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Yaskawa motor
Equipment for Energy Saving and Creation
AC SERVO DRIVES
SERIES
JQA-0422 JQA-EM0202
Certified for
ISO9001 and
ISO14001
Everyone’s preferred choice
of Servo Drives
Series of AC Servo Drives
Since the release of the first series of Servo Drives in 1984, Yaskawa Electric has
consistently made innovations to existing technologies to find solutions for problems
that users experience. Users have always sought high-speed, high-accuracy, and
easy-to-use products, and this demand rises every year.
In 2013, the series of Servo Drives evolved into the Servo Drives, which provides
users with the ultimate experience in seven key areas and delivers the optimal solutions
that only Yaskawa can offer. With the superlative performance and outstanding ease of
use of the series, Yaskawa can offer solutions that will make the Servo Drives
the preferred choice of customers at any point in the life cycle of their systems.
See pages M-6 and M-7 for examples of
the high performance of the series in
“pick and place” applications. Contact
Yaskawa for details on this and additional
applications.
1Superlative performance with improved
efficiency and speed
pages M-4 to M-7
Attention developers/engineers
Ultimate system performance
You can check the level of performance of actual operations with
the use of demonstration units. Contact Yaskawa for a
demonstration.
2 page M-8
Attention developers/engineers production maintenance personnel
Ultimately ease to use
No tuning required with the series upgraded tuning-less
function to achieve stable movement with no vibration.
3 Ultimate environmental performance page M-9
Attention developers/engineers operators
Each product has improved specifications to meet even the most
stringent environmental requirements. Servo Drives can now be used in
different countries and regions, and under a variety of conditions.
* : At this altitude, the servo drives will operate at reduced ratings.
Are there any operating environments that you have given up on? The servos
have an increased ability to cope with temperature rises in systems, comply with
the IP67 resistance to water immersion rating, and have greater global support (AC
240 V input and operable at an altitude of 2,000 meters*). Compact and energy
saving systems can also be easily built with the two-axis SERVOPACKs.
2
page M-10
developers/engineers operators
4
Attention maintenance personnel
Ultimate safety and security
It is absolutely essential to ensure the safety of systems and protect against
temperature increases. The Servo Drives are fully equipped with all the
necessary safety measures, which reduces the amount of work required for
system design and maintenance.
The Servo Drives satisfy the IEC 61508 safety integrity level 3 (SIL 3).
Safety is also ensured with temperature sensors mounted in products.
These Servo Drives can be used as system components with safety guaranteed.
page M-12 6
Attention developers/engineers
Ultimate lineup
Compatible products made by our partner
companies are also available. You can prepare
all the motion devices required for your system
with our one-stop, all-in-one service.
It is now possible to drive rotary, Linear, or
Direct Drive Servomotors using the same
SERVOPACK model in the series. This
helps to reduce the number of Servo Drives
that are put in storage.
You can choose from a rich product lineup of the series as well
as from the compatible products of Yaskawa’s partner companies
to easily build just the right system for your needs.
page M-13 7
Attention developers/engineers
Ultimate compatibility
Programs and parameters used with SERVOPACKs are compatible with SERVOPACKs.
The performance of your systems can be easily enhanced with a simple replacement.
There is no need to change your system design because the sizes of
the Servo Drives are the same as those of the series. The
improved shape of the mounting screws makes them easier to secure.
With the ensured compatibility of programs and parameters, it is easy to
replace Servo Drives with Servo Drives.
QR code reading
with a smartphone.
page M-11
Services that take full advantage of the latest technology, such as cloud
storages, QR codes, and smartphones are readily available. They add another
dimension of convenience and ease in terms of product information control
and maintenance work. (Services are scheduled to start in April 2014.)
5
Attention developers/engineers maintenance personnel
Ultimate support
Full support is available from selection to maintenance.
Maintenance is easier because product information can be viewed
by using a smartphone.
Note: QR code is a trademark of Denso Wave Incorporated.
3
3.1 kHz response frequency
Optimized for specific applications:
New models in EX and FT series to be released
Improved vibration suppression
2-axis SERVOPACKs
(200 W x 2 axes to 1 kW x 2 axes)
1.6 kHz response frequency
Improved vibration suppression
Ultimate system performance 1
Ripple compensation Enhanced vibration suppression function
Single-axis SERVOPACKs
2-axis SERVOPACKs
Notch filter
Suppresses high-frequency vibrations of 500 Hz or higher.
Number of filters increased from 2 to 5.
Anti-resonance control adjustment
Suppresses vibrations at frequencies ranging from
several hundred Hz to 1 kHz.
Vibrations can now be suppressed at two different
frequencies (in comparison with one frequency in
earlier models).
Vibration suppression
Suppresses vibrations at low frequencies (30 Hz and lower).
Vibrations can now be suppressed at two different
frequencies (in comparison with one frequency in
earlier models).
These functions can be adjusted automatically using
the autotuning function.
The high-performance of SERVOPACKs translates into ultra-high-speed
and ultra-high-accuracy control, which maximizes system performance.
SERVOPACKs can reduce speed
ripples caused by motor cogging,
even for machines for which speed
loop gains cannot be set high. This
ensures smooth operation.
4
Encoder resolution comparison
SGM7A
SGM7J
SGM7P
SGM7G
Model
20 bits =
1 million pulses/rev (approx.)
24 bits =
16 million pulses/rev (approx.)
50W
50W
100W
300W
7kW
0.75kW
1.5kW
15kW
16 times higher!
Solution for 50-W or greater models.
About 20% reduction in
temperature increase!
series series
series series
(under the same conditions)
Compact dimensions
(approx. 80% smaller than our earlier models.)
High-resolution 24-bit encoder
incorporated
(16,777,216 pulses/rev)
Maximum torque: 350%
(small capacity)
Servomotors
High-resolution, 24-bit encoder
High efficiency and low heat generation
Servomotors (50 W or greater) use
encoders with a resolution that are 16 times
higher than those used in Servomotors.
Servomotors use an optimized magnetic
circuit that improves motor efficiency and
reduces heat generation.
(comparison with typical models.)
5
Example
Problem
Issue
Issue
Issue
Issue
Solution
“Pick and place” refers to the actions involved in picking up an object
in one location and placing it in another location.
Reduces system takt times
Solving problems in “pick and place” applications
We Issue 1 need to reduce takt times.
Case 1 Case 2
Vibration occurs after servo
gain is increased.
Servo gain was successfully increased
by first using the anti-resonance
control adjustment, and then vibration
occurred at a different frequency.
Servo gain can be increased
by using the enhanced
anti-resonance control
adjustment function.
Without anti-resonance
control adjustment
With anti-resonance
control adjustment
With improved anti-resonance
control adjustment
Horizontal axis 1
(widthwise direction)
Horizontal axis 2
(lengthwise direction)
A Position deviation
B Torque reference
C Positioning Completion signal
A
B
C
A
B
C
A
B
C
How can we reduce takt times?
How can we improve positioning
accuracy?
How can we suppress vibration
created by speed acceleration?
How can we achieve stable
operation with or without
workpieces?
6
Issue 3
Solution
We want to increase Issue 2 ease productivity by suppressing vibration of equipment.
2 We want to improve positioning accuracy to handle parts that are becoming increasingly smaller.
Solution
3.1 kHz response frequency
Improved vibration suppression
0 5
Highest performance in the industry
For 20 mm lead ball screws
1.2 nm resolution
High-resolution encoders
24 bits = 16,777,216 pulses/rev
No vibration
Two different low-frequencies
can be suppressed simultaneously.
Vibration
occurs.
SERVOPACKs
Servomotors
Positioning accuracy needs to be improved
because parts that are handled are becoming
increasingly smaller.
High-precision positioning
becomes possible for precision
workpieces by replacing the
existing drive with the
Servo Drive.
Must improve
accuracy
10 μ m
Just the
trick!
0 5 10 μ m
Vibration when stopped
±10nm level also possible
Note: This will depend on the
installation conditions.
Vibration occurs at two different frequencies at the
edges of equipment and it takes a while for the
vibration to stop.
Vibration at two different low-frequencies is suppressed
simultaneously with the automatic adjustment function.
Position deviation
Position deviation
Vibration at edge of equipment
Position command speed
Positioning Completion signal
Position command speed
Positioning Completion signal
Vibration at
edge of
equipment No vibration occurs
Problem
Problem
7
No need to adjust servo gains
When the allowable load moment of inertia ratio is 30 times:
Yaskawa’s original tuning-less function has undergone further development.
Stable operations can be achieved without having to adjust gains.
2
Allowable load
moment of inertia ratio
30 times (max.)
Series Series
Max. control gain Speed loop gain
40 Hz (approx.)
30 times (max.)
Speed loop gain
70 Hz (approx.)
Takt time
reduced
Setup time
reduced
Solution Example Robot
0,000 200,000 400,000 600,000 800,000 1000,000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
-500
Time [ms]
Previous speed
response
0,000 200,000 400,000 600,000 800,000 1000,000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
-500
Time [ms]
Speed response when
tuning-less functions
Feedback speed
Positioning
Completion signal
Position
command speed
Feedback speed
Positioning
Completion signal
Position
command speed
Feedback speed
Positioning
Completion signal
Position
command speed
Feedback speed
Positioning
Completion signal
Position
command speed
With Yaskawa’s original tuning-less function, systems can run without
vibration for a load with 30 times (max.) of load moment of inertia.
Systems remain stable even with load changes during operation.
The robot’s arm maintains stable movements even when the moment
of inertia changes due to changes in the robot’s posture.
Improved response
Response is about twice as fast as
before and requires no adjustment.
Improved stability
Stable operation is assured even in
systems with load fluctuations.
No need for gain adjustments
High-level performance is assured
although no tuning is required.
Ultimately ease to use
[min-1] [min-1]
8
Waterproof protective structure upgrade
to IP67 rating
[SGM7A (IP22 for 7.0 kW), SGM7J and SGM7G models]
Satisfies specifications for use overseas
and in harsh operating conditions
3
Protective Structure (IEC 144, 529, DIN40050, JEM1030)
I P 67
* : Derating required.
Regenerative
resistor
SERVOPACK
DC bus connection
Energy consumption monitoring display
(image)
Regenerative energy Solution Example gy effectively used to help save energy
Issue Solution
240 VAC supply voltage also supported
High-altitude use increased to 2,000 meters above sea level*
Maximum ambient temperature raised to 60°C*
Rating for protection from water:
The units can be used even when they are immersed in
water under specific conditions (immersed at a depth
of 1 m below the surface of the water for 30 minutes).
Rating for protection from contact and entry of solid foreign objects:
Safe dust-proof structure
Structure is completely protected from the entry of dust.
Ultimate environmental performance
Regenerative power used to be converted
to heat by using regenerative resistors.
With global warming, CO2 emissions must
be cut by reducing power generation that
produces CO2, such as thermal power.
The Servo Drives can be used in harsh environments and conserve energy.
Optimal systems can be easily set up in different countries and under a variety of conditions.
By replacing the existing amplifiers
with the 2-axis SERVOPACKs
or using a DC bus connection, the
regenerative energy of multiple axes
can be used as the drive energy.
This means that the energy inside
the system can be utilized more
effectively.
Status of energy consumption in the
system can be viewed on a display
by using machine controllers.
9
Systems can be operated safely because the Servo Drives comply with safety standards
and safety is ensured by monitoring.
4
Satisfies requirements of the SIL 3 of the IEC 61508 functional safety standards* (first in Japan)
*:Certification scheduled for April 2014
Conventional machine safety system
New machine safety system
EN ISO13849-1
IEC 60204-1
IEC 61508
IEC 62061
IEC 61800-5-2
Safety standards
Safety of
machinery
Functional
safety
Performance level & category
PLe (CAT3)
Stop Category 0
SIL 3
SIL CL3
STO
Temperature monitoring display
(image)
Built-in
temperature
sensor
Protection from abnormal temperatures
Ultimate safety and security
Protect systems from high temperatures
SERVOPACKs and Servomotors are equipped with
temperature sensors that can directly monitor temperatures
of machines and detect abnormalities to prevent failures.
Real-time temperatures can be viewed on a display by using
Machine Controllers.
Certification will make it easier to set up systems that conform to safety standards for press machines and other
systems in Europe and other regions. Certification also helps reduce the number of hours required for wiring and of
peripheral devices.
Safety door switch
Safety unit
Safety relay
Monitoring
Monitoring
-Safety relay no longer
needed
-Less wiring required
because the monitoring
function is built inside the
SERVOPACKs.
Complies with Stop Category 0 (Safe Torque Off)
The safety function works even for a single problem.
The safety function is enhanced with compliance with
the EN ISO 13849-1 PLe (performance level e).
Note: Although the safety performance level of the series Servo Drives is
PLd (performance level d), the benefits described in the figure on the
left apply.
Systems that need to satisfy the required performance
level e (PLr e) can easily be configured.
10
Customers can now place single or multiple orders for SERVOPACKs in
the series after specifying parameters at the factory shipment stage.
No longer is it necessary to write the parameters at the system assembly
site, which means that production lead times can be reduced.
Features:
Simply access the MechatroCloud service* and hold
your smartphone over the QR code of the product. You
can acces s t h e p roduct data store d i n t h e
MechatroCloud, and view the manual for that product.
Ultimate support
Cloud-5 based storage of product data facilitates data retrieval when needed.
Single or multiple orders possible after specifying parameters
Industry first
cloud-based
service
Maintenance throughout a product’s service life is improved and simplified with
SigmaTouch!*, Yaskawa’s smartphone application.
Selection
SigmaSize+ SigmaWin+ SigmaTouch!
Design Trial Production Production Operation Maintenance
Electrical machinery
products and
capacity selection
Provision of
design
information
Parameter
setting
Monitoring Test operation Servo
adjustments
Service life
diagnosis
Troubleshooting Production
maintenance
and control
Cloud
service*
Display for total hours of use and
remaining service life (image)
Product management and maintenance service
Manufacturing information of each product can be easily viewed by using
SigmaTouch!, Yaskawa’s smartphone application. To view, simply hold your
smartphone over the QR code of the product.
Improve troubleshooting
If you have a smartphone, troubleshooting information can be accessed
by reading a product’s QR code.
Automatic tracing is possible when a SERVOPACK alarm occurs. This
allows you to detect and solve problems promptly.
Planned maintenance now available by
monitoring the operational status
The service life of the maintenance can be estimated, and the users are
notified when the parts should be replaced. System failure can be
prevented because parts can be replaced before products break.
Read QR code
with a smartphone
* Starts in spring 2014
Note: MechatroCloud is a new colud service provided
by the the Yaskawa Electric.
11
You can construct a system that exactly meets your requirements using communications
networks and the rich lineup of products offered by Yaskawa’s partner companies.
6
Motion Network
Open network
Major partner manufacturer
Rich lineup of products offered
by Yaskawa’s partner companies
The same SERVOPACK can be used
with different types of Servomotors.
Made by Digital Electronics Corporation
Melec Inc.
Heidenhain Corporation
Renishaw plc
Magnescale Co., Ltd.
Mitutoyo Corporation
Endo Kogyo Co., Ltd.
Kyoei Electric Co., Ltd.
Others
MECHATROLINKMECHATROLINKDigital
Electronics Corporation
Tokyo Electron Device Limited
Anywire Corporation
Algo System Co., Ltd.
Phoenix Contact GmbH&Co. KG
M-System Co., Ltd.
RKC Instrument Inc.
Oriental Motor Co., Ltd.
DeviceNet
PROFIBUS
PROFINET
CC-LINK (By Anywire Corporation)
CompoNet
EtherCAT
MP-LINK
(Real-time network developed by Yaskawa)
A-net/A-Link
(By Algo System Co., Ltd.)
CUnet
(By Algo System Co., Ltd.)
AnyWire-DB
(By Anywire Corporation)
Supported closed networks
Field Network
Supported open networks
Net
Option modules for MP2000 and
MP3000 series
Controller Network
FL-net
EtherNet/IP
Ethernet
RS-232C, RS-422/485
Supported open networks
Ultimate lineup
12
7
SERVOPACK
Servomotor
Mounting holes on top Mounting holes on top
Mounting holes on bottom Mounting holes on bottom
200 W 60 mm 200 W 60 mm
Ultimate compatibility
Installation interchangeability with the models in
the SERVOPOACK having the same capacity
is featured for the SERVOPACKs.
The SERVOPACKs have improved shapes for
mounting holes. With this new shape, it’s much
easier to insert a screwdriver.
A parameter conversion mode is provided.
The parameters of the SERVOPACKs
can be used with the SERVOPACKs,
when using the SigmaWin+ parameter
converter.
Compatibility with earlier series is assured. You can improve the performance
of your system by replacing devices currently used with Servo Drives.
The SERVOPACKs are compatible with models of
the same capacity in the series SERVOPACKs.
13
*: 3 kW and above to be released in spring 2014.
SGM7P model (Medium capacity, fl at type) is
also available.
Product Lineup
14
Servomotors
SERVOPACKs
Rotary Servomotors*
Analog voltage/pulse
train reference
MECHATROLINK-2
communications
reference
Single-axis
MECHATROLINK-3
communications
reference
Two-axis
MECHATROLINK-3
communications
reference
Direct Drive Servomotors
Linear Servomotors
SGM7A (Low inertia, high speed)
50 W-7 kW
SGD7S- A00A SGD7W- SGD7S- A10A SGD7S- A20A A20A
Small capacity, coreless (SGMCS)
2 N・m -35 N・m
SGLG (Coreless model)
12.5 N-750 N
SGLT (Model with T-type iron core)
130 N-900 N
SGM7J (Medium inertia, high speed)
50 W-750 W
Small capacity, with iron core (SGMCV)
4 N・m -25 N・m
SGLFW (Model with F-type iron core)
25 N-1120 N
SGLC (Cylinder model)
17 N-180 N
SGM7G (Medium inertia, large torque)
300 W-15 kW
Medium capacity, with iron core (SGMCS)
45 N・m -200 N・m
SGLFW2 (Model with F-type iron core)
45 N-1680 N
I/O signal cable
External devices such as
LED indicators
CN1
CN6
CN3
CN7
CN8
CN2
Digital
operator
Connection cable
for personal computer
Note: When not using the safety function,
use the SERVOPACK with the safety
function jumper connector inserted.
Motor main
circuit cable
Direct Drive Servomotor
Encoder cable
Brake
power supply
Motor main
circuit cable
Encoder cable
Battery case
(when an absolute
encoder is used.)
Magnetic
contactor
Regenerative
resistor
Noise filter
Molded-case
circuit breaker
(MCCB)
Magnetic
contactor
R S T
Turns the servo
ON and OFF.
Install a surge
absorber.
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Used for a
servomotor
with a brake.
(Wiring required for the brake)
Power supply
Three-phase 200 VAC
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is detected.
Used to eliminate
external noise from
the power line.
Connect an external
regenerative resistor
to terminals B1 and
B2 if the regenerative
capacity is insufficient.
To
MECHATROLINKreference
cable
Connection cable
for digital operator
Connection cable for
safety function devices
To other stations using
MECHATROLINK- .
Rotary Servomotor
Single-axis
MECHATROLINKCommunications
Reference
SERVOPACK
15
System Confi guration Example
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor
1For MECHATROLINK-3 Communications
Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Linear Servomotor
Linear encoder
(To be provided by customers.)
Connection
cable for
hall sensor
Encoder
cable
Main circuit cable for
Linear Servomotor
Serial converter unit
Connection cable for
serial converter unit
Noise filter
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is detected.
Used to eliminate
external noise from
the power line. Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Single-axis
MECHATROLINKCommunications
Reference
SERVOPACK
CN1
CN6
CN3
CN7
CN8
MECHATROLINKreference
cable
To other stations using
MECHATROLINK- .
Connection cable
for digital operator
Digital
operator
Connection cable
for personal computer
I/O signal cable
External devices such as
LED indicators
Connection cable for
safety function devices
Note: When not using the safety function,
use the SERVOPACK with the safety
function jumper connector inserted.
Regenerative
resistor
Connect an external
regenerative resistor
to terminals B1 and
B2 if the regenerative
capacity is insufficient.
回転形サーボドライブ
16
System Confi guration Example
Combination of SERVOPACK and Linear Servomotor
1For MECHATROLINK-3 Communications
Three-phase 200 VAC
CN1
CN6
CN3
CN7
Digital
operator
I/O signal cable
External devices such as
LED indicators
Brake
power supply
Magnetic
contactor
Regenerative
resistor
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Used for a
servomotor
with a brake.
Connect an external
regenerative resistor
to terminals B1 and
B2 if the regenerative
capacity is insufficient.
R S T
Power supply
Three-phase 200 VAC
Noise filter
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is detected.
Used to eliminate
external noise from
the power line.
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Two-axis
MECHATROLINKCommunications
Reference
SERVOPACK
MECHATROLINKreference
cable
To other stations using
MECHATROLINK- .
Connection cable
for digital operator
Connection cable
for personal computer
(Wiring required for the brake)
Battery case
(when an absolute
encoder is used.)
Encoder cable
Encoder cable
Motor main
circuit cable
Motor main
circuit cable
Rotary Servomotor
Direct Drive Servomotor
To CN2
回転形サーボドライブ
17
Combination of SERVOPAK and Rotary Servomotor/Direct Drive Servomotor
1For MECHATROLINK-3 Communications
Three-phase 200 VAC
18
Series Combination
Rotary Servomotor Model Rated Output
SERVOPACK Model
SGD7S- SGD7WSGM7A
(Low inertia, high speed)
3000 min-1
SGM7A-A5A 50 W R70A 1R6A
SGM7A-01A 100 W R90A 1R6A
SGM7A-C2A 150 W
1R6A
SGM7A-02A 200 W
SGM7A-04A 400 W 2R8A
SGM7A-06A 600 W
5R5A
SGM7A-08A 750 W
SGM7A-10A 1.0 kW
120A
−
SGM7A-15A 1.5 kW
SGM7A-20A 2.0 kW 180A
SGM7A-25A 2.5 kW
200A
SGM7A-30A 3.0 kW
SGM7J
(Medium inertia, high speed)
3000 min-1
SGM7J-A5A 50 W R70A 1R6A
SGM7J-01A 100 W R90A 1R6A
SGM7J-C2A 150 W 1R6A
SGM7J-02A 200 W 1R6A
SGM7J-04A 400 W 2R8A
SGM7J-06A 600 W
5R5A
SGM7J-08A 750 W
SGM7G
(Medium inertia, large torque)
1500 min-1
SGM7G-03A 300 W
3R8A 5R5A
SGM7G-05A 450 W
SGM7G-09A 850 W 7R6A
SGM7G-13A 1.3 kW 120A −
SGM7G-20A 1.8 kW 180A
Direct Drive Servomotor Model
Rated Torque
N・m
Instantaneous
Peak Torque
N・m
SERVOPACK Model
SGD7S- SGD7WSmall
capacity, coreless
(SGMCS)
SGMCS-02B 2 6
2R8A
SGMCS-05B 5 15
SGMCS-07B 7 21
SGMCS-04C 4 12
SGMCS-10C 10 30
SGMCS-14C 14 42
SGMCS-08D 8 24
SGMCS-17D 17 51
SGMCS-25D 25 75
SGMCS-16E 16 48
5R5A
SGMCS-35E 35 105
Medium capacity, with iron core
(SGMCS)
SGMCS-45M 45 135 7R6A
SGMCS-80M 80 240
120A
−
SGMCS-80N 80 240
SGMCS-1AM 110 330 180A
SGMCS-1EN 150 450
200A
SGMCS-2ZN 200 600
Small capacity, with iron core
(SGMCV)
SGMCV-04B 4 12
2R8A
SGMCV-10B 10 30
SGMCV-14B 14 42 5R5A
SGMCV-08C 8 24 2R8A
SGMCV-17C 17 51 5R5A
SGMCV-25C 25 75 7R6A
1Combination of Rotary Servomotors and SERVOPACKs
1Combination of Direct Drive Servomotors and SERVOPACKs
19
Linear Servomotor Model
Rated Force
N
Peak Force
N
SERVOPACK Model
SGD7S- SGD7WSGLG
(Coreless model, with standard
magnetic way)
SGLGW-30A050C 12.5 40 R70A 1R6A
SGLGW-30A080C 25 80
R90A 1R6A
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280 1R6A
SGLGW-40A365C 140 420 2R8A
SGLGW-60A140C 70 220 1R6A
SGLGW-60A253C 140 440 2R8A
SGLGW-60A365C 210 660 5R5A
SGLGW-90A200C 325 1300 120A
SGLGW-90A370C 550 2200 180A −
SGLGW-90A535C 750 3000 200A
SGLG
(Coreless model, with high-force
magnetic way)
SGLGW-40A140C 57 230 1R6A
SGLGW-40A253C 114 460 2R8A
SGLGW-40A365C 171 690 3R8A 5R5A
SGLGW-60A140C 85 360 1R6A
SGLGW-60A253C 170 720 3R8A 5R5A
SGLGW-60A365C 255 1080 7R6A
SGLF
(Model with F-type iron core)
SGLFW-20A090A 25 86
SGLFW-20A120A 40 125 1R6A
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440 3R8A 5R5A
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B
560 1200 120A SGLFW-1ZA200B −
SGLFW-1ZA380B 1120 2400 200A
SGLFW2-30A070A 45 135
1R6A
SGLFW2-30A120A 90 270
SGLFW2-30A230A*
180 540 3R8A −
170 500 2R8A
SGLFW2-45A200A 280 840 5R5A
SGLFW2-45A380A* 560
1680 180A
−
1500
120A
SGLFW2-90A200A 560 1680
SGLFW2-90A380A 1120 3360
200A
SGLFW2-1DA380A 1680 5040
SGLT
(Model with T-type iron core)
SGLTW-20A170A 130 380 3R8A 5R5A
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140 120A −
SGLTW-35A170A 220 660
5R5A
SGLTW-35A170H 300 600
SGLTW-35A320A 440 1320
120A
− SGLTW-35A320H 600 1200
SGLTW-35A460A 670 2000
180A
SGLTW-40A400B 670 2600
SGLTW-50A170H 450 900 5R5A
SGLTW-50A320H 900 1800 120A −
SGLC
(Cylinder model)
SGLC-D16A085A 17 60
R70A
SGLC-D16A115A 25 90 1R6A
SGLC-D16A145A 34 120 R90A
SGLC-D20A100A 30 150
1R6A
SGLC-D20A135A 45 225
SGLC-D20A170A 60 300 2R8A
SGLC-D25A125A 70 280 1R6A
SGLC-D25A170A 105 420 2R8A
SGLC-D25A215A 140 560 5R5A
SGLC-D32A165A 90 420 2R8A
SGLC-D32A225A 135 630
5R5A
SGLC-D32A285A 180 840
1Combination of Linear Servomotors and SERVOPACKs
* : Can be combined with two different SERVOPACKs. Rated force and peak force will differ depending on SERVOPACK combination.
20
◆ Incremental Linear Encoder : Possible −: Not possible
◆Absolute Linear Encoder
◆Absolute Rotary Encoder
Output Signal Manufacturer
Encoder
Type
Model Scale
Pitch
μ m
Resolution
bit/rev
Maximum
Speed*3
min-1
Linear
Motor
Fully-closed
Loop
Scale Control
Sensor
Head
Interpolator (serial
converter unit)
Applicable for
Yaskawa’s
Serial Interface
Magnescale
Co., Ltd.
Sealed
Type
RU77-4096ADF − 20 2000 −
RU77-4096AFFT01 − 22 2000 −
Output Signal Manufacturer
Encoder
Type
Model Scale
Pitch
μ m
Resolution
nm
Maximum
Speed*3
m/s
Hall
Sensor
Input
Linear
Motor
Fully-closed
Loop
Scale Control
Sensor
Head
Interpolator (serial
converter unit)
Applicable for
Yaskawa’s
Serial
Interface*2
Magnescale
Co., Ltd.
Sealed
Type
SR77- □□□□□LF − 80 9.8 3.33 −
SR77-□□□□□MF − 80 78.1 3.33 −
SR87-□□□□□LF − 80 9.8 3.33 −
SR87-□□□□□MF − 80 78.1 3.33 −
Mitutoyo
Corporation
Open
Type
ST781A − 256 500 5 −
ST782A − 256 500 5 −
ST783A − 51.2 100 5 −
ST784A − 51.2 100 5 −
ST788A − 51.2 100 5 −
ST789A*6 − 25.6 50 5 −
Heidenhain
Corporation
Open
Type
LIC4100 series EIB339IY − 5 5 −
*1: The use of Yaskawa serial converter units is required. Output signals are divided into 256 (8-bits multiplier) or 4096 (12-bits multiplier) in the serial
converter units.
*2: Each linear scale has a different multiplier (number of divisions). Before use, write the parameters of the linear servomotors into the linear scales.
*3: The maximum speed shown is for the linear scale when combined with a Yaskawa SERVOPACK.
Either the maximum speed of the linear servomotor or that of the linear scale in this table limits the maximum speed.
*4: If the zero-point signal is used with the Renishaw linear scale, the accuracy might be affected, and the zero point might be detected as being at a
different position. If so, use BID and DIR signals to send the zero point in one direction.
*5: Contact your Yaskawa representative.
*6: For details, contact Mitutoyo Corporation.
Note: Before using the linear scales, contact the manufacturer of the scale for specifications including accuracy, dimensions, and recommended
operating conditions.
Recommended Linear Encoders
Output Signal Manufacturer
Encoder
Type
Model Scale
Pitch
μm
Resolution
nm
Maximum
Speed*3
m/s
Hall
Sensor
Input
Linear
Motor
Fully-closed
Loop
Scale Control
Sensor
Head
Interpolator (serial
converter unit)
1Vp-p
Analog
Voltage*1
Heidenhain
Corporation
Open
Type
LIDA48
(JZDP-D003/-D006)
20
78.1 5
(JZDP-G003/-G006) 4.9 2 −
LIF48
(JZDP-D003/-D006)
4
15.6 1
(JZDP-G003/-G006) 1.0 0.4 *5 −
Renishaw plc*4 Open
Type
RGS20 RGH22B
(JZDP-D005/-D008)
20
78.1 5
(JZDP-G005/-G008) 4.9 2 −
Applicable for
Yaskawa’s
Serial
Interface*2
Magnescale
Co., Ltd.
Open
Type
SL7 0
PL101-RY
800 97.7 5
−
PL101 MJ620-T13 −
Sealed
Type
SR75- LF − 80 9.8 3.33 −
SR75- MF − 80 78.1 3.33 −
SR85- LF − 80 9.8 3.33 −
SR85- MF − 80 78.1 3.33 −
21
Model Designations
SGM7J
3Without Gears 3With Gears
SGM7J – 01 A 7 A 2 1 SGM7J – 01 A 7 A H 1 2 1
Series
Servomotors:
SGM7J
Series
Servomotors:
SGM7J
SGM7A
3Without Gears 3With Gears
SGM7A – 01 A 7 A 2 1 SGM7A – 01 A 7 A H 1 2 1
Series
Servomotors:
SGM7A
Series
Servomotors:
Code Specifi cation SGM7A
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 600 W
08 750 W
10 1.0 kW
15 1.5 kW
20 2.0 kW
25 2.5 kW
30 3.0 kW
1st+2nd digits Rated Output
Code Specifi cation
A 200 VAC
3rd digit Power Supply Voltage
Code Specifi cation
H HDS planetary low-backlash gear
6th digit Gear Type
Code Specifi cation
7 24-bit absolute
F 24-bit incremental
4th digit Serial Encoder
Code Specifi cation
A 200 VAC
3rd digit Power Supply Voltage
Code Specifi cation
7 24-bit absolute
F 24-bit incremental
4th digit Serial Encoder
Code Specifi cation
A 200 VAC
3rd digit Power Supply Voltage
Code Specifi cation
7 24-bit absolute
F 24-bit incremental
4th digit Serial Encoder
Code Specifi cation
A 200 VAC
3rd digit Power Supply Voltage
Code Specifi cation
7 24-bit absolute
F 24-bit incremental
4th digit Serial Encoder
Code Specifi cation
2 Straight without key
6 Straight with key and tap
B* With two fl at seats
6th digit Shaft End
Code Specifi cation
2 Straight without key
6 Straight with key and tap
B With two fl at seats
6th digit Shaft End
Code Specifi cation
0 Flange output
2 Straight without key
6 Straight with key and tap
8th digit Shaft End
Code Specifi cation
0 Flange output
2 Straight without key
6 Straight with key and tap
8th digit Shaft End
Code Specifi cation
1 Without options
C With holding brake
(24 VDC)
E With oil seal and holding
brake (24 VDC)
S With oil seal
7th digit Options
Code Specifi cation
1 Without options
C With holding brake
(24 VDC)
E With oil seal and holding
brake (24 VDC)
S With oil seal
7th digit Options
Code Specifi cation
2 Straight without key
6 Straight with key and tap
6th digit Shaft End
Code Specifi cation
1 Without options
C With holding brake
(24 VDC)
E With oil seal and holding
brake (24 VDC)
S With oil seal
7th digit Options
Code Specifi cation
1 Without options
C With holding brake
(24 VDC)
9th digit Options
Code Specifi cation
1 Without options
C With holding brake
(24 VDC)
9th digit Options
Code Specifi cation
B 1/11*1
C 1/21
1 1/5
2 1/9*2
7 1/33
7th digit Gear Ratio
Code Specifi cation
B 1/11*1
C 1/21
1 1/5
2 1/9*2
7 1/33
7th digit Gear Ratio
*1. This specifi cation is not
supported for models with a
rated output of 50 W.
*2. This specifi cation is
supported only for models
with a rated output of 50 W.
*1. This specifi cation is not
supported for models with a
rated output of 50 W.
*2. This specifi cation is
supported only for models
with a rated output of 50 W.
* Code B is not supported for
models with a rated output of
1.5 kW or higher.
1st+2nd 3rd 4th 5th 6th 7th digit 1st+2nd 3rd 4th 5th 6th 7th 8th 9th digit
1st+2nd 3rd 4th 5th 6th 7th digit
1st+2nd 3rd 4th 5th 6th 7th digit
1st+2nd 3rd 4th 5th 6th 7th 8th 9th digit
SGM7G
SGM7G – 03 A 7 A 2 1
Series
Servomotors:
SGM7G
1Rotary Servomotors
Code Specifi cation
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 600 W
08 750 W
10 1.0 kW
1st+2nd digits Rated Output
Code Specifi cation
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 600 W
08 750 W
1st+2nd digits Rated Output
Code Specifi cation
03 300 W
05 450 W
09 850 W
13 1.3 kW
20 1.8 kW
1st+2nd digits Rated Output
Code Specifi cation
A 200 VAC
3rd digit Power Supply Voltage
Code Specifi cation
7 24-bit absolute
F 24-bit incremental
4th digit Serial Encoder
Code Specifi cation
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 600 W
08 750 W
1st+2nd digits Rated Output
5th digit Design Revision Order
A
5th digit Design Revision Order
A
5th digit Design Revision Order
A
5th digit Design Revision Order
A
Code Specifi cation
H HDS planetary low-backlash gear
6th digit Gear Type
5th digit Design Revision Order
A
22
Model Designations
Note: Direct Drive Servomotors are not available with holding brakes.
3Moving Coil 3Magnetic Way
S G L G M – 30 108 A
Linear
Series
Linear
Servomotors
Code Specifi cation
090 90 mm
108 108 mm
216 216 mm
225 225 mm
252 252 mm
360 360 mm
405 405 mm
432 432 mm
450 450 mm
504 504 mm
1 Direct Drive Servomotors
1 Linear Servomotors
SGMCS
SGLG (Coreless Models)
SGMCV
SGMCS – 02 B 3 C 1 1
S G L G W – 30 A 050 C P
SGMCV – 04 B E A 1 1
Direct Drive
Servomotors:
SGMCS
Linear
Series
Linear
Servomotors
Direct Drive
Servomotors:
3Small-capacity Series 3Medium-capacity Series SGMCV
Code Specifi cation Code Specifi cation Code Specifi cation
02 2 N· m 14 14 N ·m 45 45 N · m
04 4 N ·m 16 16 N ·m 80 80 N· m
05 5 N ·m 17 17 N ·m 1A 110 N· m
07 7 N ·m 25 25 N ·m 1E 150 N · m
08 8 N ·m 35 35 N ·m 2Z 200 N · m
10 10 N ·m
Code Specifi cation
04 4 N· m
08 8 N ·m
10 10 N ·m
14 14 N ·m
17 17 N ·m
25 25 N ·m
Code Specifi cation
B 135-mm dia.
C 175-mm dia.
D 230-mm dia.
E 290-mm dia.
M 280-mm dia.
N 360-mm dia.
Code Specifi cation
A Model with servomotor outer diameter code M or N
B Model with servomotor outer diameter code E
C Model with servomotor outer diameter code B, C, or D
Code Polarity SSepnescoirfi caCtoioolninsg Method Applicable Models
None None Self-cooled All models
CH NYoense AAiirr–ccoooolleedd SGLGW-40A, -60A, -90A
P Yes Self-cooled All models
Code Specifi cation Applicable Models
None Standard-force All m.odels
-M High-force SGLGM-40, -60
5th digit Design Revision Order
A
Code Specifi cation
3 20-bit absolute
single-turn data
D 20-bit incremental
Code Mounting Servomotor Outer Diameter Code (3rd Digit)
B C D E M N
1 Non-load side - -
Load side - - - -
3 Non-load side - - - -
4 Non-load side
(with cable on side) - -
: Applicable models.
Note: Direct Drive Servomotors are not available with holding brakes.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
9th digit Design Revision Order
A, B · · ·
* The SGLGM-40 and SGLGM-60 also have a CT code.
・C = Without mounting holes on the bottom
・CT = With mounting holes on the bottom
3rd digit Servomotor Outer Diameter Code Specifi cation
B 135-mm dia.
C 175-mm dia.
3rd digit Servomotor Outer Diameter
Code Specifi cation
E 20-bit single-turn data
I 22-bit multiturn data
4th digit Serial Encoder
4th digit Serial Encoder
5th digit Design Revision Order
Code Specifi cation
1 Without options
7th digit Options
1st+2nd 3rd 4th 5th 6th 7th digit 1st+2nd 3rd 4th 5th 6th 7th digit
1st+2nd digits Rated Output
6th digit Flange
Code Specifi cation
1 Non-load side
4 Non-load side
(with cable on side)
6th digit Flange
Code Specifi cation
1 Without options
5
High machine precision
(runout at end of shaft
and runout of shaft
surface: 0.01 mm)
7th digit Options
1st+2nd digits Rated Output
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th digit 1st 2nd 3rd+4th 5th+6th+7th 8th 9th digit
Code Specifi cation
G Coreless model
1st digit Servomotor Type
Code Specifi cation
W Moving Coil
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
A 200 VAC
5th digit Power Supply Voltage
Code Specifi cation
30 30 mm
40 40 mm
60 60 mm
90 86 mm
3rd+4th digits Magnet Height
Code Specifi cation
G Coreless model
1st digit Servomotor Type
Code Specifi cation
M Magnetic Way
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
30 30 mm
40 40 mm
60 60 mm
90 86 mm
3rd+4th digits Magnet Height
Code Specifi cation
050 50 mm
080 80 mm
140 140 mm
200 199 mm
253 252.5 mm
365 365 mm
370 367 mm
535 535 mm
6th+7th+8th digits Length of Moving Coil
8th digit Design Revision Order
A, B , C *· · ·
5th+6th+7th digits Length of Magnetic Way
10th digit Sensor Specifi cation and Cooling Method
9th digit Options
Code Specifi cation Applicable Models
None Connector from Tyco
Electronics Japan G.K. All models
D Connector from
Interconnectron GmbH SGLGW-30A, -40A, -60A
11th digit Connector for Servomotor Main Circuit Cable
23
SGLFW (Models with F-type Iron Cores)
3Magnetic 3Moving Coil Magnetic Way
S G L F W – 20 A 090 A P S G L F M – 20 324 A
Linear
Series
Linear
Servomotors
Linear
Series
Linear
Servomotors
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th digit
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th digit
9th digit Design Revision Order
A, B · · ·
8th digit Design Revision Order
A, B · · ·
Code Specifi cation
F With F-type iron core
1st digit Servomotor Type
Code Specifi cation
F With F-type iron core
1st digit Servomotor Type
Code Specifi cation
W Moving Coil
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
M Magnetic Way
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
A 200 VAC
5th digit Voltage
Code Specifi cation
20 20 mm
35 36 mm
50 47.5 mm
1Z 95 mm
3rd+4th digits Magnet Height
Code Specifi cation
20 20 mm
35 36 mm
50 47.5 mm
1Z 95 mm
3rd+4th digits Magnet Height
Code Specifi cation
F With F-type iron core
1st digit Servomotor Type
Code Specifi cation
M Magnetic Way
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
30 30 mm
45 45 mm
90 90 mm
1D 135 mm
3rd+4th digits Magnet Height
8th digit Design Revision Order
A
Code Specifi cation
270 270 mm
306 306 mm
450 450 mm
510 510 mm
630 630 mm
714 714 mm
10th digit Sensor Specifi cation
Code Specifi cation Applicable Models
None Connector from Tyco
Electronics Japan G.K. All models
D Connector from
Interconnectron GmbH SGLFW-35, -50, -1Z 200B
11th digit Connector for Servomotor Main Circuit Cable
Code Specifi cation
P With polarity sensor
None Without polarity sensor
Code Specifi cation
F With F-type iron core
1st digit Servomotor Type
Code Specifi cation
W Moving Coil
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
A 200 VAC
5th digit Power Supply Voltage
Code Specifi cation
30 30 mm
45 45 mm
90 90 mm
1D 135 mm
3rd+4th digits Magnet Height
9th digit Design Revision Order
A
Code Specifi cation
070 70 mm
120 125 mm
200 205 mm
230 230 mm
380 384 mm
10th digit Sensor Specifi cation
Code Specifi cation
T Without polarity sensor, with thermal protector
S With polarity sensor and thermal protector
9th digit Options
Code Specifi cation
None Without options
C With magnet cover
1st 2nd 3rd+4th 5th+6th+7th 8th 9th digit
1st 2nd 3rd+4th 5th+6th+7th 8th digit
5th+6th+7th
digits Length of Magnetic Way
Code Specifi cation
324 324 mm
405 405 mm
540 540 mm
675 675 mm
756 756 mm
945 945 mm
6th+7th+8th
digits Length of Moving Coil
5th+6th+7th
digits Length of Magnetic Way
6th+7th+8th
digits Length of Moving Coil
Code Specifi cation
090 91 mm
120 127 mm
200 215 mm
230 235 mm
380 395 mm
1 Linear Servomotors
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
11th digit Cooling Method
Code Specifi cation
None Self-cooled
L Water-cooled*
SGLFW2 (Models with F-type Iron Cores)
3Moving Coil 3Magnetic Way
S G L F W2 – 30 A 070 A T S G L F M2 – 30 270 A
Linear
Series
Linear
Servomotors
Linear
Series
Linear
Servomotors
* Contact your Yaskawa representative for information on water-cooled models.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
24
Model Designations
3Moving Coil 3Magnetic Way
S G L T M – 20 324 A
Linear
Series
Linear
Servomotors
3rd+1st 2nd 4th 5th 6th+7th+8th 9th 10th 11th digit 1st 2nd 3rd+4th 5th+6th+7th 8th 9th digit
Code Specifi cation
A 200 VAC
5th digit Power Supply Voltage
Code Specifi cation
T With T-type iron core
1st digit Servomotor Type
Code Specifi cation
W Moving Coil
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
20 20 mm
35 36 mm
40 40 mm
50 51 mm
3rd+4th digits Magnet Height
6th+7th+8th
digits Length of Moving Coil
5th+6th+7th
Code Specifi cation digits Length of Magnetic Way
T With T-type iron core
1st digit Servomotor Type
Code Specifi cation
M Magnetic Way
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
20 20 mm
35 36 mm
40 40 mm
50 51 mm
3rd+4th digits Magnet Height
9th digit Design Revision Order
A, B · · ·
H: High-effi ciency model
Code Specifi cation
170 170 mm
320 315 mm
400 394.2 mm
460 460 mm
600 574.2 mm
Code Polarity SSepnescoirfi caCtoioolninsg Method Applicable Models
None None Self-cooled All models
HC** NYoense WWaatteerr–ccoooolleedd SGLTW-40
P Yes Self-cooled All models
10th digit Sensor Specifi cation and Cooling Method
11th digit Connector for Servomotor Main Circuit Cable
8th digit Design Revision Order
A, B · · ·
H: High-effi ciency model
Code Specifi cation
324 324 mm
405 405 mm
540 540 mm
675 675 mm
756 756 mm
945 945 mm
SGLT (Models with T-type Iron Cores)
S G L T W – 20 A 170 A P
Linear
Series
Linear
Servomotors
Code Specifi cation Applicable Models
None
Connector from Tyco
Electronics Japan G.K.
SGLTW -20A
-35A
-50A
MS connector SGLTW -40 B
Loose lead wires with
no connector
SGLTW -35A H
-50A H
9th digit Options
Code Specifi cation Applicable Models
None Without options −
C With magnet cover All models
Y With base and magnet cover SGLTM-20, -35*, -40
* Contact your Yaskawa representative for the characteristics, dimensions, and other
details on Servomotors with these specifi cations.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
* The SGLTM-35 H (high-effi ciency models) do not support this specifi cation.
1 Linear Servomotors (Con’ d)
25
3rd+4th+1st 2nd 5th 6th 7th+8th+9th 10th 11th digit 1st 2nd 3rd+4th+5th 6th+7th+8th 9th digit
Code Specifi cation
A 200 VAC
5th digit Power Supply Voltage
(Same as above combinations.)
6th digit Power Supply Voltage
Code Specifi cation
W Moving Coil
2nd digit Moving Coil/Magnetic Way
Code Specifi cation
C Cylinder type
1st digit Servomotor Type
Code Specifi cation
C Cylinder type
1st digit Servomotor Type
Code Specifi cation
C Cylinder type
1st digit Servomotor Type
Code Specifi cation
P With polarity sensor
10th digit Sensor Specifi cation
(Same as above combinations.)
11th digit Sensor Specifi cation
Code Specifi cation
D16 16 mm
D20 20 mm
D25 25 mm
D32 32 mm
2nd+3rd+4th
digits
Outer Diameter of
Magnetic Way*1
Code Specifi cation External Dimension
Code of Magnetic Way
085 85 mm D16
100 100 mm D20
115 115 mm D16
125 125 mm D25
135 135 mm D20
145 145 mm D16
165 165 mm D32
170 170 mm D20, D25
215 215 mm D25
225 225 mm D32
285 285 mm D32
6th+7th+8th
digits Length of Moving Coil*1
7th+8th+9th
digits Length of Moving Coil
(Same as above combinations.)
6th+7th+8th
digits Length of Magnetic Way
(Same as above combinations.)
3rd+4th+5th
digits
Outer Diameter of
Magnetic Way
(Same as above combinations.)
3rd+4th+5th
digits
Outer Diameter of
Magnetic Way
(Same as above combinations.)
Code Specifi cation
M Magnetic Way
2nd digit Moving Coil/Magnetic Way
9th digit Design Revision Order
of Moving Coil
A, B · · ·
10th digit Design Revision Order
A, B · · · 9th digit Design Revision Order
A, B · · ·
14th digit Design Revision Order of Magnetic Way
A, B · · ·
1st 2nd+3rd+4th 5th 6th+7th+8th 9th 10th 11th+12th+13th 14th digit
SGLC (Cylinder Models)
S G L C W – D16 A 085 A P S G L C M – D16 750 A
S G L C – D16 A 085 A P – 750 A
Linear
Series
Linear
Servomotors
Linear
Series
Linear
Servomotors
Linear
Series
Linear
Servomotors
*1. There are restrictions in the allowable combinations. Refer to List of Models (page 178) for details.
*2. Contact your Yaskawa representative when you make a special order.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
Note: This code contains four digits
if the length of the Magnetic
Way is 1,000 or longer.
Note: 1. Order the Moving Coil and Magnetic Way as a set. Contact your Yaskawa representative before purchasing a Moving Coil and Magnetic Way separately.
3Combination of Moving Coil and Magnetic Way
11th+12th+13th digits Length of Magnetic Way*1
Code Specifi cation Special Orders*2
300 300 mm 240 mm to 420 mm (in 30-mm increments)
350 350 mm 280 mm to 490 mm (in 35-mm increments)
450 450 mm 360 mm to 630 mm (in 45-mm increments)
510 510 mm 480 mm to 750 mm (in 30-mm increments)
590 590 mm 555 mm to 870 mm (in 35-mm increments)
600 600 mm 480 mm to 840 mm (in 60-mm increments)
750 750 mm
For Magnetic Way with outer diameter of 16 mm:
480 mm to 750 mm (in 30-mm increments)
For Magnetic Way with outer diameter of 25 mm:
705 mm to 1,110 mm (in 45-mm increments)
870 870 mm 555 mm to 870 mm (in 35-mm increments)
1020 1020 mm 960 mm to 1,500 mm (in 60-mm increments)
1110 1110 mm 705 mm to 1,110 mm (in 45-mm increments)
1500 1500 mm 960 mm to 1,500 mm (in 60-mm increments)
3Moving Coil 3Magnetic Way
26
Model Designations
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th digit
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th digit
1st+2nd+3rd
digits
Maximum Applicable
Motor Capacity Code Specifi cation
A 200 VAC
4th digit Voltage
5th+6th digits Interface*
Code Specifi cation
00 Analog voltage/pulse train referance
10 MECHATROLINK-2
communication reference
20 MECHATROLINK-3
communication reference
Code Specifi cation
A 200 VAC
4th digit Voltage
5th+6th digits Interface*
Code Specifi cation
20 MECHATROLINK-3
communication reference
7th digit Design Revision Order
A
8th+9th+10th digits Hardware Options Specifi cation
Code Specifi cation Applicable Models
None Without options
001 Rack-mounted All models
002 Varnished
1 SERVOPACKs
Model
Model
SGD7S – R70 A 00 A 001
SGD7W – 1R6 A 20 A 001
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
Voltage Code Specifi cation
Threephase,
200 V
R70 0.05 kW
R90 0.1 kW
1R6 0.2 kW
2R8 0.4 kW
3R8 0.5 kW
5R5 0.75 kW
7R6 1.0 kW
120 1.5 kW
180 2.0 kW
200 3.0 kW
7th digit Design Revision Order
A
8th+9th+10th digits Hardware Options Specifi cation
Code Specifi cation Applicable Models
None Without options
001 Rack-mounted All models
002 Varnished
008 Single-phase, 200 V power input 1.5 kW
00A Varnished and single-phase power input All models
Series
SERVOPACKs:
Models
Series
SERVOPACKs:
Models
Voltage Code Specifi cation
Threephase,
200 V
1R6 0.2 kW
2R8 0.4 kW
5R5 0.75 kW
7R6 1.0 kW
1st+2nd+3rd
digits
Maximum Applicable
Motor Capacity per Axis
1
Rotary Servomotors
CONTENTS
Direct Drive Servomotors
Linear Servomotors
SERVOPACKs
Cable and Peripheral Devices
Appendices
Rotary Servomotors
SGM7A 4
SGM7J 29
SGM7G 47
Direct Drive Servomotors
SGMCS 60
SGMCV 79
Linear Servomotors
SGLG (Coreless Models) 88
SGLF (Models with F-type Iron Cores) 112
SGLT (Models with T-type Iron Cores) 155
SGLC (Cylinder Models) 176
SERVOPACKs
Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs 194
Single-axis MECHATROLINK-2 Communications Reference SERVOPACKs 200
Single-axis MECHATROLINK-3 Communications Reference SERVOPACKs 205
Two-axis MECHATROLINK-3 Communications Reference SERVOPACKs 210
SERVOPACK External Dimensions 215
Cable and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors 222
Cables for SGM7G Rotary Servomotors 229
Cables for Direct Drive Servomotors 233
Cables for Linear Servomotors 238
Serial Converter Units 243
Cables for SERVOPACKs 244
Peripheral Devices 247
Appendices
Capacity Selection for Servomotors 258
Capacity Selection for Regenerative Resistors 266
International Standards 277
Warranty 278
2
SGM7A …………………………………………………………. 4
SGM7J ……………………………………………………….. 29
SGM7G ……………………………………………………….. 47
Rotary Servomotors
Rotary Servomotors
4
SGM7A
Model Designations
Without Gears
With Gears
1
C
E
S
7
F
2
B*
6
A
A 200 VAC
SGM7A – 01 A 7 A 2 1
A5
01
C2
02 200 W
50 W
04 400 W
06 600 W
08 750 W
15
20 2.0 kW
25 2.5 kW
30 3.0 kW
10
*
100 W
150 W
1.0 kW
1.5 kW
1st+2nd
digits
1st+t+2nd digits Rated Output 3rd digit Power Supply Voltage
4th digit Serial Encoder
5th digit Design Revision Order
7th digit Options
Code Specification
Without options
With holding brake (24 VDC)
With oil seal and holding brake
(24 VDC)
With oil seal
6th digit Shaft End
Straight without key
Straight with key and tap
With two flat seats
Code B is not supported for models with
a rated output of 1.5 kW or higher.
Code Specification Code Specification
Code Specification
24-bit absolute
24-bit incremental
Code Specification
3rd
digit
4th
digit
5th
digit
6th
digit
7th
Σ-7 Series digit
Servomotors:
SGM7A
A5 50 W
01 100 W
C2
02 200 W
04 400 W
08 750 W
06 600 W
10 1.0 kW
SGM7A – 01 A 7 A H 1 2 1
0
2
6
1
B 1/11*1 C
C 1/21
1 1/5
2 1/9*2
7 1/33
H
7
F
A 200 VAC
Specification A
150 W
1st+2nd
digits
1st+2nd digits
Σ-7 Series
Servomotors:
SGM7A
Rated Output 5th digit Design Revision Order 8th digit Shaft End
9th digit Options
Code Specification
Flange output
Code Specification
Without options
With holding brake (24 VDC)
Straight without key
Straight with key and tap
6th digit Gear Type
7th digit Gear Ratio
Specification
HDS planetary low-backlash gear
Code
Specification
*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
3rd digit Power Supply Voltage
4th digit Serial Encoder
Code Specification
Code Specification
24-bit absolute
24-bit incremental
Code
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
8th
digit
9th
digit
Rotary Servomotors
SGM7A
5
Rotary Servomotors
Ratings and Specifications
Specifications
*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.
*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.
*4. If the ambient temperature will exceed 40°C, refer to the following section.
Applications Where the Ambient Temperature of the Servomotor Exceeds 40°C (page 15)
*5. If the altitude will exceed 1,000 m, refer to the following section.
Applications Where the Altitude of the Servomotor Exceeds 1,000 m (page 15)
Voltage 200 V
Model SGM7A- A5A to 30A
Time Rating Continuous
Thermal Class Models A5A to 10A: B, Models 15A to 30A: F
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1 V15
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)
Installation Site
is possible between 1,000 m and 2,000 m.)*5
Storage Environment
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)
Shock
Resistance*2
Impact Acceleration Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*3
Vibration Acceleration
Rate at Flange 49 m/s2 (Models 15A to 30A: 24.5 m/s2 front to back)
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
Vertical
Shock Applied to the Servomotor
Vertical
Front to back Horizontal direction
Vibration Side to side ibration Applied to the Servomotor
Rotary Servomotors
SGM7A
6
Ratings of Servomotors without Gears
Note: The values in parentheses are for Servomotors with Holding Brakes.
Voltage 200 V
Model SGM7A- A5A 01A C2A 02A 04A 06A 08A 10A
Rated Output*1 W 50 100 150 200 400 600 750 1000
Rated Torque*1, *2 Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Instantaneous Maximum Torque*1 Nm 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
Instantaneous Maximum Current*1 Arms 2.1 3.2 5.6 5.9 9.3 16.9 16.8 23.2
Rated Motor Speed*1 min-1 3000
Maximum Motor Speed*1 min-1 6000
Torque Constant Nm/Arms 0.307 0.387 0.335 0.461 0.582 0.461 0.590 0.547
Motor Moment of Inertia ×10-4 kgm2 0.0217
(0.0297)
0.0337
(0.0417)
0.0458
(0.0538)
0.139
(0.209)
0.216
(0.286)
0.315
(0.385)
0.775
(0.955)
0.971
(1.15)
Rated Power Rate*1 kW/s
11.7
(8.51)
30.0
(24.2)
49.7
(42.2)
29.2
(19.4)
74.7
(56.3)
115
(94.7)
73.7
(59.8)
104
(87.9)
Rated Angular Acceleration Rate*1 rad/s2 73200
(53500)
94300
(76200)
104000
(88600)
45800
(30400)
58700
(44400)
60600
(49600)
30800
(25000)
32700
(27600)
Derating Rate for Servomotor with
Oil Seal
% 80 90 95
Heat Sink Size mm 200 × 200 × 6 250 × 250 × 6
300 ×
300 × 12
Protective Structure*3 Totally enclosed, self-cooled, IP67
Holding Brake
Specifications*4
Rated Voltage V 24 VDC±10%
Capacity W 5.5 6 6.5
Holding
Torque
Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Coil
Resistance Ω (at 20°C) 104.8±10% 96±10% 88.6±10%
Rated Current A (at 20°C) 0.23 0.25 0.27
Time Required to
Release Brake
ms 60 80
Time Required
to Brake
ms 100
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
40 times
30
times
20 times
20 times
With External Regenerative Resistor
and Dynamic Brake Resistor
30 times
Allowable Shaft
Loads*5
LF mm 20 25 35
Allowable
Radial Load
N 78 245 392
Allowable
Thrust Load
N 54 74 147
Rotary Servomotors
SGM7A
7
Rotary Servomotors
Torque-Motor Speed Characteristics
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.
the intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGM7A-A5A
A B
SGM7A-01A
A B
SGM7A-C2A
A B
SGM7A-04A
A B
SGM7A-06A
A B
SGM7A-08A
A B
SGM7A-02A
A B
SGM7A-10A
A B
A :
B :
7000
6000
5000
4000
3000
2000
1000
0
0 0.15 0.3 0.45 0.6 0.75 0 0.25 0.5 0.75 1 1.25
0 1 2 3 4 5 0 2 4 6 8 10 0 2 4 6 8 10 0 2.5 5 7.5 10 12.5
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
Continuous duty zone (solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-Intermittent duty zone ingle-phase 200-V input
Motor speed (min-1)
Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
Rotary Servomotors
SGM7A
8
Servomotor Ratings
Note: The values in parentheses are for Servomotors with Holding Brakes.
Voltage 200 V
Model SGM7A- 15A 20A 25A 30A
Rated Output*6 kW 1.5 2.0 2.5 3.0
Rated Torque*2, *6 Nm 4.90 6.36 7.96 9.80
Instantaneous Maximum Torque*6 Nm 14.7 19.1 23.9 29.4
Rated Current*6 Arms 9.3 12.1 15.6 17.9
Instantaneous Maximum Current*6 Arms 28 42 51 56
Rated Motor Speed*6 min-1 3000
Maximum Motor Speed*6 min-1 6000
Torque Constant Nm/Arms 0.590 0.561 0.538 0.582
Motor Moment of Inertia ×10-4 kgm2 2.00
(2.25)
2.47
(2.72)
3.19
(3.44)
7.00
(9.20)
Rated Power Rate*6 kW/s
120
(106)
164
(148)
199
(184)
137
(104)
Rated Angular Acceleration Rate*6 rad/s2 24500
(21700)
25700
(23300)
24900
(23100)
14000
(10600)
Heat Sink Size mm 300 × 300 × 12
400 ×
400 × 20
Protective Structure*3 Totally enclosed, self-cooled, IP67
Holding Brake
Specifications*4
Rated Voltage V 24 VDC
Capacity W 12 10
Holding Torque Nm 7.84 10 20
Coil Resistance Ω (at 20°C) 48 59
Rated Current A (at 20°C) 0.5 0.41
Time Required to
Release Brake
ms 170 100
Time Required to Brake ms 80 100 80
Allowable Load Moment of Inertia (Motor Moment of Inertia Ratio) 10 times 5 times
With External Regenerative Resistor
and Dynamic Brake Resistor
20 times 15 times
Allowable Shaft
Loads*5
LF mm 45 63
Allowable Radial Load N 686 980
Allowable Thrust Load N 196 392
+10%
0
Rotary Servomotors
SGM7A
9
Rotary Servomotors
Torque-Motor Speed Characteristics for Three-phase, 200 V
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.
the intermittent duty zone.
speed characteristics will become smaller as 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 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.
used.
Confirm that the operation delay time is appropriate for the actual equipment.
*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.
*6. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding
is 20°C. These are typical values.
A :
B :
SGM7A-15A
A B
SGM7A-20A
A B
SGM7A-25A
A B
SGM7A-30A
A B
Continuous duty zone
Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
Intermittent duty zone
7000
6000
5000
4000
3000
2000
1000
0
0 5 10 15 20
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
0 5 10 15 20
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
Motor speed (min-1)
7000
6000
5000
4000
3000
2000
1000
0
0 10 20 30 40
Motor speed (min-1)
0 7.5 15 22.5 30
LF
Radial load
Thrust load
Rotary Servomotors
SGM7A
10
Ratings of Servomotors with Gears
*1. The gear output torque is expressed by the following formula.
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.
All Models
Gear Mechanism Protective Structure Lost Motion [arc-min]
Planetary gear mechanism
Totally enclosed, self-cooled, IP55
(except for shaft opening)
3 max.
Servomotor Model
SGM7AServomotor
Gear Output
Rated
Output
[W]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
Rated
Torque
[N⋅m]
Instantaneous
Maximum
Torque
[N⋅m]
Gear
Ratio
Rated Torque/
Efficiency*1
[N⋅m/%]
Instantaneous
Maximum
Torque
[N⋅m]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
A5AAH1
50 3000 6000 0.159 0.557
1/5 0.433/64*2 2.37 600 1200
A5AAH2 1/9 1.12/78 3.78*3 333 667
A5AAHC 1/21 2.84/85 10.6 143 286
A5AAH7 1/33 3.68/70 15.8 91 182
01AAH1
100 3000 6000 0.318 1.11
1/5 1.06/78*2 4.96 600 1200
01AAHB 1/11 2.52/72 10.7 273 545
01AAHC 1/21 5.35/80 20.8 143 286
01AAH7 1/33 7.35/70 32.7 91 182
C2AAH1
150 3000 6000 0.477 1.67
1/5 1.68/83*2 7.80 600 1200
C2AAHB 1/11 3.53/79*2 16.9 273 545
C2AAHC 1/21 6.30/70*2 31.0 143 286
C2AAH7 1/33 11.2/79*2 49.7 91 182
02AAH1
200 3000 6000 0.637 2.23
1/5 2.39/75 9.80 600 1200
02AAHB 1/11 5.74/82 22.1 273 545
02AAHC 1/21 10.2/76 42.1 143 286
02AAH7 1/33 17.0/81 67.6 91 182
04AAH1
400 3000 6000 1.27 4.46
1/5 5.35/84 20.1 600 1200
04AAHB 1/11 11.5/82 45.1 273 545
04AAHC 1/21 23.0/86 87.0 143 286
04AAH7 1/33 34.0/81 135 91 182
06AAH1
600 3000 6000 1.91 6.69
1/5 7.54/79 30.5 600 1200
06AAHB 1/11 18.1/86 68.6 273 545
06AAHC 1/21 32.1/80 129 143 286
06AAH7 1/33 53.6/85 206 91 182
08AAH1
750 3000 6000 2.39 8.36
1/5 10.0/84 38.4 600 1200
08AAHB 1/11 23.1/88 86.4 273 545
08AAHC 1/21 42.1/84 163 143 286
08AAH7 1/33 69.3/88 259 91 182
10AAH1
1000 3000 6000 3.18 11.1
1/5 13.7/86 52.5 600 1200
10AAHB 1/11 29.1/83 111 273 545
10AAHC 1/21 58.2/87 215 143 286
10AAH7 1/33 94.5/90 296*3 91 182
Gear output torque = Servomotor output torque × 1
Gear ratio × Efficiency
Rotary Servomotors
SGM7A
11
Rotary Servomotors
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.
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.
higher.
* 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 Ratings of Servomotors without
Gears on page 6 + Moment of inertia for the gear from the above table.
The SERVOPACK speed control range is 5,000:1. 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
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.
Servomotor Model
SGM7AMoment
of Inertia [×10-4 kg⋅m2] With Gears
Reference Diagram
Shaft Output Flange Output Allowable
Radial
Load
[N]
Allowable
Thrust
Load
[N]
LF
Motor* [mm]
+ Gear Gear Motor*
+ Gear Gear
A5AAH1 0.0277 0.006 0.0267 0.005 95 431 37
A5AAH2 0.0247 0.003 0.0247 0.003 113 514 37
A5AAHC 0.0257 0.004 0.0257 0.004 146 663 37
A5AAH7 0.0667 0.045 0.0667 0.045 267 1246 53
01AAH1 0.0397 0.006 0.0387 0.005 95 431 37
01AAHB 0.0937 0.060 0.0927 0.059 192 895 53
01AAHC 0.0837 0.050 0.0837 0.050 233 1087 53
01AAH7 0.0987 0.065 0.0977 0.064 605 2581 75
C2AAH1 0.0518 0.006 0.0508 0.005 95 431 37
C2AAHB 0.106 0.060 0.105 0.059 192 895 53
C2AAHC 0.156 0.110 0.154 0.108 528 2254 75
C2AAH7 0.111 0.065 0.110 0.064 605 2581 75
02AAH1 0.346 0.207 0.340 0.201 152 707 53
02AAHB 0.332 0.193 0.331 0.192 192 895 53
02AAHC 0.629 0.490 0.627 0.488 528 2254 75
02AAH7 0.589 0.450 0.588 0.449 605 2581 75
04AAH1 0.423 0.207 0.417 0.201 152 707 53
04AAHB 0.786 0.570 0.776 0.560 435 1856 75
04AAHC 0.706 0.490 0.704 0.488 528 2254 75
04AAH7 0.836 0.620 0.826 0.610 951 4992 128
06AAH1 1.02 0.700 0.975 0.660 343 1465 75
06AAHB 0.885 0.570 0.875 0.560 435 1856 75
06AAHC 1.16 0.840 1.14 0.820 830 4359 128
06AAH7 0.935 0.620 0.925 0.610 951 4992 128
08AAH1 1.48 0.700 1.44 0.660 343 1465 75
08AAHB 1.38 0.600 1.37 0.590 435 1856 75
08AAHC 3.78 3.00 3.76 2.98 830 4359 128
08AAH7 3.58 2.80 3.57 2.79 951 4992 128
10AAH1 1.67 0.700 1.63 0.660 343 1465 75
10AAHB 4.37 3.40 4.31 3.34 684 3590 128
10AAHC 3.97 3.00 3.95 2.98 830 4359 128
10AAH7 3.77 2.80 3.76 2.79 951 4992 128
Important
LF
Shaft Output
Radial load
Thrust load
Flange Output
Radial load
Thrust load
LF
Rotary Servomotors
SGM7A
12
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Torque-Motor Speed Characteristics on page 7 or in Torque-Motor Speed Characteristics
for Three-phase, 200 V on page 9.
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.
Important
Model
Heat Sink Size
1/5 1/9 or 1/11 1/21 1/33
SGM7A-A5 A
SGM7A-01
SGM7A-C2 B
SGM7A-02
SGM7A-04
SGM7A-06
SGM7A-08 C
SGM7A-10A
SGM7A-A5, -01, -C2, -02, -04, -06, -08, and -10
0 50 100 150 200 250 300 350
10000
1000
100
10
1
Detection time (s)
Motor speed of
10 min-1 or higher
Motor speed of
10 min-1 or lower
Torque reference (percent of rated torque)
(%)
SGM7A-15, -20, -25, and -30
0 50 100 150 200 250 300
10000
1000
100
10
1 Detection time (
s)
Torque reference (percent of rated torque)
(%)
SGM7A-15, -20, -25, and -30
Rotary Servomotors
SGM7A
13
Rotary Servomotors
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.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to Ratings
of Servomotors without Gears on page 6 or to Servomotor Ratings on page 8. 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.
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.
Rotary Servomotors
SGM7A
14
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at an ambient 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.
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.
Derating rate (%) Derating rate (%)
Derating rate (%)
Heat sink size (mm)
Heat sink size (mm) Heat sink size (mm)
Heat sink size (mm) Heat sink size (mm)
Derating rate (%)
Derating rate (%)
100
80
120 120
60
40
20
0
100
80
60
40
20
50 100 150 200 250 300 0 50 100 150 200 250 300 50 100 150 200 250 300 350
100
80
120
60
40
20
0 50 100 150 200 250 300 350
0
20
40
60
80
100
120
0 100 200 300 400 500
0
20
40
60
80
100
120
SGM7A-A5 and -01
SGM7A-C2
SGM7A-02, -04, and -06
SGM7A-15, -20, and -25
SGM7A-30
SGM7A-08
SGM7A-10
Rotary Servomotors
SGM7A
15
Rotary Servomotors
Applications Where the Ambient Temperature of the Servomotor
Exceeds 40°C
The Servomotor ratings are the continuous allowable values at an ambient temperature of 40°C. If
you use a Servomotor at an ambient temperature that exceeds 40°C (60°C max.), apply a suitable
derating rate from the following graphs.
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.
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.
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.
Derating rate (%) Derating rate (%)
Derating rate (%) Derating rate (%)
Derating rate (%)
Ambient temperature (°C) Ambient temperature (°C) Ambient temperature (°C)
Ambient temperature (°C) Ambient temperature (°C)
0
20
40
60
80
100
120
0
20
40
60
80
100
120
0
20
40
60
80
100
120
0
20
40
60
80
100
120
0
20
40
60
80
100
120
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
SGM7A-A5, -01, and -C2
SGM7A-15, -20, and -25
SGM7A-02 and -04
SGM7A-06
SGM7A-30
SGM7A-08 and -10
Derating rate (%) Derating rate (%)
Derating rate (%)
Derating rate (%)
Altitude (m)
Altitude (m) Altitude (m)
Altitude (m) Altitude (m)
Derating rate (%)
0
20
40
60
80
100
120
0
0
20
40
60
80
100
120
0
20
40
60
80
100
120
20
40
60
80
100
120
0
20
40
60
80
100
120
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
0 500 1000 1500 2000 2500
SGM7A-08
SGM7A-02, -04, and -06 SGM7A-10
SGM7A-15, -20, and -25 SGM7A-30
SGM7A-A5, -01, and -C2
Rotary Servomotors
SGM7A
16
External Dimensions
Servomotors without Gears
SGM7A-A5, -01, and -C2
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Shaft End Specifications for SGM7A-A5 to -10 (page 18)
Specifications of Options
Model SGM7A- L LL LM LB S Approx. Mass [kg]
A5AA2
81.5
(122)
56.5
(97)
37.9 30 8
0.3
(0.6)
01AA2
93.5
(134)
68.5
(109)
49.9 30 8
0.4
(0.7)
C2AA2
105.5
(153.5)
80.5
(128.5)
61.9 30 8
0.5
(0.8)
5
46 dia.
S dia.
14
0.6 17 16.1
LM 2.5
LL 25
L
0.8
25.8
40
8.8
20.5
0.02
0.04 A
A
LB dia.
0.04 dia. A
2 × 4.3 dia.
Unit: mm
Notation
: Square dimensions
0
-0.021
0
-0.009
0
-0.021
0
-0.009
0
-0.021
0
-0.009
1.5
7.5
30 dia.
29.8 dia.
Oil seal cover Unit: mm
0
– 0.021
Rotary Servomotors
SGM7A
17
Rotary Servomotors
SGM7A-02 to -10
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Shaft End Specifications for SGM7A-A5 to -10 (page 18)
Specifications of Options
Model SGM7A- L LL LM
Flange Dimensions
S
LR LE LG LC LA LB LZ
02AA2
99.5
(140)
69.5
(110)
51.2 30 3 6 60 70 50 5.5 14
04AA2
115.5
(156)
85.5
(126)
67.2 30 3 6 60 70 50 5.5 14
06AA2
137.5
(191.5)
107.5
(161.5)
89.2 30 3 6 60 70 50 5.5 14
08AA2
137
(184)
97
(144)
78.5 40 3 8 80 90 70 7 19
10AA2
162
(209)
122
(169)
103.5 40 3 8 80 90 70 7 19
Model SGM7A- MD MW MH ML Approx. Mass [kg]
02AA2 8.5 28.7 14.7 17.1
0.8
(1.4)
04AA2 8.5 28.7 14.7 17.1
1.2
(1.8)
06AA2 8.5 28.7 14.7 17.1
1.6
(2.2)
08AA2 8.5 38 14.7 19.3
2.3
(2.9)
10AA2 8.5 38 14.7 19.3
3.1
(3.7)
Model SGM7ADimensions
with Oil Seal
E1 E2 LS1 LS2
02A, 04A, 06A 35 47 5.2 10
08A, 10A 47 61 5.5 11
14
0.6 17 LG
LE
LL LR
L
LB dia.
S dia.
LC
LA dia.
ML
MH
MW
LM
MD
20.5
0.04 A
A
0.02
0.04 dia. A
4 × LZ dia. Unit: mm
0
-0.025
0
-0.011
0
-0.025
0
-0.011
0
-0.025
0
-0.011
0
-0.030
0
-0.013
0
-0.030
0
-0.013
E2 dia.
E1 dia.
LE
LS1
LS2
Oil seal cover Unit: mm
Rotary Servomotors
SGM7A
18
Shaft End Specifications for SGM7A-A5 to -10
SGM7A-
Code Specification
2 Straight without key
6
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
B With two flat seats
Shaft End Details
Servomotor Model SGM7AA5
01 C2 02 04 06 08 10
Code: 2 (Straight without Key)
LR 25 30 40
S 8 14 19
Code: 6 (Straight with Key and Tap)
LR 25 30 40
QK 14 14 22
S 8 14 19
W 3 5 6
T 3 5 6
U 1.8 3 3.5
P M3 × 6L M5 × 8L M6 × 10L
Code: B (with Two Flat Seats)
LR 25 30 40
QH 15 15 22
S 8 14 19
H1 7.5 13 18
H2 7.5 13 18
S dia.
LR
0
-0.009
0
-0.011
0
-0.013
QK
S dia.
Y
Y
LR
W
T
U
P
Cross section Y-Y
0
-0.009
0
-0.011
0
-0.013
S dia.
QH
Y
Y
LR
H1
H2
Cross section Y-Y
0
-0.009
0
-0.011
0
-0.013
Rotary Servomotors
SGM7A
19
Rotary Servomotors
Servomotors without Gears and without Holding Brakes
SGM7A-15, -20, and -25
Note: Servomotors with Oil Seals have the same dimensions.
SGM7A-30
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7A-15 to -30 without Holding Brakes (page 28)
Model
SGM7AL
LL LM LR KB1 KB2 KL1
15AA21 202 157 121 45 86 145 96
20AA21 218 173 137 45 102 161 96
25AA21 241 196 160 45 125 184 96
Model
SGM7AFlange
Surface Dimensions Shaft End Dimensions Approx.
Mass LA LB LC LE LG LH LZ S Q [kg]
15AA21 115 95 100 3 10 130 7 24 40 4.6
20AA21 115 95 100 3 10 130 7 24 40 5.4
25AA21 115 95 100 3 10 130 7 24 40 6.8
Model
SGM7AL
LL LM LR KB1 KB2 KL1
30AA21 257 194 158 63 145 182 114
Model
SGM7AFlange
Surface Dimensions Shaft End Dimensions Approx.
LA LB LC LE LG LH LZ S Q Mass [kg]
30AA21 145 110 130 6 12 165 9 28 55 10.5
17
R1
Q
LA dia.
LH dia.
LG LE
LB dia.
S dia.
KB1
50
KL1
KB2
S dia.
30 dia.
LE
LR
LC
L
36 LM
LL LR
A 4 × LZ dia.
79 dia.
45 dia.
0.02
0.04 A
0.04 dia. A
Unit: mm
Shaft End Details
Refer to Shaft End Specifications
for SGM7A-15 to –
30 on page 21 for details.
0
-0.035
0
-0.013
0
-0.035
0
-0.013
0
-0.035
0
-0.013
LA dia.
LC
LH dia.
36
79 dia.
17
50
LG LE
LM
LL
L
KL1
KB1
KB2
LB dia.
S dia.
LR
4 × LZ dia.
A
0.02
0.04 dia. A
0.04 A
R1
Q
S dia.
30 dia.
LE
LR
45 dia.
Shaft End Details
Unit: mm
Refer to Shaft End Specifications
for SGM7A-15
to -30 on page 21 for
details.
0
-0.035
0
-0.013
Rotary Servomotors
SGM7A
20
Servomotors without Gears and with Holding Brakes
SGM7A-15 to -30
Note: Servomotors with Oil Seals have the same dimensions.
Refer to the following section for information on connectors.
SGM7A-15 to -30 with Holding Brakes (page 28)
Model
SGM7AL
LL LM LR KB1 KB2 KL1
15AA2C 243 198 162 45 77 186 102
20AA2C 259 214 178 45 93 202 102
25AA2C 292 247 211 45 116 225 102
30AA2C 295 232 196 63 114 220 119
Model
SGM7AFlange
Surface Dimensions Shaft End Dimensions Approx.
Mass LA LB LC LE LG LH LZ S Q ss [kg]
15AA2C 115 95 100 3 10 130 7 24 40 6.0
20AA2C 115 95 100 3 10 130 7 24 40 6.8
25AA2C 115 95 100 3 10 130 7 24 40 8.7
30AA2C 145 110 130 6 12 165 9 28 55 13
Q
30 dia.
R1
S dia.
LE
LR
36
L
LL LR
LG LE
LM
LB dia.
S dia.
50
KB2
11 17 KB1
KL1
A
45 dia.
79 dia.
0.02
A
0.04
0.04 dia.
A
LA dia.
LH dia.
4 × LZ dia.
LC
Shaft End Details
Unit: mm
Refer to Shaft End Specifications
for SGM7A-15 to –
30 on page 21 for details.
0
-0.035
0
-0.013
0
-0.035
0
-0.013
0
-0.035
0
-0.013
0
-0.035
0
-0.013
Rotary Servomotors
SGM7A
21
Rotary Servomotors
Shaft End Specifications for SGM7A-15 to -30
SGM7A-
Code Specification
2 Straight without key
6
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
Shaft End Details
Servomotor Model SGM7A-
15 20 25 30
Code: 2 (Straight without Key)
LR 45 63
Q 40 55
S 24 28
Code: 6 (Straight with Key and Tap)
LR 45 63
Q 40 55
QK 32 50
S 24 28
W 8
T 7
U 4
P M8 screw, Depth: 16
LR
Q
R1
S dia.
0
-0.013
0
-0.013
LR
Q
QK
U
R1
P
T
W
S dia.
0
-0.013
0
-0.013
Rotary Servomotors
SGM7A
22
Servomotors with Gears
SGM7A-A5, -01, and -C2
* 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.
Model SGM7AGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
A5AAH1 1/5 138
(178.5)
96
(136.5) 77.4
42 2.2 5 29 39.5 40 40 A5AAH2 1/9 46 3.4
A5AAHC 1/21 147
(187.5)
105
(145.5) 86.4
A5AAH7 1/33 178.5
(219)
120.5
(161) 101.9 58 2.5 8 40 55.5 56 60 70 5.5
01AAH1 1/5 150
(190.5)
108
(148.5) 89.4 42 2.2 5 29 39.5 40 40 46 3.4
01AAHB 1/11 190.5
(231)
132.5
(173) 113.9 58 2.5 8 40 55.5 56 60 70 5.5
01AAHC 1/21
01AAH7 1/33 215
(255.5)
135
(175.5) 116.4 80 7.5 10 59 84 85 90 105 9
C2AAH1 1/5 162
(210)
120
(168) 101.4 42 2.2 5 29 39.5 40 40 46 3.4
C2AAHB 1/11 202.5
(250.5)
144.5
(192.5) 125.9 58 2.5 8 40 55.5 56 60 70 5.5
C2AAHC 1/21 227
(275)
147
(195) 128.4 80 7.5 10 59 84 85 90 105 9
C2AAH7 1/33
Model SGM7AFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
L1 L2 L3 QK U W T Mass [kg]
A5AAH1
22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4
0.6
A5AAH2 (0.9)
A5AAHC
0.7
(1.0)
A5AAH7 28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.3
(1.6)
01AAH1 22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4 0.7
(1.0)
01AAHB
28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.4
01AAHC (1.7)
01AAH7 36 44 26 42 32 25 M6 × 12L 36 4 8 7 2.8
(3.1)
C2AAH1 22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4 0.8
(1.1)
C2AAHB 28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.5
(1.8)
C2AAHC
36 44 26 42 32 25 M6 × 12L 36 4 8 7 2.9
C2AAH7 (3.2)
0.6 17 16.1
LL
LM
LG
LE
L
QK
L3 Q
L1 L2
C dia.
B dia.
LD dia.
LB dia.
S dia.
14
14.7
LA dia.
LC
LR
A
4 × LZ dia.
0.04
(0.03)
0.06
(0.05) A
A
0.05 dia.
(0.04 dia.)
T
W
U
Details of Shaft
End with Key
and Tap
Rotating parts
(Shaded section) Tap size × Depth Unit: mm
[1]*
0
-0.025
[1]*
[1]*
[1]* 0
-0.030
[1]* 0
-0.025
[1]* 0
-0.030
[1]*
[1]* 0
-0.035
[1]* 0
-0.025
[1]* 0
-0.030
[1]* 0
-0.035
[1]*
[1]*
0
-0.015
[1]*
[1]*
[1]* 0
-0.018
[1]* 0
-0.015
[1]* 0
-0.018
[1]*
[1]* 0
-0.021
[1]* 0
-0.015
[1]* 0
-0.018
[1]* 0
-0.021
[1]*
Rotary Servomotors
SGM7A
23
Rotary Servomotors
Flange Output Face
Note: The geometric tolerance in parentheses is the value for LC = 40.
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7AGear
Ratio
L LR LJ F G LK
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
A5AAH10 1/5 111
(151.5)
15 18 5 24 3 3 × M4 × 6L
0.6
(0.9)
A5AAH20 1/9
A5AAHC0 1/21
120
(160.5)
A5AAH70 1/33
141.5
(182)
21 30 14 40 5 6 × M4 × 7L
1.2
(1.5)
01AAH10 1/5
123
(163.5)
15 18 5 24 3 3 × M4 × 6L
0.7
(1.0)
01AAHB0 1/11 153.5
(194)
21 30 14 40
5
3 × M4 × 7L
1.3
01AAHC0 1/21 (1.6)
01AAH70 1/33
162
(202.5)
27 45 24 59 6 × M6 × 10L
2.4
(2.7)
02AAH10 1/5
135
(183)
15 18 5 24 3 3 × M4 × 6L
0.8
(1.1)
02AAHB0 1/11
165.5
(213.5)
21 30 14 40 5 6 × M4 × 7L
1.4
(1.7)
02AAHC0 1/21 174
(222)
27 45 24 59 5 6 × M6 × 10L
2.5
02AAH70 1/33 (2.8)
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.
LC
LA dia.
LD dia.
LB dia.
F dia.
LJ dia.
LK
L
L3
LE
LR
4 × LZ dia.
A
0.04
(0.03)
0.02
0.05 dia.
A
0.06 A
(0.05)
(0.04 dia.)
G dia.
Tap size × Depth Unit: mm
+0.012
0
+0.018
0
+0.012
0
+0.018
0
+0.021
0
+0.012
0
+0.018
0
+0.021
0
Important
0.5 min.
Connecting parts on the load side
24 dia. max.
Rotary Servomotors
SGM7A
24
SGM7A-02, -04, and -06
* 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.
Model SGM7AGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
02AAH1 1/5 191.5
(232)
133.5
(174)
115.2 58 2.5 8 40 55.5 56 60 70 5.5
02AAH2 1/11
02AAHC 1/21 220.5
(261)
140.5
(181)
122.2 80 7.5 10 59 84 85 90 105 9
02AAH7 1/33
04AAH1 1/5
207.5
(248)
149.5
(190)
131.2 58 2.5 8 40 55.5 56 60 70 5.5
04AAHB 1/11 236.5
(277)
156.5
(197)
138.2 80 7.5 10 59 84 85 90 105 9
04AAHC 1/21
04AAH7 1/33
322.5
(363)
189.5
(230)
171.2 133 12.5 13 84 114 115 120 135 11
06AAH1 1/5 258.5
(312.5)
178.5
(232.5)
160.2 80 7.5 10 59 84 85 90 105 9
06AAHB 1/11
06AAHC 1/21 344.5
(398.5)
211.5
(265.5)
193.2 133 12.5 13 84 114 115 120 135 11
06AAH7 1/33
Model SGM7AFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
L1 L2 L3 QK U W T Mass [kg]
02AAH1
28 30 20 28 20 16 M4 × 8L 25 3 5 5
1.8
(2.4)
02AAH2
1.9
(2.5)
02AAHC
36 44 26 42 32 25 M6 × 12L 36 4 8 7
3.7
02AAH7 (4.3)
04AAH1 28 30 20 28 20 16 M4 × 8L 25 3 5 5
2.1
(2.7)
04AAHB
36 44 26 42 32 25 M6 × 12L 36 4 8 7
4.0
04AAHC (4.6)
04AAH7 48 85 33 82 44 40 M10 × 20L 70 5 12 8
8.6
(9.2)
06AAH1
36 44 26 42 32 25 M6 × 12L 36 4 8 7
4.3
(4.9)
06AAHB
4.5
(5.1)
06AAHC
48 85 33 82 44 40 M10 × 20L 70 5 12 8
9.1
06AAH7 (9.7)
0.6 17 LE
LG L3
L1
LL
LM
14.7
14
L
L2
Q
QK
C dia.
B dia.
LD dia.
LB dia.
LC
LA dia.
S dia.
LR
17.1
4 × LZ dia.
0.06 A
0.04
0.05 A
A
U
W
T
Details of Shaft
End with Key
and Tap
Rotating parts
(Shaded section) Tap size × Depth Unit: mm
[1]* 0
-0.030
[1]*
[1]* 0
-0.035
[1]*
[1]* 0
-0.030
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]*
[1]*
0
-0.018
[1]*
[1]* 0
-0.021
[1]*
[1]* 0
-0.018
[1]* 0
-0.021
[1]*
[1]* 0
-0.025
[1]*
0
-0.021
[1]*
[1]* 0
-0.025
[1]*
Rotary Servomotors
SGM7A
25
Rotary Servomotors
Flange Output Face
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7AGear
Ratio
L LR LJ F G
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
02AAH10 1/5
154.5
(195)
21 30 14 40 6 × M4 × 7L
1.7
(2.3)
02AAH20 1/11
1.8
(2.4)
02AAHC0 1/21 167.5
(208)
27 45 24 59 6 × M6 × 10L
3.3
02AAH70 1/33 (3.9)
04AAH10 1/5
170.5
(211)
21 30 14 40 6 × M4 × 7L
2.0
(2.6)
04AAHB0 1/11 183.5
(224)
27 45 24 59 6 × M6 × 10L
3.6
04AAHC0 1/21 (4.2)
04AAH70 1/33
224.5
(265)
35 60 32 84 6 × M8 × 12L
7.2
(7.8)
06AAH10 1/5
205.5
(259.5)
27 45 24 59 6 × M6 × 10L
3.9
(4.5)
06AAHB0 1/11
4.1
(4.7)
06AAHC0 1/21 246.5
(300.5)
35 60 32 84 6 × M8 × 12L
7.7
06AAH70 1/33 (8.3)
LE
L
LR
L3
0.02
0.06 A
A
0.04
0.05 dia. A
LC
LA dia.
LJ dia.
5 4 × LZ dia.
LB dia.
G dia.
F dia.
LD dia.
Tap size × Depth Unit: mm
+0.018
0
+0.021
0
+0.018
0
+0.021
0
+0.025
0
+0.021
0
+0.025
0
Rotary Servomotors
SGM7A
26
SGM7A-08 and -10
* 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.
Model SGM7AGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
08AAH1 1/5 255
(302)
175
(222)
156.5 80 7.5 10 59 84 85 90 105 9
08AAHB 1/11
08AAHC 1/21 334
(381)
201
(248)
182.5 133 12.5 13 84 114 115 120 135 11
08AAH7 1/33
10AAH1 1/5
280
(327)
200
(247)
181.5 80 7.5 10 59 84 85 90 105 9
10AAHB 1/11
359
(406)
226
(273)
207.5 133 12.5 13 84 114 115 120 135 10AAHC 1/21 5 11
10AAH7 1/33
Model SGM7AFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
L1 L2 L3 QK U W T Mass [kg]
08AAH1
36 44 26 42 32 25 M6 × 12L 36 4 8 7
4.9
(5.8)
08AAHB
5.1
(6.0)
08AAHC
48 85 33 82 44 40 M10 × 20L 70 5 12 8
9.8
08AAH7 (10.7)
10AAH1 36 44 26 42 32 25 M6 × 12L 36 4 8 7
6.0
(6.6)
10AAHB
48 85 33 82 44 40 M10 × 20L 70 5 12 8
10.9
10AAHC (11.5)
10AAH7
17
17
14
0.6 19.3
L
L3
LE
L1 L2
LR
Q
QK
LG
LM
C dia.
B dia.
LD dia.
LB dia.
S dia.
LL
LA dia.
LC
W
U
T
0.05 A
0.04
A
0.06 A
4 × LZ dia.
Details of Shaft
End with Key
and Tap
Rotating parts
(Shaded section)
Tap size × Depth
Unit: mm
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]*
0
[1]* -0.035
[1]*
[1]*
0
-0.021
[1]*
[1]* 0
-0.025
[1]*
[1]* 0
-0.021
[1]*
0
[1]* -0.025
[1]*
Rotary Servomotors
SGM7A
27
Rotary Servomotors
Flange Output Face
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7AGear
Ratio
L LR LJ F G
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
08AAH10 1/5
202
(249)
27 45 24 59 6 × M6 × 10L
4.7
(5.3)
08AAHB0 1/11
4.9
(5.5)
08AAHC0 1/21 236
(283)
35 60 32 84 6 × M8 × 12L
8.6
08AAH70 1/33 (9.2)
10AAH10 1/5
227
(274)
27 45 24 59 6 × M6 × 10L
5.6
(6.3)
10AAHB0 1/11
261
(308)
35 60 32 84 6 × M8 × 12L
9.5
(10.1)
10AAHC0 1/21
10AAH70 1/33
LC
LA dia.
LD dia.
LB dia.
LJ dia.
F dia.
G dia.
5
LE
L3
LR
L
0.06 A
0.04
0.05 dia. A
4 × LZ dia.
A
0.02
Tap size × Depth Unit: mm
+0.021
0
+0.025
0
+0.021
0
+0.025
0
Rotary Servomotors
SGM7A
28
Connector Specifications
SGM7A-15 to -30 without Holding Brakes
SGM7A-15 to -30 with Holding Brakes
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: DDK Ltd.
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Rotary Servomotors
29
Rotary Servomotors
SGM7J
Model Designations
Without Gears
With Gears
1
C
E
S
7
F
A
2
B
6
A5 A 200 VAC
01
C2
02 200 W
150 W
50 W
04 400 W
06 600 W
08 750 W
100 W
3rd digit
4th digit
6th digit
Σ-7 Series
Servomotors:
SGM7J
Rated Output
Code Specification Code
Code
Specification
Specification
24-bit absolute
24-bit incremental
Code
Code Specification
Without options
With holding brake (24 VDC)
With oil seal and holding
brake (24 VDC)
With oil seal
Specification
Straight without key
Straight with key and tap
With two flat seats
Power Supply Voltage
Serial Encoder
5th digit Design Revision Order
Shaft End
7th digit Options
1st+2nd digits
SGM7J – 01 A 7 A 2 1
1st+2nd
digits
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
A5
01
C2
02 200 W
150 W
50 W
04 400 W
06 600 W
08 750 W
0
2
6
1
B 1/11*1 C
C 1/21
1 1/5
2 1/9*2
7
H
7
F
A 200 VAC
A
1/33
100 W
Σ-7 Series
Servomotors:
SGM7J
Rated Output 5th digit Design Revision Order
6th digit Gear Type
7th digit Gear Ratio
3rd digit Power Supply Voltage
4th digit Serial Encoder
Code Specification
Specification
24-bit absolute
24-bit incremental
Code
Code Specification
*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.
9th digit Options
Without options
With holding brake (24 VDC)
Code Specification
Code Specification
Flange output
Straight without key
Code Specification Straight with key and tap
HDS planetary low-backlash gear
Code Specification
1st+2nd digits 8th digit Shaft End
SGM7J – 01 A 7 A H 1 2 1
1st+2nd
digits
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
8th
digit
9th
digit
Rotary Servomotors
SGM7J
30
Ratings and Specifications
Specifications
*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.
*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.
*4. If the ambient temperature will exceed 40°C, refer to the following section.
Applications Where the Ambient Temperature of the Servomotor Exceeds 40°C (page 37)
*5. If the altitude will exceed 1,000 m, refer to the following section.
Applications Where the Altitude of the Servomotor Exceeds 1,000 m (page 37)
Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1 V15
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)
Installation Site
is possible between 1,000 m and 2,000 m.)*5
Storage Environment
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)
Shock
Resistance*2
Impact Acceleration Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*3
Vibration Acceleration
Rate at Flange 49 m/s2
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
Vertical
Shock Applied to the Servomotor
Vertical
Side to side
Front to back Horizontal direction
Vibration Applied to the Servomotor
Rotary Servomotors
SGM7J
31
Rotary Servomotors
Ratings of Servomotors without Gears
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 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.
used. Confirm that the operation delay time is appropriate for the actual equipment.
*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.
Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
Rated Output*1 W 50 100 150 200 400 600 750
Rated Torque*1, *2 Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39
Instantaneous Maximum Torque*1 Nm 0.557 1.11 1.67 2.23 4.46 6.69 8.36
Rated Current*1 Arms 0.55 0.85 1.6 1.6 2.5 4.2 4.4
Instantaneous Maximum Current*1 Arms 2.0 3.1 5.7 5.8 9.3 15.3 16.9
Rated Motor Speed*1 min-1 3000
Maximum Motor Speed*1 min-1 6000
Torque Constant Nm/Arms 0.318 0.413 0.332 0.444 0.544 0.493 0.584
Motor Moment of Inertia ×10-4 kgm2 0.0395
(0.0475)
0.0659
(0.0739)
0.0915
(0.0995)
0.263
(0.333)
0.486
(0.556)
0.800
(0.870)
1.59
(1.77)
Rated Power Rate*1 kW/s
6.40
(5.32)
15.3
(13.6)
24.8
(22.8)
15.4
(12.1)
33.1
(29.0)
45.6
(41.9)
35.9
(32.2)
Rated Angular Acceleration Rate*1 rad/s2 40200
(33400)
48200
(43000)
52100
(47900)
24200
(19100)
26100
(22800)
23800
(21900)
15000
(13500)
Derating Rate for Servomotor with Oil Seal % 80 90 95
Heat Sink Size mm 200 × 200 × 6 250 × 250 × 6
Protective Structure*3 Totally enclosed, self-cooled, IP67
Holding Brake
Specifications*4
Rated Voltage V 24 VDC±10%
Capacity W 5.5 6 6.5
Holding Torque Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39
Coil Resistance Ω (at 20°C) 104.8±10% 96±10% 88.6±10%
Rated Current A (at 20°C) 0.23 0.25 0.27
Time Required to
Release Brake
ms 60 80
Time Required to
Brake
ms 100
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
35 times
15
times
10
times 20
times
12
times
With External Regenerative Resistor
and Dynamic Brake Resistor
25 times
15
times
Allowable Shaft
Loads*5
LF mm 20 25 35
Allowable Radial Load N 78 245 392
Allowable Thrust Load N 54 74 147
LF
Radial load
Thrust load
Rotary Servomotors
SGM7J
32
Torque-Motor Speed Characteristics
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
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.
the intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGM7J-A5A
A B
SGM7J-01A
A B
SGM7J-C2A*
A B
SGM7J-04A
A B
SGM7J-06A
A B
SGM7J-08A
A B
SGM7J-02A
A B
Continuous duty zone
Motor speed Motor speed (min-1) peed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m)
Motor speed (min-1)
Motor speed (min-1)
Intermittent duty zone
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-phase 200-V input
7000
6000
5000
4000
3000
2000
1000
0
0 0.15 0.3 0.45 0.6 0.75 0 0.25 0.5 0.75 1 1.25
0 1 2 3 4 5 0 2 4 6 8 10 0 2 4 6 8 10
0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
7000
6000
5000
4000
3000
2000
1000
0
7000
6000
5000
4000
3000
2000
1000
0
7000
6000
5000
4000
3000
2000
1000
0
7000
6000
5000
4000
3000
2000
1000
0
7000
6000
5000
4000
3000
2000
1000
0
7000
6000
5000
4000
3000
2000
1000
0
A :
B :
Rotary Servomotors
SGM7J
33
Rotary Servomotors
Ratings of Servomotors with Gears
*1. The gear output torque is expressed by the following formula.
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.
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.
All Models
Gear Mechanism Protective Structure Lost Motion [arc-min]
Planetary gear mechanism
Totally enclosed, self-cooled, IP55
(except for shaft opening)
3 max.
Servomotor Model
SGM7JServomotor
Gear Output
Rated
Output
[W]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
Rated
Torque
[N⋅m]
Instantaneous
Maximum
Torque
[N⋅m]
Gear
Ratio
Rated Torque/
Efficiency*1
[N⋅m/%]
Instantaneous
Maximum
Torque
[N⋅m]
Rated
Motor
Speed
[min-1]
Maximum
Motor
Speed
[min-1]
A5AAH1
50 3000 6000 0.159 0.557
1/5 0.433/64*2 2.37 600 1200
A5AAH2 1/9 1.12/78 3.78*3 333 667
A5AAHC 1/21 2.84/85 10.6 143 286
A5AAH7 1/33 3.68/70 15.8 91 182
01AAH1
100 3000 6000 0.318 1.11
1/5 1.06/78*2 4.96 600 1200
01AAHB 1/11 2.52/72 10.7 273 545
01AAHC 1/21 5.35/80 20.8 143 286
01AAH7 1/33 7.35/70 32.7 91 182
C2AAH1
150 3000 6000 0.477 1.67
1/5 1.68/83*2 7.80 600 1200
C2AAHB 1/11 3.53/79*2 16.9 273 545
C2AAHC 1/21 6.30/70*2 31.0 143 286
C2AAH7 1/33 11.2/79*2 49.7 91 182
02AAH1
200 3000 6000 0.637 2.23
1/5 2.39/75 9.80 600 1200
02AAHB 1/11 5.74/82 22.1 273 545
02AAHC 1/21 10.2/76 42.1 143 286
02AAH7 1/33 17.0/81 67.6 91 182
04AAH1
400 3000 6000 1.27 4.46
1/5 2.39/75 20.1 600 1200
04AAHB 1/11 5.74/82 45.1 273 545
04AAHC 1/21 10.2/76 87.0 143 286
04AAH7 1/33 17.0/81 135 91 182
06AAH1
600 3000 6000 1.91 6.69
1/5 7.54/79 30.5 600 1200
06AAHB 1/11 18.1/86 68.6 273 545
06AAHC 1/21 32.1/80 129 143 286
06AAH7 1/33 53.6/85 206 91 182
08AAH1
750 3000 6000 2.39 8.36
1/5 10.0/84 38.4 600 1200
08AAHB 1/11 23.1/88 86.4 273 545
08AAHC 1/21 42.1/84 163 143 286
08AAH7 1/33 69.3/88 259 91 182
Gear output torque = Servomotor output torque × 1 × Efficiency
Gear ratio
Rotary Servomotors
SGM7J
34
* 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 Ratings of Servomotors without
Gears on page 31 + Moment of inertia for the gear from the above table.
The SERVOPACK speed control range is 5,000:1. 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
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.
Servomotor Model
SGM7JMoment
of Inertia [×10-4 kg⋅m2] With Gears
Reference Diagram
Shaft Output Flange Output Allowable
Radial
Load
[N]
Allowable
Thrust
Load
[N]
LF
Motor* [mm]
+ Gear
Gear Motor*
+ Gear
Gear
A5AAH1 0.0455 0.006 0.0445 0.005 95 431 37
A5AAH2 0.0425 0.003 0.0425 0.003 113 514 37
A5AAHC 0.0435 0.004 0.0435 0.004 146 663 37
A5AAH7 0.0845 0.045 0.0845 0.045 267 1246 53
01AAH1 0.0719 0.006 0.0709 0.005 95 431 37
01AAHB 0.126 0.060 0.125 0.059 192 895 53
01AAHC 0.116 0.050 0.116 0.050 233 1087 53
01AAH7 0.131 0.065 0.130 0.064 605 2581 75
C2AAH1 0.0975 0.006 0.0965 0.005 95 431 37
C2AAHB 0.152 0.060 0.151 0.059 192 895 53
C2AAHC 0.202 0.110 0.200 0.108 528 2254 75
C2AAH7 0.157 0.065 0.156 0.064 605 2581 75
02AAH1 0.470 0.207 0.464 0.201 152 707 53
02AAHB 0.456 0.193 0.455 0.192 192 895 53
02AAHC 0.753 0.490 0.751 0.488 528 2254 75
02AAH7 0.713 0.450 0.712 0.449 605 2581 75
04AAH1 0.693 0.207 0.687 0.201 152 707 53
04AAHB 1.06 0.570 1.05 0.560 435 1856 75
04AAHC 0.976 0.490 0.974 0.488 528 2254 75
04AAH7 1.11 0.620 1.10 0.610 951 4992 128
06AAH1 1.50 0.700 1.46 0.660 343 1465 75
06AAHB 1.37 0.570 1.36 0.560 435 1856 75
06AAHC 1.64 0.840 1.62 0.820 830 4359 128
06AAH7 1.42 0.620 1.41 0.610 951 4992 128
08AAH1 2.29 0.700 2.25 0.660 343 1465 75
08AAHB 2.19 0.600 2.18 0.590 435 1856 75
08AAHC 4.59 3.00 4.57 2.98 830 4359 128
08AAH7 4.39 2.80 4.37 2.78 951 4992 128
Important
LF
Shaft Output
Radial load
Thrust load
LF
Flange Output
Radial load
Thrust load
Rotary Servomotors
SGM7J
35
Rotary Servomotors
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Torque-
Motor Speed Characteristics on page 32.
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.
Important
Model
Heat Sink Size
1/5 1/9 or 1/11 1/21 1/33
SGM7J-A5 A
SGM7J-01
B
SGM7J-C2
SGM7J-02
SGM7J-04
SGM7J-06
C
SGM7J-08
0 50 100 150 200 250 300 350
10000
1000
100
10
1
Detection time (s)
Motor speed of
10 min-1 or higher
Motor speed of
10 min-1 or lower
Torque reference (percent of rated torque)
(%)
Rotary Servomotors
SGM7J
36
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.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to Ratings
of Servomotors without Gears on page 31. 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.
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.
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at an ambient 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.
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.
100
80
120 120
60
40
20
0
100
80
60
40
20
0 50 100 150 200 250 300
120
100
80
60
40
20
0 50 100 150 200 250 300
SGM7J-A5 and -01
SGM7J-C2
SGM7J-08
50 100 150 200 250 300
SGM7J-02 and -04
SGM7J-06
Derating rate (%)
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm) Derating rate (%)
Derating rate (%)
Rotary Servomotors
SGM7J
37
Rotary Servomotors
Applications Where the Ambient Temperature of the Servomotor
Exceeds 40°C
The Servomotor ratings are the continuous allowable values at an ambient temperature of 40°C. If
you use a Servomotor at an ambient temperature that exceeds 40°C (60°C max.), apply a suitable
derating rate from the following graphs.
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.
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.
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.
100
80
120 120
60
40
0
0
100
80
60
40
0
20 20
10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
SGM7J-01 and -C2
SGM7J-A5
SGM7J-02 and -04
SGM7J-06 and -08
Derating rate (%)
Derating rate (%)
Ambient temperature (°C) Ambient temperature (°C)
100
80
120 120
60
40
0
100
80
60
40
0
20 20
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
SGM7J-A5, -01, and -C2
SGM7J-02, -04, and -06
SGM7J-08
Derating rate (%)
Altitude (m) Altitude (m)
Derating rate (%)
Rotary Servomotors
SGM7J
38
External Dimensions
Servomotors without Gears
SGM7J-A5, -01, and -C2
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Shaft End Specifications (page 40)
Specifications of Options
Model SGM7J- L LL LM LB S Approx. Mass [kg]
A5AA2
81.5
(122)
56.5
(97)
37.9 30 8
0.3
(0.6)
01AA2
93.5
(134)
68.5
(109)
49.9 30 8
0.4
(0.7)
C2AA2
105.5
(153.5)
80.5
(128.5)
61.9 30 8
0.5
(0.8)
5
14
0.6 17 16.1
LM 2.5
LL 25
L
0.8
25.8
40
8.8
20.5
0.02
0.04 A
A
0.04 dia. A
2 × 4.3 dia.
Unit: mm
LB dia.
S dia.
46 dia.
Notation
: Square dimensions
0
-0.021
0
-0.009
0
-0.021
0
-0.009
0
-0.021
0
-0.009
1.5
7.5
30 dia.
29.8 dia.
Oil seal cover Unit: mm
0
-0.021
Rotary Servomotors
SGM7J
39
Rotary Servomotors
SGM7J-02, -04, -06, and -08
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Shaft End Specifications (page 40)
Specifications of Options
Model SGM7J- L LL LM
Flange Dimensions
S
LR LE LG LC LA LB LZ
02AA2
99.5
(140)
69.5
(110)
51.2 30 3 6 60 70 50 5.5 14
04AA2
115.5
(156)
85.5
(126)
67.2 30 3 6 60 70 50 5.5 14
06AA2
137.5
(191.5)
107.5
(161.5)
89.2 30 3 6 60 70 50 5.5 14
08AA2
137
(184)
97
(144)
78.5 40 3 8 80 90 70 7 19
Model SGM7J- MD MW MH ML Approx. Mass [kg]
02AA2 8.5 28.7 14.7 17.1
0.8
(1.4)
04AA2 8.5 28.7 14.7 17.1
1.1
(1.7)
06AA2 8.5 28.7 14.7 17.1
1.6
(2.2)
08AA2 8.5 38 14.7 19.3
2.2
(2.8)
Model SGM7JDimensions
with Oil Seal
E1 E2 LS1 LS2
02A, 04A, 06A 35 47 5.2 10
08A 47 61 5.5 11
14
0.6 17 LG
LE
LL LR
L
LC
ML
MH
MW
LM
MD
20.5
0.04 A
A
0.02
0.04 dia. A
4 × LZ dia. Unit: mm
LB dia.
S dia.
LA dia.
0
-0.025
0
-0.011
0
-0.025
0
-0.011
0
-0.025
0
-0.011
0
-0.030
0
-0.013
LE
LS1
LS2
E1 dia.
E2 dia.
Oil seal cover Unit: mm
Rotary Servomotors
SGM7J
40
Shaft End Specifications
SGM7J-
Code Specification
2 Straight without key
6
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
B With two flat seats
Shaft End Details
Servomotor Model SGM7JA5
01 C2 02 04 06 08
Code: 2 (Straight without Key)
LR 25 30 40
S 8 14 19
Code: 6 (Straight with Key and Tap)
LR 25 30 40
QK 14 14 22
S 8 14 19
W 3 5 6
T 3 5 6
U 1.8 3 3.5
P M3 × 6L M5 × 8L M6 × 10L
Code: B (with Two Flat Seats)
LR 25 30 40
QH 15 15 22
S 8 14 19
H1 7.5 13 18
H2 7.5 13 18
LR
S dia.
0
-0.009
0
-0.011
0
-0.013
QK
Y
Y
LR
W
T
U
P
S dia.
Cross section Y-Y
0
-0.009
0
-0.011
0
-0.013
QH
Y
Y
LR
H1
H2
S dia.
Cross section Y-Y
0
-0.009
0
-0.011
0
-0.013
Rotary Servomotors
SGM7J
41
Rotary Servomotors
Servomotors with Gears
SGM7J-A5, -01, and -C2
* 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.
Model SGM7JGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
A5AAH1 1/5 138
(178.5)
96
(136.5) 77.4
42 2.2 5 29 39.5 40 40 A5AAH2 1/9 46 3.4
A5AAHC 1/21 147
(187.5)
105
(145.5) 86.4
A5AAH7 1/33 178.5
(219)
120.5
(161) 101.9 58 2.5 8 40 55.5 56 60 70 5.5
01AAH1 1/5 150
(190.5)
108
(148.5) 89.4 42 2.2 5 29 39.5 40 40 46 3.4
01AAHB 1/11 190.5
(231)
132.5
(173) 113.9 58 2.5 8 40 55.5 56 60 70 5.5
01AAHC 1/21
01AAH7 1/33 215
(255.5)
135
(175.5) 116.4 80 7.5 10 59 84 85 90 105 9
C2AAH1 1/5 162
(210)
120
(168) 101.4 42 2.2 5 29 39.5 40 40 46 3.4
C2AAHB 1/11 202.5
(250.5)
144.5
(192.5) 125.9 58 2.5 8 40 55.5 56 60 70 5.5
C2AAHC 1/21 227
(275)
147
(195) 128.4 80 7.5 10 59 84 85 90 105 9
C2AAH7 1/33
Model SGM7JFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
L1 L2 L3 QK U W T Mass [kg]
A5AAH1
22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4
0.6
A5AAH2 (0.9)
A5AAHC
0.7
(1.0)
A5AAH7 28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.3
(1.6)
01AAH1 22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4 0.7
(1.0)
01AAHB
28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.4
01AAHC (1.7)
01AAH7 36 44 26 42 32 25 M6 × 12L 36 4 8 7 2.8
(3.1)
C2AAH1 22 20 14.6 − − 10 M3 × 6L 15 2.5 4 4 0.8
(1.1)
C2AAHB 28 30 20 28 20 16 M4 × 8L 25 3 5 5 1.5
(1.8)
C2AAHC
36 44 26 42 32 25 M6 × 12L 36 4 8 7 2.9
C2AAH7 (3.2)
0.6 17 16.1
LL
LM
LG
LE
L
QK
L3 Q
L1 L2
14
14.7
LC
LR
A
0.04
(0.03)
0.06
(0.05) A
A
T
W
U
0.05 dia.
Details of Shaft End
with Key and Tap
Rotating parts
(Shaded section) 4 × LZ dia. Tap size × Depth Unit: mm
LB dia.
LD dia.
B dia.
C dia.
S dia.
(0.04 dia.)
LA dia.
[1]*
0
-0.025
[1]*
[1]*
[1]* 0
-0.030
[1]* 0
-0.025
[1]* 0
-0.030
[1]*
[1]* 0
-0.035
[1]* 0
-0.025
[1]* 0
-0.030
[1]* 0
-0.035
[1]*
[1]*
0
-0.015
[1]*
[1]*
[1]* 0
-0.018
[1]* 0
-0.015
[1]* 0
-0.018
[1]*
[1]* 0
-0.021
[1]* 0
-0.015
[1]* 0
-0.018
[1]* 0
-0.021
[1]*
Rotary Servomotors
SGM7J
42
Flange Output Face
Note: The geometric tolerance in parentheses is the value for LC = 40.
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7JGear
Ratio
L LR LJ F G LK
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
A5AAH10 1/5 111
(151.5)
15 18 5 24 3 3 × M4 × 6L
0.6
(0.9)
A5AAH20 1/9
A5AAHC0 1/21
120
(160.5)
A5AAH70 1/33
141.5
(182)
21 30 14 40 5 6 × M4 × 7L
1.2
(1.5)
01AAH10 1/5
123
(163.5)
15 18 5 24 3 3 × M4 × 6L
0.7
(1.0)
01AAHB0 1/11 153.5
(194)
21 30 14 40
5
3 × M4 × 7L
1.3
01AAHC0 1/21 (1.6)
01AAH70 1/33
162
(202.5)
27 45 24 59 6 × M6 × 10L
2.4
(2.7)
C2AAH10 1/5
135
(183)
15 18 5 24 3 3 × M4 × 6L
0.8
(1.1)
C2AAHB0 1/11
165.5
(213.5)
21 30 14 40 5 6 × M4 × 7L
1.4
(1.7)
C2AAHC0 1/21 174
(222)
27 45 24 59 5 6 × M6 × 10L
2.5
C2AAH70 1/33 (2.8)
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.
LC
LK
L3
LE
LR
L
A
0.04
(0.03)
0.02
A
A
0.06
(0.05)
0.05 dia.
(0.04 dia.)
4 × LZ dia.
LB dia.
LD dia.
G dia.
F dia.
Tap size × Depth Unit: mm
LJ dia.
LA dia.
+0.012
0
+0.018
0
+0.012
0
+0.018
0
+0.021
0
+0.012
0
+0.018
0
+0.021
0
Important
0.5 min.
Connecting parts on the load side
24 dia. max.
Rotary Servomotors
SGM7J
43
Rotary Servomotors
SGM7J-02, -04, and -06
* 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.
Model SGM7JGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
02AAH1 1/5 191.5
(232)
133.5
(174)
115.2 58 2.5 8 40 55.5 56 60 70 5.5
02AAH2 1/11
02AAHC 1/21 220.5
(261)
140.5
(181)
122.2 80 7.5 10 59 84 85 90 105 9
02AAH7 1/33
04AAH1 1/5
207.5
(248)
149.5
(190)
131.2 58 2.5 8 40 55.5 56 60 70 5.5
04AAHB 1/11 236.5
(277)
156.5
(197)
138.2 80 7.5 10 59 84 85 90 105 9
04AAHC 1/21
04AAH7 1/33
322.5
(363)
189.5
(230)
171.2 133 12.5 13 84 114 115 120 135 11
06AAH1 1/5 258.5
(312.5)
178.5
(232.5)
160.2 80 7.5 10 59 84 85 90 105 9
06AAHB 1/11
06AAHC 1/21 344.5
(398.5)
211.5
(265.5)
193.2 133 12.5 13 84 114 115 120 135 11
06AAH7 1/33
Model SGM7JFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
L1 L2 L3 QK U W T Mass [kg]
02AAH1
28 30 20 28 20 16 M4 × 8L 25 3 5 5
1.8
(2.4)
02AAH2
1.9
(2.5)
02AAHC
36 44 26 42 32 25 M6 × 12L 36 4 8 7
3.7
02AAH7 (4.3)
04AAH1 28 30 20 28 20 16 M4 × 8L 25 3 5 5
2.1
(2.7)
04AAHB
36 44 26 42 32 25 M6 × 12L 36 4 8 7
4.0
04AAHC (4.6)
04AAH7 48 85 33 82 44 40 M10 × 20L 70 5 12 8
8.6
(9.2)
06AAH1
36 44 26 42 32 25 M6 × 12L 36 4 8 7
4.3
(4.9)
06AAHB
4.5
(5.1)
06AAHC
48 85 33 82 44 40 M10 × 20L 70 5 12 8
9.1
06AAH7 (9.7)
0.6 17 LE
LG L3
L1
LL
LM
14.7
14
L
L2
Q
QK
LC
LR
17.1
0.06 A
0.04
0.05 A
A
U
W
T
Details of Shaft End
with Key and Tap
LB dia.
LD dia.
B dia.
C dia.
S dia.
4 × LZ dia. Tap size × Depth Unit: mm
Rotating parts
(Shaded section)
LA dia.
[1]* 0
-0.030
[1]*
[1]* 0
-0.035
[1]*
[1]* 0
-0.030
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]*
[1]*
0
-0.018
[1]*
[1]* 0
-0.021
[1]*
[1]* 0
-0.018
[1]* 0
-0.021
[1]*
[1]* 0
-0.025
[1]*
0
-0.021
[1]*
[1]* 0
-0.025
[1]*
Rotary Servomotors
SGM7J
44
Flange Output Face
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7JGear
Ratio
L LR LJ F G
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
02AAH10 1/5
154.5
(195)
21 30 14 40 6 × M4 × 7L
1.7
(2.3)
02AAH20 1/11
1.8
(2.4)
02AAHC0 1/21 167.5
(208)
27 45 24 59 6 × M6 × 10L
3.3
02AAH70 1/33 (3.9)
04AAH10 1/5
170.5
(211)
21 30 14 40 6 × M4 × 7L
2.0
(2.6)
04AAHB0 1/11 183.5
(224)
27 45 24 59 6 × M6 × 10L
3.6
04AAHC0 1/21 (4.2)
04AAH70 1/33
224.5
(265)
35 60 32 84 6 × M8 × 12L
7.2
(7.8)
06AAH10 1/5
205.5
(259.5)
27 45 24 59 6 × M6 × 10L
3.9
(4.5)
06AAHB0 1/11
4.1
(4.7)
06AAHC0 1/21 246.5
(300.5)
35 60 32 84 6 × M8 × 12L
7.7
06AAH70 1/33 (8.3)
LC
5
LE
LR
L
L3 A
0.06 A
A
0.04
0.02
0.05 dia.
4 × LZ dia. Tap size × Depth Unit: mm
LB dia.
LD dia.
G dia.
F dia.
LJ dia.
LA dia.
+0.018
0
+0.021
0
+0.018
0
+0.021
0
+0.025
0
+0.021
0
+0.025
0
Rotary Servomotors
SGM7J
45
Rotary Servomotors
SGM7J-08
* 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.
Model SGM7JGear
Ratio
L LL LM
Flange Surface Dimensions
LR LE LG B LD LB LC LA LZ
08AAH1 1/5 255
(302)
175
(222)
156.5 80 7.5 10 59 84 85 90 105 9
08AAHB 1/11
08AAHC 1/21 334
(381)
201
(248)
182.5 133 12.5 13 84 114 115 120 135 11
08AAH7 1/33
Model SGM7JFlange
Surface Dimensions
Q C S
Tap Size ×
Depth
Key Dimensions Approx.
Mass L1 L2 L3 QK U W T s [kg]
08AAH1
36 44 26 42 32 25 M6 × 12L 36 4 8 7
5.1
(5.7)
08AAHB
5.3
(5.9)
08AAHC
48 85 33 82 44 40 M10 × 20L 70 5 12 8
10
08AAH7 (10.6)
17
17
14
0.6 19.3
L
L3
LE
L1 L2
LR
Q
QK
LG
LM
C dia.
B dia.
LD dia.
LB dia.
S dia.
LL
LA dia.
LC
W
U
T
0.05 A
0.04
A
0.06 A
4 × LZ dia.
Details of Shaft End
with Key and Tap
Unit: mm
Rotating parts Tap size × Depth
(Shaded section)
[1]* 0
-0.035
[1]*
[1]* 0
-0.035
[1]*
[1]*
0
-0.021
[1]*
[1]* 0
-0.025
[1]*
Rotary Servomotors
SGM7J
46
Flange Output Face
Note: 1. The values in parentheses are for Servomotors with Holding Brakes.
Model SGM7J- Gear Ratio L LR LJ F G
No. of Taps ×
Tap Size × Depth
Approx.
Mass [kg]
08AAH101 1/5
202
(249)
27 45 24 59 6 × M6 × 10L
4.7
(5.3)
08AAHB01 1/11
4.9
(5.5)
08AAHC01 1/21 236
(283)
35 60 32 84 6 × M8 × 12L
8.6
08AAH701 1/33 (9.2)
LC
5
LE
LR
L
L3
A
0.06 A
A
0.04
0.02
0.05 dia.
4 × LZ dia. Tap size × Depth Unit: mm
LB dia.
LD dia.
G dia.
F dia.
LA dia.
LJ dia.
+0.021
0
+0.025
0
Rotary Servomotors
47
Rotary Servomotors
SGM7G
Model Designations
1
7
F
03 300 W
05 450 W
09 850 W
13 1.3 kW
20 1.8 kW
2
6
A
3rd digit Power Supply Voltage
4th digit Serial Encoder
5th digit Design Revision Order
Code
24-bit absolute
24-bit incremental
Specification
Code Specification
6th digit Shaft End
7th digit Options
Without options
With holding brake (24 VDC)
With oil seal and holding
brake (24 VDC)
With oil seal
Straight without key
Code Specification
Straight with key and tap
Code Specification Code Specification
C
E
S
A 200 VAC
1st+2nd digits Rated Output
Σ-7 Series
Servomotors:
SGM7G
SGM7G – 03 A 7 A 2 1
1st+2nd
digits
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
Rotary Servomotors
SGM7G
48
Ratings and Specifications
Specifications
*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.
*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.
*4. If the ambient temperature will exceed 40°C, refer to the following section.
Applications Where the Ambient Temperature of the Servomotor Exceeds 40°C (page 52)
*5. If the altitude will exceed 1,000 m, refer to the following section.
Applications Where the Altitude of the Servomotor Exceeds 1,000 m (page 53)
Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A
Time Rating Continuous
Thermal Class F
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1 V15
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)
Installation Site
is possible between 1,000 m and 2,000 m.)*5
Storage Environment
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)
Shock
Resistance*2
Impact Acceleration Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*3
Vibration Acceleration
Rate at Flange 49 m/s2 (24.5 m/s2 front to back)
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
Vertical
Shock Applied to the Servomotor
Vertical
Horizontal direction
Vibration Applied to the Servomotor
Front to back
Side to side
Rotary Servomotors
SGM7G
49
Rotary Servomotors
Servomotor Ratings
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 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at 40°C with an aluminum or steel 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.
used. Confirm that the operation delay time is appropriate for the actual equipment.
*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.
Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A
Rated Output*1 kW 0.3 0.45 0.85 1.3 1.8
Rated Torque*1, *2 Nm 1.96 2.86 5.39 8.34 11.5
Instantaneous Maximum Torque*1 Nm 5.88 8.92 14.2 23.3 28.7
Rated Current*1 Arms 2.8 3.8 6.9 10.7 16.7
Instantaneous Maximum Current*1 Arms 8.0 11 17 28 42
Rated Motor Speed*1 min-1 1500
Maximum Motor Speed*1 min-1 3000
Torque Constant Nm/Arms 0.776 0.854 0.859 0.891 0.748
Motor Moment of Inertia ×10-4 kgm2 2.48
(2.73)
3.33
(3.58)
13.9
(16.0)
19.9
(22.0)
26.0
(28.1)
Rated Power Rate*1 kW/s
15.5
(14.1)
24.6
(22.8)
20.9
(18.2)
35.0
(31.6)
50.9
(47.1)
Rated Angular Acceleration Rate*1 rad/s2 7900
(7180)
8590
(7990)
3880
(3370)
4190
(3790)
4420
(4090)
Heat Sink Size mm
250 × 250 × 6
(aluminum)
400 × 400 × 20
(steel)
Protective Structure*3 Totally enclosed, self-cooled, IP67
Holding Brake
Specifications*4
Rated Voltage V 24 VDC
Capacity W 10
Holding Torque Nm 4.5 12.7 19.6
Coil Resistance Ω (at 20°C) 56 59
Rated Current A (at 20°C) 0.42 0.41
Time Required to
Release Brake
ms 100
Time Required to Brake ms 80
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
15 times 15 times
5 times
With External Regenerative Resistor
and Dynamic Brake Resistor
10 times
Allowable Shaft
Loads*5
LF mm 40 58
Allowable Radial Load N 490 686 980
Allowable Thrust LoadN 98 343 392
+10%
0
LF
Radial load
Thrust load
Rotary Servomotors
SGM7G
50
Torque-Motor Speed Characteristics for Three-phase, 200 V
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.
the intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGM7G-03A SGM7G-05A SGM7G-09A
SGM7G-20A
SGM7G-13A
A B
A B A B A B
Continuous duty zone
Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
Intermittent duty zone
3500
3000
2500
2000
1500
1000
500
0
0 1.2 2.4 3.6 4.8 6
Motor speed Motor speed (min-1) peed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Torque (N·m)
0 2 4 6 8 10
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
0 3 6 9 12 15
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
0 5 10 15 20 25
A B
0 6 12 18 24 30
A :
B :
Rotary Servomotors
SGM7G
51
Rotary Servomotors
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Torque-Motor Speed Characteristics for Three-phase, 200 V on page 50.
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.
The allowable size of the load moment of inertia (JL) for the Servomotor is restricted. Refer to Servomotor
Ratings on page 49. 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.
SGM7G-03 and -05
0 50 100 150 200 250 300
10000
1000
100
10
1
SGM7G-09, -13, and -20
0 50 100 150 200 250 300
10000
1000
100
10
1
Detection time (s) Detection time (s)
Torque reference (percent of rated torque)
(%)
Torque reference (percent of rated torque)
(%)
SGM7G-05
SGM7G-03
SGM7G-09
SGM7G-13
SGM7G-20
Rotary Servomotors
SGM7G
52
Servomotor Heat Dissipation Conditions
The Servomotor ratings are the continuous allowable values at an ambient 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.
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.
Applications Where the Ambient Temperature of the Servomotor
Exceeds 40°C
The Servomotor ratings are the continuous allowable values at an ambient temperature of 40°C. If
you use a Servomotor at an ambient temperature that exceeds 40°C (60°C max.), apply a suitable
derating rate from the following graphs.
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.
0 50 100 150 200 250 300 0 100 200 300 400
Derating rate (%)
Heat sink size (mm) Heat sink size (mm)
Derating rate (%)
100
80
120
60
40
20
0
SGM7G-03 and -05 SGM7G-09, -13, and -20
100
80
120
60
40
20
0
Ambient temperature (°C)
0 10 20 30 40 50 60
Derating rate (%)
Derating rate (%)
100
80
120
60
40
20
0
SGM7G-03 and -05 SGM7G-09, -13, and -20
100
80
120
60
40
20
0
Ambient temperature (°C)
70 0 10 20 30 40 50 60 70
Rotary Servomotors
SGM7G
53
Rotary Servomotors
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.
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.
Altitude (m)
0 500 1000 1500 2000
Derating rate (%)
Derating rate (%)
SGM7G-03 and -05 SGM7G-09, -13, and -20
100
80
120
60
40
20
0
Altitude (m)
0 500 1000 1500 2000 2500
100
80
120
60
40
20
0
2500
Rotary Servomotors
SGM7G
54
External Dimensions
Servomotors without Holding Brakes
SGM7G-03 and -05
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 Servomotors.
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 (page 57)
SGM7G-09, -13, and -20
Note: Servomotors with Oil Seals have the same dimensions.
* 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.
Refer to the following section for information on connectors.
SGM7G-09, -13, and -20 without Holding Brakes (page 57)
Model
SGM7GL
LL LM LR KB1 KB2 LB
Shaft End Dimensions Approx.
S Q Mass [kg]
03AA21 166* 126 90 40* 75 114 80 16 * 30* 2.6
05AA21 179 139 103 40 88 127 80 16 30 3.2
Model
SGM7GL
LL LM LR KB1 KB2 IE KL1
Flange Surface Dimensions
Shaft End
Dimensions Approx.
Mass [kg]
LA LB LC LE LG LH LZ S Q
09AA21 195 137 101 58 83 125 − 104 145 110 130 6 12 165 9 24 * 40 5.5
13AA21 211 153 117 58 99 141 − 104 145 110 130 6 12 165 9 24 * 40 7.1
20AA21 229 171 135 58 117 159 − 104 145 110 130 6 12 165 9 24 40 8.6
R1
Q
5
LR
90
50
17
38
L
LL
36 LM
LR
10 5
KB1
KB2
70
A
A
A
0.02
0.04 dia.
79 dia.
4 × 6.6 dia.
Shaft End Details
Unit: mm
0.04
S dia.
18 dia.
S dia.
35 dia.
LB dia.
120 dia.
100 dia.
Notation
: Square dimensions
Refer to Shaft End Specifications
on page 56 for details.
0
-0.030
0
-0.011
0
-0.030
0
-0.011
17
36
L
LL LR
LM
LG LE
50
KL1
KB1
KB2
IE
0.04 A
A
0.02
A
LC
R1
LR
LE
Q
79 dia.
S dia.
LB dia.
S dia.
45 dia.
0.04 dia.
4 × LZ dia.
Unit: mm
Shaft End Details
LH dia.
LA dia.
28 dia.
Refer to Shaft End Specifications
on page 56 for details.
0
-0.035
0
-0.013
0
-0.035
0
-0.013
0
-0.035
0
-0.013
Rotary Servomotors
SGM7G
55
Rotary Servomotors
Servomotors with Holding Brakes
SGM7G-03 and -05
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 Servomotors.
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 (page 57)
SGM7G-09, -13, and -20
Note: Servomotors with Oil Seals have the same dimensions.
* 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.
Refer to the following section for information on connectors.
SGM7G-09, -13, and -20 with Holding Brakes (page 58)
Model
SGM7GL
LL LM LR KB1 KB2 LB
Shaft End Dimensions Approx.
Mass S Q [kg]
03AA2C 199* 159 123 40* 75 147 80 16 * 30* 3.6
05AA2C 212 172 136 40 88 160 80 16 30 4.2
Model
SGM7GL
LL LM LR KB1 KB2 KB3 IE KL1 KL3
Flange Surface Dimensions
Shaft End
Dimensions Approx.
Mass [kg]
LA LB LC LE LG LH LZ S Q
09AA2C 231 173 137 58 83 161 115 − 104 80 145 110 130 6 12 165 9 24 * 40 7.5
13AA2C 247 189 153 58 99 177 131 − 104 80 145 110 130 6 12 165 9 24 * 40 9.0
20AA2C 265 207 171 58 117 195 149 − 104 80 145 110 130 6 12 165 9 24 40 11.0
R1
S dia.
Q
18 dia.
5
90 LR
KB1
KB2
10 5
LM
LL
L
LR
36
70
50
17
38
A
0.04 A
A
0.02
79 dia.
0.04 dia.
4 × 6.6 dia.
Shaft End Details
Unit: mm
120 dia.
100 dia.
LB dia.
35 dia.
S dia.
Refer to Shaft End Specifications
on page 56 for details.
0
-0.030
0
-0.011
0
-0.030
0
-0.011
LE
LR
Q
R1
36
11 17
IE
LG LE
LL
L
LR
LM
KB1
KB3
KB2
KL1
KL3
50
0.02
A
0.04 A
A
LC
79 dia.
S dia.
LB dia.
28 dia.
S dia.
45 dia.
0.04 dia.
4 × LZ dia.
Unit: mm
Shaft End Details
LH dia.
LA dia.
Refer to Shaft End Specifications
on page 56 for details.
0
-0.035
0
-0.013
0
-0.035
0
-0.013
0
-0.035
0
-0.013
Rotary Servomotors
SGM7G
56
Shaft End Specifications
SGM7G-
* 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.
Code Specification
2 Straight without key
6
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type.)
Shaft End Details
Servomotor Model SGM7G-
03 05 09 13 20
Code: 2 (Straight without Key)
LR 40* 40 58 58 58
Q 30* 30 40 40 40
S 16 * 16 24 * 24 * 24
Code: 6 (Straight with Key and Tap)
LR 40* 40 58 58 58
Q 30* 30 40 40 40
QK 20* 20 25 25 25
S 16 * 16 24 * 24 * 24
W 5 5 8* 8* 8
T 5 5 7* 7* 7
U 3 3 4* 4* 4
P M5 screw, Depth : 12
LR
Q
R1
S dia.
0
-0.011
0
-0.011
0
-0.013
0
-0.013
0
-0.013
LR
Q
QK
U
R1
P
T
W
S dia.
0
-0.011
0
-0.011
0
-0.013
0
-0.013
0
-0.013
Rotary Servomotors
SGM7G
57
Rotary Servomotors
Connector Specifications
SGM7G-03 and -05 without Holding Brakes
SGM7G-09, -13, and -20 without Holding Brakes
SGM7G-03 and -05 with Holding Brakes
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: DDK Ltd.
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Rotary Servomotors
SGM7G
58
SGM7G-09, -13, and -20 with Holding Brakes
Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
Manufacturer: DDK Ltd.
Receptacle: CM10-R2P-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.
SGMCS ………………………………………………………. 60
SGMCV ……………………………………………………….. 79
Direct Drive
Servomotors
Direct Drive Servomotors
60
SGMCS
Model Designations
Note: Direct Drive Servomotors are not available with holding brakes.
A
B
C
B
C
D
E
M
N
3
D
B
−
−
C
−
−
D
−
−
E
−
−
M
−
−
N
−
−
1
3
4
1
02 2 Nm
04 4 Nm
05 5 Nm
07 7 Nm
08 8 Nm
10 10 Nm
14 14 Nm
16 16 Nm
17 17 Nm
25 25 Nm
35 35 Nm
45 45 Nm
80 80 Nm
1A 110 Nm
1E 150 Nm
2Z 200 Nm
3rd digit 5th digit
6th digit
7th digit
Small-Capacity Series
Medium-Capacity Series
Model with servomotor outer diameter code
M or N
Model with servomotor outer diameter code E
Model with servomotor outer diameter code B,
C, or D
135-mm dia.
Specification
175-mm dia.
230-mm dia.
290-mm dia.
280-mm dia.
360-mm dia.
Servomotor Outer Diameter
4th digit Serial Encoder
Specification
20-bit absolute
single-turn data
20-bit incremental
Design Revision Order
Flange
Mounting
Non-load side
Load side
Non-load side
Non-load side
(with cable on side)
: Applicable models.
Options
Without options
Servomotor Outer Diameter Code (3rd Digit)
SGMCS – 02 B 3 C 1 1
1st+2nd
digits
1st+2nd digits Rated Output
Specification
Code Specification
3rd
digit
4th
digit
5th
digit
6th
digit
7th
Direct Drive digit
Servomotors:
SGMCS
Code
Code Specification
Code Specification
Code
Code
Code
Direct Drive Servomotors
SGMCS
61
Direct Drive Servomotors
Ratings and Specifications
Small-Capacity Series: Specifications
*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 hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the
shaft are excluded. Protective structure specifications apply only when the special cable is used.
*3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of
the individual Servomotors for more information on tolerances.
Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Time Rating Continuous
Thermal Class A
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Vibration Class*1 V15
Absolute Accuracy ±15 s
Repeatability ±1.3 s
Protective Structure*2 Totally enclosed, self-cooled, IP42
Environmental
Conditions
Surrounding Air Temperature 0°C to 40°C (with no freezing)
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
Installation Site
Storage Environment
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)
Mechanical
Tolerances*3
Runout of Output
Shaft Surface
mm 0.02
Runout at End of
Output Shaft
mm 0.04
Parallelism between
Mounting Surface
and Output Shaft
Surface
mm 0.07 0.08
Concentricity
between Output
Shaft and Flange
Outer Diameter
mm 0.07 0.08
Shock
Resistance*4
Impact Acceleration
Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*5
Vibration Acceleration
Rate at Flange 49 m/s2
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
A
A
B
B
dia.
dia.
Runout of output shaft surface
Parallelism between mounting surface and output shaft surface
Runout at end of output shaft
Load side
Non-load side
Concentricity between output shaft and flange outer diameter
: Diameter determined by motor model.
Direct Drive Servomotors
SGMCS
62
*4. 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.
*5. 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 confirm the vibration acceleration rate.
Vertical
Shock Applied to the Servomotor
Vertical
Front to back
Side to side
Direct Drive Servomotors
SGMCS
63
Direct Drive Servomotors
Small-Capacity Series: 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 40°C with a steel heat sink of the dimensions
given in the table.
*3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into
the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values
given in the table.
Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of
heat loss is higher at low temperatures.
Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Rated Output*1 W 42 105 147 84 209 293 168 356 393 335 550
Rated Torque*1, *2 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Instantaneous
Maximum Torque*1 Nm 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Stall Torque*1 Nm 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6
Rated Current*1 Arms 1.8 1.7 1.4 2.2 2.8 1.9 2.5 2.6 3.3 3.5
Instantaneous
Maximum Current*1 Arms 5.4 5.1 4.1 7.0 8.3 5.6 7.5 8.0 9.4 10.0
Rated Motor
Speed*1 min-1 200 200 200 150 200 150
Maximum Motor
Speed*1 min-1 500 500 400 300 500 350 250 500 250
Torque Constant Nm/Arms 1.18 3.17 5.44 2.04 5.05 5.39 5.10 7.79 10.8 5.58 11.1
Motor Moment of
Inertia ×10-4 kgm2 28.0 51.0 77.0 77.0 140 220 285 510 750 930 1430
Rated Power Rate*1 kW/s 1.43 4.90 6.36 2.08 7.14 8.91 2.25 5.67 8.33 2.75 8.57
Rated Angular
Acceleration Rate*1 rad/s2 710 980 910 520 710 640 280 330 170 240
Heat Sink Size mm 350 × 350 × 12 450 × 450 × 12 550 × 550 × 12 650 × 650 × 12
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
10 times
5
times
3 times
Allowable
Load*3
Allowable
Thrust
Load
N 1500 3300 4000 11000
Allowable
Moment
Load
Nm 40 50 64 70 75 90 93 103 135 250 320
F
F
F L
L
Where F is the external force,
Thrust load = F + Load mass
Moment load = 0
Where F is the external force
Thrust load = Load mass
Moment load = F × L
Where F is the external force,
Thrust load = F + Load mass
Moment load = F × L
Direct Drive Servomotors
SGMCS
64
Small-Capacity Series: Torque-Motor Speed Characteristics
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.
the intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGMCS-02B
A
0
0
100
1.5 3.0 4.5 6.0 7.5 9.0
200
300
400
500
B
SGMCS-05B
A
0
0
100
3 6 9 12 15 18
200
300
400
500
B
SGMCS-07B
A
0
0
100
5 10 15 20 25 30
200
300
400
500
B
SGMCS-04C
A
0
0
100
3 6 9 12 15 18
200
300
400
500
B
SGMCS-10C
A
0
0
100
6 12 18 24 30 36
200
300
400
500
B
SGMCS-14C
A
0
0
100
10 20 30 40 50 60
200
300
400
500
B
100
200
300
400
500
SGMCS-08D
0
0
100
6 12 18 24 30 36
200
300
400
500
SGMCS-17D
A
0
0
12 24 36 48 60 72
B
100
200
300
400
500
SGMCS-16E
A
0
0
100
9 18 27 36 45 54
200
300
400
500
B
SGMCS-35E
A
0
0
20 40 60 80 100 120
B
SGMCS-25D
A
0
0
100
15 30 45 60 75 90
200
300
400
500
B
A B
Torque (N·m)
Motor speed (min-1)
Torque (N·m) Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1) Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1) Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
A :
B :
Continuous duty zone (solid lines): With three-phase 200-V input
Intermittent duty zone (dotted lines): With single-phase 100-V input
Direct Drive Servomotors
SGMCS
65
Direct Drive Servomotors
Small-Capacity Series: Servomotor Overload Protection
Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Small-Capacity Series: Torque-Motor Speed Characteristics on page 64.
SGMCS-02B, -05B, -07B, -10C, -17D, and -35E
0 50 100 150 200 250 300
10000
1000
100
10
1
SGMCS-04C
0 50 100 150 200 250 300
10000
1000
100
10
1
SGMCS-14C
0 50 100 150 200 250 300
10000
1000
100
10
1
SGMCS-25D
0 50 100 150 200 250 300
10000
1000
100
10
1
SGMCS-08D and -16E
0 50 100 150 200 250 300
10000
1000
100
10
1
Detection time (s)
Torque reference (%)
Detection time (s) Detection time (s)
Detection time (s) Detection time (s)
Torque reference (%)
Torque reference (%) Torque reference (%)
Torque reference (%)
Direct Drive Servomotors
SGMCS
66
Medium-Capacity Series: Specifications
*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. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is
used.
Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Time Rating Continuous
Thermal Class F
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction
Counterclockwise (CCW) for forward reference when viewed from
the load side
Vibration Class*1 V15
Absolute Accuracy ±15 s
Repeatability ±1.3 s
Protective Structure*2 Totally enclosed, self-cooled, IP44
Environmental
Conditions
Surrounding Air Temperature 0°C to 40°C (with no freezing)
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
Installation Site
Storage Environment
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)
Mechanical
Tolerances*3
Runout of Output
Shaft Surface
mm 0.02
Runout at End of
Output Shaft
mm 0.04
Parallelism between
Mounting Surface and
Output Shaft Surface
mm −
Concentricity between
Output Shaft and
Flange Outer Diameter
mm 0.08
Perpendicularity
between Mounting Surface
and Output Shaft
mm 0.08
Shock
Resistance*4
Impact Acceleration
Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*5
Vibration Acceleration
Rate at Flange 24.5 m/s2
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
Direct Drive Servomotors
SGMCS
67
Direct Drive Servomotors
*3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of
the individual Servomotors for more information on tolerances.
*4. 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.
*5. 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 confirm the vibration acceleration rate.
B
A
A
A B
B
Runout at end of output shaft
Runout of output shaft surface
Perpendicularity between mounting surface and output shaft
Concentricity between output shaft and flange outer diameter
Runout at end of output shaft
Load side
Non-load side
dia. : Diameter determined by motor model.
dia.
dia.
Vertical
Shock Applied to the Servomotor
Side to side
Front to back
Vertical
Direct Drive Servomotors
SGMCS
68
Medium-Capacity Series: Ratings
*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 rated torques are the continuous allowable torque values at 40°C with a steel heat sink of the dimensions
given in the table.
*3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into
the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values
given in the table.
Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of
heat loss is higher at low temperatures.
Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Rated Output*1 W 707 1260 1730 1260 2360 3140
Rated Torque*1, *2 Nm 45.0 80.0 110 80.0 150 200
Instantaneous Maximum Torque*1 Nm 135 240 330 240 450 600
Stall Torque*1 Nm 45.0 80.0 110 80.0 150 200
Rated Current*1 Arms 5.8 9.7 13.4 9.4 17.4 18.9
Instantaneous Maximum Current*1 Arms 17.0 28.0 42.0 28.0 56.0 56.0
Rated Motor Speed*1 min-1 150 150
Maximum Motor Speed*1 min-1 300 300 250
Torque Constant Nm/Arms 8.39 8.91 8.45 9.08 9.05 11.5
Motor Moment of Inertia ×10-4 kgm2 388 627 865 1360 2470 3060
Rated Power Rate*1 kW/s 52.2 102 140 47.1 91.1 131
Rated Angular Acceleration Rate*1 rad/s2 1160 1280 1270 588 607 654
Heat Sink Size mm 750 × 750 × 45
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
3 times
Allowable
Load*3
A mm 33 37.5
Allowable Thrust Load N 9000 16000
Allowable Moment Load Nm 180 350
F F
L F
L
Where F is the external force,
Thrust load = F + Load mass
Moment load = 0
Where F is the external force,
Thrust load = F + Load mass
Moment load = F × L
Where F is the external force,
Thrust load = Load mass
Moment load = F × (L + A)
A (Refer to the
values in the
table.)
Direct Drive Servomotors
SGMCS
69
Direct Drive Servomotors
Medium-Capacity Series: Torque-Motor Speed Characteristics
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.
the intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
A
0 50 100 150
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-45M SGMCS-80M
A
0 100 200 300 400
0
100
200
300
B
A
0 100 200 300
0
100
200
300
B
SGMCS-1AM
SGMCS-80N
A
0 100 200 300 400 500
0
100
200
300
B A
0 200 400 600 800
0
100
200
300
B
SGMCS-1EN SGMCS-2ZN
A :
B :
Continuous duty zone
Intermittent duty zone
Motor speed (min-1)
Torque (N⋅m) Torque (N⋅m) Torque (N⋅m)
Torque (N⋅m) Torque (N⋅m) Torque (N⋅m)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Direct Drive Servomotors
SGMCS
70
Medium-Capacity Series: Servomotor Overload Protection
Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Medium-Capacity Series: Torque-Motor Speed Characteristics on page 69.
10000
1000
100
10
1
10000
1000
100
10
1
10000
1000
100
10
1
10000
1000
100
10
1
10000
1000
100
10
1
SGMCS-45MA SGMCS-80MA
SGMCS-1AMA and -80NA
SGMCS-2ZNA
SGMCS-1ENA
0 50 100 150 200 250 300 0 50 100 150 200 250 300
0 50 100 150 200 250 300
0 50 100 150 200 250 300
0 50 100 150 200 250 300 350
Detection time (s)
Torque reference (%)
Detection time (s)
Torque reference (%)
Detection time (s)
Torque reference (%)
Detection time (s)
Torque reference (%)
Detection time (s)
Torque reference (%)
Direct Drive Servomotors
SGMCS
71
Direct Drive Servomotors
External Dimensions
Small-Capacity Series
SGMCS-B
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
02BC11 59 51 120 20 100 4.8
05BC11 88 80 120 20 100 5.8
07BC11 128 120 120 20 100 8.2
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
02BC41 59 51 120 20 100 4.8
05BC41 88 80 120 20 100 5.8
07BC41 128 120 120 20 100 8.2
0.04
A
B
0.02
A
0.07 B
4 (LL)
L
*1
*1
*2
4±0.9
(9)
(1)
90°
R26
25.4
23.4
6 × M4 × 8
(Divided into equal sections at 60°.)
0.07 dia.
6 × M4 × 8 (Divided into equal sections at 60°.)
Unit: mm
(0.5: bolt section)
135 dia.
LH dia.
(70 dia.)
R40.5 max.
connector area
LB dia.
LA dia.
90 dia.
90 dia.
Notation
: Square dimensions
0
-0.035
+0.4
0
0
-0.035
0
-0.035
+0.4
0
0
-0.035
0
-0.035
+0.4
0
0
-0.035
4
20
(LL)
L
(1)
0.1
(35)
300±50
4±0.9
30
50
10 (22)
0.07 B
A
B
0.02
A
0.04
*1
*1
*2
6 × M4 × 8
(Divided into equal sections at 60°.)
6 × M4 × 8
(Divided into equal sections at 60°.)
0.07 dia.
Unit: mm
135 dia.
(70 dia.)
(80 dia.)
90 dia.
(0.5: bolt section)
LB dia.
LA dia.
LH dia.
90 dia.
0
-0.035
+0.4
0
0
-0.035
0
-0.035
+0.4
0
0
-0.035
0
-0.035
+0.4
0
0
-0.035
Direct Drive Servomotors
SGMCS
72
SGMCS-C
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
04CC11 69 59 160 35 130 7.2
10CC11 90 80 160 35 130 10.2
14CC11 130 120 160 35 130 14.2
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
04CC41 69 59 160 35 130 7.2
10CC41 90 80 160 35 130 10.2
14CC41 130 120 160 35 130 14.2
60°
5 (LL)
L
5±0.9
(9)
*1
*2 (1) *1
R36.5
25.4
23.4
B
0.02
A
0.07
0.04
A
6 × M5 × 8 B
(Divided into equal sections at 60°.)
0.07 dia.
(2 × M5 × 8)
(For use by Yaskawa)
6 × M5 × 8 (Divided into equal sections at 60°.)
(2 × M5 × 8 )
(For use by
Yaskawa)
Unit: mm
(1: bolt section)
175 dia.
LB dia.
(100 dia.)
LA dia.
130 dia.
120 dia.
R51 max.
connector area
LH dia.
0
-0.040
+0.4
0
0
-0.040
0
-0.040
+0.4
0
0
-0.040
0
-0.040
+0.4
0
0
-0.040
5
20
(LL)
L
0.1
(35)
(1)
30
50
10 (22)
0.07 B
A
B
0.02
A
0.04
300±50
5±0.9
*1
*2
*1
6 × M5 × 8
(Divided
into equal
sections at
60°.)
130 dia.
(2 × M5 × 8)
(For use by
Yaskawa) (2 × M5 × 8)
(For use by
Yaskawa)
Unit: mm
6 × M5 × 8
(Divided into equal sections at 60°.)
(1: bolt section)
175 dia.
(100 dia.)
(100 dia.)
0.07 dia.
LB dia.
LA dia.
120 dia.
LH dia.
0
-0.040
+0.4
0
0
-0.040
0
-0.040
+0.4
0
0
-0.040
0
-0.040
+0.4
0
0
-0.040
Direct Drive Servomotors
SGMCS
73
Direct Drive Servomotors
SGMCS-D
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
08DC11 74 64 200 60 170 14.0
17DC11 110 100 200 60 170 22.0
25DC11 160 150 200 60 170 29.7
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
08DC41 74 64 200 60 170 14.0
17DC41 110 100 200 60 170 22.0
25DC41 160 150 200 60 170 29.7
(LL)
L
5 5±0.9
60°
R53
*1
(9) *2 (1)
25.4
23.4
A
0.08 B B
0.02
0.04
A
*1
6 × M6 × 10
(Divided into equal sections at 60°.)
160 dia. R67.5 max.
connector area
(2 × M6 × 10)
(For use by Yaskawa)
6 × M6 × 10
(Divided into equal sections at 60°.)
(2 × M6 × 10)
(For use by
Yaskawa)
Unit: mm
160 dia.
(0.5: bolt section)
230 dia.
(140 dia.)
0.08 dia.
LB dia.
LA dia.
LH dia.
0
-0.046
+0.4
0
0
-0.040
0
-0.046
+0.4
0
0
-0.040
0
-0.046
+0.4
0
0
-0.040
5
20
(LL)
L
0.1
(1)
5±0.9
300±50
(35)
30
50
10 (22)
*1
*1
*2
B
0.02
0.08 B
A
A
0.04
6 × M6 × 10
(Divided into
equal sections
at 60°.)
160 dia.
(2 × M6 × 10)
(For use by
Yaskawa)
(2 × M6 × 10)
(For use by
Yaskawa)
6 × M6 × 10
(Divided into equal sections at 60°.)
Unit: mm
160 dia.
0.08 dia.
(0.5: bolt section) (
140 dia.)
(140 dia.)
230 dia.
LB dia.
LA dia.
LH dia.
0
-0.046
+0.4
0
0
-0.040
0
-0.046
+0.4
0
0
-0.040
0
-0.046
+0.4
0
0
-0.040
Direct Drive Servomotors
SGMCS
74
SGMCS-E
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
16EB11 88 76 260 75 220 26.0
35EB11 112 100 260 75 220 34.0
Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
16EB41 88 76 260 75 220 26.0
35EB41 112 100 260 75 220 34.0
60°
*2
*1
R65
(LL)
L
6
(9) (1)
(4)
A
0.08 B B
0.02
0.04
A
25.4
23.4
200 dia.
6±1.6
*1
6 × M8 × 14
(Divided into equal sections at 60°.)
290 dia.
(2 × M8 × 14)
(For use by
Yaskawa)
(2 × M8 × 14)
(For use by
Yaskawa)
6 × M8 × 14
(Divided into equal sections at 60°.)
Unit: mm
200 dia.
(280 dia.)
(180 dia.)
0.08 dia.
R80 max.
connector area
LB dia.
LA dia.
LH dia.
0
-0.052
+0.4
0
0
-0.046
0
-0.052
+0.4
0
0
-0.046
300±50
(35)
6 (LL)
L
0.1
(1)
(4)
*1
*1
*2
30
50
10 (22)
0.08 B
A
B
0.02
A
0.04
20
6±1.6
(2 × M8 × 14)
(For use by
Yaskawa)
(160 dia.)
200 dia.
(280 dia.)
(180 dia.)
290 dia.
0.08 dia.
(2 × M8 × 14)
(For use by
Yaskawa)
6 × M8 × 14
(Divided into equal sections at 60°.)
Unit: mm
200 dia.
6 × M8 × 14
(Divided into equal
sections at 60°.)
LB dia.
LA dia.
LH dia.
0
-0.052
+0.4
0
0
-0.046
0
-0.052
+0.4
0
0
-0.046
Direct Drive Servomotors
SGMCS
75
Direct Drive Servomotors
Medium-Capacity Series
SGMCS-M
* The shaded section indicates the rotating parts.
* The shaded section indicates the rotating parts.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]
45MA11 141 87.5 122 280 75 110 38
80MA11 191 137.5 172 280 75 110 45
1AMA11 241 187.5 222 280 75 110 51
Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]
45MA31 150 135 102.5 137 248 75 110 38
80MA31 200 185 152.5 187 248 75 110 45
1AMA31 250 235 202.5 237 248 75 110 51
A
15
147
182
41
0.04
0.04
B
A B
0.08 A B
30°
KB2
KB1
LL
6
5
1.5
*
*
* *
115 dia.
75.2 dia.
280 ± 0.5 dia.
140 dia.
(rotating
part)
Rotating
part
15 (280 dia. range)
0.08 dia.
12 × M6 × 15 (Divided into equal sections.)
12 × M6 × 18
(Divided into equal sections.) Unit: mm
88 dia.
264 dia.
250 dia.
LB dia.
LH dia.
LA dia.
0
-0.052
15 (75 dia. range) +0.019
0
0
-0.052
+0.019
0
0
-0.035
0
-0.052
+0.019
0
0
-0.035
0
-0.052
+0.019
0
0
-0.035
5
182
6 LL 15
KB2
KB1
L
41
1.5
0.08 C
*
*
A B
10°
147
C
0.02
A
0.04
B
0.04
*
*
12 × M6 × 15
(Divided into
equal sections.)
264 dia.
0.08 dia.
(rotating
part)
12 × M6 × 18
(Divided into
equal sections.)
88 dia.
Unit: mm
115 dia.
75.2 dia.
140 dia.
280 dia.
LB dia.
LH dia.
LA dia.
15 (75 dia. range) +0.019
0
0
-0.046
+0.019
0
0
-0.035
0
-0.046
+0.019
0
0
-0.035
0
-0.046
+0.019
0
0
-0.035
Direct Drive Servomotors
SGMCS
76
SGMCS-N
* The shaded section indicates the rotating parts.
* The shaded section indicates the rotating parts.
Refer to the following section for information on connectors.
Connector Specifications (page 77)
Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]
80NA11 151 98 132 360 118 160 50
1ENA11 201 148 182 360 118 160 68
2ZNA11 251 198 232 360 118 160 86
Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]
80NA31 160 145 113 147 323 118 160 50
1ENA31 210 195 163 197 323 118 160 68
2ZNA31 260 245 213 247 323 118 160 86
A
30° 15
0.04
0.04
B
A B
0.08 A B
222
41
186
KB2
KB1
5
LL
6
1.5
*
*
*
*
325 dia.
166 dia.
118.2 dia.
190 dia.
360 ± 0.5 dia.
Rotating
part
(rotating part)
0.08 dia.
344 dia.
12 × M8 × 15
(Divided into equal sections.)
12 × M8 × 20
(Divided into equal sections.)
135 dia.
Unit: mm
LB dia.
LA dia.
LH dia.
15 (360 0 dia. range)
-0.057
15 (118 dia. range) +0.022
0
0
-0.057
+0.022
0
0
-0.040
0
-0.057
+0.022
0
0
-0.040
0
-0.057
+0.022
0
0
-0.040
10°
222
41
1.5
5
6 LL 15
KB2
KB1
L
186
*
*
0.08 C C
0.02
B
0.04
A
0.04
A B
*
*
12 × M8 × 15
(Divided into equal sections.)
360 dia.
118.2 dia.
190 dia.
166 dia.
344 dia.
0.08 dia.
12 × M8 × 20
(Divided into
equal sections.)
135 dia.
(rotating part)
Unit: mm
LB dia.
LA dia.
LH dia.
15 (118 dia. range) +0.022
0
0
-0.057
+0.022
0
0
-0.040
0
-0.057
+0.022
0
0
-0.040
0
-0.057
+0.022
0
0
-0.040
Direct Drive Servomotors
SGMCS
77
Direct Drive Servomotors
Connector Specifications
SGMCS-B, -C, -D, or -E with Flange Specification 1
SGMCS-B, -C, -D, or -E with Flange Specification 4
Model: JN1AS04MK2R
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Mating connector: JN1DS04FK1
(Not provided by Yaskawa.)
Model: JN1AS10ML1-R
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Mating connector: JN1DS10SL1
(Not provided by Yaskawa.)
Model
Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
Model: 55102-0600
Manufacturer: Molex Japan Co., Ltd.
Mating connector: 54280-0609
1
2
3
4
Direct Drive Servomotors
SGMCS
78
SGMCS-M or -N with Flange Specification 1 or 3
Model: CE05-2A18-10PD
Manufacturer: DDK Ltd.
Mating Connector
Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A-(D265)
Model: JN1AS10ML1
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Mating connector: JN1DS10SL1
Direct Drive Servomotors
79
Direct Drive Servomotors
SGMCV
Model Designations
Note: Direct Drive Servomotors are not available with holding brakes.
B
C
E
I
1
5
1
4
4th digit 6th digit
3rd digit
7th digit
Mounting
Non-load side
Non-load side (with cable on side)
Options
Without options
High machine precision (runout at end of shaft
and runout of shaft surface: 0.01 mm)
22-bit single-turn data
22-bit multiturn data
A
5th digit Design Revision Order
Servomotor Outer Diameter
135-mm dia.
175-mm dia.
Serial Encoder Flange
SGMCV – 04 B E A 1 1
1st+2nd
digits
1st+2nd digits Rated Output
04 4 Nm
08 8 Nm
10 10 Nm
14 14 Nm
17 17 Nm
25 25 Nm
Code Specification
3rd
digit
4th
digit
5th
digit
6th
digit
7th
Direct Drive digit
Servomotors:
SGMCV
Code Code
Code
Code
Specification
Specification
Specification
Direct Drive Servomotors
SGMCV
80
Ratings and Specifications
Specifications
*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 hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the
shaft are excluded. Protective structure specifications apply only when the special cable is used.
*3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of
the individual Servomotors for more information on tolerances.
Voltage 200 V
Model SGMCV- 04B 10B 14B 08C 17C 25C
Time Rating Continuous
Thermal Class A
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Rotation Direction
Counterclockwise (CCW) for forward reference when viewed
from the load side
Vibration Class*1 V15
Absolute Accuracy ±15 s
Repeatability ±1.3 s
Protective Structure*2 Totally enclosed, self-cooled, IP42
Environmental
Conditions
Surrounding Air Temperature 0°C to 40°C (with no freezing)
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
Installation Site
gases.
Storage Environment
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)
Mechanical
Tolerances*3
Runout of Output Shaft Surface mm 0.02 (0.01 for high machine precision option)
Runout at End of Output Shaft mm 0.04 (0.01 for high machine precision option)
Parallelism between Mounting
Surface and Output Shaft
Surface
mm 0.07
Concentricity between Output
Shaft and Flange Outer Diameter
mm 0.07
Shock
Resistance*4
Impact Acceleration Rate at Flange 490 m/s2
Number of Impacts 2 times
Vibration
Resistance*5
Vibration Acceleration Rate at
Flange 49 m/s2
Applicable SERVOPACKs
Refer to the following section.
Σ-7 Series Combination (page M-18)
A
A B
B
Runout at end of output shaft
dia.
Load side
Non-load side
Concentricity between output shaft and flange outer diameter dia. Parallelism between mounting surface and output shaft surface
Runout of output shaft surface : Diameter determined by motor model.
Direct Drive Servomotors
SGMCV
81
Direct Drive Servomotors
*4. 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.
*5. 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 confirm the vibration acceleration rate.
Vertical
Shock Applied to the Servomotor
Vertical
Side to side
Front to back
Direct Drive Servomotors
SGMCV
82
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 40°C with a steel heat sink of the dimensions
given in the table.
*3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into
the following patterns. Design the machine so that the thrust loads or moment loads will not exceed the values
given in the table.
Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of
heat loss is higher at low temperatures.
Voltage 200 V
Model SGMCV- 04B 10B 14B 08C 17C 25C
Rated Output*1 W 126 314 440 251 534 785
Rated Torque*1, *2 Nm 4.00 10.0 14.0 8.00 17.0 25.0
Instantaneous Maximum Torque*1 Nm 12.0 30.0 42.0 24.0 51.0 75.0
Stall Torque*1 Nm 4.00 10.0 14.0 8.00 17.0 25.0
Rated Current*1 Arms 1.8 2.8 4.6 2.3 4.5
Instantaneous Maximum Current*1 Arms 5.6 8.9 14.1 7.3 14.7 13.9
Rated Motor Speed*1 min-1 300 300
Maximum Motor Speed*1 min-1 600 600 500
Torque Constant Nm/Arms 2.39 3.81 3.27 3.81 4.04 6.04
Motor Moment of Inertia ×10-4 kgm2 16.2 25.2 36.9 56.5 78.5 111
Rated Power Rate*1 kW/s 9.88 39.7 53.1 11.3 36.8 56.3
Rated Angular Acceleration Rate*1 rad/s2 2470 3970 3790 1420 2170 2250
Heat Sink Size mm 350 × 350 × 12 450 × 450 × 12
Allowable Load Moment of Inertia
(Motor Moment of Inertia Ratio)
25
times
40
times
45
times
15
times
25
times
25
times
Allowable
Load*3
Allowable Thrust
Load
N 1500 3300
Allowable Moment
Load
Nm 45 55 65 92 98 110
F
F
F L
L
Where F is the external force,
Thrust load = F + Load mass
Moment load = 0
Where F is the external force,
Thrust load = F + Load mass
Moment load = F × L
Where F is the external force,
Thrust load = Load mass
Moment load = F × L
Direct Drive Servomotors
SGMCV
83
Direct Drive Servomotors
Torque-Motor Speed Characteristics
*1. The characteristics are the same for three-phase 200 V and single-phase 200 V.
*2. Contact your Yaskawa representative for information on the SGMCV-25C.
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.
speed characteristics will become smaller as the voltage drop increases.
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 Torque-Motor Speed Characteristics on page 83.
A :
B :
SGMCV-17C
0 10 20 30 40 50 60
0
100
200
300
400
500
600
700
A B
SGMCV-04B*1
0
100
200
300
400
500
600
700
0 5 10 15
A B
SGMCV-25C*2
0 1020 30 4050 607080
0
100
200
300
400
500
600
A B
SGMCV-10B
0 10 20 30 40
0
100
200
300
400
500
600
700
A B
SGMCV-14B*1
0 10 20 30 40 50
0
100
200
300
400
500
600
700
A B
SGMCV-08C
0 5 10 15 20 25 30
0
100
200
300
400
500
600
700
A B
Torque (N·m)
(solid lines): With three-phase 200-V or single-phase 230-V input
(dotted lines): With single-Intermittent duty zone ingle-phase 200-V input
Motor speed (min-1)
Continuous duty zone
Torque (N·m)
Motor speed (min-1)
Torque (N·m)
Motor speed (min-1)
Torque (N·m)
Motor speed (min-1)
Torque (N·m)
Motor speed (min-1)
Torque (N·m)
Motor speed (min-1)
10000
1000
100
10
1
10000
1000
100
10
1
SGMCV-B SGMCV-C
0 50 100 150 200 250 300 0 50 100 150 200 250 300
Detection time (s)
Torque reference (%) Torque reference (%)
Detection time (s)
Direct Drive Servomotors
SGMCV
84
External Dimensions
SGMCV-B
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 86)
Model SGMCV- L (LL) LB LH LA Approx. Mass [kg]
04BA11 60 53.3 120 25 78 5.0
10BA11 85 78.3 120 25 78 6.5
14BA11 115 108.3 120 25 78 9.0
Model SGMCV- L (LL) LB LH LA Approx. Mass [kg]
04BA41 60 53.3 120 25 78 5.0
10BA41 85 78.3 120 25 78 6.5
14BA41 115 108.3 120 25 78 9.0
23.4
25.4
(1)
4 2.7
90°
R26.5
(LL)
L
(9)
(0.1)
A
0.04
B
0.02
A
0.07 B
*1
*2
6 × M5 × 8
(Divided into equal
sections at 60°.)
(82 dia.)
134 dia.
(58.5 dia.)
LB dia.
135 dia.
0.07 dia. 6 × M5 × 8
(Divided into equal sections at 60°.)
(2 × M5 × 8)
(For use by
Yaskawa)
70 dia.
Unit: mm
90 dia.
LA dia.
LH dia.
Notation
: Square dimensions
0
-0.035
+0.3
+0.1
0
-0.030
0
-0.035
+0.3
+0.1
0
-0.030
0
-0.035
+0.3
+0.1
0
-0.030
(1)
(LL) 2.7
L
300±50
(35)
18
4
(0.1)
43.5
24.5
10 (22)
A
0.04
B
0.02
0.07 B
A
90 dia.
*1
*2
6 × M5 × 8
(Divided into
equal sections
at 60°.)
0.07 dia.
(2 × M5 × 8)
(For use by
Yaskawa)
134 dia.
(58.5 dia.)
LH dia.
(82 dia.)
135 dia.
6 × M5 × 8
(Divided into
equal sections
at 60°.)
(2 × M5 × 8)
(For use by
Yaskawa)
Unit: mm
70 dia.
LB dia.
LA dia.
0
-0.035
+0.3
+0.1
0
-0.030
0
-0.035
+0.3
+0.1
0
-0.030
0
-0.035
+0.3
+0.1
0
-0.030
Direct Drive Servomotors
SGMCV
85
Direct Drive Servomotors
SGMCV-C
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
*1. The shaded section indicates the rotating parts.
*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Refer to the following section for information on connectors.
Connector Specifications (page 86)
Model SGMCV- L (LL) LB LH LA Approx. Mass [kg]
08CA11 73 65.3 160 40 107 9.0
17CA11 87 79.3 160 40 107 11.0
25CA11 117 109.3 160 40 107 15.0
Model SGMCV- L (LL) LB LH LA Approx. Mass [kg]
08CA41 73 65.3 160 40 107 9.0
17CA41 87 79.3 160 40 107 11.0
25CA41 117 109.3 160 40 107 15.0
23.4
25.4
5 2.7
R43
(0.1) (1)
90°
L
(LL)
(9)
B
0.02
A
0.04
0.07 B
A
173 dia.
*1
*2
130 dia.
6 × M6 × 9
(Divided into equal
sections at 60°.)
98 dia.
(2 × M6 × 9)
(For use by
Yaskawa)
Unit: mm
(2 × M6 × 9)
(For use by
Yaskawa)
LA dia.
(84 dia.)
(116 dia.)
175 dia.
0.07 dia.
LB dia.
LH dia.
6 × M6 × 9
(Divided into equal
sections at 60°.)
0
-0.040
+0.3
+0.1
0
-0.035
0
-0.040
+0.3
+0.1
0
-0.035
0
-0.040
+0.3
+0.1
0
-0.035
B
5 2.7 0.02
1
(0.1) (1)
L
18
300±50
(LL)
24.5
(22)
43.5
10
(35)
0.07 B
A
A
0.04
*1
*2
6 × M6 × 9
(Divided into
equal sections
at 60°.)
(2 × M6 × 9)
(For use by
Yaskawa)
173 dia.
(84 dia.)
175 dia.
130 dia.
6 × M6 × 9
(Divided into
equal sections
at 60°.)
98 dia.
(2 × M6 × 9)
(For use by
Yaskawa)
Unit: mm
(116 dia.)
0.07 dia.
LB dia.
LH dia.
LA dia.
0
-0.040
+0.3
+0.1
0
-0.035
0
-0.040
+0.3
+0.1
0
-0.035
0
-0.040
+0.3
+0.1
0
-0.035
Direct Drive Servomotors
SGMCV
86
Connector Specifications
Flange Specification 1
Flange Specification 4
Model: JN1AS04MK2R
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Mating connector: JN1DS04FK1
(Not provided by Yaskawa.)
Model: JN1AS10ML1-R
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Mating connector: JN1DS10SL1
(Not provided by Yaskawa.)
Model
Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
Model: 55102-0600
Manufacturer: Molex Japan Co., Ltd.
Mating connector: 54280-0609
1
2
3
4
SGLG (Coreless Models) ……………………………….. 88
SGLF (Models with F-type Iron Cores) ……………112
SGLT (Models with T-type Iron Cores) …………….155
SGLC (Cylinder Models) ………………………………..176
Linear Servomotors
Linear Servomotors
88
SGLG (Coreless Models)
Model Designations
Moving Coil
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Magnetic Way
* The SGLGM-40 and SGLGM-60 also have a CT code.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
050
080
140
200
253
365
370
535
S G L G W – 30 A 050 C P
30 30 mm
40 40 mm
60 60 mm
90 86 mm
A 200 VAC
SGLGW
-40A, -60A, -90A
SGLGW
-30A, -40A, -60A
G
W 50 mm
80 mm
140 mm
199 mm
252.5 mm
365 mm
367 mm
535 mm
D
C
H
P
Servomotor Type Power Supply Voltage Sensor Specification and Cooling Method
Connector for Servomotor Main Circuit Cable
None
Connector from Tyco
Electronics Japan G.K. All models
Connector from
Interconnectron GmbH
None None Self-cooled All models
All models
Air-cooled
Air-cooled
Self-cooled
None
Yes
Yes
Polarity
Sensor
Cooling
Method
Length of
Moving Coil
Design Revision Order
Coreless model
Magnet Height
Moving Coil
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
11th digit
9th digit
6th+7th+8th digits
5th digit 10th digit
3rd+4th
digits
Code Specification
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
5th
digit
6th+7th+8th
digits
9th
digit
10th
digit
11th
digit
Code
Code
Code
Code
Code
Code
Specification Specifications
Specification
Specification Specification
Specification
Applicable Models
Applicable Models
A, B…
090
108
216
225
252
360
405
432
450
504
S G L G M – 30 108 A
(Same as for the Moving Coil.)
Magnetic Way
(Same as for the Moving Coil.)
Length of
Magnetic Way Options
Standard-force All models
High-force
9th digit
M
90 mm
108 mm
216 mm
225 mm
252 mm
360 mm
405 mm
432 mm
450 mm
504 mm
Servomotor Type
None
Design Revision Order
Magnet Height
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
8th digit
3rd+4th
digits
Code Specification
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
9th
digit
8th
digit
Code Specification Code Specification Applicable Models
A, B, C*…
5th+6th+7th digits
-M
5th+6th+7th
digits
SGLGM-40, -60
Linear Servomotors
SGLG (Coreless Models)
89
Linear Servomotors
Precautions on Moving Coils with Polarity Sensors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, consider
the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.
Correct Installation Incorrect Installation
Total Length of Moving Coil with
Polarity Sensor
Note
Polarity sensor
Edge of Magnetic Way
Magnetic Way
Moving Coil
Moving Coil
movement direction
A L1
L
Polarity sensor
Magnetic Way
Moving Coil
Moving Coil
Model
SGLGWLength
of
Moving
Coil,
L1 (mm)
Length of
Polarity
Sensor,
A (mm)
Total
Length,
L (mm)
30A050P 50 0
(Included in the
length of
Moving Coil.)
50
30A080P 80 80
40A140H
40A140P
140
16
156
40A253H
40A253P
252.5 268.5
40A365H
40A365P
365 381
60A140H
60A140P
140
16
156
60A253H
60A253P
252.5 268.5
60A365H
60A365P
365 381
90A200H
90A200P
199
0
(Included in the
length of
Moving Coil.)
199
90A370H
90A370P
367 367
90A535H
90A535P
535 535
Linear Servomotors
SGLG (Coreless Models)
90
Ratings and Specifications
Specifications: With Standard-Force Magnetic Way
Linear Servomotor
Moving Coil Model
SGLGW-
30A 40A 60A 90A
050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method
Self-cooled or air-cooled
(Only self-cooled models are available for the SGLGW-30A.)
Protective Structure IP00
Environmental
Conditions
Surrounding
Air Temperature
0°C to 40°C (with no freezing)
Surrounding
Air
Humidity
20% to 80% relative humidity (with no condensation)
Installation
Site
Shock
Resistance
Impact
Acceleration
Rate
196 m/s2
Number of
Impacts
2 times
Vibration
Resistance
Vibration
Acceleration
Rate
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and
front-to-back)
Linear Servomotors
SGLG (Coreless Models)
91
Linear Servomotors
Ratings: With Standard-Force Magnetic Way
*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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
Linear Servomotor
Moving Coil Model
SGLGW-
30A 40A 60A 90A
050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Rated Motor
Speed (Reference
Speed
during Speed
Control)*1
m/s 1.5 1.5 2.0 2.0 2.0 2.3 2.3 2.3 1.8 1.5 1.5
Maximum
Speed*1 m/s 5.0 5.0 5.0 5.0 5.0 4.8 4.8 4.8 4.0 4.0 4.0
Rated Force*1, *2 N 12.5 25 47 93 140 70 140 210 325 550 750
Maximum
Force*1 N 40 80 140 280 420 220 440 660 1300 2200 3000
Rated Current*1 Arms 0.51 0.79 0.80 1.6 2.4 1.2 2.2 3.3 4.4 7.5 10.2
Maximum
Current*1 Arms 1.6 2.5 2.4 4.9 7.3 3.5 7.0 10.5 17.6 30.0 40.8
Moving Coil
Mass kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.1 2.2 3.6 4.9
Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6 78.0 78.0 78.0
BEMF Constant
Vrms/
(m/s)/
phase
8.80 11.3 20.5 20.5 20.5 22.2 22.2 22.2 26.0 26.0 26.0
Motor Constant N/ 3.66 5.63 7.79 11.0 13.5 11.1 15.7 19.2 26.0 36.8 45.0
Electrical Time
Constant ms 0.19 0.41 0.43 0.43 0.43 0.45 0.45 0.45 1.4 1.4 1.4
Mechanical
Time Constant ms 7.5 4.7 5.6 5.0 4.8 3.4 3.1 3.0 3.3 2.7 2.4
Thermal Resistance
(with Heat
Sink)
K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51 0.39 0.26 0.22
Thermal Resistance
(without
Heat Sink)
K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15 1.09 0.63 0.47
Magnetic
Attraction N 0 0 0 0 0 0 0 0 0 0 0
Combined Magnetic Way,
SGLGM- 30A 40C 60C 90A
Combined Serial Converter
Unit, JZDP-- 250 251 252 253 254 258 259 260 264 265 266
Applicable
SERVOPACKs
SGD7S- R70A R90A R90A 1R6A 2R8A 1R6A 2R8A 5R5A 120A 180A 200A
SGD7W- 1R6A 1R6A 1R6A 1R6A 2R8A 1R6A 2R8A 5R5A – – –
W
Linear Servomotors
SGLG (Coreless Models)
92
Force-Motor Speed Characteristics
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGLGW-40A365C
0 100 200 300 400 500
A B
SGLGW-40A140C
0 50 100 150
A B
SGLGW-40A253C
0 100 200 300
A B
SGLGW-30A050C* 6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
0 10 20 30 40 50
A B
SGLGW-30A080C*
0 20 40 60 80 100
A B
SGLGW-60A365C
0 150 300 450 600 750
A B
SGLGW-60A140C
0 50 100 150 200 250
A B
SGLGW-60A253C
0
A B
SGLGW-90A200C
0
A B
SGLGW-90A370C
0
A B A B
SGLGW-90A535C
100 200 300 400 500
300 600 900 1200 1500 500 1000 1500 2000 2500 0 700 1400 2100 2800 3500
Continuous duty zone
Intermittent duty zone
Motor speed (m/s)
Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N)
Force (N) Force (N)
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
A :
B :
Linear Servomotors
SGLG (Coreless Models)
93
Linear Servomotors
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 92.
SGLGW-30A
10000
1000
100
10
1
50 100 150 200 250 300 350
SGLGW-40A
50 100 150 200 250 300 350
10000
1000
100
10
1
50 100 150 200 250 300 350 50 100 150 200 250 300 350 400 450
SGLGW-90A
10000
1000
100
10
1
SGLGW-60A
10000
1000
100
10
1
Detection time (s)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Linear Servomotors
SGLG (Coreless Models)
94
Specifications: With High-Force Magnetic Way
Ratings: With High-Force Magnetic Way
*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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
Linear Servomotor Moving Coil Model
SGLGW-
40A 60A
140C 253C 365C 140C 253C 365C
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method Self-cooled or air-cooled
Protective Structure IP00
Environmental
Conditions
Surrounding Air Temperature 0°C to 40°C (with no freezing)
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
Installation Site
Shock
Resistance
Impact Acceleration Rate 196 m/s2
Number of Impacts 2 times
Vibration
Resistance
Vibration Acceleration Rate 49 m/s2 (the vibration resistance in three directions, vertical,
side-to-side, and front-to-back)
Linear Servomotor Moving Coil Model
SGLGW-
40A 60A
140C 253C 365C 140C 253C 365C
Rated Motor Speed (Reference
Speed during Speed Control)*1 m/s 1.0 1.0 1.0 1.0 1.0 1.0
Maximum Speed*1 m/s 4.2 4.2 4.2 4.2 4.2 4.2
Rated Force*1, *2 N 57 114 171 85 170 255
Maximum Force*1 N 230 460 690 360 720 1080
Rated Current*1 Arms 0.80 1.6 2.4 1.2 2.2 3.3
Maximum Current*1 Arms 3.2 6.5 9.7 5.0 10.0 14.9
Moving Coil Mass kg 0.34 0.60 0.87 0.42 0.76 1.1
Force Constant N/Arms 76.0 76.0 76.0 77.4 77.4 77.4
BEMF Constant
Vrms/(m/s)/
phase
25.3 25.3 25.3 25.8 25.8 25.8
Motor Constant N/ 9.62 13.6 16.7 12.9 18.2 22.3
Electrical Time Constant ms 0.43 0.43 0.43 0.45 0.45 0.45
Mechanical Time Constant ms 3.7 3.2 3.1 2.5 2.3 2.2
Thermal Resistance (with Heat Sink) K/W 1.67 0.87 0.58 1.56 0.77 0.51
Thermal Resistance (without Heat Sink) K/W 3.02 1.80 1.23 2.59 1.48 1.15
Magnetic Attraction N 0 0 0 0 0 0
Combined Magnetic Way, SGLGM- 40C-M 60C-M
Combined Serial Converter Unit, JZDP-- 255 256 257 261 262 263
Applicable SERVOPACKs
SGD7S- 1R6A 2R8A 3R8A 1R6A 3R8A 7R6A
SGD7W- 1R6A 2R8A 5R5A 1R6A 5R5A 7R6A
W
Linear Servomotors
SGLG (Coreless Models)
95
Linear Servomotors
Force-Motor Speed Characteristics
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 95.
SGLGW-40A140C
0
1
2
3
4
5
0
A B
A B A B A B
A B A B
SGLGW-40A253C
0
1
2
3
4
5
0
SGLGW-40A365C
0
1
2
3
4
5
0 200 400 600 800
200 400 600 800
SGLGW-60A140C SGLGW-60A253C
5
4
3
2
1
0
0
SGLGW-60A365C
5
4
3
2
1
0
0
5
4
3
2
1
0
0
50 100 150 200 250
80 160 240 320 400
100 200 300 400 500
240 480 720 960 1200
(dotted lines): With single-phase 200-V input
Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N)
Motor speed (m/s)
(solid lines): With three-phase 200-V input
Intermittent duty zone
Continuous duty zone
Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
A :
B :
50 100 150 200 250 300 350 400 450
10000
1000
100
10
1
50 100 150 200 250 300 350 400 450
10000
1000
100
10
1
SGLGW-40A with High-Force Magnetic Way SGLGW-60A with High-Force Magnetic Way
Detection time (s)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Detection time (s)
Linear Servomotors
SGLG (Coreless Models)
96
External Dimensions
SGLGW-30
Moving Coils: SGLGW-30AC
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-30AC Moving Coils (page 109)
Moving Coil Model
SGLGWL1
L2 L3 L4 L5 W G (Gap)
Approx.
Mass* [kg]
30A050C 50 48 30 20 20 5.9 0.85 0.14
30A080C 80 72 50 30 25 5.7 0.95 0.19
3
1
17
4 × M4 × 5
L5 L4
500±50
500±50
22
57
24
44
48.5
15
L1
L3
L2
G (Gap) G (Gap)
W
12
UL20276,
AWG26
2 × #4-40 UNC screws
Cable
(5.3 dia.)
Cable
UL2517, AWG25
The Moving Coil moves in the direction indicated by the arrow
when current flows in the following phase sequence: U, V, W.
2 × 2 × M4 × 5 (both sides)
Unit: mm
(5 dia.)
Linear Servomotors
SGLG (Coreless Models)
97
Linear Servomotors
Moving Coils: SGLGW-30ACD
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-30ACD Moving Coils (page 109)
Moving Coil Model
SGLGWL1
L2 L3 L4 L5 W G (Gap)
Approx.
Mass* [kg]
30A050CD 50 48 30 20 20 5.9 0.85 0.14
30A080CD 80 72 50 30 25 5.7 0.95 0.19
3
22
24
48.5
15
500±50
500±50
L1
L3
L2
G (Gap) G (Gap)
17
4 × M4 × 5
L5 L4
1
57
44
W
12
2 × #4-40 UNC screws
Cable
UL20276,
AWG26
(5.3 dia.)
(5 dia.)
The Moving Coil moves in the direction indicated by the
arrow when current flows in the following phase sequence:
U, V, W.
Cable
UL2517, AWG25 2 × 2 × M4 × 5 (both sides)
Unit: mm
Linear Servomotors
SGLG (Coreless Models)
98
Standard-Force Magnetic Ways: SGLGM-30A
Magnetic Way Model
SGLGML1
L2 N Approx. Mass [kg]
30108A 108 54 2 0.6
30216A 216 162 4 1.1
30432A 432 378 8 2.3
27 (27)
44
7.6 8.2
N × M4 × 6
24
L2
4.5
36 L2 (18)
Pitch: 54
L1 (1 unit)
Pitch: 54
Unit: mm
8 dia. 5
N × 4.5 dia.
-0.1
-0.1
-0.1
-0.1
-0.1
-0.1
Linear Servomotors
SGLG (Coreless Models)
99
Linear Servomotors
SGLGW-40
Moving Coils: SGLGW-40AC
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-40AC and -60AC Moving Coils (page 110)
Moving Coil
Model
SGLGWL1
L2 L3 L4 L5 L6 N1 N2
Approx.
Mass* [kg]
40A140C 140 125 90 30 52.5 45 3 4 0.40
40A253C 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365C 365 350 315 30 52.5 270 8 14 0.93
N2 × M4 × 6
15
63
30
4
(7.5)
17
L5 L6
45
L1
16 L4 L3
45
L2
500±50
500±50
15
1
25.4
Gap: 0.8 Gap: 0.8
25.4 78
62
5.8
2 × #4-40 UNC screws
(5.3 dia.)
(7 dia.)
Polarity sensor
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
sequence: U, V, W.
N1 × M4 × 6 (both sides)
Unit: mm
Linear Servomotors
SGLG (Coreless Models)
100
Moving Coils: SGLGW-40ACD
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-40ACD and -60ACD Moving Coils (page 110)
Moving Coil
Model
SGLGWL1
L2 L3 L4 L5 L6 N1 N2
Approx.
Mass* [kg]
40A140CD 140 125 90 30 52.5 45 3 4 0.40
40A253CD 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365CD 365 350 315 30 52.5 270 8 14 0.93
N2 × M4 × 6
15
63
30
4
(7.5)
17
L5 L6
45
L1
L3
L2
16 L4
45
500±50
500±50
15
1
25.4
Gap: 0.8 Gap: 0.8
25.4
78
62
5.8
2 × #4-40 UNC
screws
Polarity sensor
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
sequence: U, V, W.
N1 × M4 × 6 (both sides)
Unit: mm
(7 dia.)
(5.3 dia.)
Linear Servomotors
SGLG (Coreless Models)
101
Linear Servomotors
Standard-Force Magnetic Ways:
SGLGM-40C (without Mounting Holes on the Bottom)
SGLGM-40CT (with Mounting Holes on the Bottom)
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]
Standard-Force
40090C or 40090CT 90 45 2 0.8
40225C or 40225CT 225 180 5 2.0
40360C or 40360CT 360 315 8 3.1
40405C or 40405CT 405 360 9 3.5
40450C or 40450CT 450 405 10 3.9
7
22.5 L2
22.5 L2
N × M5 × 13
X
X
(22.5)
(22.5)
5.4
9
62
7.4
25.4
X-X
9
12.7
62
5.4
(13)
7.4
25.4
X-X
X
X
SGLGM-
40C
SGLGM-
40CT
10 dia. 5.4
L1 (1 unit)
( SGLGM- CT only)
Unit: mm
5.5 dia.
10 dia.
5.5 dia.
10 dia.
Pitch: 45
N × 5.5 dia.
Pitch: 45
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLG (Coreless Models)
102
High-Force Magnetic Ways:
SGLGM-40C-M (without Mounting Holes on the Bottom)
SGLGM-40CT-M (with Mounting Holes on the Bottom)
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]
High-Force
40090C-M or 40090CT-M 90 45 2 1.0
40225C-M or 40225CT-M 225 180 5 2.6
40360C-M or 40360CT-M 360 315 8 4.1
40405C-M or 40405CT-M 405 360 9 4.6
40450C-M or 40450CT-M 450 405 10 5.1
22.5 L2
22.5 (22.5)
(22.5)
L2
7
62
62
7.4 12.2
31.8
15.9
12.2
31.8
7.4
X
X
X
X
5.4
(13)
5.4
X-X X-X
N × M5 × 13
SGLGM-
40C-M
SGLGM-
40CT-M
L1 (1 unit)
( SGLGM- CT-M only)
Unit: mm
5.5 dia.
10 dia.
5.5 dia.
10 dia.
Pitch: 45
10 dia. 5.4
N × 5.5 dia.
Pitch: 45
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLG (Coreless Models)
103
Linear Servomotors
SGLGW-60
Moving Coils: SGLGW-60AC
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-40AC and -60AC Moving Coils (page 110)
Moving Coil Model
SGLGWL1
L2 L3 L4 L5 L6 N1 N2
Approx.
Mass* [kg]
60A140C 140 125 90 30 52.5 45 3 4 0.48
60A253C 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365C 365 350 315 30 52.5 270 8 14 1.16
2 × #4-40
UNC screws
N2 × M4 × 6
15
83
L6
45
L5
30
500±50
16 L4
45
L1
L3
L2 (7.5)
500±50
4
17
15
1
25.4
Gap: 0.8 Gap: 0.8
25.4
98
82
5.8
(5.3 dia.)
(7 dia.)
Polarity sensor
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
phase sequence: U, V, W.
N1 × M4 × 6 (both sides)
Unit: mm
Linear Servomotors
SGLG (Coreless Models)
104
Moving Coils: SGLGW-60ACD
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-40ACD and -60ACD Moving Coils (page 110)
Moving Coil Model
SGLGWL1
L2 L3 L4 L5 L6 N1 N2
Approx.
Mass* [kg]
60A140CD 140 125 90 30 52.5 45 3 4 0.48
60A253CD 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365CD 365 350 315 30 52.5 270 8 14 1.16
N2 × M4 × 6
15
83
L6
45
L5
30
500±50
16 L4
45
L1
L3
L2 (7.5)
500±50
4
17
15
1
25.4
Gap: 0.8 Gap: 0.8
25.4 98
82
5.8
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
phase sequence: U, V, W.
Polarity sensor
Unit: mm
N1 × M4 × 6 (both sides)
(7 dia.)
(5.3 dia.)
2 × #4-40
UNC screws
Linear Servomotors
SGLG (Coreless Models)
105
Linear Servomotors
Standard-Force Magnetic Ways:
SGLGM-60C (without Mounting Holes on the Bottom)
SGLGM-60CT (with Mounting Holes on the Bottom)
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]
Standard-Force
60090C or 60090CT 90 45 2 1.1
60225C or 60225CT 225 180 5 2.6
60360C or 60360CT 360 315 8 4.1
60405C or 60405CT 405 360 9 4.6
60450C or 60450CT 450 405 10 5.1
22.5
7
L2
L2
N × M5 × 13
22.5
X
(22.5)
(22.5)
X
X
X
5.4
9
82
5.5 dia.
7.4
25.4
X-X
12.7
82
5.4
(13)
7.4
25.4
9
X-X
SGLGM-
60C
SGLGM-
60CT
10 dia. 5.4
N × 5.5 dia.
L1 (1 unit)
Unit: mm
10 dia.
5.5 dia.
10 dia.
Pitch: 45
( SGLGM- CT only)
Pitch: 45
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLG (Coreless Models)
106
High-Force Magnetic Ways:
SGLGM-60C-M (without Mounting Holes on the Bottom)
SGLGM-60CT-M (with Mounting Holes on the Bottom)
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]
High-Force
60090C-M or 60090CT-M 90 45 2 1.3
60225C-M or 60225CT-M 225 180 5 3.3
60360C-M or 60360CT-M 360 315 8 5.2
60405C-M or 60405CT-M 405 360 9 5.9
60450C-M or 60450CT-M 450 405 10 6.6
22.5 L2 (22.5)
22.5 L2 (22.5)
N × M5 × 13
7
82
82
7.4 12.2
31.8
15.9
12.2
31.8
7.4
SGLGM-
60C-M
SGLGM-
60CT-M
X
X
X
X
5.4
(13)
5.4
X-X X-X
10 dia. 5.4
( SGLGM- CT-M only) Unit: mm
Pitch: 45
N × 5.5 dia.
10 dia.
5.5 dia.
10 dia.
5.5 dia.
Pitch: 45
L1 (1 unit)
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLG (Coreless Models)
107
Linear Servomotors
SGLGW-90
Moving Coils: SGLGW-90AC
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLGW-90AC Moving Coils (page 111)
Moving Coil Model
SGLGWL1
L2 L3 L4 L5 L6 N1 N2
Approx.
Mass* [kg]
90A200C 199 189 130 40 60 95 3 4 2.2
90A370C 367 357 260 40 55 285 5 8 3.65
90A535C 535 525 455 40 60 380 8 10 4.95
2 50.8
Gap: 1
Gap: 1
11.8
26
49
138
110
32
500±50
L2
95
8
121
500±50
65
L4 L3
L1
UL20276, AWG26
L5 L6
N2 × M6 × 9
2 × #4-40
UNC screws
The Moving Coil moves in the direction indicated by the arrow
when current flows in the following phase sequence: U, V, W.
2 × N1 × M6 × 9 (both sides)
Unit: mm
Cable
(5.3 dia.)
(10.5 dia.)
Cable
UL2517, AWG15
Linear Servomotors
SGLG (Coreless Models)
108
Standard-Force Magnetic Ways: SGLGM-90A
Magnetic Way Model
SGLGML1
L2 N Approx. Mass [kg]
90252A 252 189 4 7.3
90504A 504 441 8 14.7
X-X
6.5
50.8
110
13.8 18.5
X
X
L2
31.5 L2 (31.5)
N × M6 × 14.5
8.5
19 (44)
L1 (1 unit)
Pitch: 63
N × 6.6 dia.
Pitch: 63
12 dia.
6.6 dia.
Unit: mm
12 dia. 6.5
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLG (Coreless Models)
109
Linear Servomotors
Connector Specifications
SGLGW-30AC Moving Coils
SGLGW-30ACD Moving Coils
Plug: 350779-1
Pins: 350924-1 or 770672-1
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350925-1 or 770673-1
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Extension: SROC06JMSCN169
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLG (Coreless Models)
110
SGLGW-40AC and -60AC Moving Coils
SGLGW-40ACD and -60ACD Moving Coils
Plug: 350779-1
Pins: 350561-3 or 350690-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Extension: SROC06JMSCN169
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLG (Coreless Models)
111
Linear Servomotors
SGLGW-90AC Moving Coils
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Stud: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
112
SGLF (Models with F-type Iron Cores)
Model Designations
SGLFW2 Models
Moving Coil
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
* Contact your Yaskawa representative for information on water-cooled models.
Magnetic Way
S G L F W 2 – 30 A 070 A T
F A
W
30
45
90
1D
30 mm
45 mm
90 mm
135 mm
070
120
200
230
380
70 mm
125 mm
205 mm
230 mm
384 mm
T
S
L
Sensor Specification
With F-type iron core Without polarity sensor, with thermal protector
With polarity sensor and Thermal Protector
Cooling Method
Moving Coil
None Self-cooled
Water-cooled*
200 VAC
Servomotor Type Power Supply Voltage
Length of
Moving Coil
Design Revision Order
Magnet Height
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
11th digit
9th digit
6th+7th+8th digits
5th digit 10th digit
3rd+4th
digits
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
5th
digit
6th+7th+8th
digits
9th
digit
10th
digit
11th
digit
Code Specification
A
Code Specification
Code Specification
Code Specification
Code Specification
Code Specification
Code Specification
270
306
450
510
630
714
M
S G L F M 2 – 30 270 A
(Same as for the Moving Coil.)
(Same as for the Moving Coil.)
Magnetic Way
270 mm
306 mm
450 mm
510 mm
630 mm
714 mm
Servomotor Type
Length of
Magnetic Way
Design Revision Order
Magnet Height
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
8th digit
5th+6th+7th digits
3rd+4th
digits
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
5th+6th+7th
digits
8th
digit
Code Specification
A
Code Specification
Linear Servomotors
SGLF (Models with F-type Iron Cores)
113
Linear Servomotors
SGLFW Models
Moving Coil
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Magnetic Way
S G L F W – 20 A 090 A P
F A
W
20
35
50
1Z
20 mm
36 mm
47.5 mm
95 mm
090
120
200
230
380
91 mm
127 mm
215 mm
235 mm
395 mm
SGLFW-35, -50,
-1Z200B
Connector for Servomotor Main Circuit Cable
Connector from Tyco
Electronics Japan G.K.
All models
Connector from
Interconnectron GmbH
Applicable Models
None
Moving Coil
With polarity sensor
Without polarity sensNone or
With F-type iron core
Voltage
P
D
Sensor Specification
200 VAC
Servomotor Type
Length of
Moving Coil
Design Revision Order
Magnet Height
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
11th digit
9th digit
6th+7th+8th digits
5th digit 10th digit
3rd+4th
digits
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
5th
digit
6th+7th+8th
digits
9th
digit
10th
digit
11th
digit
Code Specification
A, B …
Code Specification
Code Specification Code Specification
Code Specification Code Specification Code Specification
324
405
540
675
756
945
M
S G L F M – 20 324 A
Without options
With magnet cover
Options
(Same as for the Moving Coil.)
Magnetic Way
(Same as for the Moving Coil.)
324 mm
405 mm
540 mm
675 mm
756 mm
945 mm
None
C
Servomotor Type
Length of
Magnetic Way
Design Revision Order
Magnet Height
Moving Coil/Magnetic Way
1st digit
3rd+4th digits
2nd digit
8th digit
5th+6th+7th digits 9th digit
3rd+4th
digits
1st
Linear Σ Series digit
Linear Servomotors
2nd
digit
8th
digit
5th+6th+7th
digits
9th
digit
A, B …
Code Specification
Code Specification
Code Specification
Linear Servomotors
SGLF (Models with F-type Iron Cores)
114
Precautions on Moving Coils with Polarity Sensors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, consider
the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.
Correct Installation Incorrect Installation
Total Length of Moving Coil with
Polarity Sensor
Note
Polarity sensor
Moving Coil
movement direction
Magnetic Way
Moving Coil
Edge of Magnetic Way
L
A L1 Moving Coil
Polarity sensor Magnetic Way
Moving Coil
Model
SGLFW2-
Length of
Moving
Coil,
L1 (mm)
Length of
Polarity
Sensor,
A (mm)
Total
Length,
L (mm)
30A070AS 70
29
99
30A120AS 125 154
30A230AS 230 259
45A200AS 205
34
239
45A380AS 384 418
90A200AS 205
34
239
90A380AS 384 418
1DA380AS 384 34 418
Moving Coil
Model
SGLFWLength
of
Moving
Coil,
L1 (mm)
Length of
Polarity
Sensor,
A (mm)
Total
Length,
L (mm)
20A090AP 91
22
113
20A120AP 127 149
35A120AP 127
22
149
35A230AP 235 257
50A200BP 215
22
237
50A380BP 395 417
1ZA200BP 215
22
237
1ZA380BP 395 417
Linear Servomotors
SGLF (Models with F-type Iron Cores)
115
Linear Servomotors
Ratings and Specifications: SGLFW2 Models
Specifications
* Contact your Yaskawa representative for information on water-cooled models.
Linear Servomotor Moving Coil
Model SGLFW2-
30A 45A 90A 1DA
070A 120A 230A 200A 380A 200A 380A 380A
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method Self-cooled and water-cooled*
Protective Structure IP00
Environmental
Conditions
Surrounding Air Temperature
0°C to 40°C (with no freezing)
Surrounding Air
Humidity
20% to 80% relative humidity (with no condensation)
Installation Site
Shock
Resistance
Impact Acceleration Rate 196 m/s2
Number of Impacts 2 times
Vibration
Resistance
Vibration Acceleration
Rate
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side,
and front-to-back)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
116
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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
Linear Servomotor Moving Coil
Model SGLFW2-
30A 45A
070A 120A 230A 200A 380A
Rated Motor Speed (Reference
Speed during
Speed Control)*1
m/s 4.0 4.0 4.0 4.0 4.0
Maximum Speed*1 m/s 5.0 5.0 5.0 4.5 4.5
Rated Force*1, *2 N 45 90 180 170 280 560
Maximum Force*1 N 135 270 540 500 840 1680 1500
Rated Current*1 Arms 1.4 1.5 2.9 2.8 4.4 8.7
Maximum Current*1 Arms 5.3 5.2 10.5 9.3 16.4 32.7 27.5
Moving Coil Mass kg 0.50 0.90 1.7 2.9 5.5
Force Constant N/Arms 33.3 64.5 64.5 67.5 67.5
BEMF Constant
Vrms/
(m/s)/
phase
11.1 21.5 21.5 22.5 22.5
Motor Constant N/ 11.3 17.3 24.4 36.9 52.2
Electrical Time Constant ms 7.6 7.3 7.3 19 19
Mechanical Time Constant
ms 3.9 3.0 2.9 2.1 2.0
Thermal Resistance (with
Heat Sink)
K/W 2.62 1.17 0.79 0.60 0.44
Thermal Resistance
(without Heat Sink)
K/W 11.3 4.43 2.55 2.64 1.49
Magnetic Attraction N 200 630 1260 2120 4240
Combined Magnetic Way,
SGLFM2-
30A 45A
Combined Serial Converter Unit,
JZDP--
628 629 630 631 632
Applicable
SERVOPACKs
SGD7S- 1R6A 1R6A 3R8A 2R8A 5R5A 180A 120A
SGD7W- 1R6A 1R6A − 2R8A 5R5A − −
W
Linear Servomotors
SGLF (Models with F-type Iron Cores)
117
Linear Servomotors
Force-Motor Speed Characteristics
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGLFW2-30A070A
SGLFW2-45A200A
SGLFW2-30A120A
6
5
4
3
2
1
0
0 50 100 150
A B
6
5
4
3
2
1
0
0 100 200 300
A B A B
6
5
4
3
2
1
0
0 200 400 600
A B
6
5
4
3
2
1
0
0 200 400 600
A B
5
4
3
2
1
0
0 200 400 600 800 1000
5
4
3
2
1
0
0 500 1000 1500 2000
A B
5
4
3
2
1
0
0 500 1000 1500 2000
A B
SGLFW2-30A230A
(Combined with SGD7-2R8A)
SGLFW2-30A230A
(Combined with SGD7S-3R8A)
Motor speed (m/s)
Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N)
SGLFW2-45A380A
(Combined with SGD7S-120A)
SGLFW2-45A380A
(Combined with SGD7S-180A)
Force (N)
Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Continuous duty zone
Intermittent duty zone
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
A :
B :
Linear Servomotors
SGLF (Models with F-type Iron Cores)
118
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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
Linear Servomotor Moving Coil
Model SGLFW2-
90A 1DA
200A 380A 380A
Rated Motor Speed (Reference
Speed during
Speed Control)*1
m/s 4.0 4.0 2.0
Maximum Speed*1 m/s 4.0 4.0 2.5
Rated Force*1, *2 N 560 1120 1680
Maximum Force*1 N 1680 3360 5040
Rated Current*1 Arms 7.2 14.4 14.4
Maximum Current*1 Arms 26.9 53.9 53.9
Moving Coil Mass kg 5.3 10.1 14.6
Force Constant N/Arms 82.0 82.0 123
BEMF Constant
Vrms/
(m/s)/
phase
27.3 27.3 41.0
Motor Constant N/ 58.1 82.2 105
Electrical Time Constant ms 24 23 25
Mechanical Time
Constant
ms 1.6 1.5 1.3
Thermal Resistance (with
Heat Sink)
K/W 0.45 0.21 0.18
Thermal Resistance (without
Heat Sink)
K/W 1.81 1.03 0.79
Magnetic Attraction N 4240 8480 12700
Combined Magnetic Way,
SGLFM2-
90A 1DA
Combined Serial Converter Unit,
JZDP--
633 634 649
Applicable
SERVOPACKs
SGD7S- 120A 200A 200A
SGD7W- − − −
W
Linear Servomotors
SGLF (Models with F-type Iron Cores)
119
Linear Servomotors
Force-Motor Speed Characteristics
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGLFW2-90A200A SGLFW2-90A380A SGLFW2-1DA380A
5
4
3
2
1
0
0 500 1000 1500 2000
A B
5
4
3
2
1
0
0 1000 2000 3000 4000
A B A B
3
2.5
2
1.5
1
0.5
0
0 2000 4000 6000
Force (N) Force (N) Force (N)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Continuous duty zone
Intermittent duty zone
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
A :
B :
Linear Servomotors
SGLF (Models with F-type Iron Cores)
120
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 117 and on page 119.
50 100 150 200 250 300 350 400
SGLFW2-30A070A
10000
1000
100
10
1
50 100 150 200 250 300 350 400
10000
1000
100
10
1
50 100 150 200 250 300 350 400
SGLFW2-30A120A and -230A
10000
1000
100
10
1
SGLFW2-45A, -90A, and -1DA
Detection time (s)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Detection time (s) Detection time (s)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
121
Linear Servomotors
Ratings and Specifications: SGLFW Models
Specifications
Linear Servomotor Moving Coil Model
SGLFW-
20A 35A 50A 1ZA
090A 120A 120A 230A 200B 380B 200B 380B
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method Self-cooled
Protective Structure IP00
Environmental
Conditions
Surrounding Air Temperature 0°C to 40°C (with no freezing)
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
Installation Site
Shock
Resistance
Impact Acceleration Rate 196 m/s2
Number of Impacts 2 times
Vibration
Resistance
Vibration Acceleration Rate 49 m/s2 (the vibration resistance in three directions, vertical,
side-to-side, and front-to-back)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
122
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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
Linear Servomotor Moving Coil Model
SGLFW-
20A 35A 50A 1ZA
090A 120A 120A 230A 200B 380B 200B 380B
Rated Motor Speed
(Reference Speed during
Speed Control)*1
m/s 5.0 3.5 2.5 3.0 1.5 1.5 1.5 1.5
Maximum Speed*1 m/s 5.0 5.0 5.0 5.0 5.0 5.0 4.9 4.9
Rated Force*1, *2 N 25 40 80 160 280 560 560 1120
Maximum Force*1 N 86 125 220 440 600 1200 1200 2400
Rated Current*1 Arms 0.70 0.80 1.4 2.8 5.0 10.0 8.7 17.5
Maximum Current*1 Arms 3.0 2.9 4.4 8.8 12.4 25.0 21.6 43.6
Moving Coil Mass kg 0.70 0.90 1.3 2.3 3.5 6.9 6.4 12
Force Constant N/Arms 36.0 54.0 62.4 62.4 60.2 60.2 69.0 69.0
BEMF Constant
Vrms/(m/s)/
phase
12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0
Motor Constant N/ 7.95 9.81 14.4 20.4 34.3 48.5 52.4 74.0
Electrical Time Constant ms 3.2 3.3 3.6 3.6 16 16 18 18
Mechanical Time Constant ms 11 9.4 6.3 5.5 3.0 2.9 2.3 2.1
Thermal Resistance
(with Heat Sink)
K/W 4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.20
Thermal Resistance
(without Heat Sink)
K/W 7.69 5.02 4.10 1.94 1.65 0.95 1.30 0.73
Magnetic Attraction N 310 460 810 1590 1650 3260 3300 6520
Combined Magnetic Way, SGLFM- 20A 35A 50A 1ZA
Combined Serial Converter Unit,
JZDP--
017 018 019 020 181 182 183 184
Applicable
SERVOPACKs
SGD7S- 1R6A 1R6A 1R6A 3R8A 5R5A 120A 120A 200A
SGD7W- 1R6A 1R6A 1R6A 5R5A 5R5A − − −
W
Linear Servomotors
SGLF (Models with F-type Iron Cores)
123
Linear Servomotors
Force-Motor Speed Characteristics
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
SGLFW-20A090A
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
6
5
4
3
2
1
0
0 20 40 60 80 100
A B
SGLFW-50A200B SGLFW-50A380B
0 200 400 600 800 0 500 1000 1500
SGLFW-1ZA200B SGLFW-1ZA380B
0 500 1000 1500 0 1000 2000 3000
A B A B A B A B
SGLFW-35A120A
0 50 100 150 200 250
A
B
SGLFW-35A230A
0 100 200 300 400 500
A B
SGLFW-20A120A
0 20 40 60 80 100 120140
A B
Motor speed (m/s)
Force (N) Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N) Force (N)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Continuous duty zone
Intermittent duty zone
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
A :
B :
Linear Servomotors
SGLF (Models with F-type Iron Cores)
124
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 123.
SGLFW-50A and -1ZA
50 100 150 200 250 300
10000
1000
100
10
1
SGLFW-35A
50 100 150 200 250 300 350
10000
1000
100
10
1
50 100 150 200 250 300 350 400 450
SGLFW-20A
10000
1000
100
10
1
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Detection time (s)
Detection time (s)
Detection time (s)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
125
Linear Servomotors
External Dimensions
SGLFW2-30
Moving Coil with Polarity Sensor: SGLFW2-30A070AS
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils with Polarity Sensors: SGLFW2-30 and -45 (page 150)
SGLFW2-30A070AS
40±0.1
20 20
70
29
50 min.
12.2 5.8
31
15
14
29
40
18 20
3 × M4 × 8
(12)
300±50
300±50
29±0.1
Polarity sensor
Magnetic Way
Thermostat relay connector
(Molex Japan Co., Ltd.)
Receptacle housing: 5557-02R
Plug housing: 5559-02P
Polarity sensor and thermostat
cable
UL20276, AWG28
2 × #4-40
UNC screws
Polarity sensor and
thermostat connector
Servomotor connector
(7 dia.)
Refer to the following figure .
Servomotor Main Circuit Cable
The Moving Coil moves in the
direction indicated by the
arrow when current flows in
the following phase
sequence: U, V, W.
Thermostat cable
UL1333, AWG20
Thermostat relay cable
UL1333, AWG22
Approx. mass: 0.5 kg
Unit: mm
50 min.
51.7
(27.5)
0.2
1.5
Gap: 0.8
(10.2)
(6)
12.5±0.1
(1.5) (55)
(27.5) (27.5)
54
31
14 15
(9)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
126
Moving Coils with Polarity Sensors: SGLFW2-30AAS
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils with Polarity Sensors: SGLFW2-30 and -45 (page 150)
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]
30A120AS 125 52.5 105.9 0.9
30A230AS 230 157.5 210.9 1.7
SGLFW2-30A120AS SGLFW2-30A230AS
(27.5) (27.5)
(27.5) 1.5
(55)
(0.5) 15
50
12
(6)
29±0.1
15
26.7 L2
L3
(33.2)
L1
12.5±0.1
(10.2)
27
40±0.1
31 (7)
7.5
12.6
0.2
Gap 0.8
300±50
300±50
15
12 31
7.5
39.3 52.5
27
15
12 31
7.5
39.3 52.5
27
4 × M4 × 8 8 × M4 × 8
157.5 (52.5 × 3)
Thermostat relay connector
(Molex Japan Co., Ltd.)
Polarity sensor
Polarity sensor and
thermostat cable
UL20276, AWG28
2 × #4-40 UNC
screws
Thermostat relay cable
UL1333, AWG22
Thermostat cable
UL1333, AWG20
(7 dia.)
50 min.
Servomotor Main Circuit Cable
UL2586, AWG19
Refer to the following figures and .
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
Unit: mm
Polarity sensor and
thermostat connector
Servomotor
connector
Magnetic Way
50 min.
Receptacle housing: 5557-02R
Plug housing: 5559-02P
Linear Servomotors
SGLF (Models with F-type Iron Cores)
127
Linear Servomotors
Moving Coil without Polarity Sensor: SGLFW2-30A070AT
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils without Polarity Sensors: SGLFW2-30 and -45 (page 151)
SGLFW2-30A070AT
(27.5) (27.5)
(27.5) 1.5
(55)
15
(6)
40±0.1
29±0.1
12.5±0.1
(10.2)
54
14
20
70
(1.5)
31 (9)
20 (12)
0.2
100±10
Gap: 0.8
300±50
12.2 5.8
31
15
14
29
40
18 20
3 × M4 × 8
51.7
Magnetic Way
50 min.
Servomotor Main Circuit Cable
UL2586, AWG19
Refer to the following figure .
Thermostat cable
UL1333, AWG20
Thermostat connector
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
Approx. mass: 0.5 kg
Unit: mm
Servomotor connector
(7 dia.)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
128
Moving Coils without Polarity Sensors: SGLFW2-30AAT
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils without Polarity Sensors: SGLFW2-30 and -45 (page 151)
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]
30A120AT 125 52.5 105.9 0.9
30A230AT 230 157.5 210.9 1.7
SGLFW2-30A120AT SGLFW2-30A230AT
(27.5) (27.5)
(27.5) 1.5
(55)
(0.5) 15
50
12
(6)
29±0.1
7.5 15
26.7 L2
L3
(33.2)
L1
12.5±0.1
(10.2)
40±0.1
31 (7)
12.6
50 min.
0.2
Gap: 0.8
100±10
300±50
15
12 31
7.5
39.3 52.5
27
15
12 31
7.5
39.3 52.5
27
4 × M4 × 8 8 × M4 × 8
157.5 (52.5 × 3)
Magnetic Way
Servomotor Main Circuit Cable
UL2586, AWG19
Thermostat cable
UL1333, AWG20
Thermostat connector
Servomotor connector
The Moving Coil moves in the direction
indicated by the arrow when current
flows in the following phase sequence:
U, V, W.
Unit: mm
Refer to the following figures and .
(7 dia.)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
129
Linear Servomotors
Magnetic Ways: SGLFM2-30A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way Model
SGLFM2-
L1 ± 0.1 L2 N Approx. Mass [kg]
30270A 270 225 (45 × 5) 6 0.9
30450A 450 405 (45 × 9) 10 1.5
30630A 630 585 (45 × 13) 14 2.0
N S N S N S
55
45
22.5±0.1 (22.5)
(45)
L2
27.5 (27.5)
5 45 (5)
6
L1±0.1
4.2
10.2±0.1
0.2
2 × N, 4.8-dia. mounting holes
Reference mark
Height of screw head: 4.2 max.
Mounting Section Details
(There are two, approx. 4-dia. indentations.)
(Reference mark)
Unit: mm
8.5 dia. 0.4
Linear Servomotors
SGLF (Models with F-type Iron Cores)
130
SGLFW2-45
Moving Coils with Polarity Sensors: SGLFW2-45AAS
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils with Polarity Sensors: SGLFW2-30 and -45 (page 150)
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
Approx. Mass
[kg]
45A200AS 205 89.5 187 0.2 2.9
45A380AS 384 268.5 365.5 0.3 5.5
Thermostat relay connector (Molex Japan Co., Ltd.)
50 min.
Polarity
sensor
Polarity sensor and thermostat cable
UL20276, AWG28
Magnetic
Way
Refer to the following table. 50 min.
Servomotor Main Circuit Cable
UL2586, AWG15
Thermostat cable
UL1333, AWG20
Thermostat relay cable
UL1333, AWG22
Refer to the following figures and .
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
2 × #4-40
UNC screws
Polarity sensor and
thermostat connector
Servomotor connector
(9.1 dia.)
Receptacle housing: 5557-02R
Plug housing: 5559-02P
8 × M6 × 11.5
268.5 (89.5 × 3)
4 × M6 × 11.5
SGLFW2-45A200AS SGLFW2-45A380AS
11
(36) 2
23
(6)
(37.5) (37.5)
48.5 (55)
L1
L3
50±0.1 L2
(75)
(11.2) 38±0.1
32
15±0.1 46 (9)
(0.5)
69.5
14.5 22.5
Gap: 0.8
12
300±50
300±50
46
11 23
13.5
60.5 89.5
36
46
23
13.5
11
60.5 89.5
36
Linear Servomotors
SGLF (Models with F-type Iron Cores)
131
Linear Servomotors
Moving Coils without Polarity Sensors: SGLFW2-45AAT
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils without Polarity Sensors: SGLFW2-30 and -45 (page 151)
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
Approx. Mass
[kg]
45A200AT 205 89.5 187 0.2 2.9
45A380AT 384 268.5 365.5 0.3 5.5
SGLFW2-45A200AT SGLFW2-45A380AT
11
(36) 2
22.5
23
(6)
(37.5) (37.5)
46 (9)
69.5
48.5 (55)
L1
L2
L3
50±0.1
(75)
14.5
38±0.1
(0.5)
15±0.1
(11.2)
12
Gap: 0.8
100±10
300±50
Magnetic Way 50 min.
Servomotor Main Circuit Cable
UL2586, AWG15
Refer to the following table.
Servomotor connector
Thermostat connector
Thermostat cable
UL1333, AWG20
Refer to the following figures and .
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
(9.1 dia.)
46
11 23
13.5
60.5 89.5
36
268.5 (89.5×3)
46
23
13.5
11
60.5 89.5
36
4 × M6 × 11.5 8 × M6 × 11.5
Linear Servomotors
SGLF (Models with F-type Iron Cores)
132
Magnetic Ways: SGLFM2-45A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way Model
SGLFM2-
L1 ± 0.1 L2 N Approx. Mass [kg]
45306A 306 204 (102 × 2) 3 1.5
45510A 510 408 (102 × 4) 5 2.5
45714A 714 612 (102 × 6) 7 3.4
N S N S N S
6
102
(37.5)
6 63 (6)
75
L2 (51)
L1±0.1
(102)
5.2
11.2±0.1
51±0.1
0.2
37.5
2 × N, 5.8-dia. mounting holes
10 dia. 0.5
(Reference
mark)
Unit: mm
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 5.2 max.
Mounting Section Details
Linear Servomotors
SGLF (Models with F-type Iron Cores)
133
Linear Servomotors
SGLFW2-90
Moving Coils with Polarity Sensors: SGLFW2-90AAS
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils with Polarity Sensors: SGLFW2-90 and -1D (page 151)
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
Approx. Mass
[kg]
90A200AS 205 89.5 187 0.2 5.3
90A380AS 384 268.5 365.5 0.3 10.1
SGLFW2-90A200AS SGLFW2-90A380AS
(60) (60)
120
(11.2) 38±0.1
14.5 45
15±0.1 91
114.5
(6)
L1
L3
48.5 L2
15 30 30
50±0.1
(36) 2
32 (55)
(0.5)
(9)
300± 50
12
Gap: 0.8
300±50
91
15
13.5
60.5 89.5
58.5
30 30
6 × M6 × 11.5
13.5 91
58.5
60.5 89.5
268.5 (89. 5 × 3)
15 30 30
12 × M6 × 11.5
Thermostat relay connector (Molex Japan Co., Ltd.)
Receptacle housing: 5557-02R
Plug housing: 5559-02P
Polarity sensor and thermostat cable
UL20276, AWG28
Refer to the following table.
50 min.
Polarity sensor
Magnetic
Way
2 × #4-40 UNC
screws
60 min. Refer to the following figures and .
The Moving Coil moves in the direction indicated by the
arrow when current flows in the following phase
sequence: U, V, W.
Thermostat cable
UL1333, AWG20
Thermostat relay cable
UL1333, AWG22
Polarity sensor and
thermostat connector
Servomotor connector
Servomotor Main Circuit Cable
UL2586, AWG12
Unit: mm
(10.5 dia.)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
134
Moving Coils without Polarity Sensors: SGLFW2-90AAT
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils without Polarity Sensors: SGLFW2-90 and -1D (page 152)
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
Approx. Mass
[kg]
90A200AT 205 89.5 187 0.2 5.3
90A380AT 384 268.5 365.5 0.3 10.1
SGLFW2-90A200AT SGLFW2-90A380AT
(60)
120
(11.2) 38±0.1
14.5 45
15±0.1 91
114.5
(6)
L1
48.5 L2
15 30 30
50±0.1
(36) 2
(55)
(0.5)
(9)
12
60 min.
300±50
Gap: 0.8
100±10
91
15
13.5
60.5 89.5
58.5
30 30
6 × M6 × 11.5
13.5 91
58.5
60.5 89.5
268.5 (89. 5 × 3)
15 30 30
12 × M6 × 11.5
L3
(60)
Refer to the following table. Magnetic Way
Servomotor Main Circuit Cable
UL2586, AWG12 Thermostat cable
UL1333, AWG20
(10.5 dia.)
Refer to the following figures and .
The Moving Coil moves in the direction
indicated by the arrow when current flows in
the following phase sequence: U, V, W.
Unit: mm
Thermostat connector
Servomotor connector
Linear Servomotors
SGLF (Models with F-type Iron Cores)
135
Linear Servomotors
Magnetic Ways: SGLFM2-90A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way Model
SGLFM2-
L1±0.1 L2 N Approx. Mass [kg]
90306A 306 204 (102 × 2) 3 2.6
90510A 510 408 (102 × 4) 5 4.2
90714A 714 612 (102 × 6) 7 5.9
L2
2 × N, 7-dia. mounting holes
11.5 dia. 2
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 6.7 max.
Mounting Section Details
(Reference mark)
Unit: mm
(51)
(102)
N S N S N S
102
51±0.1
L1±0.1
11.2±0.1
0.3
6 5.2
6.5 (6.5)
(60) (60)
107
120
Linear Servomotors
SGLF (Models with F-type Iron Cores)
136
SGLFW2-1D
Moving Coil with Polarity Sensor: SGLFW2-1DA380AS
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils with Polarity Sensors: SGLFW2-90 and -1D (page 151)
SGLFW2-1DA380AS
(87.5) (87.5)
175
(11.2)
67.5
20±0.1 136
160
15
50±0.1
(36) 2
38±0.1
(6)
48.5 89.5 89.5 89.5 (55)
365.5
384
22.5
32
(5)
45 45
(9)
300±50
0.3
12
Gap: 0.8
UL20276, AWG28
300±50
12 × M8 × 16
60.5 89.5
81.5
22.5 45 45
14 136
268.5 (89.5 × 3)
Thermostat relay connector (Molex Japan Co., Ltd.)
Receptacle housing: 5557-02R
Plug housing: 5559-02P
50 min.
Polarity sensor
Magnetic Way
Polarity sensor and
thermostat cable
2 × #4-40 UNC
screws
Polarity sensor and
thermostat connector
Servomotor connector
60 min.
Thermostat cable
UL1333, AWG20
Thermostat relay cable
UL1333, AWG22
Refer to the following figure .
Servomotor Main Circuit Cable
UL2586, AWG12
The Moving Coil moves in the direction indicated
by the arrow when current flows in the following
phase sequence: U, V, W.
Approx. mass: 14.6 kg
Unit: mm
(10.5 dia.)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
137
Linear Servomotors
Moving Coil without Polarity Sensor: SGLFW2-1DA380AT
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
Moving Coils without Polarity Sensors: SGLFW2-90 and -1D (page 152)
SGLFW2-1DA380AT
(87.5) (87.5)
175
(11.2)
67.5
20±0.1 136
160
15
50±0.1
(36) 2
38±0.1
(6)
22.5
(5)
45 45
(9)
300±50
0.3
Gap: 0.8
100±10
48.5 89.5 89.5 89.5 (55)
365.5
384
12
12 × M8 × 16
60.5 89.5
81.5
22.5 45 45
14 136
268.5 (89.5 × 3)
Magnetic Way
Servomotor Main
Circuit Cable
UL2586, AWG12
Servomotor connector
60 min.
Refer to the following figure .
Thermostat cable
UL1333, AWG20
Thermostat connector
(10.5 dia.)
The Moving Coil moves in the direction indicated
by the arrow when current flows in the following
phase sequence: U, V, W.
Approx. mass: 14.6 kg
Unit: mm
Linear Servomotors
SGLF (Models with F-type Iron Cores)
138
Magnetic Ways: SGLFM2-1DA
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way Model
SGLFM2-
L1±0.1 L2 N Approx. Mass [kg]
1D306A 306 204 (102 × 2) 3 3.7
1D510A 510 408 (102 × 4) 5 6.2
1D714A 714 612 (102 × 6) 7 8.6
L2
175
(87.5)
9.5 156 (9.5)
(87.5)
N S N S N S
102
51±0.1 (51)
6 (102)
L1±0.1
5.2
11.2±0.1
0.3
2 × N, 10-dia. mounting holes
15 dia. 3
(Reference
mark)
Unit: mm
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 8.2 max.
Mounting Section Details
Linear Servomotors
SGLF (Models with F-type Iron Cores)
139
Linear Servomotors
SGLFW-20
Moving Coils: SGLFW-20AA
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-20AA and -35AA Moving Coils (page 152)
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]
20A090A 91 36 72 0.7
20A120A 127 72 108 0.9
2
5.5
22.5
40
17.5
12.5
45±0.1
34
(44)
(22) (22)
(32)
0.5
(6)
(20)
22
2 × M4 × 5.5
SGLFW-20A090A[1]
3 × M4 × 5.5
SGLFW-20A120A[1]
50 min.
Polarity sensor
Magnetic Way
(10.2 with magnet cover)
(4.2 with magnet cover)
(4 without magnet cover)
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
2 × #4-40 UNC
screws
30 min.
Refer to the following
figures and .
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
Unit: mm
(4.2 dia.)
(6.1 dia.)
(10 without magnet cover)
12
A-A
500±50
500±50
L3 7
8
(12)
5.5 2.5
L1
30 30 L2 (25)
(7.5)
36
(10)
(12.5) 20
22.5
22.5
20
20
12.5
12.5
30 36 30 36
72
Linear Servomotors
SGLF (Models with F-type Iron Cores)
140
Magnetic Ways: SGLFM-20A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way
Model SGLFML1
L2 (L3) LA N
Approx. Mass
[kg]
20324A 324 270 (54 × 5) (331.6) 30.8 6 0.9
20540A 540 486 (54 × 9) (547.6) 30.8 10 1.4
20756A 756 702 (54 × 13) (763.6) 30.8 14 2
(Gap: 1)
N S N S
6
9.9°
10
4
(40)
(22.5) (17.5)
(34)
4.5 35
44
(4.5)
22 (22)
54
LA
L1
L2
(L3)
(54)
(30.8)
N S N S
45±0.1
Moving Coil
2 × N × 4.8 dia.
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 4.2 max.
Mounting Section Details
Reference mark (Reference mark)
Unit: mm
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
Linear Servomotors
SGLF (Models with F-type Iron Cores)
141
Linear Servomotors
SGLFW-35
Moving Coils: SGLFW-35AA
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-20AA and -35AA Moving Coils (page 152)
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]
35A120A 127 72 108 1.3
35A230A 235 180 216 2.3
A-A
12
500±50
500±50
A A
7
L1
30
5.5
(10.5)
2
5.5
8
(12.5) 35 (7.5)
L3
L2
S
30
45±0.1
34
(32)
0.5
(6)
2.5
(25)
36
55
30 25
12.5
(30) (30)
(8.5) 18
(60)
(35)
37
6 × M4 × 5.5
35
18
30
8.5
12.5
72
SGLFW-35A120A
12 × M4 × 5.5
35
8.5 18
12.5
30 36
180 (36×5)
30
SGLFW-35A230A
50 min.
Polarity sensor
Magnetic Way
(10.2 with magnet cover)
(10 without magnet cover)
(4.2 with magnet cover)
(4 without magnet cover)
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
2 × #4-40 UNC
screws
Refer to the following figures and .
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
Unit: mm
30 min.
(4.2 dia.)
(6.1 dia.)
30 36
Linear Servomotors
SGLF (Models with F-type Iron Cores)
142
Moving Coils: SGLFW-35AAD
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-35AAD and -50ABD Moving Coils (page 153)
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]
35A120AD 127 72 108 1.3
35A230AD 235 180 216 2.3
A-A
12
500±50
500±50
A A
7
L1
30
5.5
(10.5)
2
5.5
8
(12.5) 35 (7.5)
L3
30 L2
45±0.1
34
(32)
0.5
(6)
2.5
25
36
55
30 25
12.5
(30) (30)
(8.5) 18
(60)
(35)
37
6 × M4 × 5.5
35
18
30
8.5
12.5
30 36
72
SGLFW-35A120AD
12 × M4 × 5.5
35
8.5 18
12.5
30 36
180 (36×5)
30
SGLFW-35A230AD
50 min.
Polarity sensor
Magnetic Way
2 × #4-40 UNC
screws
Refer to the following figures and .
The Moving Coil moves in
the direction indicated by the
arrow when current flows in
the following phase
sequence: U, V, W.
Unit: mm
(10.2 with magnet cover)
(4.2 with magnet cover)
(4 without magnet cover)
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
(4.2 dia.)
(6.1 dia.)
30 min.
(10 without magnet cover)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
143
Linear Servomotors
Magnetic Ways: SGLFM-35A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way
Model SGLFML1
L2 (L3) LA N
Approx. Mass
[kg]
35324A 324 270 (54 × 5) (334.4) 32.2 6 1.2
35540A 540 486 (54 × 9) (550.4) 32.2 10 2
35756A 756 702 (54 × 13) (766.4) 32.2 14 2.9
L1
(Gap: 1) L2
(34)
NSNS NSNS
(L3)
6
10
4
45±0.1
60
51
30 (30)
4.5 (4.5)
(55)
(30) (
25)
9.9°
LA
54 (54)
(32.2)
2 × N × 4.8 dia.
Reference mark
Reference mark
(There are two, approx.
4-dia. indentations.)
Height of screw head: 4.2 max.
Mounting Section Details
(Reference mark)
Unit: mm
Moving Coil
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
Linear Servomotors
SGLF (Models with F-type Iron Cores)
144
SGLFW-50
Moving Coils: SGLFW-50AB
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-50AB Moving Coils (page 153)
Moving Coil Model
SGLFWL1
L2 L3 Approx. Mass [kg]
50A200B 215 120 180 3.5
50A380B 395 300 360 6.9
7
(40)
(37.5)
3
37.75 33.75
71.5
(37.5)
(75)
0.5
(9)
43±0.05
58±0.1
(5.2)
(48)
(64.5)
25 L3
L2 (40)
60
55
L1
30
23.5
10
(12) (15)
500±50
500±50
6 × M5 × 9.5
48
12 23.5
14
55 60
120
SGLFW-50A200B
12 × M5 × 9.5
48
12 23.5
14
55 60
300 (60 × 5)
SGLFW-50A380B
50 min.
Magnetic Way Polarity sensor
(14.2 with magnet cover)
(5.2 with magnet cover)
(5 without magnet cover)
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
2 × #4-40 UNC
screws Refer to the following
figures and .
The Moving Coil moves in the direction indicated by
the arrow when current flows in the following phase
sequence: U, V, W.
Unit: mm
50 min.
(4.2 dia.)
(7.4 dia.)
(14 without magnet cover)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
145
Linear Servomotors
Moving Coils: SGLFW-50ABD
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-35AAD and -50ABD Moving Coils (page 153)
Moving Coil Model
SGLFWL1
L2 L3 Approx. Mass [kg]
50A200BD 215 120 180 3.5
50A380BD 395 300 360 6.9
50.5
37.75 33.75
7
71.5
14
3
(37.5)
(75)
(37.5)
(40)
43
58±0.1
(9) 0.5
500±50
500±50
10
30
(15)
L3
L2
L1
25
55 40
60
(12) 23.5
48
6 × M5 × 9.5
48
12 23.5
14
55 60
120
(48)
SGLFW-50A200BD
12 × M5 × 9.5
48
12 23.5
14
55 60
300 (60 × 5)
SGLFW-50A380BD
50 min.
Magnetic Way Polarity sensor
2 × #4-40
UNC screws
Refer to the following figures
and .
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
50 min.
(5.2 with magnet cover)
(Gap: 0.8 with magnet cover)
(14.2 with magnet cover)
(14 without magnet cover)
(Gap: 1 without magnet cover)
(4.2 dia.)
(7.4 dia.)
(5 without magnet cover)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
146
Magnetic Ways: SGLFM-50A
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way
Model SGLFML1
L2 (L3) LA N
Approx. Mass
[kg]
50405A 405 337.5 (67.5 × 5) (416.3) 39.4 6 2.8
50675A 675 607.5 (67.5 × 9) (686.3) 39.4 10 4.6
50945A 945 877.5 (67.5 × 13) (956.3) 39.4 14 6.5
(Gap: 1)
2 × N × 5.8 dia.
N S NS N S NS
67.5
9 5
58±0.1
14 (43)
5 (5)
75
65
37.5 (37.5)
(37.75)
(71.5)
(33.75)
8.6°
LA
L1
L2
(L3)
(67.5)
(39.4)
Moving Coil
Reference mark
Height of screw head: 5.2 max.
Mounting Section Details
(There are two, approx. 4-dia. indentations.)
Reference mark (Reference
mark)
Unit: mm
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
Linear Servomotors
SGLF (Models with F-type Iron Cores)
147
Linear Servomotors
SGLFW-1Z
Moving Coils: SGLFW-1ZAB
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-1ZAB Moving Coils (page 154)
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]
1ZA200B 215 120 180 6.4
1ZA380B 395 300 360 11.5
9 × M5 × 9.5
96
12 35.5 35.5
14
55 60
120
SGLFW-1ZA200B
500±50
500±50
60
(15)
25 L3 10
96
(12)
L1
30 55 L2
96
35.5 35.5
40
98
119
61.5 57.5
(62.5) (62.5)
(125)
(40) 3
14 7
43
58±0.1
(9) 0.5
18 × M5 × 9.5
96
12 35.5 35.5
14
55 60
300 (60 × 5)
SGLFW-1ZA380B
Magnetic Way Polarity sensor
2 × #4-40
UNC screws
(5.2 with magnet cover)
(5 without magnet cover)
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
(14.2 with magnet cover)
(14 without magnet cover)
50 min.
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
Refer to the following
figures and .
50 min.
(8.4 dia.)
(4.2 dia.)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
148
Moving Coils: SGLFW-1ZA200BD
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLFW-1ZA200BD Moving Coils (page 154)
43±0.05
(9)
0.5
(62.5) (62.5)
(125)
(40) 3
119
61.5 57.5
7
60
(96)
(112)
30 40
(15)
215
55 120 (60 × 2)
25 180 10
35.5 35.5
60
120
96
35.5 35.5
14
12
55
58±0.1
500±50
500±50
0.2
9 × M5 × 9.5L
SGLFW-1ZA200BD
Magnetic Way
Proximity sensor
cable
UL20276, AWG28
Servomotor Main Circuit Cable
UL2517, AWG15
Refer to the
following
figure .
The Moving Coil moves in the
direction indicated by the arrow when
current flows in the following phase
sequence: U, V, W.
2 × #4-40 UNC
screws
50 min.
(5.2 with magnet cover)
(Gap: 0.8 with magnet cover)
(14.2 with magnet cover)
(14 without magnet cover)
(Gap: 1 without magnet cover)
Polarity sensor
connector
(4.2 dia.)
(8.4 dia.)
Servomotor connector
Tightening torque: 750 to 850 N⋅cm
Approx. mass: 6.4 kg
Unit: mm
(5 without magnet cover)
Polarity sensor
50 min.
Linear Servomotors
SGLF (Models with F-type Iron Cores)
149
Linear Servomotors
Magnetic Ways: SGLFM-1ZA
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on
them are aligned in the same direction as shown in the figure.
Magnetic Way
Model SGLFML1
L2 (L3) LA N
Approx. Mass
[kg]
1Z405A 405 337.5 (67.5 × 5) (423.9) 43.2 6 5
1Z675A 675 607.5 (67.5 × 9) (693.9) 43.2 10 8.3
1Z945A 945 877.5 (67.5 × 13) (963.9) 43.2 14 12
125
6.5 112 (6.5)
62.5 (62.5)
(61.5) (57.5)
(119)
(43.2)
14 67.5
9 5
58±0.1
(43)
(Gap1)
S
(There are two, approx. 4-dia. indentations.)
NSN N S NS
8.6°
LA
L1
L2
(L3)
1.5
11.5 dia.
(67.5)
Moving Coil
2 × N, 7-dia. mounting holes
11.5 dia. 1.5
Reference mark
(Reference
mark)
Height of screw head: 6.7 max.
Mounting Section Details
Unit: mm
Reference mark
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
-0.1
-0.3
0
-0.2
Linear Servomotors
SGLF (Models with F-type Iron Cores)
150
Connector Specifications
Moving Coils with Polarity Sensors: SGLFW2-30 and -45
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C) -CG
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C) A-CG
Studs: 17L-002C or 17L-002C1
The following figures show the relationship between the Su, Sv, and Sw polarity sensor output signals and
the inverse power of each motor phase Vu, Vv, and Vw when the Moving Coil moves in the direction indicated
by the arrow in the dimensional drawings of the Moving Coil.
SGLFW2-30A070AS SGLFW2-30A120AS
SGLFW2-30A230AS
SGLFW2-45A200AS
SGLFW2-45A380AS
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
151
Linear Servomotors
Moving Coils without Polarity Sensors: SGLFW2-30 and -45
Moving Coils with Polarity Sensors: SGLFW2-90 and -1D
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan Co., Ltd.
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
From Tyco Electronics Japan G.K.
Mating Connector
Receptacle housing: 1-917807-2
Contacts: 179956-2
Pin connector: 17JE-23090-02 (D8C) -CG
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C) A-CG
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
A1
B1 B2
A2
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
152
Moving Coils without Polarity Sensors: SGLFW2-90 and -1D
SGLFW-20AA and -35AA Moving Coils
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
From Tyco Electronics Japan G.K.
Mating Connector
Receptacle housing: 1-917807-2
Contacts: 179956-2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan Co., Ltd.
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
A1 A2
B1 B2
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
153
Linear Servomotors
SGLFW-35AAD and -50ABD Moving Coils
SGLFW-50AB Moving Coils
Extension: ARRA06AMRPN182
Pins: 021.279.1020
From Interconnectron GmbH
Mating Connector
Plug: APRA06BFRDN170
Socket: 020.105.1020
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
SGLF (Models with F-type Iron Cores)
154
SGLFW-1ZAB Moving Coils
SGLFW-1ZA200BD Moving Coils
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Extension: SROC06JMSCN169
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical angle (°)
Inverse power (V)
Linear Servomotors
155
Linear Servomotors
SGLT (Models with T-type Iron Cores)
Model Designations
Moving Coil
* Contact your Yaskawa representative for the characteristics, dimensions, and other details on Servomotors with
these specifications.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Magnetic Way
* The SGLTM-35H (high-efficiency models) do not support this specification.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
10th digit Sensor Specification and Cooling Method
Code Specification
5th digit 1st digit Servomotor Type Power Supply Voltage
6th+7th+8th digits
Length of
2nd digit Moving Coil/Magnetic Way Moving Coil
S G L T W – 20 A 170 A P
11th digit Connector for Servomotor Main Circuit Cable
Code
T With T-type iron core A 200 VAC
Specification
Code
W Moving Coil
Specification
3rd+4th digits Magnet Height
Code
20
35
40
50
20 mm
36 mm
40 mm
51 mm
Specification
Code
170
320
400
460
600
170 mm
315 mm
394.2 mm
460 mm
574.2 mm
Specification
A, B …
H: High-efficiency model
9th digit Design Revision Order
Code
None None Self-cooled
Specifications
Polarity
Sensor
Cooling Method
Applicable Models
All models
Code
Connector from Tyco
Electronics Japan G.K.
MS connector
Loose lead wires with
no connector
Specification Applicable Models
SGLTW-20A
-35A
-50A
SGLTW-40B
SGLTW-35AH
-50AH
3rd+4th
digits
1st
digit
2nd
digit
5th
digit
6th+7th+8th
digits
9th
digit
10th
digit
11th
digit
C*
H*
P
None
Yes
Yes
Water-cooled
Water-cooled
Self-cooled
SGLTW-40
All models
None
Linear Σ Series
Linear Servomotors
9th digit
Code
324
405
540
675
756
945
1st digit Length of
Servomotor Type Magnetic Way
8th digit Design Revision Order
S G L T M – 20 324 A
3rd+4th digits
5th+6th+7th digits
Specification
2nd digit Moving Coil/Magnetic Way
Magnet Height
Code
M Magnetic Way
Specification
A, B …
H: High-efficiency model
Code
Without options
With magnet cover
With base and
magnet cover
Specification Applicable Models
3rd+4th
digits
1st
digit
2nd
digit
5th+6th+7th
digits
8th
digit
9th
digit
(Same as for the Moving Coil.)
(Same as for the Moving Coil.)
324 mm
405 mm
540 mm
675 mm
756 mm
945 mm
Options
None
C
Y
−
All models
SGLTM-20, -35*, -40
Linear Σ Series
Linear Servomotors
Linear Servomotors
SGLT (Models with T-type Iron Cores)
156
Precautions on Moving Coils with Polarity Sensors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, consider
the total length of the Moving Coil and the polarity sensor. Refer to the following table.
Correct Installation Incorrect Installation
Total Length of Moving Coil with
Polarity Sensor
Note
Moving Coil
Polarity sensor
Magnetic Way
Moving Coil
movement direction
Edge of Magnetic Way
L
A L1
Magnetic Way
Polarity sensor
Moving Coil
Moving Coil
Model
SGLTWLength
of
Moving Coil,
L1 (mm)
Length of
Polarity
Sensor,
A (mm)
Total
Length,
L (mm)
20A170AP 170
34
204
20A320AP 315 349
20A460AP 460 494
35A170AP 170
34
204
35A320AP 315 349
35A460AP 460 494
35A170HP 170
34
204
35A320HP 315 349
50A170HP 170
34
204
50A320HP 315 349
40A400BH
40A400BP
394.2 26 420.2
Linear Servomotors
SGLT (Models with T-type Iron Cores)
157
Linear Servomotors
Ratings and Specifications
Specifications
Linear Servomotor
Moving Coil Model
SGLTWStandard
Models High-efficiency Models
20A 35A 40A 35A 50A
170A 320A 460A 170A 320A 460A 400B 170H 320H 170H 320H
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method Self-cooled
Protective Structure IP00
Environmental
Conditions
Surrounding
Air Temperature
0°C to 40°C (with no freezing)
Surrounding
Air Humidity
20% to 80% relative humidity (with no condensation)
Installation
Site
Shock
Resistance
Impact
Acceleration
Rate
196 m/s2
Number of
Impacts
2 times
Vibration
Resistance
Vibration
Acceleration
Rate
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
158
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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
-35A460A, and -50A170H
*3. The unbalanced magnetic gap that results from the Moving Coil installation condition causes a magnetic attraction
on the Moving Coil.
*4. The value that is given is the magnetic attraction that is generated on one side of the Magnetic Way.
Linear Servomotor Moving
Coil Model SGLTWStandard
Models High-efficiency Models
20A 35A 40A 35A 50A
170A 320A 460A 170A 320A 460A 400B 170H 320H 170H 320H
Rated Motor Speed
(Reference Speed during
Speed Control)*1
3.0 3.0 3.0 2.5 2.5 2.5 1.5 2.5 2.0 2.0 2.0
Maximum
Speed*1 m/s 5.0 5.0 5.0 5.0 5.0 5.0 3.1 4.8 4.8 3.2 3.1
Rated Force*1, *2 N 130 250 380 220 440 670 670 300 600 450 900
Maximum
Force*1 N 380 760 1140 660 1320 2000 2600 600 1200 900 1800
Rated Current*1 Arms 2.3 4.4 6.7 3.5 7.0 10.7 7.3 5.1 10.1 5.1 10.2
Maximum
Current*1 Arms 7.7 15.4 23.2 12.1 24.2 36.7 39.4 11.9 23.9 11.8 23.6
Moving Coil
Mass kg 2.5 4.6 6.7 3.7 6.8 10 15 4.9 8.8 6.0 11
Force Constant N/Arms 61.0 61.0 61.0 67.5 67.5 67.5 99.1 64.0 64.0 95.2 95.2
BEMF Constant
Vrms/
(m/s)/
phase
20.3 20.3 20.3 22.5 22.5 22.5 33.0 21.3 21.3 31.7 31.7
Motor Constant N/ 18.7 26.5 32.3 26.7 37.5 46.4 61.4 37.4 52.9 48.6 68.7
Electrical Time
Constant ms 5.9 5.9 5.9 6.9 6.8 6.9 15 15 16 16 17
Mechanical
Time Constant ms 7.1 6.6 6.4 5.2 4.8 4.6 4.0 3.5 3.1 2.5 2.4
Thermal
Resistance
(with Heat Sink)
K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.76 0.40 0.61 0.30
Thermal
Resistance
(without Heat
Sink)
K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 1.26 0.83 0.97 0.80
Magnetic
Attraction*3 N 0 0 0 0 0 0 0 0 0 0 0
Magnetic
Attraction on
One Side*4
N 800 1590 2380 1400 2780 4170 3950 1400 2780 2000 3980
Combined Magnetic Way,
SGLTM- 20A 35A
40
A
35H 50H
Combined Serial Converter
Unit, JZDP-- 011 012 013 014 015 016 185 105 106 108 109
Applicable
SERVOPACKs
SGD7S- 3R8A 7R6A 120A 5R5A 120A 180A 180A 5R5A 120A 5R5A 120A
SGD7W- 5R5A 7R6A − 5R5A − − − 5R5A − 5R5A −
W
Linear Servomotors
SGLT (Models with T-type Iron Cores)
159
Linear Servomotors
Force-Motor Speed Characteristics
Standard Models
High-efficiency Models
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
Continuous duty zone
Intermittent duty zone
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
A :
B :
6
5
4
3
2
1
0
6
5
4
3
2
1
0
0 100 200 300 400
0 200 400 600 700
A B
A B
SGLTW-20A170A
SGLTW-35A170A
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Force (N) Force (N) Force (N)
Force (N) Force (N) Force (N) Force (N)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
A B
6
5
4
3
2
1
0
0 400 800 1200 1400
SGLTW-35A320A
A B
6
5
4
3
2
1
0
0 500 1000 1500 2000 2500
SGLTW-35A460A
A B
4
3
2
1
0
0 1000 2000 3000
SGLTW-40A400B
A B
6
5
4
3
2
1
0
0 200 400 600 800
SGLTW-20A320A
A B
6
5
4
3
2
1
0
0 200 400 600 800 1000 1200
SGLTW-20A460A
6
5
4
3
2
1
0
4
3
2
1
0
0 200 400 600 0 300 600 900
A B A B
4
3
2
1
0
0 600 1200 1800
A B
SGLTW-35A170H SGLTW-50A170H
Motor speed (m/s)
Force (N) Force (N) Force (N) Force (N)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
A B
6
5
4
3
2
1
0
0 400 800 1200
SGLTW-35A320H SGLTW-50A320H
Linear Servomotors
SGLT (Models with T-type Iron Cores)
160
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
Note: The above overload protection characteristics do mean that you can perform continuous duty operation with
an output of 100% or higher. Use the Servomotor so that the effective force remains within the continuous
duty zone given in Force-Motor Speed Characteristics on page 159.
SGLTW-40A
50 100 150 200 250 300 350 400 450 500 550
10000
1000
100
10
1
SGLTW-35AH and -50AH
50 100 150 200 250
10000
1000
100
10
1
50 100 150 200 250 300 350 400
SGLTW-20AA and -35AA
10000
1000
100
10
1
Detection time (s)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
161
Linear Servomotors
External Dimensions
SGLTW-20: Standard Models
Moving Coils: SGLTW-20AA
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLTW-20AA and -35AA Moving Coils (page 174)
Moving Coil Model
SGLTWL1
L2 (L3) N
Approx. Mass
[kg]
20A170A 170 144 (48 × 3) (16) 8 2.5
20A320A 315 288 (48 × 6) (17) 14 4.6
20A460A 460 432 (48 × 9) (18) 20 6.7
47.5
100
60
80
20 28
(15) (70) (15)
(55)
500±50
500±50
12
51
(L3)
L1
1
10 L2
48
50
60
N × M6 × 12
Magnetic Way
2 × #4-40
UNC screws
(Gap: 1 without magnet cover)
(Gap: 0.8 with magnet cover)
(19 without magnet cover)
(19.2 with magnet cover)
Polarity sensor
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
(4.2 dia.)
(7.4 dia.) 63 min.
90 min.
Unit: mm
Linear Servomotors
SGLT (Models with T-type Iron Cores)
162
Magnetic Ways: SGLTM-20A
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
use stainless steel screws.)
2 × N × M6 × 8
C1
C1
(54)
L2
54
9.9°
L2
54
(29.3)
(54)
R6
(54)
8
LC L2
54
(29.3)
L1
L1
LA
LB
(9.4)
9.9°
*2.4±0.3
*2.4±0.3
32 (8)
(55)
40
27
27 87
(1)
(100)
19
Gap: 1±0.3
15 *70±0.3 15
*70±0.3
LD
3
Moving Coil
2 × N × 7 dia. (Refer to the side cross-sectional view for the depth.)
Spacers: Do not remove them
until the Moving Coil is mounted
on the machine.
Unit: mm
Mount the Magnetic
Way so that its edge
surfaces are flush
with the inner step.
Mount the Magnetic
Way so that its edge
surfaces are flush
with the inner step.
R: 0.5 max.
R: 1 max.
71.5 ±1 (at the factory)
103 max.(at the factory)
Mounting Section Details
Side-to-Side Cross Section
Magnetic Way Model
SGLTML1
L2 LA LB LC LD N
Approx.
Mass [kg]
20324A 324 270 (54 × 5) 31.7 13.7 40.3 62 6 3.4
20540A 540 486 (54 × 9) 31.7 13.7 40.3 62 10 5.7
20756A 756 702 (54 × 13) 31.7 13.7 40.3 62 14 7.9
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
Linear Servomotors
SGLT (Models with T-type Iron Cores)
163
Linear Servomotors
Magnetic Ways with Bases: SGLTM-20AY
Note: More than one Magnetic Way can be connected.
Magnetic Way Model
SGLTML1
L2 L3 L4 L5 N1 N2
Approx.
Mass [kg]
20324AY 324 270 310 162 162 6 2 5.1
20540AY 540 486 526 378 189 10 3 8.5
20756AY 756 702 742 594 198 14 4 12
Gap
15 27
(2.4±0.3)
132
116
87
2.4±0.3
L3
L4
L5
0.8±0.3 (0.8)
19.2
70±0.3
L1
(11.7)
(54)
2.3
20
54
L2
9.9°
74 (14)
74 (162)
11.7 L2 (54)
54
20
27
9.9°
1
60
15 15
(100)
(70)
(55)
40
15
DATE
2 × N1 × M6 × 8
2×N1×M6×16
Base
Moving Coil
2 × N2 × 10 dia.
(Refer to the side cross-sectional view for the depth.)
Unit: mm
Includes a 0.2-mm-thick
magnet cover.
Side-to-Side Cross Section
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLT (Models with T-type Iron Cores)
164
SGLTW-35: Standard Models
Moving Coils: SGLTW-35AA
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLTW-20AA and -35AA Moving Coils (page 174)
Moving Coil Model
SGLTWL1
L2 (L3) N
Approx. Mass
[kg]
35A170A 170 144 (48 × 3) (16) 8 3.7
35A320A 315 288 (48 × 6) (17) 14 6.8
35A460A 460 432 (48 × 9) (18) 20 10
55
100
60
20 28
(70)
66
12
500±50
500±50
50
60
(70) (15)
(L3)
L1
80
1
10
48
L2
(15)
N × M6 × 12
Magnetic Way
2 × #4-40
UNC screws
(8.4 dia.) (4.2 dia.)
Polarity sensor
63 min.
Unit: mm
100 min.
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
(Gap: 1 without magnet cover)
(Gap: 0.8 with magnet cover)
(19 without magnet cover)
(19.2 with magnet cover)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
165
Linear Servomotors
Magnetic Ways: SGLTM-35A
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
2.More than one Magnetic Way can be connected.
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
use stainless steel screws.)
(54)
L2
54
L1
LB
2 × N × M6 × 8
C1
C1
47 (8)
(70)
55
(1)
(100)
19
Gap: 1±0.3
15 *70±0.3 15
*70±0.3
LD LC L2 (54)
54
(12) L1
9.9°
9.9°
*2.4±0.3
34.5
L2
54
(30.6)
(54)
R6
(30.6)
LA
87
34.5
*2.4±0.3
3
4
Moving Coil
2 × N × 7 dia. (Refer to the side cross-sectional view for the depth.)
Mount the Magnetic
Way so that its edge
surfaces are flush with
the inner step.
Mount the Magnetic
Way so that its edge
surfaces are flush with
the inner step.
Spacers: Do not remove
them until the Moving Coil is
mounted on the machine.
R: 0.5 max.
R: 1 max.
Unit: mm
103 max.(at the factory)
71.5 ±1 (at the factory)
Side-to-Side Cross Section
Mounting Section Details
Magnetic Way Model
SGLTML1
L2 LA LB LC LD N
Approx.
Mass [kg]
35324A 324 270 (54 × 5) 33 15 39 62 6 4.8
35540A 540 486 (54 × 9) 33 15 39 62 10 8
35756A 756 702 (54 × 13) 33 15 39 62 14 11
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
Linear Servomotors
SGLT (Models with T-type Iron Cores)
166
Magnetic Ways with Bases: SGLTM-35AY
Note: More than one Magnetic Way can be connected.
Magnetic Way Model
SGLTML1
L2 L3 L4 L5 N1 N2
Approx.
Mass [kg]
35324AY 324 270 310 162 162 6 2 6.4
35540AY 540 486 526 378 189 10 3 11
35756AY 756 702 742 594 198 14 4 15
Gap
15 34.5
(2.4±0.3)
(54)
9.9°
2.4±0.3
L5
L4
L3
132
116
87
0.8±0.3
19.2
70±0.3
(54)
9.9°
34.5
13 L2
54
74 (162)
74
1
54
L2
L1
60
(100)
15
55
(85)
(70)
1
15 15
2 × N1 × M6 × 8
2 × N1 × M6 × 16
(13)
20
(14)
20
(0.8)
Base
Moving Coil
2 × N2 × 10 dia.
(Refer to the side cross-sectional view for the depth.)
Unit: mm
Includes a 0.2-mm-thick
magnet cover.
Side-to-Side Cross Section
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLT (Models with T-type Iron Cores)
167
Linear Servomotors
SGLTW-35H: High-efficiency Models
Moving Coils: SGLTW-35AH
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLTW-35AH and -50AH Moving Coils (page 175)
Moving Coil Model
SGLTWL1
L2 L3 N
Approx. Mass
[kg]
35A170H 170 144 (48 × 3) (16) 8 4.7
35A320H 315 288 (48 × 6) (17) 14 8.8
12
1
60
30 28
62.5
66
(70)
(L3)
(15) (90) (15)
30
80±0.05
120±0.1
500±50
35
43
500±50
20±0.1
100±0.15
20 48±0.15
10
30 L1
N × M6 × 12
L2
Magnetic Way
2 × #4-40
UNC screws
Polarity sensor
Protective tube
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
Cable
UL20276, AWG28
63 min. Unit: mm
(4.2 dia.)
(Gap: 1.0 without magnet cover)
(Gap: 0.8 with magnet cover)
(19 without magnet cover)
(19.2 with magnet cover)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
168
Magnetic Ways: SGLTM-35H
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
use stainless steel screws.)
Moving Coil
Includes a 0.2-mm-thick
magnet cover.
2 × N × 7 dia. (Refer to the side cross-sectional view for the depth.)
Spacers: Do not remove
them until the Moving Coil is
mounted on the machine.
Unit: mm
Mount the Magnetic
Way so that its edge
surfaces are flush with
the inner step.
Mount the Magnetic
Way so that its edge
surfaces are flush
with the inner step.
R: 0.5 max.
R: 1 max.
91.5 ±1 (at the factory)
123 max.(at the factory)
Side-to-Side Cross Section
Mounting Section Details
3
LD
*90±0.3
(120)
(70)
(0.8)
47
0.8±0.3
4.2±0.1
15±0.1 *90±0.3 15±0.1
(8)
55
C1
C1
Gap
9.9°
9.9°
*2.4±0.3
*2.4±0.3
34.5 107
2 × N × M6 × 8
34.5
(12)
LC L2
L1
(54)
(4)
54
O/N
S/N
MADE IN JAPAN DATE
YASKAWA
TYPE:
(30.6)
R6
(54)
(54)
54
54
L2
LB L2
L1
LA (30.6)
Magnetic Way Model
SGLTML1
L2 LA LB LC LD N
Approx.
Mass [kg]
35324H 324 270 (54 × 5) 33 15 39 82 6 4.8
35540H 540 486 (54 × 9) 33 15 39 82 10 8
35756H 756 702 (54 × 13) 33 15 39 82 14 11
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
Linear Servomotors
SGLT (Models with T-type Iron Cores)
169
Linear Servomotors
SGLTW-40: Standard Models
Moving Coils: SGLTW-40A400B
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLTW-40A400B Moving Coils (page 174)
500±50
75
(83)
78
16
20 (15)
63 394.2
360 (60 × 6)
40 60
(111.8) (19.1)
97
1
30 38
98
124
149.8
(19.1)
14 × M8 × 16
Polarity sensor
Receptacle
Magnetic Way
2 × #4-40
UNC screws
64 min.
The Moving Coil moves in the direction indicated by the arrow
when current flows in the following phase sequence: U, V, W.
Approx. mass: 15 kg
Unit: mm
(4.2 dia.)
(Gap: 1.4 without magnet cover)
(Gap: 1.2 with magnet cover)
(25.1 without magnet cover)
(25.3 with magnet cover)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
170
Magnetic Ways: SGLTM-40A
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
use stainless steel screws.)
MADE I
S/N
O/N
TYPE:
YASKAWA
2 × N × M8 × 10
C1
LC L2 (67.5)
67.5
(7.6) L1
*1.4±0.3
39
*111.8±0.3
LD
48 (15)
(83)
63
(1.4)
(150)
131
25.1
C1
Gap: 1.4±0.3
19.1 *111.8±0.3 19.1
L2
67.5
(36.1)
(67.5)
(36.1)
LA
R7
*1.4±0.3
L2 (67.5)
67.5
5.6°
L1
LB
39
4
5.6°
6
Moving Coil
Mount the Magnetic
Way so that its edge
surfaces are flush
with the inner step.
Mount the Magnetic
Way so that its edge
surfaces are flush
with the inner step.
Unit: mm
R: 0.5 max.
R: 1 max.
2 × N × 9 dia. (Refer to the side cross-sectional view for the depth.)
Spacers: Do not remove
them until the Moving Coil is
mounted on the machine.
113 ±1 (at the factory)
153 max.(at the factory)
Side-to-Side Cross Section
Mounting Section Details
Magnetic Way Model
SGLTML1
L2 LA LB LC LD N
Approx.
Mass [kg]
40405A 405 337.5 (67.5 × 5) 37.5 15 52.5 100 6 9
40675A 675 607.5 (67.5 × 9) 37.5 15 52.5 100 10 15
40945A 945 877.5 (67.5 × 13) 37.5 15 52.5 100 14 21
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
Linear Servomotors
SGLT (Models with T-type Iron Cores)
171
Linear Servomotors
Magnetic Ways with Bases: SGLTM-40AY
Note: More than one Magnetic Way can be connected.
Magnetic Way Model
SGLTML1
L2 L3 L4 L5 N1 N2
Approx.
Mass [kg]
40405AY 405 337.5 387.5 202.5 202.5 6 2 13
40675AY 675 607.5 657.5 472.5 236.25 10 3 21
40945AY 945 877.5 927.5 742.5 247.5 14 4 30
Gap
Base
(1.4±0.3)
L1
5 L3 (12.5)
25 L2 (67.5)
67.5
5.6°
92.5 L4 (202.5)
L5 92.5 (17.5)
170
190
20 39 131
1.4±0.3
(83)
(103)
1
(1.2)
90
19.1
25.3
111.8 ±0.3
1.2 ±0.3
5.6°
39
12.5 25 (67.5)
67.5
L2
63
20
19.1
(150)
2 × N1 × M8 × 10
2 × N1 × M8 × 25
Moving Coil
2 × N2 × 12 dia.
(Refer to the side cross-sectional view for the depth.)
Unit: mm
Includes a 0.2-mm-thick
magnet cover.
Side-to-Side Cross Section
-0.1
-0.3
-0.1
-0.3
-0.1
-0.3
Linear Servomotors
SGLT (Models with T-type Iron Cores)
172
SGLTW-50: High-efficiency Models
Moving Coils: SGLTW-50AH
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLTW-35AH and -50AH Moving Coils (page 175)
Moving Coil Model
SGLTWL1
L2 (L3) N
Approx. Mass
[kg]
50A170H 170 144 (48 × 3) (16) 8 6
50A320H 315 288 (48 × 6) (17) 14 11
30 28
1
(4.1)
(90)
(85)
(19.1)
80±0.05
120±0.1
500±50
35
43
20±0.1
500±50
100±0.15
(L3)
20 48±0.15
10
30 L1
N × M6 × 12
L2
(19.1)
12
60
81
62.5 Magnetic Way
2 × #4-40
UNC screws
Polarity sensor
connector
Cable
UL20276, AWG28
(4.2 dia.)
Polarity sensor
Protective tube
63 min. Unit: mm
The Moving Coil moves in the
direction indicated by the arrow
when current flows in the following
phase sequence: U, V, W.
(Gap: 1.0 without magnet cover)
(Gap: 0.8 with magnet cover)
(23.1 without magnet cover)
(23.3 with magnet cover)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
173
Linear Servomotors
Magnetic Ways: SGLTM-50H
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
2.More than one Magnetic Way can be connected.
to the specified dimensions. Observe the dimensions given in Mounting Section Details after installation.
Dimensions when the Magnetic Way is shipped from the factory are indicated by .
use stainless steel screws.)
3
LD
*90±0.3
(120) (4.1)
(85)
(0.8)
62
0.8±0.3
4.2±0.1
19.1±0.1 *90±0.3 19.1±0.1
(8)
70
C1
C1
Gap
2 × N × M6 × 8
(4)
LC L2 (54)
L1
L1
54
112
42 42
(54)
(54)
54
LB L2
(27)
54
LA L2
91.5 ±1 (at the factory)
Moving Coil
R: 0.5 max.
R: 1 max.
2 × N × 7 dia. (Refer to the side cross-sectional view for the depth.)
Spacers: Do not remove
them until the Moving Coil is
mounted on the machine.
Unit: mm
12 dia.
Includes a 0.2-mm-thick
magnet cover.
Mount the Magnetic
Way so that its edge
surfaces are flush with
the inner step.
Mount the Magnetic
Way so that its edge
surfaces are flush with
the inner step.
131 max.(at the factory)
Side-to-Side Cross Section
Mounting Section Details
Magnetic Way Model
SGLTML1
L2 LA LB LC LD N
Approx.
Mass [kg]
50324H 324 270 (54 × 5) 27 9 45 82 6 8
50540H 540 486 (54 × 9) 27 9 45 82 10 13
50756H 756 702 (54 × 13) 27 9 45 82 14 18
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
-0.1
-0.3
0
-0.2
0
-0.2
0
-0.2
+0.6
0
Linear Servomotors
SGLT (Models with T-type Iron Cores)
174
Connector Specifications
SGLTW-20AA and -35AA Moving Coils
SGLTW-40A400B Moving Coils
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Receptacle: MS3102A-22-22P
From DDK Ltd.
Mating Connector
Right-angle plug: MS3108B22-22S
Straight plug: MS3106B22-22S
Cable clamp: MS3057-12A
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
Linear Servomotors
SGLT (Models with T-type Iron Cores)
175
Linear Servomotors
SGLTW-35AH and -50AH Moving Coils
Secure the lead from the Moving Coil of the Linear Servomotor so that it moves together with the
Moving Coil.
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Phase V Phase U
Phase W Ground
(Viewed from the top surface of the Moving Coil.)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
Linear Servomotors
176
SGLC (Cylinder Models)
Model Designations
Combination of Moving Coil and Magnetic Way
*1. There are restrictions in the allowable combinations. Refer to the following section for details.
List of Models (page 178)
*2. Contact your Yaskawa representative when you make a special order.
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Moving Coil
Note: 1. Order the Moving Coil and Magnetic Way as a set. Contact your Yaskawa representative before purchasing
a Moving Coil and Magnetic Way separately.
all combinations of codes.
S G L C – D16 A 085 A P – 750 A
C
A 200 VAC
P
D16
D20
D25
D32
16 mm
20 mm
25 mm
32 mm
085
100
115
125
135
145
165
170
215
225
285
85 mm
100 mm
115 mm
125 mm
135 mm
145 mm
165 mm
170 mm
215 mm
225 mm
285 mm
D16
D20
D16
D25
D20
D16
D32
D20, D25
D25
D32
D32
A, B…
A, B…
300 mm
350 mm
450 mm
510 mm
590 mm
600 mm
750 mm
870 mm
1020 mm
1110 mm
1500 mm
300
350
450
510
590
600
750
870
1020
1110
1500
Servomotor Type
Outer Diameter of Magnetic Way*1
Power Supply Voltage
Design Revision Order
of Moving Coil
Sensor Specification Design Revision Order of Magnetic Way
Code Specification
With polarity sensor
Code
Code Specification
Specification
Code Specification
Code Specification Outer Diameter Code
of Magnetic Way
Code Specification Special Orders*2
240 mm to 420 mm (in 30-mm increments)
280 mm to 490 mm (in 35-mm increments)
360 mm to 630 mm (in 45-mm increments)
480 mm to 750 mm (in 30-mm increments)
555 mm to 870 mm (in 35-mm increments)
480 mm to 840 mm (in 60-mm increments)
For Magnetic Way with outer diameter of
16 mm:
For Magnetic Way with outer diameter of
25 mm:
705 mm to 1,110 mm (in 45-mm increments)
555 mm to 870 mm (in 35-mm increments)
960 mm to 1,500 mm (in 60-mm increments)
705 mm to 1,110 mm (in 45-mm increments)
960 mm to 1,500 mm (in 60-mm increments)
480 mm to 750 mm (in 30-mm increments)
Cylinder model
Length of
Moving Coil*1 1st digit Length of Magnetic Way*1
2nd+3rd+4th digits
5th digit
9th digit
10th digit 14th digit
6th+7th+8th digits 11th+12th+13th digits
Note: This code contains four digits
if the length of the Magnetic
Way is 1,000 or longer.
1st
digit
5th
digit
6th+7th+8th
digits
9th
digit
10th
digit
14th
digit
11th+12th+13th
digits
2nd+3rd+4th
Linear Σ Series digits
Linear Servomotors
W
S G L C W – D16 A 085 A P
A, B …
1st
digit
2nd
digit
3rd+4th+5th
digits
6th
digit
7th+8th+9th
digits
10th
digit
11th
digit
Servomotor Type Power Supply Voltage
Length of Moving Coil
Sensor Specification
(Same as above combinations.)
(Same as above combinations.)
Design Revision Order
(Same as above combinations.)
Moving Coil/Magnetic Way
Code Specification
Moving Coil
Outer Diameter of
Magnetic Way
(Same as above combinations.)
(Same as above combinations.)
1st digit 6th digit 11th digit
7th+8th+9th digits
10th digit
2nd digit
3th+4th+5th digits
Linear Σ Series
Linear Servomotors
Linear Servomotors
SGLC (Cylinder Models)
177
Linear Servomotors
Magnetic Way
Note: 1. Order the Moving Coil and Magnetic Way as a set. Contact your Yaskawa representative before purchasing
a Moving Coil and Magnetic Way separately.
all combinations of codes.
S G L C M – D16 750 A
Servomotor Type
Moving Coil/Magnetic Way
Code Specification
Magnetic Way
(Same as above combinations.)
M
A, B …
Outer Diameter of Magnetic Way
Length of Magnetic Way
(Same as above combinations.)
Design Revision Order
(Same as above combinations.)
1st
digit
2nd
digit
3rd+4th+5th
digits
9th
digit
6th+7th+8th
digits
1st digit 3th+4th+5th digits
6th+7th+8th digits
9th digit
2nd digit
Linear Σ Series
Linear Servomotors
Linear Servomotors
SGLC (Cylinder Models)
178
List of Models
* The characteristics given in Force-Motor Speed Characteristics on page 181 will not be met when the Moving Coil
is outside of applicable force range.
Model SGLC-
Outer diameter
of Magnetic
Way [mm]
Length of
Moving
Coil [mm]
Length of
Magnetic
Way [mm]
Position of
Support Section
[mm]
Outside of Applicable
Force
Range* [mm]
Effective
Stroke
[mm]
D16A085AP-300A
16 85
300 30 37.5 140
D16A085AP-510A 510 45 52.5 320
D16A085AP-750A 750 45 52.5 560
D16A115AP-300A
16 115
300 30 37.5 110
D16A115AP-510A 510 45 52.5 290
D16A115AP-750A 750 45 52.5 530
D16A145AP-300A
16 145
300 30 37.5 80
D16A145AP-510A 510 45 52.5 260
D16A145AP-750A 750 45 52.5 500
D20A100AP-350A
20 100
350 35 45 160
D20A100AP-590A 590 50 60 370
D20A100AP-870A 870 50 60 650
D20A135AP-350A
20 135
350 35 45 125
D20A135AP-590A 590 50 60 335
D20A135AP-870A 870 50 60 615
D20A170AP-350A
20 170
350 35 45 90
D20A170AP-590A 590 50 60 300
D20A170AP-870A 870 50 60 580
D25A125AP-450A
25 125
450 45 57.5 210
D25A125AP-750A 750 60 72.5 480
D25A125AP-1110A 1110 60 72.5 840
D25A170AP-450A
25 170
450 45 57.5 165
D25A170AP-750A 750 60 72.5 435
D25A170AP-1110A 1110 60 72.5 795
D25A215AP-450A
25 215
450 45 57.5 120
D25A215AP-750A 750 60 72.5 390
D25A215AP-1110A 1110 60 72.5 750
D32A165AP-600A
32 165
600 60 75 285
D32A165AP-1020A 1020 90 105 645
D32A165AP-1500A 1500 90 105 1125
D32A225AP-600A
32 225
600 60 75 225
D32A225AP-1020A 1020 90 105 585
D32A225AP-1500A 1500 90 105 1065
D32A285AP-600A
32 285
600 60 75 165
D32A285AP-1020A 1020 90 105 525
D32A285AP-1500A 1500 90 105 1005
Length of Magnetic Way
Applicable force range
Outside of applicable
force range*
Outer diameter of
Magnetic Way
Position
of
support
section
Length of
Moving Coil
Effective
Stroke
Outside of applicable
force range*
Position
of
support
section
Linear Servomotors
SGLC (Cylinder Models)
179
Linear Servomotors
Ratings and Specifications
Specifications
Linear Servomotor Model
SGLCD16A
D20A D25A D32A
085A 115A 145A 100A 135A 170A 125A 170A 215A 165A 225A 285A
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 MΩ min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Cooling Method Self-cooled
Protective Structure IP00
Environmental
Conditions
Surrounding
Air
Temperature
0°C to 40°C (with no freezing)
Surrounding
Air
Humidity
20% to 80% relative humidity (with no condensation)
Installation
Site
Shock
Resistance
Impact
Acceleration
Rate
98 m/s2
Number of
Impacts
2 times
Vibration
Resistance
Vibration
Acceleration
Rate
Moving Coil: 24.5 m/s2 (the vibration resistance in three directions, vertical, side-toside,
and front-to-back)
Magnetic Way: 24.5 m/s2 (the vibration resistance in the direction of the shaft)
4.9 m/s2 (the vertical and horizontal vibration resistance)
Combined Magnetic
Way, SGLCMD16
A D20A D25A D32A
Combined Serial
Converter Unit,
JZDP--
354 373 356 357 358 359 360 374 362 363 364 365
Applicable
SERVOPACKs
SGD7S- R70A R70A R90A 1R6A 1R6A 2R8A 1R6A 2R8A 5R5A 2R8A 5R5A 5R5A
SGD7W- 1R6A 1R6A 1R6A 1R6A 1R6A 2R8A 1R6A 2R8A 5R5A 2R8A 5R5A 5R5A
Linear Servomotors
SGLC (Cylinder Models)
180
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 forces are the continuous allowable force values at 40°C with an aluminum heat sink of the dimensions
given below.
*3. For speed control operation with an analog voltage reference, set 1.5 m/s as the rated motor speed.
*4. This is the theoretical magnetic attraction between the Moving Coil and Magnetic Way. The unbalanced magnetic
gap after installation causes a magnetic attraction.
Linear Servomotor Model
SGLCD16A
D20A D25A D32A
085A 115A 145A 100A 135A 170A 125A 170A 215A 165A 225A 285A
Rated Motor
Speed (Reference
Speed
during Speed
Control)*1
m/s 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5 1.5
Maximum
Speed*1, *3 m/s 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0
Rated Force*1, *2 N 17 25 34 30 45 60 70 105 140 90 135 180
Maximum
Force*1 N 60 90 120 150 225 300 280 420 560 420 630 840
Rated Current*1 Arms 0.59 0.53 0.66 0.98 0.98 1.2 1.4 1.8 3.5 1.6 2.8 2.8
Maximum
Current*1 Arms 2.1 2.1 2.5 4.9 4.9 6.0 5.7 7.0 13.0 7.3 13.0 13.0
Moving Coil
Mass kg 0.30 0.40 0.50 0.60 0.80 1.0 1.0 1.4 1.8 1.8 2.5 3.2
Force Constant
N/
Arms
31.2 46.8 51.3 33.0 49.5 54.3 53.1 64.8 43.2 61.8 52.2 69.6
BEMF Constant
Vrms/
(m/s)/
phase
10.4 15.6 17.1 11.0 16.5 18.1 17.7 21.6 14.4 20.6 17.4 23.2
Motor Constant N/ 4.78 5.85 6.67 7.47 9.18 10.4 10.0 12.4 15.4 16.2 20.0 23.0
Electrical Time
Constant ms 0.18 0.18 0.17 0.38 0.32 0.41 0.18 0.59 0.65 0.98 1.0 1.1
Mechanical Time
Constant ms 13 12 11 11 9.5 9.2 10 9.1 7.6 6.9 6.3 6.0
Thermal
Resistance
(with Heat Sink)
K/W 3.35 2.90 1.64 1.66 1.45 1.29 1.00 0.68 0.61 0.77 0.53 0.49
Thermal
Resistance
(without Heat
Sink)
K/W 6.79 5.24 4.26 4.35 3.38 2.76 2.99 2.29 1.81 1.87 1.43 1.16
Magnetic
Attraction*4 N 0 0 0 0 0 0 0 0 0 0 0 0
W
Linear Servomotors
SGLC (Cylinder Models)
181
Linear Servomotors
Force-Motor Speed Characteristics
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
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.
intermittent duty zone.
speed characteristics will become smaller as the voltage drop increases.
Continuous duty zone
Intermittent duty zone
(solid lines): With three-phase 200-V input
(dotted lines): With single-phase 200-V input
A :
B :
0
0
1
2
3
4
5
SGLC-D16A085AP *
20 40 60 80 0 25 50 75 100
SGLC-D16A115AP
0
SGLC-D16A145AP
50 100 150
0
SGLC-D20A100AP *
50 100 150 200
SGLC-D20A135AP
0
SGLC-D20A170AP
100 200 300 400
SGLC-D25A125AP
0
SGLC-D25A170AP
100 200 300 400 500
SGLC-D25A215AP
0
SGLC-D32A165AP
100 200 300 400 500 0
SGLC-D32A225AP
200 400 600 800
0 100 200 300
0 100 200 300 0 200 400 600
0
SGLC-D32A285AP
250 500 750 1000
A B
A B
A B A B A B
A B A B A B
A B A B
A B A B
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
0
1
2
3
4
5
Motor speed (m/s)
Force (N)
Force (N) Force (N) Force (N)
Force (N) Force (N)
Force (N)
Force (N) Force (N) Force (N)
Force (N) Force (N)
Motor speed (m/s) Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s) Motor speed (m/s) Motor speed (m/s)
Motor speed (m/s) Motor speed (m/s) Motor speed (m/s) Motor speed (m/s)
Linear Servomotors
SGLC (Cylinder Models)
182
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor ambient temperature
of 40°C.
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 force remains within the continuous duty zone given in Force-Motor
Speed Characteristics on page 181.
SGLCW-D25A
50 100 150 200 250 300 350 400 450
10000
1000
100
10
1
50 100 150 200 250 300 350 400 450 500
50 100 150 200 250 300 350 400
SGLCW-D16A
10000
1000
100
10
1
SGLCW-D32A
10000
1000
100
10
1
SGLCW-D20A
50 100 150 200 250 300 350 400 450 500 550
10000
1000
100
10
1
Detection time (s) Detection time (s)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Detection time (s)
Force reference (percent of rated force)
(%)
Force reference (percent of rated force)
(%)
Detection time (s)
Linear Servomotors
SGLC (Cylinder Models)
183
Linear Servomotors
External Dimensions
SGLC-D16
Moving Coils: SGLCW-D16AAP
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLC-D16 and -D20 Moving Coils (page 191)
Moving Coil Model SGLCW- L1 L2 Approx. Mass* [kg]
D16A085AP 85 75 0.3
D16A115AP 115 105 0.4
D16A145AP 145 135 0.5
12
9
5
5
500±50
500±50
26
10
34±0.3
32±0.3
(18)
4 × M3 × 5
(Outer frame material: Aluminum alloy)
22±0.2
L2±0.2
L1±0.3
Polarity sensor
connector
Recommended
bending radius: 15
Recommended
bending radius: 18
2 × #4-40
UNC screws
Cable
UL20276, AWG26
5.3 dia.
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
(16: Outer diameter
of Magnetic Way)
Servomotor connector
Cable
UL2517, AWG25
5 dia.
18 ±0.1 dia.
(hollow diameter)
Linear Servomotors
SGLC (Cylinder Models)
184
Magnetic Ways: SGLCM-D16A
Note: The Magnetic Way will become deformed if a magnetic attraction with the Moving Coil is generated.
After installation, take measures over the entire range of motion to prevent any contact between the Magnetic
Way and the Moving Coil.
Magnetic Way Model
SGLCML1
L2 L3 L4 L5 L6 L7
Approx.
Mass [kg]
D16240A 240 ± 1.6 30 180 25 37.5 ± 0.3 165 ± 1.2 37.5 0.38
D16270A 270 ± 1.6 30 210 25 37.5 ± 0.3 195 ± 1.2 37.5 0.43
D16300A 300 ± 1.6 30 240 25 37.5 ± 0.3 225 ± 1.2 37.5 0.48
D16330A 330 ± 1.6 30 270 25 37.5 ± 0.3 255 ± 1.2 37.5 0.53
D16360A 360 ± 1.6 30 300 25 37.5 ± 0.3 285 ± 1.2 37.5 0.58
D16390A 390 ± 1.6 30 330 25 37.5 ± 0.3 315 ± 1.2 37.5 0.63
D16420A 420 ± 1.6 30 360 25 37.5 ± 0.3 345 ± 1.2 37.5 0.68
D16480A 480 ± 2.5 45 390 40 52.5 ± 0.3 375 ± 2.1 52.5 0.75
D16510A 510 ± 2.5 45 420 40 52.5 ± 0.3 405 ± 2.1 52.5 0.80
D16540A 540 ± 2.5 45 450 40 52.5 ± 0.3 435 ± 2.1 52.5 0.85
D16570A 570 ± 2.5 45 480 40 52.5 ± 0.3 465 ± 2.1 52.5 0.90
D16600A 600 ± 2.5 45 510 40 52.5 ± 0.3 495 ± 2.1 52.5 0.95
D16630A 630 ± 2.5 45 540 40 52.5 ± 0.3 525 ± 2.1 52.5 1.00
D16660A 660 ± 2.5 45 570 40 52.5 ± 0.3 555 ± 2.1 52.5 1.05
D16690A 690 ± 2.5 45 600 40 52.5 ± 0.3 585 ± 2.1 52.5 1.10
D16720A 720 ± 2.5 45 630 40 52.5 ± 0.3 615 ± 2.1 52.5 1.15
D16750A 750 ± 3.0 45 660 40 52.5 ± 0.3 645 ± 2.5 52.5 1.20
(34)
(32)
(18)
L2
L1
L3 (L2)
(1:Gap)
5 L4 L4
L5 L6 (L7)
Reference side
(Applicable force range) Moving Coil
16 ± 0.1 dia.
(mounting surface)
(18 dia.)
Moving Coil
(Length of weld)
(Position of
support section)
(Range of Moving Coil motion) (Position of
support section)
(5)
(Length of weld)
Unit: mm
(Length of support section) (Length of support section)
Linear Servomotors
SGLC (Cylinder Models)
185
Linear Servomotors
SGLC-D20
Moving Coils: SGLCW-D20AAP
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLC-D16 and -D20 Moving Coils (page 191)
Moving Coil Model SGLCW- L1 L2 Approx. Mass* [kg]
D20A100AP 100 90 0.6
D20A135AP 135 125 0.8
D20A170AP 170 160 1.0
5
15
11
6
500±50
500±50
34
12
44±0.3
42±0.3
(23)
4 × M4 × 7
(Outer frame material: Aluminum alloy)
30±0.2
L2±0.2
L1±0.3
Polarity sensor
connector
Servomotor
connector
The Moving Coil moves in the direction
indicated by the arrow when current flows in
the following phase sequence: U, V, W.
Unit: mm
Cable
UL2517, AWG25
5 dia.
22.5 ±0.1 dia.
(hollow diameter)
Recommended
bending radius: 15
Recommended
bending radius: 18
(20: Outer diameter
of Magnetic Way)
5.3 dia.
2 × #4-40
UNC screws
Cable
UL20276, AWG26
Linear Servomotors
SGLC (Cylinder Models)
186
Magnetic Ways: SGLCM-D20A
Note: The Magnetic Way will become deformed if a magnetic attraction with the Moving Coil is generated.
After installation, take measures over the entire range of motion to prevent any contact between the Magnetic
Way and the Moving Coil.
Magnetic Way Model
SGLCML1
L2 L3 L4 L5 L6 L7
Approx.
Mass [kg]
D20280A 280 ± 1.6 35 210 30 45 ± 0.3 190 ± 1.2 45 0.68
D20315A 315 ± 1.6 35 245 30 45 ± 0.3 225 ± 1.2 45 0.77
D20350A 350 ± 1.6 35 280 30 45 ± 0.3 260 ± 1.2 45 0.86
D20385A 385 ± 1.6 35 315 30 45 ± 0.3 295 ± 1.2 45 0.95
D20420A 420 ± 1.6 35 350 30 45 ± 0.3 330 ± 1.2 45 1.00
D20455A 455 ± 1.6 35 385 30 45 ± 0.3 365 ± 1.2 45 1.10
D20490A 490 ± 1.6 35 420 30 45 ± 0.3 400 ± 1.2 45 1.20
D20555A 555 ± 2.5 50 455 45 60 ± 0.3 435 ± 2.1 60 1.35
D20590A 590 ± 2.5 50 490 45 60 ± 0.3 470 ± 2.1 60 1.45
D20625A 625 ± 2.5 50 525 45 60 ± 0.3 505 ± 2.1 60 1.55
D20660A 660 ± 2.5 50 560 45 60 ± 0.3 540 ± 2.1 60 1.60
D20695A 695 ± 2.5 50 595 45 60 ± 0.3 575 ± 2.1 60 1.70
D20730A 730 ± 2.5 50 630 45 60 ± 0.3 610 ± 2.1 60 1.80
D20765A 765 ± 2.5 50 665 45 60 ± 0.3 645 ± 2.1 60 1.90
D20800A 800 ± 2.5 50 700 45 60 ± 0.3 680 ± 2.1 60 2.00
D20835A 835 ± 2.5 50 735 45 60 ± 0.3 715 ± 2.1 60 2.10
D20870A 870 ± 3.0 50 770 45 60 ± 0.3 750 ± 2.5 60 2.20
(44)
(42)
(23)
L1
L3 (L2)
(1.25:Gap) 20±0.1 dia.
5 L4 (5)
L2
L4
L5 L6 (L7)
Reference side
(Applicable force range) Moving Coil
(mounting surface)
Moving Coil
(Length of weld)
(Position of
support section)
(Range of Moving Coil motion)
(Length of weld)
Unit: mm
(Position of
support section)
(22.5 dia.)
(Length of support section) (Length of support section)
Linear Servomotors
SGLC (Cylinder Models)
187
Linear Servomotors
SGLC-D25
Moving Coils: SGLCW-D25AAP
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLC-D25 and -D32 Moving Coils (page 191)
Moving Coil Model SGLCW- L1 L2 Approx. Mass* [kg]
D25A125AP 125 110 1.0
D25A170AP 170 153 1.4
D25A215AP 215 200 1.8
15
12
7.5
6
500±50
500±50
43
15
54±0.3
50±0.3
(29)
4 × M5 × 9
(Outer frame material: Aluminum alloy)
38±0.2
L2±0.2
L1±0.3
Polarity sensor
connector
Servomotor
connector
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
(25: Outer diameter
of Magnetic Way)
5.3 dia.
Cable
UL20276, AWG26
2 × #4-40
UNC screws
Cable
UL2517, AWG19
6.1 dia.
28 ±0.1 dia.
(hollow diameter)
Recommended
bending radius: 15
Recommended
bending radius: 20
Linear Servomotors
SGLC (Cylinder Models)
188
Magnetic Ways: SGLCM-D25A
Note: The Magnetic Way will become deformed if a magnetic attraction with the Moving Coil is generated.
After installation, take measures over the entire range of motion to prevent any contact between the Magnetic
Way and the Moving Coil.
Magnetic Way Model
SGLCML1
L2 L3 L4 L5 L6 L7
Approx. Mass
[kg]
D25360A 360 ± 1.6 45 270 37 57.5 ± 0.3 245 ± 1.2 57.5 1.50
D25405A 405 ± 1.6 45 315 37 57.5 ± 0.3 290 ± 1.2 57.5 1.65
D25450A 450 ± 1.6 45 360 37 57.5 ± 0.3 335 ± 1.2 57.5 1.80
D25495A 495 ± 1.6 45 405 37 57.5 ± 0.3 380 ± 1.2 57.5 1.95
D25540A 540 ± 1.6 45 450 37 57.5 ± 0.3 425 ± 1.2 57.5 2.10
D25585A 585 ± 1.6 45 495 37 57.5 ± 0.3 470 ± 1.2 57.5 2.25
D25630A 630 ± 1.6 45 540 37 57.5 ± 0.3 515 ± 1.2 57.5 2.40
D25705A 705 ± 2.5 60 585 52 72.5 ± 0.3 560 ± 2.1 72.5 2.85
D25750A 750 ± 2.5 60 630 52 72.5 ± 0.3 605 ± 2.1 72.5 3.00
D25795A 795 ± 2.5 60 675 52 72.5 ± 0.3 650 ± 2.1 72.5 3.15
D25840A 840 ± 2.5 60 720 52 72.5 ± 0.3 695 ± 2.1 72.5 3.30
D25885A 885 ± 2.5 60 765 52 72.5 ± 0.3 740 ± 2.1 72.5 3.45
D25930A 930 ± 2.5 60 810 52 72.5 ± 0.3 785 ± 2.1 72.5 3.60
D25975A 975 ± 2.5 60 855 52 72.5 ± 0.3 830 ± 2.1 72.5 3.75
D251020A 1020 ± 2.5 60 900 52 72.5 ± 0.3 875 ± 2.1 72.5 3.90
D251065A 1065 ± 2.5 60 945 52 72.5 ± 0.3 920 ± 2.1 72.5 4.05
D251110A 1110 ± 3.0 60 990 52 72.5 ± 0.3 965 ± 2.5 72.5 4.20
(54)
(50)
(29)
L1
L3 (L2)
(1.5:Gap) φ25±0.1
8 L4 (8)
L2
L4
L5 L6 (L7)
Reference side
(Applicable force range) Moving Coil
(Position of
support section)
(Position of (Range of Moving Coil motion)
support section)
(Length of weld)
(28 dia.)
(Length of weld)
Unit: mm
(mounting surface)
Moving Coil
(Length of support section) (Length of support section)
Linear Servomotors
SGLC (Cylinder Models)
189
Linear Servomotors
SGLC-D32
Moving Coils: SGLCW-D32AAP
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connection specifications for the Sensor Cable and Servomotor
Main Circuit Cable.
SGLC-D25 and -D32 Moving Coils (page 191)
Moving Coil Model SGLCW- L1 L2 N Approx. Mass* [kg]
D32A165AP 165 145 4 1.8
D32A225AP 225 205 4 2.5
D32A285AP 285 265 6 3.2
19
15
10
7.5
500±50
500±50
51
15
64±0.3
60±0.3
(34)
N × M6 × 10
(Outer frame material: Aluminum alloy)
45±0.2
L2±0.2
L1±0.3
Polarity sensor
connector
Servomotor
connector
Recommended
bending radius: 15 Recommended
bending radius: 20
35.5 ±0.1 dia.
(hollow diameter)
(32: Outer diameter
of Magnetic Way)
5.3 dia.
SGLCW-D32A285AP only.
The Moving Coil moves in the direction
indicated by the arrow when current flows
in the following phase sequence: U, V, W.
Unit: mm
2 × #4-40
UNC screws
Cable
UL2517, AWG19
6.1 dia.
Cable
UL20276, AWG26
Linear Servomotors
SGLC (Cylinder Models)
190
Magnetic Ways: SGLCM-D32A
Note: The Magnetic Way will become deformed if a magnetic attraction with the Moving Coil is generated.
After installation, take measures over the entire range of motion to prevent any contact between the Magnetic
Way and the Moving Coil.
Magnetic Way Model
SGLCML1
L2 L3 L4 L5 L6 L7
Approx.
Mass [kg]
D32480A 480 ± 1.6 60 360 52 75 ± 0.3 330 ± 1.2 75 3.0
D32540A 540 ± 1.6 60 420 52 75 ± 0.3 390 ± 1.2 75 3.4
D32600A 600 ± 1.6 60 480 52 75 ± 0.3 450 ± 1.2 75 3.8
D32660A 660 ± 1.6 60 540 52 75 ± 0.3 510 ± 1.2 75 4.2
D32720A 720 ± 1.6 60 600 52 75 ± 0.3 570 ± 1.2 75 4.6
D32780A 780 ± 1.6 60 660 52 75 ± 0.3 630 ± 1.2 75 5.0
D32840A 840 ± 1.6 60 720 52 75 ± 0.3 690 ± 1.2 75 5.4
D32960A 960 ± 2.5 90 780 82 105 ± 0.3 750 ± 2.1 105 5.9
D321020A 1020 ± 2.5 90 840 82 105 ± 0.3 810 ± 2.1 105 6.3
D321080A 1080 ± 2.5 90 900 82 105 ± 0.3 870 ± 2.1 105 6.7
D321140A 1140 ± 2.5 90 960 82 105 ± 0.3 930 ± 2.1 105 7.1
D321200A 1200 ± 2.5 90 1020 82 105 ± 0.3 990 ± 2.1 105 7.5
D321260A 1260 ± 2.5 90 1080 82 105 ± 0.3 1050 ± 2.1 105 7.9
D321320A 1320 ± 2.5 90 1140 82 105 ± 0.3 1110 ± 2.1 105 8.3
D321380A 1380 ± 2.5 90 1200 82 105 ± 0.3 1170 ± 2.1 105 8.7
D321440A 1440 ± 2.5 90 1260 82 105 ± 0.3 1230 ± 2.1 105 9.1
D321500A 1500 ± 3.0 90 1320 82 105 ± 0.3 1290 ± 2.5 105 9.5
(64)
(60)
(34)
L1
L3 (L2)
(1.75:Gap)
8 L4 (8)
L2
L4
L5 L6 (L7)
Reference side
(mounting surface)
(Applicable force range) Moving Coil
32 ±0.1 dia.
Moving Coil
(Length of weld)
(Position of
support section)
(Range of Moving Coil motion) (Position of
support section)
(Length of weld)
Unit: mm
32 dia.
(35.5 dia.)
(Length of support section) (Length of support section)
Linear Servomotors
SGLC (Cylinder Models)
191
Linear Servomotors
Connector Specifications
SGLC-D16 and -D20 Moving Coils
SGLC-D25 and -D32 Moving Coils
Plug: 350779-1
Pins: 350561-3 or 350690-3 (No.1 to 3)
770210-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350925-1 or 770673-1
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Plug: 350779-1
Pins: 350561-3 or 350690-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350925-1 or 770673-1
Pin connector: 17JE-23090-02 (D8C)
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)
Studs: 17L-002C or 17L-002C1
The figure on the right shows the relationship between the Su, Sv,
and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in
the direction indicated by the arrow in the dimensional drawings of
the Moving Coil.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse power (V)
Electrical angle (°)
192
MEMO
Σ-7S Single-axis Analog Voltage/Pulse Train
Reference SERVOPACKs ………………………………194
Σ-7S Single-axis MECHATROLINK-II
Communications Reference SERVOPACKs ……..200
Σ-7S Single-axis MECHATROLINK-III
Communications Reference SERVOPACKs ……..205
Σ-7W Two-axis MECHATROLINK-III
Communications Reference SERVOPACKs ……..210
SERVOPACK External Dimensions …………………215
SERVOPACKs
SERVOPACKs
194
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
Model Designations
R70 A 200 VAC
R90
1R6
2R8
3R8
5R5
7R6
120
180
200
0.05 kW
0.1 kW
0.2 kW
0.4 kW
0.5 kW
0.75 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
00
SGD7S – R70 A 00 A 001
A
1.5 kW
Maximum Applicable
Motor Capacity Voltage
Interface*
Code
Code
Specification Code
None
Specification
Without options
Rack-mounted
Varnished
All models
All models
Single-phase, 200 V power input
Varnished and single-phase power input
Applicable
Models
Specification
Analog voltage/pulse train reference
Design Revision Order
Hardware Options
Specification
Voltage Code Specification
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
Threephase,
200 V
1st+2nd+3rd digits 4th digit
5th+6th digits
7th digit
8th+9th+10th digits
Σ-7 Series
SERVOPACKs:
Σ-7S Models
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
001
002
008
00A
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
195
SERVOPACKs
Ratings and Specifications
Ratings
Three-phase, 200 VAC
* This is the net value at the rated load.
Single-phase, 200 VAC
*1. Single-phase, 200-VAC power supply input is available as a hardware option.
*2. The ratings are 220 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
*3. This is the net value at the rated load.
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11 16.9 17 28 42 56
Main
Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9
Power
Loss*
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8
Control Circuit Power Loss [W] 17 17 17 17 17 17 17 22 22 22
Built-in Regenerative
Resistor Power Loss [W] − − − − 8 8 8 10 16 16
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 151.8
Regenerative
Resistor
Built-In
Regenerative
Resistor
Resistance
[Ω] − − − − 40 40 40 20 12 12
Capacity [W] − − − − 40 40 40 60 60 60
Minimum Allowable
External Resistance [Ω] 40 40 40 40 40 40 40 20 12 12
Overvoltage Category III
Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A*1
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Power Supply
200 VAC to 240 VAC, +10% to -15%,
50 Hz/60 Hz
*2
Input Current [Arms]*3 0.8 1.6 2.4 5.0 8.7 16
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]*3 0.2 0.3 0.6 1.2 1.9 4.0
Power Loss*3
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 43.8 65.8
Control Circuit Power Loss [W] 17 17 17 17 17 22
Built-in Regenerative Resistor
Power Loss [W] − − − − 8 10
Total Power Loss [W] 22.1 24.3 30.5 41.0 68.8 97.8
Regenerative
Resistor
Built-In Regenerative
Resistor
Resistance [Ω] − − − − 40 20
Capacity [W] − − − − 40 60
Minimum Allowable External
Resistance [Ω] 40 40 40 40 40 20
Overvoltage Category III
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
196
Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 22 bits (absolute encoder)
24 bits (incremental encoder/absolute encoder)
With Linear
Servomotor
absolute linear encoder.)
incremental linear encoder or Serial Converter Unit.)
Environmental
Conditions
Surrounding Air Temperature
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Storage Temperature -20°C to 85°C
Surrounding Air Humidity
95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Protection Class
I
Pollution Degree
2•
Must be no corrosive or flammable gases.
Altitude
1,000 m or less. (With derating, usage is possible between 1,000 m
and 2,000 m.)
Others
Do not use the SERVOPACK in the following locations: Locations
subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
Applicable Standards
UL 61800-5-1, CSA C22.2 No.14, EN 61800-5-1, EN 55011 group 1
class A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to
4, IEC 61800-5-2, IEC 62061, ISO 13849-1, and IEC 61326-3-1
Mounting
Performance
Speed Control Range
1:5000 (At the rated torque, the lower limit of the speed control range
must not cause the Servomotor to stop.)
Coefficient
of
Speed
Fluctuation*
1
Load Fluctuation
±0.01% max. (at rated motor speed and 0% to 100% load)
Voltage
Fluctuation
0% (at rated motor speed and rated voltage ±10%)
Temperature
Fluctuation
±0.1% max. (at rated motor speed and 25°C ±25°C)
Torque Control Precision
(Repeatability) ±1%
Soft Start Time Setting 0 s to 10 s (Can be set separately for acceleration and deceleration.)
Continued on next page.
Class SERVOPACK Model: SGD7SIP20
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
IP10 180A, 200A
Mounting SERVOPACK Model: SGD7SBase-
mounted All Models
Rack-mounted
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
7R6A, 120A, 180A, 200A
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
197
SERVOPACKs
I/O Signals
Encoder Divided Pulse
Output
Phase A, phase B, phase C: Line-driver output
Number of divided output pulses: Any setting is allowed.
Linear Servomotor
Overheat Protection
Signal Input
Number of input points: 1
Input voltage range: 0 V to +5 V
Sequence
Input
Signals
Fixed Input SEN signal
Input
Signals
That Can
Be
Allocated
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input Signals
Limit (/N-CL)
A signal can be allocated and the positive and negative logic can be
changed.
Sequence
Output
Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Output signal: Servo Alarm (ALM)
Output
Signals
That Can
Be
Allocated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 6
(A photocoupler output (isolated) is used for three of the outputs.)
(An open-collector output (non-isolated) is used for the other three
outputs.)
Output Signals
A signal can be allocated and the positive and negative logic can be
changed.
Communications
RS-422A
Communications
(CN3)
Interfaces
Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
1:N
Communications
Up to N = 15 stations possible for RS-422A port
Axis
Address
Setting
Set with parameters.
USB
Communications
(CN7)
Interface Personal computer (with SigmaWin+)
Communications
Standard
Conforms to USB2.0 standard (12 Mbps).
Continued on next page.
Continued from previous page.
Item Specification
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
198
Displays/Indicators CHARGE indicator and five-digit seven-segment display
Panel Operator Four push switches
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when a servo alarm or overtravel (OT) occurs, or when the
power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coast to a
stop at P-OT or N-OT input.
Protective Functions
Overcurrent, overvoltage, low voltage, overload, regeneration error,
etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety
Functions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable Standards*2 ISO13849-1 PLe (Category 3) and IEC61508 SIL3
Controls
Speed Control
Soft Start Time Setting 0 s to 10 s (Can be set separately for acceleration and deceleration.)
Input
Signal
Reference
Voltage
reference).
changed.
Input
Impedance
Approx. 14 kΩ
Circuit
Time
Constant
30 μs
Internal
Set
Speed
Control
Rotation
Direction
Selection
With Proportional Control signal
Speed
Selection
With Forward/Reverse External Torque Limit signals (speed 1 to 3
selection).
Servomotor stops or another control method is used when both signals
are OFF.
Position Control
Feedforward
Compensation
0% to 100%
Output Signal Positioning
Completed Width
Setting
0 to 1,073,741,824 reference units
Input Signals
Reference pulses
Reference
Pulse Form
One of the following is selected:
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse
trains with 90° phase differential
Input Form Line driver or open collector
Maximum
Input
Frequency
Sign + pulse train or CW + CCW pulse trains: 4 Mpps
Two-phase pulse trains with 90° phase differential: 1 Mpps
Sign + pulse train or CW + CCW pulse trains: 200 kpps
Two-phase pulse trains with 90° phase differential: 200 kpps
Input
Multiplication
Switching
1 to 100 times
Clear Signal
Position deviation clear
Line driver or open collector
Continued on next page.
Continued from previous page.
Item Specification
SERVOPACKs
Σ-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
199
SERVOPACKs
*1. The coefficient of speed fluctuation for load fluctuation is defined as follows:
*2. Always perform risk assessment for the system and confirm that the safety requirements are met.
Controls
Torque Control
Input
Signal
Reference
Voltage
reference).
changed.
Input
Impedance
Approx. 14 kΩ
Circuit
Time
Constant
16 μs
Continued from previous page.
Item Specification
Coefficient of speed fluctuation = No-load motor speed – Total-load motor speed × 100%
Rated motor speed
SERVOPACKs
200
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
Model Designations
10
A
Interface*
Code Specification
MECHATROLINK-II
communications reference
Design Revision Order
5th+6th digits
7th digit
R70 A 200 VAC
R90
1R6
2R8
3R8
5R5
7R6
120
180
200
0.05 kW
0.1 kW
0.2 kW
0.4 kW
0.5 kW
0.75 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
SGD7S – R70 A 10 A 001
1.5 kW
Maximum Applicable
Motor Capacity Voltage
Code Specification Code
None
Specification
Without options
Rack-mounted
Varnished
All models
All models
Single-phase, 200 V power input
Varnished and single-phase power input
Applicable
Models
Hardware Options
Specification
Voltage Code Specification
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
Threephase,
200 V
1st+2nd+3rd digits 4th digit 8th+9th+10th digits
Σ-7 Series
SERVOPACKs:
Σ-7S Models
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
001
002
008
00A
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
201
SERVOPACKs
Ratings and Specifications
Ratings
Three-phase, 200 VAC
* This is the net value at the rated load.
Single-phase, 200 VAC
*1. Single-phase, 200-VAC power supply input is available as a hardware option.
*2. The ratings are 220 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
*3. This is the net value at the rated load.
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11 16.9 17 28 42 56
Main
Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9
Power
Loss*
Main Circuit Power
Loss [W] 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8
Control Circuit Power
Loss [W] 17 17 17 17 17 17 17 22 22 22
Built-in Regenerative
Resistor Power Loss
[W]
− − − − 8 8 8 10 16 16
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 151.8
Regenerative
Resistor
Built-In
Regenerative
Resistor
Resistance
[Ω] − − − − 40 40 40 20 12 12
Capacity [W] − − − − 40 40 40 60 60 60
Minimum Allowable
External Resistance [Ω] 40 40 40 40 40 40 40 20 12 12
Overvoltage Category III
Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A*1
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz *2
Input Current [Arms]*3 0.8 1.6 2.4 5.0 8.7 16
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]*3 0.2 0.3 0.6 1.2 1.9 4.0
Power Loss*3
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 43.8 65.8
Control Circuit Power Loss [W] 17 17 17 17 17 22
Built-in Regenerative Resistor
Power Loss [W] − − − − 8 10
Total Power Loss [W] 22.1 24.3 30.5 41.0 68.8 97.8
Regenerative
Resistor
Built-In Regenerative
Resistor
Resistance [Ω] − − − − 40 20
Capacity [W] − − − − 40 60
Minimum Allowable External
Resistance [Ω] 40 40 40 40 40 20
Overvoltage Category III
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
202
Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 22 bits (absolute encoder)
24 bits (incremental encoder/absolute encoder)
With Linear
Servomotor
absolute linear encoder.)
incremental linear encoder or Serial Converter Unit.)
Environmental
Conditions
Surrounding Air Temperature
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Storage Temperature -20°C to 85°C
Surrounding Air
Humidity
95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Protection Class
I
Pollution Degree
2•
Must be no corrosive or flammable gases.
Altitude
1,000 m or less. (With derating, usage is possible between 1,000 m
and 2,000 m.)
Others
Do not use the SERVOPACK in the following locations: Locations
subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
Applicable Standards
UL 61800-5-1, CSA C22.2 No.14, EN 61800-5-1, EN 55011 group 1
class A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to
4, IEC 61800-5-2, IEC 62061, ISO 13849-1, and IEC 61326-3-1
Mounting
Performance
Speed Control Range
1:5000 (At the rated torque, the lower limit of the speed control range
must not cause the Servomotor to stop.)
Coefficient
of
Speed
Fluctuation*
1
Load Fluctuation
±0.01% max. (at rated motor speed and 0% to 100% load)
Voltage
Fluctuation
0% (at rated motor speed and rated voltage ±10%)
Temperature
Fluctuation
±0.1% max. (at rated motor speed and 25°C ±25°C)
Torque Control Precision
(Repeatability) ±1%
Soft Start Time
Setting
0 s to 10 s (Can be set separately for acceleration and deceleration.)
Continued on next page.
Class SERVOPACK Model: SGD7SIP20
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
IP10 180A, 200A
Mounting SERVOPACK Model: SGD7SBase-
mounted All Models
Rack-mounted
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
7R6A, 120A, 180A, 200A
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
203
SERVOPACKs
I/O Signals
Encoder Divided Pulse
Output
Phase A, phase B, phase C: Line-driver output
Number of divided output pulses: Any setting is allowed.
Linear Servomotor
Overheat Protection
Signal Input
Number of input points: 1
Input voltage range: 0 V to +5 V
Sequence
Input
Signals
Input
Signals
That Can
Be
Allocated
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input Signals
Torque Limit (/N-CL)
A signal can be allocated and the positive and negative logic can be
changed.
Sequence
Output
Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Output signal: Servo Alarm (ALM)
Output
Signals
That Can
Be Allocated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 3
(A photocoupler output (isolated) is used.)
Output Signals
A signal can be allocated and the positive and negative logic can be
changed.
Communications
RS-422A
Communications
(CN3)
Interfaces
Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
1:N
Communications
Up to N = 15 stations possible for RS-422A port
Axis
Address
Setting
Set with parameters.
USB
Communications
(CN7)
Interface Personal computer (with SigmaWin+)
Communications
Standard
Conforms to USB2.0 standard (12 Mbps).
Displays/Indicators
CHARGE, POWER, and COM indicators, and one-digit seven-segment
display
MECHATROLINK-
II
Communications
Communications Protocol
MECHATROLINK-II
Station Address
Settings
41 to 5F hex (maximum number of slaves: 30)
Selected with the combination of a rotary switch (S2) and DIP switch
(S3).
Baud Rate
10 Mbps, 4 Mbps
A DIP switch (S3) is used to select the baud rate.
Transmission Cycle 250 μs or 0.5 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmission
Bytes
17 or 32 bytes/station
A DIP switch (S3) is used to select the number of transmission bytes.
Continued on next page.
Continued from previous page.
Item Specification
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II Communications Reference SERVOPACKs
204
*1. The coefficient of speed fluctuation for load fluctuation is defined as follows:
*2. Always perform risk assessment for the system and confirm that the safety requirements are met.
Reference
Method
Performance
Position, speed, or torque control with MECHATROLINK-II communications
Reference Input
MECHATROLINK-I or MECHATROLINK-II commands (sequence,
motion, data setting, data access, monitoring, adjustment, etc.)
MECHATROLINK-II Communications
Setting Switches
Rotary switch (S2) positions: 16
Number of DIP switch (S3) pins: 4
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when a servo alarm or overtravel (OT) occurs, or when the
power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coast to a
stop at P-OT or N-OT input.
Protective Functions
Overcurrent, overvoltage, low voltage, overload, regeneration error,
etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety
Functions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable
Standards*2 ISO13849-1 PLe (Category 3), IEC61508 SIL3
Continued from previous page.
Item Specification
Coefficient of speed fluctuation = × 100%
No-load motor speed – Total-load motor speed
Rated motor speed
SERVOPACKs
205
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
20
A
Interface*
Code Specification
MECHATROLINK-III
communications reference
Design Revision Order
5th+6th digits
7th digit
R70 A 200 VAC
R90
1R6
2R8
3R8
5R5
7R6
120
180
200
0.05 kW
0.1 kW
0.2 kW
0.4 kW
0.5 kW
0.75 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
SGD7S – R70 A 20 A 001
1.5 kW
Maximum Applicable
Motor Capacity Voltage
Code Specification Code
None
Specification
Without options
Rack-mounted
Varnished
All models
All models
Single-phase, 200 V power input
Varnished and single-phase power input
Applicable
Models
Hardware Options
Specification
Voltage Code Specification
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
Threephase,
200 V
1st+2nd+3rd digits 4th digit 8th+9th+10th digits
Σ-7 Series
SERVOPACKs:
Σ-7S Models
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
001
002
008
00A
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
206
Ratings and Specifications
Ratings
Three-phase, 200 VAC
* This is the net value at the rated load.
Single-phase, 200 VAC
*1. Single-phase, 200-VAC power supply input is available as a hardware option.
*2. The ratings are 220 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
*3. This is the net value at the rated load.
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11 16.9 17 28 42 56
Main
Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 1.0 15
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9
Power
Loss*
Main Circuit Power
Loss [W] 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8
Control Circuit Power
Loss [W] 17 17 17 17 17 17 17 22 22 22
Built-in Regenerative
Resistor Power Loss
[W]
− − − − 8 8 8 10 16 16
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 151.8
Regenerative
Resistor
Built-In
Regenerative
Resistor
Resistance
[Ω] − − − − 40 40 40 20 12 12
Capacity [W] − − − − 40 40 40 60 60 60
Minimum Allowable
External Resistance [Ω] 40 40 40 40 40 40 40 20 12 12
Overvoltage Category III
Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A*1
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz *2
Input Current [Arms]*3 0.8 1.6 2.4 5.0 8.7 16
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]*3 0.2 0.3 0.6 1.2 1.9 4.0
Power Loss*3
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 43.8 65.8
Control Circuit Power Loss [W] 17 17 17 17 17 22
Built-in Regenerative Resistor
Power Loss [W] − − − − 8 10
Total Power Loss [W] 22.1 24.3 30.5 41.0 68.8 97.8
Regenerative
Resistor
Built-In Regenerative
Resistor
Resistance [Ω] − − − − 40 20
Capacity [W] − − − − 40 60
Minimum Allowable External
Resistance [Ω] 40 40 40 40 40 20
Overvoltage Category III
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
207
SERVOPACKs
Specifications
Item Specification
Drive Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 22 bits (absolute encoder)
24 bits (incremental encoder/absolute encoder)
With Linear
Servomotor
linear encoder.)
incremental linear encoder or Serial Converter Unit.)
Environmental
Conditions
Surrounding Air Temperature
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Storage Temperature -20°C to 85°C
Surrounding Air
Humidity
95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Protection Class
I
Pollution Degree
2
Altitude
1,000 m or less. (With derating, usage is possible between 1,000 m
and 2,000 m.)
Others
Do not use the SERVOPACK in the following locations: Locations subject
to static electricity noise, strong electromagnetic/magnetic fields,
or radioactivity
Applicable Standards
UL 61800-5-1, CSA C22.2 No.14, EN 61800-5-1, EN 55011 group 1
class A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to 4,
IEC 61800-5-2, IEC 62061, ISO 13849-1, and IEC 61326-3-1
Mounting
Performance
Speed Control Range
1:5000 (At the rated torque, the lower limit of the speed control range
must not cause the Servomotor to stop.)
Coefficient
of
Speed
Fluctuation*
1
Load
Fluctuation
±0.01% max. (at rated motor speed and 0% to 100% load)
Voltage
Fluctuation
0% (at rated motor speed and rated voltage ±10%)
Temperature
Fluctuation
±0.1% max. (at rated motor speed and 25°C ±25°C)
Torque Control Precision
(Repeatability) ±1%
Soft Start Time
Setting
0 s to 10 s (Can be set separately for acceleration and deceleration.)
Continued on next page.
Class SERVOPACK Model: SGD7SIP20
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
IP10 180A, 200A
Mounting SERVOPACK Model: SGD7SBase-
mounted All Models
Rack-mounted
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
7R6A, 120A, 180A, 200A
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
208
I/O Signals
Encoder Divided
Pulse Output
Phase A, phase B, phase C: Line-driver output
Number of divided output pulses: Any setting is allowed.
Linear Servomotor
Overheat Protection
Signal Input
Number of input points: 1
Input voltage range: 0 V to +5 V
Sequence
Input
Signals
Input
Signals
That
Can Be
Allocated
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input Signals
Torque Limit (/N-CL)
A signal can be allocated and the positive and negative logic can be
changed.
Sequence
Output
Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Output signal: Servo Alarm (ALM)
Output
Signals
That
Can Be
Allocated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 3
(A photocoupler output (isolated) is used.)
Output Signals
A signal can be allocated and the positive and negative logic can be
changed.
Communications
RS-422A
Communications
(CN3)
Interfaces
Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
1:N
Communications
Up to N = 15 stations possible for RS-422A port
Axis
Address
Setting
Set with parameters.
USB
Communications
(CN7)
Interface Personal computer (with SigmaWin+)
Communications
Standard
Conforms to USB2.0 standard (12 Mbps).
Displays/Indicators
CHARGE, POWER, COM, L1, and L2 indicators, and one-digit sevensegment
display
MECHATROLINKIII
Communications
Communications
Protocol
MECHATROLINK-III
Station Address
Settings
03 to EF hex (maximum number of slaves: 62)
The rotary switches (S1 and S2) are used to set the station address.
Baud Rate 100 Mbps
Transmission Cycle
125 μs, 250 μs, 500 μs, 750 μs,
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmission
Bytes
16, 32, or 48 bytes/station
A DIP switch (S3) is used to select the number of transmission bytes.
Continued on next page.
Continued from previous page.
Item Specification
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
209
SERVOPACKs
*1. The coefficient of speed fluctuation for load fluctuation is defined as follows:
*2. Always perform risk assessment for the system and confirm that the safety requirements are met.
Reference
Method
Performance
Position, speed, or torque control with MECHATROLINK-III communications
Reference Input
MECHATROLINK-III commands (sequence, motion, data setting, data
access, monitoring, adjustment, etc.)
Profile
MECHATROLINK-III standard servo profile
MECHATROLINK-II-compatible profile
MECHATROLINK-III Communications
Setting Switches
Rotary switch (S1 and S2) positions: 16
Number of DIP switch (S3) pins: 4
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when a servo alarm or overtravel (OT) occurs, or when the
power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coast to a stop
at P-OT or N-OT input.
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety
Functions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable
Standards*2 ISO13849-1 PLe (Category 3), IEC61508 SIL3
Continued from previous page.
Item Specification
Coefficient of speed fluctuation = × 100%
No-load motor speed – Total-load motor speed
Rated motor speed
SERVOPACKs
210
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
SGD7W – 1R6 A 20 A 001
Σ-7 Series
SERVOPACKs:
Σ-7W Models
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
Maximum Applicable
Motor Capacity per Axis
* The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.
A 200 VAC
Voltage
Code Specification
1R6
2R8
5R5
7R6
0.2 kW
0.4 kW
0.75 kW
1.0 kW
Voltage Code Specification
Threephase,
200 V
1st+2nd+3rd digits 4th digit
Code
None
Specification
Without options
Rack-mounted
Varnished
All models
Applicable
Models
Hardware Options
8th+9th+10th digits Specification
001
002
20
A
Interface*
Code Specification
MECHATROLINK-III
communications reference
Design Revision Order
5th+6th digits
7th digit
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
211
SERVOPACKs
Ratings and Specifications
Ratings
Three-phase, 200 VAC
* This is the net value at the rated load.
Single-phase, 200 VAC
*1. If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%.
*2. This is the net value at the rated load.
Model SGD7W- 1R6A 2R8A 5R5A 7R6A
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75 1.0
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5 7.6
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9 17.0
Main Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Input Current [Arms]* 2.5 4.7 7.8 11
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]* 1.0 1.9 3.2 4.5
Power Loss*
Main Circuit Power Loss [W] 27.0 48.0 87.6 107.2
Control Circuit Power Loss [W] 24 24 24 24
Built-in Regenerative Resistor
Power Loss [W]
8 8 16 16
Total Power Loss [W] 59.0 80.0 127.6 147.2
Regenerative
Resistor
Built-In Regenerative
Resistor
Resistance
[Ω]
40 40 12 12
Capacity
[W]
40 40 60 60
Minimum Allowable External Resistance
[Ω]
40 40 40 40
Overvoltage Category III
Model SGD7W- 1R6A 2R8A 5R5A*1
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9
Main Circuit
Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Input Current [Arms]*2 5.5 11 12
Control Power Supply 200 VAC to 240 VAC, +10% to -15%, 50 Hz/60 Hz
Power Supply Capacity [kVA]*2 1.3 2.4 2.7
Power Loss*2
Main Circuit Power Loss [W] 27.0 48.0 87.6
Control Circuit Power Loss [W] 24 24 24
Built-in Regenerative Resistor
Power Loss [W]
8 8 16
Total Power Loss [W] 59.0 80.0 127.6
Regenerative
Resistor
Built-In Regenerative
Resistor
Resistance
[Ω]
40 40 12
Capacity
[W]
40 40 60
Minimum Allowable External
Resistance [Ω]
40 40 40
Overvoltage Category III
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
212
Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 22 bits (absolute encoder)
24 bits (incremental encoder/absolute encoder)
With Linear
Servomotor
linear encoder.)
incremental linear encoder or Serial Converter Unit.)
Environmental
Conditions
Surrounding Air Temperature
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Storage Temperature -20°C to 85°C
Surrounding Air
Humidity
95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Protection Class IP20
Pollution Degree
2•
Must be no corrosive or flammable gases.
Altitude
1,000 m or less. (With derating, usage is possible between 1,000 m
and 2,000 m.)
Others
Do not use the SERVOPACK in the following locations: Locations subject
to static electricity noise, strong electromagnetic/magnetic fields,
or radioactivity
Applicable Standards
UL 61800-5-1, CSA C22.2 No.14, EN 61800-5-1,
EN 55011 group 1 class A, EN 61000-6-2, EN 61000-6-4,
and EN 61800-3
Mounting Base-mounted or rack-mounted
Performance
Speed Control Range
1:5000 (At the rated torque, the lower limit of the speed control range
must not cause the Servomotor to stop.)
Coefficient
of
Speed
Fluctuation*
Load
Fluctuation
±0.01% max. (at rated motor speed and 0% to 100% load)
Voltage
Fluctuation
0% (at rated motor speed and rated voltage ±10%)
Temperature
Fluctuation
±0.1% max. (at rated motor speed and 25°C ±25°C)
Torque Control Precision
(Repeatability) ±1%
Soft Start Time
Setting
0 s to 10 s (Can be set separately for acceleration and deceleration.)
Continued on next page.
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
213
SERVOPACKs
I/O Signals
Linear Servomotor
Overheat Protection
Signal Input
Number of input points: 2
Input voltage range: 0 V to +5 V
Sequence
Input Signals
Input
Signals
That
Can Be
Allocated
Allowable voltage range: 24 VDC ±20%
Number of input points: 12
Input Signals
A signal can be allocated and the positive and negative logic can be
changed.
Sequence
Output
Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 2
Output signal: Servo Alarm (ALM)
Output
Signals
That
Can Be
Allocated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 5
(A photocoupler output (isolated) is used.)
Output Signals
A signal can be allocated and the positive and negative logic can be
changed.
Communications
RS-422A
Communications
(CN3)
Interfaces
Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
1:N
Communications
Up to N = 15 stations possible for RS-422A port
Axis
Address
Settings
Set with parameters.
USB
Communications
(CN7)
Interface Personal computer (with SigmaWin+)
Communications
Standard
Conforms to USB2.0 standard (12 Mbps).
Displays/Indicators
CHARGE, POWER, COM, L1, and L2 indicators, and two, one-digit
seven-segment displays
MECHATROLINKIII
Communications
Communications
Protocol
MECHATROLINK-III
Station Address
Settings
03 to EF hex (maximum number of slaves: 62)
The rotary switches (S1 and S2) are used to set the station address.
Extended Address
Setting
Axis 1: 00 hex, Axis 2: 01 hex
Baud Rate 100 Mbps
Transmission Cycle
250 μs, 500 μs, 750 μs,
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmission
Bytes
16, 32, or 48 bytes/station
A DIP switch (S3) is used to select the baud rate.
Continued on next page.
Continued from previous page.
Item Specification
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
214
* The coefficient of speed fluctuation for load fluctuation is defined as follows:
Reference
Method
Performance
Position, speed, or torque control with MECHATROLINK-III communications
Reference Input
MECHATROLINK-III commands (sequence, motion, data setting, data
access, monitoring, adjustment, etc.)
Profile
MECHATROLINK-III standard servo profile
MECHATROLINK-II-compatible profile
MECHATROLINK-III Communications
Setting Switches
Rotary switch (S1 and S2) positions: 16
Number of DIP switch (S3) pins: 4
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when a servo alarm or overtravel (OT) occurs, or when the
power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coast to a stop
at P-OT or N-OT input.
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Continued from previous page.
Item Specification
Coefficient of speed fluctuation = No-load motor speed – Total-load motor speed × 100%
Rated motor speed
SERVOPACKs
215
SERVOPACKs
SERVOPACK External Dimensions
Interpreting the Dimensional Drawings
The front cover dimensions and panel connectors depend on the SERVOPACK interface. Refer to
the following figures.
Front Cover Dimensions
SERVOPACKs
Reference SERVOPACKs
Reference SERVOPACKs
Reference SERVOPACKs
Front cover
CN3
CN7
CN1
CN8
CN2
(17)
(120°)
(20)
Front cover
CN7
CN3
CN1
CN8
CN2
CN6A/B
(7)
(15)
(120°)
Front cover
CN3
CN7
CN1
CN8
CN2
CN6A
CN6B
(7)
(15)
(120°)
Front cover
CN3
CN7
CN1
CN2A
CN2B
CN6A
CN6B
(7)
(15)
(120°)
SERVOPACKs
SERVOPACK External Dimensions
216
Connectors
Note: The above connectors or their equivalents are used for the SERVOPACKs.
SERVOPACK
Connector
No.
Model
Number
of Pins
Manufacturer
Σ-7S
Analog Voltage/Pulse
Train Reference
SERVOPACK
CN1 10250-59A3MB 50 Sumitomo 3M Ltd.
CN2 3E106-0220KV 6 Sumitomo 3M Ltd.
CN3
HDR-EC14LFDTNSLD-
PLUS
14 Honda Tsushin Kogyo Co., Ltd.
CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
Σ-7S
MECHATROLINK-II
Communications
Reference SERVOPACK
CN1 10226-59A3MB 26 Sumitomo 3M Ltd.
CN2 3E106-0220KV 6 Sumitomo 3M Ltd.
CN3
HDR-EC14LFDTNSLD-
PLUS
14 Honda Tsushin Kogyo Co., Ltd.
CN6A/B 1903815-1 8 Tyco Electronics Japan G.K.
CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
Σ-7S
MECHATROLINK-III
Communications
Reference SERVOPACK
CN1 10226-59A3MB 26 Sumitomo 3M Ltd.
CN2 3E106-0220KV 6 Sumitomo 3M Ltd.
CN3
HDR-EC14LFDTNSLD-
PLUS
14 Honda Tsushin Kogyo Co., Ltd.
CN6A,
CN6B
1981386-1 8 Tyco Electronics Japan G.K.
CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
Σ-7W
MECHATROLINK-III
Communications
Reference SERVOPACK
CN1 10236-59A3MB 36 Sumitomo 3M Ltd.
CN2A,
CN2B
3E106-2230KV 6 Sumitomo 3M Ltd.
CN3
HDR-EC14LFDTNSLD-
PLUS
14 Honda Tsushin Kogyo Co., Ltd.
CN6A,
CN6B
1981386-1 8 Tyco Electronics Japan G.K.
CN7 2172034-1 5 Tyco Electronics Japan G.K.
SERVOPACKs
SERVOPACK External Dimensions
217
SERVOPACKs
External Dimensions
All of the dimensional drawings show Analog Voltage/Pulse Train Reference SERVOPACKs as typical
examples.
Σ-7S SERVOPACKs: Base-mounted
Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A
Three-phase, 200 VAC: SGD7S-2R8A
2×M4
160
168
8
40 (75) 140
18 (4)
168
5
25
40
Two sets of terminals
Ground terminals
2 × M4
160 ±0.5 (mounting pitch)
Exterior
10 ±0.5
(mounting pitch)
Mounting Hole Diagram
Approx. Mass: 0.8 kg
Unit: mm
160
168
8
40 170
18 (4)
(75)
168
5
2×M4
40
5
Two sets of terminals
Ground terminals
2 × M4
160 ±0.5 (mounting pitch)
Exterior
20 ±0.5
(mounting pitch)
Mounting Hole Diagram
Approx. Mass: 1.0 kg
Unit: mm
SERVOPACKs
SERVOPACK External Dimensions
218
Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A
Three-phase, 200 VAC: SGD7S-120A
Three-phase, 200 VAC: SGD7S-180A and -200A
160
168
8
70 (75) 180
18 (4)
70
6
168
3×M4
5
Two sets of terminals
Ground terminals
2 × M4
160 ±0.5 (mounting pitch)
Exterior
58 ±0.5
(mounting pitch)
Mounting Hole Diagram
Approx. Mass: 1.6 kg
Unit: mm
160
168
8
90 (75) 180
18
(4)
168
5
3×M4
90
12.5
5
Two sets of terminals
Ground terminals
2 × M4
160 ±0.5 (mounting pitch)
80 ±0.5
(mounting pitch)
Exterior
Mounting Hole Diagram
Approx. Mass: 2.2 kg
Unit: mm
8 180
100 180 100
12.5
(4)
(75)
188
188
5
3×M4
Terminals
14 × M4
Terminal Details
Ground
terminals
2 × M4
180 ±0.5 (mounting pitch)
Exterior
75 ±0.5
(mounting pitch)
82.5 ±0.5
(mounting
pitch)
Mounting Hole Diagram
Approx. Mass: 2.7 kg
Unit: mm
SERVOPACKs
SERVOPACK External Dimensions
219
SERVOPACKs
Σ-7W SERVOPACKs: Base-mounted
Three-phase, 200 VAC: SGD7W-1R6A and -2R8A
Three-phase, 200 VAC: SGD7W-5R5A and -7R6A
70 (75) 180
168
(4)
160
168
5
5
70
8
18
Two sets of terminals
Ground terminals
3 × M4
160 ±0.5 (mounting pitch)
Exterior
60 ±0.5
(mounting pitch)
Mounting Hole Diagram
Approx. Mass: 1.6 kg
Unit: mm
4×M4
100 (75) 180
(4)
160
168
5
5
100
8
18
168
Two sets of terminals
Ground terminals
3 × M4
160 ±0.5 (mounting pitch)
Exterior
90 ±0.5
(mounting pitch)
Mounting Hole Diagram
Approx. Mass: 2.3 kg
Unit: mm
4×M4
220
MEMO
Cables for SGM7A and
SGM7J Rotary Servomotors ………………………….222
Cables for SGM7G Rotary Servomotors ………….229
Cables for Direct Drive Servomotors ………………233
Cables for Linear Servomotors ………………………238
Serial Converter Units …………………………………..243
Cables for SERVOPACKs ………………………………244
Peripheral Devices ……………………………………….247
Cables and Peripheral
Devices
Cables and Peripheral Devices
222
Cables for SGM7A and SGM7J Rotary Servomotors
System Configurations
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.
speed characteristics will become smaller because the voltage drop increases.
for the following information.
Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)
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.
SERVOPACK
Encoder Cable
Servomotor Main
Circuit Cable
Servomotor
Battery Case
(Required when an
absolute encoder is used.)
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case
(Required when an
absolute encoder is used.)
Cable with Connectors
on Both Ends
Servomotor Encoder-end Cable
Main Circuit Cable
Servomotor
Important
Cable Installed toward Load Cable Installed away from Load
U
V
W
G
U
V
W
G
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
223
Cables and Peripheral Devices
Servomotor Main Circuit Cables
Servomotor
Model
Name Length
Order Number
Appearance
Standard Cable Flexible Cable*
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
For Servomotors
without
Holding
Brakes
Cable
installed
toward load
3 m JZSP-C7M10F-03-E JZSP-C7M12F-03-E
5 m JZSP-C7M10F-05-E JZSP-C7M12F-05-E
10 m JZSP-C7M10F-10-E JZSP-C7M12F-10-E
15 m JZSP-C7M10F-15-E JZSP-C7M12F-15-E
20 m JZSP-C7M10F-20-E JZSP-C7M12F-20-E
30 m JZSP-C7M10F-30-E JZSP-C7M12F-30-E
40 m JZSP-C7M10F-40-E JZSP-C7M12F-40-E
50 m JZSP-C7M10F-50-E JZSP-C7M12F-50-E
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
3 m JZSP-C7M20F-03-E JZSP-C7M22F-03-E
5 m JZSP-C7M20F-05-E JZSP-C7M22F-05-E
10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E
15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E
20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E
30 m JZSP-C7M20F-30-E JZSP-C7M22F-30-E
40 m JZSP-C7M20F-40-E JZSP-C7M22F-40-E
50 m JZSP-C7M20F-50-E JZSP-C7M22F-50-E
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
3 m JZSP-C7M30F-03-E JZSP-C7M32F-03-E
5 m JZSP-C7M30F-05-E JZSP-C7M32F-05-E
10 m JZSP-C7M30F-10-E JZSP-C7M32F-10-E
15 m JZSP-C7M30F-15-E JZSP-C7M32F-15-E
20 m JZSP-C7M30F-20-E JZSP-C7M32F-20-E
30 m JZSP-C7M30F-30-E JZSP-C7M32F-30-E
40 m JZSP-C7M30F-40-E JZSP-C7M32F-40-E
50 m JZSP-C7M30F-50-E JZSP-C7M32F-50-E
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
For Servomotors
without
Holding
Brakes
Cable
installed
away from
load
3 m JZSP-C7M10G-03-E JZSP-C7M12G-03-E
5 m JZSP-C7M10G-05-E JZSP-C7M12G-05-E
10 m JZSP-C7M10G-10-E JZSP-C7M12G-10-E
15 m JZSP-C7M10G-15-E JZSP-C7M12G-15-E
20 m JZSP-C7M10G-20-E JZSP-C7M12G-20-E
30 m JZSP-C7M10G-30-E JZSP-C7M12G-30-E
40 m JZSP-C7M10G-40-E JZSP-C7M12G-40-E
50 m JZSP-C7M10G-50-E JZSP-C7M12G-50-E
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
3 m JZSP-C7M20G-03-E JZSP-C7M22G-03-E
5 m JZSP-C7M20G-05-E JZSP-C7M22G-05-E
10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E
15 m JZSP-C7M20G-15-E JZSP-C7M22G-15-E
20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E
30 m JZSP-C7M20G-30-E JZSP-C7M22G-30-E
40 m JZSP-C7M20G-40-E JZSP-C7M22G-40-E
50 m JZSP-C7M20G-50-E JZSP-C7M22G-50-E
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
3 m JZSP-C7M30G-03-E JZSP-C7M32G-03-E
5 m JZSP-C7M30G-05-E JZSP-C7M32G-05-E
10 m JZSP-C7M30G-10-E JZSP-C7M32G-10-E
15 m JZSP-C7M30G-15-E JZSP-C7M32G-15-E
20 m JZSP-C7M30G-20-E JZSP-C7M32G-20-E
30 m JZSP-C7M30G-30-E JZSP-C7M32G-30-E
40 m JZSP-C7M30G-40-E JZSP-C7M32G-40-E
50 m JZSP-C7M30G-50-E JZSP-C7M32G-50-E
* Use Flexible Cables for moving parts of machines, such as robots.
Motor end SERVOPACK end
U
V
W
G
L
SERVOPACK end Motor end
U
V
W
G
L
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
224
* Use Flexible Cables for moving parts of machines, such as robots.
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
For Servomotors
with
Holding
Brakes
Cable
installed
toward load
3 m JZSP-C7M13F-03-E JZSP-C7M14F-03-E
5 m JZSP-C7M13F-05-E JZSP-C7M14F-05-E
10 m JZSP-C7M13F-10-E JZSP-C7M14F-10-E
15 m JZSP-C7M13F-15-E JZSP-C7M14F-15-E
20 m JZSP-C7M13F-20-E JZSP-C7M14F-20-E
30 m JZSP-C7M13F-30-E JZSP-C7M14F-30-E
40 m JZSP-C7M13F-40-E JZSP-C7M14F-40-E
50 m JZSP-C7M13F-50-E JZSP-C7M14F-50-E
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
3 m JZSP-C7M23F-03-E JZSP-C7M24F-03-E
5 m JZSP-C7M23F-05-E JZSP-C7M24F-05-E
10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E
15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E
20 m JZSP-C7M23F-20-E JZSP-C7M24F-20-E
30 m JZSP-C7M23F-30-E JZSP-C7M24F-30-E
40 m JZSP-C7M23F-40-E JZSP-C7M24F-40-E
50 m JZSP-C7M23F-50-E JZSP-C7M24F-50-E
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
3 m JZSP-C7M33F-03-E JZSP-C7M34F-03-E
5 m JZSP-C7M33F-05-E JZSP-C7M34F-05-E
10 m JZSP-C7M33F-10-E JZSP-C7M34F-10-E
15 m JZSP-C7M33F-15-E JZSP-C7M34F-15-E
20 m JZSP-C7M33F-20-E JZSP-C7M34F-20-E
30 m JZSP-C7M33F-30-E JZSP-C7M34F-30-E
40 m JZSP-C7M33F-40-E JZSP-C7M34F-40-E
50 m JZSP-C7M33F-50-E JZSP-C7M34F-50-E
SGM7J-A5 to -C2
SGM7A-A5 to -C2
50 W to 150 W
For Servomotors
with
Holding
Brakes
Cable
installed
away from
load
3 m JZSP-C7M13G-03-E JZSP-C7M14G-03-E
5 m JZSP-C7M13G-05-E JZSP-C7M14G-05-E
10 m JZSP-C7M13G-10-E JZSP-C7M14G-10-E
15 m JZSP-C7M13G-15-E JZSP-C7M14G-15-E
20 m JZSP-C7M13G-20-E JZSP-C7M14G-20-E
30 m JZSP-C7M13G-30-E JZSP-C7M14G-30-E
40 m JZSP-C7M13G-40-E JZSP-C7M14G-40-E
50 m JZSP-C7M13G-50-E JZSP-C7M14G-50-E
SGM7J-02 to -06
SGM7A-02 to -06
200 W to 600 W
3 m JZSP-C7M23G-03-E JZSP-C7M24G-03-E
5 m JZSP-C7M23G-05-E JZSP-C7M24G-05-E
10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E
15 m JZSP-C7M23G-15-E JZSP-C7M24G-15-E
20 m JZSP-C7M23G-20-E JZSP-C7M24G-20-E
30 m JZSP-C7M23G-30-E JZSP-C7M24G-30-E
40 m JZSP-C7M23G-40-E JZSP-C7M24G-40-E
50 m JZSP-C7M23G-50-E JZSP-C7M24G-50-E
SGM7J-08
SGM7A-08 and -10
750 W, 1.0 kW
3 m JZSP-C7M33G-03-E JZSP-C7M34G-03-E
5 m JZSP-C7M33G-05-E JZSP-C7M34G-05-E
10 m JZSP-C7M33G-10-E JZSP-C7M34G-10-E
15 m JZSP-C7M33G-15-E JZSP-C7M34G-15-E
20 m JZSP-C7M33G-20-E JZSP-C7M34G-20-E
30 m JZSP-C7M33G-30-E JZSP-C7M34G-30-E
40 m JZSP-C7M33G-40-E JZSP-C7M34G-40-E
50 m JZSP-C7M33G-50-E JZSP-C7M34G-50-E
Servomotor
Model
Name Length
Order Number
Appearance
Standard Cable Flexible Cable*
Motor end SERVOPACK end
U
V
G
B
B
L
U
V
W
G
B
B
L
SERVOPACK end Motor end
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
225
Cables and Peripheral Devices
Servomotor
Model
Name
Connector
Specifications
Length
Order Number
Appearance
Standard Cable Flexible Cable*
SGM7A-
15A
1.5 kW
For Servomotors
without
Holding Brakes
Straight
3 m JZSP-UVA101-03-E JZSP-UVA121-03-E
5 m 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
Right-angle
3 m JZSP-UVA102-03-E JZSP-UVA122-03-E
5 m 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
For Servomotors
with Holding
Brakes
Straight
3 m JZSP-UVA151-03-E JZSP-UVA161-03-E
5 m JZSP-UVA151-05-E JZSP-UVA161-05-E
10 m JZSP-UVA151-10-E JZSP-UVA161-10-E
15 m JZSP-UVA151-15-E JZSP-UVA161-15-E
20 m JZSP-UVA151-20-E JZSP-UVA161-20-E
Right-angle
3 m JZSP-UVA152-03-E JZSP-UVA162-03-E
5 m JZSP-UVA152-05-E JZSP-UVA162-05-E
10 m JZSP-UVA152-10-E JZSP-UVA162-10-E
15 m JZSP-UVA152-15-E JZSP-UVA162-15-E
20 m JZSP-UVA152-20-E JZSP-UVA162-20-E
SGM7A-
20A
2.0 kW
For Servomotors
without
Holding Brakes
Straight
3 m JZSP-UVA301-03-E JZSP-UVA321-03-E
5 m 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
Right-angle
3 m JZSP-UVA302-03-E JZSP-UVA322-03-E
5 m 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
For Servomotors
with Holding
Brakes
Straight
3 m JZSP-UVA351-03-E JZSP-UVA361-03-E
5 m JZSP-UVA351-05-E JZSP-UVA361-05-E
10 m JZSP-UVA351-10-E JZSP-UVA361-10-E
15 m JZSP-UVA351-15-E JZSP-UVA361-15-E
20 m JZSP-UVA351-20-E JZSP-UVA361-20-E
Right-angle
3 m JZSP-UVA352-03-E JZSP-UVA362-03-E
5 m JZSP-UVA352-05-E JZSP-UVA362-05-E
10 m JZSP-UVA352-10-E JZSP-UVA362-10-E
15 m JZSP-UVA352-15-E JZSP-UVA362-15-E
20 m JZSP-UVA352-20-E JZSP-UVA362-20-E
* Use Flexible Cables for moving parts of machines, such as robots.
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
226
* Use Flexible Cables for moving parts of machines, such as robots.
SGM7A-
25A
2.5 kW
For Servomotors
without
Holding Brakes
Straight
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
Right-angle
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
20 m JZSP-UVA502-20-E JZSP-UVA522-20-E
For Servomotors
with Holding
Brakes
Straight
3 m JZSP-UVA551-03-E JZSP-UVA561-03-E
5 m JZSP-UVA551-05-E JZSP-UVA561-05-E
10 m JZSP-UVA551-10-E JZSP-UVA561-10-E
15 m JZSP-UVA551-15-E JZSP-UVA561-15-E
20 m JZSP-UVA551-20-E JZSP-UVA561-20-E
Right-angle
3 m JZSP-UVA552-03-E JZSP-UVA562-03-E
5 m JZSP-UVA552-05-E JZSP-UVA562-05-E
10 m JZSP-UVA552-10-E JZSP-UVA562-10-E
15 m JZSP-UVA552-15-E JZSP-UVA562-15-E
20 m JZSP-UVA552-20-E JZSP-UVA562-20-E
SGM7A-
30A
3.0 kW
For Servomotors
without
Holding Brakes
Straight
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
Right-angle
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
For Servomotors
with Holding
Brakes
Straight
3 m JZSP-UVA651-03-E JZSP-UVA661-03-E
5 m JZSP-UVA651-05-E JZSP-UVA661-05-E
10 m JZSP-UVA651-10-E JZSP-UVA661-10-E
15 m JZSP-UVA651-15-E JZSP-UVA661-15-E
20 m JZSP-UVA651-20-E JZSP-UVA661-20-E
Right-angle
3 m JZSP-UVA652-03-E JZSP-UVA662-03-E
5 m JZSP-UVA652-05-E JZSP-UVA662-05-E
10 m JZSP-UVA652-10-E JZSP-UVA662-10-E
15 m JZSP-UVA652-15-E JZSP-UVA662-15-E
20 m JZSP-UVA652-20-E JZSP-UVA662-20-E
Servomotor
Model
Name
Connector
Specifications
Length
Order Number
Appearance
Standard Cable Flexible Cable*
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
227
Cables and Peripheral Devices
Encoder Cables of 20 m or Less
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremental
encoders.
Servomotor Model Name Length
Order Number
Appearance
Standard Cable Flexible Cable*1
SGM7J-A5 to -08
50 W to 750 W
SGM7A-A5 to -10
50 W to 1.0 kW
For incremental
encoder
Cable
installed
toward load
3 m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
5 m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E
10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E
For incremental
encoder
Cable
installed away
from load
3 m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E
5 m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E
10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E
15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E
20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E
For absolute
encoder: With
Battery
Case*2
Cable
installed
toward load
3 m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
5 m 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
For absolute
encoder: With
Battery
Case*2
Cable
installed away
from load
3 m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E
5 m 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
SGM7A-15 to -30
1.5 kW to 3.0 kW
For incremental
encoder
3 m JZSP-CVP01-03-E JZSP-CVP11-03-E
5 m JZSP-CVP01-05-E JZSP-CVP11-05-E
10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
15 m JZSP-CVP01-15-E JZSP-CVP11-15-E
20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
3 m JZSP-CVP02-03-E JZSP-CVP12-03-E
5 m JZSP-CVP02-05-E JZSP-CVP12-05-E
10 m JZSP-CVP02-10-E JZSP-CVP12-10-E
15 m JZSP-CVP02-15-E JZSP-CVP12-15-E
20 m JZSP-CVP02-20-E JZSP-CVP12-20-E
For absolute
encoder: With
Battery
Case*2
3 m JZSP-CVP06-03-E JZSP-CVP26-03-E
5 m JZSP-CVP06-05-E JZSP-CVP26-05-E
10 m JZSP-CVP06-10-E JZSP-CVP26-10-E
15 m JZSP-CVP06-15-E JZSP-CVP26-15-E
20 m JZSP-CVP06-20-E JZSP-CVP26-20-E
3 m JZSP-CVP07-03-E JZSP-CVP27-03-E
5 m JZSP-CVP07-05-E JZSP-CVP27-05-E
10 m JZSP-CVP07-10-E JZSP-CVP27-10-E
15 m JZSP-CVP07-15-E JZSP-CVP27-15-E
20 m JZSP-CVP07-20-E JZSP-CVP27-20-E
Encoder end SERVOPACK
L end
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
Battery Case
(battery included)
L
L
SERVOPACK
end
Encoder end
Battery Case
(battery included)
L
molex
SERVOPACK
end
Encoder end
L
molex
SERVOPACK
end
Encoder end
L
molex
SERVOPACK
end
Encoder end
Battery Case
(battery included)
L
molex
SERVOPACK
end
Encoder end
Battery Case
(battery included)
Cables and Peripheral Devices
Cables for SGM7A and SGM7J Rotary Servomotors
228
Relay Encoder Cable of 30 m to 50 m
* This Cable is not required if a battery is connected to the host controller.
Servomotor
Model
Name Length Order Number Appearance
SGM7J-A5 to -08
50 W to 750 W
SGM7A-A5 to -10
50 W to 1.0 kW
Encoder-end Cable (for
incremental or absolute
encoder)
Cable installed toward load
0.3 m JZSP-C7PRCD-E
Encoder-end Cable (for
incremental or absolute
encoder)
Cable installed away from
load
0.3 m JZSP-C7PRCE-E
Cables with Connectors on
Both Ends (for incremental
or absolute encoder)
30 m JZSP-UCMP00-30-E
40 m JZSP-UCMP00-40-E
50 m JZSP-UCMP00-50-E
Cable with a Battery Case
(Required when an absolute
encoder is used.*)
0.3 m JZSP-CSP12-E
SGM7A-15 to -30
1.5 kW to 3.0 kW
Encoder-end Cable
(for incremental or absolute
encoder)
0.3 m
JZSP-CVP01-E
JZSP-CVP02-E
Cables with Connectors on
Both Ends (for incremental
or absolute encoder)
30 m JZSP-UCMP00-30-E
40 m JZSP-UCMP00-40-E
50 m JZSP-UCMP00-50-E
Cable with a Battery Case
(Required when an absolute
encoder is used.*)
0.3 m JZSP-CSP12-E
Encoder end SERVOPACK end
SERVOPACK end Encoder end
L
SERVOPACK end Encoder end
SERVOPACK end Encoder end
Battery Case
(battery included)
molex
SERVOPACK end Encoder end
molex
SERVOPACK end Encoder end
L
molex
molex
SERVOPACK end Encoder end
molex
molex
SERVOPACK end Encoder end
Battery Case
(battery included)
Cables and Peripheral Devices
229
Cables and Peripheral Devices
Cables for SGM7G Rotary Servomotors
System Configurations
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.
speed characteristics will become smaller because the voltage drop increases.
for the following information.
Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)
CN6
SERVOPACK
Encoder Cable
Battery Case
(Required when an
absolute encoder is used.)
Servomotor
Main Circuit Cable
Servomotor
CN6
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case
(Required when an
absolute encoder is used.)
Cable with Connectors
on Both Ends
Encoder-end Cable
Servomotor
Main Circuit Cable
Servomotor
Cables and Peripheral Devices
Cables for SGM7G Rotary Servomotors
230
Servomotor Main Circuit Cables
* Flexible cables are provided as a standard feature.
Servomotor
Model
Name Length Order Number* Appearance
SGM7G-03
to -05
0.3 kW
0.45 kW
For Servomotors
without Holding
Brakes
3 m JZSP-CVM21-03-E
5 m JZSP-CVM21-05-E
10 m JZSP-CVM21-10-E
15 m JZSP-CVM21-15-E
20 m JZSP-CVM21-20-E
30 m JZSP-CVM21-30-E
40 m JZSP-CVM21-40-E
50 m JZSP-CVM21-50-E
For Servomotors
with Holding Brakes
3 m JZSP-CVM41-03-E
5 m JZSP-CVM41-05-E
10 m JZSP-CVM41-10-E
15 m JZSP-CVM41-15-E
20 m JZSP-CVM41-20-E
30 m JZSP-CVM41-30-E
40 m JZSP-CVM41-40-E
50 m JZSP-CVM41-50-E
Servomotor
Model
Name
Connector
Specifications
Length
Order Number
Appearance
Standard Cable Flexible Cable
SGM7G-
09, -13
850 W,
1.3 kW
For Servomotors
without Holding
Brakes
Straight
3 m JZSP-UVA101-03-E JZSP-UVA121-03-E
5 m 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
Right-angle
3 m JZSP-UVA102-03-E JZSP-UVA122-03-E
5 m 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
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply
Cable and
Holding
Brake Cable)
Straight*1
3 m JZSP-UVA131-03-E JZSP-UVA141-03-E
5 m 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
Right-angle
*2
3 m JZSP-UVA132-03-E JZSP-UVA142-03-E
5 m 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
*1. 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 Cable is JZSP-CVB9-SMC3-E.
*2. 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 Cable is JZSP-CVB9-AMC3-E.
L
SERVOPACK end Motor end
L
SERVOPACK end Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Brake end
L
SERVOPACK
end
Motor end
L
Brake end Motor end
Cables and Peripheral Devices
Cables for SGM7G Rotary Servomotors
231
Cables and Peripheral Devices
Note: If you need a Cable with a length of 20 m to 50 m, consider the operating conditions and specify a suitable
length.
*1. 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 Cable is JZSP-CVB9-SMC3-E.
*2. 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 Cable is JZSP-CVB9-AMC3-E.
SGM7G-
20
1.8 kW
For Servomotors
without Holding
Brakes
Straight
3 m JZSP-UVA301-03-E JZSP-UVA321-03-E
5 m 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
Right-angle
3 m JZSP-UVA302-03-E JZSP-UVA322-03-E
5 m 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
For Servomotors
with Holding
Brakes
Note: Set of two
cables (Main
Power Supply
Cable and
Holding
Brake Cable)
Straight*1
3 m JZSP-UVA331-03-E JZSP-UVA341-03-E
5 m 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
20 m JZSP-UVA331-20-E JZSP-UVA341-20-E
Right-angle
*2
3 m JZSP-UVA332-03-E JZSP-UVA342-03-E
5 m 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
Servomotor
Model
Name
Connector
Specifications
Length
Order Number
Appearance
Standard Cable Flexible Cable
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Brake end
L
SERVOPACK
end
Motor end
L
Brake end Motor end
Cables and Peripheral Devices
Cables for SGM7G Rotary Servomotors
232
Encoder Cables of 20 m or Less
* Use Flexible Cables for moving parts of machines, such as robots.
Relay Encoder Cables of 30 m to 50 m
* This Cable is not required if a battery is connected to the host controller.
Servomotor
Model
Name Length
Order Number
Appearance
Standard Cable Flexible Cable*
SGM7G-03 to -20
300 W to 1.8 kW
Cables with
Connectors
on
Both Ends
(for incremental
encoder)
3 m JZSP-CVP01-03-E JZSP-CVP11-03-E
5 m JZSP-CVP01-05-E JZSP-CVP11-05-E
10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
15 m JZSP-CVP01-15-E JZSP-CVP11-15-E
20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
3 m JZSP-CVP02-03-E JZSP-CVP12-03-E
5 m JZSP-CVP02-05-E JZSP-CVP12-05-E
10 m JZSP-CVP02-10-E JZSP-CVP12-10-E
15 m JZSP-CVP02-15-E JZSP-CVP12-15-E
20 m JZSP-CVP02-20-E JZSP-CVP12-20-E
Cables with
Connectors
on
Both Ends
(for absolute
encoder:
With Battery
Case)
3 m JZSP-CVP06-03-E JZSP-CVP26-03-E
5 m JZSP-CVP06-05-E JZSP-CVP26-05-E
10 m JZSP-CVP06-10-E JZSP-CVP26-10-E
15 m JZSP-CVP06-15-E JZSP-CVP26-15-E
20 m JZSP-CVP06-20-E JZSP-CVP26-20-E
3 m JZSP-CVP07-03-E JZSP-CVP27-03-E
5 m JZSP-CVP07-05-E JZSP-CVP27-05-E
10 m JZSP-CVP07-10-E JZSP-CVP27-10-E
15 m JZSP-CVP07-15-E JZSP-CVP27-15-E
20 m JZSP-CVP07-20-E JZSP-CVP27-20-E
Servomotor
Model
Name Length
Order Number for
Standard Cable
Appearance
SGM7G-03 to -20
300 W to 1.8 kW
Encoder-end Cable (for
incremental or absolute
encoder)
0.3 m
JZSP-CVP01-E
JZSP-CVP02-E
Cables with Connectors
on Both Ends (for
incremental or absolute
encoder)
30 m JZSP-UCMP00-30-E
40 m JZSP-UCMP00-40-E
50 m JZSP-UCMP00-50-E
Cable with a Battery
Case
(Required only if an
absolute encoder is
used.)*
0.3 m JZSP-CSP12-E
L
molex
SERVOPACK
end
Encoder end
SERVOPACK
end L
molex
Encoder end
L
molex
SERVOPACK
end
Encoder end
Battery Case
(battery included)
L
molex
SERVOPACK
end
Encoder end
Battery Case
(battery included)
molex
SERVOPACK end Encoder end
molex
SERVOPACK end Encoder end
L
molex
molex
SERVOPACK
end
Encoder end
molex
molex
SERVOPACK
end
Encoder end
Battery Case
(battery included)
Cables and Peripheral Devices
233
Cables and Peripheral Devices
Cables for Direct Drive Servomotors
System Configurations
Note: 1. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
speed characteristics will become smaller because the voltage drop increases.
for the following information.
Servomotor Main Circuit Cables
SGMCV-
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. Refer to the following section for the flange specifications.
Flange Specifications (page 236)
Note: Direct Drive Servomotors are not available with holding brakes.
Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)
Servomotor Model Length
Order Number
Appearance
Standard Cable Flexible Cable*1
SGMCV-B1
SGMCV-C1
Flange specification*
2: 1
Non-load side
installation
3 m JZSP-CMM60-03-E JZSP-C7MDN23-03-E
5 m JZSP-CMM60-05-E JZSP-C7MDN23-05-E
10 m JZSP-CMM60-10-E JZSP-C7MDN23-10-E
15 m JZSP-CMM60-15-E JZSP-C7MDN23-15-E
20 m JZSP-CMM60-20-E JZSP-C7MDN23-20-E
SGMCV-B4
SGMCV-C4
Flange specification*
2: 4
Non-load side
installation (with
cable on side)
3 m JZSP-CMM00-03-E JZSP-C7MDS23-03-E
5 m JZSP-CMM00-05-E JZSP-C7MDS23-05-E
10 m JZSP-CMM00-10-E JZSP-C7MDS23-10-E
15 m JZSP-CMM00-15-E JZSP-C7MDS23-15-E
20 m JZSP-CMM00-20-E JZSP-C7MDS23-20-E
A
A
CN6
SERVOPACK
Encoder Cable
Encoder
Servomotor Cable
Servomotor
Main Circuit Cable
Servomotor
Main Circuit Cable
A
CN6
SERVOPACK
Relay Encoder Cable
Cable with a Battery Case
(Required only when
using an SGMCV
Servomotor Multiturn
Absolute Encoder.)
Cable with Connectors
on Both Ends
Encoder-end Cable
Servomotor
Servomotor
Main Circuit Cable
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
Cables and Peripheral Devices
Cables for Direct Drive Servomotors
234
SGMCS-
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. Refer to the following section for the flange specifications.
Flange Specifications (page 236)
Note: Direct Drive Servomotors are not available with holding brakes.
Servomotor Model Length
Order Number
Appearance
Standard Cable Flexible Cable*1
SGMCS-B1
SGMCS-C1
SGMCS-D1
SGMCS-E1
Flange specification*2: 1
Non-load side
installation
3 m JZSP-CMM60-03-E JZSP-CSM60-03-E
5 m JZSP-CMM60-05-E JZSP-CSM60-05-E
10 m JZSP-CMM60-10-E JZSP-CSM60-10-E
15 m JZSP-CMM60-15-E JZSP-CSM60-15-E
20 m JZSP-CMM60-20-E JZSP-CSM60-20-E
SGMCS-B4
SGMCS-C4
SGMCS-D4
SGMCS-E4
Flange specification*2: 4
Non-load side
installation
(with cable on side)
3 m JZSP-CMM00-03-E JZSP-CMM01-03-E
5 m JZSP-CMM00-05-E JZSP-CMM01-05-E
10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
20 m JZSP-CMM00-20-E JZSP-CMM01-20-E
SGMCS-M
SGMCS-N
: 45
: 80
3 m JZSP-USA101-03-E JZSP-USA121-03-E
5 m JZSP-USA101-05-E JZSP-USA121-05-E
10 m JZSP-USA101-10-E JZSP-USA121-10-E
15 m JZSP-USA101-15-E JZSP-USA121-15-E
20 m JZSP-USA101-20-E JZSP-USA121-20-E
3 m JZSP-USA102-03-E JZSP-USA122-03-E
5 m JZSP-USA102-05-E JZSP-USA122-05-E
10 m JZSP-USA102-10-E JZSP-USA122-10-E
15 m JZSP-USA102-15-E JZSP-USA122-15-E
20 m JZSP-USA102-20-E JZSP-USA122-20-E
SGMCS-M
SGMCS-N
: 1A
3 m JZSP-USA301-03-E JZSP-USA321-03-E
5 m JZSP-USA301-05-E JZSP-USA321-05-E
10 m JZSP-USA301-10-E JZSP-USA321-10-E
15 m JZSP-USA301-15-E JZSP-USA321-15-E
20 m JZSP-USA301-20-E JZSP-USA321-20-E
3 m JZSP-USA302-03-E JZSP-USA322-03-E
5 m JZSP-USA302-05-E JZSP-USA322-05-E
10 m JZSP-USA302-10-E JZSP-USA322-10-E
15 m JZSP-USA302-15-E JZSP-USA322-15-E
20 m JZSP-USA302-20-E JZSP-USA322-20-E
SGMCS-M
SGMCS-N
: 1E
: 2Z
3 m JZSP-USA501-03-E JZSP-USA521-03-E
5 m JZSP-USA501-05-E JZSP-USA521-05-E
10 m JZSP-USA501-10-E JZSP-USA521-10-E
15 m JZSP-USA501-15-E JZSP-USA521-15-E
20 m JZSP-USA501-20-E JZSP-USA521-20-E
3 m JZSP-USA502-03-E JZSP-USA522-03-E
5 m JZSP-USA502-05-E JZSP-USA522-05-E
10 m JZSP-USA502-10-E JZSP-USA522-10-E
15 m JZSP-USA502-15-E JZSP-USA522-15-E
20 m JZSP-USA502-20-E JZSP-USA522-20-E
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
L
SERVOPACK
end
Motor end
Cables and Peripheral Devices
Cables for Direct Drive Servomotors
235
Cables and Peripheral Devices
Encoder Cables of 20 m or Less
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. Refer to the following section for the flange specifications.
Flange Specifications (page 236)
Servomotor Model Name Length
Order Number
Appearance
Standard Cable Flexible Cable*1
SGMCV-BE1
SGMCV-CE1
Flange specification*
2: 1
For singleturn
absolute
encoder
(without
Battery
Case)
3 m JZSP-CMP60-03-E JZSP-CSP60-03-E
5 m JZSP-CMP60-05-E JZSP-CSP60-05-E
10 m JZSP-CMP60-10-E JZSP-CSP60-10-E
15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
SGMCV-BE4
SGMCV-CE4
Flange specification*
2: 4
3 m JZSP-CMP00-03-E JZSP-CMP10-03-E
5 m JZSP-CMP00-05-E JZSP-CMP10-05-E
10 m JZSP-CMP00-10-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
SGMCV-BI1
SGMCV-CI1
Flange specification*
2: 1
For multiturn
absolute
encoder
(with Battery
Case)
3 m JZSP-C7PA00-03-E JZSP-C7PA20-03-E
5 m JZSP-C7PA00-05-E JZSP-C7PA20-05-E
10 m JZSP-C7PA00-10-E JZSP-C7PA20-10-E
15 m JZSP-C7PA00-15-E JZSP-C7PA20-15-E
20 m JZSP-C7PA00-20-E JZSP-C7PA20-20-E
SGMCV-BI4
SGMCV-CI4
Flange specification*
2: 4
3 m JZSP-CSP19-03-E JZSP-CSP29-03-E
5 m 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
SGMCS-
Flange specification*
2: 1 or 3 For incremental/
absolute
encoder
3 m JZSP-CMP60-03-E JZSP-CSP60-03-E
5 m JZSP-CMP60-05-E JZSP-CSP60-05-E
10 m JZSP-CMP60-10-E JZSP-CSP60-10-E
15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
SGMCS-
Flange Specification*
2: 4
3 m JZSP-CMP00-03-E JZSP-CMP10-03-E
5 m JZSP-CMP00-05-E JZSP-CMP10-05-E
10 m JZSP-CMP00-10-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
L
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
Battery Case
(battery included)
SERVOPACK
end
Encoder end
Battery Case
(battery included)
L
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
Cables and Peripheral Devices
Cables for Direct Drive Servomotors
236
Relay Encoder Cables of 30 m to 50 m
SGMCV-
*1. Flexible cables are not available.
*2. Refer to the following section for the flange specifications.
Flange Specifications (page 236)
SGMCS-
*1. Flexible cables are not available.
*2. Refer to the following section for the flange specifications.
Flange Specifications (page 236)
Flange Specifications
SGMCV-
Servomotor
Model
Name Length Order Number*1 Appearance
SGMCV-BE
SGMCV-BI
SGMCV-CE
SGMCV-CI
Flange specification*
2: 1
Encoder-end Cable
(for single-turn/multiturn
absolute encoder)
0.3 m JZSP-C7PRC0-E
SGMCV-BE
SGMCV-BI
SGMCV-CE
SGMCV-CI
Flange specification*
2: 1 or 4
Cables with Connectors
on Both Ends
(for single-turn/multiturn
absolute encoder)
30 m JZSP-UCMP00-30-E
40 m JZSP-UCMP00-40-E
50 m JZSP-UCMP00-50-E
SGMCV-BI
SGMCV-CI
Flange specification*
2: 1 or 4
Cable with a Battery
Case
(for multiturn absolute
encoder)
0.3 m JZSP-CSP12-E
Servomotor
Model
Name Length Order Number*1 Appearance
SGMCS-
Flange specification*
2: 1 or 3
Encoder-end Cable
(for incremental or
absolute encoder)
0.3 m JZSP-CSP15-E
SGMCS-
Flange specification*
2: 1, 3, or 4
Cables with Connectors
on Both Ends (for
incremental or absolute
encoder)
30 m JZSP-UCMP00-30-E
40 m JZSP-UCMP00-40-E
50 m JZSP-UCMP00-50-E
Flange Specification Code
(6th Digit)
Flange Location
Servomotor Outer Diameter Code (3rd Digit)
B C
1 Non-load side
4
Non-load side
(with cable on side)
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
SERVOPACK
end
Encoder end
Battery Case
(battery included)
SERVOPACK
end
Encoder end
L
SERVOPACK
end
Encoder end
Cables and Peripheral Devices
Cables for Direct Drive Servomotors
237
Cables and Peripheral Devices
SGMCS-
Flange Specification
Code (6th Digit)
Flange Location
Servomotor Outer Diameter Code (3rd Digit)
B C D E M N
1
Non-load side − −
Load-side − − − −
3 Non-load side − − − −
4
Non-load side
(with cable on side) − −
Cables and Peripheral Devices
238
Cables for Linear Servomotors
System Configurations
* You can connect directly to an absolute linear encoder.
Note: 1. The above system configurations are for SGLG Coreless Servomotors or SGLFW2 Servomotors with Ftype
Iron Cores (with thermal protectors). Refer to the manual for the Linear Servomotor for configurations
with other models.
for the following information.
Servomotor Main Circuit Cables
Example: SGLG Coreless Servomotors
Example: SGLFW2 Servomotors with F-type Iron
Cores (with Thermal Protectors)
Servomotor Model Length Order Number Appearance
SGLGW-30A, -40A, -60A
SGLFW-20A, -35A
All SGLC models
1 m JZSP-CLN11-01-E
3 m JZSP-CLN11-03-E
5 m JZSP-CLN11-05-E
10 m JZSP-CLN11-10-E
15 m JZSP-CLN11-15-E
20 m JZSP-CLN11-20-E
CN6
SERVOPACK
Serial Converter Unit Cable*
(between SERVOPACK connector
CN2 and Serial Converter Unit)
Linear Servomotor
Main Circuit Cable
Polarity Sensor Cable
(between Serial Converter
Unit and polarity sensor)
Polarity sensor
Serial Converter Unit
Linear Encoder Cable
Linear encoder
(Not provided by Yaskawa.)
Linear Servomotor
CN6
SERVOPACK
Serial Converter Unit Cable*
(between SERVOPACK connector
CN2 and Serial Converter Unit)
Linear Servomotor
Main Circuit Cable
Sensor Cable
(between Serial Converter
Unit and polarity sensor)
Serial Converter Unit
Linear Encoder Cable
Linear Encoder
(Not provided by Yaskawa.)
Polarity sensor
Linear Servomotor
L
*1
SERVOPACK end Motor end
Cables and Peripheral Devices
Cables for Linear Servomotors
239
Cables and Peripheral Devices
Note: Estimates are available for models other than those listed above (SGLFW2-90AAL and SGLFW2-
1DAL).
*1. Connector from Tyco Electronics Japan G.K.
*2. Connector from Interconnectron GmbH
*3. A connector is not provided on the Linear Servomotor end. Obtain a connector according to your specifications.
Refer to the next page for information on connectors.
SGLGW-90A
SGLFW-50A, -1ZA
SGLTW-20A, -35A
1 m JZSP-CLN21-01-E
3 m JZSP-CLN21-03-E
5 m JZSP-CLN21-05-E
10 m JZSP-CLN21-10-E
15 m JZSP-CLN21-15-E
20 m JZSP-CLN21-20-E
SGLGW-30AD
-40AD
-60AD
SGLFW-AD
SGLTW-AD
1 m JZSP-CLN14-01-E
3 m JZSP-CLN14-03-E
5 m JZSP-CLN14-05-E
10 m JZSP-CLN14-10-E
15 m JZSP-CLN14-15-E
20 m JZSP-CLN14-20-E
SGLTW-40B
-80B
1 m JZSP-CLN39-01-E
3 m JZSP-CLN39-03-E
5 m JZSP-CLN39-05-E
10 m JZSP-CLN39-10-E
15 m JZSP-CLN39-15-E
20 m JZSP-CLN39-20-E
SGLFW2-30A070A
SGLFW2-30A070AL
SGLFW2-30A120A
SGLFW2-30A120AL
SGLFW2-30A230A
SGLFW2-30A230AL
1 m JZSP-CL2N703-01-E
3 m JZSP-CL2N703-03-E
5 m JZSP-CL2N703-05-E
10 m JZSP-CL2N703-10-E
15 m JZSP-CL2N703-15-E
20 m JZSP-CL2N703-20-E
SGLFW2-45A200A
SGLFW2-45A200AL
SGLFW2-45A380A
SGLFW2-45A380AL
1 m JZSP-CL2N603-01-E
3 m JZSP-CL2N603-03-E
5 m JZSP-CL2N603-05-E
10 m JZSP-CL2N603-10-E
15 m JZSP-CL2N603-15-E
20 m JZSP-CL2N603-20-E
SGLFW2-90A200A
SGLFW2-90A380A
SGLFW2-1DA380A
1 m JZSP-CL2N503-01-E
3 m JZSP-CL2N503-03-E
5 m JZSP-CL2N503-05-E
10 m JZSP-CL2N503-10-E
15 m JZSP-CL2N503-15-E
20 m JZSP-CL2N503-20-E
Servomotor Model Length Order Number Appearance
L
*1
SERVOPACK end Motor end
L
*2
SERVOPACK end Motor end
L
*3
SERVOPACK end Motor end
L
*1
SERVOPACK end Motor end
L
*1
SERVOPACK end Motor end
L
SERVOPACK end Motor end
Cables and Peripheral Devices
Cables for Linear Servomotors
240
JZSP-CLN39--E Cables
Wiring Specifications
JZSP-CLN39 Cable Connectors
MS3106B22-2S: Straight Plug with Two-piece Shell
MS3106A22-2S: Straight Plug with Solid Shell
Applicable
Servomotor
Connector
Provided with
Servomotor
Plug
Cable Clamp
Straight Right-angle
SGLTW-40 and -80 MS3102A22-22P
MS3106B22-22S
or
MS3106A22-22S
MS3108B22-22S MS3057-12A
Unit: mm
Unit: mm
L 35 mm 2 mm
8.5 mm
U
V
W
G
50 mm
M4 crimped terminal
Wire markers
Heat-shrinkable tube
Finished diameter: 15.8
Cable
(UL2570) AWG11/4C
A
B
C
FG FG D
SERVOPACK Leads
Wire Color
Red
White
Blue
Green/yellow
Signal Signal
Phase U
Phase V
Phase W
Pin
Phase U
Phase V
Phase W
Servomotor Connector
J W
A
Q
55.57 max.
Cable Clamp
mounting thread:
1 3/16-18UNEF
50 max.
Shell Size
Joint Thread
A
Length of
Joint
J ±0.12
Joint Nut
Outer
Diameter
Q
Effective
Thread
Length
W min.
22 1 3/8-18UNEF 18.26 40.48 9.53
+0
-0.38
A
54±0.5
J
Q
W
Cable Clamp
mounting thread:
1 3/16-18UNEF
34.99 ±0.5 dia.
Shell Size
Joint Thread
A
Length of
Joint
J ±0.12
Joint Nut
Outer
Diameter
Q
Effective
Thread
Length
W min.
22 1 3/8-18UNEF 18.26 40.48 9.53
+0
-0.38
Cables and Peripheral Devices
Cables for Linear Servomotors
241
Cables and Peripheral Devices
MS3108B22-2S: Right-angle Plug with Two-piece Shell
Dimensional Drawings: MS3057-12A Cable Clamp with Rubber Bushing
Linear Encoder Cables
* When using a JZDP-G00--E Serial Converter Unit, do not exceed a cable length of 3 m.
Serial Converter Unit Cables
Unit: mm
Unit: mm
Name
Servomotor
Model Length* Order Number Appearance
For linear
encoder from
Renishaw PLC
All Models
1 m JZSP-CLL00-01-E
3 m JZSP-CLL00-03-E
5 m JZSP-CLL00-05-E
10 m JZSP-CLL00-10-E
15 m JZSP-CLL00-15-E
For linear
encoder from
Heidenhain
Corporation
1 m JZSP-CLL30-01-E
3 m JZSP-CLL30-03-E
5 m JZSP-CLL30-05-E
10 m JZSP-CLL30-10-E
15 m JZSP-CLL30-15-E
Servomotor Model Length Order Number Appearance
All Models
1 m JZSP-CLP70-01-E
3 m JZSP-CLP70-03-E
5 m JZSP-CLP70-05-E
10 m JZSP-CLP70-10-E
15 m JZSP-CLP70-15-E
20 m JZSP-CLP70-20-E
24.1±0.5
W
J
A
Q
33.3±0.5
76.98 max.
Cable Clamp
mounting thread:
1 3/16-18UNEF
Shell Size
Joint Thread
A
Length of
Joint
J ± 0.12
Joint Nut
Outer
Diameter
Q
Effective
Thread
Length
W min.
22 1 3/8-18UNEF 18.26 40.48 9.53
+0
-0.38
37.3±0.7
23.8±0.7
V
1.6 C
35 ±0.7 dia.
15.9 dia.
(bushing inner diameter)
19.0 dia.
(Cable Clamp
inner diameter)
4.0 (slide range)
Applicable
Connector
Shell Size
Effective
Thread
Length
C
Mounting
Thread
V
Attached
Bushing
20.22 10.3
1 3/16-
18UNEF
AN3420-12
L
Serial Converter
Unit end
Linear encoder
end
L
SERVOPACK
end
Serial Converter
Unit end
Cables and Peripheral Devices
Cables for Linear Servomotors
242
Sensor Cables
* Contact your Yaskawa representative for information on Sensor Cables for an SGLFW2-AAT (without
polarity sensor).
Servomotor Model Length Order Number Appearance
SGLGW-A
SGLFW-A
SGLTW-A
SGLCW-A
1 m JZSP-CLL10-01-E
3 m JZSP-CLL10-03-E
5 m JZSP-CLL10-05-E
10 m JZSP-CLL10-10-E
15 m JZSP-CLL10-15-E
SGLFW2-AAS*
1 m JZSP-CL2L100-01-E
3 m JZSP-CL2L100-03-E
5 m JZSP-CL2L100-05-E
10 m JZSP-CL2L100-10-E
15 m JZSP-CL2L100-15-E
L
Serial Converter
Unit end
Polarity sensor
end
Cables and Peripheral Devices
243
Cables and Peripheral Devices
Serial Converter Units
Selection Table (Model Designations)
Note: Refer to the Σ-7 Series AC Servo Drive Peripheral Device Selection Manual (Manual No. SIEP S800001 32) for
details on the Serial Converter Units.
JZDP – [1]00[1] – [1][1][1]
Serial Converter Unit Model
Code Appearance
Applicable
Linear
Encoder
Polarity
Sensor
Temperature
Sensor
H003
J003
From
Heidenhain
Corp.
None None
H005
J005
From
Renishaw
PLC
None None
H006
J006
From
Heidenhain
Corp.
Yes Yes
H008
J008
From
Renishaw
PLC
Yes Yes
Applicable Linear Servomotor
Servomotor Model Code Servomotor Model Code
SGLGW –
(coreless
models)
For Standard-
force
Magnetic
Way
30A050C 250
SGLTW-
(models
with Ttype
iron
cores)
20A170A 011
30A080C 251 20A320A 012
40A140C 252 20A460A 013
40A253C 253 35A170A 014
40A365C 254 35A320A 015
60A140C 258 35A460A 016
60A253C 259 35A170H 105
60A365C 260 35A320H 106
90A200C 264 50A170H 108
90A370C 265 50A320H 109
90A535C 266 40A400B 185
SGLGW –
+
SGLGM –
-M
(coreless
models)
For Highforce
Magnetic
Way
40A140C 255 40A600B 186
40A253C 256 80A400B 187
40A365C 257 80A600B 188
60A140C 261
SGLC-
(cylinder
models)
D16A085AP 354
60A253C 262 D16A115AP 373
60A365C 263 D16A145AP 356
SGLFW-
(models
with F-type
iron cores)
20A090A 017 D20A100AP 357
20A120A 018 D20A135AP 358
35A120A 019 D20A170AP 359
35A230A 020 D25A125AP 360
50A200B 181 D25A170AP 374
50A380B 182 D25A215AP 362
1ZA200B 183 D32A165AP 363
1ZA380B 184 D32A225AP 364
SGLFW2-
(models
with F-type
iron cores)
30A070A 628 D32A285AP 365
30A120A 629
30A230A 630
45A200A 631
45A380A 632
90A200A 633
90A380A 634
1DA380A 649
Cables and Peripheral Devices
244
Cables for SERVOPACKs
System Configurations
Σ-7S Single-axis Analog Voltage/Pulse
Train Reference SERVOPACKs
Σ-7S Single-axis MECHATROLINK-II
Communications Reference
SERVOPACKs
Σ-7S Single-axis MECHATROLINK-III
Communications Reference
SERVOPACKs
Σ-7W Two-axis MECHATROLINK-III Communications
Reference SERVOPACKs
CN3
I/O Signal Cable
Digital Operator Digital Operator
Converter Cable
Analog Monitor Cable
Safety Function Device Cable
CN7
CN1
CN8
Computer Cable
Host controller
CN5
JZSP-CVS06-02-E
Digital Operator
Converter Cable
Safety Function Device Cable
Analog Monitor Cable
I/O Signal Cable
To next MECHATROLINK-II station
MECHATROLINK-II Communications Cable
To external devices,
such as LED indicators
CN1
CN5
CN6
CN3
CN7
CN8
Digital Operator
Computer Cable
JZSP-CVS06-02-E
Digital Operator
Converter Cable
Safety Function Device Cable
Analog Monitor Cable
JZSP-CVS06-02-E
I/O Signal Cable
To next MECHATROLINK-III station
MECHATROLINK-III Communications Cable
To external devices,
such as LED indicators
CN1
CN5
CN6
CN3
CN7
CN8
Digital Operator
Computer Cable
Digital Operator
Converter Cable
Analog Monitor Cable
JZSP-CVS06-02-E
To next MECHATROLINK-III station
MECHATROLINK-III Communications Cable
CN5
CN6
CN3
CN7
Digital Operator
Computer Cable
Cables and Peripheral Devices
Cables for SERVOPACKs
245
Cables and Peripheral Devices
Selection Table
Note: Refer to the Σ-7 Series AC Servo Drive Peripheral Device Selection Manual (Manual No. SIEP S800001 32) for
the following information.
with any other cable.
may not be dependable due to low noise resistance with any other cable.
Code Name Length Order Number Appearance
Analog Monitor Cable 1 m JZSP-CA01-E
Digital Operator Converter
Cable
0.3 m
JZSP-CVS05-A3-E*1
JZSP-CVS07-A3-E*2
Computer Cable 2.5 m JZSP-CVS06-02-E
I/O Signal
Cables
Soldered Connector Kit JZSP-CSI9-1-E
Connector-
Terminal
Block Converter
Unit
(with cable)
0.5 m JUSP-TA50PG-E
1 m JUSP-TA50PG-1-E
2 m JUSP-TA50PG-2-E
Cable with
Loose Wires
at One End
(loose wires
on peripheral
device end)
1 m JZSP-CSI01-1-E
2 m JZSP-CSI01-2-E
3 m JZSP-CSI01-3-E
I/O Signal
Cables
Soldered Connector Kit JZSP-CSI9-2-E
Connector-
Terminal
Block Converter
Unit
(with cable)
0.5 m JUSP-TA26P-E
1 m JUSP-TA26P-1-E
2 m JUSP-TA26P-2-E
Cable with
Loose Wires
at One End
(loose wires
on peripheral
device end)
1 m JZSP-CSI02-1-E
2 m JZSP-CSI02-2-E
3 m JZSP-CSI02-3-E
Safety
Function
Device
Cable
Cables with
Connectors*3
1 m JZSP-CVH03-01-E
3 m JZSP-CVH03-03-E
Connector Kit*4
Contact Tyco Electronics Japan G.K.
Product name: Industrial Mini I/O D-shape Type 1 Plug Connector
Kit
Model number: 2013595-1
Important
3M
10314
JZSP-CVS05-A3-E
JZSP-CVS07-A3-E
JZSP-CVS06-02-E
1
19
33
16
32
50
1
1
2
49
50
40
1 39
2
B20
A20
B1
A1
Cables and Peripheral Devices
Cables for SERVOPACKs
246
*1. This Converter Cable is required to use the Σ-III-series Digital Operator (JUSP-OP05A) for Σ-7-series SERVOPACKs.
*2. If you use a MECHATROLINK-III Communications Reference SERVOPACK, this Converter Cable is required to
prevent the cable from disconnecting from the Digital Operator.
*3. When using safety functions, connect this Cable to the safety function devices.
When not using safety functions, connect the enclosed Safety Jumper Connector (JZSP-CVH05-E) to the SERVOPACK.
*4. Use the Connector Kit when you make cables yourself.
MECHATROLINK-
II
Communications
Cables
Cables with
Connectors
on Both Ends
0.5 m JEPMC-W6002-A5-E
1 m JEPMC-W6002-01-E
3 m JEPMC-W6002-03-E
5 m JEPMC-W6002-05-E
10 m JEPMC-W6002-10-E
20 m JEPMC-W6002-20-E
30 m JEPMC-W6002-30-E
40 m JEPMC-W6002-40-E
50 m JEPMC-W6002-50-E
Cables with
Connectors
on Both Ends
(with ferrite
cores)
0.5 m JEPMC-W6003-A5-E
1 m JEPMC-W6003-01-E
3 m JEPMC-W6003-03-E
5 m JEPMC-W6003-05-E
10 m JEPMC-W6003-10-E
20 m JEPMC-W6003-20-E
30 m JEPMC-W6003-30-E
40 m JEPMC-W6003-40-E
50 m JEPMC-W6003-50-E
Terminators JEPMC-W6022-E
MECHATROLINK-
III
Communications
Cables
Cables with
Connectors
on Both Ends
0.2 m JEPMC-W6012-A2-E
0.5 m JEPMC-W6012-A5-E
1 m JEPMC-W6012-01-E
2 m JEPMC-W6012-02-E
3 m JEPMC-W6012-03-E
4 m JEPMC-W6012-04-E
5 m JEPMC-W6012-05-E
10 m JEPMC-W6012-10-E
20 m JEPMC-W6012-20-E
30 m JEPMC-W6012-30-E
50 m JEPMC-W6012-50-E
Cables with
Connectors
on Both Ends
(with core)
10 m JEPMC-W6013-10-E
20 m JEPMC-W6013-20-E
30 m JEPMC-W6013-30-E
50 m JEPMC-W6013-50-E
Cable with
Loose Wires
at One End
0.5 m JEPMC-W6014-A5-E
1 m JEPMC-W6014-01-E
3 m JEPMC-W6014-03-E
5 m JEPMC-W6014-05-E
10 m JEPMC-W6014-10-E
30 m JEPMC-W6014-30-E
50 m JEPMC-W6014-50-E
Code Name Length Order Number Appearance
Cables and Peripheral Devices
247
Cables and Peripheral Devices
Peripheral Devices
*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK as
an example. The shapes of the connectors may be different for other interfaces.
*2. The connected devices depend on the interface.
For MECHATROLINK-II communications references: Other MECHATROLINK-II stations
For analog voltage/pulse train references: There is no CN6 connector.
*3. A Holding Brake Power Supply Unit is required to use a Servomotor with a Holding Brake. Holding Brake Power
Supply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers.
Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent
may result in burning in the brake.
*4. If you use a Servomotor with a Holding Brake, select a brake relay according to the power supply voltage and
current of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake
relay using the selection method of the brake relay manufacturer.
I/O Signal Cables
R S T
200 VAC
MECHATROLINK-III
CN6
Power supply
Three-phase, 200 VAC
Molded-case
circuit breaker
Noise Filter
Magnetic Contactor
SERVOPACK*1
Analog Monitor Cable
MECHATROLINK
Communications Cables*1
To other
MECHATROLINK-III
stations*2
Digital Operator cable
Computer Cable
Host controller
SERVOPACK
Main Circuit Wires
Control Power Supply Cable
External
Regenerative
Resistor
External Regenerative Resistor Cable
Holding Brake Power
Supply Unit*3, *4
Magnetic Contactor Ground
cable
Battery Case
(Used for an absolute encoder.)
When not using a safety function,
leave the Safety Jumper Connector
connected to the SERVOPACK.
Encoder Cable
Servomotor
Servomotor Main Circuit Cable
Surge Absorbers
DC Reactors
Surge Absorbers for Holding Brakes (Varistors) and Diodes
Safety function device
Safety Function Device Cable
Computer
Engineering Tool
Digital Operator
(page 249)
(page 248)
(page 248)
(page 248)
(page 248)
(page 252)
(page 248)
(page 250)
(page 246)
(page 248)
(page 245)
(page 245)
(page 245)
(page 254)
(page 245)
(page 253)
(page 255)
Cables and Peripheral Devices
Peripheral Devices
248
Peripheral Device Selection Table
*1. Some Noise Filters have large leakage currents. The grounding conditions also affect the size of the leakage
current. If necessary, select an appropriate leakage detector or leakage breaker taking into account the grounding
conditions and the leakage current from the Noise Filter.
*2. The last digit of an RoHS-compliant serial number is R. Consult with Yaskawa Controls Co., Ltd. for RoHS-compliant
reactors.
Note: 1. Consult the manufacturer for details on peripheral devices.
Selection Table (page 245)
for the following information.
Main
Circuit
Power
Supply
SERVOPACK
Noise Filter*1, *2 DC
Reactor*2
Magnetic
Contactor
Surge
Absorber
Digital
Operator
Maximum
Applicable
Motor
Capacity [kW]
Model
SGD7SModel
SGD7WThreephase,
200 V
0.05 R70A −
HF3010C-SZC
X5061
SC-03
LTC32G801WS
JUSPOP05A-
1-E
0.1 R90A −
0.2 1R6A −
0.4 2R8A 1R6A
0.5 3R8A −
0.75 5R5A 2R8A
HF3020C-SZC
1.0 7R6A − SC-4-1
1.5 120A 5R5A
HF3020C-UQC
X5060
2.0 180A 7R6A
SC-5-1
3.0 200A − X5059
Singlephase,
200 V
0.05 R70A −
HF2010A-UPF
X5071
SC-03
LTC12G801WS
0.1 R90A −
0.2 1R6A − X5070
0.4 2R8A 1R6A X5069
0.75 5R5A 2R8A HF2020A-UPF X5079 SC-4-1
1.5 120A 5R5A HF2030A-UPF X5078 SC-5-1
Device Enquires
Noise Filters
Surge Absorbers Yaskawa Controls Co., Ltd.
DC Reactors
Magnetic Contactors Fuji Electric FA Components & Systems Co., Ltd.
Cables and Peripheral Devices
Peripheral Devices
249
Cables and Peripheral Devices
Molded-case Circuit Breakers and Fuses
Use a molded-case circuit breaker and fuse to protect the power supply line. They protect the
power line by shutting OFF the circuit when overcurrent is detected. Select these devices based on
the information in the following tables.
Note: To comply with the Low Voltage Directive, always connect a fuse to the input side to protect against short-circuit
accidents. Select fuses or molded-case circuit breakers that are compliant with UL standards.
The following tables provide the net values of the current capacity and inrush current.
Select a fuse and a molded-case circuit breaker that meet the following conditions.
Σ-7S SERVOPACKs
* This is the net value at the rated load.
Σ-7W SERVOPACKs
*1. This is the net value at the rated load.
*2. If you use the SGD7W-5R5A with a single-phase 200-V power supply input, derate the load ratio to 65%.
Main Circuit
Power Supply
Maximum
Applicable
Motor Capacity
[kW]
SERVOPACK
Model SGD7SPower
Supply
Capacity per
SERVOPACK
[kVA]*
Current Capacity Inrush Current
Main
Circuit
[Arms]*
Control
Power
Supply
[Arms]
Main
Circuit
[A0-p]
Control
Power
Supply
[A0-p]
Three-phase,
200 V
0.05 R70A 0.2 0.4
0.2
34 34
0.1 R90A 0.3 0.8
0.2 1R6A 0.5 1.3
0.4 2R8A 1.0 2.5
0.5 3R8A 1.3 3.0
0.75 5R5A 1.6 4.1
1.0 7R6A 2.3 5.7
1.5 120A 3.2 7.3
2.0 180A 4.0 10
0.25
3.0 200A 5.9 15
Single-phase,
200 V
0.05 R70A 0.2 0.8
0.2
0.1 R90A 0.3 1.6
0.2 1R6A 0.6 2.4
0.4 2R8A 1.2 5.0
0.75 5R5A 1.9 8.7
1.50 120A 4.0 16 0.25
Main Circuit
Power Supply
Maximum
Applicable Motor
Capacity per
Axis
[kW]
SERVOPACK
Model SGD7WPower
Supply
Capacity per
SERVOPACK
[kVA]*1
Current Capacity Inrush Current
Main
Circuit
[Arms]*1
Control
Power
Supply
[Arms]
Main
Circuit
[A0-p]
Control
Power
Supply
[A0-p]
Three-phase,
200 V
0.2 1R6A 1.0 2.5
0.25 34 34
0.4 2R8A 1.9 4.7
0.75 5R5A 3.2 7.8
1.0 7R6A 4.5 11
Single-phase,
200 V
0.2 1R6A 1.3 5.5
0.4 2R8A 2.4 11
0.75 5R5A*2 2.7 12
Cables and Peripheral Devices
Peripheral Devices
250
SERVOPACK Main Circuit Wires
This section describes the main circuit wires for SERVOPACKs.
Note: To use 600-V heat-resistant polyvinyl chloride-insulated wire (HIV), use the following table as reference for the
applicable wires.
air temperature of 40°C.
Three-phase, 200-V Wires for Σ-7S SERVOPACKs
* If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
Single-phase, 200-V Wires for Σ-7S SERVOPACKs
* If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
These specifications are based on IEC/EN 61800-5-1, UL 61800-5-1, and CSA C22.2 No.14.
Cable
Connected
Terminals
SERVOPACK Model SGD7SR70A
R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A
Main Circuit
Power
Supply Cable
L1, L2, L3 AWG16 (1.25 mm2) AWG14 (2.0 mm2)
AWG12
(3.5 mm2)
Servomotor
Main Circuit
Cable*
U, V, W AWG16 (1.25 mm2)
AWG14
(2.0 mm2)
AWG10 (5.5 mm2)
Control
Power
Supply Cable
L1C, L2C AWG16 (1.25 mm2)
External
Regenerative
Resistor
Cable
B1/ , B2 AWG16 (1.25 mm2)
Ground cable AWG14 (2.0 mm2) or larger
Cable
Connected
Terminals
SERVOPACK Model SGD7SR70A
R90A 1R6A 2R8A 5R5A 120A
Main Circuit
Power
Supply Cable
L1, L2 AWG16 (1.25 mm2)
AGW14
(2.0 mm2)
AWG12
(3.5 mm2)
Servomotor
Main Circuit
Cable*
U, V, W AWG16 (1.25 mm2)
AGW14
(2.0 mm2)
Control
Power
Supply Cable
L1C, L2C AWG16 (1.25 mm2)
External
Regenerative
Resistor
Cable
B1/ , B2 AWG16 (1.25 mm2)
Ground cable AWG14 (2.0 mm2) or larger
Important
Cables and Peripheral Devices
Peripheral Devices
251
Cables and Peripheral Devices
Three-phase, 200-V Wires for Σ-7W SERVOPACKs
* If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
Single-phase, 200-V Wires for Σ-7W SERVOPACKs
* If you do not use the recommended Servomotor Main Circuit Cable, use this table to select wires.
Wire Types
The following table shows the wire sizes and allowable currents for three bundled leads.
* This is reference data based on JIS C3317 600-V-grade heat-resistant polyvinyl chloride-insulated wires (HIV).
Cable
Connected
Terminals
SERVOPACK Model SGD7W-
1R6A 2R8A 5R5A 7R6A
Main Circuit
Power
Supply Cable
L1, L2, L3 AWG16 (1.25 mm2) AWG14 (2.0 mm2)
Servomotor
Main Circuit
Cable*
UA, VA, WA,
UB, VB, WB AWG16 (1.25 mm2)
Control
Power
Supply Cable
L1C, L2C AWG16 (1.25 mm2)
External
Regenerative
Resistor
Cable
B1/ , B2 AWG16 (1.25 mm2) AWG14 (2.0 mm2)
Ground cable AWG14 (2.0 mm2) or larger
Cable
Connected
Terminals
SERVOPACK Model SGD7W-
1R6A 2R8A 5R5A
Main Circuit
Power
Supply Cable
L1, L2 AWG16 (1.25 mm2) AWG14 (2.0 mm2)
Servomotor
Main Circuit
Cable*
UA, VA, WA,
UB, VB, WB AWG16 (1.25 mm2)
Control
Power
Supply Cable
L1C, L2C AWG16 (1.25 mm2)
External
Regenerative
Resistor
Cable
B1/ , B2 AWG16 (1.25 mm2) AWG14 (2.0 mm2)
Ground cable AWG14 (2.0 mm2) or larger
HIV Specifications* Allowable Current at Ambient Temperatures [Arms]
Nominal Cross-sectional Area
[mm2]
Configuration
[Wires/mm2]
30°C 40°C 50°C
0.9 37/0.18 15 13 11
1.25 50/0.18 16 14 12
2.0 7/0.6 23 20 17
3.5 7/0.8 32 28 24
5.5 7/1.0 42 37 31
8.0 7/1.2 52 46 39
14.0 7/1.6 75 67 56
22.0 7/2.0 98 87 73
Cables and Peripheral Devices
Peripheral Devices
252
Surge Absorbers for Holding Brakes (Varistors) and Diodes
Surge Absorbers for Holding Brakes (Varistors)
Select an appropriate Surge Absorber for the power supply voltage and current of the brake. Surge
absorbers are not provided by Yaskawa.
Diodes for Holding Brakes
Select a diode for a holding brake with a rated current that is greater than that of the brake and with
the recommended withstand voltage given in the following table. Diodes are not provided by
Yaskawa.
Brake Power Supply Voltage 24 VDC
Surge Absorber Manufacturer Nippon Chemi-Con Corporation SEMITEC Corporation
Brake Rated Current
1 A max. TNR5V121K Z5D121
2 A max. TNR7V121K Z7D121
4 A max. TNR10V121K Z10D121
8 A max. TNR14V121K Z15D121
Holding Brake Power Supply Unit Specifications
Withstand Voltage
Rated Output Voltage Input Voltage
24 VDC 200 V 100 V to 200 V
Cables and Peripheral Devices
Peripheral Devices
253
Cables and Peripheral Devices
Regenerative Resistors
Types of Regenerative Resistors
The following regenerative resistors can be used.
into them.
regenerative resistor in the SERVOPACK cannot consume all of the regenerative power.
Use Yaskawa’s SigmaJunmaSize+, an AC Servo drive capacity selection program, to determine if
a regenerative resistor is required.
Note: If you use an external regenerative resistor, you must change the setting of parameter Pn600.
Selection Table
* Use Yaskawa’s SigmaJunmaSize+, an AC Servo drive capacity selection program, to select an external regenerative
resistor.
Built-In Regenerative Resistor
The following table gives the specifications of the built-in regenerative resistors in the SERVOPACKs
and the amount of regenerative power (average values) that they can process.
External Regenerative Resistors
Note: 1. Consult Yaskawa Controls Co., Ltd. if you require a RoHS-compliant resistor.
SERVOPACK Model Built-In Regenerative
Resistor
External Regenerative
Resistor
Contents
SGD7S- SGD7WR70A,
R90A,
1R6A, 2R8A − None
Basically not
required
There is no built-in regenerative resistor, but normally
an external regenerative resistor is not
required.
Install an external regenerative resistor when the
smoothing capacitor in the SERVOPACK cannot
process all the regenerative power.*
3R8A, 5R5A,
7R6A, 120A,
180A, 200A
1R6A, 2R8A,
5R5A, 7R6A
Standard feature
Basically not
required
A built-in regenerative resistor is provided as a
standard feature. Install an external regenerative
resistor when the built-in regenerative resistor
cannot process all the regenerative power.*
SERVOPACK Model
Built-In Regenerative
Resistor
Regenerative Power
Processing Capacity of
Built-In Regenerative Resistor
[W]
Minimum
Allowable
Resistance
SGD7S- SGD7W- [Ω]
Resistance
[Ω]
Capacity
[W]
R70A, R90A, 1R6A, 2R8A − − − − 40
3R8A, 5R5A, 7R6A 1R6A, 2R8A 40 40 8 40
120A − 20 60 10 20
180A, 200A 5R5A, 7R6A 12 60 16 12
Model Specification Enquires Manufacturer
RH120 70 W, 1 Ω to 100 Ω
Yaskawa Controls Co., Ltd.
Iwaki Musen Kenkyusho
Co., Ltd.
RH150 90 W, 1 Ω to 100 Ω
RH220 120 W, 1 Ω to 100 Ω
RH300C 200 W, 1 kΩ to 10 kΩ
RH500 300 W, 10 Ω to 30 Ω
RH120 10Ω
K
J
H
±10%
±5%
±3%
J
Model Resistance Resistance Tolerance
Code Specification
Cables and Peripheral Devices
Peripheral Devices
254
Batteries for Servomotor with Absolute Encoders
If you use an absolute encoder, you can use an Encoder Cable with a Battery Case connected to it
to supply power and retain the absolute position data.
You can also retain the absolute position data by supplying power from a battery on the host controller.
The Battery Case is sold as a replacement part for the Battery Case that is included with an Absolute
Encoder Cable.
Mounting a Battery in the Battery Case
Obtain a Lithium Battery (JZSP-BA01) and mount it in the Battery Case.
Connecting a Battery to the Host Controller
Use a battery that meets the specifications of the host controller. Use an ER6VC3N Battery (3.6 V,
2,000 mAh) from Toshiba Battery Co., Ltd. or an equivalent battery.
Name Order Number Remarks
Battery Case (case only) JUSP-BA01-E
The Encoder Cable and Battery are not included.
(This is a replacement part for a damaged Battery Case.)
Lithium Battery JZSP-BA01 This is a special battery that mounts into the Battery Case.
Important
Note: The cable and connector to
connect the Encoder Cable and
Battery Case are not included.
Absolute Encoder Cable
SERVOPACK Connector
Mount a Lithium Battery.
Battery Case (JUSP-BA01-E) Lithium Battery (JZSP-BA01)
1
2
ER3V (3.6 V, 1000 mAh) from Toshiba Battery Co., Ltd.
Red
Connector
Red
Battery
Cables and Peripheral Devices
Peripheral Devices
255
Cables and Peripheral Devices
Software
SigmaJunmaSize+: AC Servo Capacity Selection Program
You can use the SigmaJunmaSize + to select Servomotors and SERVOPACKs. There are two versions
of the software: A Web-based version and a stand-alone version.
The software supports all standard servo products sold by Yaskawa.
Features
anywhere. (Communications are encrypted for security.)
Examples of the Servo Selection Interface
System Requirements
Mechanism Selection View Machine Specification Entry View
Speed Diagram Entry View Operating Conditions Selection View
Servomotor Selection View SERVOPACK Selection View
Item System Requirement
Browser (Required for Web-base Version Only) Internet Explorer 5.0 SP1 or higher
OS Windows XP, Windows Vista, or Windows 7 (32-bit or 64-bit edition)
CPU Pentium 200 MHz min.
Memory 64 MB min. (96 MB or greater recommended)
Available Hard Disk Space 20 MB min.
Cables and Peripheral Devices
Peripheral Devices
256
SigmaWin +: AC Servo Drive Engineering Tool
The SigmaWin+ Engineering Tool is used to set up and optimally tune Yaskawa Σ-series Servo
Drives.
Features
System Requirements
Setting Parameters with a Wizard Displaying SERVOPACK Data on a Computer Just Like You
Would on a Oscilloscope
Estimating Moments of Inertia and
Measuring Vibration Frequencies
Displaying Alarms and Alarm Diagnostics
Item System Requirement
Supported Languages English and Japanese
OS Windows XP, Windows Vista, or Windows 7 (32-bit or 64-bit edition)
CPU Pentium 200 MHz min.
Memory 64 MB min. (96 MB or greater recommended)
Available Hard Disk Space
For Standard Setup:
350 MB min. (400 MB or greater recommended for installation)
Capacity Selection for Servomotors ……………….258
Capacity Selection for Regenerative Resistors ..266
International Standards ………………………………..277
Warranty ……………………………………………………..278
Appendices
Appendices
258
Capacity Selection for Servomotors
Selecting the Servomotor Capacity
Use Yaskawa’s SigmaJunmaSize+, an AC servo drive capacity selection program, to select the Servomotor
capacity. With the SigmaJunmaSize+, you can find the optimum Servomotor capacity by
simply selecting and entering information according to instructions from a wizard.
If you select a Servomotor capacity with a formula, refer to the following selection examples.
Capacity Selection Example for a Rotary Servomotor: For Speed
Control
Item Code Value Item Code Value
Load Speed υL 15 m/min
Gear and Coupling
Moment of Inertia
JG 0.40 × 10-4 kgm2
Linear Motion
Section Mass
m 250 kg
Number of Feeding
Operations
n 40 rotations/min
Ball Screw Length B 1.0 m Feeding Distance 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 2 (gear ratio: 1/2)
External Force on
Linear Motion Section
F 0 N
υL
Linear motion section
Servomotor
Coupling
Gear
Ball screw
ta tc td
(m/min)
tm
t
15
υL
Motor Speed
Time (s)
t = = = 1.5 (s)
ta = tm − = 1.2 − = 1.2 − 1.1 = 0.1 (s)
tc = 1.2 − 0.1 × 2 = 1.0 (s)
60 60
40
60 × 0.275
15
60
υL
If ta = td,
nL = P B = = 1,500 (min-1)
15
0.01
υL
TL = = = 0.43 (Nm)
2πR
(9.8 m + F) PB
2π × 2 × 0.9
(9.8 × 0.2 × 250 + 0) × 0.01
η
μ
Appendices
Capacity Selection for Servomotors
259
Appendices
Selection Conditions
The following Servomotor meets the selection conditions.
Specifications of the Provisionally Selected Servomotor
JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) × 10-4 = 2.29 × 10-4 (kgm2)
Item Value
Rated Output 200 (W)
Rated Motor Speed 3,000 (min-1)
Rated Torque 0.637 (Nm)
Instantaneous Maximum Torque 2.23 (Nm)
Motor Moment of Inertia 0.263 × 10-4 (kgm2)
Allowable Load Moment of Inertia 0.263 × 10-4 × 15 = 3.94 × 10-4 (kgm2)
JL1 = m = 250 × = 1.58 × 10-4 (kgm2)
2
2πR
PB
2
2π × 2
0.01
JB = B dB4 = × 7.87 × 103 × 1.0 × (0.02)4 = 0.31 × 10-4 (kgm2)
R2
1
32
π
22
1
32
π
ρ
PO = = = 135 (W)
60
2πnM TL
60
2π × 3,000 × 0.43
Pa = = × nM × = 226 (W)
2
60
2π
ta
JL 3,000
2
60
2π
0.1
2.29 × 10-4
2 < Provisionally selected Servomotor rated output < (Po + Pa)
(Po + Pa)
TP = + TL = + 0.43
60ta 60 × 0.1
2π × 3,000 × (0.263 + 2.29) × 10-4
≈ 1.23 (Nm) < Maximum instantaneous torque…Satisfactory
2πnM (JM + JL)
TS = − TL = − 0.43
60td 60 × 0.1
2π × 3,000 × (0.263 + 2.29) × 10-4
≈ 0.37 (Nm) < Maximum instantaneous torque…Satisfactory
2πnM (JM + JL)
Appendices
Capacity Selection for Servomotors
260
10.Result
It has been verified that the provisionally selected Servomotor is applicable.
The torque diagram is shown below.
Capacity Selection Example for a Rotary Servomotor: For Position
Control
Item Code Value Item Code Value
Load Speed υL 15 m/min Coupling Outer Diameter dC 0.03 m
Linear Motion Section
Mass
m 80 kg
Number of Feeding
Operations
n 40 rotation/min
Ball Screw Length B 0.8 m Feeding Distance 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 ρ 7.87 × 103 kg/m3 Friction Coefficient μ 0.2
External Force on
Linear Motion Section
F 0 N Mechanical Efficiency η 0.9 (90%)
Coupling Mass mC 0.3 kg
Trms = =
t 1.5
(1.23)2 × 0.1 + (0.43)2 × 1.0 + (0.37)2 × 0.1
≈ 0.483 (Nm) < Rated torque…Satisfactory
TP
2 ta + TL
2 tc + Ts2 td
(Nm)
0.1
1.5
0.1 1.0
-0.37
0
0.43
1.23
Torque
Motor Speed
υL
Linear motion section Servomotor
Ball screw
Coupling
(m/min)
tm
15
ta tc td ts
t
υL
Motor Speed
Reference pulses
Load speed
Time (s)
t = = = 1.5 (s)
ta = tm − ts − = 1.2 − 0.1 − = 0.1 (s)
tc = 1.2 − 0.1 − 0.1 × 2 = 0.9 (s)
60 60
40
60 × 0.25
15
60
If ta = td and ts = 0.1 (s),
υL
Appendices
Capacity Selection for Servomotors
261
Appendices
Selection Conditions
The following Servomotor meets the selection conditions.
Specifications of the Provisionally Selected Servomotor
Therefore, nM = nL ⋅ R = 3,000 × 1 = 3,000 (min-1)
JL = JL1 + JB + Jc = 1.25 × 10-4 (kgm2)
Item Value
Rated Output 100 (W)
Rated Motor Speed 3,000 (min-1)
Rated Torque 0.318 (Nm)
Instantaneous Maximum Torque 1.11 (Nm)
Motor Moment of Inertia 0.0659 × 10-4 (kgm2)
Allowable Load Moment of Inertia 0.0659 × 10-4 × 35 = 2.31 × 10-4 (kgm2)
Encoder Resolution 24 bits (16,777,216 pulses/rev)
nL = P B = = 3,000 (min-1)
15
0.005
υL
TL = = = 0.139 (Nm)
2πR
(9.8 m + F ) PB
2π × 1 × 0.9
μ (9.8 × 0.2 × 80 + 0) × 0.005
η
JL1 = m = 80 × = 0.507 × 10-4 (kgm2)
2
2πR
PB
2
2π × 1
0.005
JB = B dB4 = × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kgm2)
32
π
32
π
ρ
Jc = mC dC2 = × 0.3 × (0.03)2 = 0.338 × 10-4 (kgm2)
8
1
8
1
PO = = = 43.7 (W)
60
2πnM TL
60
2π × 3,000 × 0.139
Pa = n M = × × = 123.4 (W)
2
60
2π
ta
JL 3,000
2
60
2π
0.1
1.25 × 10-4
< Provisionally selected Servomotor rated output < (Po + Pa)
2
(Po + Pa)
Appendices
Capacity Selection for Servomotors
262
It has been verified that the provisionally selected Servomotor is applicable in terms of capacity.
Position control is considered next.
10.Position Detection Resolution
Position detection unit: = 0.01 mm/pulse
The number of pulses per motor rotation must be less than the encoder resolution (pulses/rev).
11.Reference Pulse Frequency
Confirm that the maximum input pulse frequency* is greater than the reference pulse frequency.
*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.
Capacity Selection Example for Direct Drive Servomotors
TP = + TL = + 0.139
≈ 0.552 (Nm) < Maximum instantaneous torque…Satisfactory
60ta 60 × 0.1
2π × 3,000 × (0.0659 + 1.25) × 2πnM (JM + JL) 10-4
TS = − TL = − 0.139
60td 60 × 0.1
2π × 3,000 × (0.0659 + 1.25) × 10-4
≈ 0.274 (Nm) < Maximum instantaneous torque…Satisfactory
2πnM (JM + JL)
Trms = =
t
TP
2 ta + TL
2 tc + Ts2 td (0.552)2 × 0.1 + (0.139)2 × 0.9 + (0.274)2 × 0.1
1.5
≈ 0.192 (Nm) < Rated torque…Satisfactory
Δ
= = = 500 <
Δ 0.01 mm
The number of pulses per revolution (pulses) PB 5 mm Encoder resolution [16777216 (pulses/rev)]
vs = = = 25,000 (pps)
60 ×
1,000υL
60 × 0.01
1,000 × 15
Δ
Turntable
Servomotor
DT Item Code Value Item Code Value
Turntable Mass W 12 kg
Acceleration/
Deceleration
Time
tp
= tpsa
= tpsd
0.1 s
Turntable
Diameter
DT 300 mm
Operating
Frequency
tf 2 s
Rotational Angle
per Cycle θ 270 deg Load Torque TL 0 Nm
Positioning Time t0 0.35 s
Stopping
Settling Time
ts 0.1 s
NO = 3 6 0 × (t 0 – t p – t s ) = × = 300 (min-1)
θ
360 (0.35 – 0.1 – 0.1)
60 270 60
Appendices
Capacity Selection for Servomotors
263
Appendices
Selection Conditions
Servomotor
Direct Drive Servomotor (JM)
The following Servomotor meets the selection conditions.
Specifications of the Provisionally Selected Servomotor
tc =Time of constant motor speed = t0 – ts – tpsa – tpsd
Item Value
Rated Torque 17 (Nm)
Instantaneous Maximum Torque 51 (Nm)
Moment of Inertia (JM) 0.00785 (kgm2)
Allowable Load Moment of Inertia Ratio (JR) 25
300
0.1 0.1 0.1
ts
2.0
0.35
Motor speed (min-1)
Time (s)
One cycle (tf)
ts t0
tpsa tpsd
8
1
8
JL = × DT 1
2 × W = × (300 × 10-3)2 × 12 = 0.135 (kgm2)
Ta = JL × 2π × = 0.135 × 2π × = 42.4 (Nm)
NO/60
tp
300/60
0.1
TMa = =
≈ 44.9 (Nm) < Maximum instantaneous torque…Satisfactory
(JL + JM) × NO
9.55 × tpsa
(0.135 + 0.00785) × 300
9.55 × 0.1
TMd = – = –
≈ -44.9 (Nm) < Maximum instantaneous torque…Satisfactory
(JL + JM) × NO
9.55 × tpsd
(0.135 + 0.00785) × 300
9.55 × 0.1
Trms = =
TMa2 × tpsa + TL2 × tc + TMd2 × tpsd
2
44.92 × 0.1 + 02 × 0.05 + (-44.9)2 × 0.1
≈ 14.2 (Nm) < Rated torque…Satisfactory
tf
Appendices
Capacity Selection for Servomotors
264
It has been verified that the provisionally selected Servomotor is applicable.
The torque diagram is shown below.
Servomotor Capacity Selection Example for Linear Servomotors
FL = {9.8 × μ × (mW + mT)} + F = 9.8 × 0.2 × (1 + 2) + 0 = 5.88 (N)
Selection Conditions
The following Servomotor Moving Coil and Magnetic Way meet the selection conditions.
Item Code Value Item Code Value
Load Mass mW 1 kg Acceleration Time ta 0.02 s
Table Mass mT 2 kg Constant-speed Time tc 0.36 s
Motor Speed v 2 m/s Deceleration Time td 0.02 s
Feeding Distance l 0.76 m Cycle Time t 0.5 s
Friction Coefficient μ 0.2 External Force on Linear Motion Section F 0 N
Torque (N⋅m)
Time (s)
-44.9
0.05
44.9
0.1 0.1 0.1
2.0
Load
Table
Moving Coil
Magnetic Way
v
t
Motor speed (m/s)
Force (N)
Time (s)
ta
FP
FL
FS
tc td
v
ta
2
0.02
FP = (mW + mT) × + FL = (1 + 2) × + 5.88 = 305.88 (N)
Appendices
Capacity Selection for Servomotors
265
Appendices
Specifications of the Provisionally Selected Servomotor
FL = μ {9.8 × (mW + mT + mM) + Fatt} = 0.2 {9.8 × (1 + 2 + 0.82) + 0} = 7.5 (N)
It has been verified that the provisionally selected Servomotor is applicable.
Item Value
Maximum Force 440 (N)
Rated Force 147 (N)
Moving Coil Mass (mM) 0.82 (kg)
Servomotor Magnetic Attraction (Fatt) 0 (N)
ta
FP = (mW + mT + mM) × + FL = (1 + 2 + 0.82) × + 7.5
= 389.5 (N) ≤ × 0.9 (= 396 N)…
2
0.02
Maximum force Satisfactory
ta
FS = (mW + mT + mM) × − FL = (1 + 2 + 0.82) × − 7.5
= 374.5 (N) ≤ Maximum force × 0.9 (= 396 N)… Satisfactory
2
0.02
Frms = =
t
FP
2 ∙ ta + FL
2 ∙ tc + Fs2 ∙ td
0.5
389.52 × 0.02 + 7.52 × 0.36 + 374.52 × 0.02
= 108.3 (N) ≤ Rated force × 0.9 (= 132.3 N)… Satisfactory
Appendices
266
Capacity Selection for Regenerative Resistors
If the regenerative power exceeds the amount that can be absorbed by charging the smoothing
capacitor, a regenerative resistor is used.
Regenerative Power and Regenerative Resistance
The rotational energy of a driven machine such as a Servomotor that is returned to the SERVOPACK
is called regenerative power. The regenerative power is absorbed by charging a smoothing capacitor.
When the regenerative power exceeds the capacity of the capacitor, it is consumed by a regenerative
resistor. (This is called resistance regeneration.)
The Servomotor is driven in a regeneration state in the following circumstances:
Types of Regenerative Resistors
The following regenerative resistors can be used.
SERVOPACKs have built-in regenerative resistors.
These resistors are used when the smoothing capacitor and built-in regenerative resistor in
the SERVOPACK cannot consume all of the regenerative power.
You cannot use the resistance regeneration provided by the SERVOPACK for continuous regeneration.
For continuous operation with a negative load, you must design a system that also
includes a Power Regenerative Converter or Power Regenerative Unit (for example, Yaskawa
model D1000 or R1000). If regenerative power is not appropriately processed, the regenerative
energy from the load will exceed the allowable range and damage the SERVOPACK.
Examples of negative loads are shown below.
SERVOPACK Model Built-In Regenerative Resistor External Regenerative Resistor
SGD7SR70A,
R90A,
1R6A, 2R8A
None Basically not required
3R8A, 5R5A,
7R6A, 120A,
180A, 200A
Standard feature Basically not required
SGD7W-
1R6A, 2R8A,
5R5A, 7R6A
Standard feature Basically not required
Important
Tension
Servomotor
Servomotor
Servomotor
Negative load that feeds a material at
a constant speed under tension
Appendices
Capacity Selection for Regenerative Resistors
267
Appendices
Selecting External Regenerative Resistor
Use Yaskawa’s SigmaJunmaSize+, an AC servo drive capacity selection program, to determine if
you need an External Regenerative Resistor.
You can use one of the following two methods to manually calculate whether an External Regenerative
Resistor is required. Refer to the following information if you do not use the SigmaJunmaSize+.
Simple Calculation (page 267)
Calculating the Regenerative Energy (page 269)
Simple Calculation
When driving a Servomotor with a horizontal shaft, check if an External Regenerative Resistor is
required using the following calculation method. The calculation method depends on the model of
the SERVOPACK.
SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, and -2R8A
Regenerative resistors are not built into the above SERVOPACKs. The total amount of energy that
can be charged in the capacitors is given in the following table.
If the rotational energy (ES) of the Servomotor and load exceeds the processable regenerative
energy, then connect an External Regenerative Resistor.
Calculate the rotational energy (ES) of the servo system with the following equation:
ES = J × (nM)2/182 (Joules)
Applicable SERVOPACK
Processable Regenerative Energy
(Joules)
Remarks
SGD7SR70A,
R90A, 1R6A 24.2 Value when main circuit input voltage
is 200 VA2R8A 31.7 C
Appendices
Capacity Selection for Regenerative Resistors
268
SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A,
and -200A; SGD7W-1R6A, -2R8A, -5R5A, and -7R6A
These SERVOPACKs have built-in regenerative resistors. The allowable frequencies for regenerative
operation of the Servomotor without a load in acceleration/deceleration operation during an operation
cycle from 0 (min-1) to the maximum motor speed and back to 0, are listed in the following
table. Convert the data into the values for the actual motor speed and load moment of inertia to
determine whether an External Regenerative Resistor is required.
Use the following equation to calculate the allowable frequency for regenerative operation.
Servomotor Model
Allowable Frequencies in
Regenerative Operation
(Rotations/Min)
Servomotor Model
Allowable Frequencies in
Regenerative Operation
(Rotations/Min)
SERVOPACK
Model: SGD7S
SERVOPACK
Model: SGD7W
(Simultaneous
Operation of
Two Axes)
SERVOPACK
Model: SGD7S
SERVOPACK
Model: SGD7W
(Simultaneous
Operation of
Two Axes)
SGM7JA5
− 15
SGM7AA5
− 23
01 − 18 01 − 29
C2 − 19 C2 − 32
02 − 13 02 − 19
04 − 16 04 − 31
06 29 10 06 79 27
08 15 13 08 30 13
SGM7G-
03 39 9 10 31 14
05 29 10 15 15 −
09 6 6 20 19 −
13 6 − 25 15 −
20 7 − 30 6 −
0
0
0
T
t
t
Load moment of inertia = 0 (Servomotor only)
Speed reference
Servomotor motor speed
Servomotor-generated torque
Maximum motor speed
Maximum torque
Maximum torque
(Operation cycle)
Allowable frequency = 1/T (times/min)
Operating Conditions for Calculating the Allowable Regenerative Frequency
Regenerative
operation
(1+ n)
Allowable frequency ×
Allowable frequency for regenerative operation for Servomotor without load
Operating motor speed
Maximum motor speed 2
(time/min)
Appendices
Capacity Selection for Regenerative Resistors
269
Appendices
Calculating the Regenerative Energy
This section shows how to calculate the regenerative resistor capacity for the acceleration/deceleration
operation shown in the following figure.
* EG (joules): Energy for continuous period of regenerative operation
EG = (2π/60) nMGTGtG
Note: 1. The 0.2 in the equation for calculating WK is the value when the regenerative resistor’s utilized load ratio is
20%.
If the value of WK does not exceed the capacity of the built-in regenerative resistor of the SERVOPACK,
an External Regenerative Resistor is not required. For details on the built-in regenerative
resisters, refer to the SERVOPACK specifications. If the value of WK exceeds the capacity of the
built-in regenerative resistor, install an External Regenerative Resistor with a capacity equal to the
value for W calculated above.
Step Item Code Formula
1
Calculate the rotational energy of the Servomotor.
ES ES = JnM
2/182
2
Calculate the energy consumed by load loss
during the deceleration period
EL
EL = (π/60) nMTLtD
Note: If the load loss is unknown, calculate
the value with EL set to 0.
3
Calculate the energy lost from Servomotor
winding resistance.
EM
(Value calculated from the graphs in Servomotor
Winding Resistance Loss on page 271)
× tD
4
Calculate the energy that can be absorbed
by the SERVOPACK.
EC
Calculate from the graphs in SERVOPACKabsorbable
Energy on page 270
5
Calculate the energy consumed by the
regenerative resistor.
EK
EK = ES − (EL + EM + EC)
EK = ES − (EL + EM + EC) + EG*
Note: Use this formula if there will be continuous
periods of regenerative operation,
such as for a vertical axis.
6
Calculate the required regenerative resistor
capacity (W).
WK WK = EK/(0.2 × T)
Code Description Code Description
ES to EK Energy in joules (J) TL Load torque (N⋅m)
WK Required regenerative resistor capacity (W) tD Deceleration stopping time (s)
J = JM + JL (kgm2) T Servomotor repeat operation cycle (s)
nM Servomotor motor speed (min-1)
T
0
0
tD
nM: Motor speed
Motor speed
Motor torque
TL: Load torque
Regenerative torque
Appendices
Capacity Selection for Regenerative Resistors
270
SERVOPACK-absorbable Energy
The following figures show the relationship between the SERVOPACK’s input power supply voltage
and its absorbable energy.
R70A, R90A, 1R6A
2R8A
3R8A
5R5A and 7R6A
1R6A
2R8A
5R5A
7R6A
170 180 190 200 210 220 230 240 250 260 270
Model: SGD7S- Model: SGD7S-
120A (three-phase)
120A (single-phase), 180A, and 200A
Absorbable energy (J)
Absorbable energy (J)
Input voltage (Vrms)
Model: SGD7WAbsorbable
energy (J)
Input voltage (Vrms)
Input voltage (Vrms)
180
160
140
120
100
80
60
40
20
0
80
70
60
50
40
30
20
10
0
120
100
80
60
40
20
0
170 180 190 200 210 220 230 240 250 260 270 170 180 190 200 210 220 230 240 250 260 270
Appendices
Capacity Selection for Regenerative Resistors
271
Appendices
Servomotor Winding Resistance Loss
The following figures show the relationship for each Servomotor between the Servomotor’s generated
torque and the winding resistance loss.
SGM7J Rotary Servomotors
SGM7A Rotary Servomotors
0
0 100 200 300
0
0 100 200 300
450
400
350
300
250
200
150
100
50
400
350
300
250
200
150
100
50
Model: SGM7J- Model: SGM7JWinding
Resistance Loss (W)
Torque (%)
Winding Resistance Loss (W)
Torque (%)
04A
06A
08A
A5A
01A
C2A
02A
0
0 100 200 300
0
0 100 200 300
0 0
0
100 200 300
0
100 200 300
600
500
400
300
200
100
1600
1400
1200
1000
800
600
400
200
1400
1200
1000
800
600
400
200
Model: SGM7AWinding
Resistance Loss (W)
Torque (%)
Model: SGM7AWinding
Resistance Loss (W)
Torque (%)
Model: SGM7AWinding
Resistance Loss (W)
Torque (%)
Model: SGM7AWinding
Resistance Loss (W)
Torque (%)
A5A
01A
C2A
02A
04A
06A
08A
10A
15A
20A
25A
30A
400
350
300
250
200
150
100
50
Appendices
Capacity Selection for Regenerative Resistors
272
SGM7G Rotary Servomotors
SGMCS Direct Drive Servomotors
0
0
100
200
300
400
500
600
100 200 300 400
0
0 50 100 150 200 250 300
Model: SGM7GWinding
Resistance Loss (W)
Torque (%)
Model: SGM7GWinding
Resistance Loss (W)
Torque (%)
800
700
600
500
400
300
200
100
03
05
09
13
20
0
0 100 200 300
100
300
200
400
500
600
700
10C
14C
04C
07B
05B
02B
0
0 100 200 300
200
600
400
800
1000
35E
16E
25D
17D
08D
Model: SGMCS- Model: SGMCSTorque
(%)
Winding Resistance Loss (W)
Torque (%)
Winding Resistance Loss (W)
0
0 100 200 300
1000
500
1500
2000
2500
3000
2ZN
1EN
80N
45M
1AM
80M
Model: SGMCSWinding
Resistance Loss (W)
Torque (%)
Appendices
Capacity Selection for Regenerative Resistors
273
Appendices
SGMCV Direct Drive Servomotors
SGLGW Linear Servomotors
Model: SGMCVWinding
Resistance Loss (W)
Torque (%)
Model: SGMCVWinding
Resistance Loss (W)
Torque (%)
700
600
500
400
300
200
100
600
500
400
300
200
100
0
0 100 200 300
0
0 100 200 300
08C
17C
25C
04B
10B
14B
0 100 200 300 400
0
200
400
600
800
1000
1200
365C
253C
140C
0 100 200 300 400 500
0
500
1000
1500
2000
2500
365C-M
253C-M
140C-M
0 100 200 300 400
0
200
400
600
800
1000
1200
1400
365C
253C
140C
0
0
500
1000
1500
2000
2500
3000
100 200 300 400 500
365C-M
253C-M
140C-M
0
0
1000
2000
3000
4000
5000
6000
100 200 300 400 500
535C
370C
200C
0 100 200 300 400
0
50
100
150
200
250
080C
050C
Model: SGLGW-30A
Winding Resistance Loss (W)
Force (%)
Model: SGLGW-40A
Winding Resistance Loss (W)
Force (%)
Model: SGLGW-40A
Winding Resistance Loss (W)
Force (%)
Model: SGLGW-60A
Winding Resistance Loss (W)
Force (%)
Model: SGLGW-60A
Winding Resistance Loss (W)
Force (%)
Model: SGLGW-90A
Winding Resistance Loss (W)
Force (%)
Appendices
Capacity Selection for Regenerative Resistors
274
SGLFW2 Linear Servomotors
SGLFW Linear Servomotors
100 200 300 400
0
100 100 200 300 400 200 300 400
0
0
0 0
100 200 300 400 0
0
0
900
800
700
600
500
400
300
200
100
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
2000
1800
1600
1400
1200
1000
800
600
400
200
7000
6000
5000
4000
3000
2000
1000
070A
120A
230A
200A
380A
200A
380A
380A
Model: SGLFW2-30A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW2-45A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW2-90A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW2-1DA
Winding Resistance Loss (W)
Force (%)
0
0
100 200 300 400 500
50
100
150
200
250
300
120A
090A
0
0
100 200 300 400
100
200
300
400
500
600
700
800
230A
120A
0
0
200
400
600
800
1000
1200
100 200 300
200B
380B
0
0
100 200 300
200
400
600
800
1000
1200
1400
1600
1800
380B
200B
Model: SGLFW-20A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW-35A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW-50A
Winding Resistance Loss (W)
Force (%)
Model: SGLFW-1ZA
Winding Resistance Loss (W)
Force (%)
Appendices
Capacity Selection for Regenerative Resistors
275
Appendices
SGLTW Linear Servomotors
0 100 200 300 400
0
500
1000
1500
2000
2500
170A
460A
320A
0 100 200 300 400
0
1000
500
1500
2000
2500
3000
3500
170A
460A
320A
0 50 100 150 200 250
0
400
300
200
100
500
600
700
800
900
170H
320H
0 200 400 600
400B
0
1000
2000
3000
4000
5000
7000
6000
0 50 100 150 200 250
0
200
400
600
800
1000
1200
170H
320H
Model: SGLTW-20A
Winding Resistance Loss (W)
Force (%)
Model: SGLTW-35A
Force (%)
Model: SGLTW-35A
Winding Resistance Loss (W)
Winding Resistance Loss (W)
Force (%)
Model: SGLTW-50A
Winding Resistance Loss (W)
Force (%)
Model: SGLTW-40A
Force (%)
Winding Resistance Loss (W)
Appendices
Capacity Selection for Regenerative Resistors
276
SGLC Linear Servomotors
0
50
0
100
150
200
250
300
350
400
100 200 300 400 500
145AP
115AP
085AP
0
200
400
600
800
1000
1200
0 200 400 600
170AP
135AP
100AP
0 100 200 300 400 500
0
400
200
600
800
1000
1200
1400
1600
215AP
170AP
125AP
0 100 200 300 400 500
0
400
200
600
800
1000
1200
1400
1600
285AP
225AP
165AP
Model: SGLC-D16A
Winding Resistance Loss (W)
Force (%)
Model: SGLC-D20A
Winding Resistance Loss (W)
Force (%)
Model: SGLC-D25A
Winding Resistance Loss (W)
Force (%)
Model: SGLC-D32A
Winding Resistance Loss (W)
Force (%)
Appendices
277
Appendices
International Standards
*1. Estimates are provided for RoHS-compliant products. The model numbers have an “-E” suffix.
*2. CE Marking certification has not yet been received for SGMCS-M and SGMCS-N Direct Drive Servomotors.
CE Marking certification has been received for the following Direct Drive Servomotors: SGMCS-B, SGMCS-
C, SGMCS-D, and SGMCS-E. Contact your Yaskawa representative if the CE Marking label is
required.
*3. The model numbers of the Magnetic Ways of Linear Servomotors are given in parentheses.
*4. CE Marking certification has been received. Contact your Yaskawa representative if the CE Marking label is
required.
: Certified, – : Not Certified
Product Model
UL/CSA Standards CE Marking KC Mark
RoHS
Directive
SERVOPACKs
SGD7S Scheduled for 2014
Scheduled for
2014
Scheduled for
2014
SGD7W Scheduled for 2014
Scheduled for
2014
Scheduled for
2014
Product Model
UL/CSA Standards CE Marking
RoHS Directive
Rotary Servomotors
SGM7J Scheduled for 2014
Scheduled for
2014
SGM7G Scheduled for 2014
Scheduled for
2014
SGM7A Scheduled for 2014
Scheduled for
2014
Direct Drive
Servomotors
SGMCS − *2 *1
SGMCV Scheduled for 2014
Scheduled for
2014
Linear Servomotors
SGLGW
(SGLGM) *3 − *4
SGLFW
(SGLFM)*3 − *4
SGLFW2
(SGLFM2)*3 Scheduled for 2015
Scheduled for
2015
SGLTW
(SGLTM)*3 − *4
SGLC − *4
Appendices
278
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.
product catalogs or manuals, or in any separately agreed-upon specifications
of shipment from Yaskawa
Limitations of Liability
that arises due to failure of the delivered product.
program execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
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.
rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.
Suitability for Use
that apply if the Yaskawa product is used in combination with any other products.
equipment used by the customer.
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.
conditions or environments not described in product catalogs or manuals
systems, medical equipment, amusement machines, and installations subject to separate
industry or government regulations
electricity, or systems that operate continuously 24 hours a day
Appendices
Warranty
279
Appendices
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.
are for reference. Check the functionality and safety of the actual devices and equipment to be
used before using the product.
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.
280
MEMO
SERIES
LITERATURE NO. KAEP S800001 23A
13-6-9
Published in Japan February 2014 14-2
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 YASKAWA ELECTRIC CORPORATION. All rights reserved.
YASKAWA ELECTRIC CORPORATION
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