YASKAWA Σ-7-Series SGMMV, SGM7J, SGM7A, SGM7P, SGM7G Rotary Servomotor Product Manual

-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
Model: SGMMV/SGM7J/SGM7A/SGM7P/SGM7G
MANUAL NO. SIEP S800001 36C
Basic Information on Servomotors
1
Capacity Selection
2
Specifications, Ratings, and
External Dimensions of SGMMV Servomotors
3
Specifications, Ratings, and
External Dimensions of SGM7J Servomotors
4
Specifications, Ratings, and
External Dimensions of SGM7A Servomotors
Specifications, Ratings, and
External Dimensions of SGM7P Servomotors
5
Specifications, Ratings, and
External Dimensions of SGM7G Servomotors
7
Servomotor Installation
8
Connections between
Servomotors and SERVOPACKs
9
6
Maintenance and Inspection
10
Appendices
11
Copyright © 2014 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. 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 preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.
About this Manual
This manual provides information required to select, install, connect, and maintain Rotary Servomotors for Σ-7-Series AC Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter
1
2
3
4
5
6
7
8
9
10
11
Chapter Title
Contents
Provides basic information on Rotary Servomotors, including ServomoBasic Information on Servomotors
tor part names and combinations with SERVOPACKs.
Describes calculation methods to use when selecting Servomotor
Capacity Selection
capacities.
Specifications, Ratings, and
Describes how to interpret the model numbers of SGMMV Servomotors
External Dimensions of
and gives their specifications, ratings, and external dimensions.
SGMMV Servomotors
Specifications, Ratings, and
Describes how to interpret the model numbers of SGM7J Servomotors
External Dimensions of
and gives their specifications, ratings, and external dimensions.
SGM7J Servomotors
Specifications, Ratings, and
Describes how to interpret the model numbers of SGM7A Servomotors
External Dimensions of
and gives their specifications, ratings, and external dimensions.
SGM7A Servomotors
Specifications, Ratings, and
Describes how to interpret the model numbers of SGM7P Servomotors
External Dimensions of
and gives their specifications, ratings, and external dimensions.
SGM7P Servomotors
Specifications, Ratings, and
Describes how to interpret the model numbers of SGM7G Servomotors
External Dimensions of
and gives their specifications, ratings, and external dimensions.
SGM7G Servomotors
Describes the installation conditions, procedures, and precautions for
Servomotor Installation
Servomotors.
Connections between ServomoDescribes the cables that are used to connect the Servomotors and
tors and SERVOPACKs
SERVOPACKs and provides related precautions.
Maintenance and Inspection
Describes the maintenance, inspection, and disposal of a Servomotor.
Provide additional information on Servomotors with Gears and referAppendices
ence information on selecting Servomotor capacity.
iii
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
System
Components
Machine Controllers
Servo Drives
Catalogs
Machine
Controller
and
Servo Drive
MP3300
Σ-7-Series
Catalog
Catalog
General
Catalog
Machine Controllers
Refer to the manual for your Machine Controller
for the documents related to the Machine Controllers.
MP3000Series
Manuals
Servo Drives
SERVOPACKs
Manuals
Enclosed
Documents
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware
Option
Product
Manuals
Servomotors
Σ-7-Series
Σ-7-Series
Σ-7-Series
Product
Manual
(this manual)
Product
Manual
Product
Manual
Σ-7 Series
Σ-7-Series
Σ-7 Series
Peripheral
Device
MECHATROLINK
Communications
Operation
Interface
Option
Module
Selection
Manual
Command
Manuals
Operating
Manuals
Enclosed
Documents
iv
Rotary
Servomotor
Linear
Servomotor
Direct Drive
Servomotor
User’s
Manual
Classification

Document Name
Document No.
Description
Describes the features and application examples for combinations of
MP3000-Series Machine Controllers and Σ-7-Series AC Servo
Drives.
Provides detailed information on
MP3300 Machine Controllers,
including features and specifications.
Machine Controller and
AC Servo Drive
Solutions Catalog
KAEP S800001 22
Machine Controller
MP3300
KAEP C880725 03
Σ-7-Series
Catalog
AC Servo Drives
Σ-7 Series
KAEP S800001 23
Provides detailed information on Σ7-Series AC Servo Drives, including
features and specifications.

Machine Controller
MP3000 Series
MP3300 Product Manual
SIEP C880725 21
Describes the functions, specifications, operating methods, maintenance, inspections, and
troubleshooting of the MP3000series MP3300 Machine Controllers.
Σ-7-Series AC Servo Drive
Σ-7S and Σ-7W SERVOPACK
Safety Precautions
Provides detailed information for
TOMP C710828 00 the safe usage of Σ-7-Series
SERVOPACKs.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Safety Precautions
Option Module
TOBP C720829 00
Provides detailed information for
the safe usage of Option Modules.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Installation Guide
Command Option Module
TOBP C720829 01
Provides detailed procedures for
installing a Command Option Module in a SERVOPACK.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed procedures for
installing the Fully-Closed Module
in a SERVOPACK.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Installation Guide
Safety Module
TOBP C720829 06
Provides detailed procedures for
installing the Safety Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Installation Guide
Indexer Module
TOBP C720829 02
Provides detailed procedures for
installing the Indexer Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series for
Large-Capacity Models/
Σ-7-Series
Installation Guide
DeviceNet Module
TOBP C720829 07
Provides detailed procedures for
installing the DeviceNet Module in a
SERVOPACK.
Machine Controller and
Servo Drive
General Catalog

MP3300
Catalog

MP3000-Series
Manuals

Enclosed Documents
Continued on next page.
v
Classification

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Document Name
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-II
Communications References
Product Manual
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
Analog Voltage/
Pulse Train References
Product Manual
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with INDEXER Module
Product Manual
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with DeviceNet Module
Product Manual
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals

Enclosed Documents
vi
Σ-7-Series AC Servo Drive
Σ-7S/Σ-7W SERVOPACK
with Hardware Option
Specifications
Dynamic Brake
Product Manual
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK
with Hardware Option
Specifications
HWBB Function
Product Manual
AC Servo Drive
Rotary Servomotor
Safety Precautions
AC Servomotor
Linear Σ Series
Safety Precautions
Document No.
Continued from previous page.
Description
SIEP S800001 28
SIEP S800001 27
SIEP S800001 26
SIEP S800001 64
Provide detailed information on
selecting Σ-7-Series SERVOPACKs and information on installing, connecting, setting, performing
trial operation, tuning, and monitoring the Servo Drives.
SIEP S800001 70
SIEP S800001 29
SIEP S800001 73
Provide detailed information on
Hardware Options for Σ-7-Series
SERVOPACKS.
SIEP S800001 72
TOBP C230260 00
TOBP C230800 00
Provides detailed information for
the safe usage of Rotary Servomotors and Direct Drive Servomotors.
Provides detailed information for
the safe usage of Linear Servomotors.
Continued on next page.
Classification

Σ-7-Series
Rotary Servomotor
Product Manual

Σ-7-Series
Linear Servomotor
Product Manual
Σ-7-Series
Direct Drive
Servomotor Product
Manual
Σ-7 Series
Peripheral Device
Selection Manual
Σ-7-Series
MECHATROLINK
Communications
Command Manuals
Σ-7 Series
Operation Interface
Operating Manuals
Option Module
User’s Manual
Document Name
Document No.
Continued from previous page.
Description
Σ-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
This manual
(SIEP S800001 36)
Σ-7-Series AC Servo Drive
Linear Servomotor
Product Manual
SIEP S800001 37
Σ-7-Series AC Servo Drive
Direct Drive Servomotor
Product Manual
SIEP S800001 38
Σ-7-Series AC Servo Drive
Peripheral Device
Selection Manual
SIEP S800001 32
Describes the peripheral devices
for a Σ-7-Series Servo System.
SIEP S800001 30
Provides detailed information on
the MECHATROLINK-II communications commands that are used
for a Σ-7-Series Servo System.
Σ-7-Series AC Servo Drive
MECHATROLINK-III
Communications
Standard Servo Profile
Command Manual
SIEP S800001 31
Provides detailed information on
the MECHATROLINK-III communications standard servo profile commands that are used for a Σ-7Series Servo System.
Σ-7-Series
Digital Operator
Operating Manual
SIEP S800001 33
Describes the operating procedures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drives
Engineering Tool
SigmaWin+
Online Manual
Σ-7 Component
SIEP S800001 48
Provides detailed operating procedures for the SigmaWin+ Engineering Tool for a Σ-7-Series Servo
System.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
User’s Manual
Safety Module
SIEP C720829 06
Describes in detail information
required to design and maintain a
Safety Module.
Σ-7-Series AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
Provide detailed information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.
vii
Using This Manual
 Technical Terms Used in This Manual
The following terms are used in this manual.
Term
Servomotor
SERVOPACK
Servo Drive
Main Circuit Cable
Meaning
A Σ-7-Series Rotary Servomotor.
A Σ-7-Series Σ-7S Servo Amplifier.
The combination of a Servomotor and SERVOPACK.
One of the cables that connect to the main circuit terminals, including the Main Circuit
Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
 Trademarks
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• QR code is a trademark of Denso Wave Inc.
• Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the ® mark do not appear with product or company names in this
manual.
 Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine damage.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Term
Example
Indicates operating or setting examples.
Information Indicates supplemental information to deepen understanding or useful information.
viii
Safety Precautions
 Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precautions that are provided.
DANGER
 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
 Indicates precautions that, if not heeded, could result in property damage.
ix
 Safety Precautions That Must Always Be Observed
 General Precautions
DANGER
 Read and understand this manual to ensure the safe usage of the product.
 Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
 Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
 Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power
supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).
There is a risk of electric shock or fire.
 Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
 The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servomotors, and other components can be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
such as cables do not come into contact with hot components.
There is a risk of burn injury.
 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock.
 Do not use the product in an environment that is subject to water, corrosive gases, or flammable gases, or near flammable materials.
There is a risk of electric shock or fire.
NOTICE
 Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.
 Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs.
 Select the brake power supply for a Servomotor with a Holding Brake according to the power
supply voltage and capacity required for the Servomotor model, as given in manuals and catalogs. Also confirm the input voltage to the holding brake.
 Always install a surge absorber as a protective device between the brake power supply and Servomotor.
There is a risk of damage to the Servomotor.
 The time required for a holding brake to operate depends on the types of protective devices.
The time required for a holding brake to operate will also change if holding brakes are connected in parallel. Always check the time required for a holding brake to operate on the actual
machine before you operate a Servomotor.
 Always use a Servomotor and SERVOPACK in one of the specified combinations.
 Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of product failure.
x
 Storage Precautions
CAUTION
 Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
 Although machined surfaces are covered with an anticorrosive coating, rust can develop due to
storage conditions or the length of storage. If you store the product for more than six months,
reapply an anticorrosive coating to machined surfaces, particularly the motor shaft.
 Consult with your Yaskawa representative if you have stored products for an extended period of
time.
 Transportation Precautions
CAUTION
 Transport the product in a way that is suitable to the mass of the product.
 Do not hold onto the cables or motor shaft when you move a Servomotor.
There is a risk of disconnection, damage, or injury.
 Make sure that the eyebolts are securely attached to the product with no looseness before you
use them to move the product.
There is a risk of injury or damage.
 Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.
There is a risk of damage or injury.
 When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.
There is a risk of injury.
 Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.
xi
NOTICE
 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
 Do not subject connectors to shock.
There is a risk of faulty connections or damage.
 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines,
are packed with fumigated wooden materials, the electrical components may be greatly damaged
by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing
halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the
capacitors.
 Do not overtighten the eyebolts on a SERVOPACK or Servomotor.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
 Installation Precautions
CAUTION
 Do not touch the key slot with your bare hands on the shaft end on a Servomotor with a Key
Slot.
There is a risk of injury.
 Securely mount the Servomotor to the machine.
If the Servomotor is not mounted securely, it may come off the machine during operation.
 Install the Servomotor or SERVOPACK in a way that will support the mass given in technical
documents.
 Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resistors on nonflammable materials.
Installation directly onto or near flammable materials may result in fire.
 Do not step on or place a heavy object on the product.
There is a risk of failure, damage, or injury.
 Do not allow any foreign matter to enter the SERVOPACK or Servomotor.
There is a risk of failure or fire.
 Implement safety measures, such as installing a cover so that the rotating part of the Servomotor cannot be touched accidentally during operation.
xii
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
 Use the product in an environment that is appropriate for the product specifications.
If you use the product in an environment that exceeds product specifications, the product may fail
or be damaged.
 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
 A Servomotor is a precision device. Do not subject the output shaft or the main body of the Servomotor to strong shock.
 Design the machine so that the thrust and radial loads on the motor shaft during operation do
not exceed the allowable values given in the catalog.
 When you attach the key to the motor shaft, do not subject the key slot to direct shock.
 Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and
do not cover the outlet from the Servomotor’s cooling fan.
There is a risk of failure.
 If you use oil as the gear lubricant, always inject the specified oil before starting operation.
 You can install the Servomotor either horizontally or vertically. However, if you install a Servomotor with an Oil Seal with the output shaft facing upward, oil may enter the Servomotor depending on the operating conditions. Confirm the operating conditions sufficiently if you install a
Servomotor with the output shaft facing upward. Some Servomotors with Gears have restrictions on the installation orientation. Refer to the relevant technical documents.
 If an installation orientation is specified for a Servomotor with a Gear, install the Servomotor in
the specified orientation.
There is a risk of failure due to oil leakage.
 For a Servomotor with an Oil Seal, use the Servomotor with the oil seal in a lubricated condition
with only splashing of oil.
If the Servomotor is used with the oil seal under the surface of the oil, oil may enter the Servomotor,
possibly resulting in failure.
 The shaft opening of a Servomotor is not waterproof or oilproof. Implement measures in the
machine to prevent water or cutting oil from entering the Servomotor.
There is a risk of failure.
 In an application where the Servomotor would be subjected to large quantities of water or oil,
implement measures to protect the Servomotor from large quantities of liquid, such as installing
covers to protect against water and oil.
 In an environment with high humidity or oil mist, face Servomotor lead wires and connectors
downward and provide cable traps.
There is a risk of failure or fire due to insulation failure or accidents from short circuits.
 Wiring Precautions
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
xiii
WARNING
 Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
 Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident that may result in death or injury.
CAUTION
 Observe the precautions and instructions for wiring and trial operation precisely as described in
this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.
 Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the pin
layouts in technical documents for your model before operation.
There is a risk of failure or malfunction.
 Connect wires to power supply terminals and motor connection terminals securely with the
specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact,
possibly resulting in fire.
 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Signal Cables and Encoder Cables.
 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.
• If a connector is used for the main circuit terminals, remove the main circuit connector from the
SERVOPACK before you wire it.
• Insert only one wire per insertion hole in the main circuit terminals.
• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into contact with adjacent wires.
NOTICE
 Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your model
and use the wiring materials specified by Yaskawa or equivalent materials.
 Securely tighten cable connector screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Signal Cables or Encoder Cables) together or run them through the same duct. If you do not place
power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.
 For a motor with a cooling fan, check the rotation direction of the cooling fan after you wire the
fan.
 Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
 When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.
xiv
 Operation Precautions
WARNING
 Before starting operation with a machine connected, change the settings of the switches and
parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before
appropriate settings are made.
 Do not radically change the settings of the parameters.
There is a risk of unstable operation, machine damage, or injury.
 Install limit switches or stoppers at the ends of the moving parts of the machine to prevent
unexpected accidents.
There is a risk of machine damage or injury.
 For trial operation, securely mount the Servomotor and disconnect it from the machine.
There is a risk of injury.
 Forcing the motor to stop for overtravel is disabled when the Jog (Fn002), Origin Search
(Fn003), or Easy FFT (Fn206) utility function is executed. Take necessary precautions.
There is a risk of machine damage or injury.
 When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake
according to the SERVOPACK Option and settings. The coasting distance will change with the
moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check
the coasting distance during trial operation and implement suitable safety measures on the
machine.
 Do not enter the machine’s range of motion during operation.
There is a risk of injury.
 Do not touch the moving parts of the Servomotor or machine during operation.
There is a risk of injury.
CAUTION
 Do not use the holding brake built into a Servomotor to stop the Servomotor. The holding brake
is designed to hold the motor shaft. It is not designed as a stopping device to ensure machine
safety. Provide an appropriate stopping device on the machine to ensure safety.
There is a risk of brake failure due to wear, damage to the machine, or injury.
 Before you operate a Servomotor, supply power to the holding brake to release the holding
brake. Refer to the timing charts in your Servomotor manual for details.
 During trial operation, confirm that the holding brake works correctly.
 When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.
If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped
state after the Servomotor stops. Also, install safety devices (such as an external brake or
counterweight) to prevent the moving parts of the machine from falling.
 Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the
Servomotor will stop as follows:
• If you turn OFF the main circuit power supply during operation without turning OFF the servo, the
Servomotor will stop abruptly with the dynamic brake.
• If you turn OFF the control power supply without turning OFF the servo, the stopping method that is
used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual
for the SERVOPACK.
xv
NOTICE
 Always measure the vibration of the Servomotor with the Servomotor mounted to the machine
and confirm that the vibration is within the allowable value.
If the vibration is too large, the Servomotor will be damage quickly and bolts may become loose.
 When you adjust the gain during system commissioning, use a measuring instrument to monitor
the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the Servomotor will be damaged quickly.
 An alarm or warning may occur if communications are performed with the host controller while
the SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may interrupt the current process and stop the system.
 Maintenance and Inspection Precautions
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
 Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
 If you replace a Servomotor with a Holding Brake, secure the machine before you replace the
Servomotor.
There is a risk of injury or equipment damage if the equipment falls.
CAUTION
 Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
There is a risk of electric shock.
 Replace the Battery according to the correct procedure.
If you remove the Battery or disconnect the Encoder Cable while the control power supply to the
SERVOPACK is OFF, the absolute encoder data will be lost and position deviation may occur.
 Troubleshooting Precautions
DANGER
 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line operates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair
or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety
device to operate.
There is a risk of fire, electric shock, or injury.
WARNING
 The product may suddenly start to operate when the power supply is recovered after a momentary power interruption. Design the machine to ensure human safety when operation restarts.
There is a risk of injury.
xvi
CAUTION
 When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm
or turn the power supply OFF and ON again to restart operation.
There is a risk of injury or machine damage.
 If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may
suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an
alarm.
There is a risk of injury or machine damage.
 The holding brake on a Servomotor will not ensure safety if there is the possibility that an external force (including gravity) may move the current position and create a hazardous situation
when power is interrupted or an error occurs. If an external force may cause movement, install
an external braking mechanism that ensures safety.
 Disposal Precautions
 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings as a final product as
required.
 General Precautions
 Figures provided in this document are typical examples or conceptual representations. There
may be differences between them and actual wiring, circuits, and products.
 The products shown in illustrations in this document are sometimes shown without covers or
protective guards. Always replace all covers and protective guards before you use the product.
 If you need a new copy of this document because it has been lost or damaged, contact your
nearest Yaskawa representative or one of the offices listed on the back of this document.
 This document is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the document number of the document and issue revisions when changes are
made.
 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.
xvii
Warranty
 Details of Warranty
 Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is
one year from the time of delivery to the location specified by the customer or 18 months from the
time of shipment from the Yaskawa factory, whichever is sooner.
 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
• Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Use of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters
 Limitations of Liability
• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer
that arises due to failure of the delivered product.
• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of
program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not
guarantee that there are no infringements of intellectual property rights or other proprietary rights
of Yaskawa or third parties, nor does it construe a license.
• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.
xviii
 Suitability for Use
• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations
that apply if the Yaskawa product is used in combination with any other products.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and
equipment used by the customer.
• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use
in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use
in conditions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems,
vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or
electricity, or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
• Never use the product for an application involving serious risk to life or property without first
ensuring that the system is designed to secure the required level of safety with risk warnings and
redundancy, and that the Yaskawa product is properly rated and installed.
• The circuit examples and other application examples described in product catalogs and manuals
are for reference. Check the functionality and safety of the actual devices and equipment to be
used before using the product.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product
correctly to prevent accidental harm to third parties.
 Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and
manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult
with your Yaskawa representative to confirm the actual specifications before purchasing a product.
xix
Compliance with UL Standards, EU Directives, and Other Safety Standards
Certification marks for the standards for which the product has been certified by certification bodies
are shown on nameplate. Products that do not have the marks are not certified for the standards.
 North American Safety Standards (UL)
Product
SERVOPACKs
Model
SGD7S
•
•
Rotary
•
Servomotors
•
•
•
Direct Drive Servo•
motors
•
•
Linear
•
•
Servomotors
•
* Certification is pending.
xx
SGMMV
SGM7A
SGM7J
SGM7P
SGM7G
SGM7F
SGMCV
SGMCS
SGLGW
SGLFW
SGLFW2*
SGLTW
North American Safety Standards (UL File No.)
UL 61800-5-1 (E147823)
CSA C22.2 No.274
UL 1004-1
UL 1004-6
(E165827)
UL 1004-1
UL 1004-6
(E165827)
UL 1004
(E165827)
 European Directives
Product
SERVOPACKs
Model
European Directive
Machinery Directive
2006/42/EC
55011 group 1, class A
61000-6-2
61000-6-4
61800-3
50178
61800-5-1
55011 group 1, class A
61000-6-2
61800-3
EN
EN
EN
EN
EN
EN
EN
EN
60034-1
60034-5
55011 group 1, class A
61000-6-2
61000-6-4
61800-3
60034-1
60034-5
EMC Directive
2004/108/EC
EN
EN
EN
EN
55011 group 1, class A
61000-6-2
61000-6-4*2
61800-3*3
Low Voltage Directive
2006/95/EC
EN 60034-1
EN 60034-5
EMC Directive
2004/108/EC
EN 55011 group 1, class A
EN 61000-6-2
EN 61000-6-4
Low Voltage Directive
2006/95/EC
EN 60034-1
Low Voltage Directive
2006/95/EC
EMC Directive
2004/104/EC
SGMMV
Rotary
Servomotors
Direct Drive
Servomotors
Linear
Servomotors
Low Voltage Directive
2006/95/EC
•
•
•
•
EMC Directive
2004/108/EC
SGM7J
SGM7A
SGM7P
SGM7G
Low Voltage Directive
2006/95/EC
• SGM7F*1
• SGMCV
• SGMCSB, C,
D, E
(Small-Capacity, Coreless
Servomotors)
•
•
•
•
SGLG
SGLF
SGLFW2
SGLT
EN ISO13849-1: 2008/AC: 2009
EN
EN
EN
EN
EN
EN
EN
EN
EN
EMC Directive
2004/108/EC
SGD7S
Harmonized Standards
*1. Certification is pending.
*2. Certification for the SGMCV is pending.
*3. Only the SGMCV is certified.
Note: We declared the CE Marking based on the harmonized standards in the above table.
 Safety Standards
Product
Model
Safety Standards
Safety of Machinery
SERVOPACKs
SGD7S
Functional Safety
EMC
Standards
EN ISO13849-1: 2008/AC: 2009
IEC 60204-1
IEC 61508 series
IEC 62061
IEC 61800-5-2
IEC 61326-3-1
xxi
 Safe Performance
Item
Safety Integrity Level
Probability of Dangerous Failure per Hour
Performance Level
Mean Time to Dangerous Failure of Each Channel
Average Diagnostic Coverage
Stop Category
Safety Function
Mission Time
Hardware Fault Tolerance
Subsystem
xxii
IEC
IEC
IEC
IEC
Standards
61508
62061
61508
62061
EN ISO 13849-1
EN ISO 13849-1
EN ISO 13849-1
IEC 60204-1
IEC 61800-5-2
IEC 61508
IEC 61508
IEC 61508
Performance Level
SIL3
SILCL3
PFH = 4.04×10-9 [1/h] (4.04% of SIL3)
PLe (Category 3)
MTTFd: High
DCavg: Medium
Stop category 0
STO
10 years
HFT = 1
B
Contents
About this Manual. . . . . . . . . . .
Outline of Manual . . . . . . . . . . .
Related Documents . . . . . . . . .
Using This Manual . . . . . . . . . .
Safety Precautions . . . . . . . . . .
Warranty . . . . . . . . . . . . . . . . . .
Compliance with UL Standards,
..................................
..................................
..................................
..................................
..................................
..................................
EU Directives, and Other Safety Standards
. . . . iii
. . . . iii
. . . . iv
. . . viii
. . . . ix
. . xviii
. . . xx
Basic Information on Servomotors
1
1.1
Servomotor Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.6
1.2
. . . . . . . . . . . . . . . . . . 1-2
. . . . . . . . . . . . . . . . . . 1-2
. . . . . . . . . . . . . . . . . . 1-3
. . . . . . . . . . . . . . . . . . 1-3
. . . . . . . . . . . . . . . . . . 1-3
SGMMV Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
SGM7J, SGM7A, SGM7P, and SGM7G Servomotors. . . . . . . . . . . . . . . . . . 1-4
Outline of Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3.1
1.3.2
1.4
. . . . . . . . . . . . . . . . . . 1-2
Interpreting the Nameplates. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.1
1.2.2
1.3
SGMMV Servomotors . . . . . . . . . . . . . . . . . . . . . . .
SGM7J and SGM7A Servomotors Up to 1.0 kW
and SGM7P Servomotors Up to 400 W . . . . . . . . . .
SGM7G Servomotors Up to 450 W . . . . . . . . . . . . .
SGM7A Servomotors of 1.5 kW to 5.0 kW
and SGM7G Servomotors of 850 W and Higher . . .
SGM7A Servomotors of 7.0 kW . . . . . . . . . . . . . . . .
SGM7P Servomotors of 750 W and 1.5 kW . . . . . . .
Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Combinations of Servomotors and SERVOPACKs . . . . . . . . . . . 1-6
Capacity Selection
2
2.1
Selecting the Servomotor Capacity . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1
2.1.2
Capacity Selection Example for a Rotary Servomotor:
For Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Capacity Selection Example for a Rotary Servomotor:
For Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Specifications, Ratings, and External Dimensions of SGMMV Servomotors
3
3.1
Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
xxiii
3.2
Specifications and Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.3
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs
without Built-in Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . .
Servomotor Heat Dissipation Conditions . . . . . . . . . . . . . . . . . . . . .
....
....
....
....
....
. . . . . .3-7
. . . . . .3-7
External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.1
3.3.2
3.3.3
Servomotors without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
Servomotors with Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
4
4.1
Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1
4.1.2
4.2
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
Specifications and Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors without Gears . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors with Gears . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs
without Built-in Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . .
4.2.8 Servomotor Heat Dissipation Conditions . . . . . . . . . . . . . . . . . . . . . .
4.2.9 Applications Where the Surrounding Air Temperature
of the Servomotor Exceeds 40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m
4.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.4-3
.4-4
.4-5
.4-6
.4-8
.4-9
. . . .4-10
. . . .4-11
. . . .4-11
. . . .4-12
External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.3.1
4.3.2
4.3.3
4.3.4
Servomotors without Gears . . . . . . .
Shaft End Specifications . . . . . . . . .
Connector Mounting Dimensions . . .
Servomotors with Gears . . . . . . . . . .
...
...
...
...
....
....
....
....
...
...
...
...
....
....
....
....
...
...
...
...
....
....
....
....
. . . . . . . .4-13
. . . . . . . .4-15
. . . . . . . .4-16
. . . . . . . .4-17
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5
5.1
Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.1
5.1.2
xxiv
. .3-3
. .3-4
. .3-5
. .3-5
. .3-6
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.2
Specifications and Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
5.2.7
5.2.8
5.2.9
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors without Gears . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors with Gears . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs
without Built-in Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . .
5.2.10 Servomotor Heat Dissipation Conditions . . . . . . . . . . . . . . . . . . . . . . .
5.2.11 Applications Where the Surrounding Air Temperature
of the Servomotor Exceeds 40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.12 Applications Where the Altitude of the Servomotor Exceeds 1,000 m .
5.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. 5-4
. 5-5
. 5-6
. 5-7
. 5-8
. 5-9
5-11
5-12
. . . 5-13
. . . 5-14
. . . 5-15
. . . 5-16
External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
Servomotors without Gears . . . . . . . . . . . . . . . . . . . . . . . . . .
Shaft End Specifications for SGM7A-A5 to -10 . . . . . . . . . . .
Connector Mounting Dimensions for SGM7A-A5 to -10 . . . .
Servomotors without Gears and without Holding Brakes. . . .
Servomotors without Gears and with Holding Brakes . . . . . .
Shaft End Specifications for SGM7A-15 to -70 . . . . . . . . . . .
Servomotors with Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .
...
...
...
...
...
...
...
...
....
....
....
....
....
....
....
....
...
...
...
...
...
...
...
...
5-17
5-19
5-20
5-21
5-23
5-24
5-25
5-31
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
6
6.1
Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1
6.1.2
6.2
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Specifications and Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors without Gears . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors with Gears . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs
without Built-in Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . .
6.2.8 Servomotor Heat Dissipation Conditions . . . . . . . . . . . . . . . . . . . . . . .
6.2.9 Applications Where the Surrounding Air Temperature
of the Servomotor Exceeds 40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m .
6.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
6-3
6-4
6-5
6-6
6-8
6-8
. . . . 6-9
. . . 6-10
. . . 6-10
. . . 6-11
External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.3.1
6.3.2
6.3.3
Servomotors without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Shaft End Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Servomotors with Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
xxv
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
7
7.1
Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2
Specifications and Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
7.2.7
7.2.8
7.2.9
7.2.10
7.3
. .7-3
. .7-4
. .7-5
. .7-5
. .7-6
. .7-7
. .7-8
. .7-8
. .7-9
. .7-9
External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
7.3.1
7.3.2
7.3.3
7.3.4
Servomotors without Holding Brakes .
Servomotors with Holding Brakes . . .
Shaft End Specifications . . . . . . . . . .
Connector Specifications . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.7-10
.7-12
.7-14
.7-15
Servomotor Installation
8
8.1
Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1
8.1.2
8.1.3
8.1.4
8.1.5
8.2
Installation Precautions . . . . . . . . . . . . .
Installation Environment . . . . . . . . . . . . .
Installation Orientation . . . . . . . . . . . . . .
Using Servomotors with Oil Seals. . . . . .
Using Servomotors with Holding Brakes
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.8-2
.8-3
.8-3
.8-3
.8-4
Coupling to the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.2.1
8.2.2
Using a Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
Using a Belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6
8.3
Oil and Water Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.4
Servomotor Temperature Increase . . . . . . . . . . . . . . . . . . . . . . . 8-9
Connections between Servomotors and SERVOPACKs
9
9.1
Cables for the SGMMV Servomotors . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1
9.1.2
9.1.3
9.1.4
xxvi
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Heat Dissipation Conditions . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Derating Rates for Surrounding Air Temperatures . . . . . . . . .
Applications Where the Altitude of the Servomotor Exceeds 1,000 m . . .
System Configurations . . . . . . . . . . . . .
Servomotor Main Circuit Cables . . . . . .
Encoder Cables of 20 m or Less. . . . . .
Relay Encoder Cables of 30 m to 50 m.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.9-2
.9-3
.9-3
.9-4
9.2
Cables for the SGM7J and SGM7A Servomotors . . . . . . . . . . . 9-5
9.2.1
9.2.2
9.2.3
9.2.4
9.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. 9-5
. 9-6
9-14
9-15
System Configurations . . . . . . . . . .
Servomotor Main Circuit Cables . . .
Encoder Cables of 20 m or Less . . .
Relay Encoder Cables of 30 m to 50
..
..
..
m
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
9-16
9-17
9-24
9-24
System Configurations . . . . . . . . . .
Servomotor Main Circuit Cables . . .
Encoder Cables of 20 m or Less . . .
Relay Encoder Cables of 30 m to 50
..
..
..
m
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
9-25
9-26
9-28
9-28
Wiring Servomotors and SERVOPACKs . . . . . . . . . . . . . . . . . . 9-29
9.5.1
9.5.2
10
.
.
.
.
Cables for the SGM7P Servomotors . . . . . . . . . . . . . . . . . . . . 9-25
9.4.1
9.4.2
9.4.3
9.4.4
9.5
.
.
.
.
Cables for the SGM7G Servomotors . . . . . . . . . . . . . . . . . . . . 9-16
9.3.1
9.3.2
9.3.3
9.3.4
9.4
System Configurations . . . . . . . . . . . .
Servomotor Main Circuit Cables . . . . .
Encoder Cables of 20 m or Less . . . . .
Relay Encoder Cable of 30 m to 50 m .
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29
Wiring Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-32
Maintenance and Inspection
10.1 Periodic Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Service Lives of Parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3 Disposing of Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
11
Appendices
11.1 Terminology and Data for Servomotors with Gears . . . . . . . . . 11-2
11.1.1 Terminology for Servomotors with Low-backlash Gears . . . . . . . . . . . . . . 11-2
11.1.2 Noise Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.3 Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Reference Information for Servomotor Capacity Selection . . . 11-4
11.2.1
11.2.2
11.2.3
11.2.4
Formulas Required to Select the Servomotor Capacity .
GD2 for Simple Diagrams. . . . . . . . . . . . . . . . . . . . . . . .
Conversions between Engineering Units and SI Units . .
Application Examples by Type of Application . . . . . . . .
....
....
....
....
...
...
...
...
...
...
...
...
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
11-4
11-5
11-6
11-7
Revision History
xxvii
Basic Information on
Servomotors
This chapter provides basic information on Rotary Servomotors, including Servomotor part names and combinations with SERVOPACKs.
1.1
Servomotor Part Names . . . . . . . . . . . . . . . 1-2
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.6
1.2
. 1-2
. 1-2
. 1-3
. 1-3
. 1-3
SGMMV Servomotors . . . . . . . . . . . . . . . . . . . . . 1-4
SGM7J, SGM7A, SGM7P, and SGM7G
Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Outline of Model Designations . . . . . . . . . . 1-5
1.3.1
1.3.2
1.4
. 1-2
Interpreting the Nameplates . . . . . . . . . . . . 1-4
1.2.1
1.2.2
1.3
SGMMV Servomotors . . . . . . . . . . . . . . . . . . . .
SGM7J and SGM7A Servomotors Up to 1.0 kW
and SGM7P Servomotors Up to 400 W . . . . . . .
SGM7G Servomotors Up to 450 W . . . . . . . . . .
SGM7A Servomotors of 1.5 kW to 5.0 kW and
SGM7G Servomotors of 850 W and Higher . . . .
SGM7A Servomotors of 7.0 kW . . . . . . . . . . . .
SGM7P Servomotors of 750 W and 1.5 kW . . . .
Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Combinations of Servomotors and SERVOPACKs . .1-6
1
1.1 Servomotor Part Names
1.1.1 SGMMV Servomotors
1.1
Servomotor Part Names
1.1.1
SGMMV Servomotors
• Standard Servomotors
• Servomotors with Brakes
Encoder Cable
Encoder Cable
Servomotor Main Circuit Cable
Main Circuit Cable of
Servomotor with
Holding Brake
Encoder
Encoder
Nameplate
Nameplate
1.1.2
Motor flange
Motor shaft
Motor flange
Motor shaft
SGM7J and SGM7A Servomotors Up to 1.0 kW and
SGM7P Servomotors Up to 400 W
• Standard Servomotors
Connector for
Servomotor Main
Circuit Cable
Connector for
Encoder Cable
• Servomotors with Brakes
Connector for
Main Circuit Cable
of Servomotor with
Holding Brake
Connector for
Encoder Cable
• Servomotors with Gears
Connector for
Servomotor Main
Circuit Cable
Connector for
Encoder Cable
Encoder
Encoder
Nameplate
Encoder
Motor shaft
1.1.3
Nameplate
Motor flange
Nameplate
Motor shaft
Motor flange
Motor shaft
SGM7G Servomotors Up to 450 W
• Standard Servomotors
Connector for
Servomotor Main
Circuit Cable
Connector for
Encoder Cable
• Servomotors with Brakes
Connector for
Main Circuit Cable
of Servomotor with
Holding Brake
Nameplate
Motor shaft
Motor flange
Connector for
Encoder Cable
Encoder
Encoder
1-2
Gears
Nameplate
Motor shaft
Motor flange
Motor flange
1.1 Servomotor Part Names
1.1.4 SGM7A Servomotors of 1.5 kW to 5.0 kW and SGM7G Servomotors of 850 W and Higher
1.1.4
SGM7A Servomotors of 1.5 kW to 5.0 kW and SGM7G
Servomotors of 850 W and Higher
• Standard Servomotors
Connector for
Servomotor Main
Circuit Cable
• Servomotors with Brakes
Connector for
Encoder Cable
Connector for Holding Brake Cable
Connector for Servomotor
Main Circuit Main
Power Supply Cable
Nameplate*
Connector for
Encoder Cable
Nameplate*
Encoder
Encoder
Motor shaft
Motor shaft
Motor flange
Motor flange
* The position of the nameplate depends on the model and motor output.
SGM7A Servomotors of 7.0 kW
Connector for Encoder Cable
Connector for Servomotor Main
Circuit Main Power Supply Cable
Connector for cooling fan cable
Nameplate
Cooling fan
Basic Information on Servomotors
1.1.5
1
Motor shaft
1.1.6
Motor flange
SGM7P Servomotors of 750 W and 1.5 kW
Servomotor Main Circuit Cable
Encoder Cable
Encoder
Motor shaft
Nameplate
Motor flange
1-3
1.2 Interpreting the Nameplates
1.2.1 SGMMV Servomotors
1.2
Interpreting the Nameplates
The following basic information is provided on the nameplate.
1.2.1
SGMMV Servomotors
A nameplate containing the following information is attached to the Servomotor.
Number of phases
QR code
Servomotor model
Power supply voltage,
rated output, and rated current
Rated motor speed/
maximum motor speed
Thermal class
Serial number
Order number
Certification
marks*
* Certification marks for the standards for which the Servomotor has been certified by certification bodies are
shown on the product.
1.2.2
SGM7J, SGM7A, SGM7P, and SGM7G Servomotors
The nameplate is printed on the Servomotor.
The layout of the nameplate depends somewhat on the model of the Servomotor.
Power supply voltage and number of phases
Rated current and rated current frequency
Rated output and time rating
Rated torque
Servomotor model
Order number
Serial number
Certification marks*
QR code
Rated motor speed
Maximum motor speed
Thermal class
* Certification marks for the standards for which the Servomotor has been certified by certification bodies are
shown on the product.
1-4
1.3 Outline of Model Designations
1.3.1 Servomotor
1.3
Outline of Model Designations
1.3.1
Servomotor
This section outlines the model numbers of Σ-7-Series Servomotors. For details, refer to the
chapter for your type of Servomotor.
SGM - 01
Series
Series
Code
1st+2nd
digits
A
F
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
Σ-7-Series Servomotors
Specifications
1st+2nd digits Rated Output
5th digit Design Revision Order
Reference
SGMMV
Low inertia, ultra-small capacity Chapter 3
3rd digit Power Supply Voltage
6th digit Shaft End Specification
SGM7J
Medium inertia, high speed Chapter 4
200 VAC
SGM7A
Low inertia, high speed
Chapter 5
SGM7P
Medium inertia, flat
Chapter 6
Straight without key
Straight with key and tap
With flat seat
With two flat seats
SGM7G
Medium inertia, low speed, high torque Chapter 7
4th digit Serial Encoder Specification
17-bit absolute encoder
24-bit absolute encoder
24-bit incremental encoder
7th digit Options
1.3.2
SERVOPACKs
This section outlines the model numbers of Σ-7-Series SERVOPACKs. For details, refer to the
manual for your SERVOPACK.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
(Manual No.: SIEP S800001 26)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual
(Manual No.: SIEP S800001 27)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual
(Manual No.: SIEP S800001 28)
Σ-7-Series Σ-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual
(Manual No.: SIEP S800001 29)
SGD7 - R70
Series
Series
Code
SGD7S
SGD7W
1st+2nd+3rd
digits
Σ-7-Series SERVOPACKs
Specification
Single-axis SERVOPACKs
Two-axis SERVOPACKs
A
00
A
000
4th
digit
5th+6th
digits
7th
digit
8th+9th+10th
digits
1st+2nd+3rd digits
Maximum Applicable
Motor Capacity
Basic Information on Servomotors
With 24-V holding brake
With oil seal
1
7th digit Design Revision Order
0.05 kW to 15 kW
8th+9th+10th digits Options
4th digit Power Supply Voltage
200 VAC
Rack-mounted installation
Varnished
5th+6th digits Interface
Analog voltage/pulse train reference
MECHATROLINK-II communications reference
MECHATROLINK-III communications reference
1-5
1.4 Combinations of Servomotors and SERVOPACKs
1.4
Combinations of Servomotors and SERVOPACKs
Rotary Servomotor Model
SGMMV
SGMMV-A1A
(Low inertia, ultra-small SGMMV-A2A
capacity)
SGMMV-A3A
6000 min-1
SGM7J-A5A
SGM7J-01A
SGM7J-C2A
SGM7J
(Medium inertia, high SGM7J-02A
speed)
SGM7J-04A
3000 min-1
SGM7A
(Low inertia, high
speed)
3000 min-1
SGM7P
(Medium inertia, flat
type)
3000min-1
SGM7G
(Medium inertia, low
speed, large torque)
1500 min-1
Capacity
SERVOPACK Model
SGD7S-
SGD7W-
10 W
20 W
R90A, R90F
1R6A*1, 2R8A*1
30 W
1R6A, 2R1F
1R6A, 2R8A*1
50 W
100 W
150 W
200 W
R70A, R70F
R90A, R90F
1R6A*1, 2R8A*1
1R6A, 2R1F
1R6A, 2R8A*1
2R8A, 2R8F
2R8A, 5R5A*1,
7R6A*1
5R5A
5R5A, 7R6A
R70A, R70F
R90A, R90F
1R6A*1, 2R8A*1
1R6A, 2R1F
1R6A, 2R8A*1
2R8A, 2R8F
2R8A, 5R5A*1,
7R6A*1
5R5A
5R5A, 7R6A
400 W
SGM7J-06A
SGM7J-08A
SGM7A-A5A
SGM7A-01A
SGM7A-C2A
600 W
750 W
50 W
100 W
150 W
SGM7A-02A
200 W
SGM7A-04A
400 W
SGM7A-06A
SGM7A-08A
SGM7A-10A
SGM7A-15A
SGM7A-20A
SGM7A-25A
SGM7A-30A
SGM7A-40A
SGM7A-50A
SGM7A-70A
600 W
750 W
1.0 kW
1.5 kW
2.0 kW
2.5 kW
3.0 kW
4.0 kW
5.0 kW
7.0 kW
SGM7P-01A
100 W
R90A, R90F
1R6A*1, 2R8A*1
SGM7P-02A
200 W
2R8A, 2R1F
SGM7P-04A
400 W
2R8A, 2R8F
2R8A, 5R5A*1,
7R6A*1
SGM7P-08A
SGM7P-15A
SGM7G-03A
SGM7G-05A
SGM7G-09A
SGM7G-13A
SGM7G-20A
750 W
1.5 kW
300 W
450 W
850 W
1.3 kW
1.8 kW
5R5A
120A
5R5A, 7R6A
−
3R8A
5R5A*1, 7R6A*1
SGM7G-30A
2.9 kW*2
4.4 kW
5.5 kW
7.5 kW
11 kW
15 kW
SGM7G-44A
SGM7G-55A
SGM7G-75A
SGM7G-1AA
SGM7G-1EA
120A
180A
−
200A
330A
550A
7R6A
120A
180A
330A
470A
550A
590A
780A
−
*1. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
*2. The rated output is 2.4 kW if you use the SGD7S-200A.
1-6
Capacity Selection
This chapter describes calculation methods to use when
selecting Servomotor capacities.
2.1
Selecting the Servomotor Capacity . . . . . . 2-2
2.1.1
2.1.2
Capacity Selection Example for a Rotary
Servomotor: For Speed Control . . . . . . . . . . . . . 2-2
Capacity Selection Example for a Rotary
Servomotor: For Position Control . . . . . . . . . . . . 2-4
2
2.1 Selecting the Servomotor Capacity
2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control
2.1
Selecting the Servomotor Capacity
Refer to the following selection examples to select Servomotor capacities with manual calculations
rather than with the above software.
2.1.1
Capacity Selection Example for a Rotary Servomotor:
For Speed Control
1. Mechanical Specifications
Servomotor
Linear motion section
υL
Coupling
Gear
Ball screw
Item
Code
Value
Item
Load Speed
υL
15 m/min
Gear and Coupling
Moment of Inertia
Linear Motion
Section Mass
m
250 kg
Number of Feeding
Operations
1.0 m
Feeding Distance
Ball Screw Length
B
Code
Value
JG
0.40 × 10-4 kgm2
n
40 rotations/min
0.275 m
Ball Screw Diameter
dB
0.02 m
Feeding Time
tm
1.2 s max.
Ball Screw Lead
PB
0.01 m
Friction Coefficient
μ
0.2
Ball Screw Material
Density
ρ
7.87 × 103 kg/m3
Mechanical Efficiency
η
0.9 (90%)
Gear Ratio
R
External Force on LinF
ear Motion Section
2 (gear ratio: 1/2)
0N
2. Operation Pattern
υL
t = 60 = 60 = 1.5 (s)
40
If ta = td,
15
Motor Speed
(m/min)
ta
tc
Time (s)
td
tm
t
60 × 0.275
ta = tm − 60
= 1.2 − 1.1 = 0.1 (s)
υL = 1.2 −
15
tc = 1.2 − 0.1 × 2 = 1.0 (s)
3. Motor Speed
υL
15
=
= 1,500 (min-1)
PB 0.01
= nL · R = 1,500 × 2 = 3,000 (min-1)
• Load shaft speed
nL =
• Motor shaft speed
nM
4. Load Torque
TL =
2-2
(9.8 μ m + F) PB
(9.8 × 0.2 × 250 + 0) × 0.01
=
= 0.43 (Nm)
2πR η
2π × 2 × 0.9
2.1 Selecting the Servomotor Capacity
2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control
5. Load Moment of Inertia
• Linear motion section
2
JL1 = m
2
PB
0.01
= 250 ×
= 1.58 × 10-4 (kgm2)
2πR
2π × 2
• Ball screw
JB =
1
π ρ
π
1
B dB4 2 =
× 7.87 × 103 × 1.0 × (0.02)4 2 = 0.31 × 10-4 (kgm2)
2
32
32
R
• Coupling JG = 0.40 × 10-4 (kg⋅m2)
• Load moment of inertia at motor shaft
JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) × 10-4 = 2.29 × 10-4 (kgm2)
6. Load Moving Power
PO =
2πnM TL 2π × 3,000 × 0.43
=
= 135 (W)
60
60
7. Load Acceleration Power
Pa =
2
2
JL
2π
2π
2.29 × 10-4
nM
=
× 3,000 ×
= 226 (W)
60
60
0.1
ta
8. Servomotor Provisional Selection
 Selection Conditions
• TL ≤ Motor rated torque
• (Po + Pa) < Provisionally selected Servomotor rated output < (Po + Pa)
2
• nM ≤ Rated motor speed
The following Servomotor meets the selection conditions.
• SGM7J-02A Servomotor
 Specifications of the Provisionally Selected Servomotor
Item
Value
Rated Output
200 (W)
Rated Motor Speed
Rated Torque
Instantaneous Maximum Torque
3,000 (min-1)
0.637 (Nm)
2.23 (Nm)
Motor Moment of Inertia
0.263 × 10-4 (kgm2)
Allowable Load Moment of Inertia
0.263 × 10-4 × 15 = 3.94 × 10-4 (kgm2)
Capacity Selection
• JL ≤ Allowable load moment of inertia
2
9. Verification of the Provisionally Selected Servomotor
• Verification of
required
acceleration
torque:
• Verification of
required
deceleration
torque:
TP =
2πnM (JM + JL)
2π × 3,000 × (0.263 + 2.29) × 10-4
+ TL =
+ 0.43
60ta
60 × 0.1
≈ 1.23 (Nm) < Maximum instantaneous torque...Satisfactory
TS =
2πnM (JM + JL)
60td
− TL =
2π × 3,000 × (0.263 + 2.29) × 10-4
− 0.43
60 × 0.1
≈ 0.37 (Nm) < Maximum instantaneous torque...Satisfactory
2-3
2.1 Selecting the Servomotor Capacity
2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control
• Verification of
effective
torque
value:
TP2  ta + TL2  tc + Ts2  td
Trms =
t
=
(1.23)2 × 0.1 + (0.43)2 × 1.0 + (0.37)2 × 0.1
1.5
≈ 0.483 (Nm) < Rated torque...Satisfactory
10. Result
It has been verified that the provisionally selected Servomotor is applicable.
The torque diagram is shown below.
(Nm)
Torque
Motor Speed
1.23
0.43
0
-0.37
0.1
0.1
1.0
1.5
2.1.2
Capacity Selection Example for a Rotary Servomotor:
For Position Control
1. Mechanical Specifications
Linear motion section
υL
Servomotor
Coupling
Ball screw
Item
Code
Value
Item
Code
Load Speed
υL
15 m/min
Coupling Outer DiamdC
eter
Linear Motion Section
Mass
m
80 kg
Number of Feeding
Operations
B
0.8 m
Feeding Distance
Ball Screw Length
n
Value
0.03 m
40 rotation/min
0.25 m
Ball Screw Diameter
dB
0.016 m
Feeding Time
tm
1.2 s max.
Ball Screw Lead
PB
0.005 m
Electrical Stopping
Precision
δ
±0.01 mm
Ball Screw Material
Density
External Force on
Linear Motion Section
ρ
7.87 × 103 kg/m3
Friction Coefficient
μ
0.2
F
0N
Mechanical Efficiency
η
0.9 (90%)
Coupling Mass
mC
0.3 kg
2. Speed Diagram
υL
15
Reference pulses
Load speed
Motor Speed
(m/min)
ta
tc
tm
td ts
t
2-4
Time
60
= 1.5 (s)
40
If ta = td and ts = 0.1 (s),
t=
60
=
60 × 0.25 = 0.1 (s)
ta = tm − ts − 60
υL = 1.2 − 0.1 −
15
tc = 1.2 − 0.1 − 0.1 × 2 = 0.9 (s)
2.1 Selecting the Servomotor Capacity
2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control
3. Motor Speed
• Load shaft
speed
υ
15
nL = L =
= 3,000 (min-1)
PB 0.005
Direct coupling gear ratio 1/R = 1/1
Therefore, nM = nL ⋅ R = 3,000 × 1 = 3,000 (min-1)
• Motor shaft
speed
4. Load Torque
TL =
(9.8 μ m + F ) PB (9.8 × 0.2 × 80 + 0) × 0.005
=
= 0.139 (Nm)
2πR η
2π × 1 × 0.9
5. Load Moment of Inertia
• Linear motion section
JL1 = m
2
PB 2
0.005
= 80 ×
= 0.507 × 10-4 (kgm2)
2πR
2π × 1
• Ball screw
JB = π ρ B dB4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kgm2)
32
32
• Coupling
Jc =
1
1
m d 2=
× 0.3 × (0.03)2 = 0.338 × 10-4 (kgm2)
8
8 C C
• Load moment of inertia at motor shaft
JL = JL1 + JB + Jc = 1.25 × 10-4 (kgm2)
6. Load Moving Power
PO =
2πnM TL
2π × 3,000 × 0.139
=
= 43.7 (W)
60
60
Pa =
2
2
J
2π
2π
1.25 × 10-4
nM L =
× 3,000 ×
= 123.4 (W)
60
ta
60
0.1
8. Servomotor Provisional Selection
 Selection Conditions
• TL ≤ Motor rated torque
• (Po + Pa) < Provisionally selected Servomotor rated output < (Po + Pa)
2
• nM ≤ Rated motor speed
Capacity Selection
7. Load Acceleration Power
2
• JL ≤ Allowable load moment of inertia
The following Servomotor meets the selection conditions.
• SGM7J-01A Servomotor
 Specifications of the Provisionally Selected Servomotor
Item
Value
Rated Output
100 (W)
Rated Motor Speed
Rated Torque
Instantaneous Maximum Torque
3,000 (min-1)
0.318 (Nm)
1.11 (Nm)
Motor Moment of Inertia
0.0659 × 10-4 (kgm2)
Allowable Load Moment of Inertia
0.0659 × 10-4 × 35 = 2.31 × 10-4 (kgm2)
16,777,216 (pulses/rev) (24 bits)
Encoder Resolution
2-5
2.1 Selecting the Servomotor Capacity
2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control
9. Verification of the Provisionally Selected Servomotor
• Verification of
required
acceleration
torque:
• Verification of
required
deceleration
torque:
• Verification of
effective
torque
value:
TP =
2πnM (JM + JL)
2π × 3,000 × (0.0659 + 1.25) × 10-4
+ TL =
+ 0.139
60ta
60 × 0.1
≈ 0.552 (Nm) < Maximum instantaneous torque...Satisfactory
-4
TS = 2πnM (JM + JL) − TL = 2π × 3,000 × (0.0659 + 1.25) × 10 − 0.139
60 × 0.1
60td
≈ 0.274 (Nm) < Maximum instantaneous torque...Satisfactory
Trms =
TP2  ta + TL2  tc + Ts2  td
t
=
(0.552)2 × 0.1 + (0.139)2 × 0.9 + (0.274)2 × 0.1
1.5
≈ 0.192 (Nm) < Rated torque...Satisfactory
It has been verified that the provisionally selected Servomotor is applicable in terms of capacity.
Position control is considered next.
10. Positioning Resolution
The electrical stopping precision δ is ±0.01 mm, so the positioning resolution Δ is 0.01 mm.
The ball screw lead PB is 0.005 m, so the number of pulses per motor rotation is calculated with the
following formula.
P
5 mm/rev
Number of pulses per rotation (pulses) = B =
= 500 (P/rev) < Encoder resolution (16,777,216 (pulses/rev))
0.01 mm
Δ
The number of pulses per motor rotation is less than the encoder resolution (pulses/rev), so the provisionally selected motor can be used.
11. Reference Pulse Frequency
The load speed υL is 15 m/min, or 1,000 × 15/60 mm/s and the positioning resolution (travel distance
per pulse) is 0.01 mm/pulse, so the reference pulse frequency is calculated with the following formula.
vs =
1,000 υL 1,000 × 15
=
= 25,000 (pps)
60 × Δ
60 × 0.01
The reference pulse frequency is less than the maximum input pulse frequency,* so the provisionally
selected Servomotor can be used.
*Refer to the specifications in the SERVOPACK manual for the maximum input pulse frequency.
It has been verified that the provisionally selected Servomotor is applicable for position control.
2-6
Specifications,
Ratings, and External
Dimensions of
SGMMV Servomotors
This chapter describes how to interpret the model numbers
of SGMMV Servomotors and gives their specifications, ratings, and external dimensions.
3.1
Model Designations . . . . . . . . . . . . . . . . . . 3-2
3.2
Specifications and Ratings . . . . . . . . . . . . . 3-3
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.3
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . . . . . .
Servomotor Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . .
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . .
Allowable Load Moment of Inertia Scaling Factor
for SERVOPACKs without Built-in Regenerative
Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Heat Dissipation Conditions . . . . . .
3-3
3-4
3-5
3-5
3-6
3-7
3-7
External Dimensions . . . . . . . . . . . . . . . . . . 3-8
3.3.1
3.3.2
3.3.3
Servomotors without Holding Brakes . . . . . . . . . 3-8
Servomotors with Holding Brakes . . . . . . . . . . . . 3-9
Connector Specifications . . . . . . . . . . . . . . . . . 3-10
3
3.1 Model Designations
3.1
Model Designations
SGMMV - A1
-V mini Series
Servomotors:
SGMMV
1st+2nd
digits
A
2
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
1st+2nd digits Rated Output
3rd digit
Code
Code
A1
A2
A3
Specification
10 W
20 W
30 W
A
Specification
200 VAC
4th digit
Code
2
3-2
6th digit
Code
2
A
Shaft End
Specification
Straight
Straight with flat seats
Serial Encoder
Specification
17-bit absolute
5th digit
A
Power Supply Voltage
Design Revision Order
7th digit
Options
Specification
Code
Without options
1
C
With holding brake (24 VDC)
3.2 Specifications and Ratings
3.2.1 Specifications
3.2
Specifications and Ratings
3.2.1
Specifications
Voltage
Model SGMMV-
200 V
A2A
A3A
Continuous
B
500 VDC, 10 MΩ min.
1,500 VAC for 1 minute
Permanent magnet
Flange-mounted
Direct drive
Counterclockwise (CCW) for forward reference when viewed from
the load side
Time Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Mounting
Drive Method
Rotation Direction
Vibration Class*1
Surrounding Air
Temperature
Surrounding Air Humidity
Environmental Conditions
Installation Site
Storage Environment
Shock
Resistance*2
Vibration
Resistance*3
Applicable
SERVOPACKs
V15
0°C to 40°C
20% to 80% relative humidity (with no condensation)
• Must be indoors and free of corrosive and explosive gases.
• Must be well-ventilated and free of dust and moisture.
• Must facilitate inspection and cleaning.
• Must have an altitude of 1,000 m or less.
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it
with the power cable disconnected.
Storage temperature: -20°C to 60°C (with no freezing)
Storage humidity: 20% to 80% relative humidity (with no condensation)
Impact Acceleration
Rate at Flange
Number of Impacts
Vibration Acceleration
Rate at Flange
SGD7S-
490 m/s2
2 times
49 m/s2
SGD7W-
R90A, R90F
1R6A, 2R1F
1R6A*4, 2R8A*4
1R6A, 2R8A*4
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table.
Specifications, Ratings, and External Dimensions of SGMMV Servomotors
A1A
3
Vertical
Shock Applied to the Servomotor
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo-
motor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration
that the Servomotor can withstand depends on the application. Always check the vibration acceleration rate
that is applied to the Servomotor with the actual equipment.
Vertical
Front to back
Side to side
Horizontal direction
Vibration Applied to the Servomotor
*4. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
3-3
3.2 Specifications and Ratings
3.2.2 Servomotor Ratings
3.2.2
Servomotor Ratings
Voltage
Model SGMMVRated Output*1
Rated Torque
A3A
10
20
30
Nm
0.0318
0.0637
0.0955
Nm
0.0955
0.191
0.286
Arms
0.70
0.66
0.98
Arms
2.0
1.9
2.9
W
*1, *2
Instantaneous Maximum Torque
Rated Current
A1A
200 V
A2A
*1
*1
Instantaneous Maximum Current
*1
Rated Motor Speed*1
Maximum Motor Speed
Torque Constant
*1
3000
-1
6000
min
Nm/Arms
×10 kgm
-7
Motor Moment of Inertia
Rated Power Rate*1
Rated Angular Acceleration Rate
Heat Sink Size (Aluminum)
min-1
2
kW/s
*1
rad/s
mm
2
0.0516
0.107
0.107
2.72 (4.07)
4.66 (6.02)
6.68 (8.04)
3.72
8.71
13.7
117000
137000
143000
150×150×3
250×250×6
Totally enclosed, self-cooled, IP55
(except for shaft opening)
Protective Structure*3
Rated Voltage
Capacity
Holding Torque
Holding Brake
Coil Resistance
SpecificaRated Current
tions*4
Time Required to
Release Brake
Time Required to Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
Allowable
Shaft Loads*6
LF
Allowable Radial Load
Allowable Thrust Load
V
W
Nm
Ω (at 20°C)
A (at 20°C)
24 VDC
2.0
0.0318
320
0.075
+10%
0
2.6
0.0637
0.0955
221.5
0.108
ms
40
ms
100
30 times
mm
N
N
16
34
44
14.5
Note: The values in parentheses are for Servomotors with Holding Brakes.
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature wind-
ing is 100°C. These are typical values.
*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimen-
sions given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used. Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
3-4
3.2 Specifications and Ratings
3.2.3 Torque-Motor Speed Characteristics
3.2.3
Torque-Motor Speed Characteristics
A : Continuous duty zone
B : Intermittent duty zone*
SGMMV-A2A
SGMMV-A3A
7000
6000
6000
6000
4000
3000
A
B
2000
1000
5000
4000
3000
A
B
2000
1000
0
0
0
0.04
0.08
0.12
0.16
5000
4000
3000
A
B
2000
1000
0
0
0.08
0.16
0.24
Torque (N·m)
Torque (N·m)
0.32
0
0.1
0.2
0.3
0.4
Torque (N·m)
* The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V input.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 20°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air
temperature of 40°C.
1000
SGMMV-A1 ,-A2 ,-A3
Detection time (s)
3.2.4
100
10
Specifications, Ratings, and External Dimensions of SGMMV Servomotors
5000
Motor speed (min-1)
7000
Motor speed (min-1)
Motor speed (min-1)
SGMMV-A1A
7000
3
1
100
200
300
Torque reference (percent of rated torque)
(%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in 3.2.3 Torque-Motor Speed Characteristics on page 3-5.
3-5
3.2 Specifications and Ratings
3.2.5 Load Moment of Inertia
3.2.5
Load Moment of Inertia
The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to
3.2.2 Servomotor Ratings on page 3-4. This value is provided strictly as a guideline and results
depend on Servomotor driving conditions.
An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia
exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if
this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above
steps.
Regenerative resistors are not built into SERVOPACKs for 400-W Servomotors or smaller Servomotors.
Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is
required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor.
3-6
3.2 Specifications and Ratings
3.2.6 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors
3.2.6
Allowable Load Moment of Inertia Scaling Factor for
SERVOPACKs without Built-in Regenerative Resistors
The following graphs show the allowable load moment of inertia scaling factor of the motor
speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative
Resistor is not connected.
If the Servomotor exceeds the allowable load moment of inertia, an overvoltage alarm may
occur in the SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher.
SGMMV-A1A, -A2A, -A3A
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
* Applicable SERVOPACK models: SGD7S-R90A, -1R6A, -R90F, and -2R1F
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values when a heat sink is installed on the
Servomotor. If the Servomotor is mounted on a small device component, the Servomotor temperature may rise considerably because the surface for heat dissipation becomes smaller.
Refer to the following graphs for the relation between the heat sink size and derating rate.
When using Servomotors with derating, change the overload warning and overload alarm
detection timing in advance based on the overload detection level of the motor. Refer to the following section for the overload detection level of the motor.
3.2.4 Servomotor Overload Protection Characteristics on page 3-5
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
3
100
Derating rate (%)
The actual temperature rise depends on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting
section, and the motor speed. Always check the Servomotor temperature with the actual equipImportant ment.
Derating rate (%)
3.2.7
Specifications, Ratings, and External Dimensions of SGMMV Servomotors
Allowable load moment of inertia
scaling factor (times)
35
SGMMV-A1，-A2
80
60
40
20
100
SGMMV-A3
80
60
40
0
30
60
90
120
Heat sink size (mm)
150
20
0
50
100
150
200
250
Heat sink size (mm)
3-7
3.3 External Dimensions
3.3.1 Servomotors without Holding Brakes
3.3
External Dimensions
3.3.1
Servomotors without Holding Brakes
SGMMV-A1, -A2 and -A3
Encoder Cable, 4 Dia.
UL20276
Encoder connector
300 ±30
Servomotor Main Circuit Cable
AWG24,UL10095
or UL3266
Servomotor connector
Protective Tube
5 Dia., Black
300 ±30
L
0.04
L1
12
A
25
16
0.02
26.5
A
2.5
0.04 Dia. A
16
LB Dia.
45°
4
S Dia.
L2
28
Dia
.
2-M3 Tapped
Holes, Depth 7
Unit: mm
Flange
Dimensions
S
LB
Model
SGMMV-
L
L1
L2
A1A2A1
70
54
27.5
5 -0.008
0
20 -0.021
A2A2A1
80
64
37.5
5 -0.008
0
47.5
0
-0.008
A3A2A1
90
74
5
Approx.
Mass [kg]
0
0.13
20 -0.021
0
0.17
0
-0.021
0.21
20
Refer to the following section for information on connectors.
SGMMV-A1, -A2, and -A3 without Holding Brakes on page 3-10
 Shaft End Specification
• Straight with Flat Seats
0.02
A
LB Dia.
S Dia.
10
0.5
3-8
4.5
3.3 External Dimensions
3.3.2 Servomotors with Holding Brakes
Servomotors with Holding Brakes
SGMMV-A1, -A2 and -A3
Encoder Cable, 4 Dia.
UL20276
Encoder connector
300 ±30
Servomotor connector
Servomotor Main Circuit Cable
AWG24,UL10095 or UL3266
300 ±30
L
L1
12
0.04
16
25
A
0.02
L2
2.5
A
16
LB Dia.
45°
4
S Dia.
26.5
28
Dia
.
0.04 Dia. A
2-M3 Tapped
Holes, Depth 7
Flange
Dimensions
S
LB
Model
SGMMV-
L
L1
L2
A1A2AC
94.5
78.5
27.5
5 -0.008
0
20 -0.021
A2A2AC
108.5
92.5
37.5
5 -0.008
0
47.5
0
-0.008
A3A2AC
118.5
102.5
5
Approx.
Mass [kg]
0
0.215
20 -0.021
0
0.27
0
-0.021
0.31
20
Refer to the following section for information on connectors.
SGMMV-A1, -A2, and -A3 with Holding Brakes on page 3-10
 Shaft End Specification
Unit: mm
Specifications, Ratings, and External Dimensions of SGMMV Servomotors
Protective Tube
5 Dia., Black
3
• Straight with Flat Seats
0.02
A
LB Dia.
10
S Dia.
3.3.2
0.5
4.5
3-9
3.3 External Dimensions
3.3.3 Connector Specifications
3.3.3
Connector Specifications
SGMMV-A1, -A2, and -A3 without Holding Brakes
• Encoder Connector Specifications
Model: 55102-0600
Manufacturer: Molex Japan LLC
Mating connector: 54280-0609
• Servomotor Connector Specifications
Receptacle: 43025-0400
Manufacturer: Molex Japan LLC
SGMMV-A1, -A2, and -A3 with Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
Model: 55102-0600
Manufacturer: Molex Japan LLC
Mating connector: 54280-0609
• Servomotor Connector Specifications
Receptacle: 43025-0600
Manufacturer: Molex Japan LLC
3-10
Specifications,
Ratings, and External
Dimensions of
SGM7J Servomotors
This chapter describes how to interpret the model numbers
of SGM7J Servomotors and gives their specifications, ratings, and external dimensions.
4.1
Model Designations . . . . . . . . . . . . . . . . . . 4-2
4.1.1
4.1.2
4.2
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Specifications and Ratings . . . . . . . . . . . . . 4-3
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
Specifications . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors without Gears . . .
Torque-Motor Speed Characteristics . . . .
Ratings of Servomotors with Gears . . . . . .
Servomotor Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . .
4.2.6
Load Moment of Inertia . . . . . . . . . . . . . . .
4.2.7
Allowable Load Moment of Inertia Scaling
Factor for SERVOPACKs without Built-in
Regenerative Resistors . . . . . . . . . . . . . . .
4.2.8
Servomotor Heat Dissipation Conditions .
4.2.9
Applications Where the Surrounding Air
Temperature of the Servomotor Exceeds
40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.10 Applications Where the Altitude of
the Servomotor Exceeds 1,000 m . . . . . . .
4.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
4-3
4-4
4-5
4-6
. . . . . 4-8
. . . . . 4-9
. . . . 4-10
. . . . 4-11
. . . . 4-11
. . . . 4-12
External Dimensions . . . . . . . . . . . . . . . . . 4-13
4.3.1
4.3.2
4.3.3
4.3.4
Servomotors without Gears . . . . .
Shaft End Specifications . . . . . . .
Connector Mounting Dimensions
Servomotors with Gears . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
4-13
4-15
4-16
4-17
4
4.1 Model Designations
4.1.1 Without Gears
4.1
Model Designations
4.1.1
Without Gears
SGM7J - 01
1st+2nd
digits
Σ-7 Series
Servomotors:
SGM7J
A
7
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
3rd digit Power Supply Voltage
1st+2nd digits Rated Output
Specification
Code
Specification
Code
A
6th digit Shaft End
Code
200 VAC
A5
50 W
01
100 W
C2
150 W
4th digit Serial Encoder
02
200 W
Code
04
400 W
7
06
600 W
F
08
750 W
6
Straight with key and tap
B
With two flat seats
7th digit Options
24-bit absolute
24-bit incremental
Code
1
C
A
Specification
Without options
With holding brake (24 VDC)
E
With oil seal and holding
brake (24 VDC)
S
With oil seal
With Gears
SGM7J - 01
1st+2nd
digits
Σ-7 Series
Servomotors:
SGM7J
1st+2nd digits Rated Output
Code
Specification
A
7
A
H
1
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
8th
digit
9th
digit
5th digit Design Revision Order
8th digit Shaft End
Code
A
Specification
0
Flange output
6th digit Gear Type
2
Straight without key
150 W
Code
Specification
6
Straight with key and tap
02
200 W
H
HDS planetary low-backlash gear
04
400 W
06
600 W
7th digit Gear Ratio
08
750 W
Code
A5
50 W
01
100 W
C2
9th digit Options
3rd digit Power Supply Voltage
Code
A
Specification
200 VAC
4th digit Serial Encoder
Code
7
F
4-2
Straight without key
Specification
5th digit Design Revision Order
4.1.2
Specification
2
Specification
24-bit absolute
24-bit incremental
Specification
B
1/11*1
C
1/21
1
1/5
2
1/9*2
7
1/33
*1. This specification is not supported for
models with a rated output of 50 W.
*2. This specification is supported only for
models with a rated output of 50 W.
Code
Specification
1
Without options
C
With holding brake (24 VDC)
4.2 Specifications and Ratings
4.2.1 Specifications
4.2
Specifications and Ratings
4.2.1
Specifications
200 V
A5A
01A
C2A
02A
04A
06A
08A
Continuous
UL: A, CE: B
500 VDC, 10 MΩ min.
1,500 VAC for 1 minute
Permanent magnet
Flange-mounted
Direct drive
Counterclockwise (CCW) for forward reference when viewed from the load side
Time Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Mounting
Drive Method
Rotation Direction
Vibration Class*1
V15
Surrounding Air Temperature
Surrounding Air Humidity
Installation Site
Environmental Conditions
Storage Environment
Shock
Resistance*2
Impact Acceleration Rate at Flange
Vibration
Resistance*3
Vibration Acceleration
Rate at Flange
0°C to 40°C (With derating, usage is possible between 40°C and 60°C.)*4
20% to 80% relative humidity (with no condensation)
• Must be indoors and free of corrosive and explosive gases.
• Must be well-ventilated and free of dust and moisture.
• Must facilitate inspection and cleaning.
• Must have an altitude of 1,000 m or less. (With derating, usage
is possible between 1,000 m and 2,000 m.)*5
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it with the
power cable disconnected.
Storage temperature: -20°C to 60°C (with no freezing)
Storage humidity: 20% to 80% relative humidity
(with no condensation)
490 m/s2
2 times
Number of Impacts
Applicable
SERVOPACKs
49 m/s2
SGD7S-
R70A,
R70F
R90A,
R90F
SGD7W-
1R6A*6, 2R8A*6
1R6A, 2R1F
2R8A,
2R8F
5R5A
1R6A, 2R8A*6
2R8A,
5R5A*6,
7R6A*6
5R5A, 7R6A
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table.
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
Voltage
Model SGM7J-
4
Vertical
Shock Applied to the Servomotor
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration
that the Servomotor can withstand depends on the application. Always check the vibration acceleration rate
that is applied to the Servomotor with the actual equipment.
Vertical
Front to back
Side to side
Horizontal direction
Vibration Applied to the Servomotor
4-3
4.2 Specifications and Ratings
4.2.2 Ratings of Servomotors without Gears
*4. If the surrounding air temperature will exceed 40°C, refer to the following section.
4.2.9 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40 °C on page 4-11
*5. If the altitude will exceed 1,000 m, refer to the following section.
4.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m on page 4-12
*6. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
4.2.2
Ratings of Servomotors without Gears
Voltage
Model SGM7JRated Output
Rated Torque
*1
01A
C2A
200 V
02A
04A
06A
08A
50
100
150
200
400
600
750
Nm
0.159
0.318
0.477
0.637
1.27
1.91
2.39
Nm
0.557
1.11
1.67
2.23
4.46
6.69
8.36
Arms
0.55
0.85
1.6
1.6
2.5
4.2
4.4
Arms
2.0
3.1
5.7
5.8
9.3
15.3
16.9
0.493
0.800
(0.870)
0.584
1.59
(1.77)
45.6
(41.9)
23800
(21900)
95
250 × 250 × 6
35.9
(32.2)
15000
(13500)
W
*1, *2
Instantaneous Maximum Torque
*1
Rated Current*1
Instantaneous Maximum Current
Rated Motor Speed
A5A
*1
*1
Maximum Motor Speed
min
*1
-1
Torque Constant
min
Nm/Arms
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*1
kW/s
Rated Angular Acceleration Rate*1
rad/s2
Derating Rate for Servomotor with Oil Seal
Heat Sink Size (Aluminum)
%
mm
Protective Structure*3
Rated Voltage
Capacity
Holding Torque
Coil Resistance
Holding Brake
*4 Rated Current
Specifications
Time Required to
Release Brake
Time Required to
Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
3000
-1
6000
0.316
0.0395
(0.0475)
0.413
0.0659
(0.0739)
0.321
0.0915
(0.0995)
0.444
0.263
(0.333)
0.544
0.486
(0.556)
6.40
15.3
(5.32) (13.6)
40200
48200
(33400) (43000)
80
200 × 200 × 6
24.8
(22.8)
52100
(47900)
90
15.4
(12.1)
24200
(19100)
33.1
(29.0)
26100
(22800)
Totally enclosed, self-cooled, IP67
V
W
Nm
Ω (at 20°C)
A (at 20°C)
24 VDC±10%
5.5
6
0.159 0.318 0.477 0.637 1.27
104.8±10%
96±10%
0.23
0.25
6.5
1.91
2.39
88.6±10%
0.27
60
80
ms
ms
With External Regenerative
Resistor and External Dynamic
Brake Resistor*5
LF
mm
Allowable Shaft
Allowable
Radial
Load
N
Loads*6
Allowable Thrust Load N
100
35 times
35 times
20
78
54
15
times
10
times
25 times
20
times
12
times
20
times
15
times
25
245
74
Note: The values in parentheses are for Servomotors with Holding Brakes.
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. The values for other items are at 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an
aluminum heat sink of the dimensions given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.
4-4
35
392
147
4.2 Specifications and Ratings
4.2.3 Torque-Motor Speed Characteristics
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used. Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs.
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
*6. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
A : Continuous duty zone
B : Intermittent duty zone
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
(dashed-dotted lines): With single-phase 100-V input
SGM7J-A5A*1
4000
3000
A
2000
B
1000
6000
5000
4000
3000
A
2000
B
0.15
0.3 0.45
0
SGM7J-04A
6000
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
B
1000
0.25
0.5
0.75
1
1
2
3
Torque (N·m)
3000
A
2000
1.25
B
4
5
6000
5000
4000
3000
A
2000
B
1000
0
0
0.5
1
1.5
2
2.5
Torque (N·m)
SGM7J-06A
0
0.5
1
1.5
Torque (N·m)
SGM7J-08A
7000
5000
4000
3000
A
2000
B
1000
0
0
0
4000
Torque (N·m)
7000
A
5000
0
0
0.6 0.75
Torque (N·m)
Motor speed (min-1)
0
6000
1000
1000
0
7000
Motor speed (min-1)
5000
Motor speed (min-1)
6000
SGM7J-02A
7000
7000
Motor speed (min-1)
Motor speed (min-1)
SGM7J-C2A*2
SGM7J-01A
7000
6000
5000
4000
3000
A
2000
B
1000
0
0
2
4
6
Torque (N·m)
8
10
0
2
4
6
8
10
Torque (N·m)
*1. The characteristics are the same for a single-phase 200-V and single-phase 100-V input.
*2. The characteristics are the same for three-phase 200-V and single-phase 200-V input.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 100°C. These are typical values.
2
2.5
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
Torque-Motor Speed Characteristics
Motor speed (min-1)
4.2.3
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
4-5
4.2 Specifications and Ratings
4.2.4 Ratings of Servomotors with Gears
4.2.4
Ratings of Servomotors with Gears
Gear Mechanism
All Models
Planetary gear mechanism
Protective Structure
Totally enclosed, self-cooled, IP55
(except for shaft opening)
Servomotor
Servomotor Model
SGM7J-
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
Lost Motion [arc-min]
3 max.
Gear Output
Instantaneous
Maximum
Torque
[N⋅m]
Instantaneous
Maximum
Torque
[N⋅m]
Rated
Motor
Speed
[min -1]
Maximum
Motor
Speed
[min-1]
2.37
600
1200
3.78*3
333
667
143
286
Gear
Ratio
Rated Torque/
Efficiency*1
[N⋅m/%]
A5AAH1
1/5
0.433/64*2
A5AAH2
1/9
1.12/78
A5AAHC
1/21
2.84/85
10.6
A5AAH7
1/33
3.68/70
15.8
91
182
01AAH1
1/5
1.06/78*2
4.96
600
1200
1/11
2.52/72
10.7
273
545
1/21
5.35/80
20.8
143
286
01AAHB
01AAHC
Rated
Output
[W]
50
100
3000
3000
6000
6000
Rated
Torque
[N⋅m]
0.159
0.318
0.557
1.11
01AAH7
1/33
7.35/70
32.7
91
182
C2AAH1
1/5
1.68/83*2
7.80
600
1200
1/11
3.53/79*2
16.9
273
545
1/21
6.30/70
*2
31.0
143
286
11.2/79
*2
49.7
91
182
C2AAHB
C2AAHC
150
3000
6000
0.477
1.67
C2AAH7
1/33
02AAH1
1/5
2.39/75
9.80
600
1200
02AAHB
1/11
5.74/82
22.1
273
545
1/21
10.2/76
42.1
143
286
1/33
17.0/81
67.6
91
182
04AAH1
1/5
5.35/84
20.1
600
1200
04AAHB
1/11
11.5/82
45.1
273
545
1/21
23.0/86
87.0
143
286
02AAHC
200
3000
6000
0.637
2.23
02AAH7
04AAHC
400
3000
6000
1.27
4.46
04AAH7
1/33
34.0/81
135
91
182
06AAH1
1/5
7.54/79
30.5
600
1200
1/11
18.1/86
68.6
273
545
1/21
32.1/80
129
143
286
1/33
53.6/85
206
91
182
08AAH1
1/5
10.0/84
38.4
600
1200
08AAHB
1/11
23.1/88
86.4
273
545
1/21
42.1/84
163
143
286
1/33
69.3/88
259
91
182
06AAHB
06AAHC
600
3000
6000
1.91
6.69
06AAH7
08AAHC
750
3000
6000
2.39
8.36
08AAH7
*1. The gear output torque is expressed by the following formula.
Gear output torque = Servomotor output torque ×
1
Gear ratio
× Efficiency
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature.
The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.
*2. When using an SGM7J-A5A, SGM7J-01A, or SGM7J-C2A Servomotor with a gear ratio of 1/5 or an SGM7JC2A Servomotor with a gear ratio of 1/11, maintain an 85% maximum effective load ratio. For an SGM7J-C2A
Servomotor with a gear ratio of 1/21 or 1/33, maintain a 90% maximum effective load ratio. The values in the
table take the effective load ratio into consideration.
*3. The instantaneous maximum torque is 300% of the rated torque.
Note: 1. The gears that are mounted to Yaskawa Servomotors have not been broken in.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems occur, gradually increase the speed and load.
2. The no-load torque for a Servomotor with a Gear is high immediately after the Servomotor starts, and it
then decreases and becomes stable after a few minutes.
This is a common phenomenon caused by grease circulation in the gears and it does not indicate faulty
gears.
3. Other specifications are the same as those for Servomotors without Gears.
4-6
4.2 Specifications and Ratings
4.2.4 Ratings of Servomotors with Gears
The SERVOPACK speed control range is 1:5,000. If you use Servomotors at extremely low speeds
(0.02 min-1 or lower at the gear output shaft), if you use Servomotors with a one-pulse feed reference for extended periods, or under some other operating conditions, the gear bearing lubrication
Important
may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
Contact your Yaskawa representative if you use a Servomotor under these conditions.
Moment of Inertia [×10-4 kg⋅m2]
Shaft Output
Motor*
+ Gear
A5AAH1
A5AAH2
Flange Output
With Gears
Allowable
Radial
Load
[N]
Allowable
Thrust
Load
[N]
LF
[mm]
Gear
Motor*
+ Gear
Gear
0.0455
0.006
0.0445
0.005
95
431
37
0.0425
0.003
0.0425
0.003
113
514
37
A5AAHC
0.0435
0.004
0.0435
0.004
146
663
37
A5AAH7
0.0845
0.045
0.0845
0.045
267
1246
53
01AAH1
0.0719
0.006
0.0709
0.005
95
431
37
01AAHB
0.126
0.060
0.125
0.059
192
895
53
01AAHC
0.116
0.050
0.116
0.050
233
1087
53
01AAH7
0.131
0.065
0.130
0.064
605
2581
75
C2AAH1
0.0975
0.006
0.0965
0.005
95
431
37
C2AAHB
0.152
0.060
0.151
0.059
192
895
53
C2AAHC
0.202
0.110
0.200
0.108
528
2254
75
C2AAH7
0.157
0.065
0.156
0.064
605
2581
75
02AAH1
0.470
0.207
0.464
0.201
152
707
53
02AAHB
0.456
0.193
0.455
0.192
192
895
53
02AAHC
0.753
0.490
0.751
0.488
528
2254
75
02AAH7
0.713
0.450
0.712
0.449
605
2581
75
Reference Diagram
Shaft Output
LF
Radial load
Thrust load
Flange Output
04AAH1
0.693
0.207
0.687
0.201
152
707
53
04AAHB
1.06
0.570
1.05
0.560
435
1856
75
04AAHC
0.976
0.490
0.974
0.488
528
2254
75
Radial load
04AAH7
1.11
0.620
1.10
0.610
951
4992
128
Thrust load
06AAH1
1.50
0.700
1.46
0.660
343
1465
75
06AAHB
1.37
0.570
1.36
0.560
435
1856
75
06AAHC
1.64
0.840
1.62
0.820
830
4359
128
06AAH7
1.42
0.620
1.41
0.610
951
4992
128
08AAH1
2.29
0.700
2.25
0.660
343
1465
75
08AAHB
2.19
0.600
2.18
0.590
435
1856
75
08AAHC
4.59
3.00
4.57
2.98
830
4359
128
08AAH7
4.39
2.80
4.37
2.78
951
4992
128
LF
* The moment of inertia for the Servomotor and gear is the value without a holding brake. You can calculate the
moment of inertia for a Servomotor with a Gear and Holding Brake with the following formula.
Motor moment of inertia for a Servomotor with a Holding Brake from 4.2.2 Ratings of Servomotors without Gears on page 4-4 + Moment of inertia for the gear from the above table.
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
Servomotor Model
SGM7J-
4
4-7
4.2 Specifications and Ratings
4.2.5 Servomotor Overload Protection Characteristics
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss
depends on the torque and motor speed conditions. The temperature rise depends on the loss
and heat dissipation conditions. For the heat dissipation conditions, always refer to the following
Important table and check the gear and motor temperatures with the actual equipment. If the temperature
is too high, implement the following measures.
• Decrease the load ratio.
• Change the heat dissipation conditions.
• Use forced-air cooling for the motor with a cooling fan or other means.
Model
Heat Sink Size
1/5
1/9 or 1/11
SGM7J-A5
1/21
1/33
A
SGM7J-01
SGM7J-C2
B
SGM7J-02
SGM7J-04
SGM7J-06
C
SGM7J-08
• A: 250 mm × 250 mm × 6 mm, aluminum plate
• B: 300 mm × 300 mm × 12 mm, aluminum plate
• C: 350 mm × 350 mm × 12 mm, aluminum plate
4.2.5
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
Detection time (s)
10000
1000
Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0
50
100
150
200
250
300
Torque reference (percent of rated torque)
(%)
350
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher.
Use the Servomotor so that the effective torque remains within the continuous duty zone given in 4.2.3
Torque-Motor Speed Characteristics on page 4-5.
4-8
4.2 Specifications and Ratings
4.2.6 Load Moment of Inertia
Load Moment of Inertia
The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to
4.2.2 Ratings of Servomotors without Gears on page 4-4. This value is provided strictly as a
guideline and results depend on Servomotor driving conditions.
An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia
exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if
this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above
steps.
Regenerative resistors are not built into SERVOPACKs for 400-W Servomotors or smaller Servomotors.
Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is
required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor.
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
4.2.6
4
4-9
4.2 Specifications and Ratings
4.2.7 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors
4.2.7
Allowable Load Moment of Inertia Scaling Factor for
SERVOPACKs without Built-in Regenerative Resistors
SGM7J-A5A
35
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Allowable load moment of inertia scaling factor (times)
Allowable load moment of inertia scaling factor (times)
The following graphs show the allowable load moment of inertia scaling factor of the motor speed for
SERVOPACKs* without built-in regenerative resistors when an External Regenerative Resistor is not
connected.
If the Servomotor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the
SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher.
SGM7J-01A
35
30
25
20
15
10
5
0
0
SGM7J-C2A
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
Allowable load moment of inertia scaling factor (times)
Allowable load moment of inertia scaling factor (times)
Motor speed (min )
35
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
−1
SGM7J-02A
16
14
12
10
8
6
4
2
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
Allowable load moment of inertia scaling factor (times)
SGM7J-04A
12
10
8
6
4
2
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
4-10
4.2 Specifications and Ratings
4.2.8 Servomotor Heat Dissipation Conditions
4.2.8
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small
device component, the Servomotor temperature may rise considerably because the surface for heat
dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink
size and derating rate.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
4.2.5 Servomotor Overload Protection Characteristics on page 4-8
The actual temperature rise depends on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting
section, and the motor speed. Always check the Servomotor temperature with the actual equipImportant
ment.
120
120
120
SGM7J-02 and -04
80
SGM7J-C2
60
40
20
80
SGM7J-06
60
100
40
0
50
100
150
200
250
20
300
80
60
40
0
50
Heat sink size (mm)
100
150 200
250 300
Heat sink size (mm)
20
0
50
100
150 200
250 300
Heat sink size (mm)
Applications Where the Surrounding Air Temperature of
the Servomotor Exceeds 40°C
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C. If you use a Servomotor at a surrounding air temperature that exceeds 40°C (60°C max.),
apply a suitable derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
4.2.5 Servomotor Overload Protection Characteristics on page 4-8
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
SGM7J-02 and -04
100
Derating rate (%)
100
80
60
SGM7J-A5
40
80
60
SGM7J-06 and -08
40
20
20
0
4
120
SGM7J-01 and -C2
Derating rate (%)
4.2.9
SGM7J-08
100
Derating rate (%)
100
Derating rate (%)
Derating rate (%)
SGM7J-A5 and -01
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
0
10
20
30
40
50
60
70
Surrounding air temperature (°C)
0
0
10
20
30
40
50
60
70
Surrounding air temperature (°C)
4-11
4.2 Specifications and Ratings
4.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m
4.2.10
Applications Where the Altitude of the Servomotor
Exceeds 1,000 m
The Servomotor ratings are the continuous allowable values at an altitude of 1,000 m or less. If you
use a Servomotor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation effect of
the air is reduced. Apply the appropriate derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
4.2.5 Servomotor Overload Protection Characteristics on page 4-8
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
100
100
Derating rate (%)
Derating rate (%)
SGM7J-02, -04, and -06
80
SGM7J-A5, -01, and -C2
60
40
20
SGM7J-08
60
40
20
0
0
0
500
1000 1500
Altitude (m)
4-12
80
2000
2500
0
500
1000 1500
Altitude (m)
2000
2500
4.3 External Dimensions
4.3.1 Servomotors without Gears
4.3
External Dimensions
4.3.1
Servomotors without Gears
SGM7J-A5, -01, and -C2
0.04
A
L
LL
20.5
MD
0.6
17
0.04 dia. A
LR
LM
Notation
: Square dimensions
LC
LE
MW
0.8
ML
LB dia.
14
LG
LA
2 × LZ dia.
0.02
L
LL
LM
A5AA2
81.5
(122)
56.5
(97)
01AA2
C2AA2
93.5
68.5
(134)
(109)
105.5
80.5
(153.5) (128.5)
Unit: mm
Flange Dimensions
LE
LG
LC
LA
37.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
49.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
61.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
Model SGM7J-
MD
MW
ML
A5AA2
8.8
25.8
16.1
01AA2
8.8
25.8
16.1
C2AA2
8.8
25.8
16.1
Approx. Mass [kg]
0.3
(0.6)
0.4
(0.7)
0.5
(0.8)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for detailed shaft end specifications.
4.3.2 Shaft End Specifications on page 4-15
3. Refer to the following section for information on connector mounting dimensions.
4.3.3 Connector Mounting Dimensions on page 4-16
 Specifications of Options
• Oil Seal
LB
LZ
S
LR
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
S dia.
.
A
Model SGM7J-
dia
4
7.5
Oil seal cover
0
30 -0.021
dia.
29.8 dia.
1.5
Unit: mm
4-13
4.3 External Dimensions
4.3.1 Servomotors without Gears
SGM7J-02, -04, -06, and -08
0.04
L
LL
20.5
MD
LM
17
0.04 dia. A
ML
LC
LG
MW
LB dia.
ia.
LA d
S dia.
14
MH
0.6
A
LR
LE
A
0.02
Model SGM7J-
L
LL
02AA2
99.5
(140)
115.5
(156)
137.5
(191.5)
137
(184)
69.5
(110)
85.5
(126)
107.5
(161.5)
97
(144)
Model SGM7J-
MD
02AA2
LM
4 × LZ dia.
Flange Dimensions
LG
LC
LA
LR
LE
51.2
30
3
6
60
67.2
30
3
6
89.2
30
3
78.5
40
3
MW
MH
ML
8.5
28.7
14.7
17.1
04AA2
8.5
28.7
14.7
17.1
06AA2
8.5
28.7
14.7
17.1
08AA2
13.6
38
14.7
19.3
04AA2
06AA2
08AA2
LZ
70
0
50 -0.025
5.5
0
14 -0.011
60
70
0
50 -0.025
5.5
0
14 -0.011
6
60
70
0
50 -0.025
5.5
0
14 -0.011
8
80
90
0
70 -0.030
7
0
19 -0.013
Approx. Mass [kg]
0.8
(1.4)
1.1
(1.7)
1.6
(2.2)
2.2
(2.8)
2. Refer to the following section for detailed shaft end specifications.
4.3.2 Shaft End Specifications on page 4-15
3. Refer to the following section for information on connector mounting dimensions.
4.3.3 Connector Mounting Dimensions on page 4-16
 Specifications of Options
• Oil Seal
LS2
LS1
E2 dia.
E1 dia.
LE
Model SGM7J02A, 04A, 06A
08A
4-14
Unit: mm
E1
35
47
Dimensions with Oil Seal
E2
LS1
47
5.2
61
5.5
S
LB
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Oil seal cover
Unit: mm
LS2
10
11
4.3 External Dimensions
4.3.2 Shaft End Specifications
Shaft End Specifications
SGM7J-
Code
2
6
B
Specification
Straight without key
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
With two flat seats
Servomotor Model SGM7J01
C2
02
04
06
08
LR
25
30
40
S
0
8 -0.009
0
14 -0.011
0
19 -0.013
LR
QK
25
14
30
14
40
22
S
0
8 -0.009
0
14 -0.011
0
19 -0.013
W
T
U
P
3
3
1.8
M3 × 6L
5
5
3
M5 × 8L
6
6
3.5
M6 × 10L
LR
25
30
40
QH
QH
15
15
22
Y
S
0
8 -0.009
0
14 -0.011
0
19 -0.013
H1
7.5
13
18
H2
7.5
13
18
Shaft End Details
A5
Code: 2 (Straight without Key)
Code: 6 (Straight with Key and Tap)
LR
QK
U
S dia.
Y
W
Y
P
T
Cross section Y-Y
Code: B (with Two Flat Seats)
H1
LR
Y
H2
Cross section Y-Y
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
S dia.
LR
S dia.
4.3.2
4
4-15
4.3 External Dimensions
4.3.3 Connector Mounting Dimensions
4.3.3
Connector Mounting Dimensions
SGM7J-A5, -01, and -C2
 Cable Installed on Load Side
 Cable Installed on Non-load Side
25 °
(1.2)
35°
(7.4)
25°
(10)
35°
SGM7J-02, -04, and -06
 Cable Installed on Load Side
 Cable Installed on Non-load Side
(10)
25°
25°
35°
35°
SGM7J-08
 Cable Installed on Load Side
 Cable Installed on Non-load Side
(10)
25°
25°
25°
25°
4-16
4.3 External Dimensions
4.3.4 Servomotors with Gears
Servomotors with Gears
SGM7J-A5, -01, and -C2
0.06
(0.05)
L
LL
L1
LG
L3
LE
L2
A
Q
QK
Model SGM7J-
Gear
Ratio
A5AAH1 *
1/5
A5AAH2 *
1/9
A5AAHC *
1/21
A5AAH7 *
1/33
01AAH1 *
1/5
01AAHB *
1/11
01AAHC *
1/21
01AAH7 *
1/33
C2AAH1 *
1/5
C2AAHB *
1/11
C2AAHC *
1/21
C2AAH7 *
1/33
L
LL
LM
138
(178.5)
96
(136.5)
77.4
147
(187.5)
178.5
(219)
150
(190.5)
105
(145.5)
120.5
(161)
108
(148.5)
86.4
190.5
(231)
B dia.
.
dia Details of Shaft End
with Key and Tap
LD dia.
LB dia.
S dia.
C dia.
LA
Rotating parts
(Shaded section)
Model SGM7J-
U
LC
4 × LZ dia. Tap size × Depth
Flange Dimensions
LG
B
LD
LB
LC
LR
LE
42
2.2
5
29
0
39.5 40 -0.025
101.9
58
2.5
8
40
89.4
42
2.2
5
132.5
(173)
113.9
58
2.5
215
(255.5)
162
(210)
202.5
(250.5)
135
(175.5)
120
(168)
144.5
(192.5)
116.4
80
101.4
227
(275)
147
(195)
LA
LZ
40
46
3.4
0
55.5 56 -0.030
60
70
5.5
29
0
39.5 40 -0.025
40
46
3.4
8
40
0
55.5 56 -0.030
60
70
5.5
7.5
10
59
0
85 -0.035
90
105
9
42
2.2
5
29
0
39.5 40 -0.025
40
46
3.4
125.9
58
2.5
8
40
0
55.5 56 -0.030
60
70
5.5
128.4
80
7.5
10
59
0
85 -0.035
90
105
9
Flange Dimensions
L1
L2
L3
Q
C
22
−
−
S
Tap Size ×
Depth
84
84
Key Dimensions
QK U
W
T
A5AAH1 *
A5AAH2 *
20
14.6
Unit: mm
10
0
-0.015
M3 × 6L
15
2.5
4
4
Approx.
Mass [kg]
0.6
(0.9)
A5AAH7 *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
01AAH1 *
22
20
14.6
−
−
0
10 -0.015
M3 × 6L
15
2.5
4
4
0.7
(1.0)
1.3
(1.6)
0.7
(1.0)
01AAHB *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
1.4
(1.7)
01AAH7 *
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
C2AAH1 *
22
20
14.6
−
−
0
10 -0.015
M3 × 6L
15
2.5
4
4
C2AAHB *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
2.8
(3.1)
0.8
(1.1)
1.5
(1.8)
C2AAHC *
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
2.9
(3.2)
A5AAHC *
01AAHC *
C2AAH7 *
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
16.1
0.05 dia.
(0.04 dia.) A
T
W
0.04
(0.03)
14.7
17
A
LR
LM
0.6
14
4.3.4
4
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designa-
tion. If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
4-17
4.3 External Dimensions
4.3.4 Servomotors with Gears
 Flange Output Face
L
0.06
(0.05)
LR
L3
LE
A
0.02
0.05 dia.
(0.04 dia.) A
0.04
(0.03)
LC
A
.
F dia.
G dia.
LD dia.
LB dia.
LA
dia
LJ d
ia.
4 × LZ dia.
LK
Tap size × Depth
Unit: mm
Note: The geometric tolerance in parentheses is the value for LC = 40.
Model SGM7JA5AAH10
A5AAH20
Gear
Ratio
1/5
1/9
L
111
(151.5)
LR
LJ
F
G
LK
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
120
(160.5)
141.5
(182)
123
(163.5)
15
18
5 +0.012
0
24
3
3 × M4 × 6L
0.6
(0.9)
21
30
14 +0.018
0
40
5
6 × M4 × 7L
15
18
5 +0.012
0
24
3
3 × M4 × 6L
1.2
(1.5)
0.7
(1.0)
153.5
(194)
21
30
14 +0.018
0
40
3 × M4 × 7L
1.3
(1.6)
27
45
24
+0.021
0
59
6 × M6 × 10L
15
18
5 +0.012
0
24
3
3 × M4 × 6L
2.4
(2.7)
0.8
(1.1)
A5AAHC0
1/21
A5AAH70
1/33
01AAH10
1/5
01AAHB0
01AAHC0
1/11
1/21
01AAH70
1/33
C2AAH10
1/5
C2AAHB0
1/11
165.5
(213.5)
21
30
14 +0.018
0
40
5
6 × M4 × 7L
1.4
(1.7)
C2AAHC0
C2AAH70
1/21
1/33
174
(222)
27
45
24 +0.021
0
59
5
6 × M6 × 10L
2.5
(2.8)
162
(202.5)
135
(183)
5
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
0.5 min.
Connecting parts on the load side
24 dia. max.
Important
For a Servomotor with a flange output that has square gear flange dimensions (LC) of 40 mm,
we recommend that you design the Servomotor with the dimensions shown in the following figure
in order to secure a gap between the gear oil seal and the connecting parts on the load side.
4-18
4.3 External Dimensions
4.3.4 Servomotors with Gears
SGM7J-02, -04, and -06
0.06
A
L
LG
L3
LE
17.1
W
A
LC
0.04
Q
QK
A
.
dia
LA Details of Shaft End
with Key and Tap
LB dia.
Rotating parts
(Shaded section)
Model SGM7J-
Gear
Ratio
02AAH1 *
1/5
02AAHB *
1/11
02AAHC *
1/21
02AAH7 *
1/33
04AAH1 *
1/5
04AAHB *
1/11
04AAHC *
1/21
04AAH7 *
1/33
L
LL
LM
191.5
(232)
133.5
(174)
220.5
(261)
4 × LZ dia.
Tap size × Depth
Flange Dimensions
B
LD
LB
LR
LE
LG
115.2
58
2.5
8
40
55.5
56 -0.030
140.5
(181)
122.2
80
7.5
10
59
84
85 -0.035
207.5
(248)
149.5
(190)
131.2
58
2.5
8
40
55.5
56 -0.030
236.5
(277)
156.5
(197)
138.2
80
7.5
10
59
84
85 -0.035
322.5
(363)
189.5
(230)
171.2
133 12.5
13
84
114
115 -0.035
258.5 178.5
(312.5) (232.5)
160.2
80
7.5
10
59
84
85 -0.035
344.5 211.5
(398.5) (265.5)
193.2
133 12.5
13
84
114
115 -0.035
06AAH1 *
1/5
06AAHB *
1/11
06AAHC *
1/21
06AAH7 *
1/33
Model SGM7J-
Flange Dimensions
L1
L2
L3
Q
C
S
Tap Size ×
Depth
LC
LA
LZ
0
60
70
5.5
0
90
105
9
0
60
70
5.5
0
90
105
9
120 135
11
90
105
9
120 135
11
0
0
0
Key Dimensions
QK
U
W
T
M4 × 8L
25
3
5
5
0
M6 × 12L
36
4
8
7
3.7
(4.3)
0
M4 × 8L
25
3
5
5
2.1
(2.7)
0
M6 × 12L
36
4
8
7
4.0
(4.6)
0
M10 × 20L
70
5
12
8
0
M6 × 12L
36
4
8
7
0
M10 × 20L
70
5
12
8
0
-0.018
28
30
20
28
20
16
36
44
26
42
32
25 -0.021
28
30
20
28
20
16 -0.018
36
44
26
42
32
25 -0.021
48
85
33
82
44
40 -0.025
36
44
26
42
32
25 -0.021
48
85
33
82
44
40 -0.025
02AAHB *
02AAH7 *
04AAH1 *
04AAHB *
04AAHC *
04AAH7 *
06AAH1 *
06AAHB *
06AAHC *
06AAH7 *
Approx.
Mass [kg]
1.8
(2.4)
1.9
(2.5)
02AAH1 *
02AAHC *
Unit: mm
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
S dia.
C dia.
B dia.
LD dia.
14.7
17
14
0.6
0.05
L2
T
LR
L1
U
LL
LM
4
8.6
(9.2)
4.3
(4.9)
4.5
(5.1)
9.1
(9.7)
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designation.
If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
4-19
4.3 External Dimensions
4.3.4 Servomotors with Gears
 Flange Output Face
L
0.06
0.02
LR
L3
LE
A
0.05 dia. A
LC
0.04
A
.
dia
F dia.
G dia.
LD dia.
LB dia.
LA
LJ
dia
.
4 × LZ dia.
5
Model SGM7J-
02AAH10
Gear
Ratio
1/5
L
LR
Tap size × Depth
LJ
Unit: mm
F
G
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
154.5
(195)
21
30
14 +0.018
0
40
6 × M4 × 7L
1.7
(2.3)
1.8
(2.4)
02AAHB0
1/11
02AAHC0
02AAH70
1/21
1/33
167.5
(208)
27
45
24 +0.021
0
59
6 × M6 × 10L
3.3
(3.9)
04AAH10
1/5
170.5
(211)
21
30
14 +0.018
0
40
6 × M4 × 7L
2.0
(2.6)
04AAHB0
04AAHC0
1/11
1/21
183.5
(224)
27
45
24 +0.021
0
59
6 × M6 × 10L
3.6
(4.2)
04AAH70
1/33
224.5
(265)
35
60
32 +0.025
0
84
6 × M8 × 12L
06AAH10
1/5
205.5
(259.5)
27
45
24 +0.021
0
59
6 × M6 × 10L
7.2
(7.8)
3.9
(4.5)
246.5
(300.5)
35
60
32 +0.025
0
84
6 × M8 × 12L
06AAHB0
1/11
06AAHC0
06AAH70
1/21
1/33
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
4-20
4.1
(4.7)
7.7
(8.3)
4.3 External Dimensions
4.3.4 Servomotors with Gears
SGM7J-08
0.06 A
L
LL
LM
LR
LG
L1
L3
LE
0.05 A
L2
Q
QK
0.6 17 19.3
LC
0.04
A
dia
W
S dia.
C dia.
B dia.
LD dia.
LB dia.
U
T
17
14
.
LA
Details of Shaft End
with Key and Tap
Rotating parts
(Shaded section)
Tap size × Depth
4 × LZ dia.
Unit: mm
Gear
Ratio
08AAH1 *
1/5
08AAHB *
1/11
08AAHC *
1/21
08AAH7 *
1/33
Model SGM7J-
L
LL
LM
255
(302)
175
(222)
334
(381)
201
(248)
Flange Dimensions
L1
L2
L3
Flange Dimensions
LR
LE
LG
B
LD
LB
LC
LA
LZ
156.5
80
7.5
10
59
84
0
85 -0.035
90
105
9
182.5
133 12.5
13
84
114
135
11
Q
C
S
08AAH1 *
0
-0.021
Tap Size ×
Depth
M6 × 12L
36
44
26
42
32
25
48
85
33
82
44
0
M10 × 20L
40 -0.025
0
120
115 -0.035
Key Dimensions
QK
U
W
T
36
4
8
7
5.1
(5.7)
5.3
(5.9)
70
5
12
8
10
(10.6)
08AAHB *
08AAHC *
08AAH7 *
Approx.
Mass [kg]
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designation.
If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
Specifications, Ratings, and External Dimensions of SGM7J Servomotors
Model SGM7J-
4
4-21
4.3 External Dimensions
4.3.4 Servomotors with Gears
 Flange Output Face
L
0.06
0.02
LR
L3
LE
A
0.05 dia. A
LC
0.04
A
dia
.
LB dia.
F dia.
G dia.
LD dia.
LA
LJ
dia
.
4 × LZ dia.
5
Model SGM7J-
Gear Ratio
08AAH101
1/5
08AAHB01
1/11
08AAHC01
08AAH701
1/21
1/33
L
Tap size × Depth
LR
LJ
Unit: mm
F
G
No. of Taps ×
Tap Size × Depth
202
(249)
27
45
24 +0.021
0
59
6 × M6 × 10L
236
(283)
35
60
32 +0.025
0
84
6 × M8 × 12L
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
4-22
Approx.
Mass [kg]
4.7
(5.3)
4.9
(5.5)
8.6
(9.2)
Specifications,
Ratings, and External
Dimensions of
SGM7A Servomotors
This chapter describes how to interpret the model numbers
of SGM7A Servomotors and gives their specifications, ratings, and external dimensions.
5.1
Model Designations . . . . . . . . . . . . . . . . . . 5-3
5.1.1
5.1.2
5.2
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Specifications and Ratings . . . . . . . . . . . . . 5-4
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
5.2.7
Specifications . . . . . . . . . . . . . . . . . . . . . .
Ratings of Servomotors without Gears . . .
Torque-Motor Speed Characteristics . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . .
Ratings of Servomotors with Gears . . . . . .
Servomotor Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . .
5.2.8
Load Moment of Inertia . . . . . . . . . . . . . . .
5.2.9
Allowable Load Moment of Inertia Scaling
Factor for SERVOPACKs without Built-in
Regenerative Resistors . . . . . . . . . . . . . . .
5.2.10 Servomotor Heat Dissipation Conditions .
5.2.11 Applications Where the Surrounding Air
Temperature of the Servomotor Exceeds
40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.12 Applications Where the Altitude of
the Servomotor Exceeds 1,000 m . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
5-4
5-5
5-6
5-7
5-8
5-9
. . . . 5-11
. . . . 5-12
. . . . 5-13
. . . . 5-14
. . . . 5-15
. . . . 5-16
5
5.3
External Dimensions . . . . . . . . . . . . . . . . . 5-17
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
Servomotors without Gears . . . . . . . . . . . . . .
Shaft End Specifications for
SGM7A-A5 to -10 . . . . . . . . . . . . . . . . . . . . .
Connector Mounting Dimensions for
SGM7A-A5 to -10 . . . . . . . . . . . . . . . . . . . . .
Servomotors without Gears and without
Holding Brakes . . . . . . . . . . . . . . . . . . . . . . .
Servomotors without Gears and with
Holding Brakes . . . . . . . . . . . . . . . . . . . . . . .
Shaft End Specifications for SGM7A-15 to -70
Servomotors with Gears . . . . . . . . . . . . . . . .
Connector Specifications . . . . . . . . . . . . . . . .
. .5-17
. .5-19
. .5-20
. .5-21
. .5-23
. . 5-24
. .5-25
. .5-31
5.1 Model Designations
5.1.1 Without Gears
Model Designations
5.1.1
Without Gears
SGM7A - 01
1st+2nd
digits
-7 Series
Servomotors:
SGM7A
1st+2nd digits Rated Output
Specification
Code
A5
01
C2
02
04
06
08
10
15
20
25
30
40
50
70
5.1.2
A
7
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
3rd digit Power Supply Voltage
Specification
200 VAC
Code
A
50 W
100 W
150 W
200 W
400 W
600 W
750 W
1.0 kW
1.5 kW
2.0 kW
2.5 kW
3.0 kW
4.0 kW
5.0 kW
7.0 kW
6th digit Shaft End
Code
2
6
B*
4th digit Serial Encoder
* Code B is not supported for models with
a rated output of 1.5 kW or higher.
Specification
Code
7
F
Specification
Straight without key
Straight with key and tap
With two flat seats
24-bit absolute
24-bit incremental
7th digit Options
5th digit Design Revision Order
Code
1
C
A
Specification
Without options
With holding brake (24 VDC)
E
With oil seal and holding brake
(24 VDC)
S
With oil seal
Note: SGM7A-70A Servomotors with
holding brakes are not available.
With Gears
SGM7A - 01
1st+2nd
digits
Σ-7 Series
Servomotors:
SGM7A
1st+2nd digits Rated Output
Specification
Code
A
7
A
H
1
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
8th
digit
9th
digit
5th digit
Design Revision Order
A
Code
A5
50 W
01
100 W
C2
150 W
02
200 W
04
400 W
06
600 W
08
750 W
Code
10
1.0 kW
B
1/11*1
C
1/21
6th digit
A
Code
Specification
H
HDS planetary low-backlash gear
0
2
6
Specification
Serial Encoder
Specification
7
24-bit absolute
F
24-bit incremental
Gear Ratio
Specification
1
1/5
2
1/9*2
7
1/33
Shaft End
Specification
Flange output
Straight without key
Straight with key and tap
9th digit
200 VAC
4th digit
Gear Type
Code
7th digit
3rd digit Power Supply Voltage
Code
8th digit
Options
Code
Specification
1
Without options
With holding brake (24 VDC)
C
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5.1
5
*1. This specification is not supported for
models with a rated output of 50 W.
*2. This specification is supported only for
models with a rated output of 50 W.
Note: Contact your Yaskawa representative for models of 1.5 kW or higher.
5-3
5.2 Specifications and Ratings
5.2.1 Specifications
5.2
Specifications and Ratings
5.2.1
Specifications
Voltage
Model SGM7ATime Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Mounting
Drive Method
A5A
01A
C2A,
02A
04A
200 V
06A,
10A 15A
08A
Continuous
Vibration Class*1
Surrounding Air
Temperature
0°C to 40°C (With derating, usage is possible between 40°C and 60°C.)*4
Surrounding Air
Humidity
20% to 80% relative humidity (with no condensation)
Storage
Environment
Impact Acceleration Rate at
Flange
Number of
Impacts
Vibration Acceleration Rate at
Flange
SGD7SApplicable SERVOPACKs
SGD7W-
•
•
•
•
Must be indoors and free of corrosive and explosive gases.
Must be well-ventilated and free of dust and moisture.
Must facilitate inspection and cleaning.
Must have an altitude of 1,000 m or less. (With derating, usage is possible
between 1,000 m and 2,000 m.)*5
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it with the
power cable disconnected.
Storage temperature: -20°C to 60°C (with no freezing)
Storage humidity: 20% to 80% relative humidity
(with no condensation)
490 m/s2
2 times
14.7
m/s2
49 m/s2 (Models 15A to 50A: 24.5 m/s2 front to back)
R70A, R90A, 1R6A, 2R8A,
5R5A
R70F R90F 2R1F 2R8F
2R8A,
1R6A,
*6 5R5A,7
1R6A*6, 2R8A*6
*6 5R5A ,
R6A
2R8A
7R6A*6
120A
180A 200A
330A 550A
–
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table.
Vertical
Shock Applied to the Servomotor
5-4
70A
V15
EnvironmenInstallation Site
tal Conditions
Vibration
Resistance*3
40A,
50A
UL: A, CE: B
UL: F, CE: F
500 VDC, 10 MΩ min.
1,500 VAC for 1 minute
Permanent magnet
Flange-mounted
Direct drive
Counterclockwise (CCW) for forward reference when viewed from the load
side
Rotation Direction
Shock
Resistance*2
25A,
30A
20A
5.2 Specifications and Ratings
5.2.2 Ratings of Servomotors without Gears
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo-
motor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration
that the Servomotor can withstand depends on the application. Always check the vibration acceleration rate
that is applied to the Servomotor with the actual equipment.
Vertical
Front to back
Horizontal direction
Vibration Applied to the Servomotor
Side to side
*4. Refer to the following section if the surrounding air temperature exceeds 40°C.
5.2.11 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40°C on page 5-15
*5. If the altitude will exceed 1,000 m, refer to the following section.
5.2.12 Applications Where the Altitude of the Servomotor Exceeds 1,000 m on page 5-16
*6. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
Ratings of Servomotors without Gears
Voltage
Model SGM7ARated Output*1
W
Rated Torque*1, *2
Nm
0.159 0.318 0.477 0.637
1.27
1.91
2.39
3.18
Instantaneous Maximum Torque*1
Nm
0.557
1.11
1.67
2.23
4.46
6.69
8.36
11.1
Rated Current*1
Arms
0.57
0.89
1.5
1.5
2.4
4.5
4.4
6.4
Arms
2.1
3.2
5.6
5.9
9.3
16.9
16.8
23.2
0.456
0.315
(0.385)
115
(94.7)
60600
(49600)
0.584
0.775
(0.955)
73.7
(59.8)
30800
(25000)
0.541
0.971
(1.15)
104
(87.9)
32700
(27600)
Instantaneous Maximum Current
*1
Rated Motor Speed*1
Maximum Motor Speed
Torque Constant
01A
100
C2A
150
200 V
02A
04A
200
400
A5A
50
min-1
*1
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*1
kW/s
Rated Angular Acceleration Rate*1
rad/s2
Derating Rate for Servomotor with
Oil Seal
%
Heat Sink Size (Aluminum)
mm
Protective Structure*3
Rated Voltage V
Capacity
W
Holding
Nm
Torque
Coil
Holding Brake
Ω (at 20°C)
Resistance
Specifications*4
Rated Current A (at 20°C)
Time Required to
ms
Release Brake
Time Required
ms
to Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
With External Regenerative
Resistor and External
Dynamic Brake Resistor*5
08A
750
10A
1000
3000
-1
min
Nm/Arms
06A
600
0.304
0.0217
(0.0297)
11.7
(8.51)
73200
(53500)
0.384
0.0337
(0.0417)
30.0
(24.2)
94300
(76200)
0.332
0.0458
(0.0538)
49.7
(42.2)
104000
(88600)
80
6000
0.458 0.576
0.139 0.216
(0.209) (0.286)
29.2 74.7
(19.4) (56.3)
45800 58700
(30400) (44400)
90
95
300 × 300 250 × 250 300 × 300
×6
× 12
× 12*7
Totally enclosed, self-cooled, IP67
24 VDC±10%
5.5
6
6.5
200 × 200 × 6
250 × 250 × 6
0.159 0.318 0.477 0.637
1.27
1.91
2.39
104.8±10%
96±10%
88.6±10%
0.23
0.25
0.27
60
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5.2.2
3.18
5
80
100
40 times
30
times
20 times
20 times
40 times
30
times
20 times
30 times
Continued on next page.
5-5
5.2 Specifications and Ratings
5.2.3 Torque-Motor Speed Characteristics
Voltage
Model SGM7ALF
Allowable
Allowable Shaft
Radial Load
*6
Loads
Allowable
Thrust Load
A5A
01A
20
mm
Continued from previous page.
200 V
02A
04A
06A
08A
10A
25
35
C2A
N
78
245
392
N
54
74
147
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for footnotes *1 to *6 and *8.
 Notes for Ratings of Servomotor without Gears and Servomotor Ratings on page 5-8
Torque-Motor Speed Characteristics
A : Continuous duty zone
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
(dashed-dotted lines): With single-phase 100-V input
SGM7A-01A*1
5000
4000
3000
A
2000
B
1000
0
7000
7000
6000
6000
5000
4000
3000
A
2000
B
1000
0.15
0.3 0.45
0
0.6 0.75
0.25
Torque (N·m)
Motor speed (min-1)
5000
4000
3000
A
0.5
0.75
1
B
1000
1
2
3
Torque (N·m)
4000
3000
A
2000
B
1000
5000
4000
3000
A
4
5
B
1000
0.5
1
1.5
2
2
4
6
Torque (N·m)
4000
3000
A
2000
B
1000
0
2.5
0.5
8
10
1
1.5
2.5
10
12.5
SGM7A-10A*2
SGM7A-08A
7000
6000
5000
4000
3000
A
2000
B
1000
6000
5000
4000
3000
A
2000
B
1000
0
0
2
4
6
8
10
Torque (N·m)
0
2.5
5
7.5
Torque (N·m)
*1. The characteristics are the same for a single-phase 200-V and single-phase 100-V input.
*2. A single-phase power input can be used in combination with the SGD7S-120AA008.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
5-6
2
Torque (N·m)
0
0
5000
0
0
7000
6000
2000
6000
Torque (N·m)
0
0
0
5000
1.25
SGM7A-06A
7000
6000
2000
7000
Torque (N·m)
SGM7A-04A
7000
SGM7A-02A
SGM7A-C2A
0
0
0
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
6000
Motor speed (min-1)
SGM7A-A5A*1
7000
Motor speed (min-1)
B : Intermittent duty zone
Motor speed (min-1)
5.2.3
5.2 Specifications and Ratings
5.2.4 Servomotor Ratings
Servomotor Ratings
Voltage
Model SGM7A-
15A
20A
200 V
30A
25A
40A
50A
70A
*7
kW
1.5
2.0
2.5
3.0
4.0
5.0
7.0
*2, *7
Rated Torque
Instantaneous Maximum
Torque*7
Nm
4.90
6.36
7.96
9.80
12.6
15.8
22.3
Nm
14.7
19.1
23.9
29.4
37.8
47.6
54.0
Rated Current*7
Arms
9.3
12.1
15.6
17.9
25.4
27.6
38.3
Instantaneous Maximum Current*7
Arms
28
42
51
56
77
84
105
Rated Motor Speed*7
min-1
Rated Output
Maximum Motor Speed
*7
Torque Constant
min
Nm/Arms
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*7
kW/s
Rated Angular Acceleration
Rate*7
Heat Sink Size (aluminum)
3000
6000*9
-1
rad/s2
mm
0.590
2.00
(2.25）
0.538
0.582
0.519
0.604
0.604
2.47
(2.72)
3.19
(3.44)
7.00
(9.20)
9.60
(11.8）
12.3
(14.5)
12.3
165
(134)
203
(172)
404
13100
(10600)
12800
(10800)
18100
120
(106）
164
199
137
（148）
（184）
（104）
24500
25700
24900
14000
（21700） （23300） （23100） （10600）
300 × 300 × 12
Protective Structure*3
Holding
Brake
Specifications*4
0.561
400 × 400 × 20
Totally
enclosed,
separately
cooled (with
fan), IP22
Totally enclosed, self-cooled, IP67
Rated Voltage
V
Capacity
Holding Torque
W
N m
Coil Resistance
Ω (at 20°C)
48
59
Rated Current
Time Required
to Release
Brake
A (at 20°C)
0.5
0.41
ms
170
100
Time Required to
Brake
24 VDC
12
7.84
10
20
10
ms
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
With External Regenerative
Resistor and External Dynamic
Brake Resistor*5
LF
mm
Allowable
Allowable Radial
N
Shaft
Load
Loads*6
Allowable Thrust
N
Load
+10%
0
−
80
10 times
5 times
20 times
15 times
45
63
686
196
980
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5.2.4
5
1176
392
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for footnotes *2 to *7 and *9.
 Notes for Ratings of Servomotor without Gears and Servomotor Ratings on page 5-8
5-7
5.2 Specifications and Ratings
5.2.5 Torque-Motor Speed Characteristics
Torque-Motor Speed Characteristics
A : Continuous duty zone
B : Intermittent duty zone
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
SGM7A-20A
SGM7A-15A*
4000
3000
A
2000
B
1000
7000
6000
6000
6000
5000
4000
3000
A
2000
5000
4000
3000
10
15
20
0
0
5
10
15
SGM7A-40A
6000
6000
Motor speed (min-1)
6000
B
1000
0
5000
4000
3000
A
2000
B
1000
10
20
30
40
Torque (N·m)
A
2000
B
1000
15
22.5
30
0
10
20
5000
4000
3000
A
2000
B
0
0
15
30
45
60
0
Torque (N·m)
15
30
45
60
Torque (N·m)
* A single-phase power input can be used in combination with the SGD7S-120AA008.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 20°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
 Notes for Ratings of Servomotor without Gears and
Servomotor Ratings
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. The values for other items are at 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an
aluminum heat sink of the dimensions given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used.
Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs.
• SGD7S-R70 A020 to -2R8 A020
• SGD7W-1R6A20A020 to -2R8A20A020
*6. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
*7. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These are typical values.
*8. If the heat sink is 250 mm × 250 mm × 6 mm, the rated output is 550 W and the rated torque is 1.75 N·m.
Refer to the following section for details.
5.2.10 Servomotor Heat Dissipation Conditions on page 5-14
*9. For the SGM7A-25A or SGM7A-50A, the maximum motor speed for the continuous duty zone is 5,000 min-1.
Use the Servomotor within the continuous duty zone for the average motor speed and effective torque.
5-8
30
Torque (N·m)
1000
0
0
3000
SGM7A-70A
7000
2000
7.5
SGM7A-50A
3000
4000
Torque (N·m)
7000
4000
5000
0
0
20
Torque (N·m)
5000
B
1000
7000
A
A
2000
0
5
Torque (N·m)
Motor speed (min-1)
B
1000
0
0
SGM7A-30A
7000
Motor speed (min-1)
5000
SGM7A-25A
7000
Motor speed (min-1)
6000
Motor speed (min-1)
Motor speed (min-1)
7000
Motor speed (min-1)
5.2.5
40
5.2 Specifications and Ratings
5.2.6 Ratings of Servomotors with Gears
Ratings of Servomotors with Gears
Gear Mechanism
All Models
Planetary gear mechanism
Protective Structure
Totally enclosed, self-cooled, IP55
(except for shaft opening)
Servomotor
Servomotor Model
SGM7A-
Rated
Output
[W]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
Lost Motion [arc-min]
3 max.
Gear Output
Rated
Torque
[N⋅m]
Instantaneous
Maximum
Torque
[N⋅m]
A5AAH1
Gear
Ratio
Rated Torque/
Efficiency*1
[N⋅m/%]
Instantaneous
Maximum
Torque
[N⋅m]
Rated
Motor
Speed
[min -1]
Maximum
Motor
Speed
[min -1]
1/5
0.433/64*2
2.37
600
1200
333
667
*3
1/9
1.12/78
A5AAHC
1/21
2.84/85
10.6
143
286
A5AAH7
1/33
3.68/70
15.8
91
182
01AAH1
1/5
1.06/78*2
4.96
600
1200
1/11
2.52/72
10.7
273
545
1/21
5.35/80
20.8
143
286
01AAH7
1/33
7.35/70
32.7
91
182
C2AAH1
1/5
1.68/83*2
7.80
600
1200
3.53/79
*2
16.9
273
545
6.30/70
*2
31.0
143
286
11.2/79
*2
A5AAH2
01AAHB
01AAHC
C2AAHB
C2AAHC
50
100
150
3000
3000
3000
6000
6000
6000
0.159
0.318
0.477
0.557
1.11
1.67
1/11
1/21
3.78
C2AAH7
1/33
49.7
91
182
02AAH1
1/5
2.39/75
9.80
600
1200
1/11
5.74/82
22.1
273
545
1/21
10.2/76
42.1
143
286
02AAH7
1/33
17.0/81
67.6
91
182
04AAH1
1/5
5.35/84
20.1
600
1200
1/11
11.5/82
45.1
273
545
1/21
23.0/86
87.0
143
286
1/33
34.0/81
135
91
182
02AAHB
02AAHC
04AAHB
04AAHC
200
400
3000
3000
6000
6000
0.637
1.27
2.23
4.46
04AAH7
06AAH1
1/5
7.54/79
30.5
600
1200
06AAHB
1/11
18.1/86
68.6
273
545
1/21
32.1/80
129
143
286
06AAH7
1/33
53.6/85
206
91
182
08AAH1
1/5
10.0/84
38.4
600
1200
1/11
23.1/88
86.4
273
545
1/21
42.1/84
163
143
286
1/33
69.3/88
259
91
182
06AAHC
08AAHB
08AAHC
600
750
3000
3000
6000
6000
1.91
2.39
6.69
8.36
08AAH7
10AAH1
1/5
13.7/86
52.5
600
1200
10AAHB
1/11
29.1/83
111
273
545
1/21
58.2/87
215
143
286
91
182
10AAHC
1000
3000
6000
3.18
11.1
10AAH7
1/33
94.5/90
296
*3
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5.2.6
5
*1. The gear output torque is expressed by the following formula.
Gear output torque = Servomotor output torque ×
1
× Efficiency
Gear ratio
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature.
The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.
*2. When using an SGM7A-A5A, SGM7A-01A, or SGM7A-C2A Servomotor with a gear ratio of 1/5 or an SGM7AC2A Servomotor with a gear ratio of 1/11, maintain an 85% maximum effective load ratio. For an SGM7A-C2A
Servomotor with a gear ratio of 1/21 or 1/33, maintain a 90% maximum effective load ratio. The values in the
table take the effective load ratio into consideration.
*3. The instantaneous maximum torque is 300% of the rated torque.
5-9
5.2 Specifications and Ratings
5.2.6 Ratings of Servomotors with Gears
Note: 1. The gears that are mounted to Yaskawa Servomotors have not been broken in.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems occur, gradually increase the speed and load.
2. The no-load torque for a Servomotor with a Gear is high immediately after the Servomotor starts, and it
then decreases and becomes stable after a few minutes. This is a common phenomenon caused by grease
circulation in the gears and it does not indicate faulty gears.
3. Contact your Yaskawa representative for information on Servomotor with Gears with a rated output of
1.5 kW or higher.
4. Other specifications are the same as those for Servomotors without Gears.
The SERVOPACK speed control range is 1:5,000. If you use Servomotors at extremely low speeds
(0.02 min-1 or lower at the gear output shaft), if you use Servomotors with a one-pulse feed reference for extended periods, or under some other operating conditions, the gear bearing lubrication
Important
may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
Contact your Yaskawa representative if you use a Servomotor under these conditions.
Moment of Inertia [×10-4 kg⋅m2]
Servomotor Model
SGM7A-
A5AAH1
A5AAH2
A5AAHC
A5AAH7
01AAH1
01AAHB
01AAHC
01AAH7
C2AAH1
C2AAHB
C2AAHC
C2AAH7
02AAH1
02AAHB
02AAHC
02AAH7
04AAH1
04AAHB
04AAHC
04AAH7
06AAH1
06AAHB
06AAHC
06AAH7
08AAH1
08AAHB
08AAHC
08AAH7
10AAH1
10AAHB
10AAHC
10AAH7
Shaft Output
Flange Output
Motor*
+ Gear
Gear
Motor*
+ Gear
Gear
0.0277
0.0247
0.0257
0.0667
0.0397
0.0937
0.0837
0.0987
0.0518
0.106
0.156
0.111
0.346
0.332
0.629
0.589
0.423
0.786
0.706
0.836
1.02
0.885
1.16
0.935
1.48
1.38
3.78
3.58
1.67
4.37
3.97
3.77
0.006
0.003
0.004
0.045
0.006
0.060
0.050
0.065
0.006
0.060
0.110
0.065
0.207
0.193
0.490
0.450
0.207
0.570
0.490
0.620
0.700
0.570
0.840
0.620
0.700
0.600
3.00
2.80
0.700
3.40
3.00
2.80
0.0267
0.0247
0.0257
0.0667
0.0387
0.0927
0.0837
0.0977
0.0508
0.105
0.154
0.110
0.340
0.331
0.627
0.588
0.417
0.776
0.704
0.826
0.975
0.875
1.14
0.925
1.44
1.37
3.76
3.57
1.63
4.31
3.95
3.76
0.005
0.003
0.004
0.045
0.005
0.059
0.050
0.064
0.005
0.059
0.108
0.064
0.201
0.192
0.488
0.449
0.201
0.560
0.488
0.610
0.660
0.560
0.820
0.610
0.660
0.590
2.98
2.79
0.660
3.34
2.98
2.79
With Gears
Allowable
Radial
Load
[N]
Allowable
Thrust
Load
[N]
LF
[mm]
95
113
146
267
95
192
233
605
95
192
528
605
152
192
528
605
152
435
528
951
343
435
830
951
343
435
830
951
343
684
830
951
431
514
663
1246
431
895
1087
2581
431
895
2254
2581
707
895
2254
2581
707
1856
2254
4992
1465
1856
4359
4992
1465
1856
4359
4992
1465
3590
4359
4992
37
37
37
53
37
53
53
75
37
53
75
75
53
53
75
75
53
75
75
128
75
75
128
128
75
75
128
128
75
128
128
128
Reference Diagram
Shaft Output
LF
Radial load
Thrust load
Flange Output
LF
Radial load
Thrust load
* The moment of inertia for the Servomotor and gear is the value without a holding brake. You can calculate the
moment of inertia for a Servomotor with a Gear and Holding Brake with the following formula.
Motor moment of inertia for a Servomotor with a Holding Brake from 5.2.2 Ratings of Servomotors without Gears on page 5-5 + Moment of inertia for the gear from the above table.
5-10
5.2 Specifications and Ratings
5.2.7 Servomotor Overload Protection Characteristics
Important
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss depends on the
torque and motor speed conditions. The temperature rise depends on the loss and heat dissipation conditions. For the heat dissipation conditions, always refer to the following table and check the gear and motor
temperatures with the actual equipment. If the temperature is too high, implement the following measures.
• Decrease the load ratio.
• Change the heat dissipation conditions.
• Use forced-air cooling for the motor with a cooling fan or other means.
Heat Sink Size
Model
1/5
1/9 or 1/11
SGM7A-A5
1/21
1/33
A
SGM7A-01
SGM7A-C2
B
SGM7A-02
SGM7A-04
SGM7A-06
SGM7A-08
C
• A: 250 mm × 250 mm × 6 mm, aluminum plate
• B: 300 mm × 300 mm × 12 mm, aluminum plate
• C: 350 mm × 350 mm × 12 mm, aluminum plate
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
SGM7A-A5, -01, -C2, -02, -04, -06, -08, and -10
SGM7A-15, -20, -25, -30, -40, -50, and -70
10000
Detection time (s)
10000
Detection time (s)
5.2.7
1000
Motor speed of
10 min-1 or higher
100
1000
SGM7A-15, -20, -25,
-30, -40, and 50
100
10
10
SGM7A-70
Motor speed of
less than 10 min-1
1
1
0
50
100
150
200
250
300
350
Torque reference (percent of rated torque)
(%)
0
50
100
150
200
250
300
Torque reference (percent of rated torque)
(%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in 5.2.3 Torque-Motor Speed Characteristics on page 5-6 or in 5.2.5 Torque-Motor
Speed Characteristics on page 5-8.
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
SGM7A-10A
5
5-11
5.2 Specifications and Ratings
5.2.8 Load Moment of Inertia
5.2.8
Load Moment of Inertia
The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to
5.2.2 Ratings of Servomotors without Gears on page 5-5 or to 5.2.4 Servomotor Ratings on
page 5-7. This value is provided strictly as a guideline and results depend on Servomotor driving conditions.
An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia
exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if
this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above
steps.
Regenerative resistors are not built into SERVOPACKs for 400-W Servomotors or smaller Servomotors.
Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is
required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor.
5-12
5.2 Specifications and Ratings
5.2.9 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors
Allowable Load Moment of Inertia Scaling Factor for
SERVOPACKs without Built-in Regenerative Resistors
35
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
SGM7A-C2A
45
40
35
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
−1
Motor speed (min )
SGM7A-01A
45
40
35
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
SGM7A-02A
35
30
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
SGM7A-04A
25
20
15
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
40
Allowable load moment of inertia scaling factor (times)
SGM7A-A5A
45
Allowable load moment of inertia scaling factor (times)
Allowable load moment of inertia scaling factor (times)
Allowable load moment of inertia scaling factor (times)
The following graphs show the allowable load moment of inertia scaling factor of the motor
speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative
Resistor is not connected.
If the Servomotor exceeds the allowable load moment of inertia, an overvoltage alarm may
occur in the SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher.
Allowable load moment of inertia scaling factor (times)
5.2.9
5
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min−1)
* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
5-13
5.2 Specifications and Ratings
5.2.10 Servomotor Heat Dissipation Conditions
5.2.10
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small
device component, the Servomotor temperature may rise considerably because the surface for
heat dissipation becomes smaller. Refer to the following graphs for the relation between the
heat sink size and derating rate.
When using Servomotors with derating, change the overload warning and overload alarm detection timing in advance based on the overload detection level of the motor. Refer to the following
section for the overload detection level of the motor.
5.2.7 Servomotor Overload Protection Characteristics on page 5-11
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
The actual temperature rise depends on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting
section, and the motor speed. Always check the Servomotor temperature with the actual equipImportant
ment.
80
SGM7A-C2
60
40
0
50
100
150
SGM7A-02 and -04
100
Derating rate (%)
Derating rate (%)
100
20
120
120
SGM7A-A5 and -01
200
250
80
60
SGM7A-06
40
20
300
0
100
Derating rate (%)
Derating rate (%)
80
60
40
150 200
250 300
0
50 100 150 200 250 300 350
SGM7A-70
80
60 SGM7A-30
SGM7A-40 and -50
40
0
SGM7A-10
60
40
0
100
200
300
400
Heat sink size (mm)
0
50
100
150 200
250 300 350
Heat sink size (mm)
20
Heat sink size (mm)
5-14
100
120
100
20
50
Heat sink size (mm)
SGM7A-15, -20, and -25
80
20
Heat sink size (mm)
120
SGM7A-08
100
Derating rate (%)
120
500
5.2 Specifications and Ratings
5.2.11 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40°C
Applications Where the Surrounding Air Temperature of
the Servomotor Exceeds 40°C
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C. If you use a Servomotor at a surrounding air temperature that exceeds 40°C (60°C
max.), apply a suitable derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection timing in advance based on the overload detection level of the motor. Refer to the following
section for the overload detection level of the motor.
5.2.7 Servomotor Overload Protection Characteristics on page 5-11
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
120
SGM7A-06
60
SGM7A-A5, -01, and -C2
40
80
60
SGM7A-02 and -04
40
20
20
0
0
0
10
20
30
40
50
60
70
Surrounding air temperature (C)
10
20
30
40
50
60
70
SGM7A-70
100
Derating rate (%)
80
60
SGM7A-15, -20, and -25
40
80
60
SGM7A-50
40
20
20
0
0
120
100
0
0
10
20
30
40
50
60
70
Surrounding air temperature (C)
60
SGM7A-08 and -10
40
20
Surrounding air temperature (C)
120
80
SGM7A-30 and -40
0
10
20
30
40
50
60 70
Surrounding air temperature (C)
0
0
10
20
30
40
50
60
70
Surrounding air temperature (C)
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
80
Derating rate (%)
Derating rate (%)
Derating rate (%)
100
100
100
Derating rate (%)
5.2.11
5
5-15
5.2 Specifications and Ratings
5.2.12 Applications Where the Altitude of the Servomotor Exceeds 1,000 m
5.2.12
Applications Where the Altitude of the Servomotor
Exceeds 1,000 m
The Servomotor ratings are the continuous allowable values at an altitude of 1,000 m or less. If
you use a Servomotor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation
effect of the air is reduced. Apply the appropriate derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection timing in advance based on the overload detection level of the motor. Refer to the following
section for the overload detection level of the motor.
5.2.7 Servomotor Overload Protection Characteristics on page 5-11
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
120
100
100
100
SGM7A-A5, -01, and -C2
60
40
80
SGM7A-02, -04, and -06
60
40
20
20
0
0
0
500
1000 1500
2000 2500
0
500
1000 1500
2000 2500
Altitude (m)
120
100
100
SGM7A-15, -20, and -25
40
0
500
1000 1500
Altitude (m)
5-16
80
60
SGM7A-30 and -40
40
SGM7A-50
20
20
0
Derating rate (%)
Derating rate (%)
60
2000 2500
0
SGM7A-10
60
40
0
500
1000 1500
Altitude (m)
0
0
500
1000 1500
Altitude (m)
SGM7A-70
80
80
20
Altitude (m)
120
Derating rate (%)
80
Derating rate (%)
Derating rate (%)
SGM7A-08
2000 2500
2000 2500
5.3 External Dimensions
5.3.1 Servomotors without Gears
5.3
External Dimensions
5.3.1
Servomotors without Gears
SGM7A-A5, -01, and -C2
0.04
A
L
LL
20.5
MD
0.6
17
0.04 dia. A
LR
LM
Notation
: Square dimensions
LC
LE
MW
0.8
ML
LB dia.
14
LG
LA
S dia.
.
A
2 × LZ dia.
0.02
L
LL
LM
A5AA2
81.5
(122)
56.5
(97)
01AA2
C2AA2
93.5
68.5
(134)
(109)
105.5
80.5
(153.5) (128.5)
Unit: mm
Flange Dimensions
LG
LC
LA
LE
37.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
49.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
61.9
25
2.5
5
40
46
0
30 -0.021
4.3
0
8 -0.009
Model SGM7A-
MD
MW
ML
A5AA2
8.8
25.8
16.1
01AA2
8.8
25.8
16.1
C2AA2
8.8
25.8
16.1
Approx. Mass [kg]
0.3
(0.6)
0.4
(0.7)
0.5
(0.8)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for detailed shaft end specifications.
5.3.2 Shaft End Specifications for SGM7A-A5 to -10 on page 5-19
3. Refer to the following section for information on connector mounting dimensions.
5.3.3 Connector Mounting Dimensions for SGM7A-A5 to -10 on page 5-20
 Specifications of Options
LB
LZ
S
LR
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
Model SGM7A-
dia
• Oil Seal
5
7.5
Oil seal cover
0
30 - 0.021 dia.
29.8 dia.
1.5
Unit: mm
5-17
5.3 External Dimensions
5.3.1 Servomotors without Gears
SGM7A-02 to -10
0.04
L
LL
20.5
LM
MD
17
ML
0.04 dia. A
LC
MW
LG
LA dia.
S dia.
LB dia.
14
MH
0.6
A
LR
LE
A
0.02
Model SGM7A-
L
LL
LM
02AA2
99.5
(140)
69.5
(110)
04AA2
06AA2
08AA2
10AA2
115.5
85.5
(156)
(126)
137.5 107.5
(191.5) (161.5)
137
97
(184)
(144)
162
122
(209)
(169)
4 × LZ dia.
Flange Dimensions
LG
LC
LA
LR
LE
51.2
30
3
6
60
67.2
30
3
6
89.2
30
3
78.5
40
103.5
40
Model SGM7A-
MD
MW
MH
ML
02AA2
8.5
28.7
14.7
17.1
04AA2
8.5
28.7
14.7
17.1
06AA2
8.5
28.7
14.7
17.1
08AA2
13.6
38
14.7
19.3
10AA2
13.6
38
14.7
19.3
LZ
70
0
50 -0.025
5.5
0
14 -0.011
60
70
0
50 -0.025
5.5
0
14 -0.011
6
60
70
0
50 -0.025
5.5
0
14 -0.011
3
8
80
90
0
70 -0.030
7
0
19 -0.013
3
8
80
90
0
70 -0.030
7
0
19 -0.013
Approx. Mass [kg]
0.8
(1.4)
1.2
(1.8)
1.6
(2.2)
2.3
(2.9)
3.1
(3.7)
2. Refer to the following section for detailed shaft end specifications.
5.3.2 Shaft End Specifications for SGM7A-A5 to -10 on page 5-19
3. Refer to the following section for information on connector mounting dimensions.
5.3.3 Connector Mounting Dimensions for SGM7A-A5 to -10 on page 5-20
 Specifications of Options
• Oil Seal
LS2
LS1
E2 dia.
E1 dia.
LE
Model SGM7A02A, 04A, 06A
08A, 10A
5-18
Unit: mm
E1
35
47
S
LB
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Oil seal cover
Unit: mm
Dimensions with Oil Seal
E2
LS1
47
5.2
61
5.5
LS2
10
11
5.3 External Dimensions
5.3.2 Shaft End Specifications for SGM7A-A5 to -10
Shaft End Specifications for SGM7A-A5 to -10
SGM7A-
Code
2
6
B
Specification
Straight without key
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
With two flat seats
Shaft End Details
A5
01
Servomotor Model SGM7AC2
02
04
06
08
10
S dia.
LR
LR
25
30
40
S
0
8 -0.009
0
14 -0.011
0
19 -0.013
LR
QK
25
14
30
14
40
22
S
0
8 -0.009
0
14 -0.011
0
19 -0.013
W
T
U
P
3
3
1.8
M3 × 6L
5
5
3
M5 × 8L
6
6
3.5
M6 × 10L
LR
25
30
40
QH
15
15
22
Code: 6 (Straight with Key and Tap)
LR
QK
U
S dia.
Y
W
Y
P
T
Cross section Y-Y
Code: B (with Two Flat Seats)
LR
QH
S
H1
Y
Y
H2
Cross section Y-Y
8
0
-0.009
14
0
-0.011
0
19 -0.013
H1
7.5
13
18
H2
7.5
13
18
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
Code: 2 (Straight without Key)
S dia.
5.3.2
5
5-19
5.3 External Dimensions
5.3.3 Connector Mounting Dimensions for SGM7A-A5 to -10
5.3.3
Connector Mounting Dimensions for SGM7A-A5 to -10
SGM7A-A5, -01, and -C2
 Cable Installed on Load Side
 Cable Installed on Non-load Side
25 °
(1.2)
35°
(7.4)
25°
(10)
35°
SGM7A-02, -04, and -06
 Cable Installed on Load Side
 Cable Installed on Non-load Side
(10)
35°
25°
25°
35°
SGM7A-08 and -10
 Cable Installed on Load Side
 Cable Installed on Non-load Side
(10)
25°
25 °
25°
25°
5-20
5.3 External Dimensions
5.3.4 Servomotors without Gears and without Holding Brakes
Servomotors without Gears and without Holding Brakes
SGM7A-15, -20, and -25
L
Shaft End Details
LL
LR
LE
0.5
40
LR
0.04 dia. A
LC
.
LA
dia
.
dia
S dia.
KL1
17
Q
4 LZ dia.
A
106.5
R1
30 dia.
50
65 dia.
LB dia.
LH
79 dia.
LE
0.02
KB1
45 dia.
LG
S dia.
LM
36
0.04 A
Refer to 5.3.6 Shaft End
Specifications for SGM7A-15
to -70 on page 5-24 for
details.
KB2
Model
SGM7A15AA21
20AA21
25AA21
L
LL
LM
LR
KB1
KB2
KL1
202
218
241
157
173
196
121
137
160
45
45
45
107
123
146
145
161
184
94
94
94
Model
SGM7A-
LA
LB
15AA21
115
95 -0.035
115
95
0
-0.035
95
0
-0.035
20AA21
25AA21
Flange Dimensions
LC
LE
LG
0
115
100
100
100
3
10
3
10
3
Approx.
Mass [kg]
LH
LZ
130
7
0
24 -0.013
40
4.6
7
24
0
-0.013
40
5.4
24
0
-0.013
40
6.8
130
10
Shaft End Dimensions
S
Q
130
7
Note: Servomotors with Oil Seals have the same dimensions.
SGM7A-30, -40, and -50
L
LR
Shaft End Details
0.04 A
LE
1.5
55
0.04 dia. A
S dia.
LB dia.
A
0.02
Model
SGM7A30AA21
40AA21
50AA21
5
Q
4  LZ dia.
KB1
KB2
17
R1
30 dia.
50
65 dia.
LE
.
dia
LA
LH d
ia.
79 dia.
LR
LC
45 dia.
LG
S dia.
36
LL
LM
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
Unit: mm
KL1
5.3.4
Refer to 5.3.6 Shaft End
Specifications for SGM7A-15
to -70 on page 5-24 for
details.
Unit: mm
L
LL
LM
LR
KB1
KB2
KL1
257
194
158
63
145
182
114
296
233
197
63
184
221
114
336
273
237
63
224
261
114
5-21
5.3 External Dimensions
5.3.4 Servomotors without Gears and without Holding Brakes
Flange Dimensions
LC
LE
LG
Model
SGM7A-
LA
LB
30AA21
145
110 -0.035
145
110
0
-0.035
110
0
-0.035
40AA21
50AA21
0
145
130
130
130
6
12
6
12
6
Approx.
Mass [kg]
LH
LZ
165
9
0
28 -0.013
55
10.5
9
28
0
-0.013
55
13.5
28
0
-0.013
55
16.5
165
12
Shaft End Dimensions
S
Q
165
9
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7A-15 to -50 without Holding Brakes on page 5-31
SGM7A-70
L
LL
LR
LM
0.04
LE
1.5
S dia.
LG
130
5.5
A
144
LC
0.04 dia. A
63
LH dia
.
30 dia.
114
A
KB1
KB2
20
4 × LZ dia.
0.04 dia. A
Fan connector
0.02
Cooling Fan
R1
KL1
80
ia.
LA d
50
Cooling air flow
144
65 dia.
LB dia.
6
S dia.
45 dia.
43
LC
70*
Q
Refer to 5.3.6 Shaft
End Specifications for
SGM7A-15 to -70 on
page 5-24 for details.
17
49
Unit: mm
Cooling Fan Specifications
Single-phase, 220 V
Maximum controllable power: 360 mW
Alarm Contacts
ON for normal fan rotation.
0.11/0.09 A
Detector
connector
Contact Capacity
Maximum allowable voltage: 350 V (AC/DC)
Maximum allowable current: 120 mA (AC/DC)
50/60 Hz
17/15 W
Motor end
Specifications of Fan Operation Error Detector
OFF at 1,680 ± 100 min-1 max.
OFF for 3 seconds at startup.
Model
SGM7A70AA21
Model
SGM7A70AA21
L
LL
LM
LR
KB1
KB2
KL1
397
334
291
63
224
261
108
Flange Dimensions
LA
145
LB
110
0
-0.035
LC
LE
LG
LH
LZ
130
6
12
165
9
Shaft End
Dimensions
S
Q
0
28 -0.013
55
Approx.
Mass
[kg]
18.5
* Leave a minimum space of 70 mm around the Servomotor from walls and other equipment to allow for a sufficient
amount of cooling air.
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7A-70 without Holding Brakes on page 5-31
5-22
5.3 External Dimensions
5.3.5 Servomotors without Gears and with Holding Brakes
Servomotors without Gears and with Holding Brakes
 SGM7A-15 to -25
L
LR
36
LM
0.04 A
LE
Shaft End Details
S dia.
LG
0.5
0.04 dia. A
LR
LC
40
.
dia
LA
115
.
dia
S dia.
LB dia.
130
dia.
30 dia.
A
R1
80
50
65 dia.
79 dia.
LH
dia.
KL1
LE
45 dia.
LL
0.02 4 × LZ dia.
Q
KB3
Refer to 5.3.6 Shaft End
Specifications for
SGM7A-15 to -70 on
page 5-24 for details.
KB2
Unit: mm
 SGM7A-30 to -50
L
LR
0.04 A
S dia.
LE
1.5
5.5
LC
0.04 dia. A
LH
dia.
50
65 dia.
79 dia.
LG
.
dia
LA
LB dia.
LL
LM
36
A
0.02
KB1
KB3
KB2
17
4 × LZ dia.
Model
SGM7A15AA2C
20AA2C
25AA2C
30AA2C
L
LL
LM
LR
KB1
KB2
KB3
KL1
243
259
292
293
198
214
247
232
162
178
211
196
45
45
45
63
107
123
156
145
186
202
235
220
139
155
188
181
102
102
102
119
40AA2C
50AA2C
332
372
269
309
233
273
63
63
184
224
257
297
220
260
119
119
Model
SGM7A-
LA
LB
15AA2C
115
95 -0.035
115
95
0
-0.035
95
0
-0.035
20AA2C
25AA2C
30AA2C
40AA2C
50AA2C
115
145
145
145
0
110
0
-0.035
110
0
-0.035
110
0
-0.035
Flange Dimensions
LC
LE
LG
100
100
3
3
10
10
Shaft End Dimensions
S
Q
Approx.
Mass [kg]
LH
LZ
130
7
0
24 -0.013
40
6.0
7
24
0
-0.013
40
6.8
0
-0.013
40
8.7
130
100
3
10
130
7
24
130
6
12
165
9
0
28 -0.013
55
13
9
28
0
-0.013
55
16
28
0
-0.013
55
19
130
130
6
6
12
12
165
165
9
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
KB1
17
KL1
81
5.3.5
5
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7A-15 to -50 with Holding Brakes on page 5-32
5-23
5.3 External Dimensions
5.3.6 Shaft End Specifications for SGM7A-15 to -70
5.3.6
Shaft End Specifications for SGM7A-15 to -70
SGM7A-
Code
2
6
Specification
Straight without key
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
Shaft End Details
15
20
Servomotor Model SGM7A25
30
40
50
Code: 2 (Straight without Key)
LR
Q
LR
Q
S
R1
Q
QK
Q
QK
S
W
R1
P
S dia.
W
T
5-24
63
55
0
24 -0.013
0
28 -0.013
S dia.
Code: 6 (Straight with Key and Tap)
LR
LR
U
45
40
45
63
40
32
55
50
0
24 -0.013
0
28 -0.013
8
T
7
U
4
P
M8 screw, Depth: 16
70
5.3 External Dimensions
5.3.7 Servomotors with Gears
Servomotors with Gears
SGM7A-A5, -01, and -C2
0.06
(0.05)
L
LL
LG
L2
L3
LE
A
Q
QK
U
LC
.
Rotating parts
(Shaded section)
Model SGM7A-
Gear
Ratio
L
LL
LM
A5AAH1 *
A5AAH2 *
1/5
1/9
138
(178.5)
96
(136.5)
77.4
A5AAHC *
1/21
1/33
01AAH1 *
1/5
105
(145.5)
120.5
(161)
108
(148.5)
86.4
A5AAH7 *
147
(187.5)
178.5
(219)
150
(190.5)
01AAHB *
01AAHC *
1/11
1/21
190.5
(231)
01AAH7 *
1/33
C2AAH1 *
1/5
C2AAHB *
dia
4 × LZ dia.
Tap size × Depth
LE
LG
42
2.2
5
29
0
39.5 40 -0.025
101.9
58
2.5
8
40
89.4
42
2.2
5
132.5
(173)
113.9
58
2.5
135
(175.5)
120
(168)
144.5
(192.5)
116.4
80
101.4
1/11
215
(255.5)
162
(210)
202.5
(250.5)
C2AAHC *
C2AAH7 *
1/21
1/33
227
(275)
147
(195)
Model SGM7A-
Flange Dimensions
L1
L2
L3
22
20
14.6
Unit: mm
Flange Dimensions
B
LD
LB
LC
LR
A5AAH1 *
A5AAH2 *
Details of Shaft
End with Key
and Tap
LD dia.
LB dia.
C dia.
S dia.
B dia.
LA
LA
LZ
40
46
3.4
0
55.5 56 -0.030
60
70
5.5
29
0
39.5 40 -0.025
40
46
3.4
8
40
0
55.5 56 -0.030
60
70
5.5
7.5
10
59
0
85 -0.035
90
105
9
42
2.2
5
29
0
39.5 40 -0.025
40
46
3.4
125.9
58
2.5
8
40
0
55.5 56 -0.030
60
70
5.5
128.4
80
7.5
10
59
0
85 -0.035
90
105
9
Q
C
S
−
−
10
0
-0.015
Tap Size ×
Depth
84
84
Key Dimensions
QK
U
W
T
M3 × 6L
15
2.5
4
4
Approx.
Mass [kg]
0.6
(0.9)
A5AAH7 *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
01AAH1 *
22
20
14.6
−
−
0
10 -0.015
M3 × 6L
15
2.5
4
4
0.7
(1.0)
1.3
(1.6)
0.7
(1.0)
01AAHB *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
1.4
(1.7)
01AAH7 *
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
C2AAH1 *
22
20
14.6
−
−
0
10 -0.015
M3 × 6L
15
2.5
4
4
C2AAHB *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
2.8
(3.1)
0.8
(1.1)
1.5
(1.8)
C2AAHC *
C2AAH7 *
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
2.9
(3.2)
A5AAHC *
01AAHC *
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
L1
16.1
0.05 dia.
(0.04 dia.) A
T
W
0.04
(0.03)
14.7
17
A
LR
LM
0.6
14
5.3.7
5
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designation.
If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
5-25
5.3 External Dimensions
5.3.7 Servomotors with Gears
 Flange Output Face
L
0.06
(0.05) A
0.02
LR
L3
LE
0.04
(0.03)
0.05 dia.
(0.04 dia.) A
LC
A
.
dia
G dia.
LD dia.
LB dia.
F dia.
LA
LJ d
ia.
LK
Tap size × Depth
4 × LZ dia.
Unit: mm
Note: The geometric tolerance in parentheses is the value for LC = 40.
Model SGM7AA5AAH10
A5AAH20
Gear
Ratio
1/5
1/9
A5AAHC0
1/21
A5AAH70
1/33
01AAH10
1/5
01AAHB0
01AAHC0
1/11
1/21
01AAH70
1/33
C2AAH10
1/5
C2AAHB0
1/11
C2AAHC0
1/21
1/33
C2AAH70
L
111
(151.5)
120
(160.5)
141.5
(182)
123
(163.5)
153.5
(194)
LR
LJ
F
G
LK
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
15
18
5 +0.012
0
24
3
3 × M4 × 6L
0.6
(0.9)
21
30
14 +0.018
0
40
5
6 × M4 × 7L
1.2
(1.5)
15
18
5 +0.012
0
24
3
3 × M4 × 6L
0.7
(1.0)
21
30
14 +0.018
0
40
3 × M4 × 7L
1.3
(1.6)
27
45
24
+0.021
0
6 × M6 × 10L
2.4
(2.7)
15
18
5 +0.012
0
24
3
3 × M4 × 6L
21
30
14 +0.018
0
40
5
6 × M4 × 7L
0.8
(1.1)
1.4
(1.7)
27
45
24 +0.021
0
59
5
6 × M6 × 10L
2.5
(2.8)
5
162
(202.5)
135
(183)
165.5
(213.5)
174
(222)
59
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
0.5 min.
Connecting parts on the load side
24 dia. max.
Important
For a Servomotor with a flange output that has square gear flange dimensions (LC) of 40 mm,
we recommend that you design the Servomotor with the dimensions shown in the following figure
in order to secure a gap between the gear oil seal and the connecting parts on the load side.
5-26
5.3 External Dimensions
5.3.7 Servomotors with Gears
SGM7A-02, -04, and -06
LR
L3
LC
0.04
Q
LE
17.1
W
A
A
QK
.
LA
Details of Shaft
End with Key
and Tap
Gear
Ratio
02AAH1 *
1/5
02AAHB *
1/11
02AAHC *
1/21
02AAH7 *
1/33
04AAH1 *
1/5
04AAHB *
1/11
04AAHC *
1/21
04AAH7 *
1/33
06AAH1 *
1/5
06AAHB *
1/11
06AAHC *
1/21
06AAH7 *
1/33
Model SGM7A-
Flange Dimensions
L1
L2
L3
L
LL
LM
191.5
(232)
133.5
(174)
220.5
(261)
Tap size × Depth
4 × LZ dia.
Flange Dimensions
B
LD
LB
LR
LE
LG
115.2
58
2.5
8
40
55.5
56 -0.030
140.5
(181)
122.2
80
7.5
10
59
84
85 -0.035
207.5
(248)
149.5
(190)
131.2
58
2.5
8
40
55.5
56 -0.030
236.5
(277)
156.5
(197)
138.2
80
7.5
10
59
84
85 -0.035
322.5
(363)
189.5
(230)
171.2
133
12.5
13
84
114
115 -0.035
258.5
(312.5)
178.5
(232.5)
160.2
80
7.5
10
59
84
85 -0.035
344.5
(398.5)
211.5
(265.5)
193.2
133
12.5
13
84
114
115 -0.035
Q
C
S
Tap Size ×
Depth
Unit: mm
LC
LA
LZ
0
60
70
5.5
0
90
105
9
0
60
70
5.5
0
90
105
9
120
135
11
90
105
9
120
135
11
0
0
0
Key Dimensions
QK
U
W
T
1.8
(2.4)
02AAH1 *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
1.9
(2.5)
02AAHB *
02AAHC *
0
M6 × 12L
36
4
8
7
3.7
(4.3)
0
M4 × 8L
25
3
5
5
2.1
(2.7)
0
M6 × 12L
36
4
8
7
4.0
(4.6)
M10 × 20L
70
5
12
8
0
M6 × 12L
36
4
8
7
0
M10 × 20L
70
5
12
8
36
44
26
42
32
25 -0.021
04AAH1 *
28
30
20
28
20
16 -0.018
04AAHB *
36
44
26
42
32
25 -0.021
48
85
33
82
44
40
0
-0.025
36
44
26
42
32
25 -0.021
48
85
33
82
44
40 -0.025
02AAH7 *
04AAHC *
04AAH7 *
06AAH1 *
06AAHB *
06AAHC *
06AAH7 *
Approx.
Mass [kg]
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
Rotating parts
(Shaded section)
Model SGM7A-
dia
B dia.
LD dia.
LB dia.
S dia.
C dia.
14
14.7
17
0.05
L2
U
L1
LG
0.6
A
T
0.06
L
LL
LM
5
8.6
(9.2)
4.3
(4.9)
4.5
(5.1)
9.1
(9.7)
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designation.
If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
5-27
5.3 External Dimensions
5.3.7 Servomotors with Gears
 Flange Output Face
L
0.06
0.02
LR
L3
A
0.05 dia. A
LE
LC
0.04
A
.
dia
F dia.
G dia.
LD dia.
LB dia.
LA
LJ
4 × LZ dia.
5
Model SGM7A-
Gear
Ratio
02AAH10
1/5
L
dia
.
Tap size × Depth
LR
154.5
(195)
21
Unit: mm
LJ
F
G
No. of Taps ×
Tap Size × Depth
30
14
+0.018
0
40
6 × M4 × 7L
1.7
(2.3)
1.8
(2.4)
02AAHB0
1/11
02AAHC0
02AAH70
1/21
1/33
167.5
(208)
27
45
24 +0.021
0
59
6 × M6 × 10L
3.3
(3.9)
04AAH10
1/5
170.5
(211)
21
30
14 +0.018
0
40
6 × M4 × 7L
2.0
(2.6)
04AAHB0
04AAHC0
1/11
1/21
183.5
(224)
27
45
24 +0.021
0
59
6 × M6 × 10L
3.6
(4.2)
04AAH70
1/33
224.5
(265)
35
60
32 +0.025
0
84
6 × M8 × 12L
7.2
(7.8)
06AAH10
1/5
+0.021
0
59
6 × M6 × 10L
84
6 × M8 × 12L
06AAHB0
1/11
06AAHC0
06AAH70
1/21
1/33
205.5
(259.5)
27
45
24
246.5
(300.5)
35
60
32 +0.025
0
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
5-28
Approx.
Mass [kg]
3.9
(4.5)
4.1
(4.7)
7.7
(8.3)
5.3 External Dimensions
5.3.7 Servomotors with Gears
SGM7A-08 and -10
0.06 A
L
LL
LM
LR
LG
L1
L3
LE
Q
QK
0.6 17 19.3
LC
0.04
A
.
dia
W
S dia.
C dia.
B dia.
LD dia.
LB dia.
U
LA
T
17
14
0.05 A
L2
Details of Shaft
End with Key
and Tap
Tap size × Depth
4 × LZ dia.
Rotating parts
(Shaded section)
Unit: mm
Gear
Ratio
08AAH1 *
1/5
08AAHB *
1/11
08AAHC *
1/21
08AAH7 *
1/33
10AAH1 *
1/5
10AAHB *
1/11
10AAHC *
1/21
10AAH7 *
1/33
Model SGM7A-
L
LL
LM
255
(302)
175
(222)
334
(381)
LE
LG
B
LD
LB
LC
LA
LZ
156.5
80
7.5
10
59
84
0
85 -0.035
90
105
9
201
(248)
182.5
133 12.5
13
84
114
0
115 -0.035
120 135
11
280
(327)
200
(247)
181.5
80
7.5
10
59
84
0
85 -0.035
90
105
9
359
(406)
226
(273)
207.5
133 12.5
13
84
114
0
115 -0.035
120 135
11
Flange Dimensions
L1
Flange Dimensions
LR
L2
L3
Q
C
S
Tap Size ×
Depth
Key Dimensions
QK
U
W
T
M6 × 12L
36
4
8
7
4.9
(5.8)
5.1
(6.0)
0
40 -0.025
M10 × 20L
70
5
12
8
9.8
(10.7)
32
0
25 -0.021
M6 × 12L
36
4
8
7
6.0
(6.6)
44
0
40 -0.025
M10 × 20L
70
5
12
8
10.9
(11.5)
08AAH1 *
36
44
26
42
32
25
48
85
33
82
44
36
44
26
42
48
85
33
82
0
-0.021
08AAHB *
08AAHC *
08AAH7 *
10AAH1 *
10AAHB *
10AAHC *
Approx.
Mass [kg]
10AAH7 *
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designation.
If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
Model SGM7A-
5
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
5-29
5.3 External Dimensions
5.3.7 Servomotors with Gears
 Flange Output Face
L
0.06
LR
A
0.02
L3
LE
0.05 dia. A
LC
0.04
A
.
dia
LB dia.
G dia.
LD dia.
F dia.
LA
LJ d
ia.
4 × LZ dia.
5
Model SGM7A-
Gear
Ratio
08AAH10
1/5
L
LR
Tap size × Depth
LJ
Unit: mm
F
G
No. of Taps ×
Tap Size × Depth
202
(249)
27
45
24 +0.021
0
59
6 × M6 × 10L
4.7
(5.3)
4.9
(5.5)
08AAHB0
1/11
08AAHC0
08AAH70
1/21
1/33
236
(283)
35
60
32 +0.025
0
84
6 × M8 × 12L
8.6
(9.2)
10AAH10
1/5
227
(274)
27
45
24 +0.021
0
59
6 × M6 × 10L
5.6
(6.3)
10AAHB0
10AAHC0
1/11
1/21
1/33
261
(308)
35
60
32 +0.025
0
84
6 × M8 × 12L
9.5
(10.1)
10AAH70
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
5-30
Approx.
Mass [kg]
5.3 External Dimensions
5.3.8 Connector Specifications
Connector Specifications
SGM7A-15 to -50 without Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT (+)
Receptacle: CM10-R10P-D
2
/PS
7
–
Applicable plug: Not provided by Yaskawa.
3
–
8
–
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT (-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
• Servomotor Connector Specifications
D
A
C
B
Manufacturer: DDK Ltd.
A
B
Phase U
Phase V
C
D
Phase W
FG (frame ground)
SGM7A-70 without Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT (+)
Receptacle: CM10-R10P-D
2
/PS
7
–
Applicable plug: Not provided by Yaskawa.
3
–
8
–
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT (-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
• Servomotor Connector Specifications
D
A
C
B
Manufacturer: DDK Ltd.
A
B
C
D
Phase U
Phase V
Phase W
FG (frame ground)
A
B
C
D
E
F
Fan motor
Fan motor
–
Alarm pin
Alarm pin
FG (frame ground)
Specifications, Ratings, and External Dimensions of SGM7A Servomotors
5.3.8
5
• Fan Connector Specifications
A
F
B
E
C
D
Receptacle: MS3102A14S-6P
Applicable Plug (Available from Yaskawa Controls Co., Ltd.)
Plug: MS3108B14S-6S
Cable Clamp: MS3057-6A
Note: The Servomotor Connector (receptacle) is RoHS compliant.
Contact the connector manufacturer for RoHS-compliant cable-side connectors (not provided by Yaskawa).
5-31
5.3 External Dimensions
5.3.8 Connector Specifications
SGM7A-15 to -50 with Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT (+)
Receptacle: CM10-R10P-D
2
/PS
7
–
Applicable plug: Not provided by Yaskawa.
3
–
8
–
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT (-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
• Servomotor Connector Specifications
D
A
C
B
Manufacturer: DDK Ltd.
A
B
C
D
Phase U
Phase V
Phase W
FG (frame ground)
1
2
Brake terminal
Brake terminal
• Brake Connector Specifications
1
2
5-32
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP2S--D for Right-angle Plug
CM10-SP2S--D for Straight Plug
( depends on the applicable cable
size.)
Manufacturer: DDK Ltd.
Note: There is no voltage polarity for
the brake terminals.
Specifications,
Ratings, and External
Dimensions of
SGM7P Servomotors
This chapter describes how to interpret the model numbers
of SGM7P Servomotors and gives their specifications, ratings, and external dimensions.
6.1
Model Designations . . . . . . . . . . . . . . . . . . 6-2
6.1.1
6.1.2
6.2
Without Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
With Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Specifications and Ratings . . . . . . . . . . . . . 6-3
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Ratings of Servomotors without Gears . . . . . . . . 6-4
Torque-Motor Speed Characteristics . . . . . . . . . 6-5
Ratings of Servomotors with Gears . . . . . . . . . . . 6-6
Servomotor Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.2.6
Load Moment of Inertia . . . . . . . . . . . . . . . . . . . . 6-8
6.2.7
Allowable Load Moment of Inertia
Scaling Factor for SERVOPACKs without
Built-in Regenerative Resistors . . . . . . . . . . . . . . 6-9
6.2.8
Servomotor Heat Dissipation Conditions . . . . . 6-10
6.2.9
Applications Where the Surrounding Air
Temperature of the Servomotor Exceeds
40°C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.10 Applications Where the Altitude of the Servomotor
Exceeds 1,000 m . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.3
External Dimensions . . . . . . . . . . . . . . . . . 6-12
6.3.1
6.3.2
6.3.3
Servomotors without Gears . . . . . . . . . . . . . . . . 6-12
Shaft End Specifications . . . . . . . . . . . . . . . . . . 6-15
Servomotors with Gears . . . . . . . . . . . . . . . . . . 6-16
6
6.1 Model Designations
6.1.1 Without Gears
6.1
Model Designations
6.1.1
Without Gears
SGM7P - 01
1st+2nd
digits
Σ-7 Series
Servomotors:
SGM7P
A
7
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
1st+2nd digits Rated Output
Code
4th digit Serial Encoder
Code
Specification
01
100 W
02
200 W
04
400 W
08
750 W
15
1.5 kW
5th digit Design Revision Order
Code
Specification
A
IP65
E
IP67
200 VAC
Without options
C
With holding brake (24 VDC)
E
With oil seal and holding brake
(24 VDC)
S
With oil seal
6th digit Shaft End
Code
Specification
2
Straight without key
6
Straight with key and tap
With Gears
SGM7P - 01
A
7
A
H B
0
1
1st+2nd
digits
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
8th
digit
9th
digit
Σ-7 Series
Servomotors:
SGM7P
1st+2nd digits Rated Output
Specification
Code
5th digit
Design Revision Order
Specification
Code
A
IP55
100 W
02
200 W
04
400 W
6th digit
08
750 W
Code
Specification
15
1.5 kW
H
HDS planetary low-backlash gear
A
200 VAC
7th digit
Gear Type
Gear Ratio
Specification
Code
B
1/11
C
1/21
Serial Encoder
1
1/5
7
1/33
7
Specification
24-bit absolute
F
24-bit incremental
4th digit
Code
Code
2
Specification
Code
8th digit
0
01
3rd digit Power Supply Voltage
6-2
Specification
1
24-bit absolute
24-bit incremental
Specification
A
6.1.2
Code
Specification
7
F
3rd digit Power Supply Voltage
Code
7th digit Options
6
Shaft End
Specification
Flange output
Straight without key
Straight with key and tap
9th digit
Options
Code
Specification
1
Without options
With holding brake (24 VDC)
C
6.2 Specifications and Ratings
6.2.1 Specifications
6.2
Specifications and Ratings
6.2.1
Specifications
Voltage
Model SGM7P-
200 V
04A
08A
15A
Continuous
UL: B, CE: B
500 VDC, 10 MΩ min.
1,500 VAC for 1 minute
Permanent magnet
Flange-mounted
Direct drive
Counterclockwise (CCW) for forward reference when viewed from
the load side
01A
Time Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Mounting
Drive Method
Rotation Direction
02A
Vibration Class*1
Environmental
Conditions
Surrounding Air
Temperature
0°C to 40°C
(With derating, usage is possible between 40°C and 60°C.)*4
Surrounding Air
Humidity
20% to 80% relative humidity (with no condensation)
•
•
•
•
Must be indoors and free of corrosive and explosive gases.
Must be well-ventilated and free of dust and moisture.
Must facilitate inspection and cleaning.
Must have an altitude of 1,000 m or less. (With derating, usage
is possible between 1,000 m and 2,000 m.)*5
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it
with the power cable disconnected.
Storage temperature: -20°C to 60°C (with no freezing)
Storage humidity: 20% to 80% relative humidity (with no condensation)
Installation Site
Storage Environment
Shock
Resistance*2
Impact Acceleration
Rate at Flange
Number of Impacts
490 m/s2
Vibration
Resistance*3
Vibration Acceleration Rate at Flange
49 m/s2
Applicable
SERVOPACKs
2 times
SGD7S-
R90A,
R90F
SGD7W-
1R6A*6,
2R8A*6
2R8A,
2R1F
2R8A,
2R8F
2R8A, 5R5A*6, 7R6A*6
5R5A
120A
5R5A,
7R6A
−
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a hor-
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
V15
izontal position is given in the above table.
Vertical
6
Shock Applied to the Servomotor
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo-
motor is mounted with the shaft in a horizontal position is given in the above table.
The strength of the vibration that the Servomotor can withstand depends on the application. Always check the
vibration acceleration rate that is applied to the Servomotor with the actual equipment.
Vertical
Front
to back
Side to side
Horizontal direction
Vibration Applied to the Servomotor
6-3
6.2 Specifications and Ratings
6.2.2 Ratings of Servomotors without Gears
*4. If the surrounding air temperature will exceed 40°C, refer to the following section.
6.2.9 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40°C on page 6-10
*5. If the altitude will exceed 1,000 m, refer to the following section.
6.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m on page 6-11
*6. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
6.2.2
Ratings of Servomotors without Gears
Voltage
Model SGM7PRated Output
Rated Torque
*1
02A
200 V
04A
08A
15A
100
200
400
750
1500
Nm
0.318
0.637
1.27
2.39
4.77
Nm
0.955
1.91
3.82
7.16
14.3
Arms
0.86
2.0
2.6
5.4
9.2
Arms
2.8
6.4
8.4
16.5
28.0
W
*1, *2
Instantaneous Maximum Torque
Rated Current
01A
*1
*1
Instantaneous Maximum Current
*1
Rated Motor Speed*1
Maximum Motor Speed
*1
min-1
3000
-1
6000
Torque Constant
min
Nm/Arms
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*1
kW/s
Rated Angular Acceleration Rate*1
rad/s2
Derating Rate for Servomotor with
Oil Seal
Heat Sink Size (Aluminum)
Protective Structure
0.355
0.263
(0.415)
0.524
0.409
(0.561)
0.476
2.10
(2.98)
0.559
4.02
(4.90)
17.1
(11.3)
53700
(35600)
15.4
(9.7)
24200
(15300)
39.6
(28.8)
31100
(22600)
27.2
(19.1)
11400
(8020)
56.6
(46.4)
11900
(9730)
%
90
95
mm
250 × 250 × 6
300 × 300 × 12
*3
Rated Voltage
V
Capacity
W
Holding Torque Nm
Coil Resistance Ω (at 20°C)
Holding Brake
Rated
Current
A (at 20°C)
Specifications*4
Time Required
to Release
ms
Brake
Time Required
ms
to Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
With External Regenerative
Resistor and External
Dynamic Brake Resistor*5
Allowable Shaft
Loads*6
0.401
0.0592
(0.0892)
LF
mm
Allowable Radial
N
Load
Allowable Thrust
N
Load
Totally enclosed, self-cooled, IP65
24 VDC±10%
7.4
0.637
1.27
84.5
0.31
6
0.318
96
0.25
7.5
2.39
4.77
76.8
0.31
80
100
25 times
15 times
10 times
5 times
25 times
15 times
10 times
5 times
20
25
78
245
49
68
35
392
490
147
Note: The values in parentheses are for Servomotors with Holding Brakes.
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature wind-
ing is 100°C. The values for other items are at 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an
aluminum heat sink of the dimensions given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
6-4
6.2 Specifications and Ratings
6.2.3 Torque-Motor Speed Characteristics
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used. Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs.
• SGD7S-R70A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
*6. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust Load
Torque-Motor Speed Characteristics
A : Continuous duty zone
4000
3000
B
A
2000
1000
0
0 0.25 0.5 0.75
1
Torque (N·m)
B
A
0
0.5
1
1.5
Torque (N·m)
2
SGM7P-04A
7000
6000
5000
4000
3000
2000
1000
0
A
0
1
Motor speed (min-1)
5000
SGM7P-02A
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
SGM7P-01A
6000
B
2
3
4
Torque (N·m)
SGM7P-08A
7000
6000
5000
4000
3000
2000
1000
0
A
0
B
2
4
SGM7P-15A*
7000
6000
5000
4000
3000
2000
1000
0
B
A
0
4
8
12
6
Torque (N·m)
16
Torque (N·m)
* A single-phase power input can be used in combination with the SGD7S-120AA008.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
8
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
(dashed-dotted lines): With single-phase 100-V input
B : Intermittent duty zone
Motor speed (min-1)
6.2.3
6
6-5
6.2 Specifications and Ratings
6.2.4 Ratings of Servomotors with Gears
6.2.4
Ratings of Servomotors with Gears
Gear Mechanism
All models
Planetary gear mechanism
Protective Structure
Totally enclosed, self-cooled,
IP55 (except for shaft opening)
Servomotor
Servomotor Model
SGM7P-
Rated
Output
[W]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
Rated
Torque
[Nm]
Gear
Ratio
01AAHC
01AAH7
02AAH1
02AAHB
02AAHC
02AAH7
04AAH1
04AAHB
04AAHC
04AAH7
08AAH1
08AAHB
08AAHC
08AAH7
15AAH1
15AAHB
15AAHC
200
400
750
1500
3000
3000
3000
3000
6000
6000
6000
6000
0.318
0.637
1.27
2.39
4.77
Instantaneous
Maximum
Torque
[Nm]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min -1]
4.30
600
1200
1/11
1/21
1/33
9.30
18.2
27.0
273
143
91
545
286
182
1.91
1/5
1/11
1/21
1/33
2.39/75
5.74/82
10.2/76
17.0/81
8.60
19.4
35.9
57.3
600
273
143
91
1200
545
286
182
3.82
1/5
1/11
1/21
1/33
5.33/84
11.5/82
22.9/86
34.0/81
17.8
38.3
74.4
114.6
600
273
143
91
1200
545
286
182
7.16
1/5
1/11
1/21
1/33
10.0/84
23.1/88
42.1/84
69.3/88
32.8
73.6
138.0
220
600
273
143
91
1200
545
286
182
1/5
1/11
19.1/80
45.6/87
64.8
146
600
273
1200
545
1/21
87.1/87
278
95*3
214*4
1/33
142/90
443
60*3
136*4
01AAHB
6000
Rated Torque/
Efficiency*1
[Nm/%]
1.05/78*2
2.52/72
5.34/80
6.82/65
1/5
3000
3 max.
Gear Output
Instantaneous
Maximum
Torque
[Nm]
01AAH1
100
Lost Motion [arc-min]
0.955
14.3
15AAH7
*1. The gear output torque is expressed by the following formula.
Gear output torque = Servomotor output torque ×
1
× Efficiency
Gear ratio
The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature.
The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25°C. They are reference values only.
*2. Use the Servomotor at an effective load ratio of 85% or less. The values in the table take the effective load ratio
into consideration.
*3. The rated motor speed calculated at the motor shaft is 2,000 min-1 max.
*4. The maximum motor speed calculated at the motor shaft is 4,500 min-1 max.
Note: 1. The gears that are mounted to Yaskawa Servomotors have not been broken in.
Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems occur, gradually increase the speed and load.
2. The no-load torque for a Servomotor with a Gear is high immediately after the Servomotor starts, and it
then decreases and becomes stable after a few minutes.
This is a common phenomenon caused by grease circulation in the gears and it does not indicate faulty
gears.
3. Other specifications are the same as those for Servomotors without Gears.
The SERVOPACK speed control range is 1:5,000. If you use Servomotors at extremely low speeds
(0.02 min-1 or lower at the gear output shaft), if you use Servomotors with a one-pulse feed reference for extended periods, or under some other operating conditions, the gear bearing lubrication
Important may be insufficient. That may cause deterioration of the bearing or increase the load ratio.
Contact your Yaskawa representative if you use a Servomotor under these conditions.
6-6
6.2 Specifications and Ratings
6.2.4 Ratings of Servomotors with Gears
Moment of Inertia [×10 -4 kgm2]
01AAH1
01AAHB
01AAHC
01AAH7
02AAH1
02AAHB
02AAHC
02AAH7
04AAH1
04AAHB
04AAHC
04AAH7
08AAH1
08AAHB
08AAHC
08AAH7
15AAH1
15AAHB
15AAHC
15AAH7
Motor*
+
Gear
With Low-Backlash Gears
Flange Output
Gear
Allowable
Radial Load
[N]
Allowable
Thrust
Load
[N]
LF
[mm]
0.0632
0.118
0.109
0.508
0.464
0.455
0.751
0.712
0.610
0.969
0.897
1.01
3.16
2.69
0.004
0.059
0.050
0.449
0.201
0.192
0.488
0.449
0.201
0.560
0.488
0.610
1.06
0.590
95
192
233
605
152
192
528
605
152
435
528
951
343
435
431
895
1087
2581
707
895
2254
2581
707
1856
2254
4992
1465
1856
37
53
53
75
53
53
75
75
53
75
75
128
75
75
5.08
4.89
7.55
7.36
9.72
8.79
2.98
2.79
3.53
3.34
5.70
4.77
830
951
540
684
2306
2641
4359
4992
2834
3590
9989
11400
128
128
128
128
151
151
Gear
Motor*
+
Gear
0.0642
0.119
0.109
0.509
0.470
0.456
0.753
0.713
0.616
0.979
0.899
1.03
3.20
2.70
0.005
0.060
0.050
0.450
0.207
0.193
0.490
0.450
0.207
0.570
0.490
0.620
1.10
0.600
5.10
4.90
7.82
7.42
9.82
8.82
3.00
2.80
3.80
3.40
5.80
4.80
Reference Diagram
Shaft Output
LF
Radial load
Thrust load
Flange Output
LF
Radial load
Thrust load
* The moment of inertia for the Servomotor and gear is the value without a holding brake. You can calculate the
moment of inertia for a Servomotor with a Gear and Holding Brake with the following formula.
Motor moment of inertia for a Servomotor with a Holding Brake from 6.2.2 Ratings of Servomotors without Gears on page 6-4 + Moment of inertia for the gear from the above table.
During operation, the gear generates the loss at the gear mechanism and oil seal. The loss
depends on the torque and motor speed conditions. The temperature rise depends on the loss
and heat dissipation conditions. For the heat dissipation conditions, always refer to the following
Important table and check the gear and motor temperatures with the actual equipment. If the temperature
is too high, implement the following measures.
• Decrease the load ratio.
• Change the heat dissipation conditions.
• Use forced-air cooling for the motor with a cooling fan or other means.
Model
Heat Sink Size
1/5
1/11
1/21
A
SGM7P-01
SGM7P-02
B
SGM7P-04
SGM7P-08
1/33
C
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
Servomotor Model
SGM7P-
Shaft Output
SGM7P-15
• A: 250 mm × 250 mm × 6 mm, aluminum plate
• B: 300 mm × 300 mm × 12 mm, aluminum plate
• C: 350 mm × 350 mm × 12 mm, aluminum plate
6
6-7
6.2 Specifications and Ratings
6.2.5 Servomotor Overload Protection Characteristics
6.2.5
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air
temperature of 40°C.
Detection time (s)
10000
1000
Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0
50
100
150
200
250
Torque reference (percent of rated torque)
(%)
300
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher.
Use the Servomotor so that the effective torque remains within the continuous duty zone given in 6.2.3
Torque-Motor Speed Characteristics on page 6-5.
6.2.6
Load Moment of Inertia
The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to
6.2.2 Ratings of Servomotors without Gears on page 6-4. This value is provided strictly as a
guideline and results depend on Servomotor driving conditions.
An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia
exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if
this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above
steps.
Regenerative resistors are not built into SERVOPACKs for 400-W Servomotors or smaller Servomotors.
Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is
required if the energy that results from the regenerative driving conditions exceeds the allowable loss capacity (W) of the built-in regenerative resistor.
6-8
6.2 Specifications and Ratings
6.2.7 Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs without Built-in Regenerative Resistors
Allowable Load Moment of Inertia Scaling Factor for
SERVOPACKs without Built-in Regenerative Resistors
The following graphs show the allowable load moment of inertia scaling factor of the motor
speed for SERVOPACKs* without built-in regenerative resistors when an External Regenerative
Resistor is not connected.
If the Servomotor exceeds the allowable load moment of inertia, an overvoltage alarm may
occur in the SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher.
SGM7P-02A
SGM7P-01A
16
25
20
15
10
5
0
0
1000 2000 3000 4000 5000 6000 7000
-1
Motor speed (min )
14
12
10
8
6
4
2
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
SGM7P-04A
12
10
8
6
4
2
0
0
1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
Allowable load moment of inertia
scaling factor (times)
Allowable load moment of inertia
scaling factor (times)
30
Allowable load moment of inertia
scaling factor (times)
6.2.7
6
6-9
6.2 Specifications and Ratings
6.2.8 Servomotor Heat Dissipation Conditions
6.2.8
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small
device component, the Servomotor temperature may rise considerably because the surface for
heat dissipation becomes smaller. Refer to the following graphs for the relation between the
heat sink size and derating rate.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
6.2.5 Servomotor Overload Protection Characteristics on page 6-8
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
The actual temperature rise depends on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting
section, and the motor speed. Always check the Servomotor temperature with the actual equipImportant ment.
120
120
100
100
Derating rate (%)
Derating rate (%)
SGM7P-01, -02, and -04
80
60
40
20
0
SGM7P-15
80
60
SGM7P-08
40
20
0
50
100
150
200
250
0
300
0
Heat sink size (mm)
6.2.9
50 100 150 200 250 300 350
Heat sink size (mm)
Applications Where the Surrounding Air Temperature of
the Servomotor Exceeds 40°C
The Servomotor ratings are the continuous allowable values at a surrounding air temperature of
40°C. If you use a Servomotor at a surrounding air temperature that exceeds 40°C (60°C
max.), apply a suitable derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
6.2.5 Servomotor Overload Protection Characteristics on page 6-8
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
SGM7P-01
SGM7P-08
100
Derating rate (%)
Derating rate (%)
100
80
SGM7P-02
60
SGM7P-04
40
20
0
60
SGM7P-15
40
20
0
10
20
30
40
50
60
70
Surrounding air temperature (°C)
6-10
80
0
0
10
20
30
40
50
60
Surrounding air temperature (°C)
6.2 Specifications and Ratings
6.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m
Applications Where the Altitude of the Servomotor
Exceeds 1,000 m
The Servomotor ratings are the continuous allowable values at an altitude of 1,000 m or less. If
you use a Servomotor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation
effect of the air is reduced. Apply the appropriate derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection
timing in advance based on the overload detection level of the motor. Refer to the following section
for the overload detection level of the motor.
6.2.5 Servomotor Overload Protection Characteristics on page 6-8
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
100
100
Derating rate (%)
SGM7P-08
80
SGM7P-01, -02, and -04
60
40
20
80
60
SGM7P-15
40
20
0
0
0
500
1000 1500
Altitude (m)
2000
2500
0
500
1000 1500
Altitude (m)
2000
2500
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
Derating rate (%)
6.2.10
6
6-11
6.3 External Dimensions
6.3.1 Servomotors without Gears
6.3
External Dimensions
6.3.1
Servomotors without Gears
SGM7P-01, -02, and -04
0.04
A
L
0.04 dia. A
LL
LM
(20.5)
17
ML
LC
LG
MW
Notation
: Square dimensions
MH
0.6
LE
14
MD
LR
S dia.
LB dia.
.
dia
LA
4 × LZ dia.
A
0.02
Unit: mm
Model
SGM7P-
L
LL
85
(115)
97
(128.5)
60
(90)
67
(98.5)
04AA2
107
(138.5)
Model
SGM7P-
LM
Flange Dimensions
LG
LC
LA
LR
LE
36
25
3
6
60
43
30
3
8
77
(108.5)
53
30
3
8
MD
MW
MH
ML
01AA2
8.5
19
12
20
02AA2
13.6
21
13
21
04AA2
13.6
21
13
21
01AA2
02AA2
Approx.
Mass [kg]
0.5
(0.9)
1.1
(1.9)
1.4
(2.2)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for detailed shaft end specifications.
6.3.2 Shaft End Specifications on page 6-15
6-12
S
LB
LZ
70
0
50 -0.025
5.5
0
8 -0.009
80
90
0
70 -0.030
7
0
14 -0.011
80
90
0
70 -0.030
7
0
14 -0.011
6.3 External Dimensions
6.3.1 Servomotors without Gears
 Specifications of Options
 Oil Seal
LS2
LS1
E2 dia.
E1 dia.
LE
Oil seal cover
Unit: mm
01AA2
02AA2
04AA2
E1
22
Dimensions with Oil Seal
E2
LS1
LS2
38
3.5
7
35
47
5.2
10
LE
3
3
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
Model
SGM7P-
6
6-13
6.3 External Dimensions
6.3.1 Servomotors without Gears
SGM7P-08 and -15
Encoder Cable
UL20276, 6 dia.
300±30
Encoder connector
300±30
Servomotor Main Circuit Cable
UL1828, 7 dia.
Servomotor connector
L
40
LC
LM
7
(40)
A
10.5
9
10
3.5
0.04 dia. A
38
19
(25.5)
S dia.
13
0.04
LB dia.
25
28
LL
14
5
dia
.
4 × 10.2 dia.
A
0.02
Unit: mm
Model
SGM7P-
L
LL
LM
LB
08AA2
126.5
(160)
86.5
(120)
67.6
15AA2
154.5 114.5
(187.5) (147.5)
95.6
LC
S
110 -0.035
120
0
19 -0.013
0
110 -0.035
120
0
19 -0.013
0
Approx.
Mass [kg]
4.2
(5.9)
6.6
(8.2)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for detailed shaft end specifications.
6.3.2 Shaft End Specifications on page 6-15
 Specifications of Options
 With Oil Seal
10
5
Oil seal cover
6-14
66 dia.
47 dia.
3.5
Unit: mm
6.3 External Dimensions
6.3.2 Shaft End Specifications
Shaft End Specifications
SGM7P-
Code
Specification
2
Straight without key
Straight with key and tap for one location
6
(Key slot is JIS B1301-1996 fastening type.)
Shaft End Details
01
Servomotor Model SGM7P02
04
08
15
Code: 2 (Straight without Key)
LR
25
30
S
8 -0.009
0
14 -0.011
19 -0.013
LR
QK
25
14
30
14
40
22
S
8 -0.009
3
3
1.8
M3 × 6L
0
14 -0.011
5
5
3
M5 × 8L
0
40
0
Code: 6 (Straight with Key and Tap)
LR
QK
U
Y
P
W
Y
T
Cross section Y-Y
W
T
U
P
0
0
19 -0.013
6
6
3.5
M6 × 10L
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
S dia.
LR
S dia.
6.3.2
6
6-15
6.3 External Dimensions
6.3.3 Servomotors with Gears
6.3.3
Servomotors with Gears
SGM7P-01, -02, and -04
A
0.06
L
LL
LM
17
MH
0.6
ML
0.05 dia.
LR
L1
L3
LE
LG
L2
Q
A
0.04
QK
LC
A
.
dia
T
W
LB dia.
B dia.
LD dia.
S dia.
C dia.
U
LA
Details of Shaft End
with Key and Tap
4 × LZ dia.
Rotating parts
(Shaded section)
Tap size × Depth
Unit: mm
Model
SGM7P-
Gear
Ratio
01AAH1 *
1/5
01AAHB *
1/11
01AAHC *
1/21
01AAH7 *
1/33
02AAH1 *
1/5
02AAHB *
1/11
02AAHC *
1/21
02AAH7 *
1/33
04AAH1 *
1/5
04AAHB *
1/11
04AAHC *
1/21
04AAH7 *
1/33
Model
SGM7P-
L
LL
Flange Dimensions
LM
141.5 99.5
75.5
(171.5) (129.5)
LR
LE
LG
B
LD
LB
LC
LA
LZ
42
2.2
5
29
39.5
0
40 -0.025
40
46
3.4
182
(212)
124
(154)
100
58
2.5
8
40
55.5
0
56 -0.030
60
70
5.5
211
(241)
131
(161)
107
80
7.5
10
59
84
0
85 -0.035
90
105
9
190
132
108
(221.5) (163.5)
58
2.5
8
40
55.5
56 -0.030
60
70
5.5
225
145
121
(256.5) (176.5)
80
7.5
10
59
84
0
85 -0.035
90
105
9
200
142
118
(231.5) (173.5)
58
2.5
8
40
55.5
0
56 -0.030
60
70
5.5
235
155
131
(266.5) (186.5)
80
7.5
10
59
84
0
85 -0.035
90
105
9
314
181
157
(345.5) (212.5)
133
12.5
13
84
114
0
115 -0.035
120
135
11
Flange Dimensions
0
Key Dimensions
Q
C
S
Tap size ×
Depth
QK
U
W
T
Approx.
Mass
[kg]
L1
L2
L3
01AAH1 *
22
20
14.6
−
−
0
10 -0.015
M3 × 6L
15
2.5
4
4
0.9 (1.3)
01AAHB *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
1.6 (2.0)
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
01AAHC *
01AAH7 *
02AAH1 *
3.4 (3.8)
2.3 (2.9)
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
4.2 (5.0)
04AAH1 *
28
30
20
28
20
0
16 -0.018
M4 × 8L
25
3
5
5
2.6 (3.2)
04AAHB *
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
4.5 (5.3)
48
85
33
82
44
0
40 -0.025
M10 × 20L
70
5
12
8
9.2 (10.0)
02AAHB *
02AAHC *
02AAH7 *
04AAHC *
04AAH7 *
2.4 (3.0)
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designa-
tion. If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
6-16
6.3 External Dimensions
6.3.3 Servomotors with Gears
 Flange Output Face
L
0.06
(0.05)
LR
L3
LE
A
0.02
0.05 dia.
A
(0.04 dia.)
0.04
(0.03)
LC
A
.
dia
LB dia.
F dia.
G dia.
LD dia.
LA
LJ d
ia.
LK
4 × LZ dia.
Tap size × Depth
Unit: mm
G
LK
No. of Taps × Tap
Size × Depth
Approx.
Mass
[kg]
24
3
3 × M4 × 6L
0.8 (1.2)
14 +0.018
0
40
5
6 × M4 × 7L
1.5 (1.9)
45
24 +0.021
0
59
5
6 × M6 × 10L
3.0 (3.4)
21
30
14
+0.018
0
40
5
6 × M4 × 7L
172
(203.5)
27
45
24
+0.021
0
59
5
6 × M6 × 10L
3.8 (4.6)
1/5
163
(194.5)
21
30
14
+0.018
0
40
5
6 × M4 × 7L
2.5 (3.1)
04AAHB0
04AAHC0
1/11
1/21
182
(213.5)
27
45
24
+0.021
0
59
5
6 × M6 × 10L
4.1 (4.9)
04AAH70
1/33
216
(247.5)
35
60
32
+0.025
0
84
5
6 × M8 × 12L
7.8 (8.6)
Model
SGM7P-
Gear
Ratio
L
LR
LJ
01AAH10
1/5
114.5
(144.5)
15
18
5
01AAHB0
01AAHC0
1/11
1/21
145
(175)
21
30
01AAH70
1/33
158
(188)
27
02AAH10
02AAHB0
153
(184.5)
02AAHC0
02AAH70
1/5
1/11
1/21
1/33
04AAH10
F
+0.012
0
2.2 (2.8)
2.3 (2.9)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
For a Servomotor with a flange output that has square gear flange dimensions (LC) of 40 mm,
we recommend that you design the Servomotor with the dimensions shown in the following figure
in order to secure a gap between the gear oil seal and the connecting parts on the load side.
0.5 min.
Connecting parts on the load side
24 dia. max.
Important
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
Note: The geometric tolerance in parentheses is the value for LC = 40.
6
6-17
6.3 External Dimensions
6.3.3 Servomotors with Gears
SGM7P-08 and -15
Encoder Cable
UL20276, 6 dia.
300±30
Encoder connector
300±30
Servomotor Main Circuit Cable
UL1828, 7 dia.
Servomotor connector
0.06 A
L
LL
LM
7
(40)
LG
10.5
LR
0.05 dia. A
L1
L3
LE
L2
Q
QK
LC
0.04
.
A
LA
19
(25.5)
dia
W
B dia.
T
LD dia.
LB dia.
S dia.
C dia.
U
13
Details of Shaft End
with Key and Tap
Rotating parts
(Shaded section)
4 × LZ dia.
Tap size × Depth
Unit: mm
Model
SGM7P-
Gear
Ratio
08AAH1 *
1/5
08AAHB *
1/11
08AAHC *
1/21
08AAH7 *
1/33
15AAH1 *
1/5
15AAHB *
1/11
15AAHC *
1/21
15AAH7 *
1/33
Model
SGM7P08AAH1 *
08AAHB *
08AAHC *
08AAH7 *
15AAH1 *
15AAHB *
15AAHC *
15AAH7 *
L
LL
LM
253.5
(287)
173.5
(207)
154.6
326.5
(360)
193.5
(227)
Flange Dimensions
B
LD
LB
LR
LE
LG
80
7.5
10
59
174.6 133 12.5
13
84
354.5
221.5
202.6 133 12.5
(387.5) (254.5)
13
84
393.5
237.5
218.6 156
(426.5) (270.5)
16
Flange Dimensions
L1
L2
L3
12
LC
LA
LZ
90
105
9
0
114 115 -0.035
120 135
11
0
114 115 -0.035
120 135
11
0
122 163 165 -0.063
170 190
14
84
0
85 -0.035
Q
C
S
Tap size ×
Depth
Key Dimensions
QK
U
W
T
36
44
26
42
32
0
25 -0.021
M6 × 12L
36
4
8
7
48
85
33
82
44
0
40 -0.025
M10 × 20L
70
5
12
8
48
85
33
82
44
0
40 -0.025
M10 × 20L
70
5
12
8
70
86
51
82
56
0
50 -0.025
M10 × 20L
70
5.5
14
9
Approx.
Mass [kg]
6.9 (8.6)
7.1 (8.8)
12 (13.7)
13.9 (15.5)
14.4 (16.0)
25.7 (27.3)
* The asterisk (*) is replaced by shaft end code 6 (straight with key and tap) for the 8th digit of the model designa-
tion. If a key and tap are not necessary, specify shaft end code 2 (without key and tap).
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series.
6-18
6.3 External Dimensions
6.3.3 Servomotors with Gears
 Flange Output Face
L
0.06
0.02
LR
L3
LE
A
SGM7P-15AAHC0 and
SGM7P-15AAH70
Tap Locations
0.05 dia. A
45°
LC
0.04
22
°
.5
22
A
.5°
.
LA
dia
F dia.
G dia.
LD dia.
LB dia.
LA
.
dia
4 × LZ dia.
5
dia
LJ
.
Tap size × Depth
4 × LZ dia.
Model
SGM7P08AAH10
08AAHB0
08AAHC0
08AAH70
15AAH10
15AAHB0
15AAHC0
15AAH70
Gear
Ratio
1/5
1/11
1/21
1/33
1/5
1/11
1/21
1/33
45°
Tap size × Depth
LC
dia
.
Unit: mm
No. of Taps × Tap Approx. Mass
Size × Depth
[kg]
6.5 (8.2)
6 × M6 × 10L
6.7 (8.4)
L
LR
LJ
F
G
LK
200.5
(234)
27
45
24 +0.021
0
59
5
228.5
(262)
35
60
32 +0.025
0
84
5
6 × M8 × 12L
10.6 (12.3)
256.5
(289.5)
35
60
32 +0.025
0
84
5
6 × M8 × 12L
12.5 (14.1)
290.5
(323.5)
53
100
47 +0.025
0
122
7
14 × M8 × 12L
22.7 (24.3)
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Dimensions not found in the above table are the same as those in the table on the previous page.
13 (14.6)
Specifications, Ratings, and External Dimensions of SGM7P Servomotors
LJ
6
6-19
Specifications,
Ratings, and External
Dimensions of
SGM7G Servomotors
This chapter describes how to interpret the model numbers
of SGM7G Servomotors and gives their specifications, ratings, and external dimensions.
7.1
Model Designations . . . . . . . . . . . . . . . . . . 7-2
7.2
Specifications and Ratings . . . . . . . . . . . . . 7-3
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
Specifications . . . . . . . . . . . . . . . . . . . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . .
Servomotor Ratings . . . . . . . . . . . . . . . . . .
Torque-Motor Speed Characteristics . . . . .
Servomotor Overload Protection
Characteristics . . . . . . . . . . . . . . . . . . . . . .
7.2.7
Load Moment of Inertia . . . . . . . . . . . . . . . .
7.2.8
Servomotor Heat Dissipation Conditions . .
7.2.9
Servomotor Derating Rates for Surrounding
Air Temperatures . . . . . . . . . . . . . . . . . . . . .
7.2.10 Applications Where the Altitude of
the Servomotor Exceeds 1,000 m . . . . . . . .
7.3
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
7-3
7-4
7-5
7-5
7-6
. . . . 7-7
. . . . 7-8
. . . . 7-8
. . . . 7-9
. . . . 7-9
External Dimensions . . . . . . . . . . . . . . . . . 7-10
7.3.1
7.3.2
7.3.3
7.3.4
Servomotors without Holding Brakes
Servomotors with Holding Brakes . . .
Shaft End Specifications . . . . . . . . . .
Connector Specifications . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
7-10
7-12
7-14
7-15
7
7.1 Model Designations
7.1
Model Designations
SGM7G - 03
-7 Series
Servomotors:
SGM7G
1st+2nd
digits
A
7
A
2
1
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
1st+2nd digits Rated Output
3rd digit
Code
Code
03
05
09
13
20
30
44
55
75
1A
1E
Specification
300 W
450 W
850 W
1.3 kW
1.8 kW
2.9 kW*
4.4 kW
5.5 kW
7.5 kW
11 kW
15 kW
A
Specification
200 VAC
4th digit
Code
Power Supply Voltage
7
F
24-bit incremental
Specification
Straight without key
Straight with key and tap
2
6
7th digit
A
Options
Specification
Code
Without options
1
C
With holding brake (24 VDC)
E
With oil seal and holding
brake (24 VDC)
S
With oil seal
Design Revision Order
* The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
7-2
Code
Shaft End
Serial Encoder
Specification
24-bit absolute
5th digit
6th digit
7.2 Specifications and Ratings
7.2.1 Specifications
7.2
Specifications and Ratings
7.2.1
Specifications
Voltage
Model SGM7GTime Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Mounting
Drive Method
Rotation Direction
200 V
03A 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
Continuous
UL: F, CE: F
500 VDC, 10 MΩ min.
1,500 VAC for 1 minute
Permanent magnet
Flange-mounted
Direct drive
Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1
V15
Surrounding Air Temperature
0°C to 40°C (60°C max.)*4
Surrounding Air
Humidity
Installation Site
Storage Environment
Shock
Resistance*2
Impact Acceleration Rate at
Flange
Number of Impacts
Vibration Resistance*3
Vibration Acceleration
Rate at Flange
Applicable
SERVOPACKs
SGD7S-
•
•
•
•
Must be indoors and free of corrosive and explosive gases.
Must be well-ventilated and free of dust and moisture.
Must facilitate inspection and cleaning.
Must have an altitude of 1,000 m or less. (With derating, usage
is possible between 1,000 m and 2,000 m.)*5
• Must be free of strong magnetic fields.
Store the Servomotor in the following environment if you store it with the
power cable disconnected.
Storage temperature: -20°C to 60°C (with no freezing)
Storage humidity: 20% to 80% relative humidity
(with no condensation)
490 m/s2
2 times
49 m/s2 (24.5 m/s2 front to back)
3R8A
7R6A 120A 180A
24.5 m/s2
330A
470A 550A 590A 780A
*6
SGD7W-
5R5A
7R6A*6
7R6A
–
*1. A vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at
the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servomotor is mounted with the shaft in a horizontal position is given in the above table.
Vertical
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
Environmental
Conditions
20% to 80% relative humidity (with no condensation)
7
Shock Applied to the Servomotor
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servomotor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration
that the Servomotor can withstand depends on the application. Always check the vibration acceleration rate
that is applied to the Servomotor with the actual equipment.
7-3
7.2 Specifications and Ratings
7.2.2 Servomotor Ratings
Vertical
Front to back
Horizontal direction
Vibration Applied to the Servomotor
Side to side
*4. Refer to the following section for information on derating rates for surrounding air temperatures.
7.2.9 Servomotor Derating Rates for Surrounding Air Temperatures on page 7-9
*5. If the altitude will exceed 1,000 m, refer to the following section.
7.2.10 Applications Where the Altitude of the Servomotor Exceeds 1,000 m on page 7-9
*6. If you use the Servomotor together with a Σ-7W SERVOPACK, the control gain may not increase as much as
with a Σ-7S SERVOPACK and other performances may be lower than those achieved with a Σ-7S SERVOPACK.
7.2.2
Servomotor Ratings
Voltage
Model SGM7GRated Output
Rated Torque
*1
*1, *2
Instantaneous Maximum Torque
Rated Current
*1
*1
Instantaneous Maximum Current*1
Rated Motor Speed
*1
Maximum Motor Speed
Torque Constant
03A
05A
200 V
09A
13A
20A
kW
0.3
0.45
0.85
1.3
1.8
Nm
1.96
2.86
5.39
8.34
11.5
Nm
5.88
8.92
14.2
23.3
28.7
Arms
2.8
3.8
6.9
10.7
16.7
Arms
8.0
11
17
28
42
0.891
19.9
(22.0)
0.748
26.0
(28.1)
min
*1
-1
1500
-1
min
Nm/Arms
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*1
kW/s
Rated Angular Acceleration Rate*1
rad/s2
Heat Sink Size
mm
3000
0.776
2.48
(2.73)
0.854
3.33
(3.58)
0.859
13.9
(16.0)
15.5
24.6
(14.1)
(22.8)
7900
8590
(7180)
(7990)
250 × 250 × 6
(aluminum)
20.9
(18.2)
3880
(3370)
Protective Structure*3
Rated Voltage
Capacity
Holding Torque
Holding Brake
Coil Resistance
Specifications*4 Rated Current
Time Required to
Release Brake
Time Required to Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
Allowable Shaft
Loads*5
Totally enclosed, self-cooled, IP67
V
W
Nm
Ω (at 20°C)
A (at 20°C)
24 VDC
10
12.7
4.5
56
0.43
100
ms
80
With External Regenerative
Resistor and External Dynamic
Brake Resistor
LF
mm
Allowable Radial Load
N
Allowable Thrust Load
N
+10%
0
19.6
59
0.41
ms
15 times
15 times
5 times
15 times
15 times
10 times
490
98
58
686
343
40
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for footnotes *1 to *5.
 Notes for the Servomotor Ratings Tables on page 7-7
7-4
35.0
50.9
(31.6)
(47.1)
4190
4420
(3790)
(4090)
400 × 400 × 20
(steel)
980
392
7.2 Specifications and Ratings
7.2.3 Torque-Motor Speed Characteristics
Torque-Motor Speed Characteristics
A : Continuous duty zone
B : Intermittent duty zone
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
SGM7G-03A
SGM7G-05A
2500
2000
1500
B
A
1000
500
SGM7G-09A
3500
3500
3000
3000
3000
2500
2000
1500
A
1000
B
500
0
2500
2000
1500
1.2
2.4
3.6 4.8
B
500
0
0
6
A
1000
0
0
SGM7G-13A*
3500
Motor speed (min-1)
3000
Motor speed (min-1)
Motor speed (min-1)
3500
Motor speed (min-1)
7.2.3
2
Torque (N·m)
4
6
8
2000
1500
B
A
1000
500
0
0
10
2500
3
Torque (N·m)
6
9
12
15
0
5
Torque (N·m)
10
15
20
25
Torque (N·m)
SGM7G-20A
3500
Motor speed (min-1)
3000
2500
2000
1500
B
A
1000
500
0
0
6
12
18
24
30
Torque (N·m)
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 20°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
7.2.4
Servomotor Ratings
Voltage
Model SGM7G-
Rated Output
Rated Torque
*1
*1, *2
Instantaneous Maximum Torque
*1
Rated Current*1
Instantaneous Maximum Current
Rated Motor Speed
*1
*1
Maximum Motor Speed
Torque Constant
30A
30A*6
44A
200 V
55A
75A
1AA
1EA
kW
2.9
2.4
4.4
5.5
7.5
11
15
Nm
18.6
15.1
28.4
35.0
48.0
70.0
95.4
Nm
54.0
45.1
71.6
102
119
175
224
Arms
23.8
19.6
32.8
37.2
54.7
58.6
78.0
Arms
70
56
84
110
130
140
170
1500
1500
1500
1500
1500
1500
1500
3000
3000
min
*1
-1
-1
min
Nm/Arms
3000
3000
3000
2000
2000
0.848 0.848 0.934
46.0
46.0
67.5
(53.9） (53.9） (75.4)
1.00
1.38
1.44
89.0
(96.9)
0.957
125
(133）
242
(261)
303
(341)
Motor Moment of Inertia
×10-4 kgm2
Rated Power Rate*1
kW/s
75.2
(64.2)
49.5
(42.2)
119
(107)
138
(126)
184
(173)
202
(188)
300
(267)
Rated Angular Acceleration Rate*1
rad/s2
4040
(3450)
3280
(2800)
4210
(3770)
3930
(3610)
3840
(3610)
2890
(2680)
3150
(2800)
Heat Sink Size (steel)
mm
Protective Structure*3
550 × 550 × 30
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
* A single-phase power input can be used in combination with the SGD7S-120AA008.
7
650 × 650 ×
35
Totally enclosed, self-cooled, IP67
Continued on next page.
7-5
7.2 Specifications and Ratings
7.2.5 Torque-Motor Speed Characteristics
Voltage
Model SGM7G-
30A
Rated Voltage
44A
V
24 VDC
Capacity
W
Holding Torque
Nm
Coil Resistance
Ω (at 20°C)
Holding Brake
Rated Current
A (at 20°C)
Specifications*4
Time Required to
ms
Release Brake
Time Required to
ms
Brake
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
With External Regenerative
Resistor and External Dynamic
Brake Resistor
LF
Allowable Radial
Load
Allowable Thrust
Load
Allowable Shaft
Loads*5
30A*6
Continued from previous page.
200 V
55A
75A
1AA
1EA
18.5
43.1
31
0.77
+10％
0
25
72.6
23
1.05
32
84.3
18
1.33
35
114.6
17
1.46
170
250
100
80
5
times
3
times
5 times
10
times
7
times
10 times
mm
79
113
116
N
1470
1764
4998
N
490
588
2156
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
2. Refer to the following section for footnotes *1 to *6.
 Notes for the Servomotor Ratings Tables on page 7-7
Torque-Motor Speed Characteristics
(solid lines): With three-phase 200-V input
(dotted lines): When combined with the SGD7S-200A
A
0
B
12
24
36
48
SGM7G-44A
3500
3000
2500
2000
1500
1000
500
0
60
A
0
15
Torque (N·m)
1500
A
1000
B
500
0
45
60
75
A
0
B
25
50
75 100 125
Torque (N·m)
SGM7G-75A*
3500
3000
2500
2000
1500
1000
500
0
A
0
B
30
60
90 120 150
Torque (N·m)
SGM7G-1EA
2500
Motor speed (min-1)
Motor speed (min-1)
2000
30
Torque (N·m)
SGM7G-1AA
2500
B
SGM7G-55A
3500
3000
2500
2000
1500
1000
500
0
Motor speed (min-1)
SGM7G-30A
3500
3000
2500
2000
1500
1000
500
0
Motor speed (min-1)
Motor speed (min-1)
A : Continuous duty zone
B : Intermittent duty zone
Motor speed (min-1)
7.2.5
2000
1500
A
B
1000
500
0
0
40
80 120 160 200
Torque (N·m)
0
50 100 150 200 250
Torque (N·m)
* If you operate the SGM7G-75A Servomotor (with holding brake) continuously at the maximum motor speed of
3,000 min-1, use an output torque of 14.4 Nm (30% of rated torque) or less.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature
winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within
the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
7-6
7.2 Specifications and Ratings
7.2.6 Servomotor Overload Protection Characteristics
 Notes for the Servomotor Ratings Tables
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature wind-
ing is 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimen-
sions given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is
used. Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servomotor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
*6. This is the value if you combine the SGM7G-30A with the SGD7S-200A.
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
SGM7G-09, -13, and -20
10000
10000
1000
1000
Detection time (s)
Detection time (s)
SGM7G-03 and -05
100
SGM7G-05
10
100
SGM7G-13
10
SGM7G-09
SGM7G-03
SGM7G-20
1
1
0
50
100
150
200
250
300
0
Torque reference (percent of rated torque)
(%)
50
100
150
200
250
300
Torque reference (percent of rated torque)
(%)
SGM7G-30, -44, -55, and -75
SGM7G-1A and -1E
10000
1000
1000
100
SGM7G-30 and -55
10
Detection time (s)
10000
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
Servomotor Overload Protection Characteristics
Detection time (s)
7.2.6
100
7
SGM7G-1A
10
SGM7G-75
SGM7G-1E
SGM7G-44
1
1
0
50
100
150
200
250
Torque reference (percent of rated torque)
(%)
300
0
50
100
150
200
250
300
Torque reference (percent of rated torque)
(%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation
with an output of 100% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in 7.2.3 Torque-Motor Speed Characteristics on page 7-5.
7-7
7.2 Specifications and Ratings
7.2.7 Load Moment of Inertia
7.2.7
Load Moment of Inertia
The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to
7.2.2 Servomotor Ratings on page 7-4. This value is provided strictly as a guideline and results
depend on Servomotor driving conditions.
An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of inertia
exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a Regenerative Overload Alarm (A.320). Perform one of the following steps if
this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above
steps.
7.2.8
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values when a heat sink is installed on the
Servomotor. If the Servomotor is mounted on a small device component, the Servomotor temperature may rise considerably because the surface for heat dissipation becomes smaller.
Refer to the following graphs for the relation between the heat sink size and derating rate.
When using Servomotors with derating, change the overload warning and overload alarm detection timing in advance based on the overload detection level of the motor. Refer to the following
section for the overload detection level of the motor.
7.2.6 Servomotor Overload Protection Characteristics on page 7-7
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
The actual temperature rise depends on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting
section, and the motor speed. Always check the Servomotor temperature with the actual equipImportant
ment.
120
100
100
100
SGM7G-03 and -05
40
80
60
SGM7G-09, -13, and -20
40
20
20
0
0
0
50
100
150
200
250
300
SGM7G-1A and -1E
100
Derating rate (%)
60
120
SGM7G-30, -44, and -55
Derating rate (%)
80
Heat sink size (mm)
7-8
Derating rate (%)
120
Derating rate (%)
120
80
SGM7G-75
60
40
20
0
100
200
300
400
Heat sink size (mm)
0
80
60
40
20
0
100
200
300
400
500
Heat sink size (mm)
600
0
0 100 200 300 400 500 600 700
Heat sink size (mm)
7.2 Specifications and Ratings
7.2.9 Servomotor Derating Rates for Surrounding Air Temperatures
7.2.9
Servomotor Derating Rates for Surrounding Air Temperatures
Apply a suitable derating rate from the following graphs according to the surrounding air temperature of the Servomotor (60°C max.).
When using Servomotors with derating, change the overload warning and overload alarm
detection timing in advance based on the overload detection level of the motor. Refer to the following section for the overload detection level of the motor.
7.2.6 Servomotor Overload Protection Characteristics on page 7-7
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
120
100
100
100
SGM7G-03 and 05
60
40
20
0
0
10
20
30
40
50
60
80
SGM7G-09, 13, and 20
60
40
20
0
70
Surrounding air temperature (°C)
10
20
30
40
50
60
80
SGM7G-75
60
SGM7G-55 and -1A
40
20
0
70
Surrounding air temperature (°C)
0
10
20
30
40
50
60
70
Surrounding air temperature (°C)
Applications Where the Altitude of the Servomotor
Exceeds 1,000 m
The Servomotor ratings are the continuous allowable values at an altitude of 1,000 m or less. If
you use a Servomotor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation
effect of the air is reduced. Apply the appropriate derating rate from the following graphs.
When using Servomotors with derating, change the overload warning and overload alarm detection timing in advance based on the overload detection level of the motor. Refer to the following
section for the overload detection level of the motor.
7.2.6 Servomotor Overload Protection Characteristics on page 7-7
Note: 1. Use the combination of the SERVOPACK and Servomotor so that the derating conditions are satisfied for
both the SERVOPACK and Servomotor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated
motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120
120
120
100
100
100
60
SGM7G-03 and -05
40
80
60
SGM7G-09, -13, and -20
40
20
20
0
0
Derating rate (%)
80
Derating rate (%)
SGM7G-30 and -44
Derating rate (%)
7.2.10
0
SGM7G-30 and -44
80
60
40
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
80
Derating rate (%)
Derating rate (%)
Derating rate (%)
SGM7G-1E
20
SGM7G-55, -75, -1A, and -1E
0
500
1000 1500 2000 2500
Altitude (m)
0
500
1000 1500 2000 2500
Altitude (m)
0
0
500
1000 1500 2000 2500
Altitude (m)
7
7-9
7.3 External Dimensions
7.3.1 Servomotors without Holding Brakes
7.3
External Dimensions
7.3.1
Servomotors without Holding Brakes
SGM7G-03 and -05
LR
LG
LE
0.04 dia. A
LC
LA
LE
.
dia
S dia.
LH
dia
.
A
KB1
KB2
17
38
0.02
4 × LZ dia.
R1
18 dia.
KL1
50
S dia.
LB dia.
79 dia.
Shaft End Details
LR
Notation
: Square dimensions
0.04 A
35 dia.
L
LL
LM
36
Q
Refer to 7.3.3 Shaft End Specifications on page 7-14 for
details.
Unit: mm
Model
SGM7G-
L
LL
LM
LR
KB1
KB2
KL1
03AA21
166*
126
90
40*
75
114
70
05AA21
179
139
103
Model
SGM7G-
Flange Dimensions
LG
LH
LZ
03AA21
10
05AA21
120
10
120
40
88
127
70
Shaft End Dimensions
S
Q
0
*
16 -0.011
6.6
6.6
16
0
-0.011
LA
Flange Dimensions
LB
LC
LE
0
100
80 -0.030
90
5
100
0
-0.030
90
5
80
Approx.
Mass [kg]
30*
2.6
30
3.2
Note: Servomotors with Oil Seals have the same dimensions.
* The L, LR, S, and Q dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servo-
motors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
Refer to the following section for information on connectors.
SGM7G-03 and -05 without Holding Brakes on page 7-15
SGM7G-09 to -75
L
LR
L
LL
28 dia.
IE
LM
LR
S dia.
62 dia.
44 dia.
50
KL1
Model
SGM7G-
Q
SGM7G-09 to -20
Q
SGM7G-30 to -75
Refer to 7.3.3 Shaft End Specifications
on page 7-14 for details.
0.02*1
KB1
KB2
R1
LB dia.
dia.
A
17
LE
LE
LC
R1
79 dia.
LH
Shaft End Details
LR
S dia.
0.04 A
0.04 dia. A
LE
S dia.
LG
LR
45 dia.
LL
LM
36
4 × LZ dia.
Unit: mm
KB1 KB2
IE
Flange Dimensions
KL1
LA
LB
Shaft End
Dimensions
S
Q
Approx.
Mass
[kg]
LC
LE
LG
LH
LZ
130
6
12
165
9
24 -0.013 *2
40
5.5
0
130
6
12
165
9
24 -0.013 *2
40
7.1
0
130
6
12
165
9
24 -0.013
0
40
8.6
09AA21 195 137 101
58
83
125
−
104
145
110
13AA21 211 153 117
58
99
141
−
104
145
110 -0.035
20AA21 229 171 135
58
117 159
−
104
145
110 -0.035
0
-0.035
0
0
Continued on next page.
7-10
7.3 External Dimensions
7.3.1 Servomotors without Holding Brakes
Model
SGM7G30AA21
L
LL
LM
LR
KB1 KB2
IE
Continued from previous page.
Shaft End
Approx.
Flange Dimensions
Dimensions
Mass
[kg]
LB
LC LE LG LH LZ
S
Q
KL1
LA
239 160 124
79
108
148
−
134
0
200 114.3 -0.025
180
3.2
18
230
13.5
35
+0.01
0
76
13.5
44A21 263 184 148
79
132
172
−
134
0
200 114.3 -0.025
180
3.2
18
230
13.5
35
+0.01
0
76
17.5
55A21 334 221 185 113 163
209 123 144
0
200 114.3 -0.025
180
3.2
18
230
13.5
42 -0.016
0
110
21.5
75A21 380 267 231 113 209
255 123 144
0
200 114.3 -0.025
180
3.2
18
230
13.5
42 -0.016
0
110
29.5
Note: Servomotors with Oil Seals have the same dimensions.
*1. This is 0.04 for the SGM7G-55 or SGM7G-75.
*2. The S dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servomotors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
SGM7G-1A and -1E
L
LR
LM
0.06 A
LE
Shaft End Details
LC
dia
LE
S dia.
LB dia.
ia.
LR
.
LA
LH d
IE
4 × LZ dia.
0.04
A
17
KB1
56
56
R1
KL1
50
79 dia.
S dia.
0.04 dia. A
110
Refer to 7.3.3 Shaft End
Specifications on page
7-14 for details.
KB2
Unit: mm
Model
SGM7G-
L
LL
LM
LR
KB1 KB2
IE
Flange Surface Dimensions
KL1
LA
LB
Shaft End
Dimensions
S
S1
Approx.
Mass [kg]
LC
LE
LG
LH
LZ
1AA21
447 331 295 116 247 319 150 168 235 200
0
-0.046
220
4
20
270
13.5
42 -0.016
0
50
57
1EA21
0
506 393 357 116 309 381 150 168 235 200 -0.046
220
4
20
270
13.5
55 +0.030
+0.011
60
67
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7G-09 to -1E without Holding Brakes on page 7-15
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
LG
80 dia.
36
S1 dia.
LL
7
7-11
7.3 External Dimensions
7.3.2 Servomotors with Holding Brakes
7.3.2
Servomotors with Holding Brakes
SGM7G-03 and -05
LR
Shaft End Details
0.04 A
LE
LA
KL1
50
S dia.
LB dia.
79 dia.
LR
LC
0.04 dia. A
ia.
d
LH
LE
S dia.
LG
dia
0.02
KB2
4 × LZ dia.
R1
A
KB1
18 dia.
.
17
38
35 dia.
L
LL
LM
36
Q
Refer to 7.3.3 Shaft End Specifications on page 7-14 for
details.
Unit: mm
Flange Dimensions
LB
LC
LE
Model
SGM7G-
L
LL
LM
LR
KB1
KB2
KL1
03AA2C
199*
159
123
40*
75
147
70
100
80 -0.030
05AA2C
212
172
136
40
88
160
70
100
80 -0.030
Model
SGM7G-
Flange Dimensions
LG
LH
LZ
03AA2C
10
05AA2C
120
10
Shaft End Dimensions
S
Q
0
6.6
120
16 -0.011
6.6
16
*
0
-0.011
LA
0
90
5
0
90
5
Approx.
Mass [kg]
30*
3.6
30
4.2
Note: Servomotors with Oil Seals have the same dimensions.
* The L, LR, S, and Q dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servo-
motors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
Refer to the following section for information on connectors.
SGM7G-03 and -05 with Holding Brakes on page 7-16
SGM7G-09 to -75
L
Shaft End Details
LC
0.04 dia. A
LA
d
S dia.
28 dia.
IE
79 dia.
KL1
KL3
50
R1
Q
R1
LB dia.
LH d
ia.
LR
LE
LE
ia.
S dia.
LE
S dia.
LG
LR
0.04 A
62 dia.
LR
44 dia.
36
45 dia.
LL
LM
Q
A
11
0.02*1
17
KB1
KB3
KB2
SGM7G-09 to -20
4 × LZ dia.
SGM7G-30 to -75
Refer to 7.3.3 Shaft End Specifications on
page 7-14 for details.
Unit: mm
Model
SGM7G-
L
LL
LM
LR
KB1 KB2 KB3
IE
Shaft End
Dimensions
Flange Surface Dimensions
KL1 KL3
LA
LB
Approx.
Mass [kg]
LC
LE
LG
LH
LZ
S
Q
0
130
6
12
165
9
24 -0.013 *2
40
7.5
0
130
6
12
165
9
24 -0.013 *2
40
9.0
0
130
6
12
165
9
24 -0.013
0
40
11.0
09AA2C 231 173 137 58
83
161 115
−
104
80
145
110 -0.035
13AA2C 247 189 153 58
99
177 131
−
104
80
145
110 -0.035
20AA2C 265 207 171 58 117 195 149
−
104
80
145
110 -0.035
0
0
Continued on next page.
7-12
7.3 External Dimensions
7.3.2 Servomotors with Holding Brakes
Model
SGM7G-
L
LL
LM
Continued from previous page.
Shaft End
Flange Surface Dimensions
Approx.
Dimensions
Mass [kg]
LA
LB
LC LE LG LH LZ
S
Q
LR
KB1 KB2 KB3
IE
KL1 KL3
30A21 287 208 172 79
108 196 148
−
0
134 110 200 114.3 -0.025
180
3.2
18
230 13.5 35 +0.01
0
76
19.5
44A21 311 232 196 79
132 220 172
−
0
134 110 200 114.3 -0.025
180
3.2
18
230 13.5 35 +0.01
0
76
23.5
0
55A21 378 265 229 113 163 253 205 123 144 110 200 114.3 -0.025
180
3.2
18
0
230 13.5 42 -0.016
110
27.5
0
75A21 424 311 275 113 209 299 251 123 144 110 200 114.3 -0.025
180
3.2
18
0
230 13.5 42 -0.016
110
35.0
Note: Servomotors with Oil Seals have the same dimensions.
*1. This is 0.04 for the SGM7G-55 or SGM7G-75.
*2. The S dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servomotors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
SGM7G-1A and -1E
L
LR
0.06 A
LE
Shaft End Details
dia
S dia.
80 dia.
LB dia.
ia.
LR
LE
.
LA
LH d
IE
A
11
LC
R1
79 dia.
KL1
KL3
50
S dia.
0.04 dia. A
110
4 × LZ dia.
0.04
17
56
Refer to 7.3.3 Shaft End Specifications on page 7-14
for details.
56
KB1
KB3
KB2
Model
SGM7G-
L
Unit: mm
Flange Surface Dimensions
LL LM LR KB1 KB2 KB3 IE KL1 KL3
LA
LB
1AA2C 498 382 346 116 247 370 315 150 168 125 235 200
0
-0.046
0
1EA21 598 482 446 116 309 470 385 150 168 125 235 200 -0.046
LC LE LG LH
220
220
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7G-09 to 1E with Holding Brakes on page 7-16
LZ
Shaft End
Dimensions Approx.
Mass kg
S
S1
4
0
20 270 13.5 42 -0.016
50
65
4
+0.030
+0.011
60
85
20 270 13.5 55
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
LG
S1 dia.
36
LL
LM
7
7-13
7.3 External Dimensions
7.3.3 Shaft End Specifications
7.3.3
Shaft End Specifications
SGM7G-
Code
2
Specification
Straight without key
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
6
03
05
09
Servomotor Model SGM7G13
20
30
44
55
75
1A
1E
LR
40*
40
58
58
58
79
79
113
113
116
116
Q
30*
30
40
40
40
76
76
110
110
110
110
0
0
0
0
0
LR
40*
40
58
58
58
79
Q
30*
30
40
40
40
QK
20*
20
25
25
25
0
0
0
0
0
W
5
5
8*
8*
8
10
T
5
5
7*
7*
7
U
3
3
4*
4*
4
Shaft End Details
Code: 2 (Straight without Key)
LR
Q
R1
S dia.
S
16 -0.011 * 16 -0.011 24 -0.013 * 24 -0.013 * 24 -0.013
35
+0.01
0
35
+0.01
0
0
0
0
+0.030
42 -0.016
42 -0.016
42 -0.016
55 +0.011
79
113
113
116
116
76
76
110
110
110
110
60
60
90
90
90
90
Code: 2 (Straight without Key)
LR
Q
QK
S
R1
P
W
S dia.
U
16 -0.011 * 16 -0.011 24 -0.013 * 24 -0.013 * 24 -0.013
35
+0.01
0
35
+0.01
0
0
0
0
42 -0.016
42 -0.016
55 +0.011
10
12
12
12
16
8
8
8
8
8
10
5
5
5
5
5
6
T
P
M5 screw, Depth: 12
M12 screw,
Depth: 25
M16 screw,
Depth: 32
* The shaft end dimensions of these Servomotors are different from those of the Σ-V-series SGMGV Servomotors.
Models that have the same installation dimensions as the SGMGV Servomotors are also available. Contact your
Yaskawa representative for details.
7-14
+0.030
42 -0.016
M20
screw,
Depth:
40
7.3 External Dimensions
7.3.4 Connector Specifications
Connector Specifications
SGM7G-03 and -05 without Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
4
7
10
8
1
PS
6*
BAT(+)
Receptacle: CM10-R10P-D
2
/PS
7
−
Applicable plug: Not provided by Yaskawa.
3
−
8
−
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT(-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
2
3
Manufacturer: Japan Aviation Electronics Industry, Ltd.
PE
5
FG (frame ground)
−
4
3
2
1
−
Phase U
Phase V
Phase W
SGM7G-09 to -1E without Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT(+)
Receptacle: CM10-R10P-D
2
/PS
7
−
Applicable plug: Not provided by Yaskawa.
3
−
8
−
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT(-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
• Servomotor Connector Specifications
D
A
C
B
Manufacturer: DDK Ltd.
A
B
C
D
Phase U
Phase V
Phase W
FG (frame ground)
Specifications, Ratings, and External Dimensions of SGM7G Servomotors
4
5
PE
• Servomotor Connector Specifications
1
7.3.4
7
7-15
7.3 External Dimensions
7.3.4 Connector Specifications
SGM7G-03 and -05 with Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT(+)
Receptacle: CM10-R10P-D
2
/PS
7
−
Applicable plug: Not provided by Yaskawa.
3
−
8
−
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT(-) 10
(frame
ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
4
5
PE
• Servomotor Connector Specifications
1
2
3
Manufacturer: Japan Aviation Electronics Industry, Ltd.
PE
5
4
3
2
FG (frame ground)
Brake terminal
Brake terminal
Phase U
Phase V
1
Phase W
SGM7G-09 to 1E with Holding Brakes
• Encoder Connector Specifications (24-bit Encoder)
3
1
10
8
4
7
1
PS
6*
BAT(+)
Receptacle: CM10-R10P-D
2
/PS
7
−
Applicable plug: Not provided by Yaskawa.
3
−
8
−
Plug: CM10-AP10S--D for Right-angle Plug
4
PG5V
9
PG0V
CM10-SP10S--D for Straight Plug
FG
( depends on the applicable cable
5* BAT(-) 10
(frame ground)
size.)
Manufacturer: DDK Ltd.
* A battery is required only for an
absolute encoder.
• Servomotor Connector Specifications
D
A
C
B
Manufacturer: DDK Ltd.
A
B
Phase U
Phase V
C
D
Phase W
FG (frame ground)
• Brake Connector Specifications
1
2
7-16
Receptacle: CM10-R2P-D
1
Brake terminal
Applicable plug: Not provided by Yaskawa.
2
Brake terminal
Plug: CM10-AP2S--D for Right-angle Plug
CM10-SP2S--D for Straight Plug
Note: The is no voltage polarity for the
( depends on the applicable cable
brake terminals.
size.)
Manufacturer: DDK Ltd.
Servomotor
Installation
8
This chapter describes the installation conditions, procedures, and precautions for Servomotors.
8.1
Installation Conditions . . . . . . . . . . . . . . . . 8-2
8.1.1
8.1.2
8.1.3
8.1.4
8.1.5
8.2
Installation Precautions . . . . . . . . . . . . .
Installation Environment . . . . . . . . . . . .
Installation Orientation . . . . . . . . . . . . .
Using Servomotors with Oil Seals . . . . .
Using Servomotors with Holding Brakes
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
8-2
8-3
8-3
8-3
8-4
Coupling to the Machine . . . . . . . . . . . . . . . 8-5
8.2.1
8.2.2
Using a Coupling . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Using a Belt . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.3
Oil and Water Countermeasures . . . . . . . . . 8-8
8.4
Servomotor Temperature Increase . . . . . . . 8-9
8.1 Installation Conditions
8.1.1 Installation Precautions
8.1
Installation Conditions
The service life of a Servomotor will be shortened or unexpected problems will occur if the Servomotor is installed incorrectly or in an inappropriate environment or location. Always observe
the following installation instructions.
8.1.1
Installation Precautions
• Use the lifting bolts on the Servomotor to move only the Servomotor. Never use the lifting
bolts on the Servomotor to move the Servomotor while it is installed on the machine. There is
a risk of damage to the Servomotor or injury.
• Do not over-tighten the lifting bolts. If you use a tool to over-tighten the lifting bolts, the
tapped holes may be damaged.
• Do not hold onto the cables or motor shaft when you move the Servomotor. Doing so may
result in injury or damage.
• Do not install the Servomotor in the following locations. Doing so may result in fire, electric
shock, or damage.
Outdoors or in locations subject to direct sunlight
Locations subject to condensation as the result of extreme changes in temperature
Locations subject to corrosive or flammable gases or near flammable objects
Locations subject to dust, salts, or iron dust
Locations subject to oil drops or chemicals
Locations subject to shock or vibration
Locations that would make it difficult to inspect or clean the Servomotor
• Mount the Servomotor to the machine so that the cables and connectors are not subjected
to stress.
• Implement suitable countermeasures, such as attaching a cover, if the Servomotor is used in
an application where it is subject to excessive water or oil drops. We recommend that you
keep the connectors facing downward.
• Do not connect a Servomotor with an Absolute Encoder in a location where there is a magnetic field with a magnetic flux density of 0.01 tesla (100 gauss) or higher.
• Mount the Servomotor securely to the machine. If the Servomotor is not mounted securely,
the machine may be damaged or injury may occur.
• Do not step on or place a heavy object on the Servomotor. Doing so may result in injury.
• Do not allow any foreign matter to enter the Servomotor.
• For a Servomotor with a Cooling Fan, provide at least 200 mm of space around the fan inlet.
• To prevent electric shock, ground the Servomotor securely.
• Servomotors are precision devices. Never drop the Servomotor or subject it to strong shock.
• Implement safety measures, such as installing a cover, so that the motor shaft and other
rotating parts of the Servomotor cannot be touched during operation.
• Continuous operation in one direction, such as for a fan, may damage the bearings due to
electrolytic corrosion. Contact your Yaskawa representative if you use a Servomotor for this
type of application.
• A Servomotor that has been stored for a long period of time must be inspected before it is
used. Contact your Yaskawa representative for more information.
• Using a Servomotor for oscillating rotation may reduce the service life of the bearings. (Oscillating rotation is defined as a continuous forward-reverse operation within a 150° rotation
angle of the motor shaft.) Rotate the Servomotor one full turn or more at least once a day.
• Never attempt to disassemble or modify a Servomotor.
8-2
8.1 Installation Conditions
8.1.2 Installation Environment
8.1.2
Installation Environment
Refer to the specifications for each type of Servomotor for the mechanical specifications, protective structure, and environmental conditions related to Servomotor installation.
8.1.3
Installation Orientation
You can install the Servomotor either horizontally or vertically.
Installation Orientation
Figure
Precautions
If you are using a Servomotor with an Oil Seal, refer
to the following section as well.
Horizontal
8.1.4 Using Servomotors with Oil Seals on page 8-3
Shaft end
up
Cable trap
Vertical
If you are using a Servomotor with an Oil Seal, refer
to the following section as well.
Shaft end
down
Information
8.1.4 Using Servomotors with Oil Seals on page 8-3
If you attach a gear to the Servomotor, observe the installation orientation specified by the
manufacturer of the gear.
Using Servomotors with Oil Seals
This section gives the operating conditions for using Servomotors with Oil Seals.
• Keep the oil surface below the oil seal lip.
Motor shaft
Gear
Servomotor
Oil surface
Lip
Oil seal
• Use the oil seal in favorably lubricated condition with only splashing of oil.
• Do not allow oil to collect in the oil seal lip.
• Do not use the Servomotor where the oil seal would be below the oil surface. If you do, oil will
enter the Servomotor, which may damage the Servomotor.
Servomotor Installation
8.1.4
• You cannot use a Servomotor with an Oil Seal in
this orientation.
• Provide a cable trap so that water drops will not
run into the Servomotor.
• Implement countermeasures in the machine so
that oil, e.g., from a gear box, does not enter the
Servomotor.
8
8-3
8.1 Installation Conditions
8.1.5 Using Servomotors with Holding Brakes
8.1.5
Using Servomotors with Holding Brakes
This section gives precautions for using Servomotors with Holding Brakes
• The holding brakes have a limited service life. Although the quality and reliability of a holding
brake has been sufficiently confirmed, stress factors, such as emergency braking, can results
in problems in the holding operation. In applications in which safety is a concern, such as for
a load falling on a vertical axis, determine if safety measures are required on the machine,
such as adding a redundant fall-prevention mechanism.
• For a Servomotor with a Holding Brake, there is a small amount of rotational play in the motor
shaft (1.5° max. initially) because of the backlash in the holding brake, even when the brake
power is OFF.
• For a Servomotor with a Holding Brake, the brake’s rotating disc may sometimes generate
murmur from friction during acceleration, stopping, and low-speed operation.
8-4
8.2 Coupling to the Machine
8.2.1 Using a Coupling
8.2
Coupling to the Machine
You can couple the Servomotor to the machine with either a coupling or a belt.
Use the following procedures.
Using a Coupling
• Use a flexible coupling that is designed for Servomotors. We recommend that you use a double-spring coupling, which provides some tolerance in eccentricity and deflection.
• Select a suitable size of coupling for the operating conditions. An inappropriate coupling may
Important
cause damage.
1. Wipe off all of the anticorrosive coating from the motor shaft.
2. If you are using a Servomotor with a Key, attach the key enclosed with the Servomotor
or the specified size of key to the shaft.
When you attach the key to the motor shaft, do not subject the key groove or shaft to direct
shock.
Important
3. Confirm that the centering accuracy is within the specified range using a dial gauge or
other means.
If a dial gauge is not available, slide the coupling along both shafts and make adjustments so that it
does not catch.
Centering Accuracy
Measure this distance at four different positions on
the circumference. The difference between the
maximum and minimum measurements must be
0.03 mm or less.
Even within this range, make adjustments to
increase centering accuracy as much as possible.
Note: When making the measurements, turn
the coupling and motor shaft together.
Servomotor Installation
8.2.1
8
8-5
8.2 Coupling to the Machine
8.2.2 Using a Belt
4. Align the shaft of the Servomotor with the shaft of the machine, and then connect the
shafts with the coupling.
• When you couple the shafts, make sure that the required centering accuracy is achieved.
Vibration will damage the bearings and encoders if the shafts are not properly centered.
• When you attach the coupling, do not subject the shaft to direct shock. Also, do not subImportant
ject the area around the encoder to shock. Shock may damage the encoder.
• If the coupling makes any abnormal noise, center the shafts again until the noise is eliminated.
• Make sure that the thrust load and radial load are within specifications. Refer to the specifications for each type of Servomotor for the thrust load and radial load.
8.2.2
Using a Belt
Note
Select a coupling belt that is suitable for the allowable radial load of the Servomotor and the Servomotor output. When the Servomotor accelerates or decelerates, the counterforce from the
acceleration/deceleration torque adds tension to the initial belt tension. Take this additional tension into consideration when you select the coupling belt.
1. Wipe off all of the anticorrosive coating from the motor shaft.
2. If you are using a Servomotor with a Key, attach the key enclosed with the Servomotor
or the specified size of key to the shaft.
When you attach the key to the motor shaft, do not subject the key groove or shaft to direct
shock.
Important
3. If you need to attach a pulley to the Servomotor with a Key, use a screwdriver to tighten
the screw in the end of the motor shaft to press in and attach the pulley.
Pulley
Screw
Washer
8-6
8.2 Coupling to the Machine
8.2.2 Using a Belt
4. Couple the Servomotor to the machine with a belt.
When you attach the belt, adjust the belt tension so that the allowable radial load given in the Servomotor specifications is not exceeded. For details, refer to the catalog of the belt manufacturer.
Belt
Adjust the belt tension to adjust the radial load. Measure the belt tension at 45° intervals of
the machine shaft. Turn the shaft and take measurements with a belt tension meter at each
point.
Important
Turn at 45° intervals.
Servomotor Installation
8888
8
8-7
8.3 Oil and Water Countermeasures
8.3
Oil and Water Countermeasures
Observe the following instructions so that water, oil, or other foreign matter will not enter the
Servomotor.
• Do not allow the cables to be in oil or water.
Servomotor
Oil or water
If contact with oil or water is unavoidable, use oil-resistant cables. Oil-resistant cables are not
provided by Yaskawa.
• If you install the Servomotor with the end of the shaft facing up, do not use the Servomotor
where oil or water from the machine, a gear box, or other source would come into contact
with the Servomotor.
Gear
ear
Oil or water
Servomotor
If contact with oil or water is unavoidable, implement countermeasures in the machine so that
oil from the gear box does not enter the Servomotor.
• Do not use the Servomotor where it would come into contact with cutting fluids.
Depending on the type of cutting fluid, sealing materials, packing, cables, or other parts may
be adversely affected.
• Do not use the Servomotor where it would be continuously in contact with oil mist, water
vapor, oil, water, or grease.
If usage under the above conditions is unavoidable, implement countermeasures in the
machine to protect against dirt and water.
8-8
8.4 Servomotor Temperature Increase
Servomotor Temperature Increase
This section describes measures to suppress temperature increases in the Servomotor.
• When you install the Servomotor, observe the cooling conditions (heat sink sizes) that are
given in the specifications for each type of Servomotor.
The Servomotor generates heat when it operates. The heat generated by the Servomotor
radiates to the heat sink through the motor mounting surface. Therefore, if the surface area of
the heat sink is too small, the temperature of the Servomotor may increase abnormally.
• If the operating environment makes it difficult to use a large heat sink, or if the surrounding air
temperature or altitude given in the specifications is exceeded, implement the following measures.
• Derate the Servomotor.
Refer to the specifications for each type of Servomotor for information on derating.
Consider derating when you select the capacity of the Servomotor.
• Use external forced-air cooling for the Servomotor with a cooling fan or other means.
Do not place packing or any other insulating material between the Servomotor and heat
sink. Doing so will cause the motor temperature to increase, affect resistance to noise, and
may
cause motor failure.
Important
Servomotor Installation
8.4
8
8-9
Connections between
Servomotors and
SERVOPACKs
This chapter describes the cables that are used to connect
the Servomotors and SERVOPACKs and provides related
precautions.
9.1
Cables for the SGMMV Servomotors . . . . . 9-2
9.1.1
9.1.2
9.1.3
9.1.4
9.2
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
9-2
9-3
9-3
9-4
System Configurations . . . . . . . . . . .
Servomotor Main Circuit Cables . . . .
Encoder Cables of 20 m or Less . . . .
Relay Encoder Cable of 30 m to 50 m
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. 9-5
. 9-6
9-14
9-15
System Configurations . . . . . . . . . . . .
Servomotor Main Circuit Cables . . . . .
Encoder Cables of 20 m or Less . . . . .
Relay Encoder Cables of 30 m to 50 m
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
9-16
9-17
9-24
9-24
Cables for the SGM7P Servomotors . . . . . 9-25
9.4.1
9.4.2
9.4.3
9.4.4
9.5
.
.
.
.
Cables for the SGM7G Servomotors . . . . . 9-16
9.3.1
9.3.2
9.3.3
9.3.4
9.4
.
.
.
.
Cables for the SGM7J and SGM7A Servomotors . . 9-5
9.2.1
9.2.2
9.2.3
9.2.4
9.3
System Configurations . . . . . . . . . . . .
Servomotor Main Circuit Cables . . . . .
Encoder Cables of 20 m or Less . . . . .
Relay Encoder Cables of 30 m to 50 m
System Configurations . . . . . . . . . . . .
Servomotor Main Circuit Cables . . . . .
Encoder Cables of 20 m or Less . . . . .
Relay Encoder Cables of 30 m to 50 m
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
9-25
9-26
9-28
9-28
Wiring Servomotors and SERVOPACKs . . 9-29
9.5.1
9.5.2
Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . 9-29
Wiring Procedure . . . . . . . . . . . . . . . . . . . . . . . 9-32
9
9.1 Cables for the SGMMV Servomotors
9.1.1 System Configurations
9.1
Cables for the SGMMV Servomotors
9.1.1
System Configurations
The cables shown below are required to connect a Servomotor to a SERVOPACK.
Encoder Cable of 20 m or Less
Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK
SERVOPACK
Relay Encoder Cable
Cable with a Battery
(Required when an
absolute encoder is used.)
Encoder Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor-end
Cable
Servomotor
Main Circuit Cable
Servomotor-end
Cable
Servomotor Main
Circuit Cable
Encoder-end
Cable
Cable with Connectors
on Both Ends
Encoder-end Cable
Servomotor
Servomotor
Note: 1. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
2. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
3. Refer to the following manual for the following information.
• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
9-2
9.1 Cables for the SGMMV Servomotors
9.1.2 Servomotor Main Circuit Cables
9.1.2
Servomotor Main Circuit Cables
Servomotor
Model
Name
Length
(L)
Order Number
Flexible
Standard Cable
Cable*1*2
3m
JZSP-CF2M00-03-E JZSP-CF2M20-03-E
5m
JZSP-CF2M00-05-E JZSP-CF2M20-05-E
For Servomotors
without
Holding
SGMMV- Brakes
A1, -A2,
and -A3
10 m
JZSP-CF2M00-10-E JZSP-CF2M20-10-E
15 m
JZSP-CF2M00-15-E JZSP-CF2M20-15-E
20 m
JZSP-CF2M00-20-E JZSP-CF2M20-20-E
30 m
JZSP-CF2M00-30-E JZSP-CF2M20-30-E
40 m
JZSP-CF2M00-40-E JZSP-CF2M20-40-E
50 m
JZSP-CF2M00-50-E JZSP-CF2M20-50-E
10 W,
20 W,
30 W
3m
5m
10 m
15 m
JZSP-CF2M03-03-E
JZSP-CF2M03-05-E
JZSP-CF2M03-10-E
JZSP-CF2M03-15-E
JZSP-CF2M23-03-E
JZSP-CF2M23-05-E
JZSP-CF2M23-10-E
JZSP-CF2M23-15-E
20
30
40
50
JZSP-CF2M03-20-E
JZSP-CF2M03-30-E
JZSP-CF2M03-40-E
JZSP-CF2M03-50-E
JZSP-CF2M23-20-E
JZSP-CF2M23-30-E
JZSP-CF2M23-40-E
JZSP-CF2M23-50-E
For Servomotors with
Holding
Brakes
m
m
m
m
Appearance
SERVOPACK end
Motor end
Ｌ
Motor end
SERVOPACK end
Ｌ
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
Encoder Cables of 20 m or Less
Servomotor
Model
Name
Cables with
Connectors on
Both Ends
(for incremental encoder)
All
SGMMV
models Cables with
Connectors on
Both Ends
(for absolute
encoder: With
Battery Case)
5m
10 m
15 m
20 m
3m
Order Number
Flexible
Standard Cable
Cable*1*2
JZSP-CMP00-03-E JZSP-CMP10-03-E
JZSP-CMP00-05-E JZSP-CMP10-05-E
JZSP-CMP00-10-E JZSP-CMP10-10-E
JZSP-CMP00-15-E JZSP-CMP10-15-E
JZSP-CMP00-20-E JZSP-CMP10-20-E
JZSP-CSP19-03-E JZSP-CSP29-03-E
5m
10 m
15 m
20 m
JZSP-CSP19-05-E
JZSP-CSP19-10-E
JZSP-CSP19-15-E
JZSP-CSP19-20-E
Length
(L)
3m
JZSP-CSP29-05-E
JZSP-CSP29-10-E
JZSP-CSP29-15-E
JZSP-CSP29-20-E
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 68 mm or larger.
Appearance
SERVOPACK end
SERVOPACK end
L
L
Battery Case
(battery included)
Encoder end
Encoder end
Connections between Servomotors and SERVOPACKs
9.1.3
9
9-3
9.1 Cables for the SGMMV Servomotors
9.1.4 Relay Encoder Cables of 30 m to 50 m
Relay Encoder Cables of 30 m to 50 m
All SGMMV
models
Name
Cables with Connectors
on Both Ends (for incremental or absolute
encoder)
Cable with a Battery
Case
(Required when an
absolute encoder is
used.)*
Length
(L)
Order Number for
Standard Cable
30 m
JZSP-UCMP00-30-E
40 m
JZSP-UCMP00-40-E
50 m
JZSP-UCMP00-50-E
SERVOPACK
end
SERVOPACK
end
0.3 m
JZSP-CSP12-E
* This Cable is not required if a battery is connected to the host controller.
9-4
Appearance
Encoder end
L
molex
Servomotor
Model
Encoder end
L
molex
9.1.4
Battery Case
(battery included)
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.1 System Configurations
9.2
Cables for the SGM7J and SGM7A Servomotors
9.2.1
System Configurations
The cables shown below are required to connect a Servomotor to a SERVOPACK.
Encoder Cable of 20 m or Less
Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case
(Required when an absolute
encoder is used.)
Cable with Connectors
on Both Ends
Encoder Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor
Main Circuit Cable
Encoder-end Cable
Servomotor Main
Circuit Cable
Servomotor
Servomotor
2. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
3. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
4. Refer to the following manual for the following information.
• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
For the following Servomotor models, there are different order numbers for the Servomotor Main
Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm the
order numbers before you order.
Important
• All SGM7J models
• SGM7A models SGM7A-A5 to SGM7A-10
Cable Installed toward Load
U
V
Cable Installed away from Load
U
V
W
W
G
G
Connections between Servomotors and SERVOPACKs
Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European
Safety Standards are not available from Yaskawa for the SGM7A-15A to SGM7A-30A Servomotors. You
must make such a cable yourself. Use the Connectors specified by Yaskawa for these Servomotors. (These
Connectors are compliant with the standards.) Yaskawa does not specify what wiring materials to use.
9
9-5
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
9.2.2
Servomotor Main Circuit Cables
This section provides information on selecting a Servomotor Main Circuit Cable. Refer to the
following manual for detailed information on Cables and for the wiring materials to make your
own cables.
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Servomotor
Model
Name
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
For Servomotors without Holding
Brakes
Cable
installed
toward load
Length
(L)
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
Order Number
Flexible
Standard Cable
Cable*1*2
JZSP-C7M10F-03-E JZSP-C7M12F-03-E
JZSP-C7M10F-05-E JZSP-C7M12F-05-E
JZSP-C7M10F-10-E JZSP-C7M12F-10-E
JZSP-C7M10F-15-E JZSP-C7M12F-15-E
JZSP-C7M10F-20-E JZSP-C7M12F-20-E
JZSP-C7M10F-30-E JZSP-C7M12F-30-E
JZSP-C7M10F-40-E JZSP-C7M12F-40-E
JZSP-C7M10F-50-E JZSP-C7M12F-50-E
JZSP-C7M20F-03-E JZSP-C7M22F-03-E
JZSP-C7M20F-05-E JZSP-C7M22F-05-E
JZSP-C7M20F-10-E JZSP-C7M22F-10-E
JZSP-C7M20F-15-E JZSP-C7M22F-15-E
JZSP-C7M20F-20-E JZSP-C7M22F-20-E
JZSP-C7M20F-30-E JZSP-C7M22F-30-E
JZSP-C7M20F-40-E JZSP-C7M22F-40-E
JZSP-C7M20F-50-E JZSP-C7M22F-50-E
JZSP-C7M30F-03-E JZSP-C7M32F-03-E
JZSP-C7M30F-05-E JZSP-C7M32F-05-E
JZSP-C7M30F-10-E JZSP-C7M32F-10-E
JZSP-C7M30F-15-E JZSP-C7M32F-15-E
JZSP-C7M30F-20-E JZSP-C7M32F-20-E
JZSP-C7M30F-30-E JZSP-C7M32F-30-E
JZSP-C7M30F-40-E JZSP-C7M32F-40-E
JZSP-C7M30F-50-E JZSP-C7M32F-50-E
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
9-6
Appearance
Motor end
SERVOPACK end
L
U
V
W
G
Continued on next page.
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Name
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
For Servomotors without Holding
Brakes
Cable
installed
away from
load
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
For Servomotors with
Holding
Brakes
Cable
installed
toward load
Length
(L)
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
Appearance
SERVOPACK end
Motor end
L
U
V
W
G
Motor end
SERVOPACK end
L
U
V
G
B
B
Connections between Servomotors and SERVOPACKs
Servomotor
Model
Order Number
Flexible
Standard Cable
Cable*1*2
JZSP-C7M10G-03-E JZSP-C7M12G-03-E
JZSP-C7M10G-05-E JZSP-C7M12G-05-E
JZSP-C7M10G-10-E JZSP-C7M12G-10-E
JZSP-C7M10G-15-E JZSP-C7M12G-15-E
JZSP-C7M10G-20-E JZSP-C7M12G-20-E
JZSP-C7M10G-30-E JZSP-C7M12G-30-E
JZSP-C7M10G-40-E JZSP-C7M12G-40-E
JZSP-C7M10G-50-E JZSP-C7M12G-50-E
JZSP-C7M20G-03-E JZSP-C7M22G-03-E
JZSP-C7M20G-05-E JZSP-C7M22G-05-E
JZSP-C7M20G-10-E JZSP-C7M22G-10-E
JZSP-C7M20G-15-E JZSP-C7M22G-15-E
JZSP-C7M20G-20-E JZSP-C7M22G-20-E
JZSP-C7M20G-30-E JZSP-C7M22G-30-E
JZSP-C7M20G-40-E JZSP-C7M22G-40-E
JZSP-C7M20G-50-E JZSP-C7M22G-50-E
JZSP-C7M30G-03-E JZSP-C7M32G-03-E
JZSP-C7M30G-05-E JZSP-C7M32G-05-E
JZSP-C7M30G-10-E JZSP-C7M32G-10-E
JZSP-C7M30G-15-E JZSP-C7M32G-15-E
JZSP-C7M30G-20-E JZSP-C7M32G-20-E
JZSP-C7M30G-30-E JZSP-C7M32G-30-E
JZSP-C7M30G-40-E JZSP-C7M32G-40-E
JZSP-C7M30G-50-E JZSP-C7M32G-50-E
JZSP-C7M13F-03-E JZSP-C7M14F-03-E
JZSP-C7M13F-05-E JZSP-C7M14F-05-E
JZSP-C7M13F-10-E JZSP-C7M14F-10-E
JZSP-C7M13F-15-E JZSP-C7M14F-15-E
JZSP-C7M13F-20-E JZSP-C7M14F-20-E
JZSP-C7M13F-30-E JZSP-C7M14F-30-E
JZSP-C7M13F-40-E JZSP-C7M14F-40-E
JZSP-C7M13F-50-E JZSP-C7M14F-50-E
JZSP-C7M23F-03-E JZSP-C7M24F-03-E
JZSP-C7M23F-05-E JZSP-C7M24F-05-E
JZSP-C7M23F-10-E JZSP-C7M24F-10-E
JZSP-C7M23F-15-E JZSP-C7M24F-15-E
JZSP-C7M23F-20-E JZSP-C7M24F-20-E
JZSP-C7M23F-30-E JZSP-C7M24F-30-E
JZSP-C7M23F-40-E JZSP-C7M24F-40-E
JZSP-C7M23F-50-E JZSP-C7M24F-50-E
JZSP-C7M33F-03-E JZSP-C7M34F-03-E
JZSP-C7M33F-05-E JZSP-C7M34F-05-E
JZSP-C7M33F-10-E JZSP-C7M34F-10-E
JZSP-C7M33F-15-E JZSP-C7M34F-15-E
JZSP-C7M33F-20-E JZSP-C7M34F-20-E
JZSP-C7M33F-30-E JZSP-C7M34F-30-E
JZSP-C7M33F-40-E JZSP-C7M34F-40-E
JZSP-C7M33F-50-E JZSP-C7M34F-50-E
9
Continued on next page.
9-7
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
For Servomotors with
Holding
Brakes
Cable
installed
away from
load
Length
(L)
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
Order Number
Flexible
Standard Cable
Cable*1*2
JZSP-C7M13G-03-E JZSP-C7M14G-03-E
JZSP-C7M13G-05-E JZSP-C7M14G-05-E
JZSP-C7M13G-10-E JZSP-C7M14G-10-E
JZSP-C7M13G-15-E JZSP-C7M14G-15-E
JZSP-C7M13G-20-E JZSP-C7M14G-20-E
JZSP-C7M13G-30-E JZSP-C7M14G-30-E
JZSP-C7M13G-40-E JZSP-C7M14G-40-E
JZSP-C7M13G-50-E JZSP-C7M14G-50-E
JZSP-C7M23G-03-E JZSP-C7M24G-03-E
JZSP-C7M23G-05-E JZSP-C7M24G-05-E
JZSP-C7M23G-10-E JZSP-C7M24G-10-E
JZSP-C7M23G-15-E JZSP-C7M24G-15-E
JZSP-C7M23G-20-E JZSP-C7M24G-20-E
JZSP-C7M23G-30-E JZSP-C7M24G-30-E
JZSP-C7M23G-40-E JZSP-C7M24G-40-E
JZSP-C7M23G-50-E JZSP-C7M24G-50-E
JZSP-C7M33G-03-E JZSP-C7M34G-03-E
JZSP-C7M33G-05-E JZSP-C7M34G-05-E
JZSP-C7M33G-10-E JZSP-C7M34G-10-E
JZSP-C7M33G-15-E JZSP-C7M34G-15-E
JZSP-C7M33G-20-E JZSP-C7M34G-20-E
JZSP-C7M33G-30-E JZSP-C7M34G-30-E
JZSP-C7M33G-40-E JZSP-C7M34G-40-E
JZSP-C7M33G-50-E JZSP-C7M34G-50-E
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
9-8
Appearance
SERVOPACK end
Motor end
L
U
V
W
G
B
B
Continued on next page.
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Servomotor
Model
Name
Connector
Specifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
Continued from previous page.
Order Number
Lengt
Appearance
Flexible
h (L) Standard Cable
Cable*1*2
3m
JZSP-UVA101-03-E JZSP-UVA121-03-E
5m
JZSP-UVA101-05-E JZSP-UVA121-05-E
10 m
JZSP-UVA101-10-E JZSP-UVA121-10-E
15 m
JZSP-UVA101-15-E JZSP-UVA121-15-E
20 m
JZSP-UVA101-20-E JZSP-UVA121-20-E
3m
JZSP-UVA102-03-E JZSP-UVA122-03-E
5m
JZSP-UVA102-05-E JZSP-UVA122-05-E
10 m
JZSP-UVA102-10-E JZSP-UVA122-10-E
15 m
JZSP-UVA102-15-E JZSP-UVA122-15-E
SGM7A15
20 m
JZSP-UVA102-20-E JZSP-UVA122-20-E
3m
JZSP-UVA131-03-E JZSP-UVA141-03-E
1.5 kW
5m
JZSP-UVA131-05-E JZSP-UVA141-05-E
10 m
JZSP-UVA131-10-E JZSP-UVA141-10-E
15 m
JZSP-UVA131-15-E JZSP-UVA141-15-E
20 m
JZSP-UVA131-20-E JZSP-UVA141-20-E
3m
JZSP-UVA132-03-E JZSP-UVA142-03-E
5m
JZSP-UVA132-05-E JZSP-UVA142-05-E
10 m
JZSP-UVA132-10-E JZSP-UVA142-10-E
15 m
JZSP-UVA132-15-E JZSP-UVA142-15-E
For Servomotors
with Holding
Brakes
Straight*3
Note: Set of two
cables (Main
Power Supply Cable
and Holding Right-angle*4
Brake Cable)
SERVOPACK
end
L
Motor end
SERVOPACK
end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK end
L
Brake end
Motor end
Motor end
L
20 m
JZSP-UVA132-20-E JZSP-UVA142-20-E
Continued on next page.
UVA121--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA102--E (standard cable) or JZSP-
UVA122--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Connections between Servomotors and SERVOPACKs
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA101--E (standard cable) or JZSP-
9
9-9
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
Connector
Specifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
Order Number
Lengt
Flexible
h (L) Standard Cable
Cable*1*2
3m
JZSP-UVA301-03-E JZSP-UVA321-03-E
5m
JZSP-UVA301-05-E JZSP-UVA321-05-E
10 m
JZSP-UVA301-10-E JZSP-UVA321-10-E
15 m
JZSP-UVA301-15-E JZSP-UVA321-15-E
20 m
JZSP-UVA301-20-E JZSP-UVA321-20-E
3m
JZSP-UVA302-03-E JZSP-UVA322-03-E
5m
JZSP-UVA302-05-E JZSP-UVA322-05-E
10 m
JZSP-UVA302-10-E JZSP-UVA322-10-E
15 m
JZSP-UVA302-15-E JZSP-UVA322-15-E
SGM7A20
20 m
JZSP-UVA302-20-E JZSP-UVA322-20-E
3m
JZSP-UVA331-03-E JZSP-UVA341-03-E
2.0 kW
5m
JZSP-UVA331-05-E JZSP-UVA341-05-E
10 m
JZSP-UVA331-10-E JZSP-UVA341-10-E
15 m
JZSP-UVA331-15-E JZSP-UVA341-15-E
For Servomotors
with Holding
Brakes
Straight*3
Note: Set of two
cables (Main
Power Supply Cable
and Holding Right-angle*4
Brake Cable)
20 m
JZSP-UVA331-20-E JZSP-UVA341-20-E
3m
5m
10 m
15 m
JZSP-UVA332-03-E
JZSP-UVA332-05-E
JZSP-UVA332-10-E
JZSP-UVA332-15-E
JZSP-UVA342-03-E
JZSP-UVA342-05-E
JZSP-UVA342-10-E
JZSP-UVA342-15-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK end
L
Motor end
Brake end
Motor end
L
20 m
JZSP-UVA332-20-E JZSP-UVA342-20-E
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA301- -E (standard cable) or JZSP-
UVA321--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA302- -E (standard cable) or JZSP-
UVA322--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
9-10
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
Connector
Specifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7A25
2.5 kW
For Servomotors
with Holding
Brakes
Straight*3
Note: Set of two
cables (Main
Power Supply Cable
and Holding Right-angle*4
Brake Cable)
Order Number
Lengt
Flexible
h (L) Standard Cable
Cable*1*2
3 m JZSP-UVA501-03-E JZSP-UVA521-03-E
5 m JZSP-UVA501-05-E JZSP-UVA521-05-E
10 m JZSP-UVA501-10-E JZSP-UVA521-10-E
15 m JZSP-UVA501-15-E JZSP-UVA521-15-E
20 m JZSP-UVA501-20-E JZSP-UVA521-20-E
3 m JZSP-UVA502-03-E JZSP-UVA522-03-E
5 m JZSP-UVA502-05-E JZSP-UVA522-05-E
10 m JZSP-UVA502-10-E JZSP-UVA522-10-E
15 m JZSP-UVA502-15-E JZSP-UVA522-15-E
Appearance
SERVOPACK
end
L
Motor end
SERVOPACK
end
L
Motor end
20 m
JZSP-UVA502-20-E JZSP-UVA522-20-E
3m
5m
10 m
15 m
20 m
JZSP-U7A551-03-E
JZSP-U7A551-05-E
JZSP-U7A551-10-E
JZSP-U7A551-15-E
JZSP-U7A551-20-E
JZSP-U7A561-03-E
JZSP-U7A561-05-E
JZSP-U7A561-10-E
JZSP-U7A561-15-E
JZSP-U7A561-20-E
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
3m
5m
10 m
15 m
JZSP-U7A552-03-E
JZSP-U7A552-05-E
JZSP-U7A552-10-E
JZSP-U7A552-15-E
JZSP-U7A562-03-E
JZSP-U7A562-05-E
JZSP-U7A562-10-E
JZSP-U7A562-15-E
SERVOPACK end
L
Motor end
Brake end
Motor end
L
20 m
JZSP-U7A552-20-E JZSP-U7A562-20-E
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA501--E (standard cable) or JZSP-
UVA521--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
UVA522--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Connections between Servomotors and SERVOPACKs
*4. The order number for the Main Power Supply Cable is JZSP-UVA502--E (standard cable) or JZSP-
9
9-11
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
Connector
Specifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7A30
3.0 kW
For Servomotors
with Holding
Brakes
Straight*3
Note: Set of two
cables (Main
Power Supply Cable
and Holding
Right-angle*4
Brake Cable)
Order Number
Lengt
Flexible
h (L) Standard Cable
Cable*1*2
3 m JZSP-UVA601-03-E JZSP-UVA621-03-E
5 m JZSP-UVA601-05-E JZSP-UVA621-05-E
10 m JZSP-UVA601-10-E JZSP-UVA621-10-E
15 m JZSP-UVA601-15-E JZSP-UVA621-15-E
20 m JZSP-UVA601-20-E JZSP-UVA621-20-E
3 m JZSP-UVA602-03-E JZSP-UVA622-03-E
5 m JZSP-UVA602-05-E JZSP-UVA622-05-E
10 m JZSP-UVA602-10-E JZSP-UVA622-10-E
15 m JZSP-UVA602-15-E JZSP-UVA622-15-E
20 m JZSP-UVA602-20-E JZSP-UVA622-20-E
3m
5m
10 m
15 m
JZSP-UVA631-03-E
JZSP-UVA631-05-E
JZSP-UVA631-10-E
JZSP-UVA631-15-E
JZSP-UVA641-03-E
JZSP-UVA641-05-E
JZSP-UVA641-10-E
JZSP-UVA641-15-E
20 m
JZSP-UVA631-20-E JZSP-UVA641-20-E
3m
5m
10 m
15 m
JZSP-UVA632-03-E
JZSP-UVA632-05-E
JZSP-UVA632-10-E
JZSP-UVA632-15-E
JZSP-UVA642-03-E
JZSP-UVA642-05-E
JZSP-UVA642-10-E
JZSP-UVA642-15-E
Appearance
SERVOPACK
end
SERVOPACK
end
Motor end
L
Motor end
L
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK end
L
Motor end
Brake end
Motor end
L
20 m
JZSP-UVA632-20-E JZSP-UVA642-20-E
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA601- -E (standard cable) or JZSP-
UVA621--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA602- -E (standard cable) or JZSP-
UVA622--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
9-12
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.2 Servomotor Main Circuit Cables
Continued from previous page.
Name
Connector
Specifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7A40 and
-50
4.0 kW,
5.0 kW
For Servomotors
with Holding
Brakes
Straight
*3
Note: Set of two
cables (Main
Power Supply Cable
and Holding
Right-angle*4
Brake Cable)
Straight
SGM7A70*5
7.0 kW
For Servomotors
without Holding
Brakes
Right-angle
Order Number
Lengt
Flexible
h (L) Standard Cable
Cable*1*2
3m
JZSP-UVA701-03-E JZSP-UVA721-03-E
5m
JZSP-UVA701-05-E JZSP-UVA721-05-E
10 m
JZSP-UVA701-10-E JZSP-UVA721-10-E
15 m
JZSP-UVA701-15-E JZSP-UVA721-15-E
20 m
JZSP-UVA701-20-E JZSP-UVA721-20-E
3m
JZSP-UVA702-03-E JZSP-UVA722-03-E
5m
JZSP-UVA702-05-E JZSP-UVA722-05-E
10 m
JZSP-UVA702-10-E JZSP-UVA722-10-E
15 m
JZSP-UVA702-15-E JZSP-UVA722-15-E
20 m
JZSP-UVA702-20-E JZSP-UVA722-20-E
3m
JZSP-UVA731-03-E JZSP-UVA741-03-E
5m
JZSP-UVA731-05-E JZSP-UVA741-05-E
10 m
JZSP-UVA731-10-E JZSP-UVA741-10-E
15 m
JZSP-UVA731-15-E JZSP-UVA741-15-E
20 m
JZSP-UVA731-20-E JZSP-UVA741-20-E
3m
JZSP-UVA732-03-E JZSP-UVA742-03-E
5m
JZSP-UVA732-05-E JZSP-UVA742-05-E
10 m
JZSP-UVA732-10-E JZSP-UVA742-10-E
15 m
JZSP-UVA732-15-E JZSP-UVA742-15-E
20 m
JZSP-UVA732-20-E JZSP-UVA742-20-E
3m
JZSP-UVA901-03-E JZSP-UVA921-03-E
5m
JZSP-UVA901-05-E JZSP-UVA921-05-E
10 m
JZSP-UVA901-10-E JZSP-UVA921-10-E
15 m
JZSP-UVA901-15-E JZSP-UVA921-15-E
20 m
JZSP-UVA901-20-E JZSP-UVA921-20-E
3m
JZSP-UVA902-03-E JZSP-UVA922-03-E
5m
JZSP-UVA902-05-E JZSP-UVA922-05-E
10 m
JZSP-UVA902-10-E JZSP-UVA922-10-E
15 m
JZSP-UVA902-15-E JZSP-UVA922-15-E
20 m
JZSP-UVA902-20-E JZSP-UVA922-20-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK end
L
Motor end
Brake end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA701--E (standard cable) or JZSP-UVA721-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA702--E (standard cable) or JZSP-UVA722-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
*5. A cooling fan is built into the SGM7A-70 Servomotor. There is no specified cable to connect to the built-in cool-
ing fan connector. Use appropriate wiring materials for the built-in cooling fan connector specifications. The
cable is available from Yaskawa Controls Co., Ltd.
Refer to the following manual for the built-in cooling fan connector specifications that are required to select the
cable.
Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Connections between Servomotors and SERVOPACKs
Servomotor
Model
9
9-13
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.3 Encoder Cables of 20 m or Less
Encoder Cables of 20 m or Less
JZSP-C7PI2D-03-E
JZSP-C7PI2D-05-E
JZSP-C7PI2D-10-E
JZSP-C7PI2D-15-E
JZSP-C7PI2D-20-E
JZSP-C7PI2E-03-E
JZSP-C7PI2E-05-E
JZSP-C7PI2E-10-E
JZSP-C7PI2E-15-E
JZSP-C7PI2E-20-E
3m
JZSP-C7PA0D-03-E
JZSP-C7PA2D-03-E
5m
JZSP-C7PA0D-05-E
JZSP-C7PA2D-05-E
10 m
JZSP-C7PA0D-10-E
JZSP-C7PA2D-10-E
Cable installed
toward load
15 m
JZSP-C7PA0D-15-E
JZSP-C7PA2D-15-E
20 m
JZSP-C7PA0D-20-E
JZSP-C7PA2D-20-E
For absolute
encoder: With
Battery Case*3
3m
JZSP-C7PA0E-03-E
JZSP-C7PA2E-03-E
5m
JZSP-C7PA0E-05-E
JZSP-C7PA2E-05-E
10 m
JZSP-C7PA0E-10-E
JZSP-C7PA2E-10-E
15 m
JZSP-C7PA0E-15-E
JZSP-C7PA2E-15-E
20 m
JZSP-C7PA0E-20-E
JZSP-C7PA2E-20-E
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
JZSP-CVP01-03-E
JZSP-CVP01-05-E
JZSP-CVP01-10-E
JZSP-CVP01-15-E
JZSP-CVP01-20-E
JZSP-CVP02-03-E
JZSP-CVP02-05-E
JZSP-CVP02-10-E
JZSP-CVP02-15-E
JZSP-CVP02-20-E
JZSP-CVP11-03-E
JZSP-CVP11-05-E
JZSP-CVP11-10-E
JZSP-CVP11-15-E
JZSP-CVP11-20-E
JZSP-CVP12-03-E
JZSP-CVP12-05-E
JZSP-CVP12-10-E
JZSP-CVP12-15-E
JZSP-CVP12-20-E
3m
5m
10 m
15 m
20 m
3m
5m
JZSP-CVP06-03-E
JZSP-CVP06-05-E
JZSP-CVP06-10-E
JZSP-CVP06-15-E
JZSP-CVP06-20-E
JZSP-CVP07-03-E
JZSP-CVP07-05-E
JZSP-CVP26-03-E
JZSP-CVP26-05-E
JZSP-CVP26-10-E
JZSP-CVP26-15-E
JZSP-CVP26-20-E
JZSP-CVP27-03-E
JZSP-CVP27-05-E
10 m
15 m
20 m
JZSP-CVP07-10-E
JZSP-CVP07-15-E
JZSP-CVP07-20-E
JZSP-CVP27-10-E
JZSP-CVP27-15-E
JZSP-CVP27-20-E
Cable installed
toward load
For incremental
encoder
SGM7A-A5 to -10
50 W to 1.0 kW
Cable installed
away from load
For absolute
encoder: With
Battery Case*3
Cable installed
away from load
For incremental
encoder
SGM7A-15 to -70
1.5 kW to 7.0 kW
For absolute
encoder: With
Battery Case*3
3m
5m
10 m
15 m
20 m
Appearance
Encoder end
SERVOPACK
end
SERVOPACK
end
SERVOPACK
end
L
Encoder end
L
Encoder end
L
Battery Case
(battery included)
SERVOPACK
end
Encoder end
L
Battery Case
(battery included)
SERVOPACK
end
Encoder end
L
molex
3m
5m
10 m
15 m
20 m
JZSP-C7PI0D-03-E
JZSP-C7PI0D-05-E
JZSP-C7PI0D-10-E
JZSP-C7PI0D-15-E
JZSP-C7PI0D-20-E
JZSP-C7PI0E-03-E
JZSP-C7PI0E-05-E
JZSP-C7PI0E-10-E
JZSP-C7PI0E-15-E
JZSP-C7PI0E-20-E
For incremental
encoder
SGM7J-A5 to -08
50 W to 750 W
Order Number
Length
(L)
Standard Cable Flexible Cable*1*2
SERVOPACK
end
Encoder end
L
molex
Name
SERVOPACK
end
L
Encoder end
molex
Servomotor
Model
Battery Case
(battery included)
SERVOPACK
end
L
Encoder end
molex
9.2.3
Battery Case
(battery included)
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremental
encoders.
9-14
9.2 Cables for the SGM7J and SGM7A Servomotors
9.2.4 Relay Encoder Cable of 30 m to 50 m
Relay Encoder Cable of 30 m to 50 m
Servomotor
Model
SGM7J-A5 to -08
50 W to 750 W
SGM7A-A5 to -10
50 W to 1.0 kW
Name
Encoder-end Cable (for
incremental or absolute
encoder)
Cable installed toward load
Encoder-end Cable (for
incremental or absolute
encoder)
Cable installed away from
load
Cables with Connectors on
Both Ends (for incremental
or absolute encoder)
Length
(L)
Order Number
0.3 m
JZSP-C7PRCD-E
Appearance
Encoder end
SERVOPACK end
L
SERVOPACK end
Encoder end
L
0.3 m
JZSP-C7PRCE-E
30 m
40 m
50 m
JZSP-UCMP00-30-E
JZSP-UCMP00-40-E
JZSP-UCMP00-50-E
SERVOPACK end
Encoder end
L
SERVOPACK end
Cable with a Battery Case
(Required when an absolute
encoder is used.*)
Encoder end
L
0.3 m
JZSP-CSP12-E
Battery Case
(battery included)
SERVOPACK end
Encoder end
L
molex
JZSP-CVP01-E
Encoder-end Cable
(for incremental or absolute
encoder)
0.3 m
SERVOPACK end
Encoder end
L
molex
JZSP-CVP02-E
JZSP-UCMP00-30-E
40 m
JZSP-UCMP00-40-E
50 m
JZSP-UCMP00-50-E
SERVOPACK end
SERVOPACK end
Cable with a Battery Case
(Required when an absolute
encoder is used.*)
Encoder end
L
Encoder end
L
0.3 m
JZSP-CSP12-E
* This Cable is not required if a battery is connected to the host controller.
Battery Case
(battery included)
Connections between Servomotors and SERVOPACKs
30 m
molex
Cables with Connectors on
Both Ends (for incremental
or absolute encoder)
molex
SGM7A-15 to -70
1.5 kW to 7.0 kW
molex
9.2.4
9
9-15
9.3 Cables for the SGM7G Servomotors
9.3.1 System Configurations
9.3
Cables for the SGM7G Servomotors
9.3.1
System Configurations
The cables shown below are required to connect a Servomotor to a SERVOPACK.
Encoder Cable of 20 m or Less
Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK
C
N
6
SERVOPACK
C
N
6
Relay Encoder Cable
Cable with a Battery Case
(Required when an
absolute encoder is used.)
Cable with Connectors
on Both Ends
Encoder Cable
Servomotor
Main Circuit Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor
Main Circuit Cable
Encoder-end Cable
Servomotor
Servomotor
Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European
Safety Standards are not available from Yaskawa for the SGM7G Servomotors. You must make such a
cable yourself. Use the Connectors specified by Yaskawa for these Servomotors. (These Connectors are
compliant with the standards.) Yaskawa does not specify what wiring materials to use.
2. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
3. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
4. Refer to the following manual for the following information.
• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
9-16
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Servomotor Main Circuit Cables
This section provides information on selecting a Servomotor Main Circuit Cable. Refer to the
following manual for detailed information on Cables and for the wiring materials to make your
own cables.
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Servomotor
Model
Name
For Servomotors
without Holding
Brakes
SGM7G-03
to -05
0.3 kW
0.45 kW
For Servomotors
with Holding Brakes
Length
(L)
Order Number*1*2
3m
JZSP-CVM21-03-E
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
JZSP-CVM21-05-E
JZSP-CVM21-10-E
JZSP-CVM21-15-E
JZSP-CVM21-20-E
JZSP-CVM21-30-E
JZSP-CVM21-40-E
JZSP-CVM21-50-E
JZSP-CVM41-03-E
JZSP-CVM41-05-E
JZSP-CVM41-10-E
JZSP-CVM41-15-E
JZSP-CVM41-20-E
JZSP-CVM41-30-E
JZSP-CVM41-40-E
JZSP-CVM41-50-E
*1. Flexible cables are provided as a standard feature.
*2. The recommended bending radius (R) is 90 mm or larger.
Appearance
SERVOPACK end
Motor end
L
SERVOPACK end
Motor end
L
Continued on next page.
Connections between Servomotors and SERVOPACKs
9.3.2
9
9-17
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G09, -13
850 W,
1.3 kW
For Servomotors
with Holding
Brakes*3
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Straight*3
Right-angle
*4
3m
JZSP-UVA101-03-E
JZSP-UVA121-03-E
5m
JZSP-UVA101-05-E
JZSP-UVA121-05-E
10 m
JZSP-UVA101-10-E
JZSP-UVA121-10-E
15 m
JZSP-UVA101-15-E
JZSP-UVA121-15-E
20 m
JZSP-UVA101-20-E
JZSP-UVA121-20-E
3m
JZSP-UVA102-03-E
JZSP-UVA122-03-E
5m
JZSP-UVA102-05-E
JZSP-UVA122-05-E
10 m
JZSP-UVA102-10-E
JZSP-UVA122-10-E
15 m
JZSP-UVA102-15-E
JZSP-UVA122-15-E
20 m
JZSP-UVA102-20-E
JZSP-UVA122-20-E
3m
JZSP-UVA131-03-E
JZSP-UVA141-03-E
5m
JZSP-UVA131-05-E
JZSP-UVA141-05-E
10 m
JZSP-UVA131-10-E
JZSP-UVA141-10-E
15 m
JZSP-UVA131-15-E
JZSP-UVA141-15-E
20 m
JZSP-UVA131-20-E
JZSP-UVA141-20-E
3m
JZSP-UVA132-03-E
JZSP-UVA142-03-E
5m
JZSP-UVA132-05-E
JZSP-UVA142-05-E
10 m
JZSP-UVA132-10-E
JZSP-UVA142-10-E
15 m
JZSP-UVA132-15-E
JZSP-UVA142-15-E
20 m
JZSP-UVA132-20-E
JZSP-UVA142-20-E
Appearance
SERVOPACK
end
L
SERVOPACK
end
L
SERVOPACK
end
Motor end
Motor end
Motor end
L
SERVOPACK
end
SERVOPACK
end
Brake end
L
Motor end
L
Brake end
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA101--E (standard cable) or JZSP-UVA121-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA102--E (standard cable) or JZSP-UVA122-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
9-18
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G20
1.8 kW
Straight*3
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Right-angle
*4
3m
JZSP-UVA301-03-E
JZSP-UVA321-03-E
5m
JZSP-UVA301-05-E
JZSP-UVA321-05-E
10 m
JZSP-UVA301-10-E
JZSP-UVA321-10-E
15 m
JZSP-UVA301-15-E
JZSP-UVA321-15-E
20 m
JZSP-UVA301-20-E
JZSP-UVA321-20-E
3m
JZSP-UVA302-03-E
JZSP-UVA322-03-E
5m
JZSP-UVA302-05-E
JZSP-UVA322-05-E
10 m
JZSP-UVA302-10-E
JZSP-UVA322-10-E
15 m
JZSP-UVA302-15-E
JZSP-UVA322-15-E
20 m
JZSP-UVA302-20-E
JZSP-UVA322-20-E
3m
5m
10 m
15 m
JZSP-UVA331-03-E
JZSP-UVA331-05-E
JZSP-UVA331-10-E
JZSP-UVA331-15-E
JZSP-UVA341-03-E
JZSP-UVA341-05-E
JZSP-UVA341-10-E
JZSP-UVA341-15-E
20 m
JZSP-UVA331-20-E
JZSP-UVA341-20-E
3m
JZSP-UVA332-03-E
JZSP-UVA342-03-E
5m
JZSP-UVA332-05-E
JZSP-UVA342-05-E
10 m
JZSP-UVA332-10-E
JZSP-UVA342-10-E
15 m
JZSP-UVA332-15-E
JZSP-UVA342-15-E
20 m
JZSP-UVA332-20-E
JZSP-UVA342-20-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK
end
L
Motor end
Brake end
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA301--E (standard cable) or JZSP-UVA321-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
Connections between Servomotors and SERVOPACKs
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA302--E (standard cable) or JZSP-UVA322-
9
9-19
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G30
2.4 kW
(When
using an
SGD7S200A
SERVOPACK.)
Straight*3
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Rightangle*4
3m
JZSP-UVA601-03-E
JZSP-UVA621-03-E
5m
JZSP-UVA601-05-E
JZSP-UVA621-05-E
10 m
JZSP-UVA601-10-E
JZSP-UVA621-10-E
15 m
JZSP-UVA601-15-E
JZSP-UVA621-15-E
20 m
JZSP-UVA601-20-E
JZSP-UVA621-20-E
3m
JZSP-UVA602-03-E
JZSP-UVA622-03-E
5m
JZSP-UVA602-05-E
JZSP-UVA622-05-E
10 m
JZSP-UVA602-10-E
JZSP-UVA622-10-E
15 m
JZSP-UVA602-15-E
JZSP-UVA622-15-E
20 m
JZSP-UVA602-20-E
JZSP-UVA622-20-E
3m
5m
10 m
15 m
JZSP-UVA631-03-E
JZSP-UVA631-05-E
JZSP-UVA631-10-E
JZSP-UVA631-15-E
JZSP-UVA641-03-E
JZSP-UVA641-05-E
JZSP-UVA641-10-E
JZSP-UVA641-15-E
20 m
JZSP-UVA631-20-E
JZSP-UVA641-20-E
3m
JZSP-UVA632-03-E
JZSP-UVA642-03-E
5m
JZSP-UVA632-05-E
JZSP-UVA642-05-E
10 m
JZSP-UVA632-10-E
JZSP-UVA642-10-E
15 m
JZSP-UVA632-15-E
JZSP-UVA642-15-E
20 m
JZSP-UVA632-20-E
JZSP-UVA642-20-E
Appearance
SERVOPACK end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Motor end
SERVOPACK end
L
Brake end
SERVOPACK end
L
Motor end
Brake end
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA601--E (standard cable) or JZSP-UVA621-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA602--E (standard cable) or JZSP-UVA622-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
9-20
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G30 and
-44
2.9 kW,
4.4 kW
Straight*3
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Rightangle*4
3m
JZSP-UVA701-03-E
JZSP-UVA721-03-E
5m
JZSP-UVA701-05-E
JZSP-UVA721-05-E
10 m
JZSP-UVA701-10-E
JZSP-UVA721-10-E
15 m
JZSP-UVA701-15-E
JZSP-UVA721-15-E
20 m
JZSP-UVA701-20-E
JZSP-UVA721-20-E
3m
JZSP-UVA702-03-E
JZSP-UVA722-03-E
5m
JZSP-UVA702-05-E
JZSP-UVA722-05-E
10 m
JZSP-UVA702-10-E
JZSP-UVA722-10-E
15 m
JZSP-UVA702-15-E
JZSP-UVA722-15-E
20 m
JZSP-UVA702-20-E
JZSP-UVA722-20-E
3m
5m
10 m
15 m
JZSP-UVA731-03-E
JZSP-UVA731-05-E
JZSP-UVA731-10-E
JZSP-UVA731-15-E
JZSP-UVA741-03-E
JZSP-UVA741-05-E
JZSP-UVA741-10-E
JZSP-UVA741-15-E
20 m
JZSP-UVA731-20-E
JZSP-UVA741-20-E
3m
JZSP-UVA732-03-E
JZSP-UVA742-03-E
5m
JZSP-UVA732-05-E
JZSP-UVA742-05-E
10 m
JZSP-UVA732-10-E
JZSP-UVA742-10-E
15 m
JZSP-UVA732-15-E
JZSP-UVA742-15-E
20 m
JZSP-UVA732-20-E
JZSP-UVA742-20-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Brake end
SERVOPACK
end
L
Brake end
Motor end
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVA701--E (standard cable) or JZSP-UVA721-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
Connections between Servomotors and SERVOPACKs
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVA702--E (standard cable) or JZSP-UVA722-
9
9-21
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G55 and
-75
5.5 kW,
7.5 kW
Straight*3
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Rightangle*4
3m
JZSP-UVAA01-03-E JZSP-UVAA21-03-E
5m
JZSP-UVAA01-05-E JZSP-UVAA21-05-E
10 m
JZSP-UVAA01-10-E JZSP-UVAA21-10-E
15 m
JZSP-UVAA01-15-E JZSP-UVAA21-15-E
20 m
JZSP-UVAA01-20-E JZSP-UVAA21-20-E
3m
JZSP-UVAA02-03-E JZSP-UVAA22-03-E
5m
JZSP-UVAA02-05-E JZSP-UVAA22-05-E
10 m
JZSP-UVAA02-10-E JZSP-UVAA22-10-E
15 m
JZSP-UVAA02-15-E JZSP-UVAA22-15-E
20 m
JZSP-UVAA02-20-E JZSP-UVAA22-20-E
3m
5m
10 m
15 m
20 m
JZSP-UVAA31-03-E
JZSP-UVAA31-05-E
JZSP-UVAA31-10-E
JZSP-UVAA31-15-E
JZSP-UVAA31-20-E
3m
JZSP-UVAA32-03-E JZSP-UVAA42-03-E
5m
JZSP-UVAA32-05-E JZSP-UVAA42-05-E
10 m
JZSP-UVAA32-10-E JZSP-UVAA42-10-E
15 m
JZSP-UVAA32-15-E JZSP-UVAA42-15-E
20 m
JZSP-UVAA32-20-E JZSP-UVAA42-20-E
JZSP-UVAA41-03-E
JZSP-UVAA41-05-E
JZSP-UVAA41-10-E
JZSP-UVAA41-15-E
JZSP-UVAA41-20-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Brake end
SERVOPACK
end
L
Brake end
Motor end
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVAA01--E (standard cable) or JZSP-
UVAA21--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
*4. The order number for the Main Power Supply Cable is JZSP-UVAA02--E (standard cable) or JZSP-
UVAA22--E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
9-22
9.3 Cables for the SGM7G Servomotors
9.3.2 Servomotor Main Circuit Cables
Continued from previous page.
Servomotor
Model
Name
ConnecOrder Number
Length
tor Spec(L)
Standard Cable Flexible Cable*1*2
ifications
Straight
For Servomotors
without Holding
Brakes
Right-angle
SGM7G1A and
-1E
11 kW,
15 kW
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply Cable and
Holding
Brake Cable)
Straight*3
Rightangle*4
3m
JZSP-UVAB01-03-E JZSP-UVAB21-03-E
5m
JZSP-UVAB01-05-E JZSP-UVAB21-05-E
10 m
JZSP-UVAB01-10-E JZSP-UVAB21-10-E
15 m
JZSP-UVAB01-15-E JZSP-UVAB21-15-E
20 m
JZSP-UVAB01-20-E JZSP-UVAB21-20-E
3m
JZSP-UVAB02-03-E JZSP-UVAB22-03-E
5m
JZSP-UVAB02-05-E JZSP-UVAB22-05-E
10 m
JZSP-UVAB02-10-E JZSP-UVAB22-10-E
15 m
JZSP-UVAB02-15-E JZSP-UVAB22-15-E
20 m
JZSP-UVAB02-20-E JZSP-UVAB22-20-E
3m
5m
10 m
15 m
20 m
JZSP-UVAB31-03-E
JZSP-UVAB31-05-E
JZSP-UVAB31-10-E
JZSP-UVAB31-15-E
JZSP-UVAB31-20-E
3m
JZSP-UVAB32-03-E JZSP-UVAB42-03-E
5m
JZSP-UVAB32-05-E JZSP-UVAB42-05-E
10 m
JZSP-UVAB32-10-E JZSP-UVAB42-10-E
15 m
JZSP-UVAB32-15-E JZSP-UVAB42-15-E
20 m
JZSP-UVAB32-20-E JZSP-UVAB42-20-E
JZSP-UVAB41-03-E
JZSP-UVAB41-05-E
JZSP-UVAB41-10-E
JZSP-UVAB41-15-E
JZSP-UVAB41-20-E
Appearance
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Motor end
SERVOPACK
end
Motor end
L
SERVOPACK
end
L
Brake end
SERVOPACK
end
L
Motor end
Brake end
Motor end
L
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. The order number for the Main Power Supply Cable is JZSP-UVAB01--E (standard cable) or JZSP-UVAB21-
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.
-E (flexible cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-AMC3-E.
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
Connections between Servomotors and SERVOPACKs
*4. The order number for the Main Power Supply Cable is JZSP-UVAB02--E (standard cable) or JZSP-UVAB22-
9
9-23
9.3 Cables for the SGM7G Servomotors
9.3.3 Encoder Cables of 20 m or Less
Encoder Cables of 20 m or Less
All SGM7G models
Cables with
Connectors on
Both Ends
(for absolute
encoder:
With Battery Case)
Appearance
SERVOPACK
end
Encoder end
L
molex
Cables with
Connectors on
Both Ends
(for incremental
encoder)
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
Order Number
Standard Cable Flexible Cable*1*2
JZSP-CVP01-03-E
JZSP-CVP11-03-E
JZSP-CVP01-05-E
JZSP-CVP11-05-E
JZSP-CVP01-10-E
JZSP-CVP11-10-E
JZSP-CVP01-15-E
JZSP-CVP11-15-E
JZSP-CVP01-20-E
JZSP-CVP11-20-E
JZSP-CVP02-03-E
JZSP-CVP12-03-E
JZSP-CVP02-05-E
JZSP-CVP12-05-E
JZSP-CVP02-10-E
JZSP-CVP12-10-E
JZSP-CVP02-15-E
JZSP-CVP12-15-E
JZSP-CVP02-20-E
JZSP-CVP12-20-E
JZSP-CVP06-03-E
JZSP-CVP26-03-E
JZSP-CVP06-05-E
JZSP-CVP26-05-E
JZSP-CVP06-10-E
JZSP-CVP26-10-E
JZSP-CVP06-15-E
JZSP-CVP26-15-E
JZSP-CVP06-20-E
JZSP-CVP26-20-E
JZSP-CVP07-03-E
JZSP-CVP27-03-E
JZSP-CVP07-05-E
JZSP-CVP27-05-E
JZSP-CVP07-10-E
JZSP-CVP27-10-E
JZSP-CVP07-15-E
JZSP-CVP27-15-E
JZSP-CVP07-20-E
JZSP-CVP27-20-E
SERVOPACK
end
Encoder end
L
molex
Length
(L)
Name
SERVOPACK
end
Encoder end
L
molex
Servomotor
Model
Battery Case
(battery included)
SERVOPACK
end
Encoder end
L
molex
9.3.3
Battery Case
(battery included)
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
9.3.4
Relay Encoder Cables of 30 m to 50 m
Servomotor
Model
Name
Length
(L)
Order Number for
Standard Cable
Appearance
SERVOPACK end
Encoder end
L
molex
JZSP-CVP01-E
Encoder-end Cable (for
incremental or absolute
encoder)
0.3 m
SERVOPACK end
Encoder end
L
molex
JZSP-CVP02-E
Cable with a Battery
Case
(Required only if an
absolute encoder is
used.)*
JZSP-UCMP00-30-E
40 m
JZSP-UCMP00-40-E
50 m
JZSP-UCMP00-50-E
SERVOPACK
end
0.3 m
JZSP-CSP12-E
* This Cable is not required if a battery is connected to the host controller.
9-24
SERVOPACK
end
Encoder end
L
molex
30 m
L
molex
All SGM7G models Cables with Connectors on Both Ends (for
incremental or absolute
encoder)
Battery Case
(battery included)
Encoder end
9.4 Cables for the SGM7P Servomotors
9.4.1 System Configurations
9.4
Cables for the SGM7P Servomotors
9.4.1
System Configurations
The cables shown below are required to connect a Servomotor to a SERVOPACK.
Encoder Cable of 20 m or Less
Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case
(Required when an
absolute encoder is used.)
Cable with Connectors
on Both Ends
Encoder Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor
Main Circuit Cable
Encoder-end Cable
Servomotor Main
Circuit Cable
Servomotor
Servomotor
For SGM7P-08 or -15
(750 W or 1.5 kW) Servomotor
For SGM7P-08 or -15
(750 W or 1.5 kW) Servomotor
Refer to page 928
Encoder Cable
Refer to page 9-28
Servomotor
Main Circuit Cable
Refer to 9-26
Cable with a
Battery Case
(Required when an
absolute encoder
is used.)
Servomotor
Main Circuit Cable
Refer to 9-26
Cable with
Connectors on
Both Ends or
Cables without
Connectors
Note: 1. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
2. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
3. Refer to the following manual for the following information.
• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Connections between Servomotors and SERVOPACKs
Relay
Encoder Cable
9
9-25
9.4 Cables for the SGM7P Servomotors
9.4.2 Servomotor Main Circuit Cables
9.4.2
Servomotor Main Circuit Cables
This section provides information on selecting a Servomotor Main Circuit Cable. Refer to the
following manual for detailed information on Cables and for the wiring materials to make your
own cables.
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Servomotor
Model
SGM7P-01
100 W
SGM7P-02 and
-04
200 W, 400 W
SGM7P-08
750 W
SGM7P-15
1.5 kW
Name
Length
(L)
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
For Servomo- 30 m
tors without
40 m
Holding
50 m
Brakes
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
Order Number
Standard Cable Flexible Cable*1*2
JZSP-CSM01-03-E
JZSP-CSM21-03-E
JZSP-CSM01-05-E
JZSP-CSM21-05-E
JZSP-CSM01-10-E
JZSP-CSM21-10-E
JZSP-CSM01-15-E
JZSP-CSM21-15-E
JZSP-CSM01-20-E
JZSP-CSM21-20-E
JZSP-CSM01-30-E
JZSP-CSM21-30-E
JZSP-CSM01-40-E
JZSP-CSM21-40-E
JZSP-CSM01-50-E
JZSP-CSM21-50-E
JZSP-CSM02-03-E
JZSP-CSM22-03-E
JZSP-CSM02-05-E
JZSP-CSM22-05-E
JZSP-CSM02-10-E
JZSP-CSM22-10-E
JZSP-CSM02-15-E
JZSP-CSM22-15-E
JZSP-CSM02-20-E
JZSP-CSM22-20-E
JZSP-CSM02-30-E
JZSP-CSM22-30-E
JZSP-CSM02-40-E
JZSP-CSM22-40-E
JZSP-CSM02-50-E
JZSP-CSM22-50-E
JZSP-CMM00-03-E
JZSP-CMM01-03-E
JZSP-CMM00-05-E
JZSP-CMM01-05-E
JZSP-CMM00-10-E
JZSP-CMM01-10-E
JZSP-CMM00-15-E
JZSP-CMM01-15-E
JZSP-CMM00-20-E
JZSP-CMM01-20-E
JZSP-CMM00-30-E
JZSP-CMM01-30-E
JZSP-CMM00-40-E
JZSP-CMM01-40-E
JZSP-CMM00-50-E
JZSP-CMM01-50-E
JZSP-CMM20-03-E
−
JZSP-CMM20-05-E
−
JZSP-CMM20-10-E
−
JZSP-CMM20-15-E
−
JZSP-CMM20-20-E
−
Appearance
SERVOPACK
end
SERVOPACK
end
Motor end
L
Motor end
L
Continued on next page.
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
9-26
9.4 Cables for the SGM7P Servomotors
9.4.2 Servomotor Main Circuit Cables
Continued from previous page.
SGM7P-01
100 W
SGM7P-02 and
-04
200 W, 400 W
SGM7P-08
750 W
SGM7P-15
1.5 kW
Name
Length
(L)
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
For Servomo- 30 m
tors with
40 m
Holding
50 m
Brakes
3m
5m
10 m
15 m
20 m
30 m
40 m
50 m
3m
5m
10 m
15 m
20 m
Order Number
Standard Cable Flexible Cable*1*2
JZSP-CSM11-03-E
JZSP-CSM31-03-E
JZSP-CSM11-05-E
JZSP-CSM31-05-E
JZSP-CSM11-10-E
JZSP-CSM31-10-E
JZSP-CSM11-15-E
JZSP-CSM31-15-E
JZSP-CSM11-20-E
JZSP-CSM31-20-E
JZSP-CSM11-30-E
JZSP-CSM31-30-E
JZSP-CSM11-40-E
JZSP-CSM31-40-E
JZSP-CSM11-50-E
JZSP-CSM31-50-E
JZSP-CSM12-03-E
JZSP-CSM32-03-E
JZSP-CSM12-05-E
JZSP-CSM32-05-E
JZSP-CSM12-10-E
JZSP-CSM32-10-E
JZSP-CSM12-15-E
JZSP-CSM32-15-E
JZSP-CSM12-20-E
JZSP-CSM32-20-E
JZSP-CSM12-30-E
JZSP-CSM32-30-E
JZSP-CSM12-40-E
JZSP-CSM32-40-E
JZSP-CSM12-50-E
JZSP-CSM32-50-E
JZSP-CMM10-03-E
JZSP-CMM11-03-E
JZSP-CMM10-05-E
JZSP-CMM11-05-E
JZSP-CMM10-10-E
JZSP-CMM11-10-E
JZSP-CMM10-15-E
JZSP-CMM11-15-E
JZSP-CMM10-20-E
JZSP-CMM11-20-E
JZSP-CMM10-30-E
JZSP-CMM11-30-E
JZSP-CMM10-40-E
JZSP-CMM11-40-E
JZSP-CMM10-50-E
JZSP-CMM11-50-E
JZSP-CMM30-03-E
−
JZSP-CMM30-05-E
−
JZSP-CMM30-10-E
−
JZSP-CMM30-15-E
−
JZSP-CMM30-20-E
−
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
Appearance
SERVOPACK
end
SERVOPACK
end
Motor end
L
Motor end
L
Connections between Servomotors and SERVOPACKs
Servomotor
Model
9
9-27
9.4 Cables for the SGM7P Servomotors
9.4.3 Encoder Cables of 20 m or Less
9.4.3
Encoder Cables of 20 m or Less
Servomotor Model
SGM7P-01, -02, -04
100 W, 200 W, 400 W
SGM7P-08, -15
750 W, 1500 W
SGM7P-01, -02, -04
100 W, 200 W, 400 W
SGM7P-08, -15
750 W, 1500 W
Name
For incremental
encoder
Cable installed
toward load
For absolute
encoder: With
Battery Case*3
Cable installed
toward load
Order Number
Length
(L)
Standard Cable Flexible Cable*1*2
3m
JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
5m
JZSP-C7PI0D-05-E
JZSP-C7PI2D-05-E
10 m
15 m
JZSP-C7PI0D-10-E
JZSP-C7PI0D-15-E
JZSP-C7PI2D-10-E
JZSP-C7PI2D-15-E
20 m
3m
JZSP-C7PI0D-20-E
JZSP-CMP00-03-E
JZSP-C7PI2D-20-E
JZSP-CMP10-03-E
5m
10 m
JZSP-CMP00-05-E
JZSP-CMP00-10-E
JZSP-CMP10-05-E
JZSP-CMP10-10-E
15 m
JZSP-CMP00-15-E
JZSP-CMP10-15-E
20 m
JZSP-CMP00-20-E
JZSP-CMP10-20-E
3m
JZSP-C7PA0D-03-E
JZSP-C7PA2D-03-E
5m
JZSP-C7PA0D-05-E
JZSP-C7PA2D-05-E
10 m
JZSP-C7PA0D-10-E
JZSP-C7PA2D-10-E
15 m
JZSP-C7PA0D-15-E
JZSP-C7PA2D-15-E
20 m
JZSP-C7PA0D-20-E
JZSP-C7PA2D-20-E
3m
JZSP-CSP19-03-E
JZSP-CSP29-03-E
5m
JZSP-CSP19-05-E
JZSP-CSP29-05-E
10 m
JZSP-CSP19-10-E
JZSP-CSP29-10-E
15 m
JZSP-CSP19-15-E
JZSP-CSP29-15-E
20 m
JZSP-CSP19-20-E
JZSP-CSP29-20-E
Appearance
Encoder end
SERVOPACK
end
L
Encoder end
SERVOPACK end
L
SERVOPACK
end
Encoder end
L
Battery Case
(battery included)
Encoder end
SERVOPACK end
L
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
*3. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremental
encoders.
9.4.4
Relay Encoder Cables of 30 m to 50 m
Servomotor
Model
All SGM7P models
Name
Length
(L)
Order Number
Encoder-end Cable
(for incremental or absolute
encoder)
Cable installed toward load
0.3 m
JZSP-C7PRCD-E
Cables with Connectors on
Both Ends (for incremental or
absolute encoder)
30 m
40 m
50 m
JZSP-UCMP00-30-E
JZSP-UCMP00-40-E
JZSP-UCMP00-50-E
Appearance
Encoder end
SERVOPACK end
0.3 m
L
Encoder end
JZSP-CSP12-E
* This Cable is not required if a battery is connected to the host controller.
9-28
Encoder end
L
SERVOPACK end
Cable with a Battery Case
(Required only if an absolute
encoder is used.*)
SERVOPACK end
L
Battery Case
(battery included)
9.5 Wiring Servomotors and SERVOPACKs
9.5.1 Wiring Precautions
9.5
Wiring Servomotors and SERVOPACKs
9.5.1
Wiring Precautions
CAUTION
 Do not connect the Servomotor directly to an industrial power supply. Doing so will destroy
the Servomotor. You cannot operate a Servomotor without a SERVOPACK that is designed
for it.
General Precautions
• Never perform any wiring work while the power supply in ON.
• Always connect the Servomotor Main Circuit Cable before you connect the Encoder Cable. If
you connect the Encoder Cable first, the encoder may be damaged due to the difference in
electrical potential from the FG.
• Never touch the connector pins on the Servomotor directly with your hands. Particularly the
encoder may be damaged by static electricity.
• For the following Servomotor models, use the screws to secure the cable connectors to the
Servomotor. Make sure that they are securely attached.
SGM7J Servomotors
SGM7A Servomotors up to 1.0 kW
SGM7G Servomotors up to 450 W
SGM7P Servomotors up to 400 W
If they are not securely attached, the protective structure specifications may not be satisfied.
• Do not remove rubber packings or O-rings. Also, make sure that rubber packings and Orings do not come off. If the rubber packings or O-rings are not securely attached, the protective structure specifications may not be satisfied.
• Separate the Servomotor Main Circuit Cable from the I/O Signal Cables and Encoder Cable
by at least 30 cm.
• Do not connect magnetic contactors, reactors, or other devices on the cables that connect
the SERVOPACK and Servomotor. Failure to observe this caution may result in malfunction or
damage.
• Do not subject the cables to excessive bending stress or tension. The conductors in the
Encoder Cable and Servomotor Main Circuit Cable are as thin as 0.2 mm2 or 0.3 mm2. Wire
them so that they are not subjected to excessive stress.
• If you secure the cables with cable ties, protect the cables with cushioning material.
• If the cable will be bent repeatedly, e.g., if the Servomotor will move in the machine, use Flexible Cables. If you do not use Flexible Cables, the cables may break.
• Before you connect the wires, make sure that there are no mistakes in the wiring.
• Always use the connectors specified by Yaskawa and insert them correctly.
• When you connect a connector, check it to make sure there is no foreign matter, such as
metal clippings, inside.
• The connectors are made of resin. To prevent damage, do not apply any strong impact.
• Perform all wiring so that stress is not applied to the connectors. The connectors may break
if they are subjected to stress.
• If you move the Servomotor while the cables are connected, always hold onto the main body
of the Servomotor. If you lift the Servomotor by the cables when you move it, the connectors
may be damaged or the cables may be broken.
Connections between Servomotors and SERVOPACKs
•
•
•
•
9
9-29
9.5 Wiring Servomotors and SERVOPACKs
9.5.1 Wiring Precautions
Grounding Precautions
The ground terminal on the SERVOPACK is used to ground the Servomotor.
SERVOPACK
Ground terminal
Servomotor
Precautions for Standard Cables
Do not use standard cables in applications that require a high degree of flexibility, such as
twisting and turning, or in which the cables themselves must move. When you use Standard
Cables, observe the recommended bending radius given in the following table and perform all
wiring so that stress is not applied to the cables. Use the cables so that they are not repeatedly
bent.
Cable Diameter
Less than 8 mm
8 mm
Over 8 mm
Recommended Bending Radius [R]
15 mm min.
20 mm min.
Cable diameter × 3 mm min.
Precautions for Flexible Cables
• The Flexible Cables have a service life of 10,000,000 operations minimum when used at the
recommended bending radius of 90 mm or larger under the following test conditions. The
service life of a Flexible Cable is reference data under special test conditions. The service life
of a Flexible Cable greatly depends on the amount of mechanical shock, how the cable is
attached, and how the cable is secured.
Test Conditions
• One end of the cable is repeatedly moved forward and backward for 320 mm using the test equipment shown in the following figure.
• The lead wires are connected in parallel, and the number of cable return operations until a lead wire
breaks are counted. One round trip is counted as one bend.
Travel distance: 320 mm
End of travel
Bending
radius = 90 mm
Fixed end
Note: The service life of a Flexible Cable indicates the number of bends while the lead wires are electrically
charged for which no cracks or damage that affects the performance of the cable sheathing occur.
Breaking of the shield wire is not considered.
9-30
9.5 Wiring Servomotors and SERVOPACKs
9.5.1 Wiring Precautions
Connections between Servomotors and SERVOPACKs
• Straighten out the Flexible Cable when you connect it. If the cable is connected while it is
twisted, it will break faster. Check the indication on the cable surface to make sure that the
cable is not twisted.
• Do not secure the portions of the Flexible Cable that move. Stress will accumulate at the
point that is secured, and the cable will break faster. Secure the cable in as few locations as
possible.
• If a Flexible Cable is too long, looseness will cause it to break faster. It the Flexible Cable is
too short, stress at the points where it is secured will cause it to break faster. Adjust the cable
length to the optimum value.
• Do not allow Flexible Cables to interfere with each other. Interference will restrict the motion
of the cables, causing them to break faster. Separate the cables sufficiently, or provide partitions between them when wiring.
9
9-31
9.5 Wiring Servomotors and SERVOPACKs
9.5.2 Wiring Procedure
9.5.2
Wiring Procedure
This manual provides the wiring procedure only for the Servomotors.
Refer to the SERVOPACK manual for information on wiring the SERVOPACKs.
1. Remove the protective cap and protective tape from the Servomotor connectors.
Information
• Some models of Servomotors do not have protective tape.
• The number of connectors depends on the model of the Servomotor.
Protective cap
Protective cap
Protective tape
2. Attach the Servomotor Main Circuit Cable and tighten the screws.
Pay attention to the orientation of the cable (i.e., load or non-load side) when you attach it.
Refer to the following table for the tightening torque.
Servomotor Model
SGM7J-A5 to -06
SGM7J-08
SGM7A-A5 to -06
Tightening Torque
Servomotor Model
0.15 Nm
SGM7A-08 to -10
0.33 Nm
SGM7G-03, -05
SGM7P-01 to -04
0.15 Nm
• Leads on Non-load Side
U
V
W
Tightening Torque
0.33 Nm
0.44 Nm
0.15 Nm
• Leads on Load Side
Rubber packing
or O-ring
U
V
W
G
G
Information • There are two Servomotor Main Circuit Cables for the SGM7G-09 to SGM7G-1E Servomotors with Holding Brakes (the Main Power Supply Cable and the Holding Brake
Cable). Attach both of them.
• The SGM7A-70 Servomotors have a Servomotor Main Circuit Cable and a Fan Cable.
Attach both of them.
3. Attach the Encoder Cable and tighten the screws. Pay attention to the orientation of the
cable (i.e., load or non-load side) when you attach it.
• Tightening torque:
SGM7J and SGM7A Servomotors up to 1.0 kW and SGM7P Servomotors up to 400 W: 0.15 N·m
To extend the Encoder Cable to from 30 to 50 m, proceed to step 4.
4. Connect a Cable with Connectors on Both Ends to the Encoder Cable.
9-32
9.5 Wiring Servomotors and SERVOPACKs
9.5.2 Wiring Procedure
5. If necessary, connect a Cable with a Battery Case to the Cable with Connectors on Both
Connections between Servomotors and SERVOPACKs
Ends.
This concludes the procedure.
9
9-33
Maintenance and
Inspection
This chapter describes the maintenance, inspection, and
disposal of a Servomotor.
10.1 Periodic Inspections . . . . . . . . . . . . . . . . . 10-2
10.2 Service Lives of Parts . . . . . . . . . . . . . . . . 10-3
10.3 Disposing of Servomotors . . . . . . . . . . . . . 10-4
10
10.1 Periodic Inspections
10.1 Periodic Inspections
The following table gives the periodic inspection items for a Servomotor. The inspection periods
given in the table are guidelines. Determine the optimum inspection periods based on the application conditions and environment.
CAUTION
 Before you perform any maintenance or inspection work, turn OFF the power supply, confirm that the CHARGE indicator on the front of the SERVOPACK has gone out, and then use
a tester to check the voltage between the positive and negative terminals on the SERVOPACK. Start inspection work only after you have confirmed that the main circuit voltage has
dropped.
If there is any main circuit voltage left, the risk of electric shock still exists. Do not touch the Servomotor or any wiring.
 All inspection and maintenance work must be performed only by qualified engineers.
There is a risk of electric shock or injury.
 Contact your Yaskawa representative for help with failures, repairs, or part replacement.
Item
Inspection Period
Check the coupling between the
Servomotor and
the machine.
Before starting operation
Check for vibration and noise.
Daily
Exterior
Check for dirt and
grime.
Measure the insuAt least once a year
lation resistance.
10-2
Replace the oil
seal.
At least once every
5,000 hours
Overhaul
At least once every 5
years or every 20,000
hours
Basic Inspection and Maintenance
Remarks
Procedure
• Make sure that there are no loose
mounting screws between the Servomotor and machine.
• Make sure that there is no loose−
ness in the coupling between the
Servomotor and machine.
• Make sure that there is no misalignment.
There should be no
Inspect by touching and by listening. more vibration or noise
than normal.
Clean off the dirt and grime with a
−
cloth or pressurized air.
Disconnect the Servomotor from the
SERVOPACK and measure the insulation resistance at 500 V with an
If the resistance is less
insulation resistance meter. (Meathan 10 MΩ, contact
surement method: Measure the resisyour Yaskawa representance between phase U, V, or W on
tative.
the Servomotor’s power line and FG.)
The insulation is normal if the resistance is 10 MΩ or higher.
This inspection applies
Contact your Yaskawa representaonly to Servomotors
tive.
with Oil Seals.
Contact your Yaskawa representative.
−
10.2 Service Lives of Parts
10.2 Service Lives of Parts
The following table gives the standard service lives of the parts of the Servomotor. Contact your
Yaskawa representative using the following table as a guide. After an examination of the part in
question, we will determine whether the part should be replaced. Even if the service life of a
part has not expired, replacement may be required if abnormalities occur. The standard service
lives in the table are only for reference. The actual service lives will depend on the application
conditions and environment.
Part
Standard
Service Life
Remarks
The service life is affected by operating conditions. Check for abnormal
sounds and vibration during inspections.
The service life is affected by operating conditions. Check for oil leaks during
Oil Seal
5,000 hours
inspections.
The service life is affected by operating conditions. Check for abnormal
sounds and vibration during inspections. Confirm that the brake is released
Holding Brake 20,000 hours
when power is supplied and check for any changes in the operating time of
the brake.
20,000 hours
Maintenance and Inspection
Bearing
10
10-3
10.3 Disposing of Servomotors
10.3 Disposing of Servomotors
When disposing of a Servomotor, treat it as ordinary industrial waste.
However, local ordinances and national laws must be observed. Implement all labeling and
warnings as a final product as required.
10-4
Appendices
11
The appendices provide additional information on Servomotors with Gears and reference information on selecting
Servomotor capacity.
11.1 Terminology and Data for Servomotors with Gears . . 11-2
11.1.1
11.1.2
11.1.3
Terminology for Servomotors with
Low-backlash Gears . . . . . . . . . . . . . . . . . . . . . 11-2
Noise Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Reference Information for Servomotor Capacity Selection . . . 11-4
11.2.1
Formulas Required to Select the Servomotor
Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2 GD2 for Simple Diagrams . . . . . . . . . . . . . . .
11.2.3 Conversions between Engineering Units
and SI Units . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4 Application Examples by Type of Application
. . 11-4
. . 11-5
. . 11-6
. . 11-7
11.1 Terminology and Data for Servomotors with Gears
11.1.1 Terminology for Servomotors with Low-backlash Gears
11.1 Terminology and Data for Servomotors with Gears
11.1.1
Terminology for Servomotors with Low-backlash Gears
Item
Measurement Method and Definition
Rated Torque
(Nm)
Lost Motion
(arc-min)
Torsion Rigidity
(arc-min)
Angle Transmission
Deviation Accuracy
(arc-min)
The rated output torque of the Servomotor is the
input torque to the gear. The rated torque is this value
multiplied by the inverse of the gear ratio and efficiency.
The difference in the torsion angle with a ±5% rated
torque load (maximum value at any four positions
during output).
Higher torsion angle value on one side with a ± rated
torque load.
The difference between the absolute accuracy and
the accuracy for one rotation under no-load conditions during output.
Typical Value for
Low-Backlash Gear
–
3 max.
10 max.
6 max.
Torsion rigidity
Negative
torque
Positive
torque
±5% rated torque
Rated torque
11.1.2
Torsion rigidity
Torsion angle
Lost motion
Refer to the following graph for lost motion and torsion rigidity.
Rated torque
Noise Data
The following noise data for Servomotors with Gears is only for reference. The data may vary
slightly depending on the capacity and gear ratio of the Servomotor.
Initial noise level (dB)
Measurement Conditions
• Scale A: 50 cm
• Ground noise: 28 dB
11-2
100
50
1000
2000
3000
Input speed (min-1)
4000
11.1 Terminology and Data for Servomotors with Gears
11.1.3 Efficiency
Efficiency
Efficiency
The output torque and motor speed produce the following trends in efficiency. The values in the
tables of ratings and specifications for Servomotors with Gears are given at the rated motor
torque and rated motor speed.
Output torque
Motor Speed
Appendices
Efficiency
11.1.3
11
11-3
11.2 Reference Information for Servomotor Capacity Selection
11.2.1 Formulas Required to Select the Servomotor Capacity
11.2 Reference Information for Servomotor Capacity Selection
11.2.1
Formulas Required to Select the Servomotor Capacity
Type of Motion
Linear Motion
Horizontal Axis
Vertical Axis
Rotary Motion
NR
1/R
Servomotor
M VR
Servomotor
Lead: PB
1/R
Machine Configuration
N : Load shaft speed (min-1)
V : Load speed (m/min)
T : Load torque calculated at load
shaft (Nm)
μ: Friction coefficient
Ts
ta
Counterweight Mc
1/R
M V
Lead: PB
PB: Ball screw lead (m)
M: Linear motion section mass
(kg)
Mc: Counterweight mass (kg)
Motor speed
TorqueV
Torque
Tp
TL
0
Speed Diagram
Servomotor
μ
1/R: Gear ratio
η: Mechanical efficiency
TpM: Servomotor instantaneous
maximum torque (Nm)
Motor speed
Vertical axis
td
tc
tm
te
One cycle, t (S)
Travel distance (m)
R=
Load Shaft Speed
(min-1)
ta 2tc + td
V
+
60
2
R... =
V
( tm - ta )
60
N =
N
Motor Shaft Speed
(min-1)
Load Torque Calculated at Motor Shaft
(Nm)
ta = If...td ,
V
PB
NM = N R
T
R η
TL =
TL =
Load Moment of Inertia Calculated at
Motor Shaft (kgm2)
9.8 × μ M PB
2π R η
TL =
9.8 × ( M - Mc ) PB
2π R η
JL = JL1 + JL2 + JL3
Linear Motion
Section
JL1 = M –
Solid Cylinder
L (m)
JK =
D (m)
(
PB
2π R
2
)
JL1 = (M +Mc ) (
PB
2π R
Hollow Cylinder
L (m)
JK =
D0 D1
(m) (m)
)
4
1
π ρ
2
JK =
M D
OR
L D
8 k
32
Mk : Solid cylinder mass (kg)
3
3
ρ : Density (kg/m3)...Iron
ρ = 7.87 × 10 (kg/m )
3
Rotary Motion
Section
2
1
M
8 k
2
2
( D0 + Di )
3
ρ = 2.70 × 10 (kg/m )
...Aluminum
π ρ
4
4
JK =
OR
L (D0 - Di )
32
Moment of Inertia of Rotary Motion Section Calculated at Motor Shaft
JK
Rotary motion section at gear input shaft JL2 = JK
Rotary motion section at gear output shaft JL3 = 2
R
Minimum Starting
Time (s)
tam =
2π NM (JM + JL )
60 ( TPM - TL )
Continued on next page.
11-4
11.2 Reference Information for Servomotor Capacity Selection
11.2.2 GD2 for Simple Diagrams
Type of Motion
Continued from previous page.
Linear Motion
Horizontal Axis
Vertical Axis
Rotary Motion
Minimum Braking
Time (s)
tdm =
Load Moving Power
(W)
P0 =
Load Acceleration
Power (W)
Pa =
2π
NM
60
2π NM TL
60
2
JL
ta
Required Starting
Torque (Nm)
TP =
2π NM JM
60 × ta
JL
Required Braking
Torque (Nm)
TS =
2π NM JM
60 × td
JL
Effective Torque
Value (Nm)
Trms =
(ta ≥ tam )
+ TL
( ta ≥ tam )
- TL
(td ≥ tdm )
TP 2 ta + TL 2 tc + TS 2 td
t
Trms =
TP 2 ta + TL 2 ( tc +te ) + TS 2 td
t
GD2 for Simple Diagrams
D0
Solid cylinder
( D 2 = D0 2/2 )
When Rotary Shaft Is
Aligned with Center Line
of Cylinder
Hollow cylinder
D 2 = ( D0 2 + D1 2 ) /2
D0
OR
2
4
GD =125π ρ LD
ρ : Density (g/cm3)...Copper: 7.866
L : Length (m)
D : Diameter (m)
OR
2
4
4
GD =125π ρ L ( D0 + D1 )
ρ :Density (g/cm3)
L : Length (m)
D0 , D1 :Diameter (m)
D0
c
Rectangular solid
D 2 = ( b 2 + c 2 )/3
When Rotary Shaft Runs
Through Gravitational
Center
Cylindrical body
2
2
2
D = L /3 + D0 /4
b
Sphere
2
2 2
D =
5 D0
Hollow sphere
5
3
D -D
2
D = 2 03 13
5 D
D1
0 -
D0
D0
2
2
3
D =
10 D0
2
2
2
D = D0 + 3 D1
4
c
Rectangular solid
D 2 = (4 b 2 + C 2)/3
When Rotary Shaft Is
Outside Rotating Body
Rectangular solid
2
2
2
D = 4b + C
3
+4( bd + d 2 )
L
D0
D1
Wheel
Cone
When Rotary Shaft Is on
One End
D1
Cylindrical body
2
D
4 2
2
+ 0
D =
L
3
4
b
c
b
d
Cylindrical body
2
D
2
2
D = 4L + 0
3
4
+4( dL + d 2 )
D0
D1
D0
L
D0
L
d
Continued on next page.
Appendices
11.2.2
2π NM (JM + JL )
60 ( TPM + TL )
11
11-5
11.2 Reference Information for Servomotor Capacity Selection
11.2.3 Conversions between Engineering Units and SI Units
Continued from previous page.
General Formula When
Rotary Shaft Is outside
Rotating Body
Information
11.2.3
General formula for diameter of rotation when rotary shaft Is
outside rotating body
2
2
2
D2 = D1 + 4 d
D1 : Diameter of rotation when shaft that is parallel to rotary shaft and
runs through center of gravity virtually operates as a rotary shaft
Center of gravity
d
Rotary shaft
GD2 = Weight × (Diameter of rotation)2
Conversions between Engineering Units and SI Units
The following table provides the conversion rates between engineering units and SI units for
typical physical quantities required for capacity selection.
Quantity
Force or load
Weight
Mass
Torque
Inertia (moment of
inertia)
Engineering Unit
kgf
kgf
SI Unit
N
–
kgfs2/m
kg
kgfm
Nm
gfcms2
kgm2
Conversion Factor
1 kgf = 9.80665 N
The numerical values are the same for mass in
the traditional unit and the SI unit.
(The mass SI unit Wkg is used for objects in
the Wkgf traditional unit.)
1 kgfm = 9.80665 Nm
1 gfcms2 = 0.980665 × 10-4 kgm2
Relationship between GD2 (kgf·m2) and
GD2
11-6
kgfm2
kgm2
moment of inertia J (kg·m2)
2
J = GD
4
11.2 Reference Information for Servomotor Capacity Selection
11.2.4 Application Examples by Type of Application
Application Examples by Type of Application
Rotating Body
Horizontal Ball Screw
Gear ratio
1/R
Machine
Configuration
FN
(kg)
Friction
Fv W(kg)
coefficient
(kg)
μ
N
Speed Calculated at
Motor Shaft, NM
(min-1)
GD2 Calculated at
Load Shaft
GD
( ‫)ޓޓ‬
2
L
( R1 )
×
2
1
GD L ×
R
OR
T
W
2
( )
V
W(
πN )
{μ(W+ FV )+ FH }
GD
OR
2
PB
2000π
{μ( W + FV )+ FH } V
6120 × η
GD N
365 × 103 × ta
GD N
365 × 103 × ta
Acceleration time (s)
TP
TL
tc
ta
td
T
–
×
{μ FH + W1 - W2 + FV }
2
PB
2000π
Mechanical
T × 1 × 1
R η efficiency
OR
{μ FH + W1 - W2 + FV }V
2π NM η
{μ FH + W1 -W2 + FV } V
6120 × η
2
Acceleration time (s)
Acceleration time (s)
TP =
( GD 2M + GD 2L ) NM
+ TL
375 ta
TS =
( GD 2M + GD 2L ) NM
- TL
375 td
Trms =
2
( R1 )
V
W(
πN )
L
GD N 2
365 × 103 × ta
2
V (m/min)
2
M
T N
973 × η
2
2
However, W=W1 + W2
Mechanical
T ×1 ×1
efficiency
R η
{μ(W+ FV )+ FH }V
OR
2π NM η
2
PB
( 1000π )
[However, W=W1 + W2]
2
1
1
T ×
× η
R
Mechanical efficiency
2
System Remarks
R×N
M
Load Moving Power,
PO (kW)
Starting Torque, TP
(kgm)
Deceleration Torque,
TS (kgm)
Effective Torque
Value, Trms (kgm)
R×N
2
T Calculated at
Load Shaft
Load Acceleration
Power
Load speed (m/min)
1000 × V
PB
PB
W
1000π
–
GD2L Calculated at
Motor
Shaft
TL Calculated at
Motor
Shaft
FV(kg)
Pitch: PB(mm)
1000 × V
PB
R×N
W2
(kg)
FH(kg)
Load speed (m/min)
Load Speed, N
(min-1)
Load
Torque
(kgm)
μ
W1(kg)
1/R
Pitch:
PB(mm)
1/R
Linear
Motion
Section,
GD2
(kgm2)
Vertical Ball Screw
TP 2 ta + TL 2 tc + TS 2 td
T
When a load torque is applied while stopped for a vertical ball screw:
TP 2 ta + TL 2 ( T - ta - td )+ TS 2 td
Trms =
T
• The gear backlash is a
problem.
• Suitable for applications
• Falling when W1≠W2
for which increasing system speed is not required. • Brake timing
• A large torque can be
generated by a small
motor.
Appendices
11.2.4
11
Continued on next page.
11-7
11.2 Reference Information for Servomotor Capacity Selection
11.2.4 Application Examples by Type of Application
Continued from previous page.
Rack and Pinion
Roll Feeder
FV(kg)
Bearing friction
Applied pressure, N (kg) μ2 coefficient
Machine Configuration
μ
Tension, F1 (kg)
W(kg)
μ1
φ
dp(mm)
1/R
Load speed (m/min)
Load
Torque
(kgm)
[However, PB =π dP ]
However, PB = π dP
OR
PB = ZP LP
R×N
R×N
d
( 1000
)
W
GD2L Calculated at
Motor
Shaft
2
GD
×
2
dP
2000
2
L
( )
( )
{μ(W+ FV )+ FH }
2
dP
2000
Mechanical
T × 1 × 1
efficiency
R η
{μ(W+ FV )+ FH } V
OR
2π NM η
( F1 + μ1 W +μ2 N )V
6120 × η
{μ(‫ޓ‬
W +‫ޓ‬
FV )+‫ޓ‬
FH } V
6120 × η
GD N
365 × 103 × ta
2
11-8
GD
Mechanical
T ×1 × 1
efficiency
R η
( F1 +μ1 W +μ2 N )V
OR
2π NM η
Load Moving Power, PO
(kW)
Load Acceleration
Power
2
2
× 1
R
V
OR W
πNM
2
(F1 +μ1W +μ2 N )
dP
( 1000 )
W
M
TL Calculated at
Motor
Shaft
System Remarks
2
P
( R1 )
V
W(
πN )
L
OR
T Calculated at
Load Shaft
Starting Torque, TP
(kgm)
Deceleration Torque, TS
(kgm)
Effective Torque Value,
Trms (kgm)
1000 × V
PB
1000 × V
PB
Speed Calculated at
Motor Shaft, NM (min-1)
GD2 Calculated
at
Linear
Load
Shaft
Motion
Section,
GD2
(kgm2)
φ
dp(mm)
Number of teeth, ZP
Pitch, LP(mm)
1/R
Load speed (m/min)
Load Speed, N (min-1)
FH(kg)
W(kg)
GD N 2
365 × 103 × ta
2
2
Acceleration time (s)
TP
Acceleration time (s)
TP =
( GD 2M + GD 2L ) NM
+ TL
375 ta
TS =
( GD 2M + GD 2L ) NM
- TL
375 td
V (m/min)
TL
tc
ta
T
td
Trms =
TP 2 ta + TL 2 tc + TS 2 td
T
When a load torque is applied while stopped for a vertical ball screw:
TP 2 ta + TL 2 ( T - ta - td )+ TS 2 td
Trms =
T
• Feeding of coiled and sheet materials
• Roller slipping affects accuracy.
• A measuring roller pulse generator
may also be installed separately.
• Can be used for positioning with long
travel distances.
• A separate pulse generator is often
installed.
Continued on next page.
11.2 Reference Information for Servomotor Capacity Selection
11.2.4 Application Examples by Type of Application
Continued from previous page.
Dollies
Chains and Timing Belts
FV(kg)
W(kg)
W(kg)
FH(kg)
1/R
Machine Configuration
φ
dp(mm)
Number of teeth, ZP
Pitch, LP(mm)
1/R
φ
C: Resistance to travel (kg/t) dp(mm)
Load speed (m/min)
Load speed (m/min)
1000 × V
PB
[However, PB =π dP ]
1000 × V
PB
However, PB = πdP
OR
PB = ZP LP
Speed Calculated at
Motor Shaft, NM (min-1)
Linear
Motion
Section,
GD2
(kgm2)
Load
Torque
(kgm)
R×N
GD2 Calculated at
Load Shaft
R×N
dP
( 1000 )
W
GD2L Calculated at
Motor
Shaft
GD
OR
2
× 1
R
2
2
( )
V
W(
πN )
L
{μ(W+ FV )+ FH }
dP
2000
CW
CW V
6120 × 103 × η
GD 2 N 2
365 × 103 × ta
Acceleration time (s)
System Remarks
TP
Acceleration time (s)
V (m/min)
TS =
TL
tc
ta
T
td
dP
2 × 106
Mechanical
efficiency
CW V
OR
2 × 103 × π × NM η
TP =
Starting Torque, TP
(kgm)
Deceleration Torque,
TS (kgm)
Effective Torque Value,
Trms (kgm)
2
T ×1 × 1
R η
GD 2 N 2
365 × 103 × ta
Load Acceleration
Power
L
M
{μ( W + FV )+ FH }V
6120 × η
Load Moving Power,
PO (kW)
2
2
2
Mechanical
T × 1 × 1
efficiency
R η
{μ(W+ FV )+ FH } V
OR
2π NM η
TL Calculated at
Motor
Shaft
× 1
R
2
( )
V
OR W( π
N )
GD
M
T Calculated at
Load Shaft
dP
( 1000 )
W
2
GD 2M + GD
(‫ޓޓ‬
‫ޓޓ‬
) NM
L
+ TL
375 ta
2
GD 2M + GD
(‫ޓޓ‬
‫ޓޓ‬
) NM
L
- TL
375 td
Trms =
TP 2 ta + TL 2 tc + TS 2 td
T
When a load torque is applied while stopped for a vertical ball screw:
TP 2 ta + TL 2 ( T - ta - td )+ TS 2 td
Trms =
T
• Positioning of conveyors
• Chain looseness, movement, and
pitch error are problems (not suitable
for frequent use).
• Radial load for overtightened belt
chains
• Dolly slipping
Appendices
Load Speed, N (min-1)
11
11-9
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO. SIEP S800001 36B <1>
Revision number
Published in Japan April 2015
Date of publication
Date of
Publication
June 2016
Rev.
No.
<2>
Section
Revised Contents
All chapters
Partly revised.
Preface
Revision: UL standards and European directives
Chapters 1 and 9 Addition: Information on SGMMV Servomotors
Chapter 3
Newly added.
Chapters 6 and 7 Order of chapters changed.
April 2015
April 2014
Revision History-1
<1>
−
Back cover
Revision: Address
All chapters
Partly revised.
Preface
Additions: Troubleshooting precautions
Revision: Compliance with UL Standards, EU Directives, and Other Safety Standards
Chapters 1, 4, 8
Addition: Information on SGM7A-40A, -50A, and -70A Servomotors
Chapters 1, 5, 8
Additions: Information on SGM7G-30A, -44A, -55A, -75A, -1AA, and -1EA Servomotors
Chapters 1, 8
Addition: Information on SGM7P Servomotors
1.2
Revision: Nameplates
1.1.3, 4.3, 8.1.2
Revision: For changes to SGM7A Servomotor specifications
3.2, 4.2, 5.2, 6.2
Addition: Precautions for derating
5.2.1, 6.2.1
Revision: Thermal class
Chapter 6
Newly added.
−
First edition
-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone 55-11-3585-1100 Fax 55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
185, Hauptstraβe, Eschborn, 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone 66-2-017-0099 Fax 66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222, Hubin Road, Shanghai, 200021, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2014-2016 YASKAWA ELECTRIC CORPORATION
MANUAL NO. SIEP S800001 36C <2>-0
Published in Japan June 2016
15-8-11
Original instructions