarm trace-
-
%
m-&
k~jqJ
Alarm Trace-back Mode
2) Press the ~ and D keys to scroll the

alarm sequence
and display
numbers
information
up and down
on previous
alarms. The higher the left-hand digit
(alarm sequence number), the older the
New
Jmm
-
G3E3
I
alarm data.
For JUSP-0P03A
H @lo
mo
1) Press
MODWSET
D to select the alarm trace-
/-#-& ,
JUSP-0P03A back mode,
T q-p)
,/)
Alarm Trace-back Mode
UP DOWN
Older (-~)
2) Press the ~ and ~ keys to scroll the
alarm sequence numbers up and down
@a
and display information on previous 1 &
II ,’
alarms. The higher the left-hand digit Newer-
(alarm sequence number), the older the
alarm data.
192
4.2 Usinz tha Frmcfion$
. 3) The table below lists the alarms displayed in the alarm trace-back mode.
Displayed Alarm Description

code I
,;, ,-,,-, lAbsolutedataerro,

, t. LI l_v
..- User constant breakdown
1~1.:_; l:’
I
$: ;-; l.+ User constant setting error
.-
Overcurrent
;:;. : ;J’
,q~l Regenerative error
;:/ :; ; Position error pulse overflow

.-
1
.- Msin circuit voltage error detection
;-:. ‘7’ :-1’
-- Overspeed
/-; ‘:1 I
-- Overload(Instantaneous)
:7:’! :
g, q /4 Overload(Continuous)
,:{ c, ,-, Absolute encoder error

I 1.t-l l_l
-- !
Absolute encoder back-up error
:-:. ::! 1
IAbsolute encoder checksum error
,C;. ;:; ,?
I
Absolute encoder battery error
,c ,. ,_,
O 2
_,
I
Absolute encoder data error
,C;.;: l-;
,:, ,:, ,: Absolute encoder overspeed

1 1.l_l _!
,~,~ ; I Ffeatsinkoverheated
!
Reference input read error
1-1.1:1 I
--
:-:. L ; I ‘e’’’oo”arrunde’teded’
‘--d
;-;.;_ i I
!
Encoder output phase error
--
:, Encoder A-, B-phase disconnection
1-1.I_ -1
Encoder C-phase disconnection
:HE ~;
Power Iina open phase
;?. 1~ :
Power loss error.
,:1 $: :;
11,1
I
,:1 t-l ICI Not an alarm. Reset by alarm reset or Servopack power ON.
11. z-r
4.2,2 OperationUs@ flu Digital Operator
‘ This function Drevents overrun, /
The following are operator-related alarms which are not recorded by alarm trace-back
r ,-, t- ,-, m Digital Operator transmission error 1

1- 1- 1- 1-, ,-,
Oigital Operator transmission error 2

;: ,C, ;: ;:; ;
● Refer to the troubleshooting procedures when an alarm occurs, described in Section

6.2 Troubleshooting,
4.2.2 Operation Using the Digital Operator
~ ~fl$%~~~f~~italOperatorallowstheSewopacktorunthemotor.Thisallowsrapid
checking of basic operations duting machine set-up and testing, without the trouble of con-
necting a host controller.
No need to connect to host

Power @ w controller or external
circuits.
Motor can be run just from
the Digital Operstor.
tiA
194
4,2 Usinz the Functions
1) Operation Uaingthe Digital Operator
Use the following procedure to operate the motor from the Digital Operator
For JUSP-0P02A-1
E!!l
.
v
JUSP-0P02A-1
1) Press m
setting mode.
2) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the
power is turned ON.)
Press the ~ and ~ keys to select the

digit,
—
Press the M and ~ keys to change the value
3) Press B“
GN,. to dleplay the current data for
N“~ber@
Us,rCOn81mt .a,a
the user constant Cn-00.
---
4) Press the D and R keys to change the [~) Se,,ooo-oo.

data to 00,
(This user constant is set to 00 when the Press the ~ ❑ -~ ~ ~
power is turned ON.) keysto changethe

value. El II
5) Press = tosetthe Digital Operator in m-~

operation mode. Operation is now pos-
sible under Digital Operator control.
m
Oisplay for operation mode from
Oigital Operator
6) Press
o~~~, to set the servo ON status
(motor power turned ON).

5CI
*VCN
lTiiE’_lm ,
Select Servo ONIServo OFF to change. ‘~~~~k m
195
4.2.2 OperationUsing the Digital Ogerator cont.
7) Press the B
motor,
and u keys to operate the
BE% Motor
Forward
Pressed.
% Rotation
Motor Forward/Reverse Rotation Motor
@ ;%*
Pressed. Reverse
Q
Rotation
sets the servo OFF status (motor power

turned OFF),
mm
(Alternatively, press
OFF status.)
u ~~~. toset theservo
9) press R to return to the setting mode mm @

display. This disables operation under Dig-
ital Operator control.
mm
Seting Mode Oispl.ay
For JUSP-0P03A-1
R Elo
@lo
JUSP-0P03A
1) Press m
—
MODEL5ET
setting mode
toselect the user constant
Setting Mode
UP DOWN
2) Press the~ and ~ keys toselect the [~] SelactCn-00.
“w.
user constant number Cn-00,

DATA
3) Pressn todisplay thecurrent data for L&r Co”,,,”, Number 0 ma

GElm-mma
UP DOWN
4) Press the @and ~keystochangethe fjJQq@J=

date to 00.
(This user constant is set to 00 when the
fq[t%l (&
Value changes
rapidly when key
held down.
MODEISE.
5) Press D tosetthe Digital Operatorin

operation mode. Operation is now pos-
sible under Digital Operator control, mm
Okplay for operation mode from
tlgital Operator
196
DATA
6) Press O to set the servo ON status (me- ~~~~
tor power turned ON).

QJp,:
Select Servo ON/Servo OFF
UP DOWN
Motor
7) Press the@ afld@ keystooperatethe ~~~#&
Forward
motor. P,.=.d. Q?) Rotation
Motor
@lIJ& Reverse
Motor ForwardlReverse Rotation %
Rotation
MODEISET
mmMo~
8) Press D to reverftom. This
sets thesewo OFF status (motor power
turned OFF).
m
DATA
(Alternatively, pressn toset the servo
OFF status.)
❑
DATA
mm ~ A
9) Press n to return to the setting mode
display. This disables operation under Dig-
ital Operator control. m
Seting Mode oisplay
2) Changing Motor Speed
The motor speed for operation under Digital Oparator control can be changed with a user
constant:
User Constant Cn-10 (JOGSPD), Units: r/rein., Standard setting: 500
For details about setting the motor speed, refer to Section 4.7.5 Operation in User
Constant Seftirrg Mode and Appendix C List of User Constants.
197
4,2,3 Autotunin~
4.2.3 Autotuning
No experience required to achieve optimum aetlings.

B TheSewopackcontainsabuilt-i.a.totuningfunctiontoa.tomaticallymeasurethemachine
characteristics and set the user constants.
Servo drives normally require tuning to match the machine configuration and rigidity, This
tuning requires a great deal of experience and is difficult for a person unfamiliar with the tun-
ing procedure,
However, autotuning allows even totally inexperienced people to easily complete the tuning.
Load InerOs
1) User Constants Automatically Sattable with Autotuning
I C.-O4 I Spesdloopgain I
Cn-05 Speed loop Integration time
constant
Cn-l A Position loop gain
Once autotuning has been completed, the autotuning procedure can be omitted for sub-
sequent machines, providing the machine specifications remain unchanged.
it is sufficient to directly set the user constants for subsequent machines.
The machine rigidity can be selected from one of seven levels. /
NOTE ● Conduct autotuning with the motor atiached to the machine.

Make sure that the machine is ready for operation and take suff icient safety precautions
when operating the machine.
Machine Rigidity M.,., m

TERMS:
m The machine rigidity is one of the machine charac-
teristics related to servo control. Set the servo to High rigidity
high response for a machine, such as a machine
tool, with high rigidity, and to low responsefora ma-
chine, such as a robot, with low rigidity. -’
Low rigidity
198
2) Using Autotuning
Follow the procedure below to run autotuning
For JUSP-0P02A-1
,.
v
1) Press =
sefling mode.
a /-mm>
i w mm m
JUSP-0P02A-I \~~)J
SeWng Mode

-, Se&ctCn-00
(User constant Cn-00 is selected when the .,,
power is turned ON.) -3-.
The selected
+\OjO “’’’’ss”’s”
digit.
Press the ~ 00 and V keys to change the

value.
3) Press BENTERto display the current data for

U,ercon,,an,,umberka Data
EEm”mEm
4) Press the A
data to 05.
00 and V keys to change the [LmFlm)
Sf)ttooo-o,
5) Press = todisplaythe machine rigid-
m
ity.
Macline i%gitity
Oisplay
6) Press the D and D keys to select the

machine rigidity. If the actual tigidity is un-
known, select medium rigidity,
7) Press ~ to select autotuning mode. rmm~~

EEmliwl)
Autotunina Mode
199
4.2.3 Autotu?iing cont.
JOG
8) Press SVON 10 set the servo ON status,
o
Select Servo ON/Servo OFF
9) Press the ❑ and u keys to operate the

motor.
Motor ForwardlReverse Rotation
10) When autotuning is completa, the END

[-] .4.totuningComplete
message is displayed, as shown to the
right.
Servo OFF status is automatically se-
lected. If Servo ON/Servo OFF is selectad
by a signal from an external contact, turn
this signal OFF,
11) Release the ❑ and D keys to revert to

the - display,
12) Press ❑
=.~,. to return to the setting mode
display. This ends the autotuning opera-
tion.
Setdng Mode Oisplay

. Refer to Subsection 3) on page 202 for the precautions relating to autotuning.
For JUSP-0P03A
B Imo
mo
JUSP-0P03A
I) prass
setting
MODE%SET
mode.
to select the user constant “m/&k
Q
k~~)J
Setting Mode
UP DOWN
~~~ Sel#Cn-00.
user constant number Cn-00.
power i~ turned ON.) m!
DATA DA,.
3) press O to display the current data for U,.,co,,,,,! ~.mL,~,

the usar constant Cn-00. -Q*
200
4.2 Using the Fwmtio.s
UP DOWN
4) Press the ~ and ~ keys to change the
data to 05.
MODELSET
5) Press n to display the machine rigid-

ity.
mm
Macline Mgidity !3isplay
w DOWN
6) Press the ~ and ~ keys to select the EEm HiQhRQitity
7)
machine rigidity,
Press
MODE/SET
n to select autotuning mode.

tl
1! [~)
mm
@ Medum.Qidily
L.. Rgldily
Autotuni”g Mode
DATA
8) Press O to set the servo ON status.

‘ress piiqnlm
Select Servo ON/Servo OFF ~
to change. c-l-
UP DOWN
9) Press the ~ and ~ keys to operate the
motor,
Motor ForwardlReverae Rotation
10) When autotuning is complete, the END

[~~ ..totu”ing.ornplete
message is displayed, as shown to the
right.
Servo OFF status is automatically se-
lected. If Servo ON/Servo OFF is selected
by a signal from an external contact, turn
this signal OFF.
201
4.2.3 A.totuning amt.
UP DOWN
11) Release the @ and ~ keys to revert to

Emm”mml
the - display.
DATA
12) Press O to return to the setting mode -h ~

display. This ends autotuning operation.
. Refer to the following Subsection 3) for the

mm
Se~ng Mode ilsplsy
precautions relating to autotuning.
3) Precautions Relating to Autotuning
a) Speed Setting During Autotuning

The motor speed during autotuning is set by user constant Cn-10. Set to 500 r/rein.,
which is the factory setting. Autotuning may be unsuccessful if this value is set too low,
uP DOWN
The motor runs intermittently while the ~ or ~ (or@ or ~ ) key is held down.
The motor does not rotate continuously.
b) Machine Rigidity Selection

Select the machine rigidity as described below, If the actual rigidity is unknown, select
medium rigidity.
. If the Machine Resonates
AtservoON
pressing tha B
when the ~~~, (or~
or H
o DOWN
(~ or@
) keyispressedorwhen
UP
) key, machine resonance

themotorisoperated by
indicates an inap-
propriate machine rigidity setting,
Follow the procedure below to correct the machine rigidity setting, and run autotuning
once more.
MODE.L5ET
(1) press the ~ (or O ) key to cancel autotuning,
MODE/SET
(2) Press the m (or D ) key once more to enter the machine tigidity setting
mode. Reduce the setting by one,
202
. If Autotuning Does Not End
(~j
Failure of autotuningtoend - u n o , Iscaused by an inappropriate machine rigid-
ity setting. Follow the procedure below to correct the machine flgidity setting, and run
autotuning once more.
MODE/SET
(1) Press the = (or D ) key to cancel autotuning.
MODE/SET
(2) Press the m (or a ) key once more to enter the machine rigidity setting
mode. Increase the setting by one
Autotuning may not end for machines with large play or extremely low rigidity.
In these cases, use conventional manual adjustment.
c) Input Signals
❑
. The P-OT signal, N-OT signal and SEN signal (absolute encoder only) are enabled
during autotuning. Input the P-OT signal, N-OT signal and SEN signal (absolute ,
encoder only) during autotuning.
To conduct autotuning without inputting these signals, set user constant Cn-01 Bits 1,
2,and3tol.
. Autotuning is not possible during overtravel

(P-OT or N-OT signal OFF).
Load x
A
rmT N.OT Motor
OFF ON
. Conduct autotuning when no overlra-

vel has occurred (both P-OT and
N-OT signal ON). Load
I J [
A A
POT NCJT Motor
ON ON
. If using the S-ON signal to set the servo ON status, display [-) before turn-
ing ON the S-ON signal.
203
4.2.4 Reference Off’et Automatic AAjustmtvIt
4.2.4 Reference Offset Automatic Adjustment

1) Why Does Reference Offset Occur?
The motor may rotate slowly when the reference voltage is intended to be O V.
This occurs when the host controller or external circuit has a small offset (measured in
mV) in the reference voltage.
Automatic Adjustment of Reference Voltage

~ Thereferenceotisetautomaticadjustmentmodeautomaticallymeasurestheotisetand
adjusts the reference voltage, It adjusts both speed and torque references.
The followina diaaram illustrates automatic adjustment of an offset in the reference

voltage from”the ~ost controller or external cir&it.
offset ,, Offset
Refdrence /A Reference Automatically
Voltage Voltage .’” Adjusted In
L
Servoosck
Q
Reference
Automatic Adjustment ““ Smedor
~eference
, ,.,,.. of Offset Torque
I I B
2) After completion of offset automatic adjustment, the amount of offset is stored in the
Servopack,
The amount of offset can be checked in the speed reference offset manual adjustment
mode. Refer to Section 4.2.5 Refererrce Offset Manua/ Adjustment Mode for details.
204
4.2 Usitt# the Functions
3) Using the Reference Offset Automatic Adjustment Mode
Follow the procedure below to automatically adjust the reference offset.
,.
B v
For JUSP-0P02A-1
JusP-oPo2A- 1
1) Follow the procadure below to set the mo-
tor into operating mode.
(1) Input the (intended) OV reference volt-

nmn
aae from the host controller or exter-
nal circuit.
(2) Then, turn ON the servo ON (l CN-40, S-ON) signal
2) Press m to select the user constant

/+mB>
setting mode.
‘m fazm
as!””:?
-
3) Select the user constant number Cn-00,

power is turned ON,)
~m~ m
la@p#@
f--
se,,.- n-
The selected tigit

w#o~Qflashes.

digit.
Press the ~ 00and V keys to change the

value.
4) Press B
,M,E.to display the current data for
5) Press the V
“data to 01.
o and D keys to change the ~j] .settooml
Press the ~ ~
keys to chsnge the +f61j@

value.
6) Press m to automatically adjust the

reference offset. The motor rotation stoDs.
mm
;&o,E%El
Q$ ~ - %-p.
7) Press B,.T=. to return to the setting mode mm Q
display. This ends reference offset auto-

matic adjustment.
mm
Seting Mode Okplay
205
USING THE DIGITAL OPESATOR
4.2.4 Refawtce Offset Awtomatic Aajustmen; cont.
For JUSP-0P03A
Hmlo
mo
JUSP-0P03A
1) Follow the procedure below to set the me-
tor into operating mode.
(1) Input the (intended) OV reference volt-

age from the host controller or exter-
nal circuit.
(2) Then, turn ON the servo ON (l CN-40,

S-ON) signal.
MODEISET
2) Press n to select the user constant

setting mode,
UP DOWN
3) Press the ~ and ~ keys to select the [-j Sc+edCn-00.

power is turned ON,)
DATA
4) Press a to display the current data for user Constant Number u .8,,
the user constant Cn-00,

mm-mm
UP DOWN
5) Press the ~ and ❑ keys tochangethe
data to 01.
rapidly when key

held down.
MODE/SET
6) Press n to automatically adjust the

qw MO SET
reference offset. The motor rotation stops, b

@yG@
MotorStops
DATA
7) Press ❑ to return to the setting mode

display. This ends reference offset auto-
matic adjustment.
Setting Mode oisplay
206
4.2 Usinz the Functions
4) The reference offset automatic adjustment mode cannot be used where a position
loop is formed with the host controller and the error pulses are zeroed when servo lock is
stopped.
In this case, use the speed reference offset manual adjustment mode. Refer to Section
4.2.5 Reference Offset kfarrua/ Adjustment Mode for details.
Zero-clamp speed control is available to force the motor to stop during zero speed refer-
ence. Refer to Section 3.4.3 Using Zero-C/amp for details.
4.2.5 Reference Offset Manual Adjustment Mode

1) Speed reference offset manual adjustment is very convenient in the following situations:
. If a loop is formed with the host controller and the error is zeroed when servo lock is
stopped.
. To deliberately set the offset to some value.
This mode can also be used to check the data set in the reference offset automatic adjust-
ment mode. A
In principle, this mode operates in the same way as the reference offset automatic adjust-
ment mode, except that the amount of offset is directly input during the adjustment. u
Offset Adjustment Range and Setting Units are as follows:
Reference Speed or Reference Torque

/
/
/
/
Offset Adjustment Range
/’
/’
/
/
Sped Reference
Offset Units /
/ Input Voltage
/
/
,
/
/’
/
Offset Adjustment Range .512 to +511
Offset Units:
Reference Speed 0.038 rlmin. (0.076 mV)
When C.-O3 = 500
Reference Torque 0.02 rlmin. (0.61 mV)
L
When Cn-t3 = 30
207
4,2,5 Reference
Offkt M...(z1 A@,tm,”t Mode cont.
2) Follow the procedure below to manually adjust the reference voltage.
For JUSP-0P02A-I
1) Press m to select the user constant - pm>

,.
v setting mode,
i % m ,.”,ngMndem
JUSP-0P02A.I t[~]J

(User constant Cn-00 is selected when the ~~~ Select.n-00.
-%.a’c,eddgit
+Pves.
digit.
Press B and m keys to change the

value.
3) Press E=.,FRto display the current data for U,.,Can,,,n,

~,mb,,
B ..,.
-“m
4) Press the B and ~ keys to change the

[m] S.,,000.03.
data to 03,
““’”eH D
keystochangethe -D@8
value. qt 1
5) Press ~ to select the speed refer- .,,

ence offset manual adjustment mode. m.~ m
(The amount of speed reference offset is ~,~~~~~~
displayed.) .dj.stmentixkxle m
6) Press the D and D keys to adjust the

amount of offset. @l --n;; Q
(Adjust the speed references.) IMIRul
7) Press m to select the torque refer-

ence offset manual adjustment mode. mm ~
(The amount of torque reference offset is

displayed.) b
8) Press the B and ~ keys to adjust the

amount of offset. @ ~--: I
“o
(Adjust the torque references,)
/w/bonl
208
4,2 Usinzthe Functions
9) Press = to return to the user

constant data display,
10) Press B
IN=. toreturn to the setting mode
display. This ends the reference offset
manual adjustment.
a mo
@lo
JUSP-0P03A
For JUSP-0P03A
1) Press
MODE/SET
O
setting mode.
toselect the user constant
UP DOWN
2) Press the@ and ~ keysto select the

DATA
3) Press n to display the current data for .,., c...,,., w.,,, U D..
the user constant Cn-00, -“-
UP DOWN
4) Press the @ and ~ keys to change the fjjj Sfd,ooo.os.
~@g#&ha
data to 03.
rapidly when
key held down
MODEL5ET
5) Press o to select the speed refer-

ence offset manual adjustment mode.
(The amount of speed reference offset is

displayed.)
UP DOWN
6) Press the ~ and ~ keys to adjust the

amount of offset.
(Adjust the speed references.)
MODEISET
7) Press n to select the torque refer-
ence offset manual adjustment mode,
(The amount of torque reference offset is

displayed,)
209
4.2.6 ClearingAlarm Trace-back Data
UP DOWN
8) Press the ~ and ~ keys to adjust the
amount of offset. h/W@
MODEJSET
9) Press ❑ to return to the user -3 ““~

constant data distzlav. !.
mm
10) Press ❑ to return to the setting mode -
~o
display. This ends the reference offset
manual adjustment.
m
(Adjust the torque references.) Seting ModeOisplsy
4.2.6 Clearing Alarm Trace-back Data

1) This procedure clears the alarm history, which stores the alarms occurring in the Servo-
pack. Each alarm in the alarm history is set to A99, which is not an alarm code. Refer to
Section 4,2.1 Operation in A/arm Trace-back Mode for details,
2) Follow the procedure below to clear the alarm trace-back data
For JUSP-0P02A-I
I .
JUSP-0P02A-1
1) Press -
setdng mode.
~
— m->
‘r,
<-J
se”l”gMode-

~~~ .Select.n-00.
power is turned ON.) C@@=ct,d ~gi,
AD1$&s
Press the ~ and ~ keys to select the digit.
Press the A 00and V keys to change the

value.
3) Press ESMI, to display the current data for

N“rnb.rB‘“
US.r.OnSt.nl Dets
-“-
4) Press the D and m keys to change the [Uw] S,,,000-02.

data to 02. Pressthe~ ~ ~
keysto changethe 8D
value. ql 1
210
4.2 Usinc the Functions
5) Press ~
back data.
to clear the alarm trace-
=!’
Clesr the slarm trsce-back data.
6) Press B
,NW to return to the user constant
UserCo”,?.nt Number ‘i51
“ Data
data display.
GEm”mmm
For JUSP-0P03A
H mu
an
MODE/SET
to select the user constant M

/&/&>
T
1 ) Press n
JUSP-0P03A setting mode ,“

.e”,n,Modem31
\[mjJ
UP DOWN

DATA
3) Press a to display the current data for
UP DOWN
4) Press the ~ and ~ keys to change the
data to 02.
MODEISET
5) Press n to clear the alarm trace-
back data.
Clear the alarm trsce-back data.

DATA
6) Press O to return to the user constant

data display.
211
4,2,8 Checking Software Version
4.2.7 Checking Motor Type
Set Cn-00 to 00-04 to select the motor-type check mode,

This mode is used for maintenance and is not normally used by the customer.
Operation
Z“Mx (ModificationNo.)dkplay
ModificationNo. dk la ed (~~) (Hexadecimaldisplayed)
@@Q@
@XIeg + @xl%z + @x18 + @ = Modification Index
Converses Hexadecimal values to Oecimal ones, (MOdifica~On No.)
4.2.8 Checking Software Version

1) Set Cn-00 to 00-06 to select the software-version check mode,
This mode is used for maintenance and is not normally used by the customer.
Operation Software Version Drsplay
Set Cn-00 to 00-06
&
212
4.2 Usinz the Functions
4.2.9 Current Detection Offset Manual Adjustment Mode

1) Current detection offset manual adjustment is performed at Yaskawa before shipping.
Basically, the customer need not perform this adjustment. Perform this adjustment only if
highly accurate adjustment is required when the Digital Operator is combined with a spe-
cific motor.
2) Run the motor at a speed of approximately 100 r/rein, and adjust the Digital Operator until
the torque monitor ripple is minimized. Adjust the U–phase and V–phase offsets alter-
nately several times until these offsets are well balanced.
3) Follow the procedure below to perform current detection offset manual adjustment
For JUSP-0P02A-1
I
m—
A
v
JUSP-0P02A-1
1) Press =
setting mode.
❑
2) Select the user constant number Cn-00,
[~) SelectCn-00.
(User constant Cn-00 is selected when the A
power is turned ON.) t%@#d#
The
+T 1
selected
Press the ~ and ~ keys to select the ❑ B digit flsshes.
digit.
press ~ and ~ keys to change the

value.
3) Press @ to display the current data for

B
User Co”%tanl N“tnbm w Da.
---
4) Press the B and ~ keys to change the ,rpqp S’a,ooo-o,

data to 08.
@@ !3
keys to chsnge the
vslue. qt
-
1
E3&3
5) Press = to select the current detec-

tion offset manual adjustment mode,
(The amount of current detection offset is
mm m
Current Detection
Offset Manual
displayed.) Adi.stm.ntMode _
6) Press the ~ and ~ keys to switch be-

mgla~zgin
tween U-phase and V-phase current ad-
justment modes. Current Current
Adjustment Adjustment
Mode Mode
213
4.2,9 Current De’tmtio. Offset MamIalAdjustment Mode cont.
7) Press the m and ❑ keys to adjust the

amount of current detection offset.
8) Press ~ to return to the user

constant data display.
9) Press m to return to the user constant

setting mode display. This ends the cur-
rent detection offset manual adjustment.
For JUSP-0P03A
Elmo
JUSP-0P03A
o
1) Press
MOOE!SET
setting mode.
n to select the user constant .0...s,, 7->
Q’limmse”lnQModeEmE
i-~~p
UP DOWN
2) Press the ~ and ~ to select the user [~] Y.n-00.
constant number Cn-00.
%!#q
DATA
❑
mm%%
OATA
3) Press to display the current data for
User Constant Number
UP DOWN
4) Press the ~ and ❑ keys to change the
~~~) S’atooo-os
data to 08, (u-) ,,6?ss

UP the keys
“~(wl ( m :hange
the .alUe
MODELSET
5) Press O to select the current detec-
tion offset manual adjustment mode.
(The amount of current detection offset is

displayed.)
DATA
6) Press ❑ to switch between U-phase and

mm ~mm
V-phase current adjustment modes. Phsse-u - Phase.v
Current u Current
Ad@ment Adjustment
Mode Mode
214
4,2 Using tke’ Functions
UP DOWN
7) Press the @ and ~ keys to adjust the

~ ~.-:, .&
amount of current detection offset.
/ml
MODEISET
8) Press n to return to the user mm ..O
constant data display.
mm
DATA
9) Press D to return to the user constant

-q ~
setting mode display. This ends the cur-
rent detection offset manual adjustment,
m
SettingMode Display
215
SERVO SELECTION AND
DATA SHEETS 5
This chapter describes how to select Z-Series servo drives and peripheral de-
vices,
The section also presents the specifications and dimensional drawings re-
quired for selection arrd design,
Choose arrd carefully read the relevant sections of this chapter,
5.1 Selecting a Z-Series Servo . . . . . . . . . . . . . . . . . 219

5.1.1 Selecdnga Servomotor
. . . . . . . . . . . . . . . . .“., . . . . . . . . . . . 219
5.1,2 Selecting a Servopack ............... 229
5.1.3 Selecting a Digital Operator 231
5.2 SGMServomotor ........................ 233

5.2.1 Ratings and Specifications . . . . . . . . . . . . 233
5.2.2 Mechanical Chamcteristics ........... 249
5.3 Servopack Ratings and Specitlcations ....... 252

5.3.1 Combined Specifications . . . . . . . . . . . . . . . 252
5.3.2 Ratings and Specifications . . . . . . . . . . . . . . ...,.,,,,,,,, 255
5.3.3 Overload Chaacteristics ............... 258
5.3,4 Starting Timemd Stopping Time 259
5.3.5 Load Inertia . . . . . . . . . . . . . . . . . . . . . . . 260
5.3.6 Overhanging Loads ..,, ,, . . . . . . . . . . . . . 261
5.4 Z-Series Dimensional Drawings ............ 262

5.4.1 Servomotor Dimensional Drawings ..,, ,, ., ,, ., 262
5.4.2 S.rvopack Dimensional Drawings ,.,, 337
5.4.3 Digital Operator Dimemioml Drawings 349
5.5 Selecting Peripheral Devices . . . . . . . . . . . . . . . 351

5.5.1 SelectingPeripheral Devices.....,.. 351
5.5.2 Order List . . . . . . . . . . . . . . . . . . . . . . . . . 361
217
ChapterTableof Contents,Continued
5.6 Specifications and Dimensional Drawings of

Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . 379
5.6.1 CableSpecifications
andPeriphwdDevices 379
5.6.2 Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . 383
5.6.3 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
5.6,4 Brake Power Supply 403
5.6.5 Encoder Cables ...................... 406
5.6.6 Battery for Absolute Encoder 417
5.6.7 lCNConnector ...................... 418
5.6.8 Comector Terminal Block Converter Unit 420
5.6.9 Cable With lCN Connector and One End Without Connector 422
5.6.10 Circuit Breaker . . . . . . . . . . . . . . . . . 423
5.6.11 Noise Filter ................... 423
5.6.12 Magnetic Contactor ........... 425
5.6.13 Surge Suppressor ............... 426
5.6.14 Regenerative Resistor Unh 427
5.6.15 Vtiable Resistor for Speed Setting 428
5.6.16 Encoder Signal Converter Unit 428
5.6.17 Cables for Connecting PC and Servopack 430
218
5,1 .%ltmtine a Z7Series Semo
5.1 Selecting a Z-Series Servo
This section describes how to select the X-Series Servomotor, Servopack, and Digital
[ Operator.
5.1.1 Selecting a Servomotor ............. .. . . . .. . .. 219

5.1.2 Selecting a Servopack .............. 229
5.1.3 Selecting a Digital Operator . . . . .. . ... .. 231
5.1.1 Selecting a Servomotor

1) Select an SGMG (1000 or 1500 r/rein), SGMS, or SGMD Servomotor according to the
servo system to be used. Each type can be identified as eight-digit alphanumeric charac-
ters following “SGMG-”, “SGMS-” or’’SGMD-”. Numbers 1) to 6) shown in the following
figure correspond to the numbers in the flowcharlfor Servomotorselection on the follow-
ing pages.
219
SERVO SELECTION AND DATA SHEETS
5.1.1 S&ctirtg a .%wr.otor . ..1.
SGMCI- 03 L
—
n-
,.~,fl,, ~
G: SGMG Servomotor
S: SGMS Sewomotor
D: SGMD Servomotor
1) Rated output (motor capacity) ~

03: 0,3kW (0.40 HP) 05: 0.45kW (0.60 HP) 06 0.6kW (0,60HP)
09: 0,85kW(l.t4HP), 0.9kW (I,21HP) 10: l.OkW (I,34HP)
12: 1.2kW (1.61 HP) 13: 1.3kW (1.74HP) 15: 1.5kW (2,01 HP)
20: 1.8kW (2.41 HP), 2.OkW (2.68 HP) 22: 2.2kW (2,95 HP)
30: 2.9kW (3.89 HP), 3.OkW (4.02 HP) 32: 3.2kW (4,29 HP)
40: 4.OkW (5.36 HP) 44: 4.4kW (5,90 HP) 50: 5.OkW (6.71 HP)
55: 5.5kW (7.38 HP) 60: 6.OkW (8.05 HP) 75: 7.5kW (10. O6HP)
1A: llkW (14.75 HP)
2) Supply voltage
A 200V
3) Encoder specification
2: 8192 PIR incremental encoder
6: 4096 P/R incremental encoder
W 12-bit (1024 P/R) absolute encoder
S: 15-bit (8192 PIR) absolute encoder
4) Rated speed
A: SGMG Type (1500 rlmin)
SGMS Type (3000 r/rein)
SGMD Type (2000 rlmin)
B: SGMG Type (1000 rlmin)
5) Shaft specification
Blank Standard (straight without key)
A : Standard (straight without key, only when ‘“options” and “lead specification” columns are
not blank)
B : Straight with key and one she,ti-end tap
C : Taper 1/1 O with parallel key
D : Taper 1110 with Woodruff key (for Q Series 05 and 09 only)
8) Options
Slank Standard
i : Standard (only when “lead specification” column is not blank)
s : Vwth shaft seal
B : Wth 90 VDC brake
C : W4th 24 VDC brake
F : VWh shafi seal and 90 VDC brake
G : Whth shaft seal and 24 VDC brake Opti’ms
Lead specification
Blank Standard (connector)
Flowchart for Serwomotor selection
8
Selected motor type
Example SGMG-~EDR~~~n
Axis i SGMD -DDDDDDDD
Axis 2 SGMD -DDDDDDDD

~
● . . .0. . Blank10,standard
sw.iflcation
220
5.1 sektti”g IIX.Smie, saw
2) The actual selection of the SGMG, SGMS or SGMD Sefvomotor is conducted according
to the following flowchart,
z=
Flowchart for Servomotor Selection
Start Se fvomotorselewan
1) Select motor capacity . . . If necessaV, refer to fhe data sheets in

Section5.2 SGMsewomotm
( ● HI in MacMne Data Table
$
)
. . . Refer to 5)
. . . consult Yaskawa sales representative

for further information.
~
Determine motor capacity
Enter code in the first and second columns
by referting to 7 on page 223.
Enter rated output
SGMD _________
4
I
1
+==,
Ahwsenter “X(200 V)inthe,MrOcol, m,,
”
SGMU-DUA _____
3) Select t?ncoderspecificahon
Enter code in the third column by referring
to’2 on page 223.
J The encoder specification differs according
4096/61 92 P/R to the motor series.
incremental encoder
SGMU.UUUH . . . .
12-bit or 15-ht . . . . . . . . . . . . . . . . . . . . . .
absolute encoder SGMU-UDO~____
I 4) Enterratedspeed
I
Type SGMG (t 500 rlmin),

SGMU-UUUUA___
Type SGMS, Type SGMD
SGMO-OODUB___
+
To next page (A)
221
5,1.1 .%iecting a SWWmotor COW
From previous page (A)
&
i
Straight without key SGMO-UOUUUA __
+ . . . . . -.
Straight with key(with end.shaft tap) SGMU-UUOUUS..
. . . . . . . . . . . .
Taper 1/1 O with parallel key
SGMD-UDOUUC __
. . . . . . . . . . . . . . . . . . . . .
Taper 1110 with Woodruff key
(for G Series 05 and 09 only) SGMU-CIOUUUD __
\ /
Normally, the last
column is left blank.
( EndServmnotorselection ~
222
5,1 Sistine a Z-Series Servo
‘1 Rated output (motor capacity)
KW(HP)
s D
Code 1500 rlmin 1000 rlmin 3000 rlmin 2000 rlmin
03 0.3 (0.40)
05 0.45 (0.60)
06 0.6 (0.80)
09 0.85(1.14) 0.9(1.21)
10 1.0 (1.34)
12 1.2(1.61)
13 1.3 (1.74)
15 1.5 (2.01)
20 1.8 (2.41) 2.0 (2.68) 2.0 (2.68)
22 2.2 (2.95)
30 2.9 (3.89) 3.0 (4.02) 3.0 (4.02)
32 3.2 (4.29)
40 4.0 (5.36) 4.0 (5.38)
44 4.4 (5.90) 4.4 (5.90)
50 5,0 (6.71)
55 5.5 (7.38)
60 6.0 (6.05)
❑
75 7.5 (10.06)
1A 11.0 (14.75)
‘2 Encoder specification
Symbol Specification SGMG SGMS SGMD

2 Incremental encode~ Q o o
8192 P/R
6 Incremental encode~ o 0 0
4096 P/R
w Absolute encode~ o 0 0
12 bit (1024 P/R)
s Absolute encode~ o 0 0
15 b6 (8192 P/R)
0: Standard O: Non-standard
223
5.1.1 Selecting a .$.rwm.tor cont.
3) Select an SGMP-15ASewomotor according tothesewosystem to beused. Eachtype
can beidentified as four-digit alphanumeric characters following `cSGMP-l5A. Numbers
1) to 6) shown in the following figure correspond to the numbers in the flowcharl for Ser-
vomotor selection on the following pages.
SGMP- 1 5A312r
~.eefle, ~
T-
SGMP: SGMPSewomotor
(cubs type)
1) Rated output (motor capacity)

15 :1.5 kW (2. OIHP)
111-
2)
3)
Supply voltage
A 200V
,ncoder,pecification
3:2048 P/R incremental encoder

-1 ~
W 12-bit absolute encoder
4) ~~*@ ~~.i~i.. c,~~~~ ~

I
5) Shaft specification
2: Straight without key
4: Straight with key
6: Straight with key with tap
6) Options
E with brake S:with shaft seal
D: with brake and shaft seal
P. drip-proofed
n r
Flowchart for Servomotor selection
. . . . . . . . .
224
5.1 s.lecti”c . z-sane, servo
4) The actual selection of the SGMP-15A Servomotoris conducted according to the follow-
ing flowchart.
Flowchart for Servomotor Selection
( Start Seivomotor selection

)
1) Select motor capacity .** If necessary,refer

10 the data sheets in
Section 5.2 SGM Servomotor.
~“”” “’’’’05)0””’’’227
forma
?apacivfo
. . . ConsultY:skawa salesrepresentative
Enter‘,157(1500 W) in the first and second columns.

Enter rated output
SGMP-m~_____
4
e Alwws enter “K(200Vl InthelMrdcOl”mn,
J
sGMP-15A____
I 3, select encoder specificaUon

I
i
2048 P/R
incremental encoder
SGMP.15A3___
12.ht absolute encoder sGMP.15Aw ___
t
4) Enter design revision order
Always enter “1” in the fifth column.

SGMP-15ADt __
I
To next page (A)
225
.5.1.1 Sd.2cti.g a Scvvomotor co.z.
From previous page (A)
&
SGMP-15AU12_
sGMP-t5An14_
[ 6) Selection option specification
i
~Under Gravity load sGMP-15AolnB
Wth shaffseal
Oil is used at end of shaft . SGMP-I5AO1OS
. . . . . . . . . . . . . . . VJth brakeand
Gravity Ioad+oil shaftseal sGMP-15AnlnD
Ddp-pr.mfed
Subject to water droplets SGMP-15ADIOP
226
5.1 Selecting a &S’cries Sewo
5) Machine Data Table

Fill out the machine data table below as an aid to selecting the drive system. When the
machine data table is complete, use the servomotor sizing software to select the motor
capacity
)Bllsa crew Horizontal AxIs

I Load mass w —kg (lb)
Thrust F —kg (lb)
Coefficient of fiction K +...l--
Overall efficiency ~ —
Motor
z Gear ratio R(=Nm/Nl) .—
3 Gear+coupling GD2g —kg.cmz (Ib.inz,) Gear+coupling
GD2g
Ball screw pitch P —mm (in.)
Ball screw diameter D —mm (in.)
Ball screw length L —mm (in.)
) Ball Screw Vertical Axis
Load mass w, —kg (lb)
.
Counterweight Wp —kg (lb)
Coefficient of friction Motor W2
P
Overall efficiency n Gear+coupling
Gear ratio R(. Nm/Nl) — GD2g
Gear+ coupling GD2g —kg.cm2 (Ib.inz.)

WI
Ball screw pitch P —mm (in.)
t
Ball screw diameter D —mm (in.)
Ballscrew
Ball screw length L —mm (in.)
) Timing Belt
Load mass w —kg (lb) Pulley
~~z~
F&
Thrust F —kg (lb)
D
Coefficient of friction Q ()
Y
Overall efficiency . Timingbelt
~ Gear+coupling
Gear ratio R (= Nm/Nl) — GD2g
Gear+coupling GD2g —kg.cmz (Ib.inz.)

Pulley GD2d —kg.cm2 (Ib.inz.) Motor
Pulley diameter D —mm (in.)

) Rack and Pinion
Load mass w —kg (lb)
w
Thrust F —kg (lb) r
Coefficient of friction v
Overall efficiency ~
Gear ratio R(. Nm/Nl) — Gear+coupling
GD2g
Gear+coupling GD2g —kg.cm2 (lb.in2.)
Pinion diameter D —mm (in,)
Pinion thickness t —mm (in.)
227
5.1.1 Selecting a Servomotor cant
Roll Feeder
GD2t Pressforce
Load GD2 —kg.cmz (Ib.inz.)
Tension F —kg (lb)
Press force P —kg (lb) Roll
D —mm (in.) F
Roller diameter
Coefficient of friction P — Motor
& ; GDZt
Overall efficiency n Gear+couphg ~
GD2g
Gear ratio R(=Nm/Nl) —
Gear+ coupling GD2g —kg.cmz (Ib.inz.)
I Rotor
Load GD2 GD2~ —kg.cmz (Ib.inz.)
Load torque T/
Overall eficiency n :kgcmz(’b’n’) 4:2,
Gear ratio R(. Nm/Nl) —

GD2g
Gear+coupling GD2g —kg.cm2 (Ib.inz.)
) Others
Load GD2 GD2~ —kg.cmz (Ib.inz.)
Load torque Te —kg.cm2 (lb.in2.)
Motor speed Nm —r/rein
DUTY td —s
Positioning time ts —s
Accelldecel time ta —s
Duty cycle
DUTY td —s
Positioning ck+tance Ls —mm (in.)
Moving member speed ve
Positioning time ts
‘~in “%
Accelldecel time ta —s
Enter either Vt or ts. If both are entered, specify priority.

Operating environment Operating temperature
Other
‘1 GD2 ~ne~a) of Table W (lOad Weight) and GD2 (inef-da) of the motor are automatically
calculated by the servomotor sizing software.
‘2 Gear ratio R= Nm/Ne =motor-speed/load-speed
-3 Gear+coupling GD2g: GD20f gear or coupling

This is GD2 of the joint (including a gear) between the motor and the load (machine).
228
5.1 selecting a &seli., SOW
5.1.2 Selecting a Servopack

1) Select an SGDB Servopack according to the servo system to be used. Each tyDe can be
identified as six-digit alphanumeric characters following “SGDB-”,
SGDB- ( 3AD[
T- I
x-Seties
SGDB Sewopack
-–. –., . . . .. . . .
malea OUEPUI~molor
capacity)
Sum[v voltaoe J
03 0.3 (0.40)
A“206
v“
E
05 0.5 (0.67)
Model ~
07 0.7 (0.94) D: For speedltorque control and position control
10 1.0 (1 .34)
15 1.5(2,01)
Motor series
20 2.0 (2.68) G: SGMG (1500 rimin)
M: SGMG (1000 rlmin)
30 3.0 (4.02)
S: SGMS
44 4.4 (5.90) D SGMD
P SGMP
50 5,0 (6.71)
,1
60 6.0 (8.05)
75 7.5 (10.06) Option

P Duct ventilation tvge
iA 11,0(14,75)
L( Flowchafl for Servopack selection
Selected Sewopack type
Example SGMB-1~~~~~]
Am 1 SGMB-DDDDD
Axis 2 SGMB-DDUUD
. . . . ...0.
‘ The motor type can be changed within the same group by altering the user
constant seldng. (See lhe table on the next page.)
229
5,1.2 Sdeetin$. ServoPack cont.
2) Select an SGDBSewopack according tothemotorto beused. The following table shows

the correspondence between Servopack and motor types,
Group Servopack Type Motor Type

SGDB-03ADM SGMG-03AOB
SGDB-05AD SGM-04A
05
SGDB-05ADP SGMP-04A
SGDB-05ADG sGMG-05AnA
SGDB-07ADM SGMG-06AUB
SGDB-1OAD SGM-08A
SGDB-1OADP SGMP-08A
10
SGDB-1OADG SGMG-09AOA
SGDB-1OADM SGMG-09AUB
SGDB-1OADS SGMS-1OADA
SGDB-15ADM SGMG-12ADB
SGDB-15ADG SGMG-13ADA
15
SGDB-15ADP SGMP-15A
SGDB-15ADS SGMS-15AOA
SGDB-20ADG SGMG-20AUA
20 SGDB-20ADM SGMG-20ADB
SGDB-20ADS SGMS-20ADA
SGDB-30ADD SGMD-22AUA
30
SGDB-30ADM SGMG-30ADB
SGDB-30ADS SGMG-30AUA
SGDB-44ADD SGMD-32ADA
SGDB-44ADG SGMG-44ADA
SGDB-44ADM SGMG-44AOB
44
SGDB-44ADS SGMS-40ADA
SGDB-50ADD SGMD-40ADA
SGDB-50ADS SGMS-50AUA
60
SGDB-60ADM sGMG.6oAnB
75 SGDB-75ADG SGMG-75AUA
1A SGDB-lAADG SGMG-IAAUA
v The motort ype can be changed within the same group by altering the user constant setting.
230
5.1 S&mi.g a Z-Series Seno
5.1.3 Selecting a Digital Operator

1) The following two types of Digital Operator are available.
Thetwotypea cannot be used simultaneously. However, itisconvenient to have both
types and use whichever suits the circumstances.
Each type differs in shape but the operating functions are identical.
JUSP-0P03A (Mount Type) JUSP.0P02A-I (Hand-held Type)

. Use attached to the top of the . Useheld inthehand wMleconnected
Se fvopack front face. with thei m cable supplied.
231
.5,1,3 Selecting a Digital OPeralor cont.
2) The Digital Operator is selected according to the flowchart below,
Flowchart for Digital Operator Selection
i
{ 1) lsthe SewoDack front >
1“
face easily accessible for Yes
operation?
2) Iscompactness apriotity? F
I No Select Mount
Type
E’
Type JUSP-0P03A
i---------------------1
‘s~Hand-hedl
‘ypeJusr 4
(- End Llgital Operator selection \
Personal Purchase monitoring software for

computer is used personal computer
L-
+
1
Separately purchase deticated cable
(DE9405258).
232
5.2 SGJ4 S.zwnnntn,
5.2 SGM Servomotor
This section presents tables of ratings and specifications for SGMG, SGMS, SGMD and
Ii SGMP-15A Servomotors. Refer to these tables when selecting a Servomotor.
5,2.1 Ratings and Specifications 233

5,2,2 Mechanical Characteristics ..,,,... 249
5.2.1 Ratings and Specifications
1) Ratings and Specifications of SGMG Servomotors (Rated Motor Speed is 1500 r/rein)
Time rating: continuous

Insulation class: Class F
Vibration class: 15~m or below
Withstand voltage: 1500 VAC
Insulation resistance: 500 VDC 10MQ min.
Enclosure totally enclosed, self-cooled
lP67(except for shaft opening)
Ambient temperature: o to 40”C
Ambient humidity 20% to 80% (non-condensing)
Excitation: permanent magnet
Drive method: direct drive
Mounting: flange method
233
5.2.1 Ratings and SPe@c,ztionS cont.
F iG
kW (HP)
N.m
05AnA
0.45
(0.6)
2.84
09AnA
0.85
(1.1)
5.39
13AUA
1.3
(1.7)
8.34
20AUA
1.8
(2.4)
11.5
3oAnA
2.9
(3.9)
18.6
44AaA
4.4
(5.9)
28.4
55ADA
5.5
(7,4)
35.0
75AUA
7.5
(lo)
48.0
1AAUA
/;5)
70.0
kgf.cm 29 55 65 117 190 290 357 490 714
(Ib.in) (25) (48) (74) (102) (165) (252) (310) (425) (620)
Instantaneous Peak N.m 6.92 13.6 23.3 28.7 45.1 71.1 87.6 119 175
Torque”
kgf.cm 91 141 236 293 460 725 694 1210 1790
* (Ib.in) (79) (122) (207) (254) (404) (630) (775) (1050) (1550)
Rated Current A (rms) 3.6 7.1 10.7 16.7 23.6 32.6 42.1 54.7 56.6
F
Instantaneous Max A (rms) 11 17 26 42 56 84 110 130 140
Current’ I I I I
Rated Speed’ rim in 1mn
Instantaneous Max rlmin 3000 2000
Speed’
Torque Constant Nm/A 0.62 0.83 0.64 0.73 0.63 0.91 0.66 0.93 1.25
(rms)
kgf.cm/A 8.4 8.4 6.6 7.5 6.5 9.2 9.0 9.4 12.8
(lb.in/A) (7.3) (7.3) (7.4) (6.5) (7.3) (6.0) (7.8) (6.2) (11)
r
(rms)
Moment of Inertia kg.mz 7.24 13.9 20,5 31,7 46.0 67.5 69.0 125 281
x 10-4
gf.cm.s2 7.39 14.2 20.9 32.3 46.9 66.9 90.8 127 267
❑
~;::; (6.41) (12.3) (16.2) (28.1 ) (40.7) (59.6) (78.8) (111) (249)
Rated Power Rate’ kWls 11.2 20.9 33.6 41.5 75.3 120 137 164 174
Rated Angular rad/s2 3930 3660 4060 3620 4050 4210 3930 3850 2490
Acceleration’
Inertia Tme ms 5.0 3.1 2.6 2.1 1.9 1.3 1.3 1.1 1.2
Constant
=Inductive Time 5.1 5.3 6.3 12.5 12.5 15.7 16.4 16.4 22.6
Constant
‘ These items and torque-speed characteristics quoted in combination with an SGDB Ser-
vopack at an armature winding temperature of 20”C
Note These characteristics can be obtained when the following heat sinks (steel
platas) are used for cooling purposes:
Type 05AOA to 13ADA: 400x400x20 (mm) (15.75x 15,75x0.79 (in))
Type 20AUA to 75AUA: 550x550x30 (mm) (21 .65x21 .65x 1.18 (in))
Type IAADA : 650x650x35 (mm) (25.59x25.59x1.38 (in))
234
5.2 SGM .%rvotnotor
NOTE The ratings and specifications above refer to a standard Servomotor.
Add the numerical values below to the moment of inertia values in the table for a motor
fitted with a holding brake.
Other specifications will also change slightly.
,m ~~
TERMe:
Holding Brake
The. holding brake is automatically applied to the

motor sheff to prevent the load falling in vertical axis
~ Motor
Prevent load falling

Load *
applications when the motor power supply is turnedL
off or fails. It is only to hold the load and cannot be
used for stopping the motor. Load
u Q
235
SERVOSELECTIONAND DATA SHEETS
5.2.1 Ratings and Specifications cont.
, SGMGSewomotor (Rated Motor Speed is1500r/min) Torque-Motor Speed

Characteristics
. SGMG-05AOA . SGMG-09ADA
X00
X00
m
Motor Motor
Speed Speed
(rlmin) (rlmin) IC.X
Irxm
o
0
2 8 10
TOR&SE (~. m)
I , , 1
-
I 0
0 20 60
TORQUE(lb. in)
TORI$JE (lb%)
. SGMG-13AOA . SGMG-20ADA
.3wn
2CC4
Motor Motor
Speed Speed
(rlmin)
❑ (rlmin)
mm Ilx.a
‘k 00 0
d QUE(N ‘m) ‘OTORQU%

(N m?
I I -
SO 400 150 200 250 0
o
TORQUE(lb. in) TORQUE(lb. in)
. sGMG-3&oA . sGMG-44AnA
* Zoe3
Motor Motor
Speed Icm Speed
(rlmin) (rlmin) lW
6 0 I
0 10 4om D
TOR%UE(i. m)
- -
0 0
TORQUE {lb :“) TORQUE (lb ,“)
A Continuous Duty Zone

B Intermittent Duty Zone
236
5.2 SGM .%momotor
. .SGMG-55ADA . SGMG-75AOA
3’3C0 Ww
2WI0
mm
Motor Motor
Speed Speed ,W
(rimin) 1~ (rlmin)
o 0
1!o
T%RQUE(N‘.mm)
1 1 I t
200 800 o 600 40W
0
TORC%E(lb~”%) TORQUE(lb. in)
o SGMG-IAAUA
““m
m
Motor
Speed
(rlmin) lW
o
0 .?0
‘TORQ& (N .1$
1 ,
0 500 1000 isw
TORQUE(lb. in)

B: Intermittent Duty Zone
237
5,2.1 Ratinzs a.d Specijicatiom cont.
2) Ratings and Specifications of SGMGSewomotors (Rated Motor Speed isl OOOr/min)

Vibration class: 15ym or below
Insulation resistance: 500 VDC 10MQ min.
Enclosure: totally enclosed, self-cooled
IP67 (except for shaft opening)
Ambient humidity: 20% to 80% (non-condensing)
Servomotor SGMG 03AnB 06AOB 09AnB 12AmB zOAOB 30AUB 44AOB 1313AmB
Rated Output’ kW (HP) 0.3 0.6 0.9 1.2 2,0 3.0 4.4 6.o
(0.4) (0.6) (1.2) (1.6) (2.7) (4.0) (5.9) (6,0)
Rated Torque’ N.m 2,84 5.66 6.62 11.5 19.1 28.4 41.9 57.2
kgf.cm 29 58 86 117 195 290 426 564
(h.in) (25) (50) (76) (102) (1 69) (252) (372) (506)
Instantaneous Peak N.m 7,17 14.1 19.3 28.0 44.0 63.7 107 129
Torque’ 73.2 144
kgf.cm 197 266 449 650 1090 1320
❑
(Ib.in) (63) (125) (171) (248) (390) (564) (947) (1140)
Rated Current A (rms) 3,0 5.7 7.6 11.6 16.5 24,8 32.9 46.9
Instantaneous Max A (rms) 7,3 13.9 16,6 28 42 56 64 110
Current’
Rated Speed” rimin 1000
Instantaneous Max rlmin 2000
Speed’
Torque Constant N.m/A 1,03 1.06 1.21 1.03 1.07 1.19 1.34 1.26
(rms)
kgf.cmlA 10.5 10.8 12.4 10,5 11.0 12.1 13.7 12.9
(lbin/A) (9.12) (9.36) (10.7) (9.1 2) (9.47) (10.5) (11.9) (11.2)
(rms)
Moment of Inertia kgm2 7.24 13.9 20.5 31.7 46.0 67.5 69.0 125
Xlo+
gf.cm.s2 7.39 14.2 20.9 32.3 46.9 66.9 90.8 127
~;:::; (6.41) (12.3) (1 6.2) (26.1) (40.7) (59.8) (78.6) (111)
Rated Power Rate’ kWls 11.2 23.2 36.3 41.5 79.4 120 198 262
Rated Angular radlsz 3930 4060 4210 3620 4150 4210 4710 4590
Acceleration’
Inertia Ime Constant ms 5.1 3.8 2.8 2.0 1.7 1.4 1.3 1.1
Inductive Time ms 5.1 4.7 5.7 13.5 13.9 15.5 14.6 16.5
Constant
‘ These items andtorque-speed characteristics quoted incombination withan SGDBSec

vopack at an armature winding temperature of 20”C.
238
5.2 SGM .%’vomotor
plates) are used for cooling purposes:
Typa 03ACIB to 09AUB: 400x400 x20 (mm) (15.75x 15.75x0.79 (in))
Type 12AUB to 60AUB :550 x550 x30 (mm) (21 .65x21 .65x 1.18 (in))
NOTE The ratings and specifications above refer to a standard Servomotor.
Add the numerical values below to the moment of inartia values in the table for a motor
Other specifications will also change slightly.
Servomotor SGMG 03AUB I OeAUB I OeAUB 12ADB I 20AuB I SOAUB 44AUB I 60AUB
Holding kg.m2x10-4 1.85 7.75 7.75
brake gf.cm.s2 1.69 7.91 7.91
(lb.in.s2x 10-3) (1.64) (6.e6) (6.86)
,.
239
5.2.1 RaliIICS and Sx@?mzlimtS cont.
■ SGMGSewomotor (Rated Motor SDeedis 1000r/min) Toraue-Motor Soeed

Characteristics
. SGMG-03ADB . SGMG-06AOB
m mxi
15m lW
1C02
Motor Motor ‘m
Speed Speed
(rlmin) ~ (rlmin)
w
00 2 00 5 15
TORQ~E(N . m! TORQUE (N ‘em)
I 1
0 20 so -
TORQUE~b. in) 0
TORQUE(lb. in)
. SGMG-09AOS . SGMG-12AOB
.2um
2m0
Km
Isa
Motor ‘w’ Motor ~~

Speed Speed
(rlmin) (rlmin)
Soo m
00 5 20 “0
TORQ~~ (N. my #RQUE(NVm) w
- I t
0 o 400 200
TORQUE(lb. in) TORQUE(lb. in)
. SGMG-20AOB . SGMG.30AUB
Zew mm
1503
Motor IOW Motor ‘m

epeed Speed
(rlmin) (rlmin)
600 SW
0
00 so Ow m
~mRQUE (N mm) TORQU”E(N. m?
-
0
-
0 TORQUE (lb. in)
TORQUE(III. in)

240
.5,2SGM .%wwnotor
. SGMG-44ADB . SGMG-60ADB
m 2CC0
IMO lSCO
Motor W-U Motor ic.m

Speed Speed
(rlmin) (rlmin)
Em
m
00 160
00
T~RQUE(N%) ‘w ~wRQUE (N ‘%)
f , 4 1 1
0
0 500 1000
TC5:QUE (lb. ;~ TORQUE (lb. in)

241
SERVO SELECTION. AND DATA SHEETS
5,2.1 Ratings and Sjxtificaionz cont.
3) Ratings and Specifications of SGMS Servomotors
Tme rating: continuous

Vibration class: 15pm or below
Insulation resistance 500 VDC IOMQ min.
Enclosure totally enclosed, self-cooled
Ambient humidity 20% to 80% (non-condensing)
I Servomotor SGMS I 10AflA I 15AmA I 20AmA I 30AUA I 40AUA I 50AUA

Rated Output’ kW (HP) 1.0 1.5 2.0 3.0 4.0 5.0
(1.3) (2.0) (2.7) (4.0) (5.4) (6.7)
Rated Torque’ N.m 3.ia 4.9 6.36 9.8 12.6 15.8
kfg.cm 32.4 50 65 100 129 161
(Ib.in) (28.2) (43) (56.4) (87) (112) (140)
llnstantaneo”sPeakTorq”e’ Ifd.rn I 9.54 j 14.7 I 19.1 I 29.4 I 37.8 I 47.6 —
Idg.cm 97.2 150 195 300 367 486
(Ib.in) (84.4) (130) (169) (260) (33a) (422)
Rated Current A (rms) 5.7 9.5 12.4 16,6 24.3 26.2
Instantaneous Max Current’ A (rms) 17 28 42 56 77 84
Rated Speed’ rlmin 3000
Instantaneous Max Speed” rlmin 4500
Torque Constant N.m/A 0.636 0.573 0.559 0.573 0.55 0.61
(rms)
kgfcm/A 6.49 5.64 5.7 5.a4 5.6 6.2
(lb.in/A) (5.6) (5.1) (5.0) (5.1) (4.9) (5.4)
(rms)
Moment of Inertia kg.mz 1.74 2.47 3.19 7.00 9.60 12.3
X1 O-4
gf.cm.s2 1.76 2.52 3.26 7.14 9.80 12.6
~;:::; (1.54) (2.19) (2.a2) (6,20) (8.50) (10.9)
Rated Power Rate’ kWls 57.9 97.2 127 137 166 202
Rated Angular Acceleration’ rad/s2 18250 19640 19970 14000 13160 12780
Inertia Ime Constant ms 0.67 0.71 0.58 0.74 0.60 0.57
l.,+! .iivo Timo Cnn.t..f m. 71 77 R?. 120 141 147
‘ These items andtorque-speed characteristics quoted incomMnation with an SGDBSer-

vopack at an armature winding temperature of 20°C.
Note These characteristics can reobtained whenthe following heat sinks (alumnium
plates) are used for cooling purposes
Type IOAUA to 20AOA: 300x300 x12 (mm) (11 .81 x 11.81 xO.47 (in))
Type 30AUA to 50AOA: 400x400 x20 (mm) (15.75x 15.75x0.79 (in))
242
5.2 SCM .%vomotor
NOTE Theratings andspecifications above refer toastandard Sewomotor,
Add the numerical values below to the moment of ineflia values in the table for a motor
Other specifications will also change slightly
Servomotor SGFK 10AOA I 15AUA I 20AOA 30AUA 1 4oAnA I 5oAnA

Holding kg.rnz~lo-d 0.215 1.85
brake gf.cm.sz (Ib.in.szx 10-3) 0.219 (0.1 90) 1.89 (1.84)
243
5.2.1 Ratings and SpeciJic&”ons coti
■ SGMSSewomotor (Rated Motor Speed islOOOr/min) Torque-Motor Speed

Characteristics
● SGMS-IOADA . SGMS-15ADA
m
4034 4clYl
m X00
Motor Motor
Speed m Speed m
(rlmin) (rlmin)
Iaa 100a
0 0
02 8 40 0 15
TOR~UE (fl. m) T&RQUE (N Tom)
I 1
0 20 80 -
0
TOR&E (lb ~hn) TORQUE (lb. in)
. SGMS-20AOA . SGMS-30ADA
50M 5(W
4cca m
m m
Motor Motor
Speed ~ Speed ~
(rlmin) (rlmin)
lW lm
o 0
05 20 0 S
TORQ}E (N. m; T~RQUE (N ‘m)
- -
0 0
TORQUE (lb. in) TORQUE (lb. in)
. SGMS-40ADA . SGMS-50AOA
m I , I
“~
4C.W m
=
Motor Motor
Speed S.WI Speed m
(rlmin) (rlmin)
Kc@ lcea
0
o 0 405s
0 40 10
‘OTORQtiE (N. m? TOR%E (F?’.m)
- -
0 0
TORQUE p. h) ToRQUE (lb i“)

6 Intermittent Duty Zone
244
4) Ratings and Specificafionsof SGMDSetvomotors (withholding brake)

Insulation resistance: 500 VDC 10Mc2 min.
Ambient humidify: 20% to 80% (non-condensing)
Holding brake 90VDC
Static friction torque 3kgf.m
Servomotor SGMD 22AUAAB 32ADAAB 40AUAAB

Rated Output’ kW (HP) 2.2 (2,9) 3.2 (4.3) 4.0 (5.4)
Rated Torque’ N.m 10.5 15.3 Ie.1
kfgcm (Ib.in) 107 (93) 156 (135) 195 (169)
Instantaneous Peak Torque” N.m 36.7 53,5 66.9
kfgcm (Ib.in) 375 (326) 546 (474) 682 (592)
Rated Current A (rms) 15.7 20.9 22.s
❑
Instantaneous Max Current’ A (rms) 54 73 77
Rated Speed” rlmin 2000
Instantaneous Max Speed’ rlmin 3000
Torque Constant N.m/A (rms) 0.72 o.7e 0.93 -
kgf.cm/A(lb. in/A) 7.4 (6,4) fJ,O(6,9) 9.5 (e.2)
(rms)
Moment of Ineriia kg.mzx 104 51.0 66.6 S6.2
gf.cm.sz 52.0 (45.2) 70.0 (60.S) 88.0 (76.4)
(lb.in.s2x10_3)
Rated Power Rate” kWls 21.6 34.1 42.3
Rated Angular Acceleration” rad/s2 2oeo 2230 2220
Inertia Time Constant ms 3.3 2.2 2.0
Inductive Time Constant ms 16.2 18.2 17.e
“ These items andtorque-speed characteristics quoted incomMnation withan SGDBSer

vopack at an armature winding temperature of 20°C.
plates) are used for cooling purposas:
Type22AUAAB to40ADAAB :650x650 x35(mm)
(25.59 x25.59 x 1.3e (in))
245
5.2.1 RatinKs and Speci@ationr cont.
■ SGMDSetvomotor Torque-Motor Speed Characteristics
. SGMD-22AUAAB . SGMD-32AUAAB
3UW
Motor Motor
Speed ,W Speed
(rlmin) (rlmin)
o
10 40
TORQ8E (N m?
tiRQUE (N ‘m)
I 1
0 <00 200 300 I , , , 1
TORQUE(lb. in) 0 200 400 son
TORQUE (lb. in)
. eGMD-40A0AAe
Motor
Speed
(r/mIn)
I 1
0 200 400 600
TORQUE (lb. in)

246
5.2 SGM Servomolor
5) Ratings and Specifications of SGMP”Sewomotors(l .5kW)
Tme rating: continuous

Insulation class: Class B
Insulation resistance: 500 VDC IOMQ min.
IP67 (except forshaft opening)
Ambient humidity: 20% to 80% (non-condensing)
Servomotor SGMP 15A

Rated 0utpuV7 kW (HP) 1.5 (2.0)
Rated Torque’1 “~ N.m 4.77
kgf.cm (Ib.in) (48.7) (42.2)
Instantaneous Peak Torque’l N.m 14.3
kgf.cm (Ib.in) (146.1) (126.6)
Rated Current A (rms) 7.5
Instantaneous Max Current’l A (rms) 23.0
Rated Speed’ rlmin 3000
❑
Instantaneous Max Speed’i rlmin 4500
Torque Constant N.m/A (rms) 0.687
kgf.cm/A (ib.in/A)(rms) (7.01) (6.08)
Momant of Inertia kg.m2x104 4.03
gf.cm.sz (oz.in.sz x 1~s) 4.11 (3.57)
Rated Power Rata’l kW/s 56.6
Rated Angular Acceleration’l rad/s2 11600
Inertia Time Constant ms 0.5
l.,i,,cti>!.a T,nm Cn..+..t m.. 77
‘1 These items andtorque-motorspeed characteristics quoted incombinationwith anSGDB

Servopack at an armature winding temperature of 100”C. Other values quoted at 20”C. All
values typical.
‘2 Rated torques arecontinuoua allowable torque values at40"Cwith a300x300x12 (mm)

(11 .81 x 11.81 xO.47 (in)) heat sink attached.
NOTE Theratings andspecifications above refer toastandard Sewomotor.
Add the numerical values below to the moment of inertie values in the table for a motor
Other specifications will also change slightly
247
S2. I Ratings and Sp.ci&afions cont.
Item
Holding brake kg.m2x10A 0,875

gf.cm.s2 0.893 (0.775)
(Ib.in.sz x 10-3)
■ SGMPSewomotor (l.5kW) Torque-Motor Speed Characteristics
. SGMD-15A
r I I I I
Motor ~
Speed
(rlmin)
lm
0
n, 18
TOR&lE (;. m)
-
0
TORQUE (lb. in)
A: Continuous Duty Zone

248
5.2 SGM Swvcvnotor
5.2.2 Mechanical Characteristics
1) Allowable Radial Load, Allowable Thrust Load
The output shaft allowable loads for SGM ❑ Setvomotor are shown below.
Conduct mechanical design such that the thrust loads and radial loads do not exceed the
values stated below.
Servomotor I Allowable Radial I Allowable I LR Reference Diagram
-09ADA
-13AnA
-20ADA
-30ADA
-44AUA
-55.4UA
-75AUA
-I AADA
I l“ I (4.57)
l%iH%H’2e)
;GMG-03ADB
-06ADB
-09AnB ,,
-12AnB 1176. ,- .-,
(965) I km
,--, 131131
,,-, I 79
..
1
-20AnB 1470 (331 ) I 490 (110) I i;li)
-30AnB
-44AD3
-60AEIB
”,. .,
(<77)
3
., 196 (44)
-20A 686 (154) 196 (44)
-30A e60 (221) 392 (86) 63
-44A 1176 (265) 392 (88) (2.48)
-50A 1176 (265) 392 (66)

;GM D-22A 1176 (265) ,--, (Ilnl
dcm ,,-, 55
-32A 1176 (265) 490 (110) ;;17)
-4oA 1176 (265) 490 (110) 65

(2.56)
;GMP-15A 490 (110) 147 (33) 35
(1 .38)
Note Allowable radial loads shown abova are the maximum values that could beam
plied to the shaft end.
249
5.2,2 M.cfi..ical Characteristics cow
2) Mechanical Tolerance
Thetolerances of the SGMO Servomotoroutuut shaft andinstallation areshown inthe

table below.
Perpendicularity between flange
Mating concentricity of flange O.D. 0.04mm
Note 1) T,I, R, = Total Indicator Reading
2) As fortheto lerance@, refer totheeach dimensional drawing.
3) Direction of Motor Rotation
Positive rotation of the servomotor is counter-

clockwise, viewing from the drive end.
4) Impact Resistance
Mount the servomotor”with the axis horizontal.

The servomotor must withstand the following ver- $ Vetical
tical impacts,
. Impact Acceleration: 490 m/s2 (50 G)

Horizontalshaft
. Number of Impacts: 2
w
NOTE lnSGMOSewomotors, anaccuratedetector isattachedtothe shaflattheopposite endfrom

the load.
Avoid applying impacts directly to the shaft as these may damage the detector.
5) Vibration Resistance Longitudinal
~ vwtic—
Mount the servomotor with the axis horizontal.
The sewomotor must withstand the following
vibration accelerations in three directions: verti- \---
cal, transverse, and longitudinal. Transverse Horizontal
shaft
%
. Vibration Acceleration: 24.5 MLs2(2.5G)
250
5.2 SGM Servoinotor
6) Mbration Class VibrationMeasu~t Position
The SGMU Servomotor meets the following

vibration class at rated speed.
*
.Vibrafion Class: 15Vm or below
m
TERMS:
Vibrstion Clasa
Vibration class 15pm or below indicates that the total amplitude of vibration of the motor
alone, running atrated speed, does notexceed 15pm.
251
5.3. I Combined Sxci@uions
5.3 Servopack Ratings and Specifications
~ This section presents tables of SGDB Servopack ratings and specifications.
5,3.1 Combined Specifications....,,,,.. .. .. .. .. . .. .. . 252

5.3.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,., ,,. 255
5.3.3 Overloa dCharacteristic s, .,,....., ................................ 258
5.3.4 Starting Tmeand Stopping Time..... .. . .. .. . . 259
5,3,5 Load Inertia , ..,,,,,..,.,,.,,.......,,,,,.,,. 260
5.3,6 Overhanging Loads ................................... 261
5.3.1 Combined Specifications
1) The following table shows the specifications obtained when SG DB Servopacks are com-
bined with SGMG, SGMS, SGMD and SGMp Sewomotors:
rSG
MG
Series
Servopack SGDB-
Motor Type
SGMG-
Capacity
03ADM
03AnB
0.3
07ADM
06AnB
0.6
10ADM
09AnB
0.9
15ADM
12ADB
1.2
2oAlJfvf 31)ADf4
2oAnB
2.0
3(IAOB
3.0
44ADM
44AnB
4.4
r31JADfJ
61JAD!3
6.0
kW (HP) (04) (o.e) (1 .2) (1 .6) (2.7) (4.0) (5.9) (8.0)
Rated/Max. 1000/2000
Motor
Speed
rlmin
Applicable Stendard Incremental encoder (8192 P/R)
Encoder
Continuous Output 3,0 5.7 7,6 11.6 16.5 24.6 32.9 46,9
Current
A (rms)
Max. Output 7.3 13.9 16.6 28 42 56 84 110
Current
A (rms)
Allowable Load 36.2 69.5 103 159 230 338 445 625
Inertia’ (32.0) (61 .5) (91 ,2) (141) (204) (299) (394) (553)
JL
kgmzxlo<
(oz.in.szx 1@)
252
5,3 SewovackRatinKs and Swcificatio.s
G ervopack SGDB- 35 110 I 15 I 20 I 30 144 I i 60 I 75 11A

IG ADG I ADG I ADG I ADG I ADG I ADG i ..ADG
—- I ADG I ADG
d 1-- l--
,eries
7=
lotor Type 25 I 09 113 120 130 144 I 55 75 1A
SGMG-
4UA AUA ADA ADA ADA AUA AUA ADA ADA
Capaclty ).45 0.85 1,3 1,6 2.9 4.4 5.5 7.5

[0.6) (1.1) (1 .7) (2.4) (3.9) (5.9) (7,4) (1 o) ;:5)
kW (HP)
Rated/Max. 1500/3000 /2000
Motor
t Speed
z
~
,pplicable Standard: Incremental encoder (81 92 P/R)
mcoder
:ontinuous Output 3,8 7,1 10.7 16.7 23.8 32.8 42.1 54.7 58.8
T
:urrent
A (rms)
lax, Output Current 11 17 26 42 56 84 110 130 140
A (rms)
T
,Ilowable Load 36.2 69.5 103 159 230 338 445 625 1405
letila’ [32.0) (81 .5) (91 .2) (141) (204) (299) (394) (553) (1244)
L
z
kg.mzxlo+
(oz.in.szx10<)
iG ~ervop.ackSGDB- 30 44 50
ID ADD ADD ADD
;eries
Iotol Type 22 32 40
1- SGMD-
Capacity
kW (HP)
ADA
2.2
(2.9)
AuA
3.2
(4,3)
AUA
4.0
(5,4)
Motor
t Speed
l--w
,DDlicable Standard: Absolute encoder (1024 P/R)
<n~oder
;ontinuous Output 15.7 20.9 22.8
:urrent
A (rms)
lax. Output Current 54 73 77
A (rms)
,Ilowable Load 255 343 431
>ettia’ (226) (304) (382)
L
kg.m2x i 0<
(oz.in.szx i 0-3)
‘Allowable load inetiia is five times the motor inetia for SGMG and SGMD
253
5.3.1 Combined Specif~ati.nscont,
SG ervooack SGDB- IOADS 15ADS 20ADS 30ADS 44ADS 50ADS

MS Iotor Type 10 15 20 30 40 50
Series AEA ADA ADA AUA A~A AUA
SGMS-
Capacity 1.0 1.5 2.0 3.0 4.0 5.0
(1.3) (2.0) (2.7) (4.0) (5.4) (6.7)
kW (HP)
Motor
Speed
rlmin
.pplica e Standard: incremental encoder (4096P/R)
ncoder
:ontinuous Output 5.7 9.5 12.4 16.8 24.3 28,2
:urrent
A (rms)
!ax. Output Current 17 28 42 56 77 84
A (rms)
,SlowableLoad 8.7 12.4 16.0 35.0 48.0 61.5
lertia’ (7.7) (11.0) (14.2) (31 .0) (42.5) (54.9)
L
kg.mzx lo+
(oz.in.szx l@)
SG ;ervopack SGDB- 15ADP
MP rlotor Type 15AU
Ser]es
SGMP-
Capacity 1.5
(2.0)
❑
kW (HP)
I
Motor
Speed
rlmin
\pplicable lStandard: incremental encoder (2048P/R)
:ncoder
;ontinuous Output 7.5
;u rrent
A (rma)
flax. Output Current 23.0
A (rms)
Ulowable Load 20.2
nertia’ (17.9)
IL
kg.m2x10~
(oz.irlazx10-3)
‘Allowable load inertia is five times the motor inerlia for SGMS and SGMP.
254
5.3.2 Ratings and Specifications
1) The ratings and specifications of the SGDB Servopack are shown below. Refer to them
as required when selecting a Servopack.
2) Ratings and Specifications of SGDB Servopack
ServoDack SGDB- 03 05 07 10 15 20 30 44 50 60 75 1A
05A – 09A t 3A 20A 30A 44A - 55A 75A 1AA
03A - 06A 09A 12A 20A 30A 44A – 60A – -
II-IA 1GA 2fJA 3f)A 40A 51JA - - -
1- 1- 22A 32A 40A – – –

I 04A – I 08A t 5A - - – – – – –
asic nput I Main Circuit’l Three-phase 200 to 230 VAC +1O%to-15%, 50/60 Hz
pecifi-
ations Single-phase 200 to 23o VAC +1O%to-15%, 50/60 Hz
>ontrol Mode Three-phase, full-wave rectification IGBT PWM (sine-wave dtiven)
‘eedback Incremental encoder, absolute encoder
.oca- AmbientlStorage 0-55~c/-2o-e5~c

ion Temp.’z
Ambient/Storage Hu- 90% or less (no-condensing)

midity
Vibration/Shock Re- 4.9m/s2/19,6m/s2

sistance
E
Structure Base mounted (duct ventilation available as option)
ipprox. mass kg(lb) 4 (9) 5(11) 8 (18) 15 (33) 23
>. .,
(51)
peedl ‘etiOr- ;Deed Control 1:5000 (provided that the lower limit of the speed control range does not cause
wque nance iange the motor to stop when the rated torque load is applied)
:ontrol ;peed Load 0“/. to 100% 0.01 “A max. (at rated speed)
lode {egula- Regula-
~n.3 tion
Voltage Rated voltage tl O%: O% (at rated speed)
T Reaula-
tioi
‘requency
F
characteristics
Tempera-
ture Reg-
ulation
25A25”C:
250Hz (at JL=JM)

0,1% max. (at rated speed)
\ccel/Decel Time Otolos

;etting
nput *6 VDC (variable setting range *2 to +1 O VDC) at rated speed (forward
lgnal rotation with positive reference)
-
Input im- Approx. 30 kSS
pedance
Circuit Approx. 47 @
t-Tme
Constant
2
“orque
3efer-
!nce
Refer-
ence VOlt-
age’4
*I to *1 O VDC at rated speed (forward rotation with positive reference)
255
5.3.2 Ratings and Specifications cont.
Servooack SGDB- 1031051071101 i5120130 14415016017511A

peedi Iput Torque Inputlm- Approx. 30 kQ
)rque ;ignal Refer- pedance
ontrol snce Circuit Approx. 47 LS
lode Time
Constant
Built-in Reference *12 V, +30 mA
Power Supply
Contact Rotation Uses P control signal
Speed Direction
Refer- Selection
ence Speed Fotwardlreverse rotation current control signals are used (1 st to 3rd speed
Selection selection).
When both signals are OFF, the motor stops or enters another control mode.
osition ‘etiOr- Bias Setting O to 450 rlmin (setting resolution: 1 rlmin)
,ontrol nance Feed-forward Com- 0 to 100% (setting resolution: 1O/.)
lode
pensation
Position Complete O to 250 reference units (setting resolution: 1 reference unit)
Width Setting
nput Refer- Type SIGN + PULSE train, 90” phase difference 2-phase pulse (phase A + phase
;ignal ence B), or CCW + CW pulse train
Pulse
Pulse Line driver (+5 V level), open collector (+5Vor+12 V level)
Buffer
Pulse Max. 450/200 kpps (line driverlopen collector)
Frequen-
CY
Control Signal CLEAR (input pulse form identical to reference pulse)
Built-in Open Collec- +12 V (with built-in 1 kQ resistor)
tor Power Supply’5
o sig- ‘osition lltput output Phases A, B and C Line driver output
als Form Phase S: he dtiver output (only when 12-bit absolute encoder is used)
Frequen- (16 to N)/N (N: Number of encoder pulses)
cv Divid-
i~g Ratio
Sequence Input Sewo ON, P control (or forwardlreverse rotation in contact input speed control
mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT),
alarm reset, forward rotation current limit, and reverse rotation current limit (or
contact input speed control)
Sequence Output Servo alarm, 3-bh alarm codes
Any 3 of Positioning complete (speed coincidence), TGON, servo ready, current limit,
those brake release, overload warning, overload detected
signals
Inalog Monitor Any 2 of Speed 2 VII 000 rlmin or 1 VII 000 rlmin
)Utput those Torque 2 V/rated torque
signals Erro~ 0.05 V/reference unit or 0.05 Vll 00 reference units
iuilt-in )ynamic Brake (DB) Activated at main power OFF, servo alarm, servo OFF or overfravel
unc-
degenerative Processing Incorporated. For 60 to 1A types, external regenerative resistor must be
ons
mounted,
)vertravel (OT) Prevention Motor is stopped by dynamic brake, decelerates to a stop, or coasts to a stop
when P-OT or N-OT is activated.
>rotecfion Overcurrent, overload, regenerative error, main circuit voltage error, heat sink
overheat, power open phase, overflow, overspeed, encoder error, encoder
disconnected, overrun; CPU error, parameter error
.ED Display POWER, ALARM, CHARGE
!nalog Monitor (5CN) Same analog monitor signal as 1CN is available.
256
5,3 .%rwmck Rati.cs and Specz@cations
. Servopack SGDB- 03 05107110 [15120130144 15016017511A

Built-in COm- lnterface Digital Operator (mount type or hand type)
Func- mu- RS422A port such as personal computer (RS232C porl can be used if some
tions nica- conditions are met.)
tion t :N Communication N can be up to 14 when RS422A po!l is used,
Axis Address Set- Hexadecimal rotary switch (1 SW)
ting’6 1: 1:N communication, O: 1:1 communication
Functions Status display, user constant setting, monitor display, alarm traceback display,
jogging, autotuning, etc.
Others Zero-clamp, reverse rotation connection
“1 The power voltage must not exceed 230 V + 10O/.(253 V), If it is likely to exceed this
limit, use a step-down transformer.
‘2 The ambient temperature must be within the specified range. Even if the Servo pack is
installed in a box, the temperature inside the box must not exceed the range.
‘3 Speed regulation can be calculated using the following formula:
(
speed regulation = (no-load motor speed - full-load motor speed)
x 100”/.
rated motor speed )
Under actual operating conditions, voltage or temperature fluctuation causes drift

to the amplifier or changes the operating resistance, resulting in the motor speed
being changed.
The percentage of the motor speed change to the rated motor speed is called
❑
“speed regulation”,
.4 Forward rotation is defined as the clockwise rotation when viewed from the motor on
the opposite side of the load. (It is the counterclockwise rotation when viewed from
the load or shaft.)
,5 Built-in open collector power supply is not electrically isolated from the control circuit
inside the Servopack,
,6 For 1:1 communication, set the rotary switch to “O.
257
5.3,3 Overload Char..tetistics
5.3.3 Overload Characteristics
The Servopack has a built-in overload protective function to protect the Servopack and Ser-
vomotor f rom ovarload. Tharefore, the Servopack allowable powar is limited by the overload
protective function, as shown below.
The overload detection level is quoted under hot start conditions at a motor ambient temper-
ature of 40”C.
Operating ~me (s)
1 L I I
Rated torque Msximum torque

Rated torque+ Maximum torque
Approx.
2
Motor Torque
Overload Characteristics
m TERMS !
Hot Sterf
Indicates that both Servopack

thermally saturated.
and Servomotor have run long enough at rated load to be
258
5.3 Servo~ack Ratim-s and Szwcificati.m
5.3.4 Starting Time and Stopping Time
1) The motor stafling time (tr) and stopping time (tf) under constant load are calculated by
the following formulas, The motor viscous torque and friction torque are i~nored,
2TCNm (J~+JL)
Statiing Time: tf = [s]
60. (Tp~.–T,)
Stopping Trne: tf = 2~o’ ,~~~M++~# [ins]
NM: Motor speed used (r/min.)

JM:Motor moment ofinertia(kg.m2) . . . . . . . . . . . (GD2M/4)
JL:Load converted toshaft moment ofinetiia(kg.m2) (GD2L/4)
TPM: Maximum instantaneous motor torque obtained incombination with Sewopack(N.m)
TL: Loadtorque(N.m)
To convert the motor current value into an equivalent torque value, use the following formula:
Motor torque constant x motor current value (effective value)
W’me
‘“’”’Torque
‘otorspeed m“’
Motor Torque (size) - Motor Speed Timing Chart
259
5.3,5 Load Inertia
5.3.5 Load Inertia ,
1) The larger the load inertia becomes, the worse the movement response of the load, The
size of the load inertia (JL) allowable when using aServomotor must not exceed five
times the motor inertia (JM).
If the load inertia exceeds five times the motor inertia, an ovewoltage alarm may arise
during deceleration. Toprevent this, take oneofthe following actions:
1) Reduce thetorque limit value.
2) Reduce theslope of thedeceleration cuwe.
3) Reduce themaximum motor speed.
4) Consult your Yaskawa representative,
. Small Load Inertia
. Large Load Inertia
Load
Motor Motor O=
e*
260
S.3 .%rvonack RrIti”.m and SP@i@ionS
5.3.6 Overhanging Loads

1) A Servomotormay not be operated under an overhanging load, that isa load which tends
to continually rotate the motor.
Under an overhanging load (e.g. when the direction of the torque applied by the motor is
OPPOSitefrom the direction of shaft rotation), the Servopack regenerative brake is applied
continuously and the regenerative energy of the load may exceed the allowable range
and damage the Servopack,
The regenerative brake capacity of the SGDB Servopack is rated for short-time opera-
tion, approximately equivalent to the deceleration stopping time,
. Overhanging Load Example 1: Motor drive for vertical axis, using no counterweight
. Overhanging Load Example 2: Tension control drive
-’ Motorsubjectto rotationfromfesd motor

to maintain applied tension.
261
5.4.1 SwwmrIolorDimensional Drawings
/
5.4 X-Series Dimensional Drawings
This section presents dimensional drawings of the X-Series Servomotor, Servopack,

and Digital Operator.
5.4.1 Servomotor Dimensional Drawings.. ............................... 262
5.4.2 Servopack Dimensional Drawings .................................. 337

5,4.3 Digital Operator Dimensional Drawings .. . .. . .. 349
5.4.1 Servomotor Dimensional Drawings

The dimensional drawings of the SGMG, SGMS, SGMD and SGMP (1.5 kW) Servomotors
are shown on the following pages.
Note that the types and dimensional drawings of the SGMG Servomotors differ according to
rated speed (1500 or 1000 r/rein).
The dimensional drawings of each Servomotor series are broadly divided into four types, ac-
cording to the detector type (incremental or absolute encoder) and the presence or absence
of a brake.
. SGMG Servomotor (1500 r/rein) page 263
. SGMG Servomotor (1000 r/rein) page 283
.SGMS Servomotor ., . . . . . . . . . . . . . ..page3Ol
.SGMD Servomotor . . . . . . . . . . . . . . . ..page3l5
.SGMPSewomotor . . . . . . . . . . . . . . . ..page 327
262
5.4 Z-.%ries Dimensional Drawings
1) SGMG-UUAOA Servomotor
(1) Incremental encoder (8192 P/R)
1 KB2
J w
[55A2A 75A2A 1PA2A0NL%
Detailed View of Shaft End forSGMG-05A2Ato-13A2A and -1AA2A
Detailed Mew of Shaft End for SGMG-20A2A to -75A2A
263
z
5,4,1 Swvomotor Dimensional DmwinCs cot,
in mm (inches)
Type L LL LM LR LT KB1 KB2 IE KL1 KL2
SGMG-
05A2A 196 138 58 65 117 - 109
(7.72) (5.43) ~:62) (2.26) ;:61) (2.56) (4.61 ) (4.29) ::46)
09A2A 219 161 115 56 66 140 - 109
(6,62) (6.34) (4.53) (2.28) ~;61) (3.46) (5.51) (4.29) :;46)
13A2A 243 165 139 56 112 164 – 109
(9.57) (7.28) (5.47) (2.26) ::81) (4.41) (6.46) (4.29) ::46)
20A2A 245 166 119 79 47 69 145 – 140
(9.65) (6.54) (4.69) (3.11) (1 .65) (3.50) (5.71) (5.51 ) ::46)
30A2A 271 192 145 79 115 171 - 140
(10.67) (7,56) (5.71) (3.11) ~:65) (4.53) (6.73) (5.51) ::46)
44A2A 305 226 179 79 47 149 205 – 140
(12.01) (8.90) (7.05) (3.11) (1 .85) (5.87) (8.07) (5.51) ::46)
55A2A 373 260 213 113 174 239 125 150
(14.69) (10.24) (6.39) (4.45) ~:85) (6.85) (9.41 ) (4.92) (5.91) $46)
75A2A 447 334 287 113 248 313 125 150
(17.60) (13.15) (11.30) (4.45) ;:85) (9.76) (12.32) (4.92) (5.91 ) ;:46)
1AA2A 454 338 291 116 251 317 142 168
(17.87) (13.31) (11.46) (4,57) ~:85) (9.88) (12.46) (5.59) (6,61 ) ::46)
264
5,4 X-Series Dimensional Drawings
in mm (inches)
Type Flange dimensions
SGMG- ~~ LB LE
LC LF1 LF2 LG LH LJ1 LJ2 LZ
05A2A 145 9
(5.71 ) 110 0:035 ;g2) ~0.24) ~0.24) ;:47) (Y50) ;:77) - (0.35)
(433 - 0:014)
IF
09A2A 145 6 - 45 - 9
110 _ 0°035 /:2)
(5.71 ) ;0.24) (0.24) /;47) /F50) (1 .77) (0.35)
(433 - 0}o14)
13A2A 145 45 - 9
(5.71 ) no_ :035 ;:2) ~0.24) ?0.24) ;;47) /F50) (1 .77) (0.35)
(4.33 _ 0$014)
200
JmJiL
13.5
(7,87) 114.3- ;025 /:09) :0213) ?0.12) (0,0197) jt71) :~06) 7;99) 7;44) (0.53)
30A2A 200 3 0.5 13.5

(7,87) 1143- ;025 /:09) ;0213) (0.12) (0.0197) (0.53)
w
E
(4.50 - 0}010)
FFF
3 0.5 76 62 13.5
[7,87) 114.3 -;025 /y09) :0213) (0.12) (0.0197) (2.99) (2.44) (0.53)
r
3 0.5 62 13.5
(7,67) 114.3-00025 ;709) ?0213) (0.12) (0.0197) .7:99) (2.44) (0.53)
3 0.5 76 62 13,5
(0.12) (0.0197) (2.99) (2.44) (0.53)
13.5
,16) ;0. 16) - /:71) f/;63) ::44) - (0.53)
(7.67 - ojo18)
265
in mm (inches:
,.-,
T
40 5.5
(1.57) (12.12)
=
T
09A2A 40 7.8
19-;013 ~y18) (1.57) (16,75)
(0.75 - 0:005)
T
13A2A 40 9.6
22-~013 ~;18) (1.57) (21.16)
(0.87 _ 0}005)
20A2A
%
35
(1 .38+
+0.01
~
‘~)
45
(1 .77)
T
76
(2.99) /$0.86)
76
(2.99) /f9.68)
P
44A2A + 0.01 45 76
35 0 (1,77) (2.99) ~;O.69)
(1.38 + ‘y)
55A2A 45 110 30
42-0°016 (1 .77) (4.33) (66.13)
(1 .65- 0.?3008)
D
75A2A 110 40
42-:016 ::77) (4.33) (88.18)
(1 .65- !3:006)
1AA2A 110 57.5

42-:018 ;:77) (4.33) (126.73)
(1 .65- 0:006) :
Note 1) incremental encoder (8192 P/R) isusedas a detector.
2) SGMG-05A to-44A2A donotcontain eyebolts.
266
5.4 X-Series Dintenswmd Drawings
●Connector Wiring on Detector Side
Receptacle: MS3102A2O-29P
Applicable plug (To beprepared by customer): MS3108B2O-29S
Cable Clamp: MS3057-12A
Encoder Witing Specifications
A A channel output K Zchannel output

B A channel output L ~channel output
C Bchannel output M
D Bchannel output N
E Cchanneloutput P
F Cchanneloutput R
G OV s
H +5V DC T
J FG(Frame Ground)
B
Note 1) The above-mentioned detector side specifications are common to ail the motors with in-
cremental encoders.
2) Connection between Servopack and Z/z channel output is not necessary
.Connector Wiring on Motor Side
Motor IWting Specifications
c1
c.
.D ‘i
~B
267
5,4.1 .%rvom.tor Dimensional Drawi.gs ..*I
(2) Incremental encoder (81 92 P/R) with brake
● 0.5 to 4.4kW
) LL LR 1
LT LM I
Detailed View of Shaft End for SGMG-05A2AAB to -13A2AAB
fa-
LR
LE
I.F1
: ._...=q ~,
Detailed VieW of Shaft End for SGMG-20A2AAB to -44A2AAB
268
5.4 ~-,%ies Dimensional Dnzwinrs
in mm (inches)
Type L LL LM LR LT KB1 KB2 KL1 KL2
SGMG-
05A2AAB 234 176 129 56 155 120 68
(9.21) (6.93) (5.06) ~;28) ~;65) (2.20) (2.20) (4.72) (3.46)
09A2AAB 257 199 152 86
(10.12) (7.83) (5.96) ;i28) f;65) (:11) /701 ) ;E2) (3.46)
13A2AAB 281 223 178
(11.06) (6.76) (8.93) $.26) ::65) j~06) ;:95) /82) f:46)
20A2AAB 296 217 170
(11.65) (8.54) (8.89) $11) ::ss) [:11) ;~72) /%5) f:46)
30A2AAB 322 243 196
(12.68) (9.57) (7.72) 7:11) f;65) ;fi3) :774) /85) ~~46)
44A2AAB 358 277 230
(14.02) (10,91) (9.06) $11) :1’.65) ;?47) f::06) /f75) 846)
in mm (inches)
SGMG- LA LB LC ] LE LFI LF2 LG LH LJ1 LJ2 LZ
9
).24) ;:47) /F5) ;:77) - (0.35)
(4.33 - 0:014)
1
09A2AAB 145 9
(5.71 ) 110-:035 ;:2) ~0.24) ~0.24) – ;;47) ;;:) ::77) “ (0.35)
(4.33 - 0:014)
13A2AAB 145 9
(5.71 ) 110-0°035 ;:2) ~0.24) ;0.24) - ;:47) jF5) :;77) - (0.35)
(4.33 - 0:014)
20A2AAB 200
(7,67) 114.3- /025 /:09) :0213) :0.12) :050197) ;:71) ;~06) :’99) ;:44) /::3)
(4.50 _ 0)010)
30A2AAB 200
(7,87) 114.3_ ~OZ5 /;:9) :0213) 70.12) :050197) /:71) f}06) ::99) p:44) /$;3)
(4.50 - 0:010)
44A2AAB 200
(7,87) 114.3_ ~oz5 ;::9) ~0213) :0. 12) po50197) /:71) ;?06) ::99) ::44) ;:;3)
(4.50 - 0:010)
269
5,4,1 S.rvonwtor Dimensimal Drawings cont.
in mm (inches)
TVDt3 I Shaft end dimensions I Approx
SGMG- rn”ass
S SI Q
35
(%)
15A2AAB $0 7.5
‘9-;013 ~?.le) :1.57) (16.53)
(0.75 - 0}005) +
T
09A2AAB 40 9.6
‘9-00.013 ~/18) [1.57) (21.16)
(0.75 - 0:005)
T
13A2AAB 40
22-;013 ~~le) (1.57) E.45)
76
T
(2.99) ;tl,88)
76 23.5
(2.99) (51,79)
76 2e.5
(2.99) (62.81)
Note incremental encodar (8192 P/R) isuseda3 a detector.
●Connector Wiring on Motor Side
BEaP!El
● As fo! connector wiring on detector side, refer to page 267.
270
●5,5tollkW
%PIa
1’
KB3
KB2
Detailed View of Shaft End for SGMG-55A2AAB and -75A2AAB
Detailed View of Shaft End for SGMG-I AA2AAB
m
LE
LF1
&__._.@ ~
?
w
in mm (inches)
Type L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3
SGhlG-
55A2AAB 424 311 264 113 290 231 125 150
(16.69) (12.24) (10.39) (4.45) ?~85) fG5) (11.42) (9.09) (4.92) (5.91) &46) /::4)
75A2AAB 49e 385 33e 113 47 248 364 305 125 150 88 123
(19.61) (15.16) (13.31) (4.45) (1.65) (e.76) (14.33) (12.01) (4.92) (5.91) (3.46) (4.84)
1AA2AAB 499 383 340 116 43 258 382 315 142 186 88 142
(19.65) (15.08) (13.39) (4.57) (1.69) (1O.16) (14.25) (12.40) (5.59) (6.61) (3.46) (5.59)
271
5.4.1 SwvoIIIoIor Dimemio.al Dmvings cent,
in mm (inches)
m
‘Iange dimensic s I
LF1 LF2 LH LJ1 LJ2 LZ
T
T 7
3 0.5 ?30 62 13.5
(0.12) (0.0197) [9.06) ~;99) (2.44) (0.53)
1 1 ,
75A2AAB 200 3 0.5 230 62 13.5
(,,~,) 114.3- ;025 /?09) :0213) (0.12) (0.0197) (9.06) 1;99) (2.44) (0.53)
(4.50 - 0!010) T
1AA2AAB 235 4 - 270 13.5
(9,25) 200- ;046 ;F66) ;0.16) (0.1 6) (10.63) ri44) (0.53)
(7.87 - 0)018)
(1 .65- &16)
Note incremental encoder (8192 P/R) isusedas a detector.
.Connector Wiring on Brake and Motor Sides
E5a
.Asforconnector
m
wiring on detector side, refer topage 267.
272
5.4 .&Series Dimensional Drawings
(3) Absolute encoder (15bit :8192 P/R)
L
I LL LR 1
m (0,0016)
(55ASA, 75ASA, lAASA ONLYJ
Detailed View of Shaft End for SGMG-05ASA to -13ASA and .IAASA
LR
I LE
-
LF1
G ..—.–.–.–._. m
. R?
$+
u
Detailed View of Shaft End for SGMG-20ASA to -75ASA
273
5.4.1 .% Ditnemional Drawings cont.
in mm (inches)
SGMG-
05ASA 210 152 109 88
(8.27) (5.98) &82) ;;28) ~~36) ;;56) ::; 6) - (4.29) (3.46)
09ASA 233 175 115 109 68
(9.17) (6.89) (4.53) ~;28) ;]36) :$46) &6) - (4.29) (3.46)
13ASA 257 199 139 109 88
(10.12) (7.63) (5.47) :;28) &.36) ;;51) /nl ) - (4.29) (3.46)
20ASA 259 160 119 140 88
(10.20) (7.09) (4.69) 7:11) :;.40) ::50) 186) - (5.51) (3.46)
30ASA 285 206 145 140 86
(11.22) (6.11) (5.71) !:11) :;,40) /;:3) &6) - (5.51) (3.46)
44ASA 319 240 179 140 86
(12.56) (9.45) (7.05) ::11) ;;.40) ;;7) ;;.:2) - (5.51) (3.46)
55ASA 367 274 213 113 61 174 253 125 150 66
(15.24) (10.79) (6.39) (4.45) (2.40) (6.65) (9,96) (4.92) (5.91) (3.46)
75ASA 461 346 287 113
(16.15) (13.70) (11,30) (4,45) 7;,40) :876) ~;~87) ;::2) &) :;46)
1AASA 468 352 291 116 61 251 331 142 168 66
(16.43) (13.86) (11.46) (4.57) (2.40) (9.88) (13,03) (5.59) (6.61) (3.46)
274
.5.4 X.,%ria$ Dimensional lhnvinm
in mm (inches)
SGMG- ~~ ~~ LC LE LF1 LF2 LG LH LJ1 LJ2 LZ
15ASA 145 9
(5.71 ) llo_;035 /32) ~0.24) ~0.24) ;:47) /so) ;:77) - (0.35)
(4.33 -0$01 4)
39ASA 145 9
(5.71 ) 110-:035 (32) ~0.24) ~0.24) - /:47) /:0) ::77) - (0.35)
(4.33 - 0:014)
13ASA 145 6 9
(571) 110- ;035 ;f12) ~0,24) (0.24) /;47) ;Eo) ;:77) - (0,35)
(4.33 - 0}014)
20ASA 200
(7,87) 114.3 _ ~OZ5 /::9) ;0213) 70.12) ~050197) /:71) ;;~6) ::99) ::44) /$:3)
(450 - 0:010)
30ASA 200 76
(7,87) 114.3 _ IOZ5 /:09) ;0213) 70.12) ?050197) ;:71) f~06) (2.99) 7:44) /;:3)
(4.50 - 0}010)
44.4SA 200 76
(7,67) 114.3- ;025 /909) :0213) ~o.12) :050197) /:71 ) f;~6) (2.99) ::44) /;:3)
(4.50 -0:01 0)
55ASA 200 76
(7,e7) 114.3- ;025 /To9) ;0213) 70.12) ?050197) /:71) t~06) (2.99) 7:44) /$:3)
(4.50 _ 0:010)
75ASA 200 76
(7,67) 114.3-0°025 (Yog) ;0213) :0, 12) ;050197) /:71 ) ;~06) (2.99) ;:44) /::3)
(4.50 - 0)010)
1AASA 235 13.5

(9,25) 200- ;046 :F66) ;0. 16) tO.16) - /:71) :;;63) ::44) - (0.53)
(7.87 - 0;018)
275
5,4.1 Servmnotor Dimensional DrawinEs cont.
in m I (inches
Type Shafi end dimensions Approx.
SGMG- mass
S S1 Q
(%)
05ASA 5.9
lg-~013 7~18) ~0.57) (13.00)
(0.75 - 0:005)
D9ASA 6.0
m 19-:013 ::18) :9.57) (17.63)
(0.75 - 0:005)
13ASA 10
22-:013 ~;18) ;:57) (22.04)
(0.87 - o~oo~)
20ASA + 0,01 45
35 0 (1 .77) ::99) /$0.86)
(1 .38+ ‘~)
30ASA + 0,01 45 18.5

35 0 (1 .77) 7:99) (40.77)
(1.38 + ‘y)
44ASA + 0.01 45 24
35 0 (1 .77) 1:99) (52.90)
(1.38 + ‘y)
55ASA 30
B
42-~016 ;;77) j;.g3) (66.12)
(1 .65_ 0)006)
75ASA 40
42-~016 ~t77) (;]3) (66.16)
(1.65 _ 0}006)
1AASA 58
42-~016 ~f77) ;;.~3) (127.63)
(1 .65- o}oo6)
Note 1) Absolute encoder(15bit :8192 P/R) is used as a detector
2) SGMG-05ASA to-44ASA donotcontain eyebolts,
276
5,4 X-Serie, Dimensioned Drawings
. . Connector Wking on Detector Side
Applicable plug (To beprepared bycustomer): MS3108B20-29S
Note Theabove-mentioned detector side specifications arecommonto allthe motors

with absolute encoders.
. Connector Wiring on Motor Side
Motor Wiring Specifications
277
5,4.1 .%nwnotor Dimensional Drawings cont.
(4) Absolute encoder (15bit: 8192 P/R), with brake
.0.5 to 4.4kW
Detailed View of Shaft End for SGMG-05ASAAB to -1 3ASAAB
Detailed Vtew of Shaft End for SGMG-20ASAAB to -44ASAAB
E%
278
5,4 Z-Series Dimemio?tczl Dnmvinm
in mm (inches)
SGMG-
E
05ASAAB 248 190
(9.76) (7.48)
09ASAAB 271 213
(10.67) (8.39)
13ASAAB 295 237
(11.61) (9.33)
20ASAAB 310 231
(12.20) (9.09)
30ASAAB 336 257
(13.23) (10.12)
44ASAAB 370 291
(14.57) (11.46)
in mm (inches)
SGMG- LA
l=+ m LZ
4
35ASAAB 145 9
(5.71) (0.35)
+ m I
9
(0.35)
(4.33 _ ~:014)
13ASAAB 145 9
(5.71) 110-:035 /R2) ~0.24) (0.35)
(433 - 0%014)
20ASAAB 200 13.5
(787) 1143- ;025
m
;:09) :0213) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53)
+++++
m
(4.50 -0:01 0)
13.5
(j’,ej’) 114.3-00025 j~09) 70z13) (0.12) (0.0197) (0.71) (9.06) (2.99) (2.44) (0.53)
13.5
(7,87) 114.3 -;025 ;~09) ?0213) (0.53)
(4.50 _ O:.,O) I
279
5.4.1 SeIVmnotor Dime.sio.al Drawing% cent,
in mm riches)
Type Shaft end dimenaiona Approx.
SGMG- mass
S I S1 I Q
[:)
=f3
05ASAAB 7.9
lg-~013 ~/18) ;~57) (17.41)
(0.75 - o.loo5)
09ASAAB 10
19-;013 ~0.18) f/57) (22.04)
(0.75 - 01005)
13ASAAB
22-1013 Yf18) ;10.57) ;;6.45)
19.5
(42.98)
(1.38 + ‘~)
30ASAAB +0,01 45 23.5

35 0 (1.77) T;99) (51.79)
(1 .38+ ‘~)
44ASAAB + 0,01 45 29
35 0 (1.77) (:99) (63.92)
=
❑’
(1.36 + ‘~)
Note Absolute encoder (15bit: B192P/R) isusedas a detector
Motor Wiring SpecificaUons
Q ~’
.Asfor connector wiring on detector side, refer to page 277,
280
5.4 X-Setim Dimensional Drawings
●5.5tollkW
1“”
KB3
KB2
1
Detailed View of Shaff End for SGMG-55ASAAB and -75ASAAB
LR
LE
LF1
3 . . . . . . 0
. 32
497
w
in mm (inches)
Type L LL LM LR LT KB1 KB2 KB3 IE KLI KL2 KL3
SGMG-
55ASAAB 438 325 264 113
(17.24) (12.80) (10.39) (4.45) ?;.40) fG5) ;:497) &9) /fi2) /::1) !;46) &4)
. 75ASAAB 512 399 338 113 61 248 378 305 125 150 88 123
(20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.88) (12,01) (4.92) (5.91) (3.46) (4.84)
1AASAAB 513 397 340 116 57 258 376 315 142 168 88 142
(20.20) (15.63) (13.39) (4.57) (2.24) (10,16) (14.80) (12,40) (5.59) (6.61) (3.48) (5.59)
281
inmm (inches) ~
m
Flange dimensi(
=--R=7F \
1
(7,87) 114.3 -o.0z5
1(4.50 _do,o)l
I
(7.o9)
I
1
(0.13)
3
LF1
(0.12)
T
0.5
LF2
(0.0197)
LZ
13,5
(0.53)
75ASAAB 200 3 0.5 13.5

(7,87) 1143- ;025 /:09) ?0213) (0.12) (0.0197) (0.53)
4 13.5
(0.16) - (0.53)
+
in mm (inches)
Type Shafl end dimensions Approx
SGMG- mass
s S1 Q
::)
55ASAAB
42 -&6 :?77) ;;:3) 7:9.34)
(1.65- 13.0006)
75ASAAB
42-1016 ;:77) /;:3) ::0.20
Note Absolute encoder (15bit:8192 P/R) isusedas a detector.
.Connector Wiring on Brake and Motor Sides
.Asforconnector wiring on detector side, refer topage 277.

5.4 Z-Series Dimensional Drawings
2) SGMG-ODAOB Servomotor
(1) Incremental encoder (81 92 P/R)
K82
L J %%
(44A2B, 60A2B ONLV
Detailed View of Shaft End for SGMG-03A2B to -09A2B
Detailed VieW Of Shaft End for SGMG-12A2B to -60A2B
283
.5.4.1 ServonmtorDimensional Dmwin<s amt.
in mm (inches)
SGMG-
03A2B 196 I 3e 109 68
(7.72) (5.43) ~:62) ~:26) ~t81) ~:56) (1:1 ) - (4.29) (3.46)
06A2B 219 161 115 109 66
(8.62) (6.34) (4.53) &26) ~;61) &46) &) - (4.29) (3.46)
09A2B 243 165 139 109 86
(9.57) (7.28) (5.47) ~;26) f;61) (:51) /~46) - (4.29) (3.46)
12A2B 245 166 119 140 86
(9.65) (6.54) (4.69) $11) ~:65) ;;50) &) - (5.51) (3.46)
20A2B 271 192 145 79 47 115 171 - 140 88
(1 0.67) (7.56) (5.71) (3.11) (1.85) (4.53) (6.73) (5.51 ) (3.46)
P F
30A2B
44A2B
60A2B
305
(12.01)
373
(14.69}
,,,
447
,
(1 7.60)
226
(6.90)
260
334
.,. q=)
(1?
179
(7.05)
213
.,, . (8.39}
(10.24) .../
267
,.,, l!,,.~”
—
f<< -n ) EE E
79
(3.11)
113
(4.45)
113
(4.45)
~;e5)
~;85)
4;65
t 149
(5.e7)
174
(6.65)
246
(9.76)
205
(8.07)
239
(9.41)
313
+(12.32)
-
125
(4.92)
125
(4.92)
140 + 68
(5.51 ) (3.46)
150
(5.91 )
150
(5.91 )
1
88
(3.46)
86
(3.46)
in mm (inches)
m
Type Flange dimensiol
F
SGMG- LA LB LC LG LH LJI LJ2 LZ
03A2B 145 12 165 45 9
(5.71) 1I 0-0°035 ;:2) (0.47) (6.50) (1.77) [0.35)
w
(4.33 _ 0)01 ‘J w
r06A2B
19A2B
145
(5.71)
145
11O- OOO35 ;82)
(4.33 - 0:014)
6
3
(0.35)
3
(5.71) 11O- OOO35 /:2) (0.24) ~0.24) - [0.35)
(4.33 - 0:014)
12A2B 200 3.2 62 13.5
(7,87) 1143- ;025 ($,89) (0.13) 70,12) :050197) (2.44) (0.53)
w
(4.50 _ 0:010) F
?OA2B 200 62 13.5
(7.67) 1143- ;025 ;::9) (2.44) (0.53)
(4.50 -0:01 0)
30A2B 200 62 13,5
(7.67) i 143- ;025 /:09) (2.44) (0.53)
(4.50 -0:01 0)
!4A2B 200 3.2 62 13.5
F
(7.87) 114.3 – 0°025 ;:09) (0.13) :0.12) ?050197) (2.44) (0.53)
(4s0 - o}ol o)
50A2B 200 3.2 62 13.5
(7.67) 1143- ;025 /:09) (0.13) :0,12) ;050197) (2.44) (0.53)
(4.50 _ 0)010)
284
in mm (inches)
~ .,
03A2B
19-:013 ;!18) ;:57) :1:.12)
l(075-doo5)l -F
40
(1.57)
7.6
(16.75)
T
09A2B 40 9.6
9
22-~013 ~~18) (1.57) (21,16)
(0.87 - 0~005)
T
12A2B + 0.01 45 78
35 0 (1 ,77) (2.99) f~O.86)
(1,38 + ‘~)
T
20A2B +0.01 45 76
35 0 (2.99) ;~9.62)
(1 .77)
(1 .38+ 0;004)
T
R
30A2B +0.01 45 76
35 0 (1 ,77) (2.99) &O.69)
(1.38 + ‘~)
44A2B
42-1016 ;:77) m
Note 1) Incremental encoder (8192 P/R) is used as a detector,
2) SGMG-03A2B to -30A2B do not contain eyebolts,
285
5.4.I Servornotor Dimensional Drawings cont.
●Connector Wiring on Detector Side
Receptacle: MS3102A20-29P
Applicable plug: (To beprepared bycustomer): MS3108B2O-29S
Encoder Wring Specifications
Al A channel output I KI Zchannel output

B–
II Xchanneloutput I Ll~cha ~nneloutput
Cl Bchanneloutput I Ml= /
<
Note 1) The above-mentioned detector side specifications are common to all the motors with in-
cremental encoders,
2) Connection between Sewopack and Z~channel output isnotnecessay,
o .
co
OA
.
,0
286
5.4 X-Series Dimensional Dn?winm
(2) Incremental encoder (81 92 P/R), with brake
●O.3to 3.OkW
Detailed Mew of Sheft End for SGMG-03A2BAB to -09A2BAB
Detailed View of Shaft End for SGMG-12A2BAB to -30A2BAB
I&--l
IpfiI
L,, ‘1‘“
G ..—-.-.–.–.
. ~ 2;2
‘a
287
5.4.1 SWVOI?W1OY
Dimensional Drwvin@ cont.
in mm (inches)
\ , ,, ..-. f5.08\
,,–. .–, ,.?;28)
—.. f;85) ~2!20) /fiO) ;~72) ;~46)
06A2BAB ]257 1199 1152 158
. . ..—. 1(7.83)
lf10.121 ,. .--, ,-. .
lf5.98) (2.28) (1.85) (3.11) (7.01) (4.72) (3.46)
~09A2BAB 1281 I 223 I 17C
(11,06) (6.76) (6.93) (2.26) (1 ,85) (4,06) (7.95) (4.72) (3.46)
12A2BAB 296 217 170 79
(11.65) (8,54) (6.69) (3.11) ~;85) :11) /??2) /5’?5) ::46)
20A2BAB 322 243 196 79
(12.68) (9.57) (7.72) (3.11) ::65) /H3) :F74) /:?5) :3!46)
30A2BAB 356 277 230 79 47 139 256 146 88
(14,02) I(10.91) 1(9.06) 1(3.11) (1.65) 1(5.47) I(10.O6) 1(5.75) 1(3.46)
in mm (inches)
‘Iange dimensio
LE LF1 LF2 LG LH LJ1 LJ2 LZ
(4.33 - 0:014)
6
(0.24)
6
(0.24) - (:47)
T
165
(6.50)
45
(1.77)
9
(0.35)
T
06A2BAB 145 6 6- 165 45 9
(5.71) 11O- OOO35 /R2) (0.24) (0.24) /:47) (6.50) (1,77) (0.35)
(4.33 _ ~:014) T
D9A2BAB 145 6 6 - 165 45 9
(5.71) 11O- OOO35 &2) (0.24) (0.24) (6.50) (1.77) (0.35)
t
I
I
1(433-0:014)1
I 1
T
12A2BAB 200 3.2 3 0.5 230 76 62 13,5
(7.87) 1143- 0!025 /:09) (0.13) (0.12) (0.0197) (9.06) (2.99) (2.44) (0.53)
(4.50 - 0)010)
T
20A2BAB 200 3.2 3 0.5 230 62 13.5
(7.87) 1143- 0!025 /:09) (0.13) (0.12) (0.0197) (9.06) ~;99) (2.44) (13.5)
(4.50 -0:01 0)
T
30A2BAB 200 3.2 3 0.5 230 76 62 13,5
(7.87) 1143- jo25 j~09) (0.13) (0.12) (0.0197) (9.06) (2.99) (2.44) (0.53)
(4.50 _ 0,00,0) :
= A
5.4 Z-Serius Dimensional Drawings
in mm (inches)
Tvpe I shaft end dimensions I Approx.
=FR=w
)6A2BAB
19- /013
(0.75 - ojoo5)
(1.18) (1 ,57) (16.53)
19-:013 ~;l 8) ;:57) &.16)
(0.75 - 0$005)
)9A2BAB 30
22 – 0°013 (1,18) ;’57) /;6.45)
(13.87 - o?Joo5)
I 2A2BAB + 0.01 45
35 0 (1 .77) ;:99) & .8S)
Note Incremental encoder (81 92 P/R) is used as a detector.
● Connector Wiring on Motor Side
. As for connector wiring on detector side, refer to page 2S6.
289
5.4.1 Swvornotor Dimemiomzl Drawin~s CO*L
● 4.4 to 6,0kW
+1) 0.04.[.A~
(0.0016)
Detailed View of Shaft End
Ji%
in mm (inches)
SGMG-
44A2BAB 424 311 264 113 47 174 290 231 125 150 8e 123
(16.69) (12.24) (10.39) (4.45) (1.85) (6.85) (11.42) (9.09) (4.92) (5.91) (3.46) (4.84)
80A2BAB 49e 3e5 33e 113 305 125 150 88 123
(19.61) (15,16) (13,31) (4.45) f;65) f:76) :::33) (12.01) (4.92) (5.91) (3.46) (4.64)
in mm (inches)
,.
Type Flange dimeneione
SGMG- LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ
44A2BAB 200
(7,87) 114.3- ;025 /:09) :0213) 70.12) :050197) /:71) ~~06) T:99) ?:44) /$:3)
(4.50 - 0;010)
60A2BAe 200
(7,67) 1143- ;025 /:09) ;0213) 70.12) ~0501e7) ;:71) ~~06) ::99) ;:44) /::3)
(4.50 - 0:010)
290
5.4 Z-SwieS Dimt?nsiomd Dncvinrs
in mm (inches)
Type Shaff end dimensions Approx.
SGMG- mass
w
s S1 Q
;:)
42-~016 ~f77) j;.g3) ~;7,14)
42-0016 (1.77) (4.33) (100.28)
@m
.Asforconnector wiring on detector side, refer topaga 288,
291
5,4,1 Smwno
for Dinwmi..al Drm+isgr cont.
(3) Absolute encoder (15bit:8192 P/R)
@4ASB,60ASBONLYl
Detailed View of Shaft End for SGMG-03ASB to .09ASB
Detailed View of Shaft End for SGMG-I 2ASB to -60ASB
J&---
&il
L,, ‘F’
: -------~ ~
292
in mm (inches)
Type L LL m LR LT KB1 KB2 IE KL1 KL2
SGMG-
03ASB 210 152 109 88
(8.27) (5.98) ~:62) ;2?28) &36) ~:56) :;; 6) - (4.29) (3.46)
06ASB 233 175 115 109 88
(9.17) (6.89) (4.53) &28) ~36) ~~46) &6) - (4.29) (3.48)
09ASB 257 199 139 109 86
(1012) (7.83) (5.47) f~28) :;36) /151) ;;1 ) - (4.29) (3,46)
12ASB 259 180 119 79 i 40 88
(10.20) (7.09) (4.69) (3.11) :;.40) ::50) /:6) - (5.51) (3.48)
20ASB 285 206 145 79 140
(11.22) (8.11) (5.71) (3.11) ?;.40) /:.:3) /:8) - (5.51) ~i46)
30ASB 319 240 179 140 66
(12.56) (9.45) (7.05) [:11) 7;.40) /:7) &2) - (5.51) (3.46)
44AS B 367 274 213 113 61 174 253 125 150 86
(1 5.24) (10,79) (8,39) (4.45) (2.40) (8.85) (9.96) (4.92) (5.91 ) (3,46)
60ASB 461 348 287 113
(18.15) (13.70) (11.30) (4.45) :;.40) ;876) :;;87) /p92) /81) f;46)
in mm (inches)
w
SGMG- LA LB LC LE LH LJ1 LJ2 LZ
TF
)3ASB 145 6 165 45 - 9
(5.71 ) 11O- OOO35 /n2) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35)
(433 - o~014)
—
Tr T
16ASB 145 6 6 165 45 - 9
(5.71 ) 110-0°035 /f12) (0.24) (0.24) - ;:47) (6.50) (1,77) (0.35)
(433- 0:014)
Tt T
19ASB 145 6 6- 12 165 45 – e
(5.71 ) 11O- OOO35 /??2) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35)
(4.33 _ 0).,4)
T Tr
12ASB 200 3.2 3 0.5 230 76 13.5
I
(7.87) 1143- 000Z5 /p09) (0.13) (0.12) ;.019 (:71) (9.08) (2.99) ::44) (0.53)
(4.50 - 0)01 0)
T T
20ASB 200 3.2 3 0.5 230 76 13.5
(7.67) 1143-000Z5 /:09) (0.13) (0.12) $.019 $71) (9.06) (2.99) :.44) (0,53)
(4.50 - 0:010)
T T
30ASB 200 3.2 3 0.5 230 76 13.5
(7,87) 114.3- 0!025 /Po9) (0.1 3) (0.12) $yo19 /:71) (9.06) (2.99) ::44) (0.53)
w
I(4.50Q010)I
3.2 3 0.5 13.5
TFw
44ASB 200
(7.67) 1143-00025 ;p09) (0.13) (0.12) ;;019 ;;71) (0.53)
(4.50 – &O)
SOASB 200 3.2 3 0.5 13.5

(7.87) 1143-00025 jy09) (0.13) (0.12) $.019 /:71) (0.53)
(4.50 -0:01 0)
33 I I
293
5.4.1 Servomolor Dimemio.al Dr.wimCs cent,
in mm (inches)
Type Shafi end dimension Approx.
SGMG- mese
s S1 Q
(%)
3
03ASB 5.9
lg-~013 ~10.18) ;~57) (13.00)
0.75 _ 0:005)
06ASB 8.0
19-~013 ~’?18) ~;57) (17.83)
0.75 _ 0:005)
09ASS
22-~013 ~0.18) ~~57) j;2.04)
m
0.87 _ ojoo5)
12ASB
/:0.86)
20ASB 18.5
(40.77)
30ASB 24
(52,90)
+ 0.0004
:1.38 0 )
44ASB 30
42- ~016 ;:77) /:.:3) (66.12)
60ASB 40
(88.16)
:165-dooe)l I
Note 1) Absolute encoder (15bit: 8192 P/R) is used as a detector.
2) SGMG-03ASB to-30ASB donotcontain eyebolts.
294
5.4 Z-Series Dimensional Dmwin~s
. Connector Wiring on Detector Side
Applicable plug (To beprepared bycustomer): MS3108B2O-29S
Encoder Wring Specifica80ns
A A channel output K
Elsl
S Zchannel output L
C Bchanneloutput M
O Bchannel output N
E Zchannel output P
F Zchannel output R Reset
G OV S ov(batte~)
H +5V OC T 3.6V(batlery)
J FG (Frame Ground)
Note Theabove-mentioned detector sidespecifications arecommon toallthe motors

Motor WJring Specifications
A U phase
B V phase
c Vi phase
D Gmu”d terminal
295
5.4.1 Servo?notor Dirnensiomd Drawi.Es cont.
(4) Absolute encoder (15bit: 8192 P/R), with brake
● 0.3 tO 3.OkW
1 KB2
4
Detailed View of Shaft End for SGMG-03ASBAB to -09ASBAB
LB
LE
LF1
; .-—. .-.---.= :
.
*
m
Detailed Wew of Shaft End for SGMG-I 2ASBAB to -30ASBAB
296
5.4 Z.%ria Dintensional Drawings
-. in mm (inches)
SGMG-
03ASBAB 248 190 129 58
(9.78) (7.48) (5.08) (2.28) ?;.40) ::20) ;E5) ;~72) ~g46)
06ASSAB 271 213 152 58 61 79 192 120 86
(10.67) (8.39) (5.98) (2.28) (2.40) (3.11) (7.56) (4.72) (3,46)
09ASBAB 295 237 176 58
(11.61) (9.33) (6.93) (2.28) :;.40) ~~06) :8’.:0) /f12) ~~46)
12ASBAB 310 231 170
(12.20) (9,09) (6.69) !:11) ?;.40) ;:11) ;;,:7) ;%5) ~g46)
20ASBAB 336 257 196 79 61 105 236 146 88
1(13.23) I(10,12) 1(7.72) 1(3.11) 1(2.40) 1(4.13) 1(9.29) 1(5.75) 1(3.46)
30ASBAB 370 291 230 79
(14.57) (11 .46) (9.06) (3.11) ?;.40) ;?47) ;;;63) /:5) ~j46)
in mm (inches)
F
Type Flange dimensiol
SGMG- LG LH LJ1 LJ2 LZ
03ASBAB
=~
(4.33 - 0}014)
(0.24) (0.24)
TT
/:47) /F50) ;:77)
9
(0.35)
E
06ASBAB 145 6 9
(5.71) 110-0°035 (5??2) (0.24) ~0.24) - (0.35)
w
(4.33 _ 0:014) +-t II
09 ASBAB 145 9
(5.71 ) 110-:035 /H2) (0.35)
(4.33 - 0:014)
12ASBAB 200 3.2 62 13.5
F
(7.87) 114.3- 0!025 /Yo9) (0.13) :0.12) :050197) (2.44) (0.53)
(4.50 - 0:010)
20ASBAS 200 3.2 62 13.5
(7.87) 1 I 43- 0!025 /:09) (0.13) :0.12) :050197) (2.44) (0.53)
(4.50 - 0}010)
30ASBAB 200 62 13.5
(7.87) 1143- 0!025 /:09) (2.44) (0.53)
(4.50 - 0;010)
297
5,4.1 Sawvnotor Dimensional Drawings cont.
in mm riches)
Approx.
mass
(%)
7.9
= (17.41)
(0.75 - 0:005)
16ASBAB
19-:013 ~~18) ::57) j;2.04)
(0.75 - ojoo5)
)9ASBAB 12
22-:013 7;18) f:57) (26.45)
(0.87 - 0\o05)
12ASBAB + 0,01 45 19.5
35 0
(1 ,77) [:99) (42.98)
(1 ,38+ ‘~)
20ASBAB + 0.01 45 23.5

35 0 (1 .77) 7:99) (51.79)
(1.38 + ‘~)
30ASBAB + 0.01 45 29
35 0
(1 .77) !:99) (63.92)
t (1 .38 ‘“0n004)
Note Absolute encoder (15bit: 8192 P/R) is used as a detector.
. Connector Wring on Motor Side
Motor VJting Specifications

,
FO GA” A U phase E Brake terminal

E.. ! B V phase F Brake terminal
D. .C c W phase G -
o D Frams ground (FG)
. As for connector wiring on detector side, refer to page 295.
298
5.4 Z.Series Dimensional Drmvi?um
. ● 4.4 to 6,0kW
~]~~yjpj ,
? 0.04 MTG Holes
KBI
(0.0016)
E-w
in mm (inches)
SGMG-
44ASBAB 438 325 264 113 125 150 88 123
(17.24) (12.80) (10.39) (4.45) :;.40) jG5) ::97) ?$09) (4.92) (5.91) (3.46) (4.64)
60ASBAB 512 399 338 113 61 246 378 305 125 150
(20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.68) (12.01) (4.92) (5,91) ~g46) /fi4)
in mm (inches)
Type :Iange Imensions
SGMG- LA LB LC LE LFI LF2 LG
44ASBAB 200 3 0.5
(7,87) 1143- /025 /Po9) ;0213) (0.12) (0.0197) /:71)
w
(4.50 - o~o, o) T
60ASBAB 200 3 0.5
(7,87) 1143- ;025 (T09) ?0213) (0.12) (0,0197) /;71 )
(4.50 O).lO)
5.4,1 Serwmnot.r Dimensional Dnzwi.gr cent
]ches)
Approx.
mass
(%)
44ASBAB 36
BE
42-:016 7:77) /;:3) (79.34)
(1.65 - 0%006)
60ASBAB 50
42-:016 7;77) /;.:3) (110.20)
(1 .65- o}oo6)
Note Absolute encoder (15bit: 8192 P/R) isusedas a detector.
●Connector Wring on Brake and Motor Sides
o
A U phase
.D A. e V phase
,0
co c W phase
D Frame ground (FG)

3) SGMS-ODA Setvomotor
F%Fk%iE.
q (.0.001
LC
u
I ii =
L.zlub’ ,,,,,,”,
-G
k
LF
.
5 . .
*
9,
0
L
in mm (inches)
SGMS-
1OA6A 194 149 103 45
(7.64) (5.87) (4,06) (1 .77) ~:81 ) ~;gg) $%4) :3!7s) :;43)
15A6A 220 175 129 45
(6.66) (6.89) (5.06) (1,77) ::81 ) ;82) /::.3) ::78) ::43)
20A6A 243 198 152 45
(9.57) (7.80) (5.98) (1.77) ;:81 ) &2) ;?97) ;;78) :;43)
30A6A 262 199 153
(10.31) (7.83) (6.02) &?48) ~:81) /fro) ;fil) /;tg) p:43)
40A6A 299 236 190 63
(11.77) (9.29) (7.46) (2,48) 7:81) /:6) :;.:6) /;.%9) f;43)
50A6A 339 276 230
(13.35) (10.87) (9.06) ;;46) ::81 ) /:63) ::0!04) /;.19) ::43)
301
5,4,1 .%rvmnofor Dimensional Drawings cont.
in mm finches)
.,
Type ange dimensions
SGMS-
w T
LA LB LC LEILFILG LH LJ LZ
10A6A 115 130 45
(4.53) 95- 0’!035 /:4) (5.12) (1.77) ~0.26)
(3.74 - 0:014)
15A6A 115 3 130 45
(4.53) 95- 0!035 /84) (0.12) :0.1 2) /:39) (5.12) (1.77) ~0.26)
(3.74 - O).l 4)
?OA6A 115 3 130
(4.53) 95- 0?035 /::4) (0.12) 70.12) /:39) (5.12) ::77) [0.28)
(374 - 0!0014) t-t

30A6A 145 6 165 45
(5.71 ) 110- 0!035 ;E2) (0.24) ~0.24) ;:47) (6.50) (1.77) :0.35)
(4.33 - 0:014)
$OA6A 145 6 165 45
(5.71) 110-/035 /$’?2) (0.24) ~0.24) /:47) (6.50) (1.77) :0.35)
(4.33 -0:01 4) %
50A6A 145 6 i 65 45
(5.71 ) 11O- OOO35 /:2) (0.24) ;0.24) /:47) (6.50) (1 .77) !0.35)
(4.33 - 0.%014)
5,4 Z-Series Dimensional Drawimv
in mm ~ches)
TVDe I Shaft end dimensions Approx.

mass
Q
(%’)
40 4.6
(1 .57) [10.14)
40 5.8
* (1 .57) (12,78)
z
40 7.0
* (1 .57) (1 5.43)
(0.94 - 0.%005)
30A6A 55
28-00013 :’?18) (2.17) j;4.24)
(110 - 0}005)
4,0A6A 55
26-0!013 ::18) (2.17) /:0.66)
(1 .10- 0:005)
50A6A 55
28-:013 ::18) (2.17) /:7.47)
(1.10 - 0:005)
it
303
S.4,1 .%womotor Dimemimml Drawin~s cont.
Encoder VWng Specifications
Ei!ii
P
R
s
T
Note 1) The above-mentioned detector side specifications are common to all the motors with in.
cremental encoders.
2) Connection between Sewopack and Z~channeI output isnotnecessa~.
Motor VWng SpeciRcations
304
5,4 Z-.%ria Dimen$iom?l Drawinss
(2) Incremental encoder (4096 P/R), with brake
LL Lm
1 ,~ LT LM
11 0.04 IAI
,. . . . . .
: I
. II I I II t I--l&7
Detailed Mew of Shaft End
in mm (inches)

SGMS-
1OA6AAB 238 193 147 100 87
(9.37) (7.60) (5.79) ;:77) ~’?el ) ?;64) ;r77) (3.94) (3.43)
15A6AAB 264 219 173 100 67
(10.39) (e.62) (6.61 ) ;:77) ~I!ei ) ::66) /Tee) (3.94) (3.43)
20A6AAB 267 242 196 45 100 67
(11.30) (9.53) (7.72) (1 .77) ~f81) /:.:7) ?:;0) (3.94) (3.43)
30A6AAB 300 237 191 63
(11.61) (9.33) (7.52) (2.46) ;;61 ) /:55) ;J.:o) /::9) ?:43)
40A6AAB 336 274 226 119 67
(13.23) (10.79) (e.96) ~;46) ;l!61 ) ;5% ) ;?96) (4.69) (3.43)
50A6AAB 337 314 266 119 s?
(13.27) (12.36) (1 0.55) 7:48) tl!81) (Y4e) ::54) (4.69) (3.43)
305
5.4. I Serwmwlor- Dimensional Drawings cont.
in mm (inches)
Type Flenge dimensions
SGMS- ~~ ~~ LC LE LF LG LH LJ LZ
1OA6AAB 115
(4.53) 95- 0?035 /:94) 70.12) 70.12) /:39) /:2) ;:77) ~0.28)
(374 ojo14)
15A6AAB 115
(4.53) ‘5 - 0!035 /f94) :0. 12) :0.12) $39) ;:2) ::77) !0.28)
(3.74 - 0)014)
20A6AAB 115
(4.53) 95- 0!035 (U4) 70.12) ?0.12) ;0!39) (H2) i’l!77) ;0.28)
(3.74 - 0:014)
30 A6AAB 145 45 9
(5.71 ) 110 – 0°035 ;:2) ~0.24) ~0.24) /:47) IF50) (1.77) (0.35)
(4.33 - 0)014)
40 A6AAB 145 9
(5.71) 110-:035 ffiz) ~0.24) ~o.24) /;47) ;r50) :?77) (0.35)
(4.33 - 0:014)
50A6AAB 145 45 9
(5.71) 110-:035 /:2) ~0.24) ;0,24) ;:47) (F50) (1 .77) (0.35)
(4.33 - 0}014)
306
5,4 X-Series Dimemiomd Drawinm
in mm ( :hes)
Type Shaft end dimensions hpprox.
sGMS- maas
Q
(%)
40 5.0
(1.57) [13.22)
3
1(0.94/0005)1
15A6AAB 40 7.5
24-0!013 ~10.18) (1 .57) (16,53)
(og4 OjO05)
?OA6AAB 40 8.5
24-0!013 ~l!16) (1 .57) (18.73)
(0.94 - 0:005)
30A6AAB 55 14
ii 28-00013 ~;18) (2.17) (30.86)
1(1.10- 0)005)1
55
(2.17) ;:7.47)
(1.10 - 0:005)
50A6AAB 55 20
28-0!013 ~/18) (2.1 7) (44.08)
(1.10 - 0:005)
it
Note incremental encoder (4096 P/R) isused8s a detector.
A U phase E Brake terminal

B V phase F Brake terminal
c W phasa G –
D Frame ground (FG)
307
5.4.1 SQFWomolorDimensional Drawings cont.
(3) Absolute encoder (15bit: 8192 P/R)
‘1‘1R44’L ‘ r---m
Deteiled View of Shaft End
k
LF
—
z . .
.
‘$
Q
L
in mm (inches)
Type L LL LM LR LT KB1 KB2 KLI KL2

SGhtS-
10ASA 208 163 103 45 96
(6.19) (6.42) (4.06) (1 .77) &.36) 1:99) ;$59) (3.76) ::43)
15ASA 234 189 129 45 96
(9,21 ) (7.44) (5.08) (1.77) &.36) JP02) j~81 ) (3.78) ::43)
20ASA 257 212 152 45 96
(10.12) (6.35) (5.98) (1 .77) ~;36) i~92) (;:2) (3.76) ?:43)
30ASA 276 213 153 83 114 87
(10.87) (8.39) (8.02) (2.48) &.36) 1~60) ;~58) (4.49) (3.43)
40ASA 313 250 190 63 114 87
(12.32) (9.84) (7.48) (2.46) 7136) &6) ::2) (4.49) (3.43)
50ASA 353 290 230 83 114 67
(13.90) (11.42) (9.06) (2.48) ;2?36) /~63) :%59) (4.49) (3.43)
308
in mm (inches)
Type ange nensions
SGMS- LA LB LC LE LF I LG LH LJ LZ
T
10ASA 115 3 3 130 45
(4.53) 95- 0!035 /84) (0.12) [0.12) /:39) (5.12) (1 .77) ~0.26)
(3.74 - 0:014)
T
15.ASA 115 100 3 3 130 45
(4,53) .95 – 0!035 (3,94) (0.12) (0.12) $.39) (5.12) (1 .77) ~0.26)
(3.74 - 0}014)
T
20ASA 115 3 3 130 45
(4,53) ‘5 - 0!035 /:94) (0.1 2) (0.12) $.39) (5.12) (1.77) ~0.26)
(374 - 01014)
T
30ASA 145 6 6 165 45
(5.71) 110-:035 /:!2) (0.24) (0.24) &47) (6.50) (1 .77) :0.35)
(4.33 - 0:014)
T
40ASA 145 6 6 165 45
(5.71 ) 11O- OOO35 /:;2) (0.24) (0.24) /;47) (6.50) (1 .77) ?0.35)
(4.33 -0101 4)
6 165 45
L
50ASA 145 6
(5.71 ) 110–;035 /fi2) (0.24) (0.24) /;47) (6.50) (1 .77) :0.35)
(4.33 - o]014)
309
5.4.1 SawxmIIOr Dimensional Drawings cont.
in mm (inches)
Tvoe I Shaft end dimensions 1 4ppr0x.

sGk3- mass
5
S S1 Q
(%)
OASA r 5.0
24-0!o13 ~l!18) [1.57) :11.02)
(0.94 - 0!0005)
5ASA 40 5.2
24-00013 ~1’?18) (1.57) 13.66)
=$+
(0.94 - 0.%005)
?oASA 40 7.4
24-0!013 ~;18) (1.57) (16.31)
(0.94 - 0)005)
30ASA 55 11.5
28-0!013 ?;18) (2.17) (25,35)
55 14.5
(2.17) (31 .96)
*
55 i7.5
(2.17) (38.57)
(1.10 - 0}005)
9 Note Absolute encoder (15tit:8192 P/R) isusedas adetector
310
5,4 X-Series Dimensional Drawi.m
Encoder Wring Specifications
A A channel output K
B
B iichannel output L
C Bchannel output M
O Bchanneloutput N
E Zcharmel output P
F Zchannel output R Reset
G OV S OV(battery)
H +5VDC T 3.6V(battery)
J FG (Frame Ground)
Note Theebove-mentioned detector side specifications arecommon toall themotors

311
5.4.1 .%vvomot.r Dimensional Drawin~s cont.
(4) Absolute encoder (15bit:8192 P/R), with brake
. ..–. .–. .
in mm (inches)
SGMS-
10ASAAB 252 207 147 I ie6 Iloo IF!7
(9.92) (61 5) (5.79) ;:77) :36) ;64) (7,32) (3.94) (3.43)
15ASAAB 276 233 173
(10.94) (9.17) (6,81) ;:77) ~;36) ::66) :;.:5) ;?94) &,43)
20ASAAB 301 256 196
(11,85) (lo.oe) (7.72) ;;77) ~36) ;;.:7) :85) ;84) :43)
30ASAAB 314 251 191 119 87
(12.36) (9.68) (7.52) ~;48) ~;36) /;.%5) ;?06) (4.69) (3,43)
40ASAAB 350 286 228
(13.7e) (11 .34) (6.96) &.4e) ~;36) ;21 ) flY.51) /;,:9) ::43)
50ASAAB 391 326 268 60 307 119 67
(15,39) (12.91) (10.55) ~;46) (2.36) ;~48) (12.09) (4.69) (3.43)
312
5.4 X-his Dimensional Drawings
in mm (inches)
SGMS- ~A LB
LC LE LF LG LH LJ LZ
10ASAAB 115
(4.53) 95- 0!035 ;:94) ?0.12) ?0.12) ;:39) &’2) ;:77) :0.28)
(374 0)014)
15ASAAB 115
(4.53) 95- 0’?035 /894) :0. 12) ?0.12) /:39) /:2) ;:77) [o.2e)
(3.74 - 0:014)
20ASAAB 115
(4.53) “95 - 0!035 /84) ?0.12) ;0.12) ;:39) /:2) ;:77) ~o.2e)
(3.74 -0:01 4)
30ASAAB 145
(5.71 ) 110-:035 (:2) ~0.24) ~0.24) ;:47) /F50) ;:77) ;0.35)
(4.33 - 0$014)
40ASAAB 145 9
(5.71 ) llo_;035 & ~0,24) ;0.24) /;47) ;r50) ;:77) (0.35)
(4.33 - 01014)
50ASAAB 145 9
llo_;035 ;:2) ~0,24) ~0,24) ;;47)
(5.71 ) fr50) ;:77) (0.35)
(4.33 - 0:014)
313
in mm (inches)
(0.94 - 0“0005)
15ASAAB
24- 0!013 ~l!18) ::57) ?{?.63)
(0.94 - 0}005)
?OASAAB
24-:013 ;! 16) ;10.57) &.84)
(0.94 - 0}005)
30ASAAB
28- 0!013 ;! 16) ;:17) ;$;596)
(1.10 - 0!0005)
40ASAAB
28- 0!013 ~;18) ::17) ;:8557)
(1.10 - 0)005)
50ASAAB
26- 0!013 ;t! 16) ::17) &51 e)
(1.10 _ o\oo5 )
Note Absolute encoder (15bit: 8192 P/R) isusedas a detector.
. Connector Wring on Motor Side
Motor VJhng Specifications /

B V phase F Brake terminal
c W phase G –
D Frame ground (FG)
.Asforconnector wiring on detector side, refer topage 311
314
5.4 L%ria Dimemior!d Drawings
4) SGMD-UUA Servomotor
(2) Incremental encoder (4096 P/R), with brake
The dimensional drawing is the same forthesetypes. Only approximate mass differs.
1 KB2 d
.
Detailed Mew of Shaft End
LR
LE
LF
5 ..–.-. .–.–—.. .~ 3
.Q , 2-
in mm (inches)
SGMD-
22A6A 242 187 144
(9.53) (7.36) (5.67) ;:17) ~l!69) ;~76) /84) /r50) &.46)
32A6A 254 199 156 55
(1 0.00) (7,63) (6.14) (2.17) ~t69) $23) /7% ) /F50) ~;46)
40A6A 274 209 166 92 168 165 86
(10.79) (6.23) (6.54) ~2!56) ~;69) (3.62) (7.40) (6.50) (3.46)
315
5.4.1 Servomotor Dimensional Drawings cont.
in mm (inches)
.,
Tv~e I Flanae dimensions 1
LE LF LG LH LJ LZ
TT
a TTl
4 270
(0.16) ;0.16) jO!71) (10.63) &.44) ;$.~3)
w
(7.87 _ &e)
32A6A 235 270

(9.25) 200-00046 :866) (10,63) &44) ($:3)
II w
(7.e7 - 0!018)
40A6A 235 220 4
(9.25) 200-00046 (6.66) (0.16) :0.16) /$71)
(7.67 - ojol 8)
in mm lches)
Type Shaft end dimensions I Appro mass
SGMD- kg b)
S S1 Q without with
brske brake
22A6A 50 15.5 20.5
28-00013 ;?77) (1.97) (34.16) (45.1 8)
(1 .10- 0}005) +
32A6A 50 18.5 23.5
3
28-0!013 ;:77) (1.97) (40.77) (51 .79)
(1.10 - 01005)
40A6A 60 26
32-0!016 ;;77) (2.36) ~;6.28) (57.30)
(1 .26- o\oo6)
++
Note 1) incremental encoder (4096 P/R) isusedas a detector.
2) For SGMDSewomotors with brake, theproduct typecode endswith''AB.
316
5,4 LSwies Dimensional Drawings
Encoder Wiring SpecificaDons
A A channel output K Zchannel output
E3El
B ~channel output L ~channel output
C Bchannel output M
D Bchannel output N
E Cchannel output P
F Cchannel output R
G OV s
H +5V DC T
J FG (Frame Ground)
Note 1) The above-mentioned detector side specifications are common to all the motors with in-
cremental encodars.
2) Connection between Servopack and Z/Z channel output is not necessary.
Motor kWring Specifications
Al Uphase I El Brake terminal

,H
B [ Vphase [ F I Brake terminal
C I W~hase lGl–
D[ Frame around (FG) 1 I
Note E, Fare only used with the brake.
317
5.4.1 SenJmnotor Dimensional Drawi.@ cont.
(3) Absolute encoder (12-bit :1024 P/R)
(4) Absolute encoder (12-bit :1024 P/R), with brake
These dimensional drawing is the same for these typas. Only approximate mass dif-
fers.
[ u LR
4.*L2
MTGHoles
I
w
-if
>F
. ml
a
in. mm finches)
.,
Type L LL LM LR LT KB1 KB2 KLI KL2
SGMG-
22AVJA I 256 I 201 1144 155 157 170 I Ieo 1165 lee
(1 0.08) (7.91 ) (5.67) (2.17) (2.24) (2.78) (7.09) (6.50) (3.46)
32AWA 268 213 156 55
(1 0.55) (8.39) (6.14) (2.17) ;;24) &23) ~%6) ;F50) &46)
40AWA 288 223 166 65
(11 ,34) (8.78) (6.54) (2.56) !;24) !i62) %5) (P50) &46)
318
5.4 X-.%rit’s Diniemiond Drawings
in mm (inches)
SGMG- ~A LB LG LH LJ LZ
LC LE LF
22AWA 235
(e,2q 200. 0!046 &,6) 70.16) ;0. 16) /:71) &’,63) :;44) /}:3)
(7.87 - 0}018)
32AWA 235
(9.25) 200 _ :046 :766) ;o16) ;o.16) /:71) &!63) $44) /::3)
(7.67 _ Ojol ~)
40AWA 235 13.5

(9.25) 200 _ :046 :866) to, 16) ;o.16) /:71) &?63) ;:44) (0.53)
(7.67 &018)
in mm
-
mass
lb)
with
brake
22AWA 20.5
El
28-0!013 ;:77) (45. 18)
(1.10 - 0:005)
T
32AWA 50 18.5 23.5
=0!013 ;:77) (1.97) (4077) (51 .79)
(1.10 _ 0:005)
T
40AWA 60 26.5
32-0!016 ;f77) (2.36) ;;6.26) (58.41 )
(1 .26_ 0)006)
Note l) Absolute encoder (12-bit: 1024 P/R) isusedas a detector
2) For SGMDSewomotors with brake, theproduct type code ends with `'AB.
319
5.4.1 Senvxnotor Dimensimtal Drawings cont.
. Connector Wiring on Detector side
Encoder Wking Specifications
1& I Achmmeln, ,tn,,+ I K

1
E Z channel output
F Z cha””el output R reset
G Ov s OV (battery)
H +5V DC T 3.6V (battery)
J FG (Frame Ground)
Note Theabove-mentioned detector sidespecitications arecommon toall the motors

.Connector Wiring on Motor side
o
F. =ho
B V phase F Brske terminal
E.. ! c W phase G –
D. DC D Frame ground (FG)
Note E, Fareonly used withthe brake.
320
5) SGMP-15A Servomotor
(1) SGMP Servomotor

Incremental Encoder without brake (SGMP-15A31O Servomotor)
● 1.5kW
Encoder L,
UL2854, .6
u screw
~E
FE$ T
.
cross-section Y-Y
Hex.”ut
17(0.67)
seal
f
Incremental mmoder
2048 P/R
E@&Id
Type QK u w T Screw output Approx. Allowable Allowable

SGMP- Dimen- W (HP) mass radial thrust
sions kg (lb) load Iosd
N (lb) N (lb)
15A312 No key No 1500 6.6 490/1 10 147/33
Screw (2.02) (14.55)
15A314 22 3.5
(0.87) (0.14) ?0.24) ?0.24) .&rew
15A316 22 3.5 6
(0.87) (0.14) (0.24) ?0.24) !e~th 10
Note 1) The detector uses an incremental encoder 2048 P/R.
2) Type “A indicates 200 V specification.
3) ``15A314'' and`` 15A316''have akeyedshaft. Thekeywaycomplies with JlSBl3Ol-l976

(precision). A straight key is supplied.
4) The quoted allowable radial load is the value at a position 35 mm (1 .40 in.) from the mo-
tor mounting surface.
321
5.4.1 SeIVmno:or Dimensional Drawings . ..1.
. Details of Motor and Encoder Plugs

Plug: 350779-1 (Made by AMP)
~~i~~~=::’’”’”-’ m
Socket 350536.6 or 350550-6
Encoder Plug
m
Mugl ;:;:~9;::MaatJJ.fM P)
Incremental Encoder Wring Specifications
Connected to
CaP :172161-1 1 A channel output clue
Socket 170361-1 or 170365-1 2 A channel output clue/Black
3 Bchannel output Yellow
4 B channel output Yellow/Black
5 C channel output Green
6 C channel output Green/Black
7 Ov(powersupply) Gray
8 +5V(p0wersupply) Red
9 FG (Frame Ground) Orange
322
5,4 Z-Series Dimensional Drawings
(2) SGMP Servomotor

Incremental Encoder with brake (SGMP-15A31 ❑B,C Servomotor)
. 1.5kW
screw
u
SL
i!!f$
T
.
cross-section
Y-Y
Hex.””,
77(0.67]
+zpj$JE
1 0.02
A [0.0008]
4-.
MT
f- b
[Y
❑
1..,,..”,.1
-l
Hold”o Brake (d,e”erdzed OPWW.”)
encoder vdtqeTa,% code 690 WE C24 VDC
2048 P/R Brake hold”~ Io’q”e=motor rated 10W.
Type QK u w T Screw output Approx. Allowable Allowable
77
SGMP- Dimm~ W (HP) mass radial thrust
kg (lb) load load
N (lb) N (lb)
15A312B No key No 1500 8.1 490/1 10 147/33

Screw (2.02) (17.85)
15A312C
15A314B 22 3.5 6 6 No
, ~~~, ~~ (0.87) (0.14) (0.24) (0.24) Screw
15A316B 22 3.5
, 5A31 ~c (0.87) (0.14) !0.24) ?0.24) !~ith
10
Note 1) The detector uses an incremental encoder 2048 P/R.
3) “15A314B(CY and “15A316B(C)” have a keyed shaft The key.vay complies with JIS E
1301-1976 (precision). A straight key is supplied.
323
5.4. 1.%wmnotor Dimensional Drawings cont.
5) The electromagnetic brake is only to hold the load in position and cannot be used to stop
the motor.
.Details of Motor and Encoder Plugs (Common forl 00W(0.13HP) to75OW(l.Ol HP))
Motor Plug
Motor Wking Specifications
/ PIwJ:350715.I (AMP)
&-
RnNo.lto No.4 350218.6or
f@3 350547-6
@@l@ Pin: No.5to No.6 350561-lor
350690-1
Connected to
Cap: 350781.1 m
Socket 350536-6 or 350550-6
Encoder Plug
Incremental Encoder Wting Specifications

Plug: 172169-1 (AMP)
D“
1 A channel output Blue
❑ m Pin: 170359-1 or 170363-1
man Connected to 2 Achanneloutp”t Blue/Black
❑ am
Cap :172161-1 3 Bchannel output Yellow
Socket 170361-1 or 170365-1
4 ~channel output Yellow/Black
5 Cchannel output Green
6 ~channe[output Green/Black
7 Ov(powwsupply) Gray
6 +5 V(powers”pply) Red
9 FG (Frame Ground) Orange
m
324
5,4 X-Serit?s Dimensional Drawings
(3) SGMP Servomotor

Absolute Encoder with brake (SGMP-15AWU0 Servomotor)
. 1.5kW
Encoder Led
UL2854, .8
screw
u
=r ‘
@T
Cr.s,-,etio” Y-Y
Hex.””t
17(0,67)
Se.la
4-mL2
MTG H
[5,7
Type QK U W T Screw Output

SGMP- ~i~m~ W(HP)
I I I
15AW12 No key No i 500
Screw (2.02) (15.65)
15AW14 22 3.5 6
(0.87) (o. 14) (0.24) ;0.24) !%ew
15AW16 22 3.5
(0.87) (0.14) ~0.24) !0.24) !~pth
to
Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.
3) ’’15AWI4° and “15AW16 have a keyed shaft. The keyway complies with JIS B
4) The quoted allowable radial load isthevalue at a position 35 mm (1 ,40 in.) from the mo-
325
5.4,1 Servmnotor Dimensional Drawin@ cwtt,
.Details of Motor and Encoder Plugs (Common for30W(0.04 HP)to75OW(l,Ol HP)
Motor Plug
Motor Witi”g Specifications
Plug:350779-1 (AMP)
Pin: 350218-6 or 350547-6
Connected to m
Cap: 350780-1
Socket 350536.6 to 350550-6
Encoder Plug
Plug: 172171-1 (AMP

Pin: 170359-1 or170 J 63.1 Absolute Encoder VMng Specifications
Connected to
Cap :172163.1 1 A channel output \ clue
eOckek 170361-1 or 170365-1 2 I A channel output i Wtite/Blue
3 I B channel o.tout
‘ Terminsl to discharge capacitor for product

dispatch. Do not use.
326
5.4 Z.%ies Dimensional Drawings
(4) SGMP Servomotor

Absolute Encoder with brake (SGMP-I 5AWUUB,C Servomotor)
● l,5kW
Encoder Lead
UL2854,
u s ,..
~E -
T
@
cross-sec$w Y-Y
Hex.nut
%
MT
Abd’ J
Hold oBrake[deenerglzed oPsretiO”)
encoder VdlaWT.i coda B90 VDC C24 VDC
2048 P/R Brake holflng trm!ue=motor raled torque
w
Type QK u w T Screw Output Approx. Allowable Allowable
SGMP- Oimen
eions
15AW1 2B No key No
Screw
15AWI 2C
15AW1 4B 22 3.5 6 6 No
, ~~w, ~~ (o.e7) (o. 14) (0.24) (0.24) Screw
15AW1 6B 22 3.5
, SAW, 6C (0.87) (o. 14) ?0.24) ?0.24) !elth
10
L 1 1 1 1 1
Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.
2) Type ‘“A indicates 200 V specification.
3) ''15AW14B(C)'' and<' 15AW16B(C~ haveakeyed shaft. Theke~aycomplies with JlSB

tor mounting suriace.
327
5.4.1 Serwmwtor Dhnensiomzl Drawings cont.
5) The electromagnetic brake is only to hold the load in position and cannot be used to stop
the motor.
.Details of Motor and Encoder Plugs (Common forl 00W(0.13HP) to75OW(l.Ol HP))
Motor VWng Specifications

Plug:350715-1 (AMP)
Motor Plug
Socket 350536-6 or 350550.6

Ef:” m
Encoder Plug
Absolute Encoder Wting Specifications

Plug: 172171-1 (AMP)
Pin: 170359-1 or 170363-1
Connected to
CaP :172163-t
Socket 170361-1 or 170365-1
m
7 OV owersu I Black
S +5V owersu I Red
9 FG (Frame Ground) GreenNellow
10 Schannel out ut Pur Ie
11 %channel output WhitelPurple
. (12) (Capacitor reset) (Gray)
13 Reset White/Gray
14 OV(battefy) White/Orange
15 3.6V(battew) Orange
. Terminal todischarge capacitor forproduct dispatch. Do not

use.
328
5.4 X-Seties Dimensional Drawinm
\ 6) Connectors on Detector and Motor Sides
.Standard Connector (Not basedon IP67)
Standard Connectors for SGMO Servomotors without Holding Brake
Motor Type Connectors on Motor Side

Receptacle L-shaped Plug Straight Plug Cable Clamp
GMS- 10AUA MS3102A18-1OP MS3108B1 8-1 OS MS3106BI6-IOS MS3057-IOA
15AnA
20ADA
3oAnA MS3102A22-22P MS310eB22-22S MS3106B22-22S MS3057-12A
40ADA
50AUA
GMG- 05A0A MS3102A18-1OP MS310eB16-10S MS3106B18-IOS MS3057-1OA
09AUA
13AnA
2oAaA MS3102A22-22P MS3108B22-22S MS3106B22-22S MS3057-12A
30AUA
44AnA
55AnA MS3102A32-1 7P MS3108B32-I 7S MS3106B32-1 7S MS3057-20A
75AEA
1AA~A
GMG- 03AuB MS3102Ale-10P MS3106B1 e-1 OS MS3IO6B.I8-1OS MS3057-1 OA
06AnB
09AnB
12AnB MS3102A22-22P MS3108B22-22S MS3106B22-22S MS3057-12A
2oAnB
30ADB
44ADB MS3102A32-1 7P MS3108B32-I 7S MS3106B32-1 7S MS3057-20A
6oAnB
:GMD- 22AUA MS3102A24-1 OP MS3108B24-1 OS MS3106B24-1 OS MS3057-16A
32ADA
4oAnA
~~
Connector on To be prepared by customer
motor side
already provided
329
5.4.1 Servmnotor Dimensional Drawings cont.
Motor TvDe
. I Connectors on Detector Side
Receptacle L-shsped Plug Straight Plug Cable Clamp
;GMS- 10AUA I MS3102A20-29P JS3108B20-29S JIS3106B2O-29S IIS3057-12A
i 5AUA
20AUA
3oAnA
40ADA
5oAnA
;GMG- 05AoA MS3102A2O-29P JS3108B20-29S ,IS3106B2O-29S IIS3057-12A
09AnA
13AaA
20AUA
30ADA
44AUA
55ADA
75ADA
vlS3108B20-29S 1S3106B2O-29S IIS3057-12A
09AnB
3
12AnB
20AOB
3oAnB
44AUB
vK33108B2O-29S /lS3106B20-29S fiS3057-12A

detector side
already provided
.
5.4 Z-Series Dinw.siomd Drawings
. Standard Connector (Not based on IP67)
Connectors for SGMU Servomotors with Holding Brake

Receptacle L-shaped PIU9 Streight Plug Cable Clamp
;GMS- 10ADA MS3102A20-1 5P MS3108B20-1 5S MS3108B20-1 5S MS3057-12A
15AnA
20AUA
3oAnA MS3102A24-1 OP MS3108B24-I OS MS3108B24-1 OS MS3057-16A
40AUA
5oAnA
$GMG- 05AuA MS3102A20-1 5P MS3108B20-1 5S MS3106B20-1 5S MS3057-12A
09AnA
.
13AUA
20ADA MS3102A24-1 OP MS3108B24-I OS MS3106B24-1 OS MS3057-16A
3oAnA
44AUA
55AnA MS3102A32-1 7P MS3108B32-1 7S MS3106B32-1 7S MS3057-20A
75AnA MS3102AI oSL-3P MS3108B1OSL-3S MS3106A1 oSL-3S MS3057-4A
1AAUA
;GMG- 03ACIB MS3102A20-1 5P MS3106B20-1 5S MS3106B20-1 5S MS3057-12A
06AOB
09AUB
12AnB MS3102A24-1 OP MS3106B24-1 OS MS3106B24-1 OS MS3057-16A
20AOB
3oAnB
44AnB I MS3102A32-17P I MS3106B32-17S I MS3106B32-17S I MS3057-20A
6oAnB MS3102A1 OSL-3P MS3106B1OSL-3S MS3106A1 oSL-3S MS3057-4A
;GMD- 22AUA MS3102A24-I OP MS310L3B24-I OS MS3106B24-I OS MS3057-16A
32A~A

motor side
already provided
331
5.4.1 Senmmotor Dimensional Drawings cont.
.
Motor Type Connectors on Detector Side
Receptacle L-sheped Plug Straight Plug Cabla Clamp
;GMS- IOADA MS3102A2O-29P AS3108B2O-29S 1S3106B2O-29S iS3057-12A
15AUA
20AOA
3oAnA
40AUA
5oAnA
;GMG- 05AUA MS3102A20-29P K33108B2O-29S K33106B2O-29S K33057-12A
09AUA
13AUA
20AUA
30AUA
44ADA
55AD4 ,’
75AUA
1AAUA
;GMG- 03AUB MS3102A2O-29P X33108 B2O-29S 1S3106B2O-29S IS3057-12A
06AnB
09AnB
12AUB
2oAnB
30AUB
/
44AUB
6oAaB
;GMD- 22AUA MS3102A2O-29P JS3108B2O-29S
32AUA
40AUA
L
v
detector side
already provided /
Note In cells containing two rows, the upper row connector type is for the motor and the connector
type lower row is for the brake.
332
. . IP67-based Connectors
lP67-based, Connectors for SGMU Servomotors without Holding Brake
Motor Type Receptacle Plug End Bell: Cable Clamp

Manufactured bv Jaoan
Aviation Electronic;
Industry, Ltd.
Back Shell:
Manufactured bv Daiichi
Denahi Kogy K.K.
-F
Angle Straight
(L-Shaped)
;GMS- 10AUA ;E05-2A18- /fS3106A18. CE-I 8eA-S CE02.18BS.S CE3057-IOA-. Datichi Densti
oPD 0S(D190) Kogyo K.K
15AnA MS3102AI 8-
20AOA OP)
3oAnA L04HV-2E22. JL04-22EE! JL04-2022CK Japan Aviation

!2PE-e (14) Electronics
4oAnA MS3102A22- Industry, Ltd.
5oAnA !2P)
~GMG- 05AUA >E05.2AI S- CE02-16BS-S CE3057-IOA-’ Datichi DensM

OPD Kogyo K.K
09AnA MS3102A1 8-
13AnA OP)
20AUA L04HV-2E22- L04V-6A22. JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation
F
!2PE-B !2SE (14). Electronics
3oAnA MS3102A22- Industry, Ltd.
44AaA !2P)
55AUA L04V-2E32. L04V-6A32. “1 Japan Aviation

7PE-e 7SE Electronics
75AnA MS3102A32- Industry, Ltd.
1AAUA 7P)
:GtvfG- 03A0B ;E05-2A18- flS3106AI 8- CE-I 8BA-S CE02-18BS-S CE3057-IOA-. Daiicti Denshl
OPO 0S(0180) Kogyo K.K
06AnB MS3102AI 8-
09ADB OP)
12ADB L04HV-2E22. L04V-6A22- JL04-22EBL JL04.22EB JL04-2022CK Japan Aviation

:2PE-B :2SE (14) Electronics
20ADB MS3102A22- Industry Ltd.
30ADB 2P)
44AnB L04V-2E32. L04V6A32- %1 ‘1 Japan Aviation

7PE-B 7SE Electronics
MS3102A24- Industry Ltd.
6oAnB
OP) %
GMD- 22ADA L04V-2E24- L04-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation
7
OPE.B OSE (17) Elactmnics
32AUA MS3102A32- Industry Ltd.
40ADA 7P)
ctor ‘7F3102E20- 4S3108A20- CE.20BA-S CE02-20BS-3 CE3057-I 2A., Daich DensK

:8P 8S(D190) Kogyo K.K
MS3102A20-
:8P)
J
v
Not required if flexible conduit is used

%’:%:0” lRl:i::’e”ed — I
already conduit is
provided used
To be prepared by customer
333
5.4.1 Svwvnotor Dimensional Drawings cont.
‘1 The SGMG-55ADA, -75AUA, -l AAUA, -44A0B, and-60AOB motors do not contain -’

an End Bell. Forthese motors, usethefollowing flexible conduit instead,
Connector Conduit Type Manufacturer

Angle Straight
(L-Shaped)
RCC-3’’RL-MS32F RCC-1’’RL-MS32F VF-”’ (SR-”) NIPPON FLEX
CO., LTD.
Select an appropriate connector and conduit type (suffix”) according to the lead wire diame-
ter. Fordetails, refer topage 367.
Note 1) The connectors for a detector are the same regardless of the motor type being used.
2) To ensurecompliance with IP67, always use the plug, End Bell, Back Shell and cable
clamp specified above.
3) End Bell isaproduct of Japan Aviation Electronics lndust~, Ltd. Back Shell isaproduct
of Daiichi Denshi Kogyo K.K.
4) Selectanapproptiate cable clamp type(sufix') according totheleadwire diameter. For

details, refer topage 367.
5) ()inthe receptacle column showsthestandard (non-dtipproof) type. However, bothare

actually the same receptacles.
334
5.4 X.%it?s Dimevzsional Drawings
lP67-based Connectors for SGMO Sefvomotors with Holding Brake
Motor Type Receptacle Plug End Bell: Cable Clamp I Manufacturer

Manufactured bv Ja~an
Aviation Electr&ics
Industry, Ltd.
Back Shell:
Manufactured bv Daiichi
Denshi Kog >K’.K.
Angle Straight
(L-Shaped)
;GMS- 10AUA JL04V.2E20- lL04V-6A20- JL04.20EBL JL04-20EB JL04-2022CK Japan Aviation
15PE-B 15SE (14) Electronics
\~#02A20- Industry, Ltd.
2oAnA
3oAnA JL04-2E24- IL04V.6A24- JL04-24EBL JL04-24EB JL04.2426CK Japan Aviation
f oPF-B IOSE (17) Electronics
4oAnA ~S#02A24. Industry, Ltd.
5oAnA
;GMG- 05AUA JL04V-2E20- lL04V-6A20. JL04-20EBL JL04.20EB JL04-2022CK Japan Aviation
15PE-a 15SE (14) Electronics
09ADA \L44;l 02A20- Industry, Ltd.
13AUA
20AEIA JL04-2E24- lL04V-6A24- JL04-24EBL JL04-24EB JL04-2426CK
IOPE-B IOSE (17)
3oAnA \fvll;t02A24-
44AUA
55AnA JL04V-2E32. lL04V.6A32- ,1 ,1 .1 Japan Aviation
t 7PE-B 17SE Electronics
CE-IOSLBA-S cEo5-tosLBs- CE3057-4A-I
\fd;;l 02A32- Industry, Ltd.
tiS3106A10 S
75AUA Daiich Denshi
3L-3S(DI 90) Kogyo K,K
cEo5.2Al0sL-
3PC
lAADA (MS3i02A10S1
-3P) -
;GMG- 03AUB ;~~E~;E20- lL04V-6A20- JL04.20EBL JL04-20EB
15SE
06AUB \fJJ;l 02A20-
09AnB
12AnB JL04-2E24- JL04V-6A24. JL04-24EBL JL04.24EB
1oPE-B IOSE
20AOB ~fd~ 02A24-
3oAnB
‘1
T
44A~ B JL04V-2E32- JL04V-6A32- ‘1 ‘1 Japan Aviation
17PE-B 17SE Electronics
CE.IOSLBA-S CE05-IOSLBS cE3057.4A.i
(MS3102A32 Industry Ltd.
VlS3106Ai0 s Daiichi Densli
17P)
3L-3S(DI 90) Kogyo K.K
60ADB CE05-2A10SL-
3PC
(MS3102A1 0S1
-3P)
;GMD- 22 ADA JL04-2E24- JL04V-6A24- JL04-24EBL JL04-24EB

tOPE-B 10SE
32AUA (MS3102A20-
40AUA t 5P)
Ctor 97 F3102E20- MS3106A20- CE-20BA-S CE02-20BS-S

29P 29S(D190)
(MS3102A20-
29P)
Connector on To be selected Not required if flexible conduit is used

motor side if flexible
already conduit is
provided used
335
5.4,1 Sewomotor Dima.rio.al Drawi.gsconl.
‘1 The SGMG-55AUA, -75ADA, -l AAUA, -44A0B, and-60AUB motors do notcontain

an End Bell. Forthese motors, usethefollowing flexibla conduit instead.
Both L-shaped and straight type connectors are applicable to motors with a holding
brake. (manufactured by Daiichi Denshi Kogyo K.K.).
Connector Conduit Type Manufacturer

Angle Straight
(L-Sh.eped)
RCC-7’RL-MS32F RCC-I’’RL-MS32F VF-” (SR--,) NIPPON FLEX
CO., LTD.
Select an appropriate connector and conduit type (suffix’) according to the lead wire diame-
ter. Fordetaile, refer topage 367.
Note 1) The connectors for a detector are the same regardless of the motor type being used,
2) To ensure compliance with IP67, always use the plug, End Bell, Back Shell and cable
clamp specified above,
3) End Bell isaproductof Japan Aviation Electronics lndust~, Ltd, Back Shell isaproduct
of Daiichi Denshi Kogyo K.K.
4) Selectanapproptiate cable clamptype(sufix ')according totheleadwirediameter. For

details, refer to page 367.
5) lncellscontaining tworows, theupperrow connector type is forthemotor main circuit,

and the lower row is for the brake power supply.
6) ()inthe receptacle column shows thestandard (non-dtipproof) type. However, bothare

actually the same receptacles.
336
. 5.4.2 Servopack Dimensional Drawings
1) The dimension drawings of the SGDB Servopack are broadly grouped according to ca-
pacity into the following five categories,
(1) 0.3 to 1.5 kW (Type: SGDB-03ADU to 15ADU)

(0,4 to 2,0 HP)
(2) 2.0 to 3.0 kW (Type: SGDB-20AD0 to 30ADO)

(2.7 to 4.0 HP)
(3) 4.4 to 5.0 kW (Type: SGDB-44ADU to 50ADD)

(5.9 to 6.7 HP)
(4) 6.0-7.5 kW (Type: SGDB-60ADD to 75ADD)

(8.0 to 10 HP)
(5) 11 kW (Type: SGDB-lAADD)

(15 HP)
337
5,4,2 .%rvopuk Dimemiomzl ~rawi.~s cont.
(1) SGDB-03ADUto15AD0 (0.3tol.5kW; 0.4t02.0 HP) /
2-05.5MTG Hole, . .
(
y ydhi”al(mlsmv,
In,,de of Cover (%)
125[4 .921
J 4
Approx. Mass: 4 kg (8.82 lb)
338
5.4 M’cries Ditnension.1 Drrnvi.zs
(2) SGDB-20AD0 to 30AD0 (2.0 to 3.0 kW; 2.7 to 4.0 HP)
Regenerative Resislor
(Dgi,al Opem,.r)
Heat Snk
k’
m
1
----
_— -—-
d
I1,
1,
[1
,1
II
1,
1,
~
II I
NmePlete
;1
—---- ;1
~;:=:$
~j----rl
!+-- —!-;
! f IL I
1’co”., -
[- F,”
SGDB.20x1
4 mew..
fir m.
of
\
Ground Term(”al (M4 SW.) I SGDEW X2
Ins#de of Cover 35 1. 125 (4.92)
(i .38)
[-!!!!!?g]
ApprOX. Mass: 5 kg (11.02 lb)
339
5.4.2 Senqxz.k Dimensional Drcnvin~s cont.
(3) SGDB-44AD0 t050ADD (4.4t05.0kW; 5.9t06.7 HP) /
m
2-$6 (0.24) MTG Holes
3CN
5CN
\
.— I
@ll@ll@ll@llslloll@
ll@ll@ll@ll@ll@/l@
1CN
=
2CN
340
5.4 L%tim Dimensional Drawinm
(4) SGDB-60AD0 to 75AD0 (6.0 to 7.5 kW 8,0 tO 10 HP)
Opti:n(operator
Mod.1.)
Qmecti.”o,tir,low
$.
Approx. Mass 15 kg (33.06 lb)
Wwed from Arrow A
341
5.4.2 .%rvopak Dinwn,icmal Dnwi”Es cont.
(5) SGDB-IAADD (11 kW 15 HP) .
3CN
NamePla,e
D’e.tie” .1 M Flow
&ital OW$or)
/+ CoPflng Fen
w-l
(15
(0.59)
PI.
Gm,n6 Terkal M8
Reraenerative Resktor , Arrow A
Terminal M6
Heat SiIk
Viewed from Am. A
. SGDB-03-1 AA DU-Type Common
Symbols Connector cm Servopack side Note

1CN 1025O-52A2JL manufactured by 3M
2CN 10220 -52A2JL
3CN 17JE-1 3090-37(D2B) manufactured by Daiichi Denshi
Kogyo K.K.
5CN DF11 -4DP-2DSA manufactured by Hirose Denk
342
5,4 Z-Series Dtwtensiomd Dmwinm
2) A duct ventilation type is available for Servopacks in which a heat sink is mounted outside
the control panel,
This installation method has the following advantages:
. Discharges generated heat out of the control panel to prevent a temperature rise inside
the panel
. Makes the control panel compact and provides high reliability
343
5.4.2 Senwpack Dimensional Drawings cont.
(I) SGDB-03ADD-15AD0-P ,
4-# 8(0.241 MTG Holes

Re,;stor
d~$
cover , 25,4,92) offir Flow
35
[7,38)
Inside of cover
.—-— -
4-M5 MT
1~
L
‘ The Servopack must be inclined as shown in the above figure. Provide at least lomm
(0.39 in.) space at the top and bottom of the Servopack.
344
. (2) SGDB-20AD0, 30ADD-P
4.+6 (0.24) MTG Holes
!nside of
Approx. Mass: 5 kg (11 .02 lb)
4-M5 MTG
Mounting surface D,.gr.nl
‘ The Servopack must be inclined as shown in the above figure. Provide at least 10mm
(0.39 in.) space at the top and bottom of the Sewopack.
345
5.4.2 Servopack Dimevuional Drawings CO.:,
(3) SGDB-44ADD, 50ADD-P
ReQmwetiv,e Resistor
3CN 2.#6f 0.241MTGHO,,S
5CN.
FAb.
● ,,!? Name.
v—
1CN 2CN
Detailed View of Installation

5.4 [0.24) 19%2(7.e-? 5.4[0.21)
346
5.4 ZSeries Dimensional Drawings
(4) SGDB-60ADD, 75ADD-P
01rectlmoffirF10w4 ~
u.
c
(
4,,
o
Urectim of fir Flow
Wwedf’om Arrow A G’o””d Terminal M8
~
s
Wewed 1,.. Arrow A
Detailed Mew of Installation
Approx. Mass 15.5kg (34.16 lb)
347
5.4.2 Servopuk Dimensional Drawin~s cont.
(5) SGDB-IAADO-P
“.. .
M NmePla,e
~,ectim of Ah Flow
lt L--J
... .....
122{4.801
,,. ~round~e;min,l ~8 l,,
Regenekw”e R.sls,.r
Term Inal MB ‘& n Arm. A
4-M6 T.SD
Viewed from Armw A

Detailed V,ew of Installation
Approx. Mass 22 kg (48.49 lb)
. SGDB-03 to lAADUP-Type Common
Symbol Connector on Servopack Side Note

1GN 10250-52A2JL manufactured by 3M
2CN 1022O-52A2JL
3CN 17JE-1 3090-37(D2B) manufactured by Daiichi Denshi
Kogyo K.K.
5CN DFI 1-4DP-2DSA manufactured by Hirose Denti
348
5.4 Z-Seties Dimensional Drawings
5.4.3 Digital Operator Dimensional Drawings

1) The following two types of Digital Operator are available.
(1) JUSP-0P02A-I (Hand-held Type)
(2) JUSP-0P03A (Mount Type)
a) JUSP-0P02A-1
63 (2.48)
L A
TYPE:17JE-23090-02
Made by
OAIICHI
DENSHI KOGYO K.K,~ ~
b
Appmx. Mass: 0.18 kg (0.40 lb)
349
5.4,3 Di@al Operator Dimenxiond Drawings cont.
b) JUSP-0P03A
w 54 (2.13)
m3
SERVCWACK
w)6..”ss,
(30 :
OOWN m,,
APPrOX. MaSS 0.02 kg (0.041 lb)
8H @o 0,0,
350
5.5 Selecting Peripheral Dzvices
5.5 Selecting Peripheral Devices
This section shows how to select peripheral devices using flowcharts. Order lists for
II Servomotors, Servopacks, digital operators, and peripheral devices are also included.
5.5.1 Selecting Peripheral Devices ................................. 351
5.5.2 Order List .......................... . . . . . .. .. 361
5.5.1 Selecting Peripheral Devices

Select the peripheral devices using the flowcharts on the subsequent pages
The items below are not included in the flowcharts. Refer to Section 5.6 Specifications and
Dimensional Drawings of Peripheral Devices.
. Variable resistors for speed setting
. Encoder signal converter units
. Cables for connecting PC and Servopack
351
5,5.1 Selecting Peripkend Devices conf.
<Flowcharl for peripheral devise selection>
~,355)
Start peripheral device selection
+iiio)
Refer to the SGDA Type User)s Manual
Enclosure IP65 or lower
Mithout brake
*inp
1) Select brake power
supply (for 90 VDC brake)
,. (.)
(p
Absolute encoder
.m
u
(to next page)
Incremental encoder
Connector only
1
selectCMlnecmr Connector with cable
P El
J Loose wire Straight plug L-shaped plug
Select one of the following select me 01 the lollowi”g select me of the following
ammdng ,. cable length, accord’ng to cable Ie”g!h. .C.ormg ,. cable IenQth.
mq
-4 >Pm
3. DE940B9,,., 3m DEWW235.,
-J
;
&8Rfi &8R)
DEW08971 -2
&6.4ti (16.4HH ‘E9407235”2
Onl
(32.8ti ‘E9’’0897’-3 (32.W ‘E94D7235”3
DE9406971-4 6m
fig.,m fm9.2ti) 0E9407235”4
(65.6fi ‘E9406971”5 (65,mT ‘E9407235”5
to (b) (page 358)
353
5.S.1 .%lectin$ Peripheral Devices cont.
@~ ‘b’”’””
e
y Co.nectorwith cable
DE940W7S
s
T I~
Straight plug L-shaped plug
Selecl.“. of the following S,1.., one of the following

Wmrdlng 10 cable length. amardng 10 Mble length.
Q---e I -i
c+-
P-
3nl 3. 3m
J: J
(9.8ft) ‘E9406g72”’ (9,81tfi “E9407236”’ (9,8n] ‘E9407237”’
C’E94C6972.2 OE9407237-2
,&4fi) ,&4nfi ‘E9407238”2 ,&4n)
,&fil ‘E9406972”3 ,~nfi ‘E9407236”3 ,#2.8!+) ‘E9W7237”3
~$zfi) ‘Eg4ffi972”4 ,$:za ‘E9407236”4 ,f’za ‘E9407237”4
@5.6n] ‘E9”S972”5 “(65.~fi ‘E9407236”5 “(.mfl) ‘E9407237’5
to (b) (page 358)

5S Selectiu Perbhaml Devices
Cable only
Select o“, of the following Wed one of the following select 0“, d the following S.1.,, one of the foltowing
.Cco’tino to cable lerwth. .accordhg to cable length. emo,dino to cable Ienolh, amordng ,0 cable Ienglh.
i-
0 - ~
@
+
Incremental Absolute 1
5.1,* mn.emr b, Select

connector k,t.
!!f!t@
k
@ f!!l
N_- P L I 1~
—
Select brake power supply.

1
I
~
@
6
200 V Input
to (a~
355
5.5.1 Selecting Peripheral Devizes cont.
(;)
+
2) Select encoder cable
select 0“, of the tollowlng S.!ed .“, of the following

wcartinn to cable [moth. ,Cmrdmg to cable Ibmth.
l—--o
u -.-11
*
*
3m C,!=93200*9., 3. 3m Dps4000&.,
&8fi) fm8titi ‘p9320086”’ ~m8H]
g4ti ‘p9320089”2 ,4:4nfl ‘pg320086”2 &* ‘p9400084”2
~$:wti ‘pg3200*9”3 ,&:8nm ‘p9320088”3 &8fifi ‘p9400m4-3
*g%? ‘p9320089”4 ,@+ ‘p932@88”4 ,&fi ‘p9400064”4
[65.EW+ ‘p’’320089”5 “lmfifi ‘P932W88”5 ‘(.5568H ‘p9400064”5
I L
@@
+
to (b)
l_-
‘!!!!!!+
DP9420006-1
DP9420006-2
356
5.5 Sele&in, Periohenzl Devices
select one of the following select me of the {Ollowing

acm,dhg ,0 cable length. Weordnotocablf length. I
-
a
I
3m 3m
&8t? ‘p9320085’1 &8Hj+ ‘p840g123”1
,@ ‘p9320085”2 ,J# ‘p8409’23’2
, $2.8H) ‘pg320085’3 ,#2,8ti ‘p840g123-3
>$42H) ‘p9320085-4 >#92ti ‘p840g’23”4

DP9320085.5 DP8409 123.5
(6$6fi] (65.6*)
-- : =-
m
F
2~ Select battery forabsolute encoder.
to (b)
357
5.5,1 Sd.cting PeriPherd Device, cont.
from (b)
3) Select lCN connector for

reference input.
I I
&
4 Connector kt
ICN connector tit

I
i Terminal block unit
COnnectOr-tO-termi nal
conversion unit
Cable with 1CN
connector and no
Cable without
I connector atone end
connector at the other
D d ‘nd@=J%l
m L2iJ
1. DE,40E,,6,.I
I
(3.3ft)
DPW06’370
I I 2. Dw4w96$2
[ml,)
3. DE9406969.8
I 9.811
I
1
4) Select molded-case circuit breaker
(MCCB) and noise filter.
I
*
ti@”&&&&&@
m
J
Noise filter
m
i
Noise filter
m
4
Noise filter
i
Noise filter
m m
i
Noise filter
m
i
Noise filter
=
i
Noise filter
-
4
Noise filter
i.
10 (c)
5.5 Selednr Peri&?rd Devices
(c)
1
5) Select magnetic contactor and
surge suppressor.
I
Eisn!71
● Select an appropriate magnetic mmtactor by
referring to Section 5.6.1 Cable Specifications and
Peripheral Devices. For multiple servo systems,
select a magnetic contactor that meets the total
-1 ● This surge suppressor is for the above type
H-E
I 6) Select regenerative resistor unit I
5,0 kW 11 kW
or less
1
Not required JUSP.RA04 JUSP-RA05
I 1
End peripheral device selectlon

~
359
5.5,1 SdectiIIg Peripheral Devices cont.
Operation environment requidng Enclosure lP67.based
@ The standard specification for SGMG, SGMS and

SGMD Types is Enclosure IP67.
Theshaf fneedsa nodseal, Th e motor and en-
coder connectors must also be based on IP67.
7
Note For G Seties 15OO rlmin type

Ill / (5.5 kWormore)and G Series
iOOO rlmin type (4.4 kW or
more), add a brake connector,
Encoder
W6h oil seal
No
No
?
Select plug, Back Shell Select plug only.
(straig=r L~ MS310BX20-29S (D1 90)
and cable clamp.
f+”
I Yes
--JYes I
*m&v
motortype. motor type.
, , —
Can be selected
IL2!!ME5
Canb’se’’cted
1
-IAAUA
-44AnB
.60AnB 1
i
to(b)
Note 1. Power cable and flexible conduit must be prepared by the customer.
2. The customer Must purchase an appropflate encoder cable accordng to the encoder type
incremental Or absOlut@ encoder) and an encoder connector W (for the SeWOPaCk end), and assemble them.
3. After selecting a brake power supply unit and a battery for the absolute encoder, proceed to (b) on page 356.
360
5,5 .%kctine Parinheral Devices
5.5.2 OrderList
Order lists are given below for the Servomotors, Servopacks, digital operators, and pe-
ripheral devices which comprise the AC Servo Z-Series, These order lists are a conve-
nient aid to selecting peripheral devices,
SGMU Servomotor
Servomotor Type Qty
SGMD-DDDDDDDD
SGMD-DDDDDDDD
SGMn-tlnDnnnnn
SGMn-nnDDnDtlD
SGMD-UDDDDDDD
SGMD-DDDDDDDU
SGMn-DDDtlnnnn
SGMn-nnnnntlDD
SGMD-DDDDDDDD
SGMD-DDDDDDDD
SGDB Servopack (excluding cables
Servopack Type
and connectors)
Qty
❑
SGDB-aDntlD
SGDB-DDDDD
SGDB-DDDDD
SGDB-DtlDtlD
SGDB-Dnnntl
SGDB-DDDDD
Digital Operator (Purchase Separately)
Digitel Operetor Type Qty

JUSP-0P02A-I
JUSP-0P03A
361
5,5.2 Order Lisf cont.
1) For SGM, SGMS, SGMD Servomotors (See page 371 for SGMP-15A Servomotor)
@ Main CircuitConnectors on MotorSicle(wittmut Brake):

Straight or L-shaped Type (Purchase Separately)
Motor Type Connectors on Motor Side Qty

Plug Cable Clamp Receptacle’
L-shsped Straight
GMS- 10ADA MS3108B18-1OS MS3106B1 8-1 OS MS3057-1OA MS3102AI 8-1 OP
15AOA
20ADA
30ADA MS3108B22-22S MS3106B22-22S MS3057-12A MS3102A22-22P
4oAnA
50ADA
GMG- 05ADA MS3108B1S-1OS MS3106B1 8-1 OS MS3057-1OA MS3102A1 8-1 OP
09ADA
13AOA
2oAnA MS3108B22-22S MS3108B22-22S MS3057-12A MS3102A22-22P
3oAnA
44AUA
55AUA MS3108B32-1 7S MS3108B32-1 7S MS3057-20A MS3102A32-1 7P
75ADA
1AAUA
!GMG- 03AUB MS3108B18-1OS MS3106B18-1OS MS3057-1OA MS3102A18-1OP
06AnB
09ADS
12ADB MS3108B22-22S MS3106S22-22S MS3057-12A MS3102A22-22P
2oAnB
3oAnB
44AUB MS3108B32-1 7S MS3106B32-1 7S MS3057-20A MS3102A32-1 7P
6oAnB
iGMD- 22A0A MS3108B24-1 OS MS3106B24-1 OS MS3057-16A MS3102A24-1 OP
32AUA
4oAnA
\ .
v
● Connector on motor side already provided
362
5.5 Selectirw Pwinherd De,icm
@ Main ~rcuitConnectorson MotorSide( with Brake)

(Purchase Separately)
Motor Type Connectors on Motor Side (with Brake) Qty

L-shaped Straight
3GMS- 10AUA MS3108B20-1 5.S MS3106B20-1 5S MS3057-12A MS3102A20-1 5P
15AnA
2oAnA
3oAnA MS3108B24-1 OS MS3106B24-1 OS MS3057-16A MS3102A24-1 OP
4oAnA
50AUA
3GMG- 05AUA MS3108B2O-15S MS3106B20-1 5S MS3057-12A MS3102A20-I 5P
09AnA
13ADA
20ADA MS3108B24-1 OS MS3106B24-1 OS MS3057-16A MS3102A24-1 OP
30AOA
44ADA
55AnA MS3108B32-1 7S MS3106B32-1 7S MS3057-20A MS3102A32-1 7P
75A~A MS3108B1 oSL-3S MS3106A1 oSL-3S MS3057-4A MS3102A1OSL-3P
1AAUA
3GMG- 03A0B MS3108B20-1 5S MS3106B20-1 5S MS3057-12A MS3102A20-1 5P
06AnB
09AOB
12AnB MS3108B24-1 OS MS3106B24-1 OS MS3057-16A MS3102A24-1 OP
2oAtlB
30ADB
44ADS MS3108B32-17S MS3106B32-17S MS3057-20A MS3102A32-17P
6oA~B MS3106B1 oSL-3S MS3106A1 oSL-3S MS3057-4A MS3102AI OSL-3P
3GMD- 22 ADA MS3108B24-I OS MS3106B24-I OS MS3057-18A MS3102A24-1 OP

32AUA
40ADA
\
v
‘ Connector on motor side already provided
363
S5,2 Order List cwrt,
Q EncoderConnectorsonMotorSde
Connectors on Encoder Side Qt y

L-shaped Straight
Ms3108620-29s lMs3106620-29s MS3057-12A MS3102A2O-29P
‘ Connector onmotor side already provided
@ E“coderConnectorsonSewopackSide(for2CN)
Connector kit Connector kit Qt y

on Servopack Connector Case
Side
Type Type
DE9406973 I0120-3000VE’ I 1 1032O-52AO-OO6’ ] 1
‘ Manufactured by 3M
364
5,5 SdectinE Peripheral Devices
@@ EnclosurelP67MainCirc.itConnectorsonMotorSide(withoutBrake):Straight
or L-shaped Type (Purchase Separately~
Plug End Bell: Manufactured
T
Cable Clamp
T
by Japan Aviation
Electronics Industry, Ltd.
Back Shell:
Manufactured by Daiichi
Denshi Kogyo K.K,
MS3106AI 6- c CE3057-IOA-*
10S (D190) s
*
20ADA
30 ADA JL04HV-2E22- JL04V-6A22. JL04-2022CK Japan
22SE (14) 4viati0n
4oAnA **pE-B <Iectronics
50ADA ndustfy, Ltd.
;GfvlG- 05AuA CE05.2AI 8- MS3106AI 8- CE3057.IOA-* laiichi

10S (D1 90) lensti Kogyo
09AnA ‘OpD <.K,
+
13AnA
20AUA JL04HV-*E**- JL04V-6A22- JL04-2022CK Japan
22SE (14) 4viati0n
30ADA 22PE”B :Iectronics
44AUA ndustry, Ltd.
55AnA #3~4:E32. JL04V.6A32- Japan
;GMG-
75AUA
1AADA
03AOB 7oE;~-2Al 8-
17SE
MS3106AI 6.
1- CE3057-IOA.*
4viati0n
Electronics
+ndustry, Ltd.
10S (D1 90)

06AnB
09AnB
T
12ADB JL04HV-2E22- JL04V-6A22- JL04-2022CK Japan
22SE (14) Wiation
20ADB **pE-B Electronics
30AOB mdustfy, Ltd.
44AnB ~~p4~:E32- JL04V-6A32- Japan
;GMD-
60AOB
22ADA JL04V-*E*4-
17SE
JL04-6A24-
1- JL04-2426CK
Wiation
Electronics
ndustry, Ltd.
%
IOSE (17)
32AUA ‘OpE-B
4oAnA
\
v v
type according to the lead
Connector To be Not required if flexible conduit is used wire diameter. For details,
on motor selected if see ~ on page 367.
side already flexible
provided conduit is
used
I
I I
365
5.5.2 Order List cont.
@ EnclosurelP67MainCircuitConnectorsonMotorSide(withBrake):Straightor
L-shaped Type (Purchase Separately)
T
Motor Type Receptacle Plug Cable Clamp I Manufac- Qty
turer
T
;GMS- 10AUA JL04V-2E20. JL04V-6A20- JL04-2022CK Japan
15SE (14) Aviation
15AnA ‘5PE”B
Electronics
20ADA Industry, Ltd.
I
30AuA JL04V-2E24. JL04V.6A24- JL04-24ESL JL04-24EB JL04.2428CK Japan
IOSE (17) Aviation
4oAnA ‘OpE-B Electronics
50AUA Industry Ltd.
;GMG- 05AuA JL04V.2E20- JL04V-6A20- JL04-2022CK Japan
15SE =(14) Aviation
09AnA ‘5PE-B
I
13AUA
2oAnA JL04V-2E24. JL04V-6A24- JL04-24EBL JL04.24EB
10SE
30ADA ‘OpE-B
44AnA Industry, Ltd.
55AUA JL04V.2E32. JL04V-6A32-

17PE-B 17SE Il%%n
Electronics
L
75AUA $~H#2A1 OSL- M“33106A1OS CE-l OSLBA- CE05.10SLBA- CE3057-4A-1*
Industry, Ltd.
L-3S(190r1 S* S*
DaiicM
1AAUA Densti
Kogyo K.K.
-T-
;GMG- 03AUB J L04V.2E20- JL04V-6A20- JL04.2022CK Japan
15SE (14) Aviation
06AnB ‘5PE”B Electronics
09AnB Industw, Ltd.
T
12ADB JL04V-2E24- JL04V-6A24.
IOSE
20AUB ‘OpE”B
30AOB
44ADB JL04V-2E32- JL04V-6A32. Japan
17PE-B 17SE Aviation
CE05-2A10SL- MS3106A1 0S CE-l OSLBA- cEo5-losLsA- CE3057.4A-1* :::;:d
L.3S(190Y1 S* S*
6oAnB ‘Pc Oaiicti
Densh
Kogvo K.K.
;GMD- 22A0A ~~p4E~B2

E24- JL04V-6A24-
10SE
32ADA
40AOA
\
Y
Connector To be Not required if flexible conduit is used ‘1 Connectors for brake
on motor selected if power supply
side already flexible * Select an appropriate
provided conduit is
type according to the lead
used wire diameter.
TO be prepared by customer
@ lP67-basedEncoderConnectorson Motor Side
End Bell: Manufactured Cable Manufac- 1 Qty

by Japan Aviation Clamp turer
Electronics Industry, Ltd.
Back Shell:
Manufactured by Daiichi
Denshi Kogyo K.K.
- Li-
1’ Denshi
+ Kogyo K.K.
I I
~=y~=s;””
Not required if flexible conduit is used
Note Encoder connectors on Servopack side (2CN) are the same as for @.
● Cable clamp types classified according to lead wire diameter
Cable Clamp Type Lead Wire Diameike r
❑
Range
E3057-1 OA-1
CE 010.5-? 014.1
CEE3057-1 OA-2 08.5-0’ ‘11.0
-
CEE3057-1 OA-3 05.5-0! ‘9.7
CE3057-12A-1 012.5-016
CE3057-12A-2 09.5-013
CE3057-12A-3 06.8-010
JL04-202~rK ~~~~ fi19 ‘2-.015.9
I w,
.-”!. , ,=, -.”
JL04-2426CK(17) 015-018
. When flexible conduit (straight) is used:
Brake Power Supply (for Motor with Brake)
Brake Power Supply Type Qty

LPSE-2H01 (for 200 V AC input)
LPDE-1 HO1 (for 100 V AC input)
367
5.5.2 Order List cont.
,
@ Cab!esforlncrementalEncoder
(Cable with Loose Wire End on Encoder Side)”l (Purchase Separately)
Cable Type Qty

DE9406971 -1 3m (9.8 ft)
DE9408971 -2 5m (18.4 ft)
DE9406971 -3 10m (32.8 ft)
DE9406971-4 15m (49.2 ft)
DE9406971 -5 20m (65.6 ft)
D=-@=
@ CablesforlncrementalEncoder
(Cable with Straight Plug) (Purchase Separately)
Cable Type Qt y
DE9407234-1 3m (9.8 ft)
DE9407234-2 5m (16.4 ft) .
DE9407234-3 10m (32.8 ft)
DE9407234-4 15m (49.2 ft)
DE9407234-5 20m (85.6 ff)
‘1 Customer toattach connector on encoder side, Requires @connector.
@ CablesforlncrementalEncoder
(Cable with L-shaped Plug) (Purchase Separately)
/
-+ I(
368
\
@ CablesforAbsoluteEncoder
(Cable with Loose Wire End on Encoder Side)’l (Purchase Separately)
‘1 Customer toattach connector onancoder side, Requires @connector.
@@ CablesforAbsoluteEncoder
(Cable with Straight Plug) (Purchase Separately)
Cable Type Qty
❑
DE9407236-I 3m(9.eft)
DE9407236-2 5m (16.4 ft)
DE9407236-3 10m (32.8 ft)
-
DE9407236-4 15m (49.2 ft)
DE9407236-5 20m (65.6 tf)
D-=’=m
@ Cables. forAbsoluteEncocler
(Cable with L-shaped Plug) (Purchase Separately)
Cable Type Qty

DE9407237-I 3m (9.6 ft)
DE9407237-2 5m (16.4 ft)
DE9407237-3 10m (32.6 ft)
DE9407237-4 15m (49.2 ff)
DE9407237-5 20m (65,6 tf)
G--Q/
369
5.5.2 Ovder List cont.
/
@ EnclosurelP67encodercablesarenotavailable.
@,@, and cables without connector must be purchased and assembled by the CUS-
tomer.
Battery for Absolute Encoder
Battery Type Qty

ER6VC3 (3.6V)
@ I...onnector
Connector Type Qty

DE9406970
i CN
D
Connector 1CN only x 1
a Connector-to-terminal Conversion Unit
Converter Unit Type Qty

JUSP-TA50P
i CN
Connector ICN and Cable (0.5 m)
370
5.5 .%lwing Peripheral Devices
m Cable with Connectol ICN and One End Loose Wires
Ceble Type Qty

DE9406969-1 lm (3.3 ft)
DE9406969-2 2m (6.6 ft)
DE9406969-3 3m (9.6 ft)
““k
2) For SGMP-15A Servomotors
@ CablesforSewomotorwithoutBrake
(with connector and amplifier terminals) (Purchase Separately)
~“
-. .—+
371
5.5.2 Order List cmtt
= CablesforSeWomotorwithoutBrake
(Cable Only)’l (Purchase Separately)
o
‘1 Customer toatiach connector andamplifier terminals, Requires @connector.
= CablesforSewomotorwithBrake
(with connector and amplifier terminals) (Purchase Separately)
372
5.S Seledht< Peripheral Devices
C!@ CablesforSeWomotorwithBrake
(Cable Only)’1 (Purchase Separately)
Cable Type Qty

DP9402222- 1 3 m (9.e ft)
DP9402222-2 5 m (16.4 ft)
DP9402222-3 10 m (32.8 ft)
DP9402222-4 15 m (49.2 ft)
DP9402222-5 20 m (65,6 ft)
“1 Customer toattach connector andamplifier terminals. Requires@ connector.
373
5.5,2 Order List cont.
/
@ Connector(forSGMP-15A)
Connector Kit Type Qt y

DP9420016-1 (Incremental encoder, no brake)
DP942001 6-2 (Incremental encoder, with brake)
DP942001 6-3 (Absolute encoder, no brake)
DP942001 6-4 (Absolute encoder, with brake)
. The three products in the diagrams below are supplied as a set.
1) Maincircuit connector onmotorside: Connector formotorwith orwithoutbrakexl
2) Encoder connector onmotorside: Connectorforincremental orabsoluteencoderxl
3) Encoder connector on Sefvopack side: Connector 2CNxl
Connectors for SGMG, SGMSand SGMDTypes are provided separately. For types and oth
er information, refer to page 364.
1) Main circuit connector on 2) Encoder Connector for Motor End of Cable

motor side
@ II
Wth Wake
For Incremental Encoder
3) Encoder Connector for Servopack End of Cable
Brake Power Supply (for motor with brake)
Brake Power Supply Type Qty

DP6401OO2-I (for200V)
DP6401 002-2 (for 100 V)
374
= CablesforlncrementalEncoder
(Connector Both Ends) (Purchase Separately)
= CablesforlncrementalEncoder
(Servopack end without connectors~z (Purchase Separately)
‘2 Customer toattach connectorto Sewopackend ofcable. Requires @connector
= CablesforlncrernentalEncocier
‘3 Customer toattach connector to both ends ofcable. Requires @connector.
375
5.5,2 Order List cot.
@ CablesforAbsoluteEncoder
(Connector Both Ends) (Purchase Separately)
Cable Type Qt y
DP9320088-1 3m (9.8 ft)
DP9320088-2 5m (16.4 ft)
DP9320088-3 10m (32.8 ft)
DP9320068-4 15m (49.2 ft)
DP9320088-5 20m (65.8 ft)
= CablesforAbsoluteEncoder
(Servopack end without connectors)”z (Purchase Separately)
Cable Type Qty

DP9320085-1 3m (9.6 ft)
DP9320085-2 5m (16.4 ft)
DP9320085-3 10m (32.8 ft)
DP9320085-4 15m (49.2 ft)
DP9320085-5 20m (65.6 ft)
~-
‘2 Customer toattach connector to Sewopackend ofcable. Requires @connector.
376
@ CablesforAbsOluteEncoder
c-l
“3 Customer toattach connector to both ends ofcable. Requires@ connector.
3) Other Peripheral Devices
Noise Filter
Noise Filter Type Qty

LF-31O(1OA)
❑
LF-315 (15A)
LF-320 (2oA)
LF-330 (30A)
LF-340 (4oA)
LF-350 (5oA)
LF-360 (60A)
LF-380K (80A)
Magnetic Contactor
Surge Suppressor
Surge Suppressor Type Qty

CR50500BL
377
5.5.2 Order Ltit cont.
Regenerative Reaiator Unit
Regenerative Resistor Unit Type Qty

JUSP-RA04
JUSP-RA05
Variable Reaiator for Speed Setting
Variable Resistor Type Qty

25HP-IOB
Cablea for Connecting PC and Servopack
Cable Type Qt y
DE9405258 I 2m (6.6 ft)
Encoder Signal Converter Unit
Unit Type Qty

LRX-01/Al
LRx-ol/A2
LRx-ol/A3
LRx-ol/A4
378
5,6 Specifications and Dimensional Drawinfs of Peripheral Dtwices
5.6 Specifications and Dimensional Drawings of Peripheral

Devices
This section shows the specifications and dimensional drawings of the peripheral
I
#
devices required for the X-Series setvo system. The sequence of peripheral
given
Peripheral
by the Flowcharl
Devices
for Peripheral Device Selection in Section 5.5.1
devices is
Se/ecting
5.6.1 Cable Specifications and Peripheral Devices 379

5.6.2 Motor Cables, ..................... . . .. .. . .. 383
5.6.3 Connector .......................... . . .. .. . .. 384
5.6.4 Brake Power Supply .................. .. . .. .. . 403
5,6.5 Encoder Cables ................... . ... .. . ... 406
5,6.6 Battery for Absolute Encoder .,...... . .. . .. .. . 417
5.6.7 lCN Connector ................. . . . . .. 418
5.6.6 Connector Terminal Block Converter Unit . . . .. .. . .. 420
5.6,9 Cable With lCN Connector and One End Without Connector 422
5.6.10 Circuit Breaker ................... . . . . . . . 423
5.6.11 Noise Filter ....................... . .. ... . . 423
425
❑
5.6.12 Magnetic Contactor ...............................................
5.6.13 Surge Suppressor ................................................ 426

5.6.14 Regenerative Resistor Unit ........... .. . . .. . .. 427
5.6,15 Variable Reaistor for Speed Setting ... . . . . .. . 428
5.6.16 Encoder Signal Converter Unit ..,,.,. .. .. .. .. . .. 428
5.6.17 Cables for Connecting PCand Servopack .. . . .. . 430
5.6.1 Cable Specifications and Peripheral Devices

1) The cable sizes and peripheral devices for SGDB Servopacks are listed in the following
tables.
The cable specifications were selected under conditions of three cables per bundle at an
ambient temperature of 40°, with the rated current flowing.
3’79
5.6,1 Cable Speciflcationr and Peripheral Devices cottt.
Cable Size
External Cable Size (mm’z)

Terminal Neme
Terminal 03AD 05AD 07AD 10AD 15AD I 20AD
Symbol
I I I
On-line Main Circuit R, S, T HIV 1.25 or more HIV 2.o or more HIV 3.5 or more
Terminal Power Input
Terminal
Motor u, v, w HIV 1.25 or more HlV2. Oor HIV 3,5 or more
Connection more
Terminal
Control r, t HIV 1.25 or more
Power Input
Terminal
Off-line Control 1/0 1CN Core of twisted pair or twisted pair shield wires 0.12 mm2 or more
Terminal Signal Outside dimensions of tinned annealed copper twisted wires:
Connector max. 016(for lCN), max. 011 (for2CN)
PG Sional 2CN
Conn;ctor
Ground HIV 2.o or more
Terminal I@
External Cable Size (mmz)

Terminal Name 1AAD
Terminal 30AD 44AD 50AD 60AD 75AD
Symbol
On-line Main Circuit R, S, T HIV 3.5 or HIV 5.5 or more HlV60r HW140r HIV 22 or
Terminal Power Input more more more more
Terminal
~ Motor u, v, w HIV 5.5 or HIV 8 or more HIV 14 or more HIV 22 or
Connection more more
Terminal
Control r, t HIV 1.25 or more
Power hmut
Terminal’
Oft-line Control 1/0 1CN Core of twisted pair or twisted pair shield wires: 0,12 mm~ or more
Terminal Signal Outside dimensions of tinned annealed copper twisted wires:
Connector max. 016(for lCN), max. 011 (for2CN)
PG Signal 2CN
Connector
Ground HIV 2.o or more
Terminal @
Note l) Cable size selection conditions: Ambient temperature 40 °C,3wires per bundle, and
rated current flowing
2) Forthemain circuit, usecables with adielectric strength of600V or more.
3) lfthecables arelaid inaduct(rigid PVCtubaormetal pipe), allowforthe reduced current

rating applicable to the cables,
4) lftheambient temperature (inside thecontrol panel) ishigh, cables sheathed with ordi-
nary vinyl will be easily subject to heat deterioration and become unusable in a short pe-
riod of time. Toprevent this, always use heat resistant cables,
380
5.6 Sp@icalions and Dimemiomd Drawings of PeripheralDavictx
● Peripheral Devices
Servopack Motor type Motor MCCB or fuse Main power Recommended Power
type Selection capacity’1 Inrush Iina filter’z ONIOFF
SGDB- (Cn-2A) current switch
(peak value)
03ADM SGMG-03AUB 171 5A 2eA .F31 0(1 OA) 11-15E5(30A)
05AD SGM-04A 106
05ADP SGfvfP-04A 126
05ADG SGMG-05ADA 142
07ADM SGMG-06AOB 172 6A .F315(15A)
10AD SGM-06A 107
10ADP SGMP-06A 127
10ADG sGfvfG-09AnA 143
10ADM , SGMG.09AOB
––.-. 173
lOADS I SGM G-10AnA 163 I
15ADM sGMG-12AFn 117A I 4nA
15ADG SGMG-T3AL.. ,
15ADP SGMP-15A 126
15ADS SGMS-15AUA 164
20ADG SGMG-20ADA 145 12A 56A .F320(20A) Il-l 6E(35A)
20ADM ,-.. ,u-
SGMG-~OA~R 17~
,,-
20ADS SGM: -20AUA 165
30ADD SGM1 -22AUA 155 1eA .F330(30A)
30ADG SGM( -30AnA 146
30ADM SGM( -30ADB 176
30ADS SGM( -30AnA 166
44 ----
Ann I sfiMn.w.AqA 156 24A
1 -=, .,- --, .. 93A .F340(40A)
44ADG lSGMG-44Ar 1A 147
44ADM SGM<G.44AnB 177
B
44ADS SGMSS-40ADA 167
50ADD SGM[ D-40AEIA 157 26A 11-25E(50A)
50ADS SGMS-50A[ IA i 66
60ADG SGMG-5GAr
-... .JA 148 32A 56A .F350(50A)
60ADM SGM6G-60ADB 176
75ADG lSGMG-75ADA 149 41A .F360(60A) I-30 E(65A)
1AADG ISGMG-IAADA 140 60A 116A .F360K(60A) I-35 E(75A)
‘1 Brahngcharactetistics (at250C): 200Y~for 2smin,, 7000Afor O.Ol smin,
‘2 Yaskawa recommends noise filters manufactured by Totin Corp, Yaskawa Controls Co,,
Ltd. can supply these noise filters,
NOTE
● Donotwi repower lines andsignal lines within thesame duct, or bundle them together. Wre
so that signals line are always kept apart from power lines by at least 30cm.
. Use twisted pair ormulti-core twisted pair shielded wires for signal lines and the encoder
(PG)feedbackline. The wiring Iengthfor referenca input lines must be within 3m, and forthe
PG feedback line within 20m.
381
5.6.1 Cable Specifications and Peripheral Devices cont.
2) The types of cable are shown in the table below. Use it in combination with the tables.
Cable Type Conductor Allowable Temperature

“c
Symbol Name
Pvc Normal vinyl cable ...
Iv 600 V vinyl cable 60

HIV Temperature-resistant vinyl cable 75
Note 1) Usecable with 600 Vmin. rating formain circuits.
2) Consider allowable current reduction ratio ifcables are bundled in PVCormetal ducts.
3) Usetemperature-resistant cable under high amMentor panel temperature where nor-

mal vinyl cables rapidly deteriorate.
3) The appropriate cables for Servopack connectors lCN and 2CN are shown in the table
below.
>ontrol f/O 8ignal 1CN Cable Use twisted-pair cable or twisted-pair

:onnector shieldad cable.
Applicable Cable AWG24,26,28,30
Finished Cable 018.0 mm (0 0.63 in.) MAX.
Dimensions
‘G Signal Connector 2CN Cable Use Yaskawa cable.
Use twisted-pair shielded cable if
Yaskawa cable is not used.
Applicable Cable Applicable cable types AWG24, 26,28,
30. However, use AWG22 for encoder
power supply and FG line. Use AWG26
for other signals. These connections
permit wiring distances up to 20 m
(65.6 ff).
Finished Cable @ll.6 mm (00.46 in.) MAX.
Dimensions
Note Cable selection conditions three cables per bundle at40"Cambient temperature, withthe
rated current flowing.
382
5.6 Snecifzations and Dimensional Dmwinm of Peri~heral Devices
5.6.2 Motor Cables

1) Select anapproptiate motor cable thatmeetsthe customer' ssewiceconditions byrefer-
ring to the cable specifications described in Section 5.6. f Cab/e Specifications arrd Pe-
riDhera/ Devices.
2) Forthe SGMPSewomotor (l.5kW), order the following cables.
a) Cables for Motor without Brake (with connector and AMP terminals)
Type L in mm (feet)
DP9320e27-1 + 100 ~lo+~)

3000 0
DP9320827-2
5000 + 0’00 (16.7+~)
DP9320827-3
10000 + 0500 (33.3+ ;67)
DP9320827-4 + 500 (50+ y,

15000 0
DP9320627-5
20000 + 0
500 (66.7+ ]67)
fr5+Y+;~’
..
❑
\Shrink Tube M4 Ctimped Terminals
Shtink Tube
Cap: 3507S0-1 (4-pin) Cable: DP9402221 (AWGI 6x4C)
Socket 350536-6 (shell)
383
5.6.3 Connecter
b) Cables for Motor with Brake (with connector and AMPterminals)
Type L in mm (feet)
DP9320828-1 +100 ~,o+p)

3000 0
DP9320828-2
5000 “0°0 (16.7+:33)
DP9320628-3
1000o+p (33.3+p)
DP9320828-4
15000+ p (50 + y)
DP9320828-5
20000 ’500
0 (66.7+~)
~“kTube M4Grimped Terminals

Cap 350781-1 (6-pin)
Cable: DP9402222 (AWG16 x4C AWG20 x2C)
Socket 350536-6 (shell)
5.6.3 Connector
.Forthe SGMG, SGMS, SGMDTypes +Seepage 398 forthe SGM and SGMP Types.
1) Connectors are divided into the three types Encoder Connector Encoder Connector
at Motor End at Se fvopack End
shown in the figure: one encoder connector at of Cable of Cable
both the motor and Servopack ends of the cable
and a motor connector at the motor end of the
cable. These connectors are common to both en-
coder types (incremental and absolute encoders).
The connector type to be used differs according to

the following items:
Main circuit (Power Line) Connector
at Motor End of Cable
. Straight plug or L-shaped plug
. Motor with or without brake
. Standard specifications or IP67 specifications
To connect the motor at the Servopack

When ordering connectors, also check the motor end of the cable, use the crimp termi-
type and capacity as they affect the connector nals (to be prepared by the customer).
type to be used.
384
.5,6 Spe.ifzatims and Dime.sionol Drawings of Peripheral Devices
Always order the connectors under the following conditions:
a) Connectors forallcables (required regardless ofwhetherthe motor has brake ornot)
b) Connectors forencoder cebleswith aconnector only onthe Sewopackend of the

cable or forencoder cables without connector (required regardless of the encoder
type (incremental or absolute))
c) Connectors forencoders (onthemotor and Sewopackends of thecable)whenlP67

specifications are used
2) Encoder cable connectors aredivided into fourtypes according tothe following items:
● Standard specifications or lP67specificafions
. Straight plug or L-shaped plug
Straight Type L-sheped (Angle) Manufacturer

Type
Standsrd Plug MS3106B20-29S IMS3106B20-29S Daiichi Denshi
Environment Cable Clamp MS3057-12A-* Kogyo K.K.
lP67-based Flexible Conduit Plug Only MS3106A2O-29S ---
❑
Environment Used (DI 90)
Flexible Conduit Plug Only MS3106A20-29S(D1 90)
Not Used Back Shell CE02-20BS-S I CE-20BA-S
Cable Clamp CE3057-12A-*
. Examples of Connector Combination

The following examples show how to combine connectors manufactured by Oaiichi Dens hi
Kogyo U.K.
. Standard Environment
Straight Plug Ms31 06A

1
--3106B--* +El=+ Non.watsrpmof Cable Clsmp MS3057
m .,
L-shaped Plug MS31OSB

-1
385
5,6,3 Connector . ..1.
. lP67-based Environment
%B
..,.PE(+,E Waterproof Cable Clamp CE3057
Waterproof Angle Back ehell CE-XXBA-S
3) The motor cable connectors to be used depend on the presence or absence of brake,
motor type and capacity, and specifications (standard or IP67).
To connect the motor cable on the Servopack side, uae the crimp terminals (to be pre-
pared by the customer).
386
5.6 Specifications and Dimensional Dmwinm q f PeriDh.ralD~Pi.a
a) Standard Environment
. When using Standard Motor (without Brake)

Receptacle L-shaped Plug Straight Plug Cable Clamp
GMS- 10AUA MS3102A18-IOP MS3108Ble-10S MS3108BI8-IOS MS3057-1OA
15AnA
20AUA
3oAnA MS3102A22-22P MS3108B22-22S MS3108B22-22S MS3057-12A
40AUA
5oAnA
:GMG- 05ADA MS3102A18-1OP MS3108BI8-1OS MS3108B18-1OS MS3057-1OA
09AnA
13AaA
2oAnA MS3102A22-22P MS3108B22-22S MS3108B22-22S MS3057-12A
3oAnA
44AUA
55ADA MS3102A32-1 7P MS3108B32-1 7S MS3108B32-1 7S MS3057-20A
75AUA
lAAUA
iGMG- 03AUB MS3102A18-IOP MS3108B18-1OS MS3106B18-1OS MS3057-1OA
08AnB
09AnB
12AUB MS3102A22-22P MS3108B22-22S MS3106B22-22S MS3057-12A
20AUB
3oAnB
44ADB MS3102A32-1 7P MS3108B32-1 7S MS3106B32-1 7S MS3057-20A
8oAnB
;GMD- 22AnA MS3102A24-1 OP MS3108B24-1 OS MS3106B24-1 OS MS3057-16A
32AUA
40AUA
\ _Ji /
v =.-=_
Connector on motor To be prepared by customer
side already provided
387
5.6.3 Cotmecto, cont.
MS3106B Straight Plug Shell
L.
Dimensions are mm (inches)
T
Shell Joint Screw Length of Overall Outside Cable Clamp Effective Maximum
Size A Joint Portion Length Diameter of Set Screw Screw Width
JtO.12 L or less Joint Nut Length Y or Ieae
~Q +0 W or more
(+0.0047) -3.38
18 1,/8.18uNEF .53 (0.38) 12 (1.65)

20 1W18UNEF .53 (0.38) 17 (1.85)
22 13/8.18uNEF .53 (0.38) ;0 (1.97)
=+==
24 IV.18UNEF .53 (0.38) ;3 (2.09)
32 12-18UNS 1.f3 (0.44) ;6 (2.60)
MS3108B L-Plug Shell
Shell
Size
1oSL
18
20
Joint Screw
A
1,18.18UNEF
IWISUNEF
Length of
Joint
Portion
J~o.12
(+0.0047)
18.26 (0.72)
18.26 (0.72)
Overall
Length
L or leaa
68.27 (2.69)
76.9e (3.03)
Outside
Diameter of
Joint Nut
aQ :,,8
(4.0150)
34.1?2 (1.34)
37.2e (i .45)
R+O.5
(0.02)
20.5 (0.81)
22.5 (0.e9)
u * 0.5
(0.02)
,0.2 (1.19)
,3.3 (1.31)
m
Ewi%
22 1318.18UNEF 16,26 (0.72) 76.98 (3.03) 40.48 (1 .59) 24.1 (0.95) ,3.3 (1.31)
24 1112.18UNEF 18.26 (0.72) 66.51 (3.41) 43,63 (1 .72) 25.6 (1 .01) 6,5(1.44)
32 2-18UNS 16.26 (0.72) 95.25 (3.75) 56.33 (2.22) 32.8 (1 .29) ,4.4(1.75)
388
5,6 Specifwa<ions and Dinmnsiomd Dmwirtgs of Peripheral Devices
MS3106A Straight Plug Shell
k--kc
L,
Shell Joint Screw Length of Overall Outside IDN*O.5 Cable Clamp Effective
Size A Joint Portion Length Oiameter of (+ 0.01 97) Set Screw Screw
J+O.12 L+l ,5 Joint Nut v Length
(+0.0047) (*0.00591) OQ :.38 W or more
(4.0150)
IOSL ,/,.24U NEF 13.49 (0.53) 34.9 (1.37) 22.22 (0.87) 19,12 (0.75) se.24UNEF 9.53(0.38)
MS3057-XXA Cable Clamp (with Rubber Bushing)
A
c
&
1,6 +E (,,, Id, m,m.te, Of B.,hi,g,
(0,06)
o
v *D (I”sidemameterofc.bleclampl
R
.
T T T
Part Shell Overall Outside F G k 0.7
D +s
Number Size Length Oiameter (+0.03)
of A+O.7 BB+O.7
Corm (+0.0276) (+0.0276)
ector
3=
MS3057-4A 10SL, 20.6 20.6 10.3 7.9 5.6 t .6 22,2 i/a.24UNEF AN3420-4
12s (0.81) (0.s1) (0.41) (0.31) (0.22) ~0.08) (0.87)
MS3057-1OA 18 23.8 30.1 10.3 15.9 14,3 3.2 31.7 I-20UNEF AN3420-10
(0.94) (1,19) (0.41) (0.63) (0.56) (0.13) (1.25)
23.8 35.0 10.3 19.0 15.9 4.0 37.3 13/16-16uNEF AN3420-12
- (0.94) (1.38) (0.41) (0.75) (0.83) {0.16) (1.49)
RT
MS3057-18A 24,28 28.2 42.1 10.3 23.8 15.9 4.8 42.9
(1 .03) (1 ,66) (0.41) (0.94) (0.63) (0.19) (1.69)
19.1
% ?
T T
MS3057-20A 32 &3 51.6
(0.25) (2.03)
*
I (0.94)
389
5,6.3 Connector cont.
● When using Motor with Brake
Motor Type I Motor Side

Straight Plug Cable Clamp
;GMS- 10ADA MS3106B2O-15S MS3057-12A
a=
15AOA
20AOA
30AOA MS3102A24-1 OP MS3106B24-I OS MS3106B24-I OS MS3057-16A
4oAnA
50ADA
;GMG- 05AnA MS3102A20-1 5P MS3108B20-1 5S MS3106B20-1 5S MS3057-12A
09AnA
13AnA
20ADA MS3102A24-1OP MS3108B24-1 OS MS3106B24-1 OS MS3057-16A
3oAnA
44AnA
55AnA MS3102A32-1 7P MS3108B32-1 7S MS3106B32-1 7S MS3057-20A
75AUA MS3102A1 OSL-3P MS3108B1 OSL-3S MS3106A1 oSL-3S MS3057-4A
1 AAUA
;GMG- 03AUB MS3102A20-1 5P MS3108B20-1 5S MS3106B20-1 5S MS3057-12A
06ADB
09AOB
R
12AnB MS3102A24-1 OP MS3108B24-1 OS MS3106B24-1 OS MS3057-16A
20AUB
3oAnB
44AUB MS3102A32-1 7P MS3108B32-I 7S MS3106B32-1 7S MS3057-20A
E
6oAnB
MS3102A1 OSL-3P MS3108BI OSL-3S MS3106A1 oSL-3S MS3057-4A
SGMD- 22AUA MS3102A24-1OP MS31 OeB24-1 OS MS3106B24-1 OS MS3057-16A

32AUA
4oAnA
/
Connector on motor To be prepared by customer

side already provided
Note lnthecells containing tworows, theupper rowconnectortype is forthemotor andthe lower

row connector type is for the brake.
5.6 S.eciftiatims and Dimenriowd Drajvi.tq of F’erinhend DcPkes
b) lP67-based Environment
● When Using lP67-based Motor (without Brake)
Motor Type Receptacle Plug End Bell: Manufactured by Cable Clamp Manufacturer
Japan Aviation Electronics
Industry, Ltd.
Back Shell: Manufactured by
Daiichi Danahi Kogyo K.K.
Angle Straight
(L-shaped)
i iGMS- 10AOA CE05-2A18- MS3108A18- CE-18BA-S CE02-18BS-S :E3057-1OA-* laiichi Denshi
, 15AUA 10PD 1oS(DI9O) <ogyo K.K
2oAnA
, JL04HV-2E2 JL04V-8A22- JL04-22EBL IL04-2022CK Japan Aviation
30ADA JL04-22EB
40A5A 2-22PE-B 22SE 14) ZIectronics
5oAnA ndustry, Ltd.
SGMG- 05AUA CE05-2A18- MS3106A1 6- CE-18BA-S CE02-16BS-S CE3057-1OA-* laiichi Denshi
09AnA 1oPD 1oS(D1 90) <ogyo K.K
E
13AUA
20AUA” ‘J L04HV-2E2 JL04V-6A22- JL04-22EBL JL04-22EB JL04-2022CK Japan Aviation
30AUA 2-22P E-B 22SE (14) <Iectronics
44ADA ndustfy, Ltd.
55AUA JL04V-2E32 JL04V-6A32- ‘1 ‘1 “1 Japan Aviation
75AUA -17PE-B 17SE !Iectronics
IAAOA ndustry, Ltd.
SGMG- 03AOB CE05-2A18- MS3106A18- CE-16BA-S CE02-18BS-S CE3057-1OA-* laiichi Denshi
06AnB 1oPD 1OS(D19O) <ogyo K.K
09AnB
— I I
I 12AUB I JL04HV-2E2 I JL04V-6A22- I JL04-22EBL I JL04-22EB JL04-2022CK Japan Aviation
20AUB 2-22PE-B 22SE (14) !Iectronics
30AUB ndusby, Ltd.
44AUB JL04V-2E32 JL04V-6A32- ‘1 :1 ‘1 lapan Aviation
60AOB -17PE-B 17SE !Iectronics
ndusby, Ltd.
SGMD- 22AUA J L04V-2E24 JL04-6A24- JL04-24EBL JL04-24EB IL04-2428CK Japan Aviation
32AUA -1 OPE-B 10SE 17) Electronics
40AUA ndustry, Ltd.
/
Connector To be prepared by customer

on motor
side already
provided
‘1 The SGMG-55AOA, -75A0A, -l AADA, -44AUB, and -60AUB motors do not contain End Bell
(manufactured by Japan Aviation Electronics Industry, Ltd.), For these motors, use flexible con-
duit instead.
Note 1) To ensure compliance with IP67, always use correct combinations of receptacles and
plugs.
2) End Bell is a product of Japan Aviation Electronics Industry, Ltd. Back Shell is a product
of Daiichi Denshi Kogyo K.K,
3) Select an appropriate cable clamp type (suffix ‘) according to the lead wire diameter.
4) When flexible conduit is used, select plug only,
391
5.6.3 Connector cent
. When Using lP67-based Motor (with Brake)
Motor Type Receptacle Plug End Bell: Manufactured by Cable Clamp Manufacturer
Japan Aviation Electronics
Industry, Ltd.
i I t Back Shell: Miriufactured bv ] I
Kogyo K.K. “
-. Straight
(L-shaped) - I
!
,
;GMS- 10ADA JL04V-2E20- JL04V-6A20- JL04-20EBL JL04-20EB JL04-2022GK Japan Aviation
15AUA 15PE-B 15SE (14) Electronics
20AUA Industrv,,. Ltd.
30AUA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB I JL04-2426CK I Japan Aviation
4oAnA 10PE-B 10SE
50AUA
;GMG. 05AUA JL04-2E20-1 JL04V-6A20- JL04-20EBL
09AmA 5PE-B 15SE ,,
13AUA Industry, Ltd.
20AUA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB I JL04-2428CK [ JaDan Aviation
30AUA 1OPE-B 10SE (17) Electronics
44AaA Industry, Ltd.
55AnA J L04V-2E32- JL04V-6A32- “2 ‘2 ‘2 Japan Aviation
75ADA 17PE-B 17SE Electronics
1AAUA CE05-2A1 OS MS3106AIO CE-1 OSLBA-S CE-1 OSLBS-S CE3057-4A-1 ‘ Indusby, Ltd.
L-3PC SL-3S(D190) ‘1 ‘1 1 Daiichi Denshi
‘1 Kogyo K.K.
;GMG- 03A0B JL04V-2E20- JL04V-6A20- JL04-20EB JL04-20EB JL04-2022CK Japan Aviation
06AnB 15PE-B 15SE (14) Electronics
09AnB Industry, Ltd.
12AUB JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB .JL04-242eCK Japan Aviation
20AUB 10PE-B 10SE (17) Electronics
30AUB Industry, Ltd.
44AnB J L04V-2E32- JL04V-6A32- ‘2 ‘2 ‘2 Japan Aviation
6oAnB 17PE-B 17SE Electronics
CEO5-2A1OS MS3106AI0 CE-1OSLBA-S CE05-1 OSLBS CE3057-4A-I ‘ Industry, Ltd.
L-3PC SL-3S(D190) ‘1 .3’1 1 Daiichi Denshi
“1 Kogyo K.K.
;GMD- 22AUA JL04V-2E24- JL04V-6A24- JL04-24EBL JL04-24EB JL04-2428CK Japan Aviation
32A0A 10PE-B 10SE (17) Electronics
4oAnA Industry, Ltd.
~
Connector To ba prepared by customer

on motor
sida alraady
provided
‘1 Holding brakes are applicable to both L-shaped and straight types (manufactured by Daiichi
Densh~Kogyo K.K.).
End Bell is a product of Japan Aviation Electronics Industry, Ltd. Back Shell ia a product of Daii-
chi Denshi Kogyo K.K.
“2 The SGMG-55AUA, -75A0A, -l AADA, -44ADB, and -60AUB motors do not contain End Bell
(manufactured by Japan Aviation Electronics Industry, Ltd.). For these motors, use flexible con-
duit instead.
Note 1) To ensure compliance with IP67, always use correct combinations of receptacles and
plugs.
2) When flexible conduit is used, select plug only.
392
5,6 Specifzatiom and Dimensional Drawings of Peripheral Devices
,. MS(D190) Series: Plug for Conduit

MS3106A20-29S (DI 90)
DiME?IWiOns are mm (inches)
Shell A &o.5 D #o.3 +0.05 ,J+O.12

B $38 (+0.0118) G W&020)
Size (4.0150] (+0,0197) (+0.0047)
(-30098)
1oSL 518-24UN EF-2B 22.22 (0.87) 23.3 (0,92) 9116.24UNEF-2A 7.5 (0.30) 12,5 (0.49) 13.49 (0,53)
20 1114-18UNEF-2B 37.28 (1 .47) 34.11 (1.34) 11/18.18UNEF.2A 12.16 (0.48) 26,6 (l,06) 18,28 (0,72)
Mede by Daiichi Denshi Kogyo K.K,
CE02-XXBS-S
Streight Back Shell (for MS(DI 90))
d by Wrench)
s ,r.w
Length)
Shell Psrt L A B c D v w
Size Number
18 CE02-18BS-S 31 (1 .22) 30,5 10.5 16.3 26.7 1-20UNEF-2B 1-20 UN EF-2A
(1 ,20) (0.41 ) (0.64) (1.05)
20 CE02-20BS-S 35 (i .2e) 35,(i.3e) 10.9 17.8 31.6 l,,a.l W_lNEF-2B 13/,6.18uNEF.2A
(0.41 ) (0.70) (1 .24)
Made by Daiichi Denshi Kogyo K.K.
393
5.6.3 Connector . ..1.
CE-XXBA-S (XXX) .
Angle Back Shell (for MS(DI 90))
LI or 1.,s
Part Shell
T
Overall Outside R V
m
SE
Number Size Length Oiameter
of of
Angle Coupling
Body c
$
L2
CE-1 OSLBA- IoSL I/18-24 UNEF-2 30.8 ?2.5 21.7 7.9 28.9) 5/8-24U 7.5(0.30)
❑
s (1.20) 0.89) (o.e5) (0.31) ~i.e3) 1.14) NEF-2A
CE-18BA-S 18 -20UNEF-2B 44.6 34 32,4 13.2 30,2 43.4) 1-20UN 7.5(0.30)
(1 ,78) 1.34) (1 .28) (0.52) (1.19) 1.71) EF-2A
CE-20BA-S 20 l/18UNEF-2B 50,5 19.8 38(1,42) 15 33.3 48.3) lwI,.UN 7.5(0.30)
(1 .99) 1.56) (0.59) (1.31) 1.90 EF-2A
Made by Daiichi Denshi Kogyo K.K
CE3057-XXA (for MS(DI 90))

Waterproof Cable Clamp (with Rubber Bushing)
r-----l
(Dmeter of cm. clam)
able Rmge on One Sale)
(Insld:
memeter of
BUSMW)
394
5.6 Specifwation$ and Dimensional Drawings of Peripheral Davices
Part )varall Outaide Wective m T- F -r Cable

Number .ength Oiametei Screw Siza
A B Length V lBuahing (for
c refer-
ence)
CE3057 0.6 ?0.6 0.3 F3) 5.6 E’T I i/8-24U CE3420- 03.6
-4A-1 ].el) o.el ) 0.41 ) 1.63) ;931) (0.22) 0,67) 0!06) ‘JEF-2B 4-1 (0.14)
-05.6
(0.22)
T
CE3057 3.e 30.1 0.3 !1 .3) K 14.1 w 1,2 -20UN CE3420- 010.5
-1OA-1 1.94) 1.19) 0.41 ) 1.63) ).63) (0,56) 1.25) o.13) : F-2B 10-1 (0.41)
-014.1
(056)
CE3057 11.6 CE3420- 06.5
- 10A-2 (0.46) 10-2 (0.25)
-011
(0.43)
CE3057 8.7 CE3420- 05.5
.1oA-3 (0.34) 10-3 (0.22)
- 09,7
(0.38)
CE3057 3.e 15(1 .3e) 0.3 11.3) 9 K I we-mu CE3420- 012.5
-12A-1 1.94) 3.41 ) 1.63) ).75) $63) 1.47) O.16) JEF-2B 12-1 (0.49)
-016
(0.63)
CE3057
-12A-2 ;:51)
m12-2
09.5
(0.37)
-013
(0.51)
CE3057
.12A-3 /:38)
tmm
12-3
06.e
(0.27)
-010
(0.39)
CE3057 6.2 )2.1 0.3 G T 19.1 K F 71{6.18U CE3420- 015
.16A-1 I .03) 1.66) 3.41 ) 1.63) ).94) (0,75) 1.69) o.19) JEF-2B 16-1 (0.59)
-019.1
(0.75)
I
CE3057 15.5 CE3420- 013
.16A-2 (0.61) 16-2 (0.51)
-015.5
(0.61)
Made by Daiichi Denshi Kogyo K.K.
395
5,6,3 Connector coat,
Plug: JL04-6A
Positioning Key
“11
(ConduitM.aunthwmmmslon,)
Shell No. Of Parta Name Joint Screw L*0,4 M%O.8 N+O.2 Q*O.8 Screw V
Size Cores (0,0157) (0.0315) (0.0079) (0,0315) (m~x)
22 4 JL04-6A22-22S ls/8.18UNEF-2B 31.5 7,6 29.6 40.5 11/4.16uNEF-2A 6
(1 .24) (0.30) (1.17) (1 .59) (0.31)
24 7 JL04-6A24-IOS 1112.18UNEF-2B 35 5.9 32.8 43,7 1s/s.18UNEF-2A 10
(0.23) (1 .29) (1 .72) (0.39)
Made by Japan Aviation Electronics Industry, Ltd.
..
Plug: JL04V-6A
screw v
Pmi“7
:m
:
. . . ..
Made by Japan Aviation Electronics Industry, Ltd.
396
5.6 Speciftadorts and Dime.siomd Drawings of Peripheral Devices
. End Bell (Straight): JL04-UOEB
L
v 1
—— - ~crewv
Plug End Bell
\ Shell Screw V OA OB L E
Size
20 13/16.leUNEF-2A 37.3*o.e 30,05t0.2 67.9+o.e a (032)
(1 .47+0,0315) (1 ,18~0.0079) (2.67t0.0315)
22 13/16-1 eUNEF-2A 40.5t0.8 30.05t0.2 67.63&0.e a (0.32)
(1 .59)(0,0315) (1 .18)(0.0079) (2.88~0.0315)
24 17/16-1 eUN EF-2A 43.7&0,8 36,4t0.2 71+0.8 8 (0.32)
(1 .72?c0.0315) (1 .43+0 .0079) (2.eo*o.0315)
❑
Made by .lapan Aviation Electronics Industry, Ltd.
End Bell (L-shaped): JL04-DOEBL
Plug End Bel!
screwv
.
1- 4
Shell Screw V OA B c D E
Size
20 13118-18UNEF-2A 37.3t0.8 60.5+o.a 74,2t0,6 32*o.a 10+0.5
(1 .47*0,0315) (2,38+0,031 5) (2,82Y0.0315) (1 .26*0.0315) (0,39+0.0197)
22 13/16-i eUNEF-2A 40.5*o.e 60.23+o.e 73.93~0.8 32&o.e 10+0.5
(1 .59+0.0315) (2.37t0.0315) (2.91 ~0.0315) (1.26~0.0315) (0.39+0.01 97)
24 17116-16UNEF-2A 43,7~0.8 65+o.e 62&0.6 3e+o.8 10+0.5
(1.72t0.0315) (2.56&0.031 5) (3.23t0 .0315) (1 .50+0.0315) (0.39+0.01 97)
397
5.6.3 Connector cont.
Cable Clamp: JL04-OCK(**) /
*A E=+-l E
screww
.,
F (ClmP.d Range)
Parts Name/Size A+0,8 B+0,8 (#0,8 D*0,8 @E+O.8 F Screw W Cable Size ‘
(+0.0315) (+0.0315) (+0.0315) (*0,0315) (+0,0315)
JL04-2022CK(14) 37.3 34.9 24.3 53,8 15,9 4 (O.16) 13116-18UNEF-2B 012.9 (0.51)
(1 ,47) (1 .37) (0.96) (2.11) (0.63) –015.9 (0.63)
JL04-2426CK(17) 42.9 42.1 26.2 56.2 4.6 17116-16UNEF-2B 015 (0.59)–
(42.9) (1 .66) (1 .03) (2.21) /:71) (0.1 9) 016 (0.71)
. Forthe SGMand SGMP Types
4) Connector Ktcomptises three connectors asshown inthediagram below: oneencoder

connector at both the motor and Servopack ends of the cable and a motor connector for
the motor end of the cable.
Encoder Connector for Motor End of Cable Encoder Connector for Servopack End of Cabls
Main Urcuit (Power hne).Connector on Motor Sfde
@ II
Four types of connector kit are available according to the following criteria:
. Incremental encoder or absolute encoder
. Motor with or without a brake
398
5.6 Specifzatio.s and Dimensional Drmvings oft’eripheral Devices
A connector tit is required in the following cases:
a) lfmotor cable only ispurchased (whether ornotmotor has a brake)
b) lftheencodercable withamotorconnector onlyand Sewopackend without connec-

tor, or encoder cable only is purchased (for either incremental or absolute encoder).
5) Select oneofthe following twotypes ofencoder cable connector.
a) For Incremental Encoder
M 23,7 (0,93)
CSP 172161.1
eockst 170365-1
b) For Absolute Encoder
-,
CSP: 172163-1
Socket 170361-1 m 170365-1
6) Select oneofthe following twotypes ofmotorcable connector.
a) Motor Without Brake
23.7 (0.93)
t {
Cap: 172159-1
Socket 170362-1 or 170366-1
399
5.6,3 Cotinecto, cont.
b) Motor Wth Brake
237 [093
Q
:
k-y,, B]: z
Cap: 172160.1
Socket 170362-1 or 170366-1
. For SGMP-15A Type Only
c) Motor Without Brake
Q
s
.
R Al
[@
w~ 7,6
i 5.7 (0.62
27A
Cap: 350760.1
Socket 350536-6 or 350550-6
d) Motor With Brake
(1.12]
Cap 350781-1
Socket 350536-6 or 350550-6
400
5.6 Snmifwstio.s and Dimmswmd Drawinm of Penphet’d Devices
. . Common to the SGMG, SGMS, SGMD, SGM and SGMP Types
7) Only one type of encoder connector is available for the Servopack end of the cable
. Connector
;: (:101
,.. , @
!, ,
:
(005) \ I [
:
~
:
,,
) \ -1 I
Units: mm (inches)
Connector Type A B c
101 20-3000VE \ 11.43 (0.45) I 17.6 (0.69) I 22.0 (0.87)
Manufactured by 3M.
/
!-L
For -52A0
Diagram of Assembled Connector (for reference)

Units: mm (inches)
Connector Kit Type Connector Case A B c D E F

DE9406973 101 20-3000VE 10320-52AO-O08 22.0 33.3 14.0 12.0 10.0 27,4
(0.87) (1.31) (0.55) (0.47) (0.39) (1.08)
Manufactured by 3M.
8) The following table shows connector combinations applicable to the SGM and SGMP
types. Combine the connectors selected in 5) to 7).
Connector Application Connector Kit Part List

Kit Type For Motor Cable
EncoderlMotor Cable For Encoder Cable
Encoder End eervopack End
Encoder Motor cap Socket Connector Case cap eocket
Type Brake
Type Q Type Qt Type Q Type Q Type Q Type Qt
Withl
Without w Y tY tY w Y
Increments Without .1 1 ‘1 ‘3 .2 1 ‘2 1 ‘i 1 ~1 ,3
DP9420006. 1
172161 170365 ‘0 10120. 10320- 172159 170366 5
-1 -1 3000VE 52A0. -1 .1
008 ‘i i ‘3
DP9420006-2 Incremental Wth
172160 7
-1
DP9420006-3 Absolute VWhout .1 1 ,3 ,1 1 *3
16
172163 172159 5
-1 -1
DP9420006-4 Absolute Wth ,1 1 ,3
172160 7
-1
‘1 Manufactured by AMP.
‘2 Manufactured by 3M.
‘3 Including one spare.
402
5.6 Snwif=adons mid Dimensional Drawi.t?s of Perinheral Devices
. For SGMP-15A Type
Connector Application Connector Kit Part List

Kit Type Encoder/Motor Cable For Encoder Cable For Motor Cable
Encoder End Servopack End
Encoder Motor Cap Socket Connector Case Cap Socket
Type Srake Qt
Type Q Type Qt Type Q Type Q Type Q Type
With/
Without tY Y tY tY w Y
)P9420016-1 Incremental Without “1 1 ,1 ,3 ,2 i ‘2 1 .1 1 .1 .3

172161 170365 10 1o120- 10320- 350780 350550 5
-1 -1 3000VE 52AO- -1 -6
008 ‘1 1 ‘3
)P9420016-2 Incremental flth
3507s1 7
-1
1P9420016-3 Absolute Without .1 1 ‘3 ‘t t ‘3
172163 16 350780 5
-1 .1
)P9420016-4 Absolute Whh ‘1 1 ‘3
350761 7
-1
“1 Manufactured by AMP.
‘2 Manufactured by 3M.
“3 Including one spare,
5.6.4 Brake Power Supply

1) Brake power supplies are available for 200 V and 100 V input.
200 VAC Input: LPSE-2HOI

100 VAC Input: LPDE-I HO1
Use for Servomotor with brake.
403
5,6.4 Brake Power SUppfy cont.
. Dimensional Drawings
50 (1.97
Ed 30 118)
Manufactured by Yaskawa Controls Co., Ltd.
\
2-03(2-00.12) MTG HOLES
8?
(SPOT FACING 05.5
g
(00.22), 4 (0.16) LONG)
m
-@E% P 11
(0.43)
.Lead Wre Length: 500mm each (19.69 in,)
● Max. Ambient Temperature: 60” C
. Lead Wires: Color Code
AC Input Brake
1Oov 200V
Blue/White I YellowPWhite RedfBlack
NOTE 2) The internal circuits are shown below, While it is possible to switch either the AC or DC
side of the brake power supply, it is normally safer to switch the AC side, If the DC side is to
be switched, install a surge suppressor near the brake coil to prevent the surge voltages
due to switching the DC side damaging the brake coil.
. Internal Circuit for 200 VAC Input (LPSE-2H01 )
Yellow Red
Surge
OC (Srake) Side
AC SJde I sup- J
Oiode
presser
White Black
m
L. ---._l
404
5.6 Spe@calto.s and Dinwmion.1 Drawings of Peripheral Devicm
. Internal Circuit for 100 VAC Input (LPDE-1 HOI)
Oiode Bridge
Blue ()
9 ‘ ‘ ;$.,.,
Surge Suppressor
White
1
405
5.6.5 Encoder Cables
5.6.5 Encoder Cables
The dimensions and appearance of the encoder cables are shown below. Specify the cable
type when ordering.
1) For the SGMG, SGMS and SGMD Types -+ See page 412 for the SGM and SGMP
Types.
a) Cables for Incremental Encoder (with Straight Plug)
L
r I
I
P!ii3c:+
Sheik 10320-52AC.008
Plug 101 20.3000VE
UL Stield Wie,
(Mm. fa.,.,ed
Composite KOVV.SW
by 3M .)
MS3108B20-29S (nl,”ufect,
MS3057- 12A Cable ClamP
red by D,flcM Oemh KOWO K. K.]
Type L in mm (feet)
DE9407234-1
3000 “0°~ (lO+P)
DE9407234-2
5000 ’100
~ (16.7+7)
DE9407234-3 +500 ~33,3+1#7)

10000 0
DE9407234-4
15000 ’500
0 (50+y)
DE9407234-5
20000 ’500
n (66.7 +\67)
b) Cables forlncremental Encoder (with L-shaped Plug)
//
ULSh$d4Wre,
COWOS!I,
KQVV-SW
MS3108B2O-29S (mmufetiured by DMchl Den,iT Kowo K,K.)
(AWG22 x 3C, AWG26 x 4P) MS3057-I 2A Cable CIWIID
Sheik 10320-52A0-008 (M.mufactwedby3M.l

Plug IO12K3000VE
406
5.6 Sjmcif77ado.s and Dimensional Drmvinxs of Peripheral Devices
Type L in mm (feet)
DE9407235-I +100 ~10+:33)

3000 0
DE9407235-2
5000 ’100
0 (16.7+~)
DE9407235-3 +500 ~33,3+~ 67)

10000 0
DE9407235-4
15000 + 0500 (50+ p)
DE9407235-5
20000 + 0
500 (66.7+ ~67)
c) Cables for Incremental Encoder (without Connector on Encoder End)
L ,00% + 0.3S
(3,94 + )
E- UL Stield W,,, ComPmle KQVV-SW ~ncoder End
W,re Markers
Semmck End
Shell 10320-52 A0-008 (Ma”ulactured by sM.)
Plug >0120-30DWE
Type L in mm (feet)
DE9406971-1
3000 “0°0 (lo+~)
DE9406971-2 + 100 ~16,7 + :33,

5000 0
DE9406971 -3
10000 + 0500 (33.3+ p)
DE9406971 -4
t 5000 + 0500 (50+ :67)
DE9406971 -5
20000 + 0500 (66.7+ ;67)
L
“ Co”n..tor
Straight
Plug MS3108020-29S
CSble Clamp MS3057-!2A ]*[I 0.12 Mm#
Case 1032 O-52AO-OO8 (Mm, factmd by SM.)
Comectov 10120-3000VE (Mm, fact”red by 3M.)
Encode! End Servopack End
~ P: twisted-pair_shielded cables
‘Purchase cases and connectors separately. Refer to Section 5.6.3 Connector for
details.
407
5.6.5 Encoder Cables cent
;P- o
d) Cables for Absolute Encoder (with Straight Plug)
L
r I
0’
UL Stield W,,, ComPc,sl!e KOVV.SW ‘f
DP8409 123
(AWG22 x 3C, AwG26 x 6P)
/
MS3706B2C-29S (mmuf.mlu,ed by D,NcM DensM Kogyo K,K.]
Shell 10320-52 A0-008(Ma,.fectured by3M.] MS3057- i 2A Cable Clam P
Plug 10 I2O.3OOOVE
Type L in mm (feet)
DE9407236-1
3000 “0°0 (lo+p)
DE9407236-2
5000 ’100
0 (16.7+:33)
DE9407236-3 +500 ~33,3+; 67)

10000 0
DE9407236-4 +500 ~50+y)

15000 0
DE9407236-5
20000 ’500
0 (66.7 +}67)
e) Cables for Absolute Encoder (with L-shaped Plug)
ULSMd W,., c.~~.,lle KOVU.SW

(AWG22
x3C,AWG2B
x 6P)
Shell 10320.52A0.008
[Mm”t.CluredbY3M.]
Plug 1012O.3OOOVE MS3108B2C.29S (manufactured by Daichi Dmell KOWO K. K.)
MS3057.12A Cable ClamP
Type L in mm (feet)
DE9407237-I
3000 “0°~ (lo+p)
DE9407237-2
5000 ’100
0 (16.7+~)
DE9407237-3
10000 ’500
0 (33.3 +J67)
DE9407237-4
15000+y (50+~)
DE9407237-5
20000 ’500
~ (66.7+)67)
408
5.6 Swc@c.tims and Dinunsional Drawings of Peripheral Devices
f) Cables for Absolute Encoder (without Connector on Encoder End)
L 100$ +40.39)
I , I (3.94
Sheik 1032&52A0.008
Plug 1012O.3OOOVE
qi!zye UL StMd
(M,nufac,”,ed
W,., CmDo,,te
by3M,)
KQVV.SW
Type L in mm (feet)
DE9406972-1 +100 ~10+:33)

3000 ~
DE9406972-2
5000 ’100
0 (16.7+~)
DE9406972-3
10000 ’500
0 (33.3 +;67)
DE9406972-4 +500 ~50+y)

15000 0
DE9406972-5
20000 ’500
0 (66.7 +~67)
‘ * /
1
connector
L Straiqht Pl”g
Cable Clamp
MS3106B2O.29S
MS3057.12A
/
0.12.1+
L
Case 10320-52A0-0b8 (Mmul@,redby3
Connee!w
M.]
10120.3000VE (M.mufmtwedby3 M.)
/
1
Encods! Ssrvopack End

(2CN)
z P: tvJsted-pair shielded cables.
'Purchase cases andconnectors separately. Refer to Secfion 5.6.3 Connector for

details:
409
5.6.5 E“cod,r Cables ..”(,
g) Cableefor incremental Encoder (without Connector on Both Ends)
Cable AwG22 X 3c, AwG26 X 4P
===$+
Type L in mm (feet)
B9400064-1 +100 ~lo+p)

3000 0
B9400064-2
5000 ’100
0 (16.7+~)
B9400064-3
10000 ’500
0 (33.3+y)
B9400064-4
15000 ’500
~ (50+y)
B9400064-5
20000 ’500
0 (66.7+~)
‘ * / *
1 1
CO...,!.,
1. Straight Plug
Cable Clamp
MS3106B2O-29S
MS3057-12A
/
O.lzm’n,
1. Case?0320.52A0.008
CO””.COX
[M.m”fac,”red
10120.3000VE
by3M.)
(M,”” fac,”redby3 M,]
/
Encoder End Servopack End

(2CN)
~ P twsted-psir stielded csbles.
‘ Purchaeecaps, sockets, cases, andconnectors separately. Refer to Secfion5.6,3Con-

nector for details.
h) Cables for Absolute Encoder (Cable Only)
Cable AWG22 x 3C, AWG26 x 6P
==$~
410
5.6 Speeifzalio.s and Dimensional Drawing$ of Peripheral Devices
Type L in mm (feet)
DP8409123-1 +100 ~lo+g.33)

3000 0
DP8409123-2
5000 + 0’00 (16.7+ ~)
DP6409123-3
10000 + 0500 (33.3+ y)
DP8409123-4
15000 + 0500 (50+ :67)
DP6409123-5
20000 + 0500 (66.7+ ~)
*
“
1.
cm”..,.,
Str.!ght P lug
Cable (lamp
MS3106B20-29S
MS3057-I 2A 1
/’
f:..C.%,
<
Cm...,.,
,0320 52A0 008 (Mmufactmd
10120-3000VE (Mmufm!”red
by 3M.)
by 3M.)
]
*
, 0.12mm2
Encoder End Sewopack End

(2CN)
z P: twdsted-pair sMelded cables.
‘ Purchase caps, sockets, cases, and connectors separately. Refer to Section 5.6.3 Con-
nector for details.
411
5.6.5 Encode, Cables cont.
2) Forthe SGMand SGMPTypes
a) Cableafor incremental Encoder (Connector Both Ends)
Sewopack End of Cable

Connector for Encoder End of Cable
Case: 10320.52A0.00s
Cap 172161-1 (9-pin) Cable a9400064
Socket 170361-1 or170365-1
&#=*’0’20-3000vE
35
(1.38) L
Type L in mm (feet)
DP9320089-1 +100 ~lo+p)

3000 0
DP9320089-2
5000 ’100
0 (16.7+:33)
DP9320089-3 +500 ~33,3+; 67)

10000 0
DP93200e9-4
15000 + 0
500 (50+ y)
DP93200e9-5
20000 + 0
500 (66.7+ )67)
b) Cables for Absolute Encoder (Connector Both Ends)
Servopack End of Cable

Connector for Encoder End of Cable Case: 10320-52A0-008
Cable DP8409123
Cap: 172163-1 (15-pin) Connectm 10120.3000VE
Heat
Socket 170361-1 or 170365.1
w+ -
35 @
(1.381 L
Type L in mm (feet)
DP9320088-1
3000 + 0’00 (10+ p)
DP9320088-2
5000 + 0100 (16.7+~)
DP9320088-3
10000 + 0500 (33.3+ ;87)
DP9320088-4
15000 + 0500 (50+ y)
DP93200e8-5
20000 + ~500 (66.7+ ~67)
5.6 SDecjfications and Dimensional Drawi.m of Peripheral Devices
. c) Cables for Incremental Encoder (Sefvopack End without Connector)
Cable B9400064 WJre Markers

(AWG22 x 3C, AWG26 x 4P) /
End
(2.36)
Type L in mm (feet)
DP9320086-1 +100 ~lo+p)

3000 0
DP9320088-2
5000 + 0’00 (16.7+ ~W)
DP9320086-3
10000+ p (33.3 + }67)
DP9320086.4
15000 + 0
500 (50+ y)
DP9320066-5 + 500 ~66,7 + )67,

20000 0
*
‘ Case: 10320.52A0-006 (Manufactured by 3M.)
Cap: 172161-1
L Connector 101 20-3000VE (Manufactured by 3M.) III
/
8ocket 170361-1 o.12nml,

.
Servopack End
Encoder End
~ P twisted-pair .Melded cables,
‘Purchase cases and connectors separately. Refer to Section 5,6,3 Connector for
details.
413
5.6.5 Encoder Cables cent
,-
d) Cables for Absolute Encoder (Servopack End without Connector)
Wre Markers
Cable DP8409123
Cap: 172163-1 (l S-pin) (AWG22 X 3C, AWG26 X 6P)
Socket 170361.1 (connected) Heat
Shrink Tube
‘nCoderEnd ‘L ~ ‘“=’”””
[2.36)
.
Type L in mm (feet)
DP9320085-1 + 100 ~,. + ~).

3000 0
DP9320085-2
5000 + ~100 (16.7+ ~)
DP9320085-3
10000 + 0500 (33.3+ )67)
DP9320065-4
15000 + 0500 (50+ y)
.
DP9320085-5
20000 + 0
500 (66.7+ ~)
(:. .(
*
/),
Case 10320 52A0 008 Manufactured by 3M.)
( Connecto~ 10120 -3000VE (Manufactured by 3M.)
Can: 172163-1
Socket 170365-1 , 0.i2nlm,
Encoder End
L
0.32..,
~ P twisted-pair shielded cables
‘Purchase cases and connectors separately. Refer to Section 5.6.3 Connec/orforde-

tails.
414
5.6 Specif=ations and Ditnensiorud Drawings of Peripheral De,icm
. e) Cables for Incremental Encoder (Cable Only)
~$+
Type L in mm (feet)
B9400064-1 + 100 ~10+:33)

3000 ~
B9400064-2
5000 + 0100 (16.7+ ~)
B9400064-3
10000 + 0500 (33.3+ ~,
B9400064-4
15000 + 0500 (50+ ;67)
B9400064-5
/ ./
20000 + 0500 (66.7+ ~,
*
[
Cap 172161.1 (Manufactured by AMP.)
Socket 170361.1 or 170365-1
(Manufactured by AMP.) 11 Case: 10320-52AO-OOS (Manufactured
Connector 101 20-3000VE
by 3M.)
(Manufactured by 3M.)
1
Sewopack End
Encoder End
~ P: tvdsted-pair shielded cables.
‘ Purchase caps, sockets, cases, and connectors separately. Refer to Section 5.6.3 Con-
nector for details,
415
5.6.5 Encoder Cable, cont.
f) Cables for Absolute Encoder (Cable Only) /-
~$~
Type L in mm (feet)
DP8409123-1
3000 “0°~ (lo+p)
DP8409123-2
5000 ’100
0 (16.7+~)
DP6409123-3 +500 ~33,3 +&67)

10000 ~
DPe409123-4
15000 ’500
~ (50+y)
DPe409123-5
20000 ’500
(J (66.7+~) ,
*
(’-’’6”
~Socket170361-lor170365-1~
Y( ~
Case: 10320-52A0.008 (Manufactured by 3M.)
Connector 101 20-3000VE (Manufactured by 3M.)

1
)
0.12 mm,
o.32nlnl,
~ P twisted-pair shielded cables.
‘ Purchase plug, cable clamp, cases, andconnectors separately. Refer to Secfion 5.6.3
Connector for details.
3) Details of theencoder cables aresummatized inthe table below.

These cables are not supplied as accessories with a Servopack or Servomotor
Purchase in standard specified lengths as required.
416
5.6 Snecifz.fionsandDimensionalDrawimzs of Pwinheral Device,
Cable Incremental Encoder (Yaskawa Absolute Encoder (Yaakawa Drg.

Specification
!asic
specifications
“inished
limensiOn ~
lternal Structure
nd Lead Colors
Al Red Al Red
Black
Y
A2 Black A2
Green/Yellow A3 Grean/Yellow
A3
F, Blue - White/Blue B, Blua - White/Blue
(Twisted pair)
(Twisted pair)
Yellow - WhitafYellow 92 Yellow - White/Yellow
F2
(Twisted Pair) (Twisted Pair)
F3 Green - White/Green B3 Green - White/Green
Orange. White/Orange B4 Orange - White/Orange
F4
B5 Purple - WhitelPurple
(Twisted Pair)
Be Grey - White/Grey
(Twisted Pair)
I Yaskawa Standard Iangths
k&&L 3 m (9.8) ,5 m (18.4) , 10 m (32.8), 15 m (49.2), 20 m (85.8) ‘
‘When appropriate cable is used, the allowable wiring distance between Se fvopack and Ser.
vomotor (PG) is 20 m (65,6) max.
Note See items 1) a) to f) and 2) a) to d) in ttlk section for details about cables with connectors.
5.6.6 Battery for Absolute Encoder

1) Purchase the following battery if using an absolute encoder, (Manufactured by Toshiba
Battery Co., Ltd.)
417
5.6.7 lCN Connector
.
5.6.7 lCN Connector
1) This connector is required to connect the host controller to lCN on the Servopack.
. Connector
~~~f~* ~
Units: mm (inches)
Connector Type A B c
101 50-3000VE 130.48 (1 .20) I 36.7(1 .44) I 41.1 (1 .62) {
Manufactured by 3M.
418
5,6 Specif=atiom and Dintensional Drawings of Peripheral Devices
. . Case
For -52A0
~agram of Assembled Connector (for reference)
Units: mm (inches)
Connector Case A B c D E F
Type Type
10150-3000 10350-5 41.1 52,4 18,0 17.0 14.0 46.5
VE 2AO-O08 (1.62) (2.06) (0.71 ) (0.67) (0.55) (1 .83) H
Manufactured by 3M
2) The 1CN connector type is shown below.
Connector Application Connector Part List

Type Connector Case
Type Qty Type Qty
DE9406970 1/0 connector 101 50-3000V 1 10350-52AO- 1
forl CN E’ 008’
‘ Manufactured bv 3M.
419
5.6.8 Connector Terminal Block CoIIwrter Unit
.
5.6.8 Connector Terminal Block Converter Unit
1) A connector terminal block converter unit comprises a ICN connector 0.5 m (1 .64 ft)
cable.
The terminal block numbers match the Servopack lCN connector numbers.
. Connector Terminal Block Converier Unit Type:
PI
JUSP-TA50P
;,rlD ;~
F+ ~
s5dA.K
WB.!w
420
5.6 Specifications and Dinte.sio.al Drawings of Peripheral Davices
. 2) The relationships between terminal block pin numbers and signal names are shown in
the table below.
i*;:.:;’;sq.R@!$#*i&jj::i+j ;t:i:f$t::~eimtiwhtd$~:vtivy.
~gnal ICN Con”ecmr Terminal
No. blockNo.
Name Wn No ,.. ,
eG 1 Al i
!,
SG 2 ei 2
11
PLI 3 /42 3
SEN 4 e2 4
II
V-REF 5 A3 5
(1
SG 6 e3 6
II
PULS 7 A4 7
1,
*PU LS s , I e4 8
T-REF 9 II A5 9
----
SG
SIGN
10
13
II
T
e5 10
11
F *SIGN
PL2
aCLR
a6 12
13
14
CLR P.8 15
TQR-M 16 16
VTG-M 17 17
. ii
PL3 18
Pco 19 1
II
B*PCO
BAT+
~ aAT-
+12V
20 1,=
,.
11
II
Zm
I 23
-12V
N-CMP+
N-CMP-
ITGON+
ITGONJ
a
IS-RDY+ ,,r
I /S-R DY- ~ B15 30
II
ALM+ 31 Al 6 31
P
E
II
ALM- 32 al 6 32
PAO 33 A17 33
II
* P ;r
●PAO B17 34
11
Peo AIS 35
II
*PBO B18 36
1
ALO1 37 11 Ale 37
AL02 38
II
e19 36
AL03 39 A20 39
II
IS-ON 40 B20 40
II
IP-CON 41 A21 41
1 1 42
P-OT 42 B21
II
N-OT 43 A22 42
11
IALM-RST 44 B22 44
II
/P.CL 45 A23 45
IN-CL 46 II S23 46
+24 V IN 47 A24 47
II
Pso 48 ~ *
,1P
~Pso ~ ~ & ~
\f
FG 50 B25 50
-r
Connector Case Cable SuppNed with terminal block
$ P : Twisted pair
421
5.6,9 Cable Wt4h ICN Connector and One End Without Connector
5.6.9 Cable With 1CN Connector and One End Without Connector
1) Useacable with no connector at the host controller end. The loose wires are marked with
labels with terminal numbers indicated.
SGDB Servopack (3M50P COtIneClOr)

Sleeve F2(Black)
Cable (Black)
Cmmeclor d ServoPeck End (50P) SSRFPVV-SB 28 x 25P
107 50-6000 EL(Man “fact”red by 3M .) UL20276 VW.lSC Terminal ‘Umkr
,er.,m number labels (abe!$ a28 @ 11)
shell
10350-5240-008
‘Z’g(a
@,, L lCQ$”
Details of Lead
Type L in mm (feet)
DE9406969-1 + 30 + 0.1
1000 ~ 3.33 ~
DE9406969-2 + 50 + 0.17
2000 0 6.67 0
DE9406e69-3 + 50 + 0.17
3000 0 10 0
422
5.6 Specifzattins and Dimensional Drawings of Paripherd Devices
5.6.10 Circuit Breaker
1) The customer should purchase a circuit breaker (MCCB) of appropriate capacity.
. Recommended Product
. Ground fault detector for motor protection manufactured by

Mitsubishi Electtic Co. Ltd.
Type: MN50-CF
m Use to protect the power lines.
5.6.11 Noise Filter
1) Select the noise filter from the following three types according to the Servopack capacity.
Section 5.6.1 Cable Specifications and Periphera/ Devices provides a summary list
showing the relationship between Servopack capacity and noise filter type.
❑
Q
Install to ebminate external noise from the power tines.
Y2’
● Dimensional Diagrams
. LF-300 (Three-phase 200 VAC Class)
423
5.6.11Noise Filter cont.
in mm (inches)
Parts A B c D E F G H I J
Name
H=
LF-310 180
(7.09)
LF-315 180
(7.09)
LF-320 180 20 I 135 1150 135(1.38) 185(2,56) 14.5(0.18)
(7.09)
., ,, ,, ,, I (5.91)
., I I I X7 I
LF-330 180 170 60 (2.36) 29(1.14) 120 135 150 35(1 .38) 65 (2.56) 4.5(0.16)
(7.09) (6.69) (4,72) (5.31) (5.91 ) X7
LF-340 180 160 50 (1.97) 30(1.18) 200 220 240 40 (1.57) 80 (3,15) 6.5(0.26)
(7.09) (8.30) (7.67) (8.68) (9.45) x9
LF-350 160 160 50(1 .97) 30(1,18) 200 220 240 40(1 .57) 80 (3. 15) 6.5(0.28)
I (7.09) I (6.30) I (7,87) 1(6.66) 1(9.45) x9
LF-360 1200 I 180 160(2.36) 130(1.18) 1300 1320 I 340 140(1.57) 1100 I 6.5[0.26)
L I (7.87) 1(7.09) I I 1(11,81) I (12.60) 1(13.39) I 1(3.93) 1X9 I
. LF-K (Three-phase 200 VAC Class)
in mm (inches)
Paris Name l Terminal Block I A B c D E F G H

LF-3eOK TE-K22 M6 67o 400 560 380 500 170 9x@6.5 06.5
(26,38) (15.75) (22.05) (14.96) (19.69) (6.69) (0.26) (0.26)
424
5,6 Specifxafions and Dimsndmud Drawin~s of Peripheral Devices
\
5.6.12 Magnetic Contactor
1) Select an approptiete magnetic contactor according to the SGDB Servopack capacity,

For multiple eervo systems, select a magnetic contactor that meets the total capacity,
Turns sewo ON and OFF.
(Note) Attach an appropriate surge suppressor to the

magnetic contactor,
Type I Outside Dimensions I Mounting Holes I Terminal Svmbols

5.6.13 Surg8 Suppressor
Type Outside Dimensions Terminal Svmbols
I-25E
2xM4
Mounting Holes
APPrOX. MaSS
0.75 k~ (1 .65 lb)
11-30E tact Terminals

Gary Cmlad Terminals
M4
MounfinQ Holes
(use the two places
d the same tiretilo”
. .. (
!“...,
mm Mass
0.78 k, (1.71 lb)
+1-35E x M4 M4 Auxifi.ry C;.”,?,., Term !“.15

Io.nti”g Hole,
M4
Mounting Holes
(Use the two Dlace$
of the mm. dre.tim)
APPTOX.Mass
1.2 ko (2.64 lb)
5.6.13 Surge Suppressor
1) Attach a surge suppressor to the magnetic contactor to prevent power supply noise and
protect contacts.
. Recommended Product
Spark Nller manufactured by Okaya Electric Industries Co., Ltd.
Resistance: 50 Q (1/2 W) +30%
m “’a:;’’’”
426
5.6 Speci@Iiom and Dimensional Drawings of Peripheral Devices
5.6.14 Regenerative Resistor Unit

1 ) For Servopacks (SGDB-60 or higher) for use with motors with 5,5 kWor more, externally
attach a regenerative resistor to the Servopack. This resistor is used for dissipating
regenerative energy.
1) Use one of the following regenerative resistor units according to the Servopack type:
SGDB Servopack Type Regenerative Resistor Unit Type

60ADD JUSP-RA04
75ADG JUSP-RA05
IAADG
. Dimensional Drawings
4.+ 6 (4-90.z41 P rotecwe cover

, Mo.n,,ng Hole ,
w.::$~ External
Teminal
(M5S,’,.)
220W, 250 Cement !desislor

(4 0,8 Resistors Cmmde6 In
. Terminal Numbers
-----
-----. . . ..
H
RI R2
Units: mm (inches)
Type w H D Ml M2 Approx.
mass
JUSP-RA04 220 (e.66) 350 (13.7s) e2 (3.62) 180 (7.09) 335 (13.19) 4kg
JUSP-RA05 300 (11.61) 350 (13.7s) 95 (3.74) 250 (9.84) 335 (13.19) 7kg
427
5.6.16 Encoder Sigaal Converter Unit
5.6.15 Variable Resistor for Speed Setting
1) This variable resistor is used to give speed references by applying the speed reference
voltage from an external power supply across ICN pins #3 and #4.
1 SGDe
1.8k Q (1/2 W) min.
Psnel
‘agram “vms
~2,507.5(00,30)
H0LE
(.O.lO)% Type 25 HP-10e ‘—-—-—
HOLE Multi-wrap vsdable resistor with
(i:
b ) MD I o-30B4 dial, manufactured by Sskae
Tsushin Kogyo K.K.
5.6.16 Encoder Signal Converter Unit
1) Unit toconverltheencoder signal output from the line drivertoan open collector output or
voltage pulse output.
,
D m+,
----
@
tine Receiver Unit
. Terminal Numbers
.V ‘
S!E
Input Phase A ,: ‘ Output Phase A
Input Phase A ,,
Ihput Phase e , s Output Phase B
Input Phase E
Input Phase L :’ Output Phase Z
Input Phase Z
OV4
428
5,6 .%ecifiiatio.s and DimendotIol Drawinm of Peripheral Devties
● Dimensional Drawings
11-M3.5 x 7
Cross slot screws
b .,?,.<?’?!)
~...-.– .... .$OO...~+,+.?~j [114)
J:’0;8,J,Y
~1 [~~: :[ g
~, . ..50_. ;
~e, !4,, :, ~ ~so+,,
[1.97) ,.. ~
.J (1.57+0.0079) : %!. ]
51 max. * .+
[2.01 ) 33.5 m,,
(1.32)
2) The encoder signal converter unit specifications are as follows:
Type Receiver Unit

Spec. LRX-OIIA1 LRx-ol/A2 LRx-ol/A3 LRX-011A4
Power Supply 12 VDC + 10”A, 100 mA 5 VDC + 5%, 100 mA
Input Signals Salanced line driver input (RS-422)
Output Signals Voltage pulse Open collector Voltage pulse Open collector
output output output output
Input Signal Voltage differential 2 0,3 V, internal termination resistance 100 S2
Level
Output Signal H: 10V min. b 0.5 V max. H: 3 V min. L 0,5 V max.
❑
Level (1 mA) (3o mA) (1 mA) (30 mA)
L 0.5 V max. Withstand L 0.5 V max. Withstand
(30 mA) voltage 50 V (30 mA) voltage: 50 V
Operating O to +600C
Ambient
Temperature
Range
IC Used AM26LS32C Receiver IC, or equivalent
429
5.6.17 Cable, for Connecting PC and Se,-vopack
5.6.17 Cables for Connecting PC and Servopack
1) Special cables for connecting a PC to a Servopack. Using these cables allows monitoring
and setting of user constants with a PC.
PC software is available for these communications. Ask your Yaskawa representative for
details, Operate the soflware as described in tha manual supplied.
Rear of PC Servopack
DOK 17LE-I 3090-27 (D2BC)
0 0 ‘*2C 0 ;0
T T
Connection Cable (2 m) (6.56 ft) or less

H:
D-Sub 25-pin (Male) or D-Sub 9.pin (Male) or

17JE-23250-02 (DSA) (Made by DDK) 17JE.23090-02 (DEB) (Made by ODK)
. Dimensional Drawings for Type DE9405258 (for NEC PC)
D-Sub connector 25.pin (Male) 17JE-23250-02 (OSA)

I
I
flp=a~ M2,SSCreW 018x7 sMe1ded

cable w,th 9 1,.,s
17JE-23C90.02 (D 1)
Note: Fold the cable shielding back at each end of the cable and secure it with clamps.
2) The communications specifications and connecting-circuit specifications are listed be-

low,
. Baud Rate: 9600 bps
. Number of Bits Stati. 1 bit

Data 7 bits
stop: 1 bit
Perity: 1 bit (even)
. Synchronization Start-Stop
. XON/XOFF Control None
430
5.6 .$mcifzations and Dimensional Drrmvinzs of Peripheral Devices
● Shift Control: None
. Communications Method: Semi-duplex
Servopack End (3CN) RS-232C Port (Personal Computer End)
*TXD 20 0 *RXD
!!
*RXD 40 ,, *TX D
Ov 90 0
::
}:
Sheld \ ~ G i:
.)
FG Case O FG
Note: Maximum cable length is 2 m (6.56 ft).
3) Connection is also possible to the RS-422A port. In this case, the connection circuit is as
follows:
. Transmission Distance: 30 m (98.4ft) max
. Transmission System: RS-422A
Se fvopack End (3CN) RS-422A Port (Personsl Computer End)
TXD 1~ RXD
*TXD 2- *RXD
RXD 3~ TXD
xRXD 4~ *TXD
*RXD
RT ~~ !! shield
Ov 9~ Ov
FG case ~j
. Terminal Arrangement at Servopack End
Pin Signal Name Signal Circuit Name Signal Direction

#
1 TXD Transmit data (not invatted) P-s
.-. ,- -.
z .IAU Tranamit data (inverted)
=R==
El
3 RXD Receive data (not invetted)
4 ‘RXD Receive data (inveried)
5 OPH 1#
6 ‘RXD Shotiing pins 6 and 7 inserts 220 Q termination resistance
7 RT between RXD and ‘RXD.
8 I 5VPP #
9 I GND I Signal ground O V
P: Personal computer
S: Servopack
#: Terminal not used, leave open.
431
5.6.17 Cables for Co.necti%. PC and .%wopack cont.
4) Cable for connecting Servopack and DOS/V PC (IBM compatible)
Two methods are available: using the conversion adaptor or directly connecting Servo-
pack and DOS/V PC.
<Connecting to DOS/V PC (IBM compatible) with conversion adaptor>
Use Yaskawa DE9405258 type cable. Separately, prepare the conversion adaptor and
connect it to the above cable.
●Cable for connecting PC and Servopack Type DE9405258
. Conversion Adaptoc Type ACAl 05
D–sub 25-pin D–sub 25–pin

(Female)
D-sub 9-pin
\
D-sub 9-pin (Female) (Male)
(Personal Computer End) (Setvopack End)

a
RS–232 Conversion DE9405258

.AdaDtOr
<Connecting directly to DOS/V PC (IBM compatible)>
. Dimensional Drawings: Type DE9408565
D-sub Connector
17JE-I 3090-02 (DSA)
Iii
;- i
2oc0*w
.,
D
❑ u :1:
nll .
Cable (Black)
UL2921 2-M3 Screw
+!
9–strand Msted Wtcho.s P,n Connector
2–M2.6 Screw
Pitch 0.45 g;yd::~able 17J E-23090-02(DI )
Note: Fold back the cable stielding at each end of the cable and secure it with clamp.
● Connection
Personal Computer End Servopack End

(O-sub 9-pin) (O-sub %pin)
Clamp with Hood ~,.~ 0 Clamp with Hood

::
,,
Bxo20 02TXD
m $0 !! 04W0
RTS 1
CTS8 2 ~~
SGtlD50 09 SGND
1./
432
5.6 Specification and Dimensional Drawings of Peripheral Devizes
5) Cable forconnecting Sewopack and NECPC-98half-pitch connector
Two methods are available; using the RS-232C conversion cable or directly connecting
Servopack and NEC PC–98 half-pitch connector.
<Connecting toNEC PC-98 half–pitch connector with RS-232C conversion cable>
Use Yaskawa DE9405258 type cable, Separately, prepare the RS–232C conversion
cable and connect it to the above cable.
.Cable for connecting PCand Servopack Type DE9405258
. RS–232C conversion cable: Type ACAl 15
D-sub 25–pin
(Female) j D–sub 2>pin D–sub spin
Half-pitch connector 1&pin (Male) (Male) (Male)
(Personal Computer End) (Serdopack End)

a
RS-232 Conversion DE9405258

Cable
<Connecting directly to NEC PC–98 half–pitch connector>
. Dimensional Drawings: Type DE9408564
Plug: 10 I14EL
Shell:10314-S21 &OOO (Made by 3M)
I mm,.
E10I--g&+
!
Imn ;1:
.
Cable (Black)
UL2921 2–M3 Screw
9-strand tisted Pitch 0.5
Pin Connector
(0.16 x7) 17JE-2309CJ32(DI )
s~elded cable
Note Fold back the cable shieldhg at each end of the cable and secure it with clamp.
. Connection
Personal Computer End Servopack End

(3CN)
Clamp with Hood 0 4 Clamp with Hood

FG 120 ,!
,(
RKD 1 0 0 2 lXD
TXD 9ct :! D 4 RXD
FITS 10
GTS 4 z ~~ ,,,GND
3GND 140
$. /
433
INSPECTION,
AND TROUBLESHOOTING
MAINTENANCE,
6
This chapter describes the basic inspections and maintenance to be carried
out by the customer.
In addition, troubleshooting procedures are described for problems which
cause an alarm display and for problems which result in no alarm display.
6.1 Inspection and Maintenance . .. .. .. .. . .. ... 436

6.1.1 Servomotor 436
6.1.2 Servopack 437
6.1.3 Replacing Batteryfor Absolute Encoder 438
6.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . 439

6.2.1 Troubleshooting Problems with Alamr Display 439
6.2.2 Troubleshooting Problems With No Alarm Display 465
●
6.2.3 htcmal Cmmection,
Diagram and
Instmment Connection Examples 467 H
435
INSPECTION, MAINTENANCE, AND TROUBLESHOOTING
6.1.1 .sewomoior
6.1 Inspection and Maintenance
~ This section describes the basic inspections and maintenance for X-Series servo drives.
6.1.1 Servomotor, ,.................................................... 436
6.1.2 Servopack .. . . .. . . . . . .. . . 437

6.1,3 Replacing Baffery for Absolute Encoder ............................. 438
6.1.1 Servomotor
For inspection and maintenance of servomotors, follow the simple, daily inspection proce-
dures in the table below.
The AC servomotors are brushless. Simple, daily inspection is sufficient. The inspection and
maintenance frequencies in the table are only guidelines, Increase or decrease the frequen-
cy to suit the operating conditions and environment.
Item Frequency Procedure Comments

Vibration and Daily Touch and listen. Levels higher than normal?
noise
Appearance According to Clean with cloth or
degree of compressed air.
contamination
Insulation Yearly Disconnect Sewopack and Contact your Yaakawa
resistance test insulation resistance at representative if the
measurement 500 V. Must exceed 10 MQ. insulation resistance is
(See note below) below 10 MQ.
Replace oil seal Every 5,000 Remove servomotor from Applies only to motors with
hours machine and replace oil seal. oil seal.
Overhaul Every 20,000 Contact your Yaskawa The customer should not
hours or 5 years representative. disassemble and clean the
servomotor.
Note Measure across the servomotor FG and the U-phase, V-phase, or W-phase pow-
er lead.
During inspection and maintenance, do not disassemble the servomotor.

If disassembly of the servomotor is required, contact your Yaskawa representative.
436
6.1.2 Servopack
For inspection and maintenance of the Servopack, follow the inspection procedures in the
table below at least once every year.
The Servopack contains highly reliable parts and daily inspection is not required. Carry out
the inspections and maintenance in the table below once every year.
Clean unit interior and Yearly
Check for loose terminsl block
Check for discoloration, damage Contact your Yaakawa

~ or discontinuities due to heatin
Part Replacement Schedule
The following parts are subject to mechanical wear or deterioration overtime. To avoid failure,
❑
replace these parts at the frequency indicated.
●
Part Standard Replacement Method

Replacement Period
Cooling fan 4 to 5 years Replace with new part
Smoothing Capacitor 7 to 8 years Test. Replace with new parl if necesaaty.
Relays Test. Replace if necessary.
Fuse 10 years Replace with new part.
Aluminum Electrolytic 5 years Test. Replace with new circuit board if
Cgpacitor on Circuit Board necessary.
Note Operating Conditions:
. Ambient Temperature: annual average 30°C
. Load Factor 800/. max.
. Operation Rate: 20 hours/day max.
If the Servopack has been already overhauled at YASKAWA, its user constants are setback
to the standard settings on shipment, Always check the user constants before operating the
motor.
437
6.1.3 Replacing Battev for Absolute Encoder
6.1.3 Replacing Battery for Absolute Encoder

Battery replacement is only required for servo systems using an absolute encoder
The battery type recommended below (purchased by the customer) is installed in the host
controller to allow the absolute encoder to store position data when the power is turned OFF.
Recommended Battety
. Lithium Battery
ER 6 VC3, manufactured by Toshiba Battery Co.,
Ltd. 3.6 V, 2000 mAh
Estimated Life: Approximately 10 years
SGMU Ssrvomolor
Host Controller SGDe Sefvopack sbsolute encoder
+5V SEN ,.-,

11CN-4 2CN-4.5.6< b ‘-V ‘“””’’” 2
74ce I oSEN ; P ; ~cN.2 *CN.l .2,3 ?am : ?:
Ov+ BAT : : , ~~.~, sCN.12 , .~T+!;
I BATO ! p ~ , CT.22 zCN.13 ..

WT. ! P;
PAO
I : : ,CN=
zCN.16 ‘A
1%”-”
-Pm , P,
F ,CN-W =N-17 h
Pm , , ,cN.~
*pm : P: ,CN.=
Pco s 8 ,CN.,9
.Pca ! P ! ,cN.m
Pso , , ,cN.a
.PsO , P , ,CN,40
!,
1 S.G : : ),,cM, ,!
. 2CN.1O
b II
Ov +
R -.:
ZCN-2C
;;
,,
ti
Ov Siielded wire
I
Note PS, PSO signals are used only for 12 bit absolute encoder.
The battery voltage is not internally monitored in the Servopack. Therefore, detect low battery
voltage at the host controller.
Minimum required battery voltage is 2.8 V.
Replace the battery according to the following procedure if the battery voltage drops to the
minimum required battery voltage. The battery maintains absolute position data stored in the
encoder.
Battery Replacement Procedure:
1 ) Turn ON the Servopack and wait at least 3 minutes. The absolute encoder capacitors are
charged.
2) Replace the battery in the host controller. The Servopack power supply can be ON or
OFF during battery replacement.
Note After completing step 1 above, the absolute encoder will function normally for up to 2 days
with no battery.
438
6.2 Tmublesbootinz
6.2 Troubleshooting
This section describes causes and remedies for problems which cause an alarm display
[ and for problems which result in no alarm display,
6.2.1 Troubleshooting Problems with Alarm Display. . ,.. 439

6,2,2 Troubleshooting Problems With No Alarm Display ., ,. ..,., 465
6.2.3 Internal Connection Diagram and Instrument Connection Examples 467
6.2.1 Troubleshooting Problems with Alarm Display

Refer to the tables below to identify the cause of a problem which causes an alarm display
and teke the remedy described.
Note that A.99 does not indicate an alarm.
Contact your Yaskawa representative if the problem cannot be solved by the described pro-
cedures.
439
6.2.1 ~oublsskooti.g Pvoblems with Ahrm Dtipbyco”t.
1. Alarm Display and Troubleshooting Table
Display and Outputa
Oigitai Operator Alarm Output

Display and Alarm Code Output Alarm Output
Alarm Name
ALO1 AL02 AL03
A.00 OFF OFF OFF OFF
Absolute data
error
OFF: Output transistor is OFF

ON: Output transistor is ON
Statua When Alarm Occurred
~-,,
R
Cn-01Mt 1.0
F
Cn-01 EM 1 = 1
A, B, C, D, E, F
I I
Absolute encoder power not supplied from Use the Sewopack power supply for the
Incorrect absolute encoder wrong (PA, PB Check and correct the absolute encoder
Absolute encoder malfunctioned . lfCn-01 Sitl=O, turn SENsignal OFFand

~ back ON. (See note on page ‘WZ13d’”.)
I I . If Cn-01 Bit 1 =1, turn Servopack power
OFF and back ON.
D Incorrect user constant setting. Set Cn-01 Sit Eto O.
incremental encoder usedwith Cn-01 Bit E
set to 1.
E Absolute encoder defective Replace sewomotor.
F Circuit board (1 PWB) defective Replace Servopack.
Note Alarm A. OOisresetwhen thepoweris turnad OFFandback ON. ltisnot reset bythe normal
alarm reset.
NOTE Reletting SENSignal

When resetiing the SEN signal (i.e., turning it OFF and then back ON) for any reason, keep
the SEN signal at the high level for more than 1.3s before turning it OFF.
OFF ON= High Level OFF ON

SEN signal 1.3s min.
1-’---45 ~,~
440
Display and Outputs
Oigital Operator Alarm Output

Oisplsy snd Alarm Code Output Alarm Output
Alarm Nams
ALO1 AL02 AL03
A.o2 OFF OFF OFF OFF
User constants
breakdown
OFF: Output transistoris OFF

Status When Alarm Occurred
~AB
Csuse Remedy
A Power turned OFF during parameter write. Replace Servopack.
Alarm occurred next power ON,
B Circuit board (1 PWB) defective Replace Servopack.
Display and Outputs
Ofgltal Opsrator
Display and
Alarm Output
❑
●
Alarm Code Output Alarm Output

Alarm Name
ALO1 AL02 AL03
User constant
salting error

~AB
Cause Remedy
A An out-of-range user constant was Reset all usar constants in range.
previously set or Ioadad. Otherwise, re-load corract usar constants.
441
6.2.1 Troubleshooting Probltvm with Alarm Display cont.
Displsy and Outputs
Digitsl Operator Alarm Output

Oisplay and Alarm Code Output Alarm Output
Alarm Nsme
ALO1 AL02 AL03
A.1O ON OFF OFF OFF
Ovsrcurrsnt

Ststua When Alsrm Occurred
During servonmtor When servo ON (S-ON)

operation A,B,D c, D
I
I
t
,
I signal turned ON ‘F
I 1
Cause Remsdy
A I Wiring grounded between Servopack and I Check and correct wiring.
servomotor.
B Servomotor U, V, or W phase grounded. Replace servomotor.
c“ . Circuit board (l PWB) defective Replace Sewopack.
. Power transistor defective
D Current feedback circuit, power transistor, Replace Servopack.
DB circuit, or circuit board dsfsctive.
442
6.2 Tro,,hlmhooti”v
Display and Outputs
Digital Operator Alarm Output

Display and
Alarm Nama
ALO1 AL02 AL03
A.30 ON ON OFF OFF
Regenerative
error detection

Regenerative transistor is abnormal.

Disconnection of the regenerative resistor Replace Servopack or regenerative
Regenerative res!stor unit disconnected Check wiring of the regenerative resistor
443
6.2.1 Troubleshooting Problems with A1.rm Display cont.

Alarm Nama
ALO1 AL02 AL03
A.31 ON ON OFF OFF
Position error
pulse overtlow
OFF: Output transistors OFF

During sewomotor
operation
=’
Overilow during
high-speed opera- A
tion
No feedback pulse
returned after refer- B, F
ence pulse input.
Normal operation
but overlow when
large reference in.
C,D,E
put.
El
Cause Remedy
A Servomotor wiring incorrect. Check and correct wiring. (Check A-, B-,
C-phase pulses correct at 2CN.)
B Encoder widng incorrect (disconnection,
shorfcircuit, power supply, etc.)
c Servopack adjustment incorrect Increase speed loop gain (Cn-04) antior
position loop gain (Cn-1 A).
D Servomotor overloaded Reduce load torque and inertia. Otherwise,
replace with larger capacity ser-vomotor.
E Position reference pulse frequency too . Decrease reference pulse frequency.
high . Usesmoothing function.
. Change electronic gear ratio.
F Circuit board (1 PWB) defective. Replace Sewopack.
444
6.2 Tmuble.,hootitw
Display and Outputs

ON: Output tranaiator is ON
1 I 1 (
I
I
At power ON
I I I
Cause Remedy
A The power supply voltage is not within the Check power supply,
range of specifications.
B Load exceeds capacity of the regenerative Check specifications of load inetia and
unit. overhanging load.
c Regenerative transistor is abnormal. Replace Servopack.
❑
D . Rectifying diode defective,
. Fuse blown.
●
. Inrush current-limited resistor discon-
nected.
F Servonack defective
445
6,2.1 Troubleshooting Problems with Alarm Display cont.
Display snd Outputs

Alarm Nsme
ALO1 I AL02 I AL03

Ststus When Alarm Occurred
When servo ON (S. ON)

signal turned ON
A’B’C’D’E =’
Dufing high-speed
se rvomotor r0k3ti0n A,B, C, D, E
after reference in.
put
=
Cause Remedy
A . Ssrvomotor wiring incorrect. Check and correct wiring. (Check A-, B-,
C-phase pulses correct at 2CN.)
. Encoder wiring incorrect (disconnection,
shortcircuit, power supply, etc.)
B Incremental encodsr power not supplied Use the Sewopack power supply for the
from Sewopack. encoder.
c Noise in encoder wiflng, Separate encoder witing from main witing
circuits.
D incorrect user constant (number of encoder Set user constant Cn-11 to the correct
pulses) setting. number of pulses.
E Circuit board (1 PWB) defective Replace Sewopack.
446
6.2 TroubImhootim-
Displsy snd Outputs

Displsy and Alarm Code Output Alarm Output
Alsrm Nsme
ALO1 AL02 AL03
A.71 ON ON ON OFF
Overload
(High load)
A.72
Overload
(LOW load)
OFF: OutDuttransistoris OFF

EEEEII-ABD mE
When speed reference

Input
No servomotor
rotation ~, C, D
Duting normal
operatton C, D
E
Cause Remedy
A Sewomotor witing incorrect or Check wiring and connectors at
disconnected sewomotor.
B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder.
c Load greatly exceeds rated torque Reduce load torque and inetia. Othewise,
replace with larger capacity sewomotor.
D Incremental encoder power not supplied Use the Sewopack powar supply for the
E Circuit board (1 PWB) defective Replace Sewopack.
447
6.2.1 Troubleshooting Problems with Alam Display cont.
Displsy and Outputa
Digital Operator Alerm Output

DLsplsy snd Alarm Cods Output Alarm Output
Alerm Neme
ALO1 AL02 AL03
Absolute encoder
error (only when
absolute encoder
is used)

At power ON Duting sewomotor

A, B, D, E
~ I opera~on k
m- 1 I
Csuse Remedy
\ Incorrect absolute encoder wiring (PA, PB, Check and correct the absolute encoder
RESET, SEN signal etc.) wifing.
1 Absolute encoder malfunctioned . At Cn-01 Bit 1 = O, turn SEN signal OFF
then back ON.
. At Cn-01 Bit 1 = 1, turn Servopack power
OFF then back ON.
; Circuit board (1 PWB) defective Replace Servopack.
) Error occurred in absolute encoder. ● At Cn-01 Bit 1 =0, turn SEN signal OFF
then back ON (if sewomotor is running,
first turn servo OFF).
Another encoder alarm displayed when ● At Cn-01 Bit 1 = l,tum Sewopack
SEN signal or power supply turned back power OFF then back ON.
ON.
Servopack miscounted pulses (positional . Separate encoder wiring from main wiring
displacement) or malfunctioned due to circuits.
noise.
cAt Cn-01 Bit 1 = O,tum SEN signal OFF
then back ON (if servomotor is running,
first turn servo OFF),
. At Cn-01 Bit 1 = I, turn Servopack power
OFF then back ON.
448
6,2 Troubltxhootinr
Display and Outputs

Display and
Alarm Nama
ALO1 AL02 AL03
Absolute encoder
back-up error
(only when 12 bit
absolute encoder
is used)
OFF: Output transistor iaOFF

At power ON When SEN signal turned

A,C
I I ON Cn-01 Wt 1 = O 1-
R
Cn-oi r?itl=o
B
Cn.01 Wl=l
A, C
Cause Remedy
A The following power supplied to the Follow absolute encoder set-up
absolute encoder all failed: procedures.
B
. +5v
●
supply
. Battery (ER8VC3)
Internal capacitor
Circuit board (1 PWB) defective Replace Servopack.
❑●
c Absolute encoder malfunctioned Replace sewomotor.
449
6.2.1 Tmublmhooting Problems with Alarm Display cont.
Oisplay and Outputs
r Digital Operator
Display and
Alarm Name
Alarm Output
T
OFF
L
sum-check error
(only when 12 bit
absolute encoder
is used)

At power ON When SEN signal turned

A
I I I ON, Cn.01 Sit 1 = O k
L I I I
I
H Cn-01 Eitl=O
I
B
During operation
I (see note) k
A
Cause I Remedy
A Abnormality during absolute encoder . Follow absolute encoder set-up proce-
memo~ check dures
I I. Replace servornotor if error occurs fre-

quently.
,B ] Circuit board (1 PWB) defective I Replace Sarvopack,
Note Anabsolute encoder error (A.80)is given initially ifasum-check error (A.82) is generated
during operation.
The sum-check error (A,82) occurs after turning the SEN signal (or Servopackpowersupply)
OFF and back ON.
However, the sum-check error (A.82) does occur during operation if the host controller is re-
ceiving the S-phase signal (serial data).
450
6.2 Troubleshooting
Display and Outputs

Display and Alarm Coda Output Alarm Output
Alarm Name
ALO1 AL02 AL03
Absolute encoder
sum-check error
(only whsn 12 bit
absoluta encoder

Status Whan Alarm Occurred
m I
1
r
When SEN signal turned
ON, Cn-01 EM i .0
t
(
1
A, B
0+
Cn-01 Htl=O During operation
c (see note) A, B
I t--
Cn-oi aiti.1
A, B
Cauae Remedy
A ● Battery not connected I Check and correct battery connection.
Nota Noalarm occurs atthe Sewopackwhen abatteyerror (A.83)isgenerated. The batie~error

(A.83) occurs the next time the SEN signal (or Servopack) turns ON.
However, the battery error (A.83) can be read during operation if the host controller is receiv-
ing the S-phase signal (serial data).
451
6,2,1 Troubleshooting Problems with Alcrm Display cont.
Display and Outputs

Display and
Alarm Name
ALO1 AL02 AL03
Absolute encoder
data error (only
when absolute
encoder is used)
OFF: Outputtransistoris OFF

At power ON
-’
Cn-01 wtl=o
B -’
B
Cn-01 Btl .1
A
Cause Remedy
Absolute encoder malfunctioned . At Cn-01 Bit 1 = O, turn SEN signal OFF
then back ON.
.At Cn-01 Sit 1 = 1, turn Ser-vopack power
OFF then back ON.
. Replace servomotor if error occurs fre-
F 1
quently.
B I Circuit board (1 PWB) defective Replace Servopack,
Note Noalarm occurs atthe Servopack when adataerror(A.84) isgenerated. The data error
(A.84) occurs the next time the SEN signal (or Servopack) turns ON.
However, the data error (A.84) can be read during operation if the hcst controller is receiving
the S-phase signal (serial data).
452
6.2 Troubleshooting
Display and Outputs

Alarm Name
ALO1 AL02 AL03
Absolute encoder
overspeed (only
when absolute
encoder is used)

ON: OutDut transistor is ON
m I
When SEN signal turned
ON, Cn.01 Sit 1 = O
k
A
Cause Remedy
A Absolute encoder turned ON at a speed Turn ON encoder power supply (or SEN
exceeding 400 rlmin, signal or Servopack power supply) at a
speed not exceeding 400 rlmin.
❑●
453
6,2,1 Troubleshooting Problems with Alarm Display cont.
Display and Outputs

Alarm Name
ALO1 AL02 AL03
A.A1 ON ON ON OFF
Heat sink
overheated

~-====+
I 1 I I
Cause Remedy
A The ambient temperature of the Sewopack Alter conditions so that the ambient
exceeds 55°C temperature goes below 55°C
B The air flow around the heat sink is bad. Follow installing method and provide
sufficient surrounding space as specified.
c Fan stopped. Replace Servopsck.
D’ Servopack is running under overload. Reduce load.
E Servopack defective. Replace Servopack.
454
Display and Outputs

Alarm Name
ALOI AL02 AL03
A.bl OFF OFF OFF OFF
Reference input
read error

I
I
During servomotor
operation
k
(
A, ~
I
At power ON
1- C
Cause Remedy
A Pail malfunctioned in reference read-in unit Reset alarm and restarl operation.
(PJD converter, etc.).
B Part defective in reference read-in unit Replace Sewopack.
(AID converter, etc.).
c Circuit board (1 PWB) defective Replace Servopack.
455
6.2.1 Troubleshooting Problem, with Alarm Display COW,
Display and Outputa

Alarm Name
ALO1 AL02 AL03
A.C1 ON OFF ON OFF
Servo overrun

H
At power ON
-“’CD’
User constsnt
C.-OI EJt O=O
E -“c”’
H
Occurred 1 to 3 se-
conds after power ON
User constant
Cn-01 Bit O=l A,B,C, D, E
Cause Remedy
A Servomotor wiring incorrect or Check wirhg and connectors at
disconnected servomotor.
B Encoder wiring incorrect or disconnected Check wiring snd connectors at encoder.
c Incremental encoder power not supplied Use the Servopack power supply for the
D Encoder defective Replace servomotor.
E Circuit board (1 PWB) defective Replace Servopack.
456
6.2 Tmubleshootinx
Displsy and Outputs

Alarm Nsms
ALO1 AL02 AL03
A.C2 ON OFF ON OFF
Encoder phase
detection error

Status When Alsrm Occurred
-A, B,C, D
kE!N!Y+ABcD
Separate encoder wiring from main wiring
Encoder wiring incorrect or pom Check wiring and connectors at encoder.
Circuit board (1 PWB) defective

~
457
6.2.1 Troubkxhootiag Problems with Alarm Display cont.
Display and Outputs

Alarm Name
ALO1 AL02 AL03
A.C3 ON OFF ON OFF
Encodar A-,
B-phase
disconnection
OFF Output transistor is OFF

Ststus When Alsrm Occurred
At power ON When servo ON (S-ON)

A,B,C, D
I signal turned ON –k
~A’B’c’D
Occurredl to3seconds
after power ON
I I
---
Encoder wiring incorrect or poor Check wiring and connectors at encoder.
Separate encoder wiring from main witing

~
458
DLsplay and Outputs
Oigital Opsrator Alarm Output

Alarm Name
ALO1 AL02 AL03
A.C4 ON OFF ON OFF
Encoder C-phase
disconnection

At power ON
-’””
User constant
Cn-oi ‘ito. o
B ‘ -“c”
Occurred 1 to 3 seconds
H
sfter power ON
User constant
Cn-Oi Bit O=l A, B, C, D
~’
Encoder wiring incorrect or poor Check wiring and connectors at encoder.
Separate encoder wiring from main wiring
459
6,2,1 Troubleshooting Problems with Alarm Display cont.
Display and Outputs

Displsy snd Alarm Code Output Alarm Output
Alsrm Nsme
ALO1 AL02 AL03
A.F1 OFF ON OFF OFF
Power line open
phase

-A’ -’
Cause Remedv
One phase (R,S,T) of the main circuit ● Check power supply.
power supply is disconnected. ● Check wiring of themain circuit power sup-
ply.
● Check MCCB, noise filter, magnetic con-
tactor.
There is one phase where the he voltage Check power supply
is low.
Servopack defective. Replace Servopack.
460
6.2 Troubleshooti.z
Display and Outputs

Alarm Name
ALO1 AL02 AL03
A. F3 OFF ON OFF OFF
Power loss error

PiEE1-ABEEiEE3Ac
Cause Remedy
4 I Although power loss alarm is not ;et the user constant Cn-01 bit 5 to O
necessary, its user constant is set valid.
3 Ime between turning power OFF and back ,fier turning power OFF, wait for at least
ON was shorter than 0.5 second, .5 second, before turning the power back
)N.
: If any of the following power supply ;heck the power supply,
conditions are met during motor operation:
krms
. Complete power failure: half cycle of sup- Complete poker failure= POwer” failure
ply frequency
where voltage dropa to zero.
. Voltage drop: full cycle of supply frequency
Voltage drop=Power failure where voltage
Note Because of detector lag or detector drops, but not to zero.
margin, there may be no alarm even if
the above values are exceeded.
461
6.2.1 Troubleshooting Problems with Alarm Dispky cot.
Displsy snd Outputs
Note This alarm is not stored in alarm trace-back function memory.
Ststus When Alarm Occurred
-“’’”D -“’’c’”
Cause Remedy
A Cable defective or poor contact between . Check connector connections.
digital operator and Servopack. ● Replace cable.
B Malfunction due to external noise Separate digital operator and cable from
noise source.
c. Digital operator defective Replace digital operator.

D Servopack defective Replace Servopack.
462
6.2 Tmuhk,hootinr
Display and Outputs

Alarm Neme
ALO1 AL02 AL03
CPFO1 Not specified
Digital operator
transmission
Note This alarm is not stored in alarm trace-back function memory.
=’””
Cause Remedy
A Cable defective or poor contact between . Check connector connections.
digital operator and Servopack. ● Replace cable.
B Malfunction due to external noise Separate digital operator and cable from
noise source.
c Digital operator defective Replace digital operator.
D Servopack defective Replace Servopack.
463
6.2,1 Troubleshooting Problems with Alarm Display cont.
Display and Outputs

Dkplay and Alarm Code Output Alarm Output
Alarm Name
ALO1 AL02 AL03
A.99 OFF I OFF I OFF ON

Indicates normal operation. Not an alarm,
464
6.2 Tmubkshootine
6.2.2 Troubleshooting Problems With No Alarm Display

Refer to the tables below to identify the cause of a problem which causes no alarm display
and take the remedy described.
Turn OFF the servo system power supply before commencing the shaded procedures.
Contact your Yaskawa representative if the problem cannot be solved by the described pro-
cedures.
Troubleshooting Table No Alarm Display
Symptom
ervomotor does not start
CXegkt4trnirials: ft.:
K
.Wntieciors .(l:C?~:;2C
1
SDeedlDositiOn references lChr+Sk tefeestite:i~[
P-CON input function setting Check user constant Cn-2B. Refer to Section 3.2.1 and
incorrect set user constants to match
application.
Reference pulse mode Refer to Section 3.2.2. Select correct user
selection incorrect. constants Cn-02 Bits 3, 4, 5.
Encoder type differs from Incremental or absolute Setuser constants Cn-01 Bit
user constant setting, encoder? E to the encoder type used.
P-OT and N-OT inputs are (If Cn-01 Bita 2,3 are O) Turn P-OT and N-OT input
turned OFF. signals ON,
CLR input is turned ON Check status of error Turn CLR input OFF.
counter clear input.
SEN input is turned OFF. Absolute encoder used with Turn SEN input ON.
Cn-01 Bitl setto O.
.,. . ,.
setting. of encoder pulses.

Sewomotor or encoder Refar to Section 3.8.8 and
wiring incorrect. correct witing.
Suddenly stops during Alarm reset signal Remova causa of alarm.
oueration and will not restari (ALM-RST) is turned ON Turn alarm reset sianal
465
6.2.2 Troubleshooting Problems With No A1OTIIIDi@y cont.
Symptom Cause Inspection Remedy

ervomotor vibrates at [ Speed looP gain value too I I Reduce speed loop gain
proximately 200 to high. - l(Cn-04) preset value. “
DOHz. Speed/position reference /:Miniqi2e”!.eng!fiof.,. :’ ‘;:.
I
\ input lead too long. I :e ‘ :.:
igh rotation speed I Speed looP gain value too I I Reduce speed loop gai
v;rshoot on starting and I high. - I I (C.-O4) preset value. n
,bnormal noise Mechanical mounting

incorrect
;peed reference O V but

ewomotor rotates.
F I \ 4.2.5 and adjust reference
466
6,2 Troubleshooting
6.2.3 Internal Connection Diagram and Instrument Connection

Examples
1) The SGDB Servopack internal connection diagram and instrument connection examples
are given below.
Refer to these diagrams during inspection and maintenance.
2) Intarnal Connection Diagram
● 0.3kW to 1.5kW
L!!&i S’ar”onlotm
V’
+-
k
N
PO
,.
+ *I
467
6,2.3I?wm.I ConnectionDiagram and Imtrur.e.t Ccmnecdo” Examples cont.
●2. OkWto 3.OkW
Th
AC
(5(
~e+~:”verc’:’
. w. t’roie,tio.IsQ1.a!.J_
,,i&_%
w%%) –’=”—&n I @.s,c
l-;..
POW ON
OFF 1MC-
-$’$80
r=n
T!.. i open M,.
(5RY1 servo mm
0...,s.
468
6,2 Tmubleshootinr
● 4.4WI to 5.OkW
Thre,.pt
AC 200.
‘“+% II 1“1 , 1: 1!
,, .,,,
PI
3/+
b
I rl .. DCN1
PG
! I
~Fef
‘“7ii?f=
L:-
ON
~..-: -..- . . . .
(PGoutwt)
(Relerence pulse
input)
- lMC [Spmdhrq”.
i a%::);~–= refermce ihp.t)
+=-q;, ,“,,,
7
r z-, ‘UDD’”SS (sew.”.,
?.2 OPe. when !nwvo.,p.t)
(5RY1 $~rv. alar.
0,.”,s.
A“@ m“ito~ Dglt.1 OP.?,.,.,,
OLtpul for ob,ervmo”
personal .omuter
469
6.2.3 Internal Correction Diagram and Instrument Confection Emzmples cont.
●6. OkWto 11.OkW
Regene,atiw resistor (qflm)

Three. ahme
Ac 200. .23
Sw”mmtor
9
112 PG
(PG O,IPJI)
(Reference pulse
input)
[sL’eeditowle
reference mull
(Seq”eme
!np.v..tput)
Analog mnl!or Mgital ooemtor,

output for ob%ervamn personal computer
470
3) Instrument connection examples
Three-Phase AC 200- 230V~~~ .A

(50/60 Hz)
1MCCBRL~~~~-]
N.,,, 01!,, Noise filter etinmetss eaemat noise
my
servo alarm mm
mxalw
For power supply switcting
OFF GT S“p ---- Attachas”rge suppressorfor
k .wnet,c mme,doror‘ relav
Ill –._. _._. _._._..
u
v
w
=$
~–.-.-.:
“7 60kWm more
:6
Pll m
Regemrel,ve
,.,,s,0, .,,..,,
*
B! \ Correctly terminate end
L. —. —.-. J
of the shielding wire
Im +$’J
PL1 “oko
Power supply for open PI-2 “3
collector reference pulse
[p PL3 18
PULS , 150n . . .. ...
Reference pulse .PULS P 8 : :C;

SIGN
(MAX 450/kpps)
WGN P ;: “-~~-]
[g .. ..
Error counter clear signal .c~
P ;: z<!
(Active : High) .,
.,9,,
.,. .
Power supply for speed, +12V 23
torque reference :-,’2” ~24:

Maximum output current : {
DC 30 mA
v-REF 5 “’2”
Speed reference input SG P6
T-REF 9
Torque reference input
SG P,o
rated torque/+1 V-+1 OV * SGOV
Torque monitor TRO-M 176
2V / rated torque
Speed monitor ~
2V/1 000 rlmin

or lV/1000rlmin (continue to next page)
471
6.2.3Irttermzl Commction D@nun and Instrument Connection Examples cont.
(from previous page)

]~
Servo ON for 1Ry ON

Servo ON I
P control
P control for 2Ry ON
Reverse drive disabled for N-LS Reverse drivedl abled
Forward drived abled
4
Forward drive disabled for P-LS
Alarm reset ~
Alarm reset for 3Ry ON
Reverse current limit ON for 6Ry
Forward current limit ON for 7Rv -
5Ry OFF for Servo alarm

4RY ON for Servo ready
=mm-Semal.am- I
=Servo ready Photocoupleroutput
8Ry ON for speed coincidence ~ Speed . Maximum operational voltage = DC 30V
otmrational current= 50 mA
9Ry ON for TG ON
, 35 ! F~~~b~~[”@~”~r2d~,
=“
!.36 t-- Mne driver
PG output line driver , 19 T1. made
20
5N75AL594&2=1
T. —.—. J
I
Ll?&
““-’--l-h”
M 1 37
I
Alarm code output
● Maximum operational voltage= DC 30V ~o~ 3;

. Maximum operational current= 20 mA i
FG ‘GOv
❑
*
L. —. —._. J._. J
●
(Note)l Signal input line~ represents twisted pair wires
2 24V power supply must be prepared by cusfomers
472
4) Connection method between Servopack and Encoder
a) In case of incremental encoder
Incremental encoder 0.128mm$

~lue--
.,
A
B WI),, Bl,d P
c Yellow
D me Yellow p
E Green
~ Wtite G,. p
OutPu,
1,”. d,,”., i“ Applicable
PG T1. made /;
i=+Tl-
SN75ALS
194m eq,(valen, line driver
:,
Red : ! T1-made
; Black Pesv : SN75175 C
2:: PGOV
; equivalent
2. :!
Ov 1.1 SGltov
0.324 mmz~ 2
2.3
J
?)
.,
fi
J G&+
b) In case of absolute encoder
Absolute encoder 0.;28 m+ 2CN 5ERVOPACK ,CN

Blue !“ ‘~
I }+’ ~~\
A 2.18 PA -
IfR Mlue, 1P,
2.17 .PA
c Yellow ;
2.1 Q ~B _
CiWhite Yello$O 1P 2-19 .PB
Green , ,
F ~WhW G,..* I P, Pc -
.245 .W
Ov ::
,
1.21, .BAT!!
1.22’ , BATo ( 1P: +; Battery
’1’ (Customer’ss
“11 ?’ .-’ J220 T 1.50 I

I /,Melded v/e I IT
‘1 By connecting DIR (2CN-7) to PGOV, the motor will be in reverse connection (motor
reversed by forward reference).
‘2 S phase signal is valid only whan 12 bit absolute encoder is used.
Note ~ represents twisted pair wires
473
Appendix A
Servo Adjustment
H
,
This appendix presents the basic rules for X-Series AC Servopack gain ad-
justment, describes various adjustment techniques, and gives some preset
values as guidelines.
A.1 Z-Series AC Servopack Gain Adjustment . . . . . . 476

A,]. 1 Z. Series AC Servopacks and Gain AdjustmentMethods ., 476
A.1.2 Basic Rules for Gain Adjustment 477
A.2 Adjusting a Speed-control Servopack . . . . . . . . . 478

A.2.1 Adjusting Using Auto-tunins 47S
A.2.2Manual A@ustment ...,,.,.,., 479
A.3 Adjusting a Position-control Servopack . . . . . . . 482

A,3,1 Adjusting Using A”tmtuning 4S2
A.3.2Manual Adjustment, ,,, ,,, ,,, . 483
A.4 Gain Setting References . . . . . . . . . . . . . . . . . . . . 487

A.4. 1 Guidelines for Gain SettingsAccording to Load InertiaRatio 487
475
SERVO ADJUSTMENT
A.1,1 X-Series AC Servopacks and Gain Adju,lmtvIt M,thod,
A.1 X-Series AC Servopack Gain Adjustment
~ Thissection gives some basic information required toadjustthe sewosystem
A.1.l X-Series AC Servopacks and Gain Adjustment Methods 476

A.1.2 Basic Rules for Gain Adjustment,,,,,., 477
A.1.1 X-Series AC Servopacks and Gain Adjustment Methods

1) Five types of Z-Series AC Servopackare available: SGD, SGDA, DRI, DR2, and the cur-
rent SGDB.
The adjustment method is basically identical for each Servopack type, except that auto-
tuning is not available for some types.
The SGDB, SGDA, SGD, and DR2 Servopacks allow both manual adjustment by the
conventional method of observing the machine response and automatic adjustment us-
ing the internal auto-tuning function. The DRI Servopack does not offer auto-tuning.
2) The main user constants changed bythecustomerto adjust the servo system include the
following:
. Cn-04 (Speed Loop Gain)
. Cn-05 (Speed Loop Integration Time Constant)
. Cn-17 (Torque Reference Filter Tme Constant)
. Cn-l A (Position Loop Gain)
In a speed-control Sewopack (where speed references are applied as analog voltages),

the position loop is controlled by the host controller, so the position loop gain is normally
adjusted at the host controller,
If adjustment is not possible at the host controller, the same adjustment can be achieved
using Cn-03 (Speed Reference Gain), but the servomotor may not reech maximum
speed for some preset values of this user constant.
A simple block diagram of the servo system is shown below.
Servo System Block Diagram

Position-control Servopack Spesd.control Sewopack
Pulse d . . . . . . . . . .._..... &. . .. .. . ... .. .. .. . ... . ... .
sme ;%;,
lb
mm
Position Control Loop

. .......... .. .... .............. ... ....... ... .. ... .. ...........
Using Speed-comm Host Controller (suppNed by customer) ~ %rvopack ●

Servopack
Using Position-control Servopack
.%vopack 4 w
Host Controller Kp: Positon Loop Gain
(supplied by KV Speed Loop Gain
customer) T: Integration mme Constant
Note: A position-control Sewopack has no D/A converter for speed reference

output. This conversion is handled by internal calculations.
476
A. I L%ies AC Servopack Gain AdjuWment
A.1.2 Basic Rules for Gain Adjustment

1) The servo system comprises three feedback systems position loop, speed loop, and
current loop. The response must increase from outer loop to inner loop (see Servo Sys-
tem Block Diagram, above). The response deteriorates and oscillates if this principle is
not obeyed.
The customer cannot adjust the current loop. Sufficient response is assured for the cur-
rent loop,
❑
The customer can adjust the position loop gain and speed loop gain, as well as the speed
loop integration time constant and torque reference filter. A
2) The position loop and speed loop must be adjusted to provide a balanced response.
In particular, if the position loop gain only is increased (adjustment with Cn-03 at the Ser-
vopack if position loop gain adjustment is not possible at the host controller), the speed
references oscillate and the result is increased, oscillating position control times,
If the position loop gain (or Cn-03) is increased, the speed loop gain (Cn-04) must be
similarly increased.
If the mechanical system starts to oscillate after the position loop gain and speed loop
gain are increased, do not increase the gains further.
3) The position loop gain should not normally be increased above the characteristic fre-
quency of the mechanical systam,
For example, the harmonic gears used in an articulated robot forma structure with ex-
tremely poor rigidity and a characteristic frequency of approximately 10 to 20 Hz. This
type of machine allows a position loop gain of only 10 to 20 (l/see).
Conversely, the characteristic frequency of a precision machine tool such as a chip
mountaror IC bonder exceeds 70 Hz, allowing a position loop gain exceeding 70 (l/see)
for some machines.
Therefore, although the response of the servo system (controller, servo driver, motor, de-
tectors, etc.) is an important factor where good response is required, it is also important to
improve the rigidity of the mechanical system.
4) In cases where the position loop response is greater than or equal to the speed Ieop re-
sponse and linear acceleration or deceleration is attempted, the poor speed loop re-
sponse and follow-up cause an accumulation of position loop errors and result in in-
creased output of speed references from the position loop.
The motor moves faster and overshoots as a result of increased speed references, and
the position loop tends to decrease the speed references. However, the poor motor fol-
low-up due to the poor speed loop response results in oscillating speed references, as
shown in the diagram below.
If this problem occurs, reduce the position loop gain or increase the speed loop gain to
eliminate the speed reference oscillations.
Speed Reference Output with Unbalanced Position Loop Gain and Speed Loop
Gain
I-z!!__ —
‘---
Time
Speed references actually output from controlla
Speed references calculated in controller
477
SERVO ADJUSTMENT
A2.I A@, fifi~ZMW Auto-tun,ng
A.2 Adjusting a Speed-control Servopack
This section gives examples of adjusting the gains of a speed-control Servopack

manually and using auto-tuning.
A.2.1 Adjusting Using Auto-tuning

The DRI Seiwopack does not offer auto-tuning.
1) Important Points About Auto-tuning
a) Speed During Auto-tuning

Auto-tuning may not function correctly if the speed is too low. Set the speed to approx-
imately 500 r/rein,
Set the speed with the user constant Cn-1 O (Jog speed).
b) Selecting Machine Rigidity

If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Select the machine rigidity level for SGDB, SGDA and DR2 according to the table.
Level Rigidity
I
7 (C-007) High
6 (C-006) i
5 (C-005) ~
4 (C-004) ;
3 (C-003) Medium
2 (C-002) ;
1 (C-ool ) Low
Auto-tuning may not end if high response is selected for a low-rigidity machine or low
response is selected for a high-rigidity machine.
If this occurs, halt the auto-tuning and change the machine rigidity selection.
478
A.2 Adjusting a Spe,d-control S,nqmck
2) If Auto-tuning is Unsuccessful
Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines
with large play or extremely low rigidity.
Similarly, auto-tuning may be unsuccessful fora machine with high load inertia (exceed-
ing 15 to 30 times the motor moment of inedia),
In these cases, use conventional manual adjustment,
Even if auto-tuning is successful for a machine with large fluctuations in load inertia or
load torque, vibrations or noise may still occur in some positions.
A
3) Response Duting Operation is Unsatisfactory after Auto-tuning H
Auto-tuning sets the gain and integration time constant with some safety margin (to avoid
oscillations), This can result in long positioning times.
In patiicular, the target position may not be reached if low response is selected, because
the machine does not move in response to the final minute references, An excessively
high setiing of the integration time constant (Cn-05) during auto-tuning is one cause of
this problem,
If response is slow after auto-tuning, the speed loop gain cannot be manually increased
very much before oscillation starts.
lnthiscase, manually reduce theintegration timeconstant while obsewingthemachine
behavior to ensure oscillation does not occur.
Auto-tuning does not set the torque reference filter (Cn-17) or speed reference gain
(Cn-03),
A.2.2 Manual Adjustment
1) The role of each user constant is briefly described below,
a) Speed Loop Gain (Cn-04)

This user constant sets the speed loop response.
The response is improved by setting this user constant to the maximum value in the
range which does not cause vibrations in the mechanical system.
The following formula relates the speed loop gain to the load inertia.
Speed Loop Gain Kv[Hz]. ~ x (Cn-04 Preset value)

=+1
GDM2
GDL2 Motor Axis Converted Load Inertia

GDM2: Motor Moment of Inertia
b) Speed Loop integration Time Constant (Cn-05)

The speed loop has an integration element to allow response to micro-inputs,
This integration element can produce a delay in the servo system, and the positioning
setting time increases and response becomes slower as the time constant increases.
However, the integration time constant must be increased to prevent machine vibra-
tion if the load ineflia is large or the mechanical system includes a element that is
479
SERVO ADJUSTMENT
A.2.2Mmud Adjustment . ..1.
prone to vibration.
The following formula calculates a guideline value.
T>2.3x~
2X x Kv
T: Integration Xme Constant (see)
KV epeed Loop Gain (Hz) (calculated above)
c) Torque Reference Filter Time Constant (Cn-17)

When a ball screw is used, torsional resonance may occur which increases the pitch
of the vibration noise.
This vibration can sometimes be overcome by increasing the torque reference filter
time constant.
However, this filter will produce a delay in the servo system, just like the integration
time constant, and its value should not be increased more than necessary.
d) Speed Reference Gain (Cn-03)

Changing the speed referenca gain (Cn-03) changes the position loop gain an equiv-
alent amount, That is, reducing the speed reference gain is equivalent to reducing tha
position loop gain and increasing it is equivalent to increasing the position loop gain,
Use this user constant (Cn-03) in the following circumstances:
. Noposition loop gain adjustment athostcontroller (including cases wherafina ad-

justment not possible by changing number of D/A convetier bits)
.Clamping the speed reference output range to specific speeds
Normally Iaave at the factory setting,
NOTE Foraspeed-control SGDor SGDASewopack, or SGDBor DR2Sewopack used forspeed

control, the position loop gain (Cn-l A) is valid in zero-clamp mode only.
Theposition loop gain (Cn-lA) userconstant isalways invalid fora DRl Servopack.
For normal control, change the position loop gain at the host controller or adjust the speed
reference gain (Cn-03) in the Servopack.
Changing Cn-l A does not changa the position loop gain.
2) Adjustment Procedure
a) Settheposition loopgain atthehostcontroller toalowvalue andincreasa thaspeed

loop gain (Cn-04) within the ranga that no abnormal noise or vibration occurs.
If adjustment of the position loop gain is not possible at the host controller, reduce the
speed reference gain (Cn-03).
b) Slightly reduce thespeed loopgainfrom thevalueatstep l,andincreasethe position

loop gain at the host controller in the range that no overshooting or vibration occurs.
If adjustment of the position loop gain is not possibla at the host controller, increase
the speed reference gain (Cn-03).
480
A,2 Adiustin, a Shwd-control .%vmmck
c) Determine thespeed loop integration time constant (Cn-05), byobsewingtheposi-

tioning setting time and vibrations in the mechanical system.
The positioning setting time may become excessive if the speed loop integration time
cOnstant(Cn-05) istoo large.
d) ltisnot necessa~to change thetorque reference filter timeconstant (Cn-17) unless

torsional resonance occurs in the machine shafts.
Torsional resonance may be indicated by a high vibration noise, Adjust the torque ref-
❑
erence filter time constant (Cn-17) to reduce the vibration noise.
A
e) Hnally, fineadjustment of theposition gain, speed gain, andintegration timeconstant

is required to determine the optimum point for step response.
481
SERVO ADJUSTMENT
A.3,1 Adju$ting Usin~ Auto-tuning
A.3 Adjusting a Position-control Servopack
This section gives examples of adjusting the gains of a position-control Servopack

ii manually and using auto-tuning.
A.3.1 Adjusting Using Auto-tuning ........... 482

A.3.2 Manual Adjustment .,.. .,. ..,. ,.,.. ,. 483
A.3.1 Adjusting Using Auto-tuning

The DR1 Servopack does not offer auto-tuning.
1) Important Points About Auto-tuning
a) Speed During Auto-tuning

Auto-tuning may not function correctly if the speed is too low. Set the speed to approx-
imately 500 r/rein,
Set the speed with the user constant Cn-1 O (Jog speed).
b) Selecting Machine Rigidity

If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Drive Method Machine Rigidity

SGDB, SGDA, DR2 .Scn
Ball screw, direct 3 (C-003) to 7 (C-007) High/medium response

Ball screw, with reduction gears 2 (C-002) to 3 (C-003) Mediu
Timing belt 1 (c-
Chain 1 (c- . . ,, ..- ,- ..-, 1. . .
Harmonic gears 1 (c-ool)t02(c-oo2) ~Low re
Selectthemachine rigiditylevelforSGDB, SGDAand DR2according tothetable.
r
Level Riaiditv
7 (C-007) High
6(C-006)
5 (C-005)
4 (C-004)
3 (C-003) Medium
2 (C-002)
1 (C-ool) Low
Auto-tuning may not end if high response is selected for a low-rigidity machine or low
response is selected for a high-rigidity machine.
If this occurs, halt the auto-tuning and change the machine rigidity selection.
482
A.3 Adjusting a PosiJion-conlmi .%vvqmck
2) lfAuto-tuning is Unsuccessful
Auto-tuning maybe unsuccessful (the endofauto-tuning notdisplayed) for machines

with large play or extremely low rigidity,
Similarly, auto-tuning may be unsuccessful for a machine with high load inetiia (exceed-
ing 15 to 30 times the motor moment of ineflia).
In these cases, use conventional manual adjustment.
Even if auto-tuning ia successful for a machine with Ierge fluctuations in load inertia or
load torque, vibrations or noise may still occur in some posifiona. A
H
3) Response During Operation is Unsatisfacto~ after Auto-tuning
Auto-tuning sets the gain and integration time constant with some safety margin (to avoid
oscillations), This can result in long positioning times.
[n particular, the target position may not ba reached if low response is selected, because
the machine does not move in response to the final minuta references. An excessively
high setting of the integration time constant (Cn-05) during auto-tuning is one cause of
this problem.
If response is slow after auto-tuning, the speed loop gain cannot be manually increased
very much before vibration starts.
In this case, manually reduce the integration time constant while observing the machine
behavior to ensure oscillation does not occur.
Auto-tuning does not set the torque reference filter (Cn-1 7).
A.3.2 Manual Adjustment
1) The role of each user constant is briefly described below.
a) Speed Loop Gain (Cn-04)

This user constant sets the speed loop response.
The response is improved by setting this user constant to the maximum value in the
range which does not cause vibrations in the mechanical system.
The following formula relates the speed loop gain to the load inertia.
Speed Loop Gain Kv [Hz]. ~ x (Cn-04 Preset value)

~+t
M
CJJL2’ Motor Axis Converted Load Inertia

GDM2: Motor Moment of Inertia
b) Speed Loop Integration 17me Constant (Cn-05)

The speed loop has an integration element to allow response to micro-inputs.
This integration element can produces delay in theservosystem, and the positioning
setting time increases and response becomes slower as the time constant increases.
However, the integration time constant must be increased to prevent machine vibra-
483
SERVO ADJUSTMENT
A,3,2MafinalAdjustment cont.
tion if the load inertia is large or the mechanical system includes a vibration elements.
The following formula calculates a guideline value,
Ti22.3x~
21t x Kv
Ti: Integration ~me Constsnt (see)

Kv: Speed Loop Gain (Hz) (calculated above)
c) Torque Reference Filter Time Constant (Cn-17)

When a ball screw is used, torsional resonance may occur which increases the pitch
of the vibration noise.
These vibrations can sometimes be overcome by increasing the torque reference fil-
ter time constant.
However, this filter can produce a delay in the servo system, as is the integration time
constant, and its value should not be increased more than necessary.
d) Position Loop Gain

The position loop gain user constant sets the servo system response,
The higher the position loop gain is set, the betferthe response and shorferthe posi-
tioning times.
To enable a high setting of the position loop gain, increase the machine rigidity and
raise the machine characteristic frequency.
Increasing the position Ioopgain only to improve the response can result in oscillating
response of the overall servo system, that is, the speed references output from the
position loop oscillate, Therefore, also increase the speed loop gain while observing
the response.
2) Adjustment Procedure
a) Set the position loop gain to a low value and increase the speed loop gain (Cn-04)
within the range that no abnormal noise or oscillation occurs.
b) Slightly reduce the speed loop gain from thevalueat step 1, and increase the position
loop gain in the range that no overshooting or vibration occurs,
c) Determine the speed loop integration time constant (Cn-05), by obsewing the posi-
tioning set time and vibrations in the mechanical system,
The positioning set time may become excessive if the speed loop integration time
constant (Cn-05) is too large,
d) It is not necessary to change the torque reference time constant(Cn-17) unless tor-
sional resonance occurs in the machine shafts,
Torsional resonance may be indicated by a high vibration noise. Adjust the torque ref-
erence filter time constant to reduce the vibration noise.
e) Finally, fine adjustment of the position gain, speed gain, and Integration time constant
is required to determine the optimum point for step response, etc.
3) Functions to Improve Response

The mode switch, feed-fomard, and bias functions improve response.
484
A.3 Adjusting a PosiSio.-mrztml .%rwpuck
However, they are not certain to improve response and may even worsen it in some
cases. Follow the points outlined below and observe the actual response while making
adjustments.
a) Mode Switch
The mode switch improves the transition characteristics when the torque references
become saturated during acceleration or deceleration.
Above the set level, the-speed loop control switches from PI (proportional/integral)
❑
control to P (propotiional) control.
h
b) Feed-forward Function
Use feed-forward to imDrove the resDonse sDeed. However, feed-fomard mav be in-
effective in systems where a sufficiently hig”h value of position loop gain is not pos-
sible.
Follow the procedure below to adjust the feed-forward amount (Cn-1 D).
(1) Adjust the speed loop and position loop, as described above
(2) Gradually increase the feed-forward amount (Cn-1 D), such that the positioning
complete (COIN) signal is output early.
At this point, ensure that the positioning complete (COIN) signal breaks up (alternate-
Iyturns ON/OFF) and that the speed does not overshoot. These problems can arise if
the feed-forward is set too high.
For all types of Serwopack except DRI, a prima~ delay filter can be applied to feed-
forward, This filter can be used to correct breakup (alternatingly turning ON/OFF) of
the positioning complete (COIN) signal or speed overshoot arising when feed-for-
ward is activated,
c) Bias Function
When the lag pulses in the error counter exceeds the positioning complete width
(Cn-1 B), the bias amount (Cn-1 C) is added to the error counter output (speed refer-
ence). If the lag pulses in the error counter lies within the positioning complete width
(Cn-1 B), the bias amount (Cn-1 C) is no longer added.
This reduces the number of pulses in the error counter and shortens the positioning
time.
The motor speed becomes unstable if the bias amount is too large.
Observe the response during adjustment as the optimum value depends on the load,
gain, and positioning complete width.
Set Cn-OC to zero (0) when the bias is not used.
P~Oning Complete ;
(COIN) Signal ~ OFF ON
485
SERVO ADJUSTMENT
A.3.2Mm.al Adjustment cont.
The adjustment procedures described above are common for all Yaskawa digital AC Servo-
packs. However, not all functions are available on each Servopack, Consult the technical
specifications of your Servopack for details.
The adjustment procedures are also identical for conventional analog servos. However, in
this case, the adjustments are made using potentiometere instead of the user constants.
486
A,4 Gain Setting References
A.4 Gain Setting References
# This section presents tables of load inetiiavalues for reference when adjusting the gain
A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio ., 487
A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio

1) Adjustment guidelines are given below according to the rigidity of the mechanical system
❑
h
and load ineftia. Use these values as guidelines when adjusting according to the proce-
dures described above.
These values are given as guidelines only. Oscillations and poor response may occur
inside the specified value ranges, Observe the response (waveform) when optimizing
,-
the adjustment.
Higher gains are possible for machines with high rigidity.
a) Machines with High Rigidity
Ball Screw, Direct Drive Machines

Example Chip mounter, IC bonder, precision machine tools
Load/Inertia Ratio Position Loop Gain Speed Loop Gain Speed Loop
(GD~2/GD~9 (Cn-lA) [1/s] (Cn-a4) Integration Time
Constant
(Cn-05) [ins]
lx 50 to 70 5a tO 70 5 to 20
3x 100to 140 Slightly increase for
5x 150 to 200 inertia ratio of 20x, or
greater,
lox 270 to 3S0
15X 400 to 560
20x 500 to 730
30x 700 to 1100
For an inetiia ratio of I OX, or greater, slightly reduce the position loop gain and speed
loop gain below the values shown and set the integration time constant to a higher
value before starting the adjustment.
As the inertia retio increases, set the position loop gain and speed loop gain to the
lower limit of the range of values specified. Conversely, increase the speed loop in-
tegration time constant.
b) Machines with Medium Rigidity
Machines driven by ball screw through reduction gears, or machines directly driven
by long ball screws.
Example: General machine tools, orthogonal robots, conveyors
487
SERVO ADJUSTMENT
A.4.1 Guidelinesfor GainSettingsAccording to Load Inmda Ratio . ..1.
Loadlinerfia Rafio Position Loop Gain Speed Loop Gain Speed Loop
(GD~2/GDpJ2) (Cn-1A) [l/a] (Cn-04) Integration Time
Constant (Cn-05)
[ma]
lx 30 to 50 30 to 50 lot040
3x 60 to 100 Slightly increase for
5x 90 to 150 inartia ratio of 20x, or
- greater.
lox 160 to 270
15X 240 to 400
20x 310 to 520
ml “ AFJ-ltn770
For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed
As the inertia ratio increases, set the position loop gain and speed loop gain to the
lower limit of the range of values specified. Conversely, increase the speed loop in-
tegration time constant.
c) Machines with Low Rigidity
Machines driven by timing belts, chains or harmonic gears

Example: Conveyors, articulated robots
Loadllnetila Ratio Position Loop Gain Speed Loop Gain Speed Loop
(GD~2/GDpf) (Cn-1A) [l/a] (Cn-04) Integration Time
Constant (Cn-05)
[ins]
,1X lot020 loto20 50 to 120
13X 20 to 40 Slightly increase for
5x 30 to 60 inertia ratio of 20 x, or
greater.
lox 5ot0110
,15X 80 to 160
,20X loot0210
137Y 150t0310
For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed
As the inertia ratio increases, set the position loop gain and speed loop gain to the
lower limit of the range of values specifiad, Conversely, increase the speed loop in-
tegration time constent.
488
A.4 Gain SettinE Reference,
2) When a speed-control Servopack is used, set the position loop gain at the host controller,
If the position loop gain cannot be set at the host controller, adjust the Servopack speed
reference gain (Cn-03).
The position loop gain (Cn-1 A) of a speed-control Servopack is valid in zero-clamp mode
only.
The position loop gain is determined from the following relationship.
Kp [l/s]: Position loop gain

VS[PPS]: Steady speed reference
s: (pulse): Steady error
(The number of pulses in the error counter at steady speed.)
489
Appendix B
List of I/O Signals
This appendix lists L/O signal terminals (connector lCN) on Servopacks

which connect to a host controller or external circnit.
NOTE1) Refer to Chapter 3 for details of how to use 1/0 signals.
2) Note that the functions of 1/0 signal terminals differ according

to the memory switch (Cn-01, Cn-02) settings.
491
LIST OF 110 SIGNALS
List of Input Output Signals
Number’(x.x.x” in box represents a section number corresponding to each signal name. For
example, ~ represents Section 3,2.1.
I CN Termi- Abbre- Signal name

nai Number viated
symbol
1 SG Signal ground
2 SG Signal ground
3 PLI Power supply for open collector
4 SEN
5 V-REF
-Speed reference input
6 SG
7 PULS
B * PULS
9 T-REF Torque reference input

=
10 SG Signal ground
11 SIGN Refarence sign input
m ‘2
12 * SIGN
13 PL2 Power supply for open collector m *2

reference
14 * CLR Cleer signal input m ‘2
15 CLR
16 TRQ-M Torque monitor -I *3
17 VTG-M Speed monitor m ‘3

18 PL3 Power supply for open collector
19 Pco
20 * Pco
-
21 BAT Back-up battery input m ‘6
22 BATO
23 +12V Power supply for analog refarence m *’

24 -1 2V
=1=
Speed coincidence outpuUposition-
Speed coincidence outpuffpoaitioning 3.7.4

~
492
29 S-RDY+ Servo ready
m ‘4
30 S-RDY-
31 ALM+ Alarm output
m
32 ALM–
33 PAO A phaae output signal
m
34 e PAO
35 PBO B phaae output signal
m
36 * PBO
37 ALO1 Alarm code output
m
38 AL02
39
40
41
AL03
S-ON
P-CON
Servo ON
Proportional control
(P control) raference
m
m *5
❑
:
42 P-OT Forward drive disabled

m
43 N-OT Reverse drive disabled
m
44 ALMRST Alarm reset
m
45 P-CL Forward torque limit
m ●5
46 N-CL Reverse torque limit
m ●5
47 +24 V IN 24V external power
m
supply input
48 Pso S phaae input signal m *6
49 * Pso
50 FG Frame ground m
“1 Used foranalog reference,...,., , . . . . . . . . . . . . . . . . . . . . .. Seepage 494

‘2 Used forpulse reference, . . . . . . . . . .,.,...,,, ,,, Seepage494epage 494
‘3 Specifications vary depending on bits 6,7 of Cn-02 ,...., ,. refer to page 495
‘4 Specifications vary according to satting values of Cn-2D refer to Appendix D (page 505)
“5 Specifications vaty according to setting values of Cn-2B refer to page 495
“6 Used only for absolute encodar (used only when bit E of Cn-01 equal to 1)
493
*1 Signala used for analog reference
For signal control
Specifica- Speed control Speed control with torque limit Speed control with torque
tions by analog voltage refarence feed-forward
Cn-02 Cn-02 Cn-02
Setting Sit 8=0 sit8=l Bit8=0
Bit9=0 Bit9. o sit9=l
1CN
Termina
\number , ,~ ~
5 V-REF Speed reference V-REF Speed referent V-REF I Speed referent
. .. 3.2.9 3.2.8
9 I Terminalunused T-REF Torquelimit T-REF I Torquefeed-
For torque control

Torque control with speed limit
by analog voltage reference
Cn-02
Bit 2=1
F
9 T-REF Torque reference
●2 Signals used for pulse reference
Soecifica- Sign + pulse train input refer- 1 CCW pulse+ CW pulse refer- Two phase pulse reference
tions ante ence with 90” phase difference
Setting Cn-02 Cn-02 Cn-02 bits 5,4,3
Bit5=0 Bit5=0 = O, 1,0 (xl multiplication)
Bit4=0 Bit4=0 = O, 1, 1 (x2 multiplication)
Bit 3=0 Bit3=l = 1,0,0 (x4 multiplication)
ICN
Termina
\number
11
* SIGN pulse input
12
494
*3 Analog monitor signals
Control I . .... .... . I Speed mode I Position con- I Torque control

mode trol
Setting Cn-02 Cn-02
Bit6=0 Bit6=l
1 CN
Terminal
\lnumber
16 TRQ-M Torque monitor TRQ-M Speed reference moni- Reference x
tor pulse speed
I
monitor
. Settina I Cn-02 Cn-02
Bit7=0 Bit7=l
\
1CN “1 I
::rnber\l
Termina
17 I VTG-M I Speed monitor

I
$
I vTG-M I Positionerror
x x
I I I I monitor I
Note x means don’t care for voltage values,
‘5
Specifica- Speed control Torque control Speed control

fions Position control (contact reference)
Cn-2B = O, 1 Cn-2B = 2 Cn-2B = 3,4, 5,6
1CN
Termina
number
41 P-CON Propoeional control ref- --- Terminal unused P-CON Rotation direction refer-
erence ence for contact input
speed selection
45 P-CL Forward (Reverse) P-CL Forward (Reverse) P-CL Contact input speed
torque limit torque limit selection (control mode
46 N-CL N-CL N-CL switching)
r Specifica-
tions
Setting
Position—
Position-Torque
Torque —Speed
Cn-2B = 7,6,9
Speed speed control with zero clamp
Cn-2B = 10
%sition control with reference
pulse inhibit function
Cn-2B = 11
b
lCN
Terminal
number
41
45
=46
EiisiF=
l-CON Reference pulse inhibit
495
Appendix
List of User Constants
c
. X-Series Servopacks provide many functions, and have parameters called
“user constants” to allow the user to select each function and perform fine ad-
justment. This appendix lists these user constants,
❑
● User constants are divided into the following two types:
1) Memory switch Each bit of this switch is turned ON Or OFF tO select ~

Cn-01, Cn-02 function.
2) Ussr constant A numerical valus such as a torqus hmit value or speed
setting loop gain is set in this constant.
Cn-03 and later
SGDS Servopack
User constants
Jl, ~
*+ $
.,
“.=
=%:
.-
,. .
NOTE 1) Refer to Chaptar 3 for details of how to use user constants.
2) For details of how to set user constants, refer to Saction 4,1,5

Operation in User Constant Setting Mode.
497
LIST OF USER CONSTANTS
Ust of User Constants (User Constsnt Setting)
Category User Code Name Unit Lower Upper Factory Re-

Constant Limit Limit Setting mar
No. ks
Cn-00 Not a user constant.(Cn-00 is usedto select a special mode for digitaloperator)
Cn-01 Memory switch (See page 500) bit E (encoder selection) ‘2
time constant -
Cn-lA POSGN Position loop gain 1/s 1 1000 40 ‘3
Cn-1 C BIASLV Bias rlmin o 450 0
Cn-1 O FFGN Feed- foward % o 100 0
Cn-17 TRQFIL Toraue reference filter 0.1 ms o 250 4
time constant
Cn-28 NFBCC Speed loop com- --- 0 100 0
pensafion constant
Cn-OC TRQMSW Mode switch torque “/0 o 800 200
reference
Cn-OD REFMSW Mode switch speed r/rein o 10000 0
reference
Cn-OE ACCMSW Mode switch accelera- 10 riminls o 3000 0
tion
Cn-OF ERPMSW Mode switch error reference o 10000 0
I pulse unit
I I
eference re- Cn-OA I PGRAT I PG dividing ratio I P/R I 16 I 32768 I “1
[ted Cn-24 I RATS I Electronic sear ratio I --- 11 [ 65535 14 I ‘2
instants I (numeratofi
Cn-25 RATA Electronic gear ratio --- 1 65535 1 ‘2
(denominator)
Cn-07 SFSACC Soft start acceleration ms o 10000 0 ‘4
time
Cn-23 SFSDEC Soft starl deceleration ma o 10000 0 ‘4
time
Cn-26 ACCTME Position reference ac- 0.1 ms (1 640 0
celerationldeceleration
constant
Cn-27 FFFILT Feed-forward filter 0,1 ms o 640 0
orque Re- Cn-08 TLMTF Forward rotation % o 800 600
ted torque limit
:onstants Cn-09 TLMTR Raverse rotation % o 800 600
torque limit
cn-18 CLMIF Forward external cur- % 0 800 100
rent limit
Cn-19 CLMIR Reverse external cur- % 0 800 100
rent limit
498
Category User Code Name Unit Lower Upper Factory Re-
Constant Limit Limit Setting mer
No. ks
Cn-06 EMGTRQ Emergency stop % o 800 800
torque
Cn-13 TCRFGN Torque reference gain 0.1 VI 10 100 30
100%
Cn-14 TCRLMT Speed limit for torque rlmin o 10000 10000
control
;equence Re- Cn-2D OUTSEL Output signal selection ‘1 110 666 210
Xed Cn-OB TGONLV Zero-speed level rlm in 1 10000 20
;onstants
Cn-29 ZCLVL Zero clamp level rlmin o 10000 10
Cn-22 VCMPLV Speed coincidence rlmin o t 00 10
signal output range
Cn-l B COINLV Positioning completion reference o 250 7
range unit
Cn-1 E OVERLV Overflow 256 refer- 1 32767 1024
ence unit
Cn-12 BRKTIM Time delay from brake 10 NE 0 50 0
reference until servo
OFF
Cn-15 BRKSPD Speed level for brake rlmin o 10000 100 H
reference output dur-
ing motor operation
Cn-16 BRKWAI Output timing of brake 10ms 10 100 50
reference during motor
operation
)ther Cn-10 JOGSPD Jog speed rlmin o 10000 600
:onstants
Cn-1 F SPEED1 1st speed (contact in- rlmin 0 10000 100
put speed control)
Cn-20 SPEED2 2nd speed (contact in- rlmin 0 10000 200
put speed control)
Cn-21 SPEED3 3rd speed (contact in- rlmin 0 10000 300
put speed control)
Cn-2C PGPWR PG power supply volt- 0,1 mV 52000 56000 52500
age change
m: User constants must be aet and checked before turning the motor power ON,
Note “1 Refer to page 504,

‘2 After changing the setting, always turn the power OFF, then ON, This makes the new
setting valid.
‘3 Automatically set by auto tuning function
‘4 To use soft start function, always set both C.-O7 and Cn-23.
499
st of User Co stanta ulemc y Switch Setting) (1)

User Bit Setting Factory
>onsta No. Sstting
nt No.
)put signal :n-01 o
nableldisable
Uses servo ON input (S-ON). ~es not use servo ON input (~
ON). Servo is always ON.
1 n Ii In.
Uses SEN signal input (SEN) when Does not use SEN signal input
absolute encoder is used. (SEN) when absolute encoder is
used. Servopack automatically treats
signal voltage as high level.
2 o 1 0
Uses forward rotation prohibited in- Does not use forward rotation pro-
put (P-OT). hibited input (P-OT). Forward rota-
tion is always possible,
3 o i o
Uses reverse rotation prohibited in- Does not use reverse rotation pro-
put (N-OT). hibited input (N-OT). Reverse rots-
tion is always possible,
4 Reserved : Setting= O (do not change the setting) o
r
5 0 II n
Resets servo alarm status at power Remains in servo alarm status at
covery from recovery from its momentary power power recovery from momentary
power loss
loss. power loss.
Sequence 6 o 1 n
selection at Stops the motor by applying dynamic Makes the motor coast to a stop at
alarm condition brake (DB)at base block. base block.
7 o 1 ‘1
At base block, stops the motor by At base block, stops the motor by
applying dynsmic brake (DB)and applying dynamic brake (DB)but
then release DB. does not release DB.
8 o 1 0
Stops the motor according to bit 6 Decelerates the motor to a stop by
setting when overf ravel is detected applying the torque specified in
(P-OT, N-OT). Cn-06 when overtravel is detected
(P-OT, N-OT).
9 o II o
When ovemavel is detected (P-OT, When overtravel is detected (P-OT,
N-OTk decelerates the motor to a N-OT). decelerates the motor to a
stop byapplying thetorque specified
in Cn-06 and then Detforms Servo
1. .’
stop byapplying thetorque specified
m Cn 06andthen turns the zero- I
OFF. clamp.
recess selec- A o 11 10
Dn for Servo
Clears error pulse at Servo OFF Does not clear error pulse at Servo
lFF n.!=
lode switch B 1
Uses mode switch function. Follows I Does not use mode switch function.
Cn-01 bits D, C
DC 00 10.1 110 11.1 100
Uses internal Uses speed ref- Uses accelera- Uses error pulse
torque reference erence a. a tion as a.ond- as a condition
as a condition condition tion
(Level setting:
(Level setting: (Level setdng : (Level setting : Cn-OE)
Cn-OC) Cn-OD) Cn-OE)

m: User constants must be set and checked before turning the motor power ON,
‘1 lessthan orequaltol.5kW:l greater than or equal to 2,0 kW :0
“2 If Applicable motor is SGMG, SGMS, SGM, SGMP type: O SGMD type :1
NOTE For the C.-O1 memory switch, always turn the power OFF, then ON after changing the set-
ting. This makes the new setting valid.
•l
501
List of User Constants (Memory Switch Setting) (2)
User Bit No. Setting Facto-

Const ry Set-
ant ting
No.
Rotationdirec- Cn-02 0 0 1 0
tionselection Defines counterclockwise(CCW) Defines clockwise (CW) rotation as
rotation as fmward rotation. forward rotation (reverse rotation
mode).
Home position 1 0 1 0
error prOces- Detects home position error (when Does not detect home position error.
sing selection absolute encoder is used),
Analog speed 2 0 1 0
limit function Does not use analog speed hmit Uses analog speed limit function
function
Reference 5.4’3 000 00.1 0.1.0 0.1.1 100 00,0
pulse form Sign + Pulse Cw+ccw A-phase + B- A-phase + B- A-phase + B-
phase (xl phase (x2 phase (x4
mulfiplica- multiplica- multiplica-
tion) fion) tion)
Analog monitor 6 0 1 0
selection Outputs torque to TRQ-M Outputs reference speed to TRQ-M
7 0 t o
Outputs speed to VTG-M Outputs position error to VTG-M
Analog current .8 0 1 0
limit function Does not use analog current limit Uses analog current limit function
function
Torque feed-for- 9 0 1 0
ward function Does not use torque feed-forward Uses torqua feed-forward function
function
Clear signal A o 1 0
Clears the error counter when an er- Clears the error counter on tha ris-
ror counter clear signal is at high ing edge of an error counter clear
level signal
Reserved B Resewed : Sening = O (do not change tha setting) o
Torque filter c o 1 0
Uses torque filtar as primary filter Uses torque filter as seconda~ filter
Reference D o 1 0
pulse form Does not invert reference pulse log- Inverta reference pulse logic
ic
Position error E o 1 0
monitor Displays posifionerrorinxl refer- Displays position error in xl 00 refer-
ence units while in monitor mode ence units while in monitor mode
Reference F o 1 0
pulse filter Salects filter time constant ‘small’. Salects filter time constant ‘large’.
(45o kpps max) (2oO kpps max)
NOTE Forthe Cn-02memoW switch, always turnthe power OFF, then ONafterchanging theset-
ting. This makes the new setting valid. However, bits 6,7, E beCOM6 valid immediately after
setting
502
●1 Control method selection (Cn-2B) setting values
“@sqingjqi#e$;, ::jj,,,:jjj::,;l;,:::;j::::j:,,;.j~j.j":;,.:::::qa:nf~0l:@.@t~oq.j;,:::,$,;,:;"::;j,:": ““{:~:::;::,:;,:

o Speed control (analog reference)
1 Position control (pulse train reference)
2 Torque control (analog reference)
3 Speed control (contact reference) ++Speed control (O reference)
4 Speed control (contact reference) -Speed control (analog reference)
5 Speed control (contact reference) ++Position control (puls.e train reference]
6 Speed control (contact reference) ++Torque control (analog reference)
7 Position control (pulse train reference) +iSpeed control (analog reference)
8 Posifion control (pulse train reference) +tTorque control (analog reference)
9 Torque control (analog reference) +&peed control (analog reference)
10 Speed control (analog reference) -Zero clamp control
11 Position control (pulse train reference) +iPosifion confrol (inhibit)
.Outputs signal selection (CN-2D) setfing values
❑
Selects which function of signal sent to output signal of 1CN.
1st decimal digit to select function of CN-25, 26 (COIN/V-CMP)

2nd decimal digit to select function of CN-27, 28 (TGON)
3rd decimal digit to select function of CN-29, 30 (S-RDY)
503
. Factory settings
:Se@p?cirrnOd-: :;gppl ictipl@rn.p: :cn-zA::: ;!:~n”-;l ; @@3:

:e,$; .:,::::,:~~ ““‘:’Yof:iype:::’ : ~~
‘ ... .. “ :cn40K
SGDB-05ADG SGMG-05ADA 142 8192 ?50
SGDB-I OADG SGMG-09ADA 143
SGDB-20ADG sGMG-2oAaA 145
SGDB-44ADG sGMG-44AnA 147
167
SGDB-1OADM SGMG-09AOB 173

SGDB-15ADM SGMG-12ADB 174
SGDB-30ADM SGMG-30AUB 176
;00
—
SGDB-50ASD SGMS-50ADA 168
SGDB-30ADD SGMD-22AUA 155 1024 )33
SGDB-44ADD SGMD-32AUA 156
SGDB-50ADD SGMD-40AOA 157
SGDB-05AD SGM-04A 106 2048 ;00
;00
504
Appendix D
List of Alarm Displays
. SGDB Servopack allows up to 10 last alarms to be displayed at a digital oper-

ator. This function is called a trace-back function,
Alarm number Alarm display
. This appendix
●
provides
For details of how to display

the name and meaning of each almm display.
an alarm, refer to the following section:

❑
D
Section 4.2.1 Operation in Alarm Trace-back Mode
. For the cause of each alarm and tbe action to be taken, refer to the following
section:
Section 6.2. I Troubleshooting Problems with Alarm Display
505
LIST OF ALARM DISPLAYS
Alarm Display
Alarm Alarm Output Alarm Name Meaning Remarks

Display
Alarm Code Output AfJf
on Digital
out-
Operator ALO1 AL02 AL03 put
A.00 OFF OFF OFF OFF Absolutedata Absolutedata failsto be re- For absolute en-
error ceived, or received absolute coder only
data is abnormal.
A.02 OFF OFF OFF OFF User constant Checksum results of user
breakdown constants are abnormal.
A.o4 OFF OFF OFF OFF User constant The user constant setting is out-
setfing error side the allowable setting range.
A.1O ON OFF OFF OFF Overcurrent An overcurrent flowed through
the power transistor.
A.30 ON ON OFF OFF Detection of re- Regenerative circuit is faulty
generative er-
ror
A.31 ON ON OFF OFF Position error Position error pulse has ex-
pulse overilow caeded the value set in user
constant Cn.1 E (ovetilow).
A.40 OFF OFF ON OFF Main circuit Main circuit voltage is abnormal
voltage error
detection
❑
A.51 ON OFF ON OFF Overspeed Rotation speed of the motor has Detection level =
B exceedad datection level Maximum rotation
spaadxl.1 orxl.2
A.71 ON ON ON OFF Overloaded The motor was running for sev-
(high load) eral seconds to several tens of
seconds under a torque largely
exceeding ratings.
A.72 ON ON ON OFF Overloaded The motor was running continu-
(IOWload) ously under a torque largely ex-
ceeding ratings
A.80 OFF OFF OFF OFF Absolute en- The number of pulses per abao- For absolute en-
coder error lute encoder revolution is abnor- coder only
mal.
A,81 OFF OFF OFF OFF Absolute en- All three power supplies for the For 12 tit absolute
coder backup absolute encoder (+5 V, battery encoder only
arror and internal capacitor) have
failed.
A.82 OFF OFF OFF OFF Absolute en- The checksum results of abso- For 12 bit absolute
codar check- Iute encoder memory is abnor- encoder only
sum error real.
m
7ERMs;
Checksum
An automatic check function for a set of data such as user constants. It stores the sum of
userconstant data, recalculatea thesumat specific timing, andthen checks whether the
stored value matches the recalculated value. This function is a simple method of checking
whether a set of data is correct.
Alarm Alarm Output Alarm Name Maaning Remarka
Oisplay
Alarm Code Output ALM
on Oigital
out-
Operator ALO1 I AL02 I AL03 Dut
,..
A.83 OFF OFF OFF OFF Absolute en- Battary voltage for the absolute For 12 tit absolute
coder battery encoder is abnormal. encoder only
arror
A.84 OFF OFF OFF OFF Absolute en- Received absolute data is ab- For 12 bit absolute
coder data er- normal. encoder only
ror
A.85 OFF OFF OFF OFF Absolute en- The motor was running at a For 12 bit abaolute
coder overspeed exceeding 400 rlmin encoder only
speed when the absolute encoder was
turned ON.

507
Alarm Dis- Alarm Output Alarm Name Meaning Remarks
play on
Alarm Code Output ALM
Digital Op-
out-
erator
i DUt
E
A.AI OFF Heat sink over- Heat sink of SeWODack was
=%% heated overheated
A.B1 OFF Reference in- Servopack CPU failed to detect
=t=--t-
put read error reference input.
A.C1
A.C2
.
=&---b-
ON OFF ON
OFF Sewo overun The servomotor
out of control.
(encoder)
Phases A, B and C output

ran
by
the encoder are abnormal.
A.C3 ON OFF ON Wiring in encoder phase A or B
is disconnected.
++
A.C4 Wiring in encoder phases C is
phase discon- disconnected,
nection
A.F1 OFF ON OFF OFF Power lines One phase is not connected in
open phase the main power supply
A. F3 OFF ON OFF OFF Power loss er- A power interruption exceeding only when bit 5 of
Ill * ro r one cycle occurred in AC power

supply.
Cn-01 set to 1
These alarms are

CPFOO Undefined Oigita[ operator fails to commu-
transmission nicate with Servopack even five not stored in alarm
B error 1 seconds after power is turned trace-back
rml memory.
q- 1
CPFO1 Undefined Digital operator Transmission error has oc-

transmission curred five consecutive times.
error 2
OFF I OFF I OFF ION I Not an error Normal operation status

508
INDEX
INDEX
Number c
1CN connector cables, 29, 14 I
dimensional drawings, 418 encoders
specifications, 418 dimensional drawings, 406
lCN connector kit, 28 specifications, 406
for connecting PC and Servopack, 430
motor
connectors, 399
A dimensional drawings, 383
specifications, 383
absolute data
specifications, 379
exchange sequence, 155
tension, 141
transmitting sequence, 157
comparators , 9
absolute value detection system, 151
connections
alarm, display, list, 506
contact input signal terminals, 77
almncode output, 126 contact omput signal terminals, 78
f/O signal tennina3s, Servopack, 33
alarm output signals, wiring, 126
connector kits, 384
al%m traceback dam, clearimg, 210
dimension drawings, 384
,darmtraceback mode, 191 specifications, 384
alarms connector ttnninal block conversion unit, 28, 420
display, 159
troubleshooting, 439 connectors
Servo, resetting using Digital Operator, 177 lCN, test m“, 42
servo, reset, 177 2CN, rtverse rotation mode, 55”
absolute encoder, 167, 169
alignment, 22 Digitat Operator, 174
radial load, 23 encode.r cables, 399
thmst load, 23 incremental encoder, 166, 168
analog monitor, 99 motor cables, 399
Servomotors with holding brake, 33 I
autotuning, 199
IP67-based, 335
adjustment of position control Servopacks, 482
Servomotors without holding brake, 329
adjustment of speed-control Servopacks, 478
lP67-based, 333
precautions, 202
standard-type motor without brake, 170, 172
autotuning function, 116 standard-type motor with brake, 171, 173
Digital Operators, 198 terminal layom, 165
Servopack, 165
contact input signat terminals, connections, 77

B contact input speed control function, 83
motor speeds, 84
batte~, 154
prohibiting, 63
absolute tncoder,417
soft start time, 84
replacement, absolute encoder, 438
contact o”tp”t signal tenninats, connections, 78
bits, turning ON and Of% 186
brake power mpply, 28 controlled systems
dimensional drawings, 403 components, 6
internal cirrmit, 404 meaning, 5
specifications, 403 current detection offset, manutiadjustment mode, 213
509
encoder pulses, number per revolution, 102
D Encoder Signal Converter Unit
deceleration stop mode, 57 dimensional drawings, 428
specifications, 428
detectors
encoders, 8 encoders
meaning, 5 absolute,8, 151
battery, 417
Digital Operator, 28 battew replacement, 438
home position error detection, 160
Digital Operators, 14
akmntraceback mode, 191 cables
autotuning, 198 connectors, 399
connection, 176 dimensional drawings, 406
specifications, 406
dimensional drawings, 349
mode selection, 178 extending cables, 161
monitor mode, 188 incremental, 8
status display mode, 179 power voltage adjustment, 104
user constant setting mode, 183 specification, 76
motor operation, 195 error counter, clearing, 72
selection, 231
flowchxt, 232 external torque limit, 61
servo alarm reset, 177 external torque limit input, 62
simple motor check, 194 forward, 62
test run, 43 reverse, 62
dimensional diagrams, noise filter, 423
dimensional drawings, 262

ICNcomector,418 F
brake power supply, 403
cables, encoders, 406 feed-forward control, 118
connector kits, 384
feedback control, meaning, 3
Digital Operators, 349
Encoder Signal Converter Unit, 428 fuse. 143
magnetic contactor, 425
motor cables, 383
regenerative resistor unit, 427
Servomotors, 262–296 G
Servopacks, 337
variable resistors, 428 gain
adjustment, 113, 116
dividing, 73
AC Servopack, 476
drive systems, 6 setting references, load inertia ratio, 487
dynamic brake, 106 ground wire, 141

stop mode, 58
ground-fault interrupter, 17
grounding, 17
wiring, 144
E
.lectronic gear functi0n,79
setting, 79 H
electronic gez ratio, 79 high-voltage lines, Servopacks, 163

for different toad mechanisms, 82
load travel distance per revolution of load shaft in reference holding brake, 108
units, 80 .Iectrical specifications, 2W-VAC SGM Servomotors, 235,
machine specifications, 79 239,243,247
number of encoder pulses for the SGM Servomotoc, 79
home position error detection, 160
reference unit, 80
host controllers, 5, 10,28
en.odcr output, 73
signals, divided, 73 hot start, 258
510
I M
f10 signal terminals machine data table, 227

.omections, 33
machine rigidity, 198
list, 492
selection, 202
Impact resistance, 250 magnetic contactm, 2a
INHIBIT function dimension dmwi”gs, 425
See= reference pulse i”hibit function specifications, 425
maintenzmce, 436, 437
input pulse nmltiply function, 71
Servomotors, 436
input sigrml terminals Scrvopacks, 437
alarm reset, 129 MCCB, 28, 142, 143,423
battery, 75
error counter clear inpw, 72 mechanical tolerance, 250
forward external torque limit input, 62 memory switches
forward rotation prohibited, 56 See- .sermnstants
1/0 power Supply, 77
motor rotatio”directio”, 86 mode selection, Digital Operators, 17g
proportiondlintegral control, 67 mode switcb, 12o
reference pulse input, 70 detection points
reference sign input, 70 ermrpulse, 123
reverse external torque limit irqmt, 62 motor acceleratio”, 122
reverse rotation prohibited, 56 speed reference, 122
SEN signal input, 75 torque reference, 121
servo ON, 129
molded-case circuit breaker
signal ground for speed refercme input, 64, 9]
See* MCCB
signal ground for tonp reference i“p”t, 90
speed reference input, 64, 91 monitor mode, 188
speed selection, 85 motor
torqm reference input, 90 checking, Digitaf Opcmtors, 194
zero.ckunp speed ccmtml, 107 operation, Digital Operators, 195
insptctirm, 436, 437 type check, 212
Servornotms, 436
Servopacks, 437
installation, 18 N
servomotor, zdigmnem, 22
N-OT input signal, 56
Servomotors, 21
Servopacks, 24 noise control, 17
filter, 28, 142, 149
intcrml torque limit, 59 dimensional diagrams, 423
installation, 145
specifications, 423
wiring, 143
J
jog speed, 101

0
order lists, 361
L output pbax?, form, 75
absolute encoder, 75
limit switch, 56 incremental encoder, 75
overf ravel limit function, 56 output signal twminafs
alarm code ouqw, 127
load inertia, 260
gain settings, 487 bmkeimerlocko .tput, 109
encoder output, 74, 75
loads frame ground, 75
allowable radial load, 249 output signal ground common, 7g
allowable thrust load, 249 overload alarm, 137
511
overload warning, 137 200-VAC SGM Servomotors, 233,238
positioning complete output, 131 SGDfvf Servopacks, 255
rumling output, 135
reference offset, 204
servo alarm output, 127
servo ready, 139 automatic adjustment, 105, 114,204
signal ground, 75 manual adjustment, 105, 114
signsdground foralarm code output, 127 reference pulse
signal ground forservo alarm output, 127 form, 70
speed coincidence outpw, 133 input
speed monitor, 99 allmvabl evoltagelevel, 72
torque limit ouqmt, 60 timing, 72
torque monitor, 99
reference pulse inhibit function, 97
overhanging load
reference pulse input filter selection function, 98
precautions, 17
Servomotors, 261 regenerative resistor unit, 28
dimensioned dmwings, 427
overload
specifications, 427
alarm, 137
characteristics, Servopacks,258 regenerative unit
warning, 137 connection, 150
models, 150
ovatmvellimit function, 56
limit switch, 56 resid.at voltage, precautions, 16
reverse mtationmode,54, 55
2CN connector, 55
user constant, 55
P
rotation, 57
P-OT input signal, 56 forward, prohibiting, 57
reverse, prohibiting, 57
peripheral devices
selection, 351 mnning output signal, 135
flowchart, 352
specifications, 379
wiring, 27
persmwd computer, 28
s
SEN signal, 152
position references, inputs, 68
line driver output, 69 servo amplifiers, 9
open collector owput, 69 meaning, 5
positioning complete signal, 130 servo drive, meaning, 4
positioning time, minimizing, 116 servo mechanisms

illustration, 5
power amplifiers, 9
meaning, 2
power 10ss, 140
SemO OFF, 58
precautions, 16
serv. ONinputsignai, 129
pressure control, 88
Servomotors, 436
proportional control, 119 1OO-VAC SGM ratings, 242,245,247
10@VAC SGM specifications, 242, 245, 247
pmporfionallintegrd control, 9, 118
200-VAC SGM ratings, 233,238
signal, 68 200-VAC SGM specifications, 233,238
protective sequence, 126 20i-VAC SGM torqw.motor speed characteristics, 236,240,
244,246,248
pulse dividhg ratio, 76
AC, 7
induction, 7
synchronous, 7
R components, 7
DC, 7
radial load, 23 dimensional drawings, 262-296
inspection, 436
ratings installation, 21
100-VAC SGM Servomotors, 242,245,247 maintenance, 436
512
lNnl?Y
meaning, 4, 5 speed coincidmmo utputsignal, 133

overhanging load, 261
speed control, 66
selection, 219
analog reference, 66
flowchart, 221,225
contact reference. 66
machine data table, 227
positionltorque control, 66
setting the type, 103
zero-clamp, 67
test run, 42
speed reference offset, manual adjustment mode, 207
Servopacks, 437
AC, gain adjustment, 476 speed references, 64
dimensional drawings, 337 gain, 68
high-vokage lines, 163 inputs, 64
inspection, 437 starting time, 259
installation, 24
instrument connection examples, 467 status display mode, 179
internal comection diagram, 467 stop mode, setting, 105
maintenance, 437
meaning, 4 stop torque, 58
overload characteristics, 258 stopping time, 259
position control
surge suppressor, 426
autotuning, 482
manual adjustment, 483
ratings, 255
selection, 229 T
according to tbe motor, 230
specifications, 255 tension control, 88
speed-control
terminals
autotuning, 478
standard-type motor without brake, 170, 172
manual adjustment, 479
standard-type motor with brake, 171, 173
test run, 44
test mn, 40
servos minimum user constants, 49
alarm output, 126 motor alone, 42
alarm reset, 177 motor connected to the machine, 46
control systems, meaning, 4 position control from the host controller, 48
gain adjustment, 113, 116 servomotor with brake, 47
meaning, 3
thrust load, 23
shaft opening, 22
torque control, 59, 87
smoothing function, 113
torque feed-forward function, 94
position reference acceleratiotideceleration tinne constant, 113
torque limit
so ft start function, 86, 112
input signals, 63
software, version check, 212 output signal, 60
value, 96
specifications
100-VAC SGfvf Servoumtors, 242,2453247 torque reference filter time constant, 114
lCN connector,418 torque restriction function, 61
200-VAC SGM Servomotms, 233,238 by analog voltage reference, 95
brake power supply, 403 torque limit value, 61
cables, 379
encoders, 406 troubleshooting
connector kits, 384 alarm display, 439
home position pulse, 158 without alarm display, 465
incremental pulse, 158
magnetic contactor, 425
noise filter, 423
peripheral devices, 379
u
regenerative resistor unit, 427 user constant setting mode, 183
serial data, 157
Sem.pa&&Nmnotor combination, 252 user constants, 55, 56, 63
SGDM Servopacks, 255 bias, 119
brake signal output timing during motor operation, 111
speed bias, 119 brake signal speed Icvet output during motor operation, 111
513
INDEx
contact input speed control fumtion, 63 speed loop integration time constant, 117
control mode selection, 63, 66, 83 speed reference gain, 68, 93
dividing ratio setting, 76, 158 stopping nmtorat servo OfT,58, 106
dividing ratio settings, 74 stopping the nmtm at CJvatmv.1, 57
electronic gear ratio, 81 timcdclay from brake sigmdou tputto servoOFF, 110
emergency stop torque, 58 torque control, 88
encoder power voltage adjustmem, 104 torque feed-forward fumstirm selection, 94
encoder type selection, 76, 102, 153 torque reference filter selectio”, 115
error counter clear signal selection, 73 tocq.ereference filter time constant, 114
feed-forward gain, 118 torque reference gain, 92,95, 96
forward external torque limit, 61 torque restriction by analog voltage rcfcremx, 95
forward rotation torque limit, 59 zero-clamp speed control, 107
jog speed, 101 zero-speed level, 136
list, 498 zero-clamp level, 108
mode switch ON/OFF, 123
nmrie switch selection, 124
motcrsele.tion,
motor speeds, 84
103
v
N-OT input signal, 56
number ofcncoder pulses, 102, 153 variable resistor, dimensional drawings, 428
operation atrecovery fmmpmverlms, 140 vibration class, 251
operation when motor stops after ovetiravel, 57
vibration resistance, 250
operation when motor stops after servo OFF, 58
output sigmdselcction, 60, 109, 131, 137, 139 voltage resistametest, 17
overflow, 117
Pf/Pchangeover, 119
position loop gain, 117
positioning complete range, 132, 133, 135 w
P-OT input signal, 56
wiring, 27,31,55, 141
cefertnce pulse form selection, 70
grounding, 144
reference pulse inhibit function, 97
main circuit, 31
reference pulse input filter selection function, 98
more than onesewod rive, 148
reverse external torque limit, 61
noise control, 143
reverse rotation mode, 55
peripheral devices, 27
reverse rotation torque limit, 59
precautions, 16, 141
rotation direction selection, 55
shorting, 2CN connector, 55
SEN input signal, 152
servo ON input signal, 130
so ftstarftime,84, 112
speed coincidence signal output width, 134
speed limit for torque control I, 92
z
speed loop gain, 117 zer=lampf.nction, 67, 107
514
X Series SGMn/SGDB
USER’S MANUAL
TOKYO OFRCE New Mer T.IkesMba South Tower, ?-?8-7, ~Iwn, Minataku, Tokyo 105 JaPan
Phone (03)5402.45? ? Fax (03)5402.4580
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YYASKAWA
TSE-S800-16B
@ Printed in Jetm. October 199695-9 $

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2 Series SGM~/SGDB

The rapid progress being made in today’s automation and information

YASKAWA ELECTRIC CORPORATION

either case, follow these important items.

(INSPECTION AND MAINTENANCE)

. Before starting operation with a load connected, set up user constants

. Before starting operation with a load connected, make sure emergency-

. During operation, do not touch the heat sink.

(INSPECTION AND MAINTENANCE)

. Never change wiring while power is ON.

. Checking the product on delivery and basic applications of the servo.

. Selecting an appropriate servo for your needs and placing an order.

. Inspection and maintenance

Chapter Title Page

CHAPTER 2 Bssic Uses of Z-series Products ... 15 ..,,..,.. B

CHAPTER 3 Applications of2-series Products.. .. .. . .. . 51 . . . . . . . . . B

CHAPTER 4 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..l75 B

CHAPTER 5 Servo Selection and Data Sheets . . . . . . . . . . . . . . . . . . . . . ...217 A, B

CHAPTER 6 lnepection, Maintenance, and Troubleshooting . . . . . . . . ...435 . ... c

Servomotoc X-Series SGMGISGMDISGMSISGMISGMP Servomotor

Servopeck An amplifier (Trademark of Yaskawa servo amplifier “X-Series SGDB-DAD

Servodrive: A Servomotor and an amplifier (SGDB Servopack)

Indicates references for additional information.

CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS . . . . . . . . . . . . . . 1

CHAPTER 2 BASIC USES OF Z-SERIES PRODUCTS ................ 15

CHAPTER 3 APPLICATIONS OF Z-SERIES PRODUCTS ............. 51

CHAPTER4 USING THE DIGITAL OPERATOR .................... 175

4.2 Using the Functions ............... 191

CHAPTER 5 SERVO SELECTION AND DATA SHEETS .............. 217

5.6.14 Regenerative Resistor Unit . 427

CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 435

1.1 Basic Understanding of AC Servos ......... 2

1.1,1 S.IW Mechanisms

1.1 Basic Understanding of AC Servos

1.1.1 Servo Mechanisms .................. .. . .. . .. . 2

1.1.1 Servo Mechanisms

. Setvo control system

A control mechanism that monitors physical quantities such as specified positions

. Moves at a specified speed and

. Locates an object in a specified position

Specifiedposition + Controlled MacMne position

The main technical terms used in this manual are as follows:

Normally, servo is synonymous with servo mechanism, However, because “mechanism” is

1.1.1 Servo Mechanism cont.

3) Servo control system

Related Terms Meaning

The following diagram illustrates a servo system in detail:

Detector ServOmOtoF Dtivesystem

(3) Detectoc A position or speed detactor. Normally, an encoder mounted on

Servo components (1) to (5) are outlined below

(1) Controlled system

Geara + Ball Screw

Coupling + Ball Screw

When the power transmission ratio is 1:

This drive system is widely used for ma-

Timing Belt + Trapezoidal Screw Thread

A timing belt is a coupling device that allows

Setvomotor Tming belt

Also called a drive mechanism.

(a) DC Servomotor and AC Servomotor

Servomotors are divided into two types: DC servomotors and AC servomotors.

From 1984, AC servomotors were emergingasa result of rapid progress in micro-

● Easy maintenance: No brush