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YASKAWA E-7 Series Product Manual
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YASKAWA E-7 Series Product Manual

YASKAWA E-7 Series Product Manual

Rotary servomotor with 400 v-input power
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-7-Series AC Servo Drive
Rotary Servomotor
with 400 V-Input Power
Product Manual
Model: SGM7J, SGM7A, SGM7G
MANUAL NO. SIEP S800001 86F
Basic Information on Servomotors
Specifications, Ratings, and
External Dimensions of SGM7J Servomotors
Specifications, Ratings, and
External Dimensions of SGM7A Servomotors
Specifications, Ratings, and
External Dimensions of SGM7G Servomotors
Servomotor Installation
Connections between
Servomotors and SERVOPACKs
Maintenance and Inspection
1
2
Capacity Selection
3
4
5
6
7
8
9
Appendices

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Summary of Contents for YASKAWA E-7 Series

  • Page 1 -7-Series AC Servo Drive Rotary Servomotor with 400 V-Input Power Product Manual Model: SGM7J, SGM7A, SGM7G Basic Information on Servomotors Capacity Selection Specifications, Ratings, and External Dimensions of SGM7J Servomotors Specifications, Ratings, and External Dimensions of SGM7A Servomotors Specifications, Ratings, and External Dimensions of SGM7G Servomotors Servomotor Installation Connections between...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
  • Page 3 About this Manual This manual provides information required to select, install, connect, and maintain Rotary Servo- motors for Σ-7-Series AC Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary. Outline of Manual The contents of the chapters of this manual are described in the following table.
  • Page 4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. Servo Drives Σ-7-Series Catalog...
  • Page 5 Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for Σ-7S SERVOPACK the safe usage of Σ-7-Series TOMP C710828 02 Enclosed Document with 400 V-Input Power SERVOPACKs. Safety Precautions Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with 400-V Input Power and SIEP S800001 80 EtherCAT (CoE) Communications...
  • Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Describes the operating proce- Digital Operator SIEP S800001 33 dures for a Digital Operator for a Σ-7-Series Servo System. Operating Manual Σ-7 Series Operation Interface Operating Manuals AC Servo Drive Provides detailed operating proce- Engineering Tool...
  • Page 7 Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor. Servomotor A Σ-7-Series Σ-7S Servo Amplifier. SERVOPACK Servo Drive The combination of a Servomotor and SERVOPACK. One of the cables that connect to the main circuit terminals, including the Main Circuit Main Circuit Cable Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
  • Page 8 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 9  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 10 If you store the product for more than six months, reapply an anticorrosive coating to machined surfaces, particularly the motor shaft.  Consult with your Yaskawa representative if you have stored products for an extended period of time.
  • Page 11 NOTICE  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.  Do not subject connectors to shock. There is a risk of faulty connections or damage. ...
  • Page 12 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 13  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 14  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 15 NOTICE  Always measure the vibration of the Servomotor with the Servomotor mounted to the machine and confirm that the vibration is within the allowable value. If the vibration is too large, the Servomotor will be damage quickly and bolts may become loose. ...
  • Page 16 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
  • Page 17 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 18 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
  • Page 19 Compliance with UL Standards, EU Directives, UK Regulations and China Energy Efficiency Regulations Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. Refer to the SERVOPACK manual for compliant standards of SERVOPACKs.
  • Page 20  China Energy Label for Permanent-Magnet Synchronous Motors Product Model Application Range Laws and Standards Rated Voltage 1000 V max. CEL 038-2020 • SGM7J Rated Output regulation Rotary • SGM7A 0.55 kW ～ 90 kW GB 30253-2013 Servomotors • SGM7G Rated Motor Speed 500 ～...

  • Page 21: Table Of Contents

    Contents About this Manual..........iii Outline of Manual .
  • Page 22 Specifications, Ratings, and External Dimensions of SGM7A Servomotors Model Designations ........4-2 Specifications and Ratings .
  • Page 23 Oil and Water Countermeasures ......6-7 Servomotor Temperature Increase ..... . . 6-8 Connections between Servomotors and SERVOPACKs Wiring Servomotors and SERVOPACKs .
  • Page 24 Basic Information on Servomotors This chapter provides basic information on Rotary Servo- motors, including Servomotor part names and combina- tions with SERVOPACKs. Servomotor Part Names ....1-2 Interpreting the Nameplates .

  • Page 25: Servomotor Part Names

    1.1 Servomotor Part Names Servomotor Part Names Connector for Servomotor Main Connector for Circuit Cable* Encoder Cable Encoder Motor flange Motor shaft This connector is also used to connect the holding brake for a Servomotor with a Holding Brake.

  • Page 26: Interpreting The Nameplates

    1.2 Interpreting the Nameplates Interpreting the Nameplates The following basic information is provided on the nameplate. The nameplate is printed on the Servomotor. The layout of the nameplate depends somewhat on the model of the Servomotor. Power supply voltage and number of phases Rated output and time rating Rated current and rated current frequency Rated torque, Efficiency...

  • Page 27: Outline Of Model Designations

    1.3 Outline of Model Designations 1.3.1 Servomotor Outline of Model Designations 1.3.1 Servomotor This section outlines the model numbers of Σ-7-Series Servomotors. For details, refer to the chapter for your type of Servomotor. - 02 D SGM7 1st+2nd Series digit digit digit digit...

  • Page 28: Combinations Of Servomotors And Servopacks

    1.4 Combinations of Servomotors and SERVOPACKs Combinations of Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGD7W- SGM7J Models SGM7J-02DF 200 W 2R6D* 1R9D (Medium Inertia, SGM7J-04DF 400 W 2R6D* or 5R4D* High Speed), SGM7J-08DF 750 W 3R5D 2R6D or 5R4D* Rated motor speed: 3,000 min...

  • Page 29: Capacity Selection

    Capacity Selection This chapter describes calculation methods to use when selecting Servomotor capacities. Selecting the Servomotor Capacity ..2-2 2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control ... . . 2-2 2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control .

  • Page 30: Selecting The Servomotor Capacity

    2.1 Selecting the Servomotor Capacity 2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control Selecting the Servomotor Capacity Refer to the following selection examples to select Servomotor capacities with manual calculations rather than with the above software. 2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control Mechanical Specifications...
  • Page 31 2.1 Selecting the Servomotor Capacity 2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control Load Moment of Inertia • Linear motion section 0.01 = 250 × = 1.58 × 10 J L1 = m (kg m 2π × 2 2πR •...

  • Page 32: Capacity Selection Example For A Rotary Servomotor: For Position Control

    2.1 Selecting the Servomotor Capacity 2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control • Verification of effective torque value: ta + T L tc + Ts × 0.1 + (0.43) × 1.0 + (0.37) × 0.1 (1.23) Trms = ≈...
  • Page 33 2.1 Selecting the Servomotor Capacity 2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control Motor Speed • Load shaft υ n L = = 3,000 (min speed 0.005 • Motor shaft Direct coupling gear ratio 1/R = 1/1 speed ⋅...
  • Page 34 2.1 Selecting the Servomotor Capacity 2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control Verification of the Provisionally Selected Servomotor • Verification of required acceleration torque: 2πn M (J M + J L ) 2π × 3,000 × (0.263 + 1.25) × 10 T P = + T L = + 0.139...

  • Page 35: Specifications, Ratings, And External Dimensions Of Sgm7J Servomotors

    Specifications, Ratings, and External Dimensions of SGM7J Servomotors This chapter describes how to interpret the model numbers of SGM7J Servomotors and gives their specifications, rat- ings, and external dimensions. Model Designations ....3-2 Specifications and Ratings .

  • Page 36: Model Designations

    3.1 Model Designations Model Designations SGM7J - 02 1st+2nd Σ-7 Series digit digit digit digit digit digits Servomotors: SGM7J 3rd digit 6th digit 1st+2nd digits Rated Output Power Supply Voltage Shaft End Specification Code Code Specification Code Specification 400 VAC Straight without key 200 W Straight with key and tap...

  • Page 37: Specifications And Ratings

    3.2 Specifications and Ratings 3.2.1 Specifications Specifications and Ratings 3.2.1 Specifications 400 V Voltage Model SGM7J- Time Rating Continuous Thermal Class Insulation Resistance 500 VDC, 10 MΩ min. Withstand Voltage 1,800 VAC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Counterclockwise (CCW) for forward reference when viewed from...

  • Page 38: Servomotor Ratings

    3.2 Specifications and Ratings 3.2.2 Servomotor Ratings Vertical Front to back Horizontal direction Side to side Vibration Applied to the Servomotor *4. If the surrounding air temperature will exceed 40°C, refer to the following section. ° 3.2.7 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40 C on page 3-7 *5.

  • Page 39: Motor Speed-Torque Characteristics

    Confirm that the operation delay time is appropriate for the actual equipment. • The 24-VDC power supply is not provided by Yaskawa. *5. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake.

  • Page 40: Servomotor Overload Protection Characteristics

    3.2 Specifications and Ratings 3.2.4 Servomotor Overload Protection Characteristics 3.2.4 Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor surrounding air tem- perature of 40°C. 10000 1000 Motor speed of 10 min or higher Motor speed of less than 10 min...

  • Page 41: Servomotor Heat Dissipation Conditions

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 42: Applications Where The Altitude Of The Servomotor Exceeds 1,000 M

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 43: External Dimensions

    3.3 External Dimensions 3.3.1 Servomotors External Dimensions 3.3.1 Servomotors SGM7J-02 and -04 Notation : Square dimensions 49.5 0.04 A 0.02 12.5 4 × 5.5 dia. 0.04 dia. A Unit: mm Model SGM7J- Approx. Mass [kg] 108.5 78.5   51.2 (148.5) (118.5) (105)
  • Page 44 3.3 External Dimensions 3.3.1 Servomotors SGM7J-08 49.5 11.5 0.04 A 0.04 dia. A 4 × 7 dia. 0.02 dia. Unit: mm Model SGM7J- Approx. Mass [kg] 146.5 106.5   (193.5) (153.5) (140) (2.9) -0.030 -0.013 Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2.
  • Page 45 3.3 External Dimensions 3.3.1 Servomotors SGM7J-15 0.04 A (without holding brake) 0.04 dia. A 27.5 4 × 10.2 dia. 0.02 Unit: mm Model SGM7J- Approx. Mass [kg] 163.5 123.5   95.6 (196.5) (156.5) (143) (8.1) -0.035 -0.013 Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2.

  • Page 46: Shaft End Specifications

    3.3 External Dimensions 3.3.2 Shaft End Specifications 3.3.2 Shaft End Specifications SGM7J-  Code Specification Straight without key Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type.) Servomotor Model SGM7J- Shaft End Details Code: 2 (Straight without Key) -0.011 -0.013 Code: 6 (Straight with Key and Tap)

  • Page 47: Connector Specifications

    3.3 External Dimensions 3.3.3 Connector Specifications 3.3.3 Connector Specifications SGM7J-02 to -08 • Encoder Connector Specifications PG 5V Data (+) Receptacle PG 0V Data (-) Size: M12 Part number: 1419959 Empty Model: SACC-MSQ-M12MS-25-3,2 Hous- BAT (+) Shield Manufacturer: Phoenix Contact BAT (-) •...
  • Page 48 Specifications, Ratings, and External Dimensions of SGM7A Servomotors This chapter describes how to interpret the model numbers of SGM7A Servomotors and gives their specifications, rat- ings, and external dimensions. Model Designations ....4-2 Specifications and Ratings .

  • Page 49: Model Designations

    4.1 Model Designations Model Designations SGM7A - 02 1st+2nd Σ-7 Series digit digit digit digit digit digits Servomotors: SGM7A 1st+2nd digits 3rd digit 6th digit Shaft End Rated Output Power Supply Voltage Code Specification Code Specification Specification Code 400 VAC 200 W Straight without key 400 W...

  • Page 50: Specifications And Ratings

    4.2 Specifications and Ratings 4.2.1 Specifications Specifications and Ratings 4.2.1 Specifications Voltage 400 V Model SGM7A- 30D 40D 50D 70D Continuous Time Rating Thermal Class 500 VDC, 10 MΩ min. 1,800 VAC for 1 minute Insulation Resistance Withstand Voltage Permanent magnet Flange-mounted Excitation Direct drive...

  • Page 51: Servomotor Ratings

    4.2 Specifications and Ratings 4.2.2 Servomotor Ratings Refer to the following section if the surrounding air temperature exceeds 40°C. 4.2.7 Applications Where the Surrounding Air Temperature of the Servomotor Exceeds 40°C on page 4-9 *5. If the altitude will exceed 1,000 m, refer to the following section. 4.2.8 Applications Where the Altitude of the Servomotor Exceeds 1,000 m on page 4-10 If you use this combination, performance may not be as good, e.g., the control gain may not increase, in com- parison with using a Σ-7S SERVOPACK.

  • Page 52: 4.2.2 Servomotor Ratings

    Confirm that the operation delay time is appropriate for the actual equipment. • The 24-VDC power supply is not provided by Yaskawa. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake.

  • Page 53: Motor Speed-Torque Characteristics

    4.2 Specifications and Ratings 4.2.3 Motor Speed-Torque Characteristics 4.2.3 Motor Speed-Torque Characteristics Continuous duty zone Intermittent duty zone SGM7A-02D SGM7A-04D SGM7A-08D SGM7A-10D 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 Motor speed (min Motor speed (min...

  • Page 54: Servomotor Overload Protection Characteristics

    4.2 Specifications and Ratings 4.2.4 Servomotor Overload Protection Characteristics 4.2.4 Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor surrounding air tem- perature of 40°C. SGM7A-02, 04, 08, and 10 SGM7A-15, 20, 25, 30, 40, 50, and 70 10000 10000 1000...

  • Page 55: Servomotor Heat Dissipation Conditions

    4.2.4 Servomotor Overload Protection Characteristics on page 4-7 Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representa- tive.

  • Page 56: Applications Where The Surrounding Air Temperature Of The Servomotor Exceeds 40°C

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 57: Applications Where The Altitude Of The Servomotor Exceeds 1,000 M

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 58: External Dimensions

    4.3 External Dimensions 4.3.1 Servomotors: SGM7A-02 to -10 External Dimensions 4.3.1 Servomotors: SGM7A-02 to -10 SGM7A-02 and -04 Notation : Square dimensions 49.5 0.04 A 0.02 12.5 4 × 5.5 dia. 0.04 dia. A Unit: mm Model SGM7A- Approx. Mass [kg] 108.5 78.5 ...
  • Page 59 4.3 External Dimensions 4.3.1 Servomotors: SGM7A-02 to -10 SGM7A-08 49.5 11.5 0.04 A 0.04 dia. A 4 × 7 dia. 0.02 dia. Unit: mm Model SGM7A- Approx. Mass [kg] 146.5 106.5   (193.5) (153.5) -0.030 -0.013 (140) (3.0) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2.
  • Page 60 4.3 External Dimensions 4.3.1 Servomotors: SGM7A-02 to -10 SGM7A-10 11.5 0.04 A 4 × 7 dia. 0.04 dia. A 0.02 dia. Unit: mm Model SGM7A- Approx. Mass [kg] 117.5   103.5 (218) (178) (164.5) (3.8) -0.030 -0.013 Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2.

  • Page 61: Shaft End Specifications For Sgm7A-02 To -10

    4.3 External Dimensions 4.3.2 Shaft End Specifications for SGM7A-02 to -10 4.3.2 Shaft End Specifications for SGM7A-02 to -10 SGM7A-  Code Specification Straight without key Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type.) Servomotor Model SGM7A- Shaft End Details Code: 2 (Straight without Key)
  • Page 62 4.3 External Dimensions 4.3.3 Servomotors: SGM7A-15 to -70 4.3.3 Servomotors: SGM7A-15 to -70 SGM7A-15, -20, and -25 Shaft End Details 0.04 A 0.04 dia.A 4 × 7 dia. 0.02 Refer to 4.3.4 Shaft End Specifications for SGM7A- 15 to -70 on page 4-18 for details.
  • Page 63 4.3 External Dimensions 4.3.3 Servomotors: SGM7A-15 to -70 SGM7A-30 to -50 0.04 A Shaft End Details 0.04 dia.A 4 × 9 dia. 0.02 Refer to 4.3.4 Shaft End Specifications for SGM7A- 182.5 15 to -70 on page 4-18 for details. Unit: mm Shaft End Approx.
  • Page 64 4.3 External Dimensions 4.3.3 Servomotors: SGM7A-15 to -70 SGM7A-70 Shaft End Details 0.04 A 4 × 9 dia. 0.04 dia. A 0.02 Refer to 4.3.4 Shaft End Specifica- tions for SGM7A-15 to -70 on page 4-18 for details. Unit: mm Leave a minimum space of 70 mm around the Servomotor from walls and other equipment to allow for a sufficient amount of cooling air.

  • Page 65: Shaft End Specifications For Sgm7A-15 To -70

    4.3 External Dimensions 4.3.4 Shaft End Specifications for SGM7A-15 to -70 4.3.4 Shaft End Specifications for SGM7A-15 to -70 SGM7A-  Code Specification Straight without key Straight with key and tap for one location (Key slot is JIS B1301-1996 fastening type.) Servomotor Model SGM7A- Shaft End Details Code: 2 (Straight without Key)

  • Page 66: Connector Specifications

    4.3 External Dimensions 4.3.5 Connector Specifications 4.3.5 Connector Specifications SGM7A-04 and -08 • Encoder Connector Specifications PG 5V Data (+) Receptacle PG 0V Data (-) Size: M12 Part number: 1419959 Empty Model: SACC-MSQ-M12MS-25-3,2 Hous- BAT (+) Shield Manufacturer: Phoenix Contact BAT (-) •...
  • Page 67 4.3 External Dimensions 4.3.5 Connector Specifications SGM7A-70 • Encoder Connector Specifications PG 5V Data (+) Receptacle PG 0V Data (-) Size: M12 Empty Part number: 1419959 Hous- BAT (+) Shield Model: SACC-MSQ-M12MS-25-3,2 SCO Manufacturer: Phoenix Contact BAT (-) • Servomotor Connector Specifications –...

  • Page 68: Specifications, Ratings, And External Dimensions Of Sgm7G Servomotors

    Specifications, Ratings, and External Dimensions of SGM7G Servomotors This chapter describes how to interpret the model numbers of SGM7G Servomotors and gives their specifications, rat- ings, and external dimensions. Model Designations ....5-2 Specifications and Ratings .

  • Page 69: Model Designations

    5.1 Model Designations Model Designations SGM7G - 05 1st+2nd Σ-7 Series digit digit digit digit digit digits Servomotors: SGM7G 3rd digit 1st+2nd digits Power Supply Voltage 6th digit Shaft End Rated Output Code Specification Specification Code Specification Code 400 VAC 450 W 2 or S Straight without key...

  • Page 70: Specifications And Ratings

    5.2 Specifications and Ratings 5.2.1 Specifications Specifications and Ratings 5.2.1 Specifications Voltage 400 V Model SGM7G- Time Rating Continuous Thermal Class Insulation Resistance 500 VDC, 10 MΩ min. Withstand Voltage 1,800 VAC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction...
  • Page 71 5.2 Specifications and Ratings 5.2.1 Specifications *3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo- motor is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servomotor can withstand depends on the application.

  • Page 72: Servomotor Ratings

    5.2 Specifications and Ratings 5.2.2 Servomotor Ratings 5.2.2 Servomotor Ratings Standard Servomotors Voltage 400 V Model SGM7G- 0.45 0.85 Rated Output *1, *2 Nm Rated Torque 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4 Instantaneous Nm 8.92 13.8 23.3 28.7 45.1...
  • Page 73 Confirm that the operation delay time is appropriate for the actual equipment. • The 24-VDC power supply is not provided by Yaskawa. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake.
  • Page 74 5.2 Specifications and Ratings 5.2.2 Servomotor Ratings High-speed Servomotors Voltage 400 V Model SGM7G- 0.45 0.85 Rated Output *1, *2 Nm 2.86 5.39 8.34 11.5 18.6 28.4 Rated Torque Instantaneous Maximum 50.0 71.1 Nm 8.80 15.0 22.0 28.7 Torque 14.4 19.3 Arms 10.1...
  • Page 75 Confirm that the operation delay time is appropriate for the actual equipment. • The 24-VDC power supply is not provided by Yaskawa. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake.

  • Page 76: Motor Speed-Torque Characteristics

    5.2 Specifications and Ratings 5.2.3 Motor Speed-Torque Characteristics 5.2.3 Motor Speed-Torque Characteristics Standard Servomotors Continuous duty zone Intermittent duty zone SGM7G-05D SGM7G-09D SGM7G-13D SGM7G-20D 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Motor speed (min Motor speed (min Motor speed (min Motor speed (min SGM7G-30D...
  • Page 77 5.2 Specifications and Ratings 5.2.3 Motor Speed-Torque Characteristics High-speed Servomotors Continuous duty zone Intermittent duty zone SGM7G-05D SGM7G-09D SGM7G-13D SGM7G-20D 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 Motor speed (min Motor speed (min Motor speed (min...

  • Page 78: Servomotor Overload Protection Characteristics

    5.2 Specifications and Ratings 5.2.4 Servomotor Overload Protection Characteristics 5.2.4 Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor surrounding air tem- perature of 40°C. Standard Servomotors SGM7G-05 SGM7G-09, -13, and -20 10000 10000 1000...

  • Page 79: Load Moment Of Inertia

    5.2 Specifications and Ratings 5.2.5 Load Moment of Inertia High-speed Servomotors SGM7G-05 SGM7G-09, -13, and -20 10000 10000 1000 1000 SGM7G-20 SGM7G-05 SGM7G-13 SGM7G-09 Torque reference (percent of rated torque) Torque reference (percent of rated torque) SGM7G-30 and -44 10000 1000 SGM7G-30 SGM7G-44...

  • Page 80: Servomotor Heat Dissipation Conditions

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 81: Applications Where The Altitude Of The Servomotor Exceeds 1,000 M

    SERVOPACK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa rep- resentative.

  • Page 82: External Dimensions

    5.3 External Dimensions 5.3.1 Servomotors External Dimensions 5.3.1 Servomotors SGM7G-05 0.04 A Notation : Square dimensions 0.04 dia. A Shaft End Details 0.02 × 6.6 dia. Refer to 5.3.2 Shaft End Speci- fications on page 5-19 for details Unit: mm Shaft End Model Approx.
  • Page 83 5.3 External Dimensions 5.3.1 Servomotors SGM7G-09, -13, and -20 0.04 A Shaft End Details 0.04 di a . A 4 × 9 dia. 0.02 Refer to 5.3.2 Shaft End Specifications on page 5-19 for details. Unit: mm Shaft End Model Approx.
  • Page 84 5.3 External Dimensions 5.3.1 Servomotors SGM7G-30, -44, -55, and -75 Shaft End Details (79) 0.04 A (3.2) 0.02 4 × 13.5 dia. Refer to 5.3.2 Shaft End 0.04 dia. A Specifications on page 5-19 for details. Unit: mm Shaft End Model Approx.
  • Page 85 5.3 External Dimensions 5.3.1 Servomotors SGM7G-1A and -1E 0.06 A Shaft End Details 0.04 dia. (116) 0.04 4 × 13.5 dia. 56 56 Refer to 5.3.2 Shaft End on page 5-19 Specifications for details. Unit: mm Shaft End Model Approx. Dimensions SGM7G- Mass [kg]...

  • Page 86: Shaft End Specifications

    5.3 External Dimensions 5.3.2 Shaft End Specifications 5.3.2 Shaft End Specifications SGM7G-  Code Specification Straight without key 2 or S Straight with key and tap for one location 6 or K (Key slot is JIS B1301-1996 fastening type.) Servomotor Model: SGM7G- Shaft End Details Code: 2 or S* (Straight without Key) +0.030...

  • Page 87: Connector Specifications

    5.3 External Dimensions 5.3.3 Connector Specifications 5.3.3 Connector Specifications     SGM7G-05D F to -44D F and SGM7G-05D R to -30D • Encoder Connector Specifications PG 5V Data (+) Receptacle PG 0V Data (-) Size: M12 Empty Part number: 1419959 Hous- Model: SACC-MSQ-M12MS-25-3,2 SCO BAT (+)

  • Page 88: Servomotor Installation

    Servomotor Installation This chapter describes the installation conditions, proce- dures, and precautions for Servomotors. Installation Conditions ....6-2 6.1.1 Installation Precautions ....6-2 6.1.2 Installation Environment .

  • Page 89: Installation Conditions

    Servomotor cannot be touched during operation. • Continuous operation in one direction, such as for a fan, may damage the bearings due to electrolytic corrosion. Contact your Yaskawa representative if you use a Servomotor for this type of application.

  • Page 90: Installation Environment

    For this reason, period- ically perform continuous operation, such as by running the motor shaft at the rated motor speed. Contact your Yaskawa representative if you will use a servomotor in an application that is not suited to continuous operation.

  • Page 91: Coupling To The Machine

    6.2 Coupling to the Machine 6.2.1 Using a Coupling Coupling to the Machine You can couple the Servomotor to the machine with either a coupling or a belt. Use the following procedures. 6.2.1 Using a Coupling • Use a flexible coupling that is designed for Servomotors. We recommend that you use a dou- ble-spring coupling, which provides some tolerance in eccentricity and deflection.

  • Page 92: Using A Belt

    6.2 Coupling to the Machine 6.2.2 Using a Belt Align the shaft of the Servomotor with the shaft of the machine, and then connect the shafts with the coupling. • When you couple the shafts, make sure that the required centering accuracy is achieved. Vibration will damage the bearings and encoders if the shafts are not properly centered.
  • Page 93 6.2 Coupling to the Machine 6.2.2 Using a Belt Couple the Servomotor to the machine with a belt. When you attach the belt, adjust the belt tension so that the allowable radial load given in the Servo- motor specifications is not exceeded. For details, refer to the catalog of the belt manufacturer. Belt Adjust the belt tension to adjust the radial load.

  • Page 94: Oil And Water Countermeasures

    Oil or water If contact with oil or water is unavoidable, use oil-resistant cables. Oil-resistant cables are not provided by Yaskawa. • If you install the Servomotor with the end of the shaft facing up, do not use the Servomotor where oil or water from the machine, a gear box, or other source would come into contact with the Servomotor.

  • Page 95: Servomotor Temperature Increase

    6.4 Servomotor Temperature Increase Servomotor Temperature Increase This section describes measures to suppress temperature increases in the Servomotor. • When you install the Servomotor, observe the cooling conditions (heat sink sizes) that are given in the specifications for each type of Servomotor. The Servomotor generates heat when it operates.

  • Page 96: Connections Between Servomotors And Servopacks

    Connections between Servomotors and SERVOPACKs This chapter provides precautions on connecting the Ser- vomotors and SERVOPACKs. Wiring Servomotors and SERVOPACKs . . . 7-2 7.1.1 Wiring Precautions ..... . . 7-2...

  • Page 97: Wiring Servomotors And Servopacks

    • Before you connect the wires, make sure that there are no mistakes in the wiring. • Always use the connectors specified by Yaskawa and insert them correctly. • When you connect a connector, check it to make sure there is no foreign matter, such as metal clippings, inside.
  • Page 98 7.1 Wiring Servomotors and SERVOPACKs 7.1.1 Wiring Precautions Grounding Precautions The ground terminal on the SERVOPACK is used to ground the Servomotor. SERVOPACK Ground terminal Servomotor...

  • Page 99: Maintenance And Inspection

    Maintenance and Inspection This chapter describes the maintenance, inspection, and disposal of a Servomotor. Periodic Inspections ....8-2 Service Lives of Parts ....8-3 Disposing of Servomotors .

  • Page 100: Periodic Inspections

     All inspection and maintenance work must be performed only by qualified engineers. There is a risk of electric shock or injury.  Contact your Yaskawa representative for help with failures, repairs, or part replacement. Basic Inspection and Maintenance Item...

  • Page 101: Service Lives Of Parts

    The following table gives the standard service lives of the parts of the Servomotor. Contact your Yaskawa representative using the following table as a guide. After an examination of the part in question, we will determine whether the part should be replaced. Even if the service life of a part has not expired, replacement may be required if abnormalities occur.

  • Page 102: Disposing Of Servomotors

    8.3 Disposing of Servomotors Disposing of Servomotors When disposing of a Servomotor, treat it as ordinary industrial waste. However, local ordinances and national laws must be observed. Implement all labeling and warnings as a final product as required.

  • Page 103: Appendices

    Appendices The appendices provide information to use when selecting Servomotor capacities. Reference Information for Servomotor Capacity Selection ..9-2 9.1.1 Formulas Required to Select the Servomotor Capacity ....... 9-2 9.1.2 for Simple Diagrams .

  • Page 104: Reference Information For Servomotor Capacity Selection

    9.1 Reference Information for Servomotor Capacity Selection 9.1.1 Formulas Required to Select the Servomotor Capacity Reference Information for Servomotor Capacity Selection 9.1.1 Formulas Required to Select the Servomotor Capacity Linear Motion Type of Motion Rotary Motion Horizontal Axis Vertical Axis Servomotor μ...

  • Page 105: Gd 2 For Simple Diagrams

    9.1 Reference Information for Servomotor Capacity Selection 9.1.2 GD for Simple Diagrams Continued from previous page. Linear Motion Type of Motion Rotary Motion Horizontal Axis Vertical Axis 2π Minimum Braking 60 ( Time (s) 2π Load Moving Power Load Acceleration 2π...

  • Page 106: Conversions Between Engineering Units And Si Units

    9.1 Reference Information for Servomotor Capacity Selection 9.1.3 Conversions between Engineering Units and SI Units Continued from previous page. Center of gravity General formula for diameter of rotation when rotary shaft Is outside rotating body General Formula When Rotary Shaft Is outside Rotary shaft Rotating Body : Diameter of rotation when shaft that is parallel to rotary shaft and...

  • Page 107: Application Examples By Type Of Application

    9.1 Reference Information for Servomotor Capacity Selection 9.1.4 Application Examples by Type of Application 9.1.4 Application Examples by Type of Application Rotating Body Horizontal Ball Screw Vertical Ball Screw Friction μ W(kg) Gear ratio coefficient (kg) (kg) μ Machine (kg) Configuration (kg) (kg)
  • Page 108 9.1 Reference Information for Servomotor Capacity Selection 9.1.4 Application Examples by Type of Application Continued from previous page. Roll Feeder Rack and Pinion (kg) Bearing friction μ2 Applied pressure, N (kg) coefficient W(kg) (kg) μ Tension, F (kg) W(kg) Machine Configuration μ1 φ...
  • Page 109 9.1 Reference Information for Servomotor Capacity Selection 9.1.4 Application Examples by Type of Application Continued from previous page. Chains and Timing Belts Dollies (kg) W(kg) W(kg) (kg) Machine Configuration φ dp(mm) φ C: Resistance to travel (kg/t) dp(mm) Number of teeth, Z Pitch, L (mm) Load speed (m/min)
  • Page 110 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 86B <1>-0 WEB revision number Revision number Published in Japan September 2015 Date of publication Date of Rev.
  • Page 111 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

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