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.
Manual Σ Series Σ-7S/ ERVOPACK s Option Module U ser’ Manual Σ-7-Series Servomotor Product Manuals (such as this manual) Σ-7-Series Σ-7C SERVOPACK Product Manual Σ-7-Series Σ-7C SERVOPACK Troubleshooting Manual Enclosed Enclosed Built-in Function Manuals Enclo ed Σ-7-Serie s Peripheral Device Selection ...
-7-Series AC Servo Drive
Linear Servomotor
Product Manual
Model: SGLG/SGLF/SGLT
MANUAL NO. SIEP S800001 37D
Basic Information on Servomotors 1
Capacity Selection 2
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5
Equipment Design Precautions 6
Servomotor Installation 7
Connecting Linear Encoders 8
Connections between Servomotors and SERVOPACKs
9
Maintenance and Inspection 10
Copyright © 2014 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
About this Manual
This manual provides information required to select, install, connect, and maintain Linear Servomotors for -7-Series AC Servo Drives. Read and understand this manual to ensure correct usage of the -7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table. Refer to these chapters as required.
Chapter 1 2 3
4
5 6 7 8 9 10
Chapter Title
Basic Information on Servomotors
Capacity Selection
Specifications, Ratings, and External Dimensions of SGLG Servomotors Specifications, Ratings, and External Dimensions of SGLF Servomotors Specifications, Ratings, and External Dimensions of SGLT Servomotors Equipment Design Precautions
Servomotor Installation
Connecting Linear Encoders
Connections between Servomotors and SERVOPACKs
Maintenance and Inspection
Contents Provides basic information on Linear Servomotors, including Servomotor part names and combinations with SERVOPACKs. Describes calculation methods to use when selecting Servomotor capacities.
Describes how to interpret the model numbers of SGLG Servomotors and gives their specifications, ratings, and external dimensions.
Describes how to interpret the model numbers of SGLF Servomotors and gives their specifications, ratings, and external dimensions.
Describes how to interpret the model numbers of SGLT Servomotors and gives their specifications, ratings, and external dimensions.
Provides precautions for equipment design. Describes the installation conditions, procedures, and precautions for Servomotors. Describes the conditions and procedures for mounting linear encoders. Describes the cables that are used to connect the Servomotors and SERVOPACKs. It also provides information on peripheral devices and provides related precautions. Describes the maintenance, inspection, and disposal of a Servomotor.
iii
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required.
System
Components
Machine Controllers
Servo Drives
Catalogs
Machine Controller and Servo Drive
General Catalog
MP3300 Catalog
-7-Series Catalog
Machine Controllers
Built-in Function
Manuals
Option Module User's Manuals
SERVOPACKs: -7S and -7W
SERVOPACKs with Built-in Controllers: -7C
Enclosed Documents
-7-Series -7C SERVOPACK
Built-in Function
Manuals
Product Manual
-7-Series -7C SERVOPACK
Troubleshooting Manual
Manuals
Enclosed Documents
-7-Series -7S/-7W SERVOPACK Product Manuals
-7-Series -7S/-7W SERVOPACK Hardware Option
Product Manuals
-7-Series -7S/-7W SERVOPACK FT/EX
Product Manuals
Option Module
User's Manual
Servomotors
Enclosed Documents
-7-Series Servomotor Product Manuals (such as this manual)
Other Documents
-7-Series Peripheral Device
Selection Manual
-7-Series MECHATROLINK Communications
Command Manuals
Programming Manuals
-7-Series Operation Interface
Operating Manuals
Distributed I/O Module
User's Manual
iv
Classification
Machine Controller and Servo Drive General Catalog
Document Name
Machine Controller and AC Servo Drive Solutions Catalog
MP3300 Catalog
Machine Controller MP3300
-7-Series Catalog
AC Servo Drives -7 Series
-7-Series AC Servo Drive -7C SERVOPACK Motion Control User's Manual
Built-in Function Manuals
Machine Controller MP3000 Series Communications User's Manual
Option Module User's Manuals
Machine Controller MP2000 Series Communication Module User's Manual
Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User's Manual
Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User's Manual
Machine Controller MP2000 Series I/O Module User's Manual
Machine Controller MP2000 Series Analog Input/Analog Output Module AI-01/AO-01 User's Manual
Machine Controller MP2000 Series Counter Module CNTR-01 User's Manual
Document No. KAEP S800001 22 KAEP C880725 03 KAEP S800001 23 SIEP S800002 03
SIEP C880725 12
Description
Describes the features and application examples for combinations of MP3000-Series Machine Controllers and -7-Series AC Servo Drives.
Provides detailed information on MP3300 Machine Controllers, including features and specifications.
Provides detailed information on 7-Series AC Servo Drives, including features and specifications.
Provides detailed information on the specifications, system configuration, and application methods of the Motion Control Function Modules (SVD, SVC4, and SVR4) for 7-Series -7C SERVOPACKs.
Provides detailed information on the specifications, system configuration, and communications connection methods for the Ethernet communications that are used with MP3000-Series Machine Controllers and -7-Series -7C SERVOPACKs.
SIEP C880700 04
SIEP C880700 36 SIEP C880700 39
Provide detailed information on the specifications and communications methods for the Communications Modules that can be mounted to MP3000-Series Machine Controllers and -7-Series -7C SERVOPACKs.
SIEP C880700 34
SIEP C880700 26
Provide detailed information on the specifications and communications methods for the I/O Modules that can be mounted to MP3000Series Machine Controllers and 7-Series -7C SERVOPACKs.
SIEP C880700 27
Continued on next page.
v
Classification
Enclosed Documents
-7-Series -7C SERVOPACK Product Manual -7-Series -7C SERVOPACK Troubleshooting Manual
Document Name
-7-Series AC Servo Drive -7S and -7W SERVOPACK Safety Precautions
Continued from previous page.
Document No.
Description
Provides detailed information for TOMP C710828 00 the safe usage of -7-Series
SERVOPACKs.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Safety Precautions Option Module
TOBP C720829 00
Provides detailed information for the safe usage of Option Modules.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Installation Guide Command Option Module
Provides detailed procedures for TOBP C720829 01 installing the Command Option
Module in a SERVOPACK.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Installation Guide Fully-closed Module
Provides detailed procedures for TOBP C720829 03 installing the Fully-closed Module in
a SERVOPACK.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Installation Guide Safety Module
Provides detailed procedures for TOBP C720829 06 installing the Safety Module in a
SERVOPACK.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Installation Guide INDEXER Module
Provides detailed procedures for TOBP C720829 02 installing the INDEXER Module in a
SERVOPACK.
-V-Series/-V-Series for Large-Capacity Models/ -7-Series Installation Guide DeviceNet Module
-7-Series AC Servo Drive -7C SERVOPACK Product Manual
Provides detailed procedures for TOBP C720829 07 installing the DeviceNet Module in a
SERVOPACK.
SIEP S800002 04
Provides detailed information on selecting -7-Series -7C SERVOPACKs; installing, connecting, setting, testing in trial operation, and tuning Servo Drives; writing, monitoring, and maintaining programs; and other information.
-7-Series AC Servo Drive -7C SERVOPACK Troubleshooting Manual
SIEP S800002 07
Provides detailed troubleshooting information for -7-Series -7C SERVOPACKs.
Continued on next page.
vi
Classification
-7-Series -7S/-7W SERVOPACK Product Manuals
-7-Series -7S/-7W SERVOPACK with Hardware Option Specifications Product Manuals
Document Name
-7-Series AC Servo Drive -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual
Document No. SIEP S800001 28
Continued from previous page. Description
-7-Series AC Servo Drive -7S SERVOPACK with MECHATROLINK-II Communications References Product Manual
SIEP S800001 27
-7-Series AC Servo Drive -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
SIEP S800001 26
-7-Series AC Servo Drive -7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual
SIEP S800001 64
Provide detailed information on selecting -7-Series SERVOPACKs and information on installing, connecting, setting, performing trial operation for, tuning, monitoring, and maintaining the Servo Drives.
-7-Series AC Servo Drive -7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual
SIEP S800001 70
-7-Series AC Servo Drive -7W SERVOPACK with MECHATROLINK-III Communications References Product Manual
SIEP S800001 29
-7-Series AC Servo Drive -7S/-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Product Manual
SIEP S800001 73
-7-Series AC Servo Drive -7W/-7C SERVOPACK with Hardware Option Specifications HWBB Function Product Manual
SIEP S800001 72
Provide detailed information on Hardware Options for -7-Series SERVOPACKs.
Continued on next page.
vii
Classification
-7-Series -7S/-7W SERVOPACK FT/EX Product Manuals
Document Name
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Indexing Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Tracking Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Application with Special Motor, SGM7D Motor Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Press and Injection Molding Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Transfer and Alignment Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Torque/Force Assistance for Conveyance Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Cutting Application Feed Shaft Motor Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Three-Point Latching for Conveyance Application Product Manual
-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for Semi-/Fully-Closed Loop Control Online Switching for Conveyance Application Product Manual
-7-Series AC Servo Drive -7W SERVOPACK with FT/EX Specification for Gantry Applications Product Manual
Document No. SIEP S800001 84 SIEP S800001 89 SIEP S800001 91 SIEP S800001 94 SIEP S800001 95 SIEP S800002 09 SIEP S800002 10 SIEP S800002 17 SIEP S800002 27 SIEP S800002 29
Continued from previous page. Description
Provide detailed information on the FT/EX Option for -7-Series SERVOPACKs.
Continued on next page.
viii
Classification Option Module User's Manual
Enclosed Documents
Document Name
AC Servo Drives -V Series/-V Series for Large-Capacity Models/ -7 Series User's Manual Safety Module
Document No.
Continued from previous page. Description
SIEP C720829 06
Provides details information required for the design and maintenance of a Safety Module.
AC Servo Drive Rotary Servomotor Safety Precautions
Provides detailed information for TOBP C230260 00 the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor Linear Series Safety Precautions
Provides detailed information for TOBP C230800 00 the safe usage of Linear Servomo-
tors.
-7-Series AC Servo Drive Rotary Servomotor Product Manual
SIEP S800001 36
-7-Series Servomotor Product Manuals
-7-Series Peripheral Device Selection Manual
-7-Series MECHATROLINK Communications Command Manuals
-7-Series AC Servo Drive Linear Servomotor Product Manual
This manual (SIEP S800001 37)
Provide detailed information on selecting, installing, and connecting the -7-Series Servomotors.
-7-Series AC Servo Drive Direct Drive Servomotor Product Manual
-7-Series AC Servo Drive Peripheral Device Selection Manual
-7-Series AC Servo Drive MECHATROLINK-II Communications Command Manual
-7-Series AC Servo Drive MECHATROLINK-III Communications Standard Servo Profile Command Manual
SIEP S800001 38
SIEP S800001 32
Provides the following information in detail for -7-Series Servo Systems. · Cables: Models, dimensions, wir-
ing materials, connector models,
and connection specifications · Peripheral devices: Models,
specifications, diagrams, and
selection (calculation) methods
SIEP S800001 30
Provides detailed information on the MECHATROLINK-II communications commands that are used for a -7-Series Servo System.
SIEP S800001 31
Provides detailed information on the MECHATROLINK-III communications standard servo profile commands that are used for a -7Series Servo System.
Continued on next page.
ix
Classification
Programming Manuals
-7-Series Operation Interface Operating Manuals
Distributed I/O Module User's Manual
Document Name
Machine Controller MP3000 Series Ladder Programming Manual
Machine Controller MP3000 Series Motion Programming Manual
Machine Controller MP2000/MP3000 Series Engineering Tool MPE720 Version 7 User's Manual
Document No. SIEP C880725 13
SIEP C880725 14
Continued from previous page.
Description
Provides detailed information on the ladder programming specifications and instructions for MP3000Series Machine Controllers and 7-Series -7C SERVOPACKs.
Provides detailed information on the motion programming and sequence programming specifications and instructions for MP3000Series Machine Controllers and 7-Series -7C SERVOPACKs.
SIEP C880761 03
Describes in detail how to operate MPE720 version 7.
-7-Series AC Servo Drive Digital Operator Operating Manual
SIEP S800001 33
Describes the operating procedures for a Digital Operator for a -7-Series Servo System.
AC Servo Drive Engineering Tool SigmaWin+ Operation Manual
MECHATROLINK-III Compatible I/O Module User's Manual
SIET S800001 34
Provides detailed operating procedures for the SigmaWin+ Engineering Tool for a -7-Series Servo System.
SIEP C880781 04
Describes the functions, specifications, operating methods, and MECHATROLINK-III communications for the Remote I/O Modules for MP2000/MP3000-Series Machine Controllers.
x
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Term Servomotor SERVOPACK Servo Drive
Main Circuit Cable
Meaning A -7-Series Linear Servomotor. A -7-Series Servo Amplifier. The combination of a Servomotor and SERVOPACK. One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
Trademarks
· MECHATROLINK is a trademark of the MECHATROLINK Members Association. · QR code is a trademark of Denso Wave Inc. · Other product names and company names are the trademarks or registered trademarks of the
respective company. "TM" and the ® mark do not appear with product or company names in this manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not result in machine damage.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Term
Example Indicates operating or setting examples. Information Indicates supplemental information to deepen understanding or useful information.
xi
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.
DANGER
Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in fire.
NOTICE
Indicates precautions that, if not heeded, could result in property damage.
xii
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the product.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
Do not remove covers, cables, connectors, or optional devices while power is being supplied to the SERVOPACK. There is a risk of electric shock, operational failure of the product, or burning.
WARNING
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according to local electrical codes (100 or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 or less for a SERVOPACK with a 400-VAC power supply). There is a risk of electric shock or fire.
Do not attempt to disassemble, repair, or modify the product. There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servomotors, and other components can be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components. There is a risk of burn injury.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables. There is a risk of failure, damage, or electric shock.
Do not use the product in an environment that is subject to water, corrosive gases, or flammable gases, or near flammable materials. There is a risk of electric shock or fire.
NOTICE
Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts. Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs. Always use a Servomotor and SERVOPACK in one of the specified combinations. Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of product failure.
Storage Precautions
CAUTION
Store the Magnetic Way of a Linear Servomotor in the package that was used for delivery.
Do not place an excessive load on the product during storage. (Follow all instructions on the packages.) There is a risk of injury or damage.
xiii
NOTICE
Do not install or store the product in any of the following locations. · Locations that are subject to direct sunlight · Locations that are subject to ambient temperatures that exceed product specifications · Locations that are subject to relative humidities that exceed product specifications · Locations that are subject to condensation as the result of extreme changes in temperature · Locations that are subject to corrosive or flammable gases · Locations that are near flammable materials · Locations that are subject to dust, salts, or iron powder · Locations that are subject to water, oil, or chemicals · Locations that are subject to vibration or shock that exceeds product specifications · Locations that are subject to radiation If you store or install the product in any of the above locations, the product may fail or be damaged.
Although machined surfaces are covered with an anticorrosive coating, rust can develop due to storage conditions or the length of storage. If you store the product for more than six months, reapply an anticorrosive coating to machined surfaces, particularly the core.
Consult with your Yaskawa representative if you have stored products for an extended period of time.
Transportation Precautions
CAUTION
Transport the product in a way that is suitable to the mass of the product.
Do not hold onto the cables attached to the Moving Coil when you move a Linear Servomotor. There is a risk of disconnection, damage, or injury.
Make sure that the eyebolts are securely attached to the Linear Servomotor with no looseness before you use them to move the Linear Servomotor. There is a risk of injury or damage.
Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine. There is a risk of damage or injury.
When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners. There is a risk of injury.
Do not hold onto the magnet protective cover when you move a Magnetic Way. There is a risk of injury from the edges of the cover. There is also a risk of deforming the cover.
Do not place an excessive load on the product during transportation. (Follow all instructions on the packages.) There is a risk of injury or damage.
NOTICE
A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
Do not subject connectors to shock. There is a risk of faulty connections or damage.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames, plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more. If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
Do not overtighten the eyebolts on a SERVOPACK or Servomotor. If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
xiv
Installation Precautions
DANGER
The Magnetic Way of a Linear Servomotor uses a strong permanent magnet. To ensure safety and prevent accidents, observe the following precautions when you install the Linear Servomotor. If you have a heart pacemaker or any other electronic medical device, do not go near the location of or near a machine where the Magnetic Way of a Linear Servomotor is being used. The influence of the magnetism may cause the medical device to malfunction or fail.
CAUTION
Make sure that there are no magnetic substances, such pieces of iron, near the worksite before you unpack or install the Magnetic Way. There is a risk of injury or damage to the magnets in the Magnetic Way due to the magnetic attraction of the Magnetic Way.
Securely mount the Servomotor to the machine. If the Servomotor is not mounted securely, it may come off the machine during operation.
Use all of the mounting screw holes on the Linear Servomotor to mount the Servomotor to the machine. There is a risk of damage or injury if the Servomotor is not mounted correctly.
Do not use the mounting screw holes on a Linear Servomotor for any other purpose. There is a risk of damage or injury if the Servomotor is not mounted correctly.
The Magnetic Way of a Linear Servomotor uses a strong permanent magnet. To ensure safety and prevent accidents, observe the following precautions when you install the Linear Servomotor. · Do not bring magnetic substances (including Moving Coils and tools) near the Magnetic Way. There is a risk of serious injury (such as pinching your hand) due to the large magnetic attraction exerted by the magnetic side of the Magnetic Way. Pay sufficient attention to the worksite and surrounding area to prevent magnetic substances from approaching the Magnetic Way. · Use only nonmagnetic tools for all work.
Install the Servomotor or SERVOPACK in a way that will support the mass given in technical documents.
Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resistors on nonflammable materials. Installation directly onto or near flammable materials may result in fire.
Do not step on or place a heavy object on the product. There is a risk of failure, damage, or injury.
Do not allow any foreign matter to enter the SERVOPACK or Servomotor. There is a risk of failure or fire.
When you remove the dummy plates for reducing magnetic force from the Magnetic Way of an SGLF Linear Motor, be careful of the magnetic attraction of the Magnetic Way. Do not place the dummy plates close to the Magnetic Way after you remove them. There is a risk of injury, damage to the magnets in the Magnetic Way, or damage to the magnet protective cover.
Implement safety measures, such as installing a cover so that the Linear Servomotor cannot be touched accidentally during operation.
xv
NOTICE
Do not install or store the product in any of the following locations. · Locations that are subject to direct sunlight · Locations that are subject to ambient temperatures that exceed product specifications · Locations that are subject to relative humidities that exceed product specifications · Locations that are subject to condensation as the result of extreme changes in temperature · Locations that are subject to corrosive or flammable gases · Locations that are near flammable materials · Locations that are subject to dust, salts, or iron powder · Locations that are subject to water, oil, or chemicals · Locations that are subject to vibration or shock that exceeds product specifications · Locations that are subject to radiation If you store or install the product in any of the above locations, the product may fail or be damaged.
The Magnetic Way of a Linear Servomotor uses a strong permanent magnet. To ensure safety and prevent accidents, observe the following precautions when you install the Linear Servomotor. Do not work on a Magnetic Way with electronic devices (such as clocks, calculators, or computers) or magnetic storage media (such as IC cards or magnetic cards) on your person or bring such devices or media near a Magnetic Way. The influence of the magnetism may cause the device or media to malfunction or fail.
Use the product in an environment that is appropriate for the product specifications. If you use the product in an environment that exceeds product specifications, the product may fail or be damaged.
A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
In an application where the Servomotor would be subjected to large quantities of water or oil, implement measures to protect the Servomotor from large quantities of liquid, such as installing covers to protect against water and oil.
In an environment that contains magnetic substances, such iron cuttings or powder, implement measures to prevent the magnetic substances from adhering to or entering the product. Be particularly careful not to let foreign matter, such as metals, enter the gaps between a Magnetic Way and Moving Coil. If foreign material adheres in the gaps between a Moving Coil and Magnetic Way, operation may stop or burning may occur.
Wiring Precautions
DANGER
Do not change any wiring while power is being supplied. There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure.
xvi
CAUTION
Observe the precautions and instructions for wiring and trial operation precisely as described in this document. Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.
Check the wiring to be sure it has been performed correctly. Connectors and pin layouts are sometimes different for different models. Always confirm the pin layouts in technical documents for your model before operation. There is a risk of failure or malfunction.
Connect wires to power supply terminals and motor connection terminals securely with the specified methods and tightening torque. Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire.
Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Signal Cables and Encoder Cables.
The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or Servomotor Main Circuit Cables.
Observe the following precautions when wiring the SERVOPACK's main circuit terminals. · Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed. · If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK before you wire it. · Insert only one wire per insertion hole in the main circuit terminals. · When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into contact with adjacent wires.
NOTICE
Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.
Securely tighten cable connector screws and lock mechanisms. Insufficient tightening may result in cable connectors falling off during operation.
Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Signal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm. If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.
For a motor with a built-in temperature sensor, use the temperature sensor to protect the motor from overheating.
Secure the cable from the Moving Coil of the Linear Servomotor so that it moves together with the Moving Coil. There is a risk of cable disconnection.
xvii
Operation Precautions
WARNING
Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made.
Do not radically change the settings of the parameters. There is a risk of unstable operation, machine damage, or injury.
Install limit switches or stoppers at the ends of the moving parts of the machine to prevent unexpected accidents. There is a risk of machine damage or injury.
Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT utility function is executed. Take necessary precautions. There is a risk of machine damage or injury.
When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake according to the SERVOPACK Option specifications and settings. The coasting distance will change with the moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check the coasting distance during trial operation and implement suitable safety measures on the machine.
Do not enter the machine's range of motion during operation. There is a risk of injury.
Do not touch the moving parts of the Servomotor or machine during operation. There is a risk of injury.
CAUTION
Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows: · If you turn OFF the main circuit power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake. · If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual for the SERVOPACK.
Linear Servomotors do not have holding brakes. If the load mass is large or the speed is high, the coasting distance will increase even if you perform a rapid stop with a dynamic brake. Install safety devices (external brakes or stoppers) so that the ends of the moving parts of the machine will not strike anything.
NOTICE
Always measure the vibration of the Servomotor with the Servomotor mounted to the machine and confirm that the vibration is within the allowable value. If the vibration is too large, the Servomotor will be damage quickly and bolts may become loose.
When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly.
If a high gain causes vibration, the Servomotor will be damaged quickly. An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating. If an alarm or warning occurs, it may interrupt the current process and stop the system.
xviii
Maintenance and Inspection Precautions
DANGER
Do not change any wiring while power is being supplied. There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure.
If you replace a Linear Servomotor, secure the machine before you replace the Servomotor. There is a risk of injury or equipment damage if the equipment falls.
CAUTION
Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit because high voltage may still remain in the SERVOPACK even after turning OFF the power supply. There is a risk of electric shock.
Troubleshooting Precautions
WARNING
The product may suddenly start to operate when the power supply is recovered after a momentary power interruption. Design the machine to ensure human safety when operation restarts. There is a risk of injury.
CAUTION
When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm or turn the power supply OFF and ON again to restart operation. There is a risk of injury or machine damage.
If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm. There is a risk of injury or machine damage.
If there is the possibility that an external force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs, install an external braking mechanism that ensures safety.
xix
Disposal Precautions
CAUTION
When you dispose of a Linear Servomotor, heat the Magnetic Way to 300°C or higher for one hour to demagnetize it. There is a risk of injury from the strong magnetic attraction.
Correctly discard the product as stipulated by regional, local, and municipal laws and regulations. Be sure to include these contents in all labelling and warning notifications on the final product as necessary.
General Precautions
Figures provided in this document are typical examples or conceptual representations. There may be differences between them and actual wiring, circuits, and products.
The products shown in illustrations in this document are sometimes shown without covers or protective guards. Always replace all covers and protective guards before you use the product.
If you need a new copy of this document because it has been lost or damaged, contact your nearest Yaskawa representative or one of the offices listed on the back of this document.
This document is subject to change without notice for product improvements, specifications changes, and improvements to the manual itself. We will update the document number of the document and issue revisions when changes are made.
Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
xx
Warranty
Details of Warranty
Warranty Period The warranty period for a product that was purchased (hereinafter called the "delivered product") is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner. Warranty Scope Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes. · Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications · Causes not attributable to the delivered product itself · Modifications or repairs not performed by Yaskawa · Use of the delivered product in a manner in which it was not originally intended · Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa · Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
· Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
· Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
· The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.
· Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.
xxi
Suitability for Use
· It is the customer's responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.
· The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
· Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure. · Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals · Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations · Systems, machines, and equipment that may present a risk to life or property · Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day · Other systems that require a similar high degree of safety
· Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.
· The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.
· Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.
xxii
Compliance with UL Standards, EU Directives, and Other Safety Standards
Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards.
North American Safety Standards (UL)
Product SERVOPACKs Rotary Servomotors
Direct Drive Servomotors
Linear Servomotors
Model
· SGD7S · SGD7W
· SGM7M · SGM7A · SGM7J · SGM7P · SGM7G · SGMMV
· SGM7E · SGM7F-A,
-B, -C, and -D (Small-Capacity
Servomotors with Cores) · SGMCV · SGMCS-B,
-C, -D, and -E (Small-Capacity,
Coreless Servomotors)
· SGLGW* · SGLFW* · SGLFW2 · SGLTW*
UL Standards (UL File No.) UL 61800-5-1 (E147823) CSA C22.2 No.274
UL 1004-1 UL 1004-6 (E165827)
UL 1004-1 UL 1004-6 (E165827)
UL 1004-1 UL 1004-6 (E165827)
* Only products with derating specifications are in compliance with the UL Standards. Estimates are available for those products. Contact your Yaskawa representative for details.
xxiii
EU Directives
Product SERVOPACKs
Rotary Servomotors
Direct Drive Servomotors
Linear Servomotors
SGD7S
Model
EU Directives
Machinery Directive 2006/42/EC
· SGD7S · SGD7W SGMMV
EMC Directive 2014/30/EU
Low Voltage Directive 2014/35/EU RoHS Directive 2011/65/EU
EMC Directive 2004/108/EC
Low Voltage Directive 2006/95/EC RoHS Directive 2011/65/EU
· SGM7M · SGM7J · SGM7A · SGM7P · SGM7G
· SGM7E · SGM7F · SGMCV · SGMCS-B,
-C, -D, and -E (Small-Capacity, Coreless Servomotors)*1
EMC Directive 2014/30/EU
Low Voltage Directive 2014/35/EU RoHS Directive 2011/65/EU
EMC Directive 2014/30/EU
Low Voltage Directive 2014/35/EU RoHS Directive 2011/65/EU
· SGLG*2 · SGLF*2 · SGLF2 · SGLT*2
EMC Directive 2014/30/EU
Low Voltage Directive 2014/35/EU RoHS Directive 2011/65/EU
Harmonized Standards
EN ISO13849-1: 2015
EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment) EN 50178 EN 61800-5-1
EN 50581
EN 55011 group 1, class A EN 61000-6-2 EN 61800-3 (Category C2, Second environment) EN 60034-1 EN 60034-5
EN 50581
EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment) EN 60034-1 EN 60034-5
EN 50581
EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment) EN 60034-1 EN 60034-5
EN 50581
EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)
EN 60034-1
EN 50581
*1. Only models with "-E" at the end of model numbers are in compliance with the standards. Estimates are available for those models. Contact your Yaskawa representative for details.
*2. For Moving Coils, only models with "-E" at the end of model numbers are in compliance with the standards.
Note: 1. We declared the CE Marking based on the harmonized standards in the above table. 2. These products are for industrial use. In home environments, these products may cause electromagnetic interference and additional noise reduction measures may be necessary.
xxiv
Safety Standards
Product
Model
SERVOPACKs
SGD7S
Safety Standards Safety of Machinery
Functional Safety EMC
Standards
EN ISO13849-1: 2015 IEC 60204-1
IEC 61508 series IEC 62061 IEC 61800-5-2
IEC 61326-3-1
Safety Parameters
Item
Safety Integrity Level
Mission Time
Probability of Dangerous Failure per Hour
Performance Level Mean Time to Dangerous Failure of Each Channel Average Diagnostic Coverage Stop Category Safety Function Hardware Fault Tolerance Subsystem
Standards IEC 61508 IEC 62061 IEC 61508 IEC 61508 IEC 62061 EN ISO 13849-1 EN ISO 13849-1 EN ISO 13849-1 IEC 60204-1 IEC 61800-5-2 IEC 61508 IEC 61508
Performance Level
SIL3
SILCL3
10 years
20 years
PFH = 4.04 × 10-9 [1/h] PFH = 4.05 × 10-9 [1/h]
(4.04% of SIL3)
(4.05% of SIL3)
PLe (Category 3)
MTTFd: High
DCavg: Medium
Stop category 0
STO
HFT = 1
B
xxv
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi Compliance with UL Standards, EU Directives, and Other Safety Standards . . .xxiii
1
Basic Information on Servomotors
1.1 Servomotor Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 1.1.2 1.1.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2 Interpreting the Nameplates. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1 Moving Coils . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3 1.2.2 Magnetic Ways . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.3 Outline of Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4 1.3.2 SERVOPACKs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.4 Combinations of Servomotors and SERVOPACKs . . . . . . . . . . . 1-5
2
Capacity Selection
2.1 Selecting the Servomotor Capacity . . . . . . . . . . . . . . . . . . . . . . 2-2
3
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.1 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 3.1.2 3.1.3
Moving Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 Magnetic Way. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors) . . . . . . . .3-4
3.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7 3.2.8
Specifications: With Standard-Force Magnetic Way . . . . . . . . . . . . . . . . . . .3-5 Ratings: With Standard-Force Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . .3-6 Force-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . .3-8 Specifications: With High-Force Magnetic Way . . . . . . . . . . . . . . . . . . . . . .3-9 Ratings: With High-Force Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 Force-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . .3-11
xxvi
3.3 External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.3.1 3.3.2 3.3.3 3.3.4
SGLGW-30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 SGLGW-40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 SGLGW-60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 SGLGW-90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.4 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.4.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
4
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.1 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 4.1.2 4.1.3
SGLFW2 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 SGLFW Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Precautions on Moving Coils with Polarity Sensors (Hall Sensors) . . . . . . . 4-5
4.2 Ratings and Specifications: SGLFW2 Models . . . . . . . . . . . . . . 4-6
4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Ratings: Self-Cooled Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 Force-Motor Speed Characteristics: Self-Cooled Models . . . . . . . . . . . . . . 4-9 Ratings: Water-Cooled Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 Force-Motor Speed Characteristics: Water-Cooled Models . . . . . . . . . . . . 4-11 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . 4-12
4.3 Ratings and Specifications: SGLFW Models . . . . . . . . . . . . . . 4-13
4.3.1 4.3.2 4.3.3 4.3.4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14 Force-Motor Speed Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . 4-16
4.4 External Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.4.7 4.4.8 4.4.9 4.4.10
SGLFW2-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17 SGLFW2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22 SGLFW2-90: Self-Cooled Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25 SGLFW2-90: Water-Cooled Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28 SGLFW2-90: Self-Cooled and Water-Cooled Models . . . . . . . . . . . . . . . . 4-30 SGLFW2-1D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31 SGLFW-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34 SGLFW-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36 SGLFW-50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39 SGLFW-1Z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.5 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
4.5.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45 4.5.2 Linear Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
.
5
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.1 Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 5.1.2 5.1.3
Moving Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Precautions on Moving Coils with Polarity Sensors (Hall Sensor) . . . . . . . . 5-4
xxvii
5.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.1 5.2.2 5.2.3 5.2.4
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6 Force-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . .5-9
5.3 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.1 5.3.2 5.3.3 5.3.4 5.3.5 5.3.6
SGLTW-20: Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10 SGLTW-35: Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13 SGLTW-35H: High-efficiency Models . . . . . . . . . . . . . . . . . . . . .5-16 SGLTW-40: Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18 SGLTW-50: High-efficiency Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-21 SGLTW-80: Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-23
5.4 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.4.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26 5.4.2 Linear Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
6
Equipment Design Precautions
6.1 Influence of Magnetic Attraction . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2 6.1.2 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.2 Influence of Magnetic Way Leakage Flux . . . . . . . . . . . . . . . . . 6-4
6.2.1 6.2.2 6.2.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.3 Special Precautions for SGLT Servomotors . . . . . . . . . . . . . . . . 6-6
6.4 Precautions for Water-Cooled Models . . . . . . . . . . . . . . . . . . . . 6-7
7
Servomotor Installation
7.1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2 7.1.2 Installation Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
7.2 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1 7.2.2 7.2.3
SGLG Servomotors (Coreless Models) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3 SGLF Servomotors (Models with F-type Iron Cores) . . . . . . . . . . . . . . . . . . .7-5 SGLT Servomotors (Models with T-type Iron Cores) . . . . . . . . . . . . . . . . . .7-10
7.3 Servomotor Temperature Increase . . . . . . . . . . . . . . . . . . . . . . 7-16
xxviii
8
Connecting Linear Encoders
8.1 Installation Conditions for Linear Encoders . . . . . . . . . . . . . . . . 8-2
8.1.1 8.1.2 8.1.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Mounting Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.1 8.2.2 8.2.3 8.2.4 8.2.5 8.2.6
Linear Encoders from Heidenhain Corporation . . . . . . . . . . . . . . . . . . . . . . 8-4 Linear Encoders from RSF Elektronik GmbH . . . . . . . . . . . . . . . . . . . . . . . . 8-4 Linear Encoders from Renishaw PLC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 Linear Encoders from RLS d.o.o. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 Absolute Linear Encoders from Mitutoyo Corporation . . . . . . . . . . . . . . . . . 8-5 Linear Encoders from Magnescale Co., Ltd. . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.3 Adjusting Linear Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
9
Connections between Servomotors and SERVOPACKs
9.1 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 9.1.2 9.1.3 9.1.4
Linear Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 Serial Converter Unit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 Sensor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 Serial Converter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.2 Wiring Servomotors and SERVOPACKs . . . . . . . . . . . . . . . . . . . 9-7
9.2.1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 9.2.2 Wiring Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
10 Maintenance and Inspection
10.1 Periodic Inspections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.1 Linear Servomotor Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2 10.1.2 Linear Encoder Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.2 Disposing of Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
Revision History
xxix
Basic Information on Servomotors
This chapter provides basic information on Linear Servomotors, including Servomotor part names and combinations with SERVOPACKs.
1.1 Servomotor Part Names . . . . . . . . . . . . . . . 1-2
1.1.1 1.1.2 1.1.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . 1-2 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . 1-2 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Interpreting the Nameplates . . . . . . . . . . . . 1-3
1.2.1 Moving Coils . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.2.2 Magnetic Ways . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Outline of Model Designations . . . . . . . . . . 1-4
1.3.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1.3.2 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Combinations of Servomotors and SERVOPACKs . . 1-5
1
1.1 Servomotor Part Names 1.1.1 SGLG Servomotors
1.1 Servomotor Part Names
1.1.1
SGLG Servomotors
Nameplate Magnetic Way
Winding section Nameplate
Enclosed cable (Sensor Cable)
Base Moving Coil
Polarity Sensor (Hall Sensor)
Enclosed cable (Servomotor Main Circuit Cable)
1.1.2
SGLF Servomotors
Enclosed cable (Sensor Cable)
Moving Coil
Polarity Sensor (Hall Sensor)
Enclosed cable (Servomotor Main Circuit Cable) Note: The Moving Coil nameplate
is attached here.
Dummy plate to reduce magnetic force
Magnet Cover
Magnetic Way
Magnet
Cardboard Magnetic Way yoke
Nameplate Condition with Cardboard Removed
Magnetic Way Details
1.1.3
SGLT Servomotors
Enclosed cable (Sensor Cable)
Moving Coil
Mounting spacer
Dummy plate to reduce magnetic force
Magnet Cover
Polarity Sensor (Hall Sensor)
Enclosed cable (Servomotor Main Circuit Cable) Note: The Moving Coil nameplate
is attached here.
Magnetic Way
Magnet
Cardboard Magnetic Way yoke
Nameplate Condition with Cardboard Removed
Magnetic Way Details
1-2
1.2 Interpreting the Nameplates
The following basic information is provided on the nameplate.
1.2 Interpreting the Nameplates 1.2.1 Moving Coils
1.2.1 Moving Coils
Moving Coil model
QR code
LINEAR SERVO MOTOR
SGLFW2-45A200AS
Ph. 3 Hz 78
W 1120 V 400 A 2.2 Ins. B/B UL/TUV
N 840 m/s4 / 4.5
Rated/Max.
O/N R0B205-101-001
1W
S/N DD0123456789012
SUD
MADE IN JAPAN
Rated output, power supply voltage, rated current, and thermal class
Rated force, rated motor speed, number of phases, and rated current frequency
Order number
Serial number
1.2.2 Magnetic Ways
SGLG Servomotors
LINEAR SERVO MOTOR
TYPE:
SGLGM-30108A
O/N 390021-11-1 S/N D0136A517410001
Made IN JAPAN DATE 13.06
QR code
Magnetic Way Model Order number Serial number
SGLF, SGLT, and SGLF2 Servomotors
1
TYPE: SGLFM2-45714A
Magnetic Way Model
O/N390021-11-1 S/N D0136A517410001
Made IN JAPAN DATE 1306
Order number QR code Serial number
Basic Information on Servomotors
1-3
1.3 Outline of Model Designations 1.3.1 Servomotors
1.3 Outline of Model Designations
1.3.1
Servomotors
This section outlines the model numbers of -7-Series Servomotors. For details, refer to the chapter for your type of Servomotor.
SGL
- 30 A 050 C P
Series
1st
2nd
digit
digit
3rd digit on
Series -7-Series Servomotors
2nd digit Moving Coil/Magnetic Way
1st digit Servomotor Type
Code G F T
Specifications
Reference
Coreless models
Chapter 3
Models with F-type iron core Chapter 4
Models with T-type iron core Chapter 5
Code W W2 M M2
Specification Moving Coil Magnetic Way
3rd digit on The specifications for the 3rd digit on depend on the Servomotor type.
1.3.2
SERVOPACKs
This section outlines the model numbers of -7-Series SERVOPACKs. For details, refer to the manual for your SERVOPACK.
-7-Series -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)
-7-Series -7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual No.: SIEP S800001 27)
-7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)
-7-Series -7W SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 29)
SGD7
Series
- R70 A 00 A 000 000 B
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th
digits
digit
digits
digit
digits
digits
digit
Series -7-Series SERVOPACKs
Code SGD7S SGD7W
SGD7C
Specification
Single-Axis SERVOPACKs Two-Axis SERVOPACKs Two-Axis SERVOPACKs with Built-in Controllers
1st+2nd+3rd digits
Maximum Applicable Motor Capacity
0.05 kW to 15 kW
4th digit Power Supply Voltage 200 VAC
7th digit Design Revision Order Hardware Options
8th+9th+10th digits Specification 11th+12th+13th digits FT/EX Specification
5th+6th digits Interface
14th digit BTO Specification
Analog voltage/pulse train reference MECHATROLINK-II communications reference MECHATROLINK-III communications reference Command Option attachable type
1-4
1.4 Combinations of Servomotors and SERVOPACKs
1.4 Combinations of Servomotors and SERVOPACKs
Linear Servomotor Model
Rated Force
N
Instantaneous Maximum Force N
SERVOPACK Model
SGD7S-
SGD7W- SGD7C-
SGLGW-30A050C
12.5
40
R70A or R70F
SGLGW-30A080C SGLGW-40A140C
25
80
R90A or R90F
47
140
1R6A
SGLG (Coreless Models),
Used with Standard-Force Magnetic Way
SGLGW-40A253C SGLGW-40A365C SGLGW-60A140C SGLGW-60A253C SGLGW-60A365C
93
280
1R6A or 2R1F
140
420
2R8A or 2R8F
2R8A
70
220
1R6A or 2R1F
1R6A
140
440
2R8A or 2R8F
2R8A
210
660
5R5A
SGLGW-90A200C
325
1300
120A
SGLGW-90A370C
550
2200
180A
-
SGLGW-90A535C
750
3000
200A
SGLGW-40A140C
57
230
1R6A or 2R1F
1R6A
SGLG (Coreless Models),
Used with High-Force Magnetic Way
SGLGW-40A253C SGLGW-40A365C SGLGW-60A140C SGLGW-60A253C
114
460
2R8A or 2R8F
171
690
3R8A
85
360
1R6A or 2R1F
170
720
3R8A
2R8A 5R5A 1R6A 5R5A
SGLGW-60A365C
255
1080
7R6A
SGLFW-20A090A
25
86
SGLFW-20A120A
40
125
1R6A or 2R1F
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
1
1R6A or 2R1F
1R6A
SGLF
SGLFW2-30A120A
90
270
(Models with F-type Iron Cores)
SGLFW2-30A230A
180
540
3R8A
170
500
2R8A or 2R8F
- 2R8A
SGLFW2-45A200A
280
840
5R5A
SGLFW2-45A380A
1680 560
1500
180A
SGLFW2-90A200A1 560
120A
SGLFW2-90A200AL 896
1680
-
SGLFW2-90A380A
1120
3360
200A
SGLFW2-90A560A
1680
5040
330A
SGLFW2-1DA380A
1680
5040
200A
SGLFW2-1DA560A
2520
7560
330A
Continued on next page.
Basic Information on Servomotors
1-5
1.4 Combinations of Servomotors and SERVOPACKs
Linear Servomotor Model
SGLT (Models with T-type Iron Cores)
SGLTW-20A170A SGLTW-20A320A SGLTW-20A460A SGLTW-35A170A SGLTW-35A170H SGLTW-35A320A SGLTW-35A320H SGLTW-35A460A SGLTW-40A400B SGLTW-40A600B SGLTW-50A170H SGLTW-50A320H SGLTW-80A400B SGLTW-80A600B
Rated Force
N
130 250 380 220 300 440 600 670 670 1000 450 900 1300 2000
Instantaneous Maximum Force N 380 760 1140 660 600 1320 1200 2000 2600 4000 900 1800 5000 7500
Continued from previous page. SERVOPACK Model
SGD7S-
SGD7W- SGD7C-
3R8A 120A
7R6A 5R5A
5R5A -
120A
-
180A
330A
-
5R5A
120A
330A
-
550A
1-6
Capacity Selection
This chapter describes calculation methods to use when selecting Servomotor capacities.
2.1 Selecting the Servomotor Capacity . . . . . . 2-2
2
2.1 Selecting the Servomotor Capacity
2.1 Selecting the Servomotor Capacity
Contact your Yaskawa representative for information on the Servomotor capacity selection software.
Refer to the following selection examples to select Servomotor capacities with manual calculations.
1. Mechanical Specifications
Load Table Moving Coil Magnetic Way
Item Load Mass Table Mass Motor Speed Feeding Distance Friction Coefficient
Code mW mT v l
Value 1 kg 2 kg 2 m/s 0.76 m 0.2
2. Operation Pattern
FP
v
Motor speed (m/s) FL
Force (N)
FS
ta
tc
td
t
Time (s)
Item Acceleration Time Constant-speed Time Deceleration Time Cycle Time External Force on Linear Motion Section
Code ta tc td t F
Value 0.02 s 0.36 s 0.02 s 0.5 s 0 N
3. Steady-State Force (Excluding Servomotor Moving Coil)
FL = {9.8 × × (mW + mT)} + F = 9.8 × 0.2 × (1 + 2) + 0 = 5.88 (N)
4. Acceleration Force (Excluding Servomotor Moving Coil)
FP
=
(mW
+
mT)
×
v ta
+
FL
=
(1
+
2)
×
2 0.02
+
5.88
=
305.88
(N)
5. Provisional Selection of Linear Servomotor
Selection Conditions · FP Maximum force × 0.9 · Fs Maximum force × 0.9 · Frms Rated force × 0.9
The following Servomotor Moving Coil and Magnetic Way meet the selection conditions. · SGLGW-60A253CP Linear Servomotor Moving Coil · SGLGM-60C Linear Servomotor Magnetic Way
2-2
2.1 Selecting the Servomotor Capacity
Specifications of the Provisionally Selected Servomotor
Item Maximum Force Rated Force Moving Coil Mass (mM) Servomotor Magnetic Attraction (Fatt)
Value 440 (N) 140 (N) 0.82 (kg) 0 (N)
6. Verification of the Provisionally Selected Servomotor
· Steady-State Force
·
FL = {9.8 × (mW + mT + mM) + Fatt} = 0.2 {9.8 × (1 + 2 + 0.82) + 0} = 7.5 (N)
Verification of Acceleration Force
FP = (mW + mT + mM) × ta
+ FL = (1 + 2 + 0.82) ×
2 0.02
+
7.5
= 389.5 (N) Maximum force × 0.9 (= 396 N)... Satisfactory · Verification of Deceleration Force
FS = (mW + mT + mM) ×
ta
- FL = (1 + 2 + 0.82) ×
2 0.02
- 7.5
= 374.5 (N) Maximum force × 0.9 (= 396 N)... Satisfactory
· Verification of Effective Force
Frms =
FP2 ta + FL2 tc + Fs2 td = t
389.52 × 0.02 + 7.52 × 0.36 + 374.52 × 0.02 0.5
= 108.3 (N) Rated force × 0.9 (= 132.3 N)... Satisfactory
7. Result
It has been verified that the provisionally selected Servomotor is applicable.
2
Capacity Selection
2-3
Specifications, Ratings, and External Dimensions of SGLG Servomotors
This chapter describes how to interpret the model numbers of SGLG Servomotors and gives their specifications, ratings, and external dimensions.
3.1 Model Designations . . . . . . . . . . . . . . . . . . 3-2
3.1.1 3.1.2 3.1.3
Moving Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors) . . . . . . . . . . . . . . 3-4
3.2 Ratings and Specifications . . . . . . . . . . . . . 3-5
3.2.1
3.2.2 3.2.3 3.2.4
3.2.5 3.2.6 3.2.7 3.2.8
Specifications: With Standard-Force Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 Ratings: With Standard-Force Magnetic Way . . . 3-6 Force-Motor Speed Characteristics . . . . . . . . . . 3-7 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Specifications: With High-Force Magnetic Way . . 3-9 Ratings: With High-Force Magnetic Way . . . . . . . 3-9 Force-Motor Speed Characteristics . . . . . . . . . 3-10 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.3 External Dimensions . . . . . . . . . . . . . . . . . 3-12
3.3.1 3.3.2 3.3.3 3.3.4
SGLGW-30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12 SGLGW-40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 SGLGW-60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 SGLGW-90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.4 Selecting Cables . . . . . . . . . . . . . . . . . . . . 3-25
3.4.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . 3-25
3
3.1 Model Designations 3.1.1 Moving Coil
3.1 Model Designations
3.1.1
Moving Coil
S G L G W - 30 A 050 C P - E
Linear Series
1st 2nd digit digit
3rd+4th 5th 6th+7th+8th 9th 10th 11th
digits digit
digits
digit digit digit
12th digit
Linear Servomotors
1st digit Servomotor Type
5th digit Power Supply Voltage 10th digit Sensor Specification and Cooling Method
Code
Specification
G Coreless model
2nd digit Moving Coil/Magnetic Way
Code
Specification
W Moving Coil
3rd+4th digits Magnet Height
Code
Specification
30 30 mm
40 40 mm
60 60 mm
90 86 mm
Code
Specification
A 200 VAC
6th+7th+8th digits
Length of Moving Coil
Code
Specification
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
9th digit Design Revision Order A, B...
Specifications
Code
Polarity Sensor
(Hall Sensor)
Cooling Method
None None
Self-cooled
C None
Air-cooled
H Yes
Air-cooled
P Yes
Self-cooled
Applicable Models
All models SGLGW -40A, -60A, -90A All models
11th digit Connector for Servomotor Main Circuit Cable
Code
Specification
None
Connector from Tyco Electronics Japan G.K.
D
Connector from Interconnectron GmbH
Applicable Models
All models
SGLGW -30A, -40A, -60A
12th digit EU Directive Certification
Code E
None
Certified Not certified
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.
3-2
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.1 Model Designations 3.1.2 Magnetic Way
3.1.2
Magnetic Way
S G L G M - 30 108 A
Linear Series Linear Servomotors
1st
2nd
digit digit
3rd+4th 5th+6th+7th 8th
9th
digits
digits
digit digit
1st digit Servomotor Type (Same as for the Moving Coil.)
2nd digit Moving Coil/Magnetic Way
Code
Specification
M Magnetic Way
3rd+4th digits Magnet Height (Same as for the Moving Coil.)
Length of 5th+6th+7th digits Magnetic Way
Code
Specification
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
9th digit Options
Code
Specification
None Standard-force
-M High-force
Applicable Models All models SGLGM-40, -60
8th digit Design Revision Order
A, B, C*...
* 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
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
3
3-3
3.1 Model Designations 3.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors)
3.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors)
When you use a Moving Coil with a Polarity Sensor (Hall Sensor), the Magnetic Way must cover the bottom of the polarity sensor (hall sensor). Refer to the example that shows the correct installation. Note 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 (hall sensor). Refer to the following table.
Correct Installation
Polarity sensor Moving Coil (hall sensor) movement direction
Moving Coil Magnetic Way
Incorrect Installation
Polarity sensor (hall sensor)
Edge of Magnetic Way
Edge of Magnetic Way
Total Length of Moving Coil with Polarity Sensor (Hall Sensor)
A Polarity sensor
(hall sensor)
L L1
Moving Coil
Moving Coil Model
SGLGW-
30A050P
30A080P
Magnetic Way
40A140H 40A140P
40A253H 40A253P
40A365H 40A365P
60A140H 60A140P
60A253H 60A253P
60A365H 60A365P
90A200H 90A200P
90A370H 90A370P
90A535H 90A535P
Length of Moving
Coil, L1 [mm]
50
80
Length of Polarity Sensor (Hall Sensor), A [mm]
0 (Included in the
length of Moving Coil.)
Total Length, L [mm]
50
80
140
156
252.5
16
268.5
365
381
140
156
252.5
16
268.5
365
381
199
199
0
367
(Included in the length of
367
Moving Coil.)
535
535
3-4
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.2
3.2 Ratings and Specifications 3.2.1 Specifications: With Standard-Force Magnetic Way
Ratings and Specifications
3.2.1 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 M 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
Surrounding Air Temperature
0°C to 40°C (with no freezing)
Environmental Conditions
Surrounding Air Humidity
Installation Site
20% to 80% relative humidity (with no condensation)
· Must be indoors and free of corrosive and explosive gases. · Must be well-ventilated and free of dust and moisture. · Must facilitate inspection and cleaning. · Must have an altitude of 1,000 m or less. · Must be free of strong magnetic fields.
Shock Resistance
Impact Acceleration Rate
Number of Impacts
196 m/s2 2 times
Vibration Resistance
Vibration Acceleration Rate
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
3
3-5
3.2 Ratings and Specifications 3.2.2 Ratings: With Standard-Force Magnetic Way
3.2.2 Ratings: With Standard-Force Magnetic Way
Linear Servomotor
30A
40A
60A
Moving Coil Model SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C
Rated Motor Speed (Reference Speed during Speed Control)*1
Maximum Speed*1
Rated Force*1, *2
Maximum Force*1
Rated Current*1
m/s
m/s N N Arms
1.5 1.5 2.0 2.0 2.0 2.3 2.3 2.3
5.0 5.0 5.0 5.0 5.0 4.8 4.8 4.8
12.5 25
47
93 140 70 140 210
40
80 140 280 420 220 440 660
0.51 0.79 0.80 1.6 2.4 1.2 2.2 3.3
Maximum Current*1
Arms
1.6 2.5 2.4 4.9 7.3 3.5 7.0 10.5
Moving Coil Mass kg
0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.1
Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6
BEMF Constant
Vrms/ (m/s)/ phase
8.80 11.3 20.5 20.5 20.5 22.2 22.2 22.2
Motor Constant
Electrical Time Constant
N/ W ms
3.66 0.19
5.63 0.41
7.79 0.43
11.0 0.43
13.5 0.43
11.1 0.45
15.7 0.45
19.2 0.45
Mechanical Time Constant
ms
Thermal Resistance (with Heat K/W Sink)
Thermal Resis-
tance (without
K/W
Heat Sink)
Magnetic Attraction
N
7.5 4.7 5.6 5.0 4.8 3.4 3.1 3.0 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51
8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15
0
0
0
0
0
0
0
0
Maximum Allowable Payload
kg
1.7 3.4 5.9
12
18
9.9
19
48
Maximum Allow-
able Payload
(With External
Regenerative
kg
Resistor and
External Dynamic
Brake Resistor*3)
1.7 3.4 5.9
12
18
9.9
19
48
Combined Magnetic Way, SGLGM-
Combined Serial Converter Unit, JZDP--
30A 250 251
40C 252 253 254
60C 258 259 260
Applicable SERVOPACKs
SGD7S-
SGD7WSGD7C-
R70A, R70F
R90A, R90F 1R6A
1R6A, 2R1F
2R8A, 2R8F
1R6A, 2R1F
2R8A, 2R8F
5R5A
2R8A 1R6A 2R8A 5R5A
90A 200C 370C 535C
1.8 1.5 1.5
4.0 4.0 4.0
325 1300 4.4
550 2200 7.5
750 3000 10.2
17.6 30.0 40.8
2.2 3.6 4.9 78.0 78.0 78.0
26.0 26.0 26.0
26.0 1.4
36.8 1.4
45.0 1.4
3.3 2.7 2.4
0.39 0.26 0.22
1.09 0.63 0.47
0
0
0
110 190 260
110 190 260
90A 264 265 266 120A 180A 200A
-
*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 a surrounding air temperature of 40°C with an aluminum heat sink of the dimensions given in the following table. · Heat Sink Dimensions · 200 mm × 300 mm × 12 mm: SGLGW-30A050C, -30A080C, -40A140C, and -60A140C · 300 mm × 400 mm × 12 mm: SGLGW-40A253C and -60A253C · 400 mm × 500 mm × 12 mm: SGLGW-40A365C and -60A365C · 800 mm × 900 mm × 12 mm: SGLGW-90A200C, -90A370C, and -90A535C
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity: 400 W). · SGD7S-R70A020 to -2R8A020 · SGD7W-1R6A20A020 to -2R8A20A020 · SGD7C-1R6AMAA020 to -2R8AMAA020
3-6
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.2 Ratings and Specifications 3.2.3 Force-Motor Speed Characteristics
3.2.3
Force-Motor Speed Characteristics
A : Continuous duty zone B : Intermittent duty zone
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input
Motor speed (m/s)
SGLGW-30A050C*
6
5
4
A
B
3
2
1
0 0 10 20 30 40 50
Force (N)
Motor speed (m/s)
SGLGW-30A080C*
6
5
4
A
B
3
2
1
0 0 20 40 60 80 100
Force (N)
Motor speed (m/s)
SGLGW-40A140C 6
5
4
3
2
1A
B
0
0
50
100
150
Force (N)
Motor speed (m/s)
SGLGW-40A253C 6
5
4
3
2
1A
B
0
0
100
200
300
Force (N)
Motor speed (m/s)
SGLGW-40A365C 6
5
4
3
2
1A
B
0 0 100 200 300 400 500 Force (N)
Motor speed (m/s)
SGLGW-60A140C 6
5
4
3
2
1A
B
0 0 50 100 150 200 250
Force (N)
Motor speed (m/s)
SGLGW-60A253C 6
5
4
3
2
1A
B
0 0 100 200 300 400 500
Force (N)
Motor speed (m/s)
SGLGW-60A365C 6
5
4
3
2
A
B
1
0 0 150 300 450 600 750
Force (N)
Motor speed (m/s)
SGLGW-90A200C 6
5
4
3
2
1A
B
0 0 300 600 900 1200 1500 Force (N)
Motor speed (m/s)
SGLGW-90A370C 6
5
4
3
2
1A
B
0 0 500 1000 1500 2000 2500 Force (N)
Motor speed (m/s)
SGLGW-90A535C 6
5
4
3
2
A
B
3
1
0 0 700 1400 2100 2800 3500 Force (N)
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
Note: 1. These values (typical values) are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C.
2. The characteristics in the intermittent duty zone depend on the power supply voltage. 3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the
intermittent duty zone. 4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-
motor speed characteristics will become smaller because the voltage drop increases.
3-7
3.2 Ratings and Specifications 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 temperature of 40°C.
SGLGW-30A
SGLGW-40A
10000
10000
1000
1000
Detection time (s)
Detection time (s)
100
100
10
10
1 50 100 150 200 250 300 350
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350
Force reference (percent of rated force) (%)
10000
SGLGW-60A
10000
SGLGW-90A
1000
1000
Detection time (s)
Detection time (s)
100
100
10
10
1 50 100 150 200 250 300 350
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350 400 450
Force reference (percent of rated force) (%)
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 3.2.3 Force-Motor Speed Characteristics on page 3-7.
3-8
3.2 Ratings and Specifications 3.2.5 Specifications: With High-Force Magnetic Way
3.2.5
Specifications: With High-Force Magnetic Way
Linear Servomotor Moving Coil Model SGLGW-
Time Rating Thermal Class Insulation Resistance Withstand Voltage Excitation Cooling Method Protective Structure
Surrounding Air Temperature Surrounding Air Humidity
Environmental Conditions
Installation Site
Shock Resistance
Vibration Resistance
Impact Acceleration Rate Number of Impacts
Vibration Acceleration Rate
40A
60A
140C 253C 365C 140C 253C 365C
Continuous
B
500 VDC, 10 M min.
1,500 VAC for 1 minute
Permanent magnet
Self-cooled or air-cooled
IP00
0°C to 40°C (with no freezing)
20% to 80% relative humidity (with no condensation)
· Must be indoors and free of corrosive and explosive gases. · Must be well-ventilated and free of dust and moisture. · Must facilitate inspection and cleaning. · Must have an altitude of 1,000 m or less. · Must be free of strong magnetic fields.
196 m/s2
2 times
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.2.6 Ratings: With High-Force Magnetic Way
Linear Servomotor Moving Coil Model SGLGW-
140C
40A 253C
365C
140C
60A 253C
365C
Rated Motor Speed (Reference Speed during Speed Control)*1 Maximum Speed*1 Rated Force*1, *2 Maximum Force*1 Rated Current*1 Maximum Current*1
m/s
m/s N N Arms Arms
1.0
1.0
1.0
1.0
1.0
1.0
4.2
4.2
4.2
4.2
4.2
4.2
57
114
171
85
170
255
230
460
690
360
720
1080
0.80
1.6
2.4
1.2
2.2
3.3
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
3
Motor Constant
N/ W
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
Maximum Allowable Payload kg
12
24
58
18
61
91
Maximum Allowable Payload
(With External Regenerative Resistor and External Dynamic kg Brake Resistor*3)
12
24
58
18
61
91
Continued on next page.
3-9
3.2 Ratings and Specifications 3.2.7 Force-Motor Speed Characteristics
Continued from previous page.
Linear Servomotor Moving Coil Model SGLGW-
Combined Magnetic Way, SGLGM-
40A 140C 253C 365C
40C-M
60A 140C 253C 365C
60C-M
Combined Serial Converter Unit, JZDP-
255
256
257
261
262
263
Applicable SERVOPACKs
SGD7S-
SGD7WSGD7C-
1R6A, 2R1F
1R6A
2R8A, 2R8F
2R8A
3R8A 5R5A
1R6A, 2R1F
1R6A
3R8A 5R5A
7R6A 7R6A
*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 a surrounding air temperature of 40°C with an aluminum heat sink of the dimensions given in the following table. · Heat Sink Dimensions · 200 mm × 300 mm × 12 mm: SGLGW-40A140C and -60A140C · 300 mm × 400 mm × 12 mm: SGLGW-40A253C and -60A253C · 400 mm × 500 mm × 12 mm: SGLGW-40A365C and -60A365C
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity: 400 W). · SGD7S-R70A020 to -2R8A020 · SGD7W-1R6A20A020 to -2R8A20A020 · SGD7C-1R6AMAA020 to -2R8AMAA020
3.2.7
Force-Motor Speed Characteristics
Motor speed (m/s)
A : Continuous duty zone B : Intermittent duty zone
SGLGW-40A140C 5
4
3
2
A
B
1
0 0 50 100 150 200 250
Force (N)
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input
Motor speed (m/s)
SGLGW-40A253C 5
4
3
2
A
B
1
0 0 100 200 300 400 500 Force (N)
Motor speed (m/s)
SGLGW-40A365C 5
4
3
2
1A
B
0 0 200 400 600 800
Force (N)
Motor speed (m/s)
SGLGW-60A140C 5
4
3
2 A
1
0 0 80
B
160 240 320 400 Force (N)
Motor speed (m/s)
SGLGW-60A253C 5
4
3
2A
B
1
0 0 200 400 600 800
Force (N)
Motor speed (m/s)
SGLGW-60A365C 5
4
3
2A
B
1
0 0 240 480 720 960 1200
Force (N)
Note: 1. These values (typical values) are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases.
3-10
3.2 Ratings and Specifications 3.2.8 Servomotor Overload Protection Characteristics
3.2.8
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
SGLGW-40A with High-Force Magnetic Way
SGLGW-60A with High-Force Magnetic Way
10000
10000
1000
1000
100
100
10
10
1 50 100 150 200 250 300 350 400 450
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350 400 450
Force reference (percent of rated force) (%)
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 3.2.7 Force-Motor Speed Characteristics on page 3-10.
Detection time (s) Detection time (s)
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3
3-11
3.3 External Dimensions 3.3.1 SGLGW-30
3.3 External Dimensions
3.3.1
SGLGW-30
Moving Coils: SGLGW-30AC
4 × M4 × 5 2 × #4-40 UNC screws
500±50 500±50 17
48.5 3
Cable UL20276, AWG26
(5.3 dia.) (5 dia.)
L5
L4
Cable UL2517, AWG25
L1
15
L3
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)
22
1
L2
44 12
57
3-12
G (Gap)
G (Gap) W
24
Unit: mm
Moving Coil Model SGLGW-
L1
L2
L3
L4
L5
30A050C
50
48
30
20
20
30A080C
80
72
50
30
25
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
W
G (Gap)
Approx. Mass* [kg]
5.9
0.85
0.14
5.7
0.95
0.19
Connector Specifications
· Servomotor Connector
1
1234
2
3
4
Phase U Phase V Phase W
FG
Red White Blue Green
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
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0 180 360 540 Electrical angle (°)
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
Moving Coils: SGLGW-30ACD
4 × M4 × 5
3.3 External Dimensions 3.3.1 SGLGW-30
500±50 500±50 17
48.5 3
Specifications, Ratings, and External Dimensions of SGLG Servomotors
2 × #4-40 UNC screws
L5
L4
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)
L1
15
L3
22
L2
1
44 12
57
G (Gap)
G (Gap) W 24
Unit: mm
Moving Coil Model SGLGW-
L1
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
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
· Servomotor Connector
1
21
Phase U
6
32
Phase V
5
43
Phase W
4
Not used
5
Not used
6
FG
Red White Blue
- - Green
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0 180 360 540 Electrical angle (°)
Extension: SROC06JMSCN169 Pins: 021.423.1020
3
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
3-13
4.5 44
3.3 External Dimensions 3.3.1 SGLGW-30
Standard-Force Magnetic Ways: SGLGM-30A
7.6 8.2
Pitch: 54
N × 4.5 dia.
36
8 dia. 5
L2
L1 (1 unit)
24 (18)
N × M4 × 6
Pitch: 54
27
L2
Magnetic Way Model SGLGM-
L1
L2
N
30108A
108 -0.1 -0.3
54
2
30216A
216 -0.1 -0.3
162
4
30432A
432 -0.1 -0.3
378
8
(27)
Approx. Mass [kg] 0.6 1.1 2.3
Unit: mm
3-14
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.3.2
SGLGW-40
Moving Coils: SGLGW-40AC
2 × #4-40 UNC screws
L5
L6
45
N2 × M4 × 6
3.3 External Dimensions 3.3.2 SGLGW-40
(5.3 dia.) (7 dia.)
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
sequence: U, V, W.
L1
16
L4
L3
25.4
45
N1 × M4 × 6 (both sides)
500±50 500±50
30 4 17
1
15
15 63
78
62
Polarity sensor (hall sensor)
L2
(7.5)
Gap 0.8 25.4
Gap 0.8 5.8
Unit: mm
Moving Coil
Model
L1
L2
L3
L4
SGLGW-
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
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
Polarity Sensor (Hall Sensor)
Output Signal
· Servomotor Connector
The figure on the right shows
Inverse power (V)
1234
1
2
3
4
Phase U Phase V Phase W
FG
Red White Blue Green
the relationship between the Su, Sv, and Sw polarity sensor (hall sensor) output signals and the inverse power of each motor phase Vu, Vv, and Vw when the Moving
Vu
Su
Vv
Sv
Coil moves in the direction
Plug: 350779-1 Pins: 350561-3 or 350690-3 (No.1 to 3)
indicated by the arrow in the
Vw
dimensional drawings of the
Sw
350654-1 or 350669-1 (No. 4) From Tyco Electronics Japan G.K.
Moving Coil.
0
180
360
540
Electrical angle (°)
3
Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
3-15
3.3 External Dimensions 3.3.2 SGLGW-40
Moving Coils: SGLGW-40ACD
3-16
500±50 500±50
30 4 17
2 × #4-40 UNC screws
(5.3 dia.) (7 dia.)
L5
L6
45
N2 × M4 × 6
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
sequence: U, V, W.
L1
16
L4
L3
25.4
45
N1 × M4 × 6 (both sides)
1
15
15 63
78
62
L2
(7.5)
Polarity sensor (hall sensor)
Gap 0.8 25.4
Gap 0.8 5.8
Unit: mm
Moving Coil
Model
L1
L2
L3
L4
SGLGW-
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
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
· Servomotor Connector
1
2
1
Phase U
6
3
2
Phase V
5
43
Phase W
4
Not used
5
Not used
6
FG
Red White Blue
- - Green
Extension: SROC06JMSCN169 Pins: 021.423.1020 From Interconnectron GmbH Mating Connector Plug: SPUC06KFSDN236 Socket: 020.030.1020
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0
180
360
540
Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
7 10 dia. 5.5 dia.
62 10 dia. 5.5 dia.
(13) 62
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.3 External Dimensions 3.3.2 SGLGW-40
Standard-Force Magnetic Ways: SGLGM-40C (without Mounting Holes on the Bottom) SGLGM-40CT (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4
9
9 7.4
X
X Pitch: 45
22.5
L2
N × 5.5 dia.
10 dia. 5.4
22.5
L2
Pitch: 45
X
(22.5) (22.5)
X N × M5 × 13 ( SGLGM-
CT only)
Type
Magnetic Way Model SGLGM-
L1
L2
40090C or 40090CT
90 -0.1 -0.3
45
40225C or 40225CT
225 -0.1 -0.3
180
Standard-Force
40360C or 40360CT
360 -0.1 -0.3
315
40405C or 40405CT
405 -0.1 -0.3
360
40450C or 40450CT
450 -0.1 -0.3
405
25.4
12.7
25.4
5.4
X-X SGLGM-
40C
5.4
X-X SGLGM-
40CT Unit: mm
N
Approx. Mass [kg]
2
0.8
5
2.0
8
3.1
9
3.5
10
3.9
3
3-17
3.3 External Dimensions 3.3.2 SGLGW-40
High-Force Magnetic Ways: SGLGM-40C-M (without Mounting Holes on the Bottom) SGLGM-40CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4
12.2
7.4
12.2
7 10 dia. 5.5 dia.
62 10 dia. 5.5 dia. (13)
62
X
22.5 22.5
X Pitch: 45
L2
N × 5.5 dia.
10 dia. 5.4 L2
Pitch: 45 X
(22.5) (22.5)
X
N × M5 × 13
( SGLGM-
CT-M only)
Type
Magnetic Way Model SGLGM-
L1
L2
40090C-M or 40090CT-M
90 -0.1 -0.3
45
40225C-M or 40225CT-M
225 -0.1 -0.3
180
High-Force
40360C-M or 40360CT-M
360 -0.1 -0.3
315
40405C-M or 40405CT-M
405 -0.1 -0.3
360
40450C-M or 40450CT-M
450 -0.1 -0.3
405
31.8
15.9
31.8
5.4
X-X SGLGM-
40C-M
5.4
X-X
SGLGM40CT-M Unit: mm
N
Approx. Mass [kg]
2
1.0
5
2.6
8
4.1
9
4.6
10
5.1
3-18
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.3.3
SGLGW-60
Moving Coils: SGLGW-60AC
2 × #4-40 UNC screws
L5
L6
45
N2 × M4 × 6
3.3 External Dimensions 3.3.3 SGLGW-60
(5.3 dia.) (7 dia.)
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W. L1
16
L4
L3
25.4
45
N1 × M4 × 6 (both sides)
500±50 500±50
30 4 17
1 98
15
15 83
L2
(7.5)
Polarity sensor
(hall sensor)
82
Gap 0.8
Gap 0.8
5.8 25.4
Unit: mm
Moving Coil Model SGLGW-
L1
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
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
Polarity Sensor (Hall Sensor)
Output Signal
· Servomotor Connector
The figure on the right shows
1234
1
Phase U
Red
the relationship between the Su, Sv, and Sw polarity sen-
Vu
Su
Inverse power (V)
2
Phase V
3
Phase W
White Blue
sor (hall sensor) output sig-
nals and the inverse power of
each motor phase Vu, Vv, and
Vv
Sv
4
FG
Green
Vw when the Moving Coil
moves in the direction indi-
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.
cated by the arrow in the
Vw
Sw
dimensional drawings of the
Moving Coil.
0
180
360
540
Electrical angle (°)
3
Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
3-19
3.3 External Dimensions 3.3.3 SGLGW-60
Moving Coils: SGLGW-60ACD
500±50 500±50
30 4 17
2 × #4-40 UNC screws
(5.3 dia.) (7 dia.)
L5
L6
45
N2 × M4 × 6
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W. L1
16
L4
L3
25.4
45
N1 × M4 × 6 (both sides)
1
15
15 83
98
L2
(7.5)
Polarity sensor
(hall sensor)
82
Gap 0.8
25.4
Gap 0.8 5.8
Unit: mm
Moving Coil Model SGLGW-
L1
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
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
· Servomotor Connector
1
2
1
Phase U
6
32
Phase V
5
43
Phase W
4
Not used
5
Not used
6
FG
Red White Blue
- - Green
Extension: SROC06JMSCN169 Pins: 021.423.1020 From Interconnectron GmbH Mating Connector Plug: SPUC06KFSDN236 Socket: 020.030.1020
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0
180
360
540
Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
3-20
7 10 dia. 5.5 dia.
82 10 dia. 5.5 dia.
(13) 82
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.3 External Dimensions 3.3.3 SGLGW-60
Standard-Force Magnetic Ways: SGLGM-60C (without Mounting Holes on the Bottom) SGLGM-60CT (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4
9
7.4
9
X
X Pitch: 45
22.5
L2
N × 5.5 dia.
10 dia. 5.4
22.5
L2
Pitch: 45
X
(22.5) (22.5)
X N × M5 × 13 ( SGLGM-
CT only)
Type Standard-Force
Magnetic Way Model SGLGM60090C or 60090CT 60225C or 60225CT 60360C or 60360CT 60405C or 60405CT 60450C or 60450CT
L1 90 -0.1
-0.3
225 -0.1 -0.3
360 -0.1 -0.3
405 -0.1 -0.3
450 -0.1 -0.3
L2 45 180 315 360 405
25.4
12.7
25.4
5.4
X-X
SGLGM-
60
C
5.4
X-X
SGLGM-
60
CT
Unit: mm
N
Approx. Mass [kg]
2
1.1
5
2.6
8
4.1
9
4.6
10
5.1
3
3-21
3.3 External Dimensions 3.3.3 SGLGW-60
High-Force Magnetic Ways: SGLGM-60C-M (without Mounting Holes on the Bottom) SGLGM-60CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4
12.2
7.4
12.2
7 10 dia. 5.5 dia.
82 10 dia. 5.5 dia. (13)
82
X
X Pitch: 45
22.5
L2
N × 5.5 dia.
10 dia. 5.4
22.5
L2
Pitch: 45
X
(22.5) (22.5)
X N × M5 × 13 ( SGLGM-
CT-M only)
Type
Magnetic Way Model SGLGM-
L1
L2
60090C-M or 60090CT-M
90 -0.1 -0.3
45
60225C-M or 60225CT-M
225 -0.1 -0.3
180
High-Force
60360C-M or 60360CT-M
360 -0.1 -0.3
315
60405C-M or 60405CT-M
405 -0.1 -0.3
360
60450C-M or 60450CT-M
450 -0.1 -0.3
405
31.8
15.9
31.8
5.4
X-X SGLGM-
60C-M
5.4
X-X SGLGM-
60CT-M
Unit: mm
N
Approx. Mass [kg]
2
1.3
5
3.3
8
5.2
9
5.9
10
6.6
3-22
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.3.4
SGLGW-90
Moving Coils: SGLGW-90AC
L5 95
L6 N2 × M6 × 9
3.3 External Dimensions 3.3.4 SGLGW-90
32
2 × #4-40 UNC screws Cable UL20276, AWG26
(5.3 dia.)
500±50
500±50
L4 65
2 × N1 × M6 × 9 (both sides)
L1
L3
The Moving Coil moves in the direction indicated by the arrow
49
8
when current flows in the following phase sequence: U, V, W.
2 138
26
(10.5 dia.)
121
110
Cable UL2517, AWG15
L2
Gap1
Gap1 11.8
50.8
Unit: mm
Moving Coil Model SGLGW-
L1
L2
L3
L4
90A200C
199 189 130 40
90A370C
367 357 260 40
90A535C
535 525 455 40
L5
L6
N1
60
95
3
55
285
5
60
380
8
N2
Approx. Mass* [kg]
4
2.2
8
3.65
10
4.95
* The mass is for a Moving Coil with a Polarity Sensor (Hall Sensor).
Connector Specifications
Polarity Sensor (Hall Sensor)
Output Signal
· Servomotor Connector
The figure on the right shows
1234
1
Phase U
Red
the relationship between the Su, Sv, and Sw polarity sen-
Vu
Su
Inverse power (V)
2
Phase V
3
Phase W
White Blue
sor (hall sensor) output sig-
nals and the inverse power of
Vv
each motor phase Vu, Vv, and
Sv
4
FG
Green
Vw when the Moving Coil
Plug: 350779-1 Pins: 350218-3 or 350547-3 (No.1 to 3) 350654-1 or 350669-1 (No. 4)
moves in the direction indicated by the arrow in the dimensional drawings of the Moving Coil.
Vw
Sw
0
180
360
540
Electrical angle (°)
From Tyco Electronics Japan G.K. Mating Connector
3
Cap: 350780-1
Socket: 350537-3 or 350550-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7
Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
3-23
3.3 External Dimensions 3.3.4 SGLGW-90
Standard-Force Magnetic Ways: SGLGM-90A
L1 (1 unit)
13.8
18.5
8.5 12 dia. 6.6 dia.
110
X
X Pitch: 63
31.5
L2
N × 6.6 dia.
12 dia. 6.5
19
L2
Pitch: 63
N × M6 × 14.5
Magnetic Way Model SGLGM-
L1
L2
N
90252A
252 -0.1 -0.3
189
4
90504A
504 -0.1 -0.3
441
8
(31.5)
50.8
(44)
6.5 X-X Unit: mm
Approx. Mass [kg] 7.3 14.7
3-24
Specifications, Ratings, and External Dimensions of SGLG Servomotors
3.4 Selecting Cables
3.4 Selecting Cables 3.4.1 Cable Configurations
3.4.1
Cable Configurations
Prepare the cable required for the encoder. Refer to the following manual to select a Linear Encoder.
-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
SERVOPACK
Serial Converter Unit
Serial Converter Unit Cable* (between SERVOPACK connector CN2 and Serial Converter Unit)
Linear Servomotor Main Circuit Cable
Linear Encoder Cable
Linear encoder (Not provided by Yaskawa.)
Sensor Cable (between Serial Converter Unit and polarity sensor (hall sensor))
Polarity sensor (hall sensor)
Linear Servomotor
* You can connect directly to an absolute linear encoder. Note: Refer to the following manual for the following information.
· Cable dimensional drawings and cable connection specifications · Order numbers and specifications of individual connectors for cables · Order numbers and specifications for wiring materials
-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
3
3-25
3.4 Selecting Cables 3.4.1 Cable Configurations
Linear Servomotor Main Circuit Cables
Linear Servomotor Model
Length (L)
Order Number
1 m JZSP-CLN11-01-E
3 m JZSP-CLN11-03-E
SGLGW-30A, -40A, -60A
5 m JZSP-CLN11-05-E 10 m JZSP-CLN11-10-E
15 m JZSP-CLN11-15-E
20 m JZSP-CLN11-20-E
1 m JZSP-CLN21-01-E
3 m JZSP-CLN21-03-E
SGLGW-90A
5 m JZSP-CLN21-05-E 10 m JZSP-CLN21-10-E
15 m JZSP-CLN21-15-E
20 m JZSP-CLN21-20-E
1 m JZSP-CLN14-01-E
SGLGW-30AD -40AD -60AD
3 m 5 m 10 m 15 m
JZSP-CLN14-03-E JZSP-CLN14-05-E JZSP-CLN14-10-E JZSP-CLN14-15-E
20 m JZSP-CLN14-20-E
*1. Connector from Tyco Electronics Japan G.K. *2. Connector from Interconnectron GmbH
Appearance
SERVOPACK end L
Linear Servomotor end
*1
SERVOPACK end
Linear Servomotor
L
end
*1
SERVOPACK end
Linear Servomotor
L
end
*2
3-26
Specifications, Ratings, and External Dimensions of SGLF Servomotors
This chapter describes how to interpret the model numbers of SGLF Servomotors and gives their specifications, ratings, and external dimensions.
4.1 Model Designations . . . . . . . . . . . . . . . . . . 4-3
4.1.1 4.1.2 4.1.3
SGLFW2 Models . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 SGLFW Models . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Precautions on Moving Coils with Polarity Sensors (Hall Sensors) . . . . . . . . . . . . . . 4-5
4.2 Ratings and Specifications: SGLFW2 Models . . 4-6
4.2.1 4.2.2 4.2.3
4.2.4 4.2.5
4.2.6
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Ratings: Self-Cooled Models . . . . . . . . . . . . . . . 4-7 Force-Motor Speed Characteristics: Self-Cooled Models . . . . . . . . . . . . . . . . . . . . . . 4-9 Ratings: Water-Cooled Models . . . . . . . . . . . . . 4-10 Force-Motor Speed Characteristics: Water-Cooled Models . . . . . . . . . . . . . . . . . . . . 4-11 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.3 Ratings and Specifications: SGLFW Models . . 4-13
4.3.1 4.3.2 4.3.3 4.3.4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14 Force-Motor Speed Characteristics . . . . . . . . . 4-15 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4
4.4 External Dimensions . . . . . . . . . . . . . . . . . 4-17
4.4.1 4.4.2 4.4.3 4.4.4 4.4.5
4.4.6 4.4.7 4.4.8 4.4.9 4.4.10
SGLFW2-30 . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17 SGLFW2-45 . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22 SGLFW2-90: Self-Cooled Models . . . . . . . . . . .4-25 SGLFW2-90: Water-Cooled Models . . . . . . . . . .4-28 SGLFW2-90: Self-Cooled and Water-Cooled Models . . . . . . . . . . . . . . . . . . . .4-30 SGLFW2-1D . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-31 SGLFW-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-34 SGLFW-35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-36 SGLFW-50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39 SGLFW-1Z . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-42
4.5 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . 4-45
4.5.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . .4-45 4.5.2 Linear Servomotor Main Circuit Cables . . . . . . .4-46
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.1 Model Designations
4.1 Model Designations 4.1.1 SGLFW2 Models
4.1.1
SGLFW2 Models
Moving Coil
SGLF
1st
Linear Series
digit
Linear Servomotors
W 2 - 30 A 070 A T
2nd digits
3rd+4th 5th 6th+7th+8th 9th 10th
digits digit
digits
digit digit
1H
11th 12th digit digit
1st digit Servomotor Type
Code
Specification
F With F-type iron core
2nd digit Moving Coil/Magnetic Way
Code
Specification
W2 Moving Coil
3rd+4th digits Magnet Height
Code 30 45 90 1D
Specification 30 mm 45 mm 90 mm 135 mm
5th digit Power Supply Voltage
Code
Specification
A 200 VAC
6th+7th+8th digits
Length of Moving Coil
Code Specification
070 70 mm
120 125 mm
200 205 mm
230 230 mm
380 384 mm
560 563 mm
9th digit Design Revision Order A
10th digit Sensor Specification
Code
Specification
S With polarity sensor(hall sensor) and Thermal Protector
T Without polarity sensor(hall sensor), with Thermal Protector
11th digit Cooling Method
Code
Specification
1 Self-cooled L Water-cooled
12th digit
Connector for Servomotor Main Circuit Cable and Cable Length
Code
Specification
None Connector from Tyco Electronics Japan G.K., 300 mm
F Loose lead wires with no connector, 300 m
G Loose lead wires with no connector, 500 m
H Connector from Tyco Electronics Japan G.K., 500 mm
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
SGLF
Linear S Series
1st digit
Linear Servomotors
M2-
2nd digits
30 270 A
3rd+4th 5th+6th+7th 8th
digits
digits
digit
1st digit Servomotor Type
5th+6th+7th digits
Length of Magnetic Way
4
(Same as for the Moving Coil.)
Code Specification
2nd digit Moving Coil/Magnetic Way
270 270 mm 306 306 mm
Code
Specification
M Magnetic Way
450 450 mm 510 510 mm
630 630 mm
3rd+4th digits Magnet Height
714 714 mm
(Same as for the Moving Coil.)
8th digit Design Revision Order
A
4-3
4.1 Model Designations 4.1.2 SGLFW Models
4.1.2
SGLFW Models
Moving Coil
S G L F W - 20 A 090 A P - E
Linear Series
1st 2nd digit digit
3rd+4th 5th 6th+7th+8th 9th 10th 11th
digits digit
digits
digit digit digit
12th digit
Linear Servomotors
1st digit Servomotor Type
Code
Specification
F With F-type iron core
2nd digit Moving Coil/Magnetic Way
Code
Specification
W Moving Coil
3rd+4th digits Magnet Height
Code Specification 20 20 mm 35 36 mm 50 47.5 mm 1Z 95 mm
5th digit Voltage
Code
Specification
A 200 VAC
6th+7th+8th digits
Length of Moving Coil
Code Specification
090 91 mm
120 127 mm
200 215 mm
230 235 mm
380 395 mm
9th digit Design Revision Order A, B ...
10th digit Sensor Specification
Code P
None
Specification With polarity sensor (hall sensor) Without polarity sensor (hall sensor)
11th digit Connector for Servomotor Main Circuit Cable
Code
Specification
None
Connector from Tyco Electronics Japan G.K.
D
Connector from Interconnectron GmbH
Applicable Models
All models
SGLFW-35, -50, -1Z200B
12th digit EU Directive Certification
Code E
None
Certified Not certified
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.
Magnetic Way
SGLFM
Linear Series Linear Servomotors
1st 2nd digit digit
- 20 324 A
3rd+4th 5th+6th+7th 8th
9th
digits
digits
digit digit
1st digit Servomotor Type (Same as for the Moving Coil.)
2nd digit Moving Coil/Magnetic Way Code Specification
M Magnetic Way
3rd+4th digits Magnet Height (Same as for the Moving Coil.)
5th+6th+7th digits
Length of Magnetic Way
9th digit
Options
Code Specification
Code
Specification
324 324 mm 405 405 mm 540 540 mm 675 675 mm 756 756 mm 945 945 mm
None Without options C With magnet cover
8th digit Design Revision Order A, B ...
4-4
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.1 Model Designations 4.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors)
4.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensors)
When you use a Moving Coil with a Polarity Sensor (Hall Sensor), the Magnetic Way must cover the bottom of the polarity sensor (hall sensor). Refer to the example that shows the correct installation. Note 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 (hall sensor). Refer to the following table.
Correct Installation
Polarity sensor (hall sensor)
Moving Coil movement direction
Incorrect Installation
Moving Coil Magnetic Way
Polarity sensor (hall sensor)
Edge of Magnetic Way
Edge of Magnetic Way
Total Length of Moving Coil with Polarity Sensor (Hall Sensor)
L
A
L1
Moving Coil
Moving Coil Model
SGLFW2-
Polarity sensor (hall sensor)
Magnetic Way
30A070AS 30A120AS 30A230AS 45A200AS 45A380AS 90A200AS 90A380AS 90A560AS 1DA380AS 1DA560AS
Length of Moving
Coil, L1 [mm]
70 125 230 205 384 205 384 563 384 563
Length of Polarity Sensor (Hall Sensor), A [mm]
27
32
32
32
Total Length, L [mm]
97 152 257 237 416 237 416 595 416 595
Moving Coil Model
SGLFW-
Length of Moving
Coil, L1 [mm]
Length of Polarity Sensor (Hall Sensor), A [mm]
Total Length, L [mm]
4
20A090AP
91
20A120AP
127
113 22
149
35A120AP
127
35A230AP
235
149 22
257
50A200BP
215
50A380BP
395
237 22
417
1ZA200BP
215
1ZA380BP
395
237 22
417
4-5
4.2 Ratings and Specifications: SGLFW2 Models 4.2.1 Specifications
4.2 Ratings and Specifications: SGLFW2 Models
4.2.1 Specifications
Linear Servomotor Moving
30A
45A
90A
1DA
Coil Model SGLFW2- 070A 120A 230A 200A 380A 200A 380A 560A 380A 560A
Time Rating
Continuous
Thermal Class
B
Insulation Resistance
500 VDC, 10 M min.
Withstand Voltage
1,500 VAC for 1 minute
Excitation
Permanent magnet
Cooling Method
Self-cooled and water-cooled
Protective Structure
IP00
Surrounding Air Temperature
0°C to 40°C (with no freezing)
Environmental Conditions
Surrounding Air Humidity
Installation Site
20% to 80% relative humidity (with no condensation)
· Must be indoors and free of corrosive and explosive gases. · Must be well-ventilated and free of dust and moisture. · Must facilitate inspection and cleaning. · Must have an altitude of 1,000 m or less. · Must be free of strong magnetic fields.
Shock Resistance
Impact Acceleration Rate
Number of Impacts
196 m/s2 2 times
Vibration Resistance
Vibration Acceleration Rate
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
4-6
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.2 Ratings and Specifications: SGLFW2 Models 4.2.2 Ratings: Self-Cooled Models
4.2.2 Ratings: Self-Cooled Models
Linear Servomotor Moving Coil Model SGLFW2-
Rated Motor Speed (Reference Speed during Speed Control)*1 Maximum Speed*1 Rated Force*1, *2 Maximum Force*1 Rated Current*1 Maximum Current*1
m/s
m/s N N Arms Arms
Moving Coil Mass
kg
Force Constant
N/Arms
BEMF Constant
Vrms/ (m/s)/ phase
Motor Constant
N/ W
Electrical Time Constant ms
Mechanical Time Constant
ms
Thermal Resistance (with Heat Sink)
K/W
Thermal Resistance (without Heat Sink)
K/W
Magnetic Attraction
N
Maximum Allowable Payload
kg
Maximum Allowable
Payload
(With External Regenerative Resistor and External
kg
Dynamic Brake Resis-
tor*3)
Combined Magnetic Way, SGLFM2-
Combined Serial Converter Unit, JZDP--
Applicable SERVOPACKs
SGD7S-
SGD7WSGD7C-
30A 070A1 120A1
230A1
4.0
4.0
4.0
5.0 45 135 1.4 5.3 0.50 33.3
11.1
5.0 90 270 1.5 5.2 0.90 64.5
21.5
5.0
180
170
540
500
2.9
2.8
10.5
9.3
1.7 64.5
21.5
11.3 7.6 3.9
2.62
17.3 7.3 3.0
1.17
24.4 7.3 2.9
0.79
11.3 200 5.6
4.43 630 9.4
2.55
1260
34
10
5.6
11
34
20
30A
628
629
630
1R6A, 2R1F
3R8A
2R8A, 2R8F
1R6A
-
2R8A
45A
200A1
380A1
4.0
4.0
4.5 280 840 4.4 16.4 2.9 67.5
22.5
4.5
560
1680 1500
8.7
32.7
27.5
5.5 67.5
22.5
36.9 19 2.1
0.60
52.2 19 2.0
0.44
2.64 2120
58
1.49
4240
110
95
64
110
110
45A
631
632
5R5A 180A 120A
5R5A
-
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature wind-
ing is 100°C. The values for other items are at 20°C. These are typical values.
*2. The rated forces are the continuous allowable force values at a surrounding air temperature of 40°C with an alu-
minum heat sink of the dimensions given in the following table. · Heat Sink Dimensions
4
· 150 mm × 100 mm × 10 mm: SGLFW2-30A070A
· 254 mm × 254 mm × 25 mm: SGLFW2-30A120A and -30A230A
· 400 mm × 500 mm × 25 mm: SGLFW2-45A200A and -45A380A
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maxi-
mum applicable motor capacity: 400 W). · SGD7S-R70A020 to -2R8A020 · SGD7W-1R6A20A020 to -2R8A20A020 · SGD7C-1R6AMAA020 to -2R8AMAA020
4-7
4.2 Ratings and Specifications: SGLFW2 Models 4.2.2 Ratings: Self-Cooled Models
Linear Servomotor Moving Coil Model SGLFW2-
Rated Motor Speed (Reference Speed during Speed Control)*1
Maximum Speed*1
Rated Force*1, *2
Maximum Force*1
Rated Current*1
Maximum Current*1
m/s
m/s N N Arms Arms
Moving Coil Mass
kg
Force Constant
N/Arms
BEMF Constant
Vrms/ (m/s)/ phase
Motor Constant
N/ W
Electrical Time Constant ms
Mechanical Time Constant
ms
Thermal Resistance (with Heat Sink)
K/W
Thermal Resistance (without Heat Sink)
K/W
Magnetic Attraction
N
Maximum Allowable Payload
kg
Maximum Allowable Payload (With External Regenera- kg tive Resistor and External Dynamic Brake Resistor)
Combined Magnetic Way, SGLFM2-
Combined Serial Converter Unit, JZDP--
SGD7SApplicable SERVOPACKs SGD7W-
SGD7C-
200A1 4.0
4.0 560 1680 7.2 26.9 5.3 82.0 27.3 58.1 24 1.6 0.45 1.81 4240 130
140
633 120A
90A 380A1
4.0
4.0 1120 3360 14.4 53.9 10.1 82.0
27.3
82.2 23 1.5
0.21
1.03 8480 160
290
90A 634 200A
560A1 4.0
4.0 1680 5040 21.6 80.8 14.9 82.0 27.3 101
24 1.5 0.18 0.72 12700 360
440
648 330A
-
1DA
380A1
560A1
2.0
2.0
2.5 1680 5040 14.4 53.9 14.6 123
2.5 2520 7560 21.6 80.8 21.5 123
41.0
41.0
105
129
25
25
1.3
1.3
0.18
0.12
0.79 12700
690
0.55 19100 1000
710
1000
1DA
649
650
200A
330A
*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 a surrounding air temperature of 40°C with an aluminum heat sink of the dimensions given in the following table. · Heat Sink Dimensions · 400 mm × 500 mm × 25 mm: SGLFW2-90A200A · 609 mm × 762 mm × 40 mm: SGLFW2-90A380A · 900 mm × 762 mm × 40 mm: SGLFW2-90A560A and -1DA380A · 1,400 mm × 900 mm × 40 mm: SGLFW2-1DA560A
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity: 400 W). · SGD7S-R70A020 to -2R8A020 · SGD7W-1R6A20A020 to -2R8A20A020 · SGD7C-1R6AMAA020 to -2R8AMAA020
4-8
4.2 Ratings and Specifications: SGLFW2 Models 4.2.3 Force-Motor Speed Characteristics: Self-Cooled Models
4.2.3 Force-Motor Speed Characteristics: Self-Cooled Models
Specifications, Ratings, and External Dimensions of SGLF Servomotors
A : Continuous duty zone B : Intermittent duty zone
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input
Motor speed (m/s)
SGLFW2-30A070A 1 6
5
4
3
2
1
A
B
0
0
50
100 150
Force (N)
Motor speed (m/s)
SGLFW2-30A120A 1 6
5
4
3
2
A
B
1
0
0
100
200 300
Force (N)
Motor speed (m/s)
SGLFW2-30A230A 1
(Combined with SGD7 -2R8A) 6
5
4
3
2
A
B
1
0
0
200
400 600
Force (N)
Motor speed (m/s)
SGLFW2-30A230A 1 (Combined with SGD7S-3R8A) 6
5
4
3
2
1
A
B
0
0
200
400 600
Force (N)
SGLFW2-45A380A 1 (Combined with SGD7S-120A) 5
SGLFW2-45A380A 1 (Combined with SGD7S-180A) 5
Motor speed (m/s)
Motor speed (m/s)
4
4
3
3
2 A
B
1
2
A
B
1
0 0
500 1000 1500 2000 Force (N)
0 0 500 1000 1500 2000 Force (N)
Motor speed (m/s)
SGLFW2-45A200A 1 5
4
3
2A
B
1
0 0 200 400 600 800 1000 Force (N)
Motor speed (m/s)
SGLFW2-90A200A1 5
4
3
2
A
B
1
0 0 500 1000 1500 2000
Force (N)
Motor speed (m/s)
SGLFW2-90A380A1 5
4
3
2
A
B
1
0 0 1000 2000 3000 4000
Force (N)
Motor speed (m/s)
SGLFW2-90A560A1 5
4
3
2
1A
B
0 0 2000 4000 6000
Force (N)
SGLFW2-1DA380A1 3
SGLFW2-1DA560A1 3
Motor speed (m/s)
Motor speed (m/s)
2.5
2.5
2
2
1.5
1.5
1
A
B
0.5
1
A
B
0.5
0
0
2000 4000 6000
Force (N)
0 0 2000 4000 6000 8000 Force (N)
Note: 1.These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage. 3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the
intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.
4
4-9
4.2 Ratings and Specifications: SGLFW2 Models 4.2.4 Ratings: Water-Cooled Models
4.2.4 Ratings: Water-Cooled Models
Linear Servomotor Moving Coil Model SGLFW2-
Rated Motor Speed (Reference Speed during Speed Control)*1 Maximum Speed*1 Rated Force*1, *2 Maximum Force*1 Rated Current*1 Maximum Current*1
m/s
m/s N N Arms Arms
Moving Coil Mass
kg
Force Constant
N/Arms
BEMF Constant
Vrms/(m/s)/ phase
Motor Constant
N/ W
Electrical Time Constant
ms
Mechanical Time Constant
ms
Thermal Resistance with Water Cooling
K/W
Thermal Resistance without Water Cooling
K/W
Magnetic Attraction
N
Maximum Allowable Load Mass
kg
Maximum Allowable Payload (With External Regenerative Resistor and External kg Dynamic Brake Resistor)
Cooling Water Flow Rate
L/min
Combined Magnetic Way, SGLFM2Combined Serial Converter Unit, JZDP--
Applicable SERVOPACKs
SGD7SSGD7W-
90A 200AL
4.0
4.0 896 1680 11.5 26.9 6.1 82.0
27.3
58.1 24
1.8
0.22 1.81 4240 120
130
4.0 90A
699 120A
-
*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. Do not allow the effective load ratio to exceed 80% when the servo is locked or during very small round-trip operation.
4-10
Motor speed (m/s)
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.2 Ratings and Specifications: SGLFW2 Models 4.2.5 Force-Motor Speed Characteristics: Water-Cooled Models
4.2.5
Force-Motor Speed Characteristics: Water-Cooled Models
A : Continuous duty zone B : Intermittent duty zone
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input
SGLFW2-90A200AL 5
4
3
2
A
B
1
0 0 500 1000 1500 2000 Force (N)
Note: 1.These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage. 3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the
intermittent duty zone. 4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor
speed characteristics will become smaller because the voltage drop increases.
4
4-11
4.2 Ratings and Specifications: SGLFW2 Models 4.2.6 Servomotor Overload Protection Characteristics
4.2.6
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
SGLFW2-30A070A
SGLFW2-30A120A and -230A
10000
10000
1000
1000
Detection time (s)
Detection time (s)
100
100
10
10
1 50 100 150 200 250 300 350 400
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350 400
Force reference (percent of rated force) (%)
10000
SGLFW2-45A, -90A1, and -1DA1
1000
SGLFW2-90AL
Detection time (s)
Detection time (s)
1000 100
100
10 10
1 50 100 150 200 250 300 350 400
Force reference (percent of rated force) (%)
1 50
100
150
200
250
Force reference (percent of rated force) (%)
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 4.2.3 Force-Motor Speed Characteristics: Self-Cooled Models on page 4-9 and on page 4-11.
4-12
4.3 Ratings and Specifications: SGLFW Models 4.3.1 Specifications
4.3 Ratings and Specifications: SGLFW Models
4.3.1 Specifications
Linear Servomotor Moving Coil Model SGLFW-
Time Rating Thermal Class Insulation Resistance Withstand Voltage Excitation Cooling Method Protective Structure
Surrounding Air Temperature Surrounding Air Humidity
Environmental Conditions
Installation Site
Shock Resistance
Vibration Resistance
Impact Acceleration Rate Number of Impacts
Vibration Acceleration Rate
20A
35A
50A
1ZA
090A 120A 120A 230A 200B 380B 200B 380B
Continuous
B
500 VDC, 10 M min.
1,500 VAC for 1 minute
Permanent magnet
Self-cooled
IP00
0°C to 40°C (with no freezing)
20% to 80% relative humidity (with no condensation)
· Must be indoors and free of corrosive and explosive gases. · Must be well-ventilated and free of dust and moisture. · Must facilitate inspection and cleaning. · Must have an altitude of 1,000 m or less. · Must be free of strong magnetic fields.
196 m/s2
2 times
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
4-13
4.3 Ratings and Specifications: SGLFW Models 4.3.2 Ratings
4.3.2 Ratings
Linear Servomotor Moving Coil Model SGLFW-
Rated Motor Speed (Reference Speed during Speed Control)*1
Maximum Speed*1
Rated Force*1, *2
Maximum Force*1
Rated Current*1
Maximum Current*1
m/s
m/s N N Arms Arms
Moving Coil Mass
kg
Force Constant
N/Arms
BEMF Constant
Vrms/(m/s)/ phase
Motor Constant
N/ W
Electrical Time Constant
ms
Mechanical Time Constant ms
Thermal Resistance (with Heat Sink)
K/W
Thermal Resistance (without Heat Sink)
K/W
Magnetic Attraction
N
Maximum Allowable Payload kg
Maximum Allowable Payload
(With External Regenerative Resistor and External Dynamic kg Brake Resistor*3)
Combined Magnetic Way, SGLFM-
Combined Serial Converter Unit, JZDP--
SGD7SApplicable SERVOPACKs SGD7W-
SGD7C-
20A
35A
50A
1ZA
090A 120A 120A 230A 200B 380B 200B 380B
5.0 3.5 2.5 3.0 1.5 1.5 1.5 1.5
5.0 25 86 0.70 3.0 0.70 36.0
5.0 40 125 0.80 2.9 0.90 54.0
5.0 80 220 1.4 4.4 1.3 62.4
5.0 160 440 2.8 8.8 2.3 62.4
5.0 280 600 5.0 12.4 3.5 60.2
5.0 560 1200 10.0 25.0 6.9 60.2
4.9 560 1200 8.7 21.6 6.4 69.0
4.9 1120 2400 17.5 43.6
12 69.0
12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0
7.95 3.2 11
9.81 3.3 9.4
14.4 3.6 6.3
20.4 3.6 5.5
34.3 16 3.0
48.5 16 2.9
52.4 18 2.3
74.0 18 2.1
4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.20
7.69
310 3.2
5.02
460 4.8
4.10
810 8.7
1.94 1.65 0.95 1.30 0.73
1590 1650 3260 3300 6520 29 33 67 66 78
3.2 4.8 8.7 29 40 80 82 160
20A 35A 50A 1ZA
017 018 019 020 181 182 183 184
1R6A, 2R1F
3R8A 5R5A
120A
200A
1R6A
5R5A
-
*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 a surrounding air temperature of 40°C with an aluminum heat sink of the dimensions given in the following table. · Heat Sink Dimensions · 125 mm × 125 mm × 13 mm: SGLFW-20A090A and -20A120A · 254 mm × 254 mm × 25 mm: SGLFW-35A120A and -35A230A · 400 mm × 500 mm × 40 mm: SGLFW-50A200B, 50A380B, and -1ZA200B · 600 mm × 762 mm × 50 mm: SGLFW-1ZA380B
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity: 400 W). · SGD7S-R70A020 to -2R8A020 · SGD7W-1R6A20A020 to -2R8A20A020 · SGD7C-1R6AMAA020 to -2R8AMAA020
4-14
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.3 Ratings and Specifications: SGLFW Models 4.3.3 Force-Motor Speed Characteristics
4.3.3
Force-Motor Speed Characteristics
A : Continuous duty zone B : Intermittent duty zone
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input (dashed-dotted lines): With single-phase 100-V input
Motor speed (m/s)
SGLFW-20A090A 6
5
4 A
B
3
2
1
0 0 20 40 60 80 100
Force (N)
Motor speed (m/s)
SGLFW-20A120A 6
5
4
3
2A
B
1
0 0 20 40 60 80 100 120 140
Force (N)
Motor speed (m/s)
SGLFW-35A120A 6
5
4
3
2A
B
1
0 0 50 100 150 200 250
Force (N)
Motor speed (m/s)
SGLFW-35A230A 6
5
4
3
2A
B
1
0 0 100 200 300 400 500
Force (N)
Motor speed (m/s)
SGLFW-50A200B 6
5
4
3
2
A
B
1
0 0 200 400 600 800
Force (N)
Motor speed (m/s)
SGLFW-50A380B 6
5
4
3
2
A
B
1
0
0
500
1000 1500
Force (N)
Motor speed (m/s)
SGLFW-1ZA200B 6
5
4
3
2
A
B
1
0
0
500 1000 1500
Force (N)
Motor speed (m/s)
SGLFW-1ZA380B 6
5
4
3
2
A
1
0
0
1000
B 2000 3000
Force (N)
Note: 1.These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.
4
4-15
4.3 Ratings and Specifications: SGLFW Models 4.3.4 Servomotor Overload Protection Characteristics
4.3.4
Servomotor Overload Protection Characteristics
The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 40°C.
SGLFW-20A
SGLFW-35A
10000
10000
1000
1000
Detection time (s)
Detection time (s)
100
100
10
10
1 50 100 150 200 250 300 350 400 450
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350
Force reference (percent of rated force) (%)
10000
SGLFW-50A and -1ZA
1000
Detection time (s)
100
10
1
50
100
150
200
250 300
Force reference (percent of rated force)
(%)
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 4.3.3 Force-Motor Speed Characteristics on page 4-15.
4-16
4.4 External Dimensions
4.4 External Dimensions 4.4.1 SGLFW2-30
4.4.1
SGLFW2-30
Moving Coil with Polarity Sensor (Hall Sensor): SGLFW2-30A070AS
40 0.1 (27.5) 1.5
(9)
Polarity sensor (hall sensor)
Thermal protector relay connector (Molex Japan LLC) Receptacle housing: 5557-02R Plug housing: 5559-02P
Magnetic Way
50 min.
12.2 27
70
5.8
20 20
(12)
54
31
(27.5) (27.5)
(55)
(1.5)
(6) (10.2)
29 0.1 Gap: 0.8
14 15
12.5 0.1
Polarity sensor (hall sensor) and thermal protector cable UL20276, AWG28
2 × #4-40
UNC screws
L
0.2
Polarity sensor (hall sensor) and thermal protector connector
SGLFW2-30A070AS 3 × M4 × 8
Servomotor connector
Refer to the following figure .
(7 dia.)
Servomotor Main Circuit Cable
50 min. UL2586, AWG19 The Moving Coil moves in the
direction indicated by the
arrow when current flows in
the following phase
Thermal protector cable sequence: U, V, W.
UL1333, AWG20
L
Thermal protector relay cable UL1333, AWG22
Inverse power (V)
Specifications, Ratings, and External Dimensions of SGLF Servomotors
31
15
29
14
18 20 40
Unit: mm
Moving Coil Model SGLFW2-
L
Approx. Mass [kg]
30A070AS1
300 ±30
0.5
30A070AS1H
500 ±50
0.5
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
1234
1
Phase U
Red
2
Phase V
White
3
Phase W
Black
4
FG
Green
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
The figure on the right shows
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
sor (hall sensor) output signals and the inverse power
Vv Sv
of each motor phase Vu, Vv,
and Vw when the Moving
Vw
Coil moves in the direction
Sw
indicated by the arrow in the dimensional drawings of the
0 180 360 540
4
Electrical angle (°)
Moving Coil.
· Polarity Sensor (Hall Sensor) and Thermal
Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
1
2
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
4-17
4.4 External Dimensions 4.4.1 SGLFW2-30
Moving Coils with Polarity Sensors (Hall Sensors): SGLFW2-30AAS
400.1 (27.5) 1.5
Polarity sensor (hall sensor)
Thermal protector relay
Magnetic Way
connector (Molex Japan LLC)
Receptacle housing: 5557-02R Plug housing: 5559-02P
50 min. 27
12.6 26.7
L1
L2
(33.2)
31 (7)
7.5 15
50
(55) (27.5) (27.5)
(6) (10.2)
(0.5) 12 15
Polarity sensor (hall sensor) and thermal protector cable UL20276, AWG28
12.50.1
290.1
2 × #4-40 UNC
screws 0.2
L4
Gap 0.8
L4
Polarity sensor (hall sensor) and thermal protector connector
Servomotor connector
Refer to the following figures and . L3
(7 dia.) 50 min.
Servomotor Main Circuit Cable UL2586, AWG19
Thermal protector cable UL1333, AWG20
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
Thermal protector relay cable UL1333, AWG22
SGLFW2-30A120AS 4 × M4 × 8
SGLFW2-30A230AS 8 × M4 × 8
15
31
15
31
Inverse power (V)
27
27
4-18
7.5
12
39.3
52.5
12
7.5
39.3
52.5
157.5 (52.5 × 3)
Unit: mm
Moving Coil Model SGLFW2-
L1
30A120AS1 125
30A120AS1H
30A230AS1 230
30A230AS1H
Connector Specifications
· Servomotor Connector
1234
1
Phase U
2
Phase V
3
Phase W
4
FG
L2 52.5 157.5
Red White Black Green
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
· Polarity Sensor (Hall Sensor) and Thermal Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
L3
L4
Approx. Mass [kg]
300 ±30
105.9
0.9
500 ±50
300 ±30
210.9
1.7
500 ±50
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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 Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
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
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.4 External Dimensions 4.4.1 SGLFW2-30
Moving Coil without Polarity Sensor (Hall Sensor): SGLFW2-30A070AT
70
40±0.1 (27.5) 1.5
Magnetic Way
12.2
50 min.
5.8
20 20
(12)
(9)
54
31
(27.5) (27.5)
(55)
14 15
(1.5)
(6) (10.2)
29±0.1
0.2
Gap 0.8
12.5±0.1
Servomotor Main Circuit Cable UL2586, AWG19
L
(7 dia.)
100±20
Servomotor connector
SGLFW2-30A070AT 3 × M4 × 8
Thermal protector connector
Refer to the following figure .
Thermal protector cable UL1333, AWG20
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
31
15
29
14
18 20 40
Moving Coil Model SGLFW2-
L
30A070AT1 30A070AT1H
Connector Specifications · Servomotor Connector
1234
1
Phase U
2
Phase V
3
Phase W
4
FG
300 ±30 500 ±50
Red White Black Green
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
· Thermal Protector Connector
1
1 2
Thermal protector Thermal protector
2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
Approx. Mass [kg] 0.5 0.5
Unit: mm
4
4-19
4.4 External Dimensions 4.4.1 SGLFW2-30
Moving Coils without Polarity Sensors (Hall Sensors): SGLFW230AAT
40±0.1 (27.5) 1.5
L1
Magnetic Way
12.6
26.7
L2
50 min.
(33.2)
(7)
15
50
31
(55) (27.5) (27.5)
(0.5) 12 15
(6) (10.2)
29±0.1 Gap 0.8
12.5±0.1
Servomotor Main Circuit Cable UL2586, AWG19
0.2
L4
(7 dia.)
100±20
7.5
Refer to the following figures and .
L3
Thermal protector cable UL1333, AWG20
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
Servomotor connector
Thermal protector connector
SGLFW2-30A120AT 4 × M4 × 8
SGLFW2-30A230AT 8 × M4 × 8
15
31
15
31
27
27
7.5
12
39.3
52.5
12
7.5
39.3
52.5
157.5 (52.5 × 3)
Moving Coil Model SGLFW2-
L1
30A120AT1 125
30A120AT1H
30A230AT1 230
30A230AT1H
Connector Specifications · Servomotor Connector
L2 52.5 157.5
1234
1
Phase U
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
· Thermal Protector Connector
1
1 2
Thermal protector Thermal protector
2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
L3 105.9 210.9
L4
300 ±30 500 ±50 300 ±30 500 ±50
Unit: mm
Approx. Mass [kg] 0.9
1.7
4-20
Magnetic Ways: SGLFM2-30A
2 × N, 4.8-dia. mounting holes 8.5 dia. 0.4
4.4 External Dimensions 4.4.1 SGLFW2-30
(5)
27.5 (27.5)
45
55
NS
5
0.2 6
10.2±0.1
4.2 45
22.5±0.1
Reference mark (There are two, approx. 4-dia. indentations.)
L2 L1±0.1
NS NS
(45) (Reference mark) (22.5)
Height of screw head: 4.2 max. Mounting Section Details
Unit: mm
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 SGLFM230270A 30450A 30630A
L1 ± 0.1
270 450 630
L2
225 (45 × 5) 405 (45 × 9) 585 (45 × 13)
N
Approx. Mass [kg]
6
0.9
10
1.5
14
2.0
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
4-21
4.4 External Dimensions 4.4.2 SGLFW2-45
4.4.2
SGLFW2-45
Moving Coils with Polarity Sensors (Hall Sensors): SGLFW2-45AAS
Thermal protector relay connector (Molex Japan LLC)
Polarity sensor(hall sensor) and Receptacle housing: 5557-02R
thermal protector cable UL20276, AWG28
Plug housing: 5559-02P 50 min.
Polarity sensor (hall sensor)
L1
500.1 (36) 2
Magnetic
32
48.5
Way
12
L2
(55)
(9)
11 23
69.5
46
(75) (37.5) (37.5)
14.5 22.5
4-22
(0.5)
150.1
(6) (11.2)
380.1
Gap: 0.8 2 × #4-40
UNC screws
Refer to the following table.
L4
L4
Polarity sensor (hall sensor) and thermal protector connector
Servomotor connector SGLFW2-45A200AS
4 × M6 × 11.5
(9.1 dia.)
L3
Servomotor Main Circuit Cable Refer to the following figures and .
50 min. UL2586, AWG15
Thermal protector cable The Moving Coil moves in the direction
UL1333, AWG20
indicated by the arrow when current flows
Thermal protector relay cable
in the following phase sequence: U, V, W.
UL1333, AWG22
SGLFW2-45A380AS 8 × M6 × 11.5
23
46
23
46
37
37
11
11
14.5
60.5
89.5
14.5
60.5
89.5
268.5 (89.5 × 3)
Unit: mm
Moving Coil Model SGLFW2-
L1
L2
L3
L4
Flatness
Approx. Mass [kg]
45A200AS1
300 ±30
205
89.5
187
0.2
2.9
45A200AS1H
500 ±50
45A380AS1 384
45A380AS1H
Connector Specifications · Servomotor Connector
268.5
1234
1
Phase U
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
· Polarity Sensor (Hall Sensor) and Thermal Protector Connector
300 ±30
365.5
0.3
5.5
500 ±50
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
37
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.4 External Dimensions 4.4.2 SGLFW2-45
Moving Coils without Polarity Sensors (Hall Sensors): SGLFW245AAT
L1
500.1
12
48.5
L2
(55)
(36) 2
Magnetic Way
50 min.
(9)
23
69.5
46
14.5 22.5
(75) (37.5) (37.5)
11
(6) (11.2)
380.1
Gap: 0.8
(0.5)
150.1
Servomotor Main Circuit Cable UL2586, AWG15 Refer to the following table.
L4
(9.1 dia.)
Refer to the following figures and . L3
Thermal protector cable 10020 UL1333, AWG20
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
Servomotor connector
Thermal protector connector
SGLFW2-45A200AT 4 × M6 × 11.5
SGLFW2-45A380AT 8 × M6 × 11.5
23
46
23
46
37
11
11
14.5
60.5
89.5
14.5
60.5
89.5
268.5 (89.5×3)
Unit: mm
Moving Coil Model SGLFW2-
L1
45A200AT1 205
45A200AT1H 45A380AT1
384 45A380AT1H
L2 89.5 268.5
L3 187 365.5
L4
300 ±30 500 ±50 300 ±30 500 ±50
Flatness 0.2 0.3
Approx. Mass [kg]
2.9
5.5
Connector Specifications · Servomotor Connector
1234
1
Phase U
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
4
· Thermal Protector Connector
1
1 2
Thermal protector Thermal protector
2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
4-23
4.4 External Dimensions 4.4.2 SGLFW2-45
Magnetic Ways: SGLFM2-45A
2 × N, 5.8-dia. mounting holes 10 dia. 0.5
(6)
37.5 (37.5)
63
75
NS
0.2 6 5.2
11.2±0.1
6
102 51±0.1
Reference mark (There are two, approx. 4-dia. indentations.)
L2 L1±0.1
NS NS
(102)
(51)
(Reference
mark)
Height of screw head: 5.2 max. Mounting Section Details
Unit: mm
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 SGLFM245306A 45510A 45714A
L1 ± 0.1
306 510 714
L2
204 (102 × 2) 408 (102 × 4) 612 (102 × 6)
N
Approx. Mass [kg]
3
1.5
5
2.5
7
3.4
4-24
59.5
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.4 External Dimensions 4.4.3 SGLFW2-90: Self-Cooled Models
4.4.3
SGLFW2-90: Self-Cooled Models
Moving Coils with Polarity Sensors (Hall Sensors): SGLFW290AAS1
120
Thermal protector relay connector (Molex Japan LLC) 50 min.
Receptacle housing: 5557-02R Plug housing: 5559-02P
Polarity sensor (hall sensor)
32 48.5
50±0.1 (36) 2
Refer to the following table.
Magnetic Way
12
(9)
Polarity sensor
(hall sensor) and
thermal protector
cable
91
UL20276, AWG28
L1
L2
(55)
(60)
15 30 30
114.5
14.5 45
(60)
(6) (11.2)
38±0.1
Gap 0.8
(0.5)
15±0.1
2 #4-40 UNC
screws
L4
L4
(10.5 dia.)
L3
60 min.
Refer to the following figures , , and .
Thermal protector cable
UL1333, AWG20
Thermal protector relay cable
The Moving Coil moves in the direction indicated by the
UL1333, AWG22
arrow when current flows in the following phase
Servomotor Main Circuit Cable
sequence: U, V, W.
UL2586, AWG12
Polarity sensor (hall sensor) and Servomotor connector thermal protector connector
SGLFW2-90A200AS 6 × M6 × 11.5
SGLFW2-90A380AS 12 × M6 × 11.5
91 30 30
91 30 30
59.5
14.5 15
14.5 15
60.5
89.5
SGLFW2-90A560AS 18 × M6 × 11.5
60.5
89.5
268.5 (89. 5 × 3)
91 30 30
59.5
14.5 15
60.5 89.5
447.5 (89.5 × 5)
Unit: mm
Moving Coil Model SGLFW2-
L1
90A200AS1 205
90A200AS1H
90A380AS1 384
90A380AS1H
90A560AS1 563
90A560AS1H
L2 89.5 268.5 447.5
L3 187 365.5 544
L4
300 ±30 500 ±50 300 ±30 500 ±50 300 ±30 500 ±50
Flatness 0.2
Approx. Mass [kg]
5.3
0.3
10.1
0.3
14.9
4
4-25
4.4 External Dimensions 4.4.3 SGLFW2-90: Self-Cooled Models
Connector Specifications · Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
B2
Phase U Phase V Phase W
FG
Red White Black Green
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
· Polarity Sensor (Hall Sensor) and Thermal
Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
Inverse power (V)
sor (hall sensor) output sig-
nals and the inverse power of
Vv
Sv
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
Vw 0
Sw
180 360 540 Electrical angle (°)
Moving Coil.
Moving Coils without Polarity Sensors (Hall Sensors): SGLFW290AAT1
50±0.1
Refer to the folowing table.
12 48.5
(36) 2
Magnetic Way
L1
L2
(55)
(9)
(60)
15 30 30
114.5
91
120
45
(60)
(6) (11.2)
38±0.1
Gap 0.8
(0.5)
14.5
15±0.1
Servomotor Main Circuit Cable UL2586, AWG12
L4
Servomotor connector
SGLFW2-90A200AT 6 × M6 × 11.5
(10.5 dia.)
60 min.
L3 Refer to the following figures , , and .
100±20
Thermal protector cable UL1333, AWG20
Thermal protector connector
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
SGLFW2-90A380AT 12 × M6 × 11.5
91 30 30
91 30 30
59.5
59.5
14.5 15
14.5 15
60.5
89.5
SGLFW2-90A560AT 18 × M6 × 11.5
60.5
89.5
268.5 (89. 5 × 3)
59.5
60.5 89.5
447.5 (89.5 × 5)
Unit: mm
91 30 30
14.5 15
4-26
Specifications, Ratings, and External Dimensions of SGLF Servomotors
Moving Coil Model SGLFW2-
L1
90A200AT1 205
90A200AT1H
90A380AT1 384
90A380AT1H
90A560AT1 563
90A560AT1H
L2 89.5 268.5 447.5
Connector Specifications
· Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
B2
Phase U Phase V Phase W
FG
Red White Black Green
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
· Thermal Protector Connector
1
1
2
Thermal protector Thermal protector
2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
L3 187 365.5 544
4.4 External Dimensions 4.4.3 SGLFW2-90: Self-Cooled Models
L4
300 ±30 500 ±50 300 ±30 500 ±50 300 ±30 500 ±50
Flatness 0.2
Approx. Mass [kg]
5.3
0.3
10.1
0.3
14.9
4
4-27
4.4 External Dimensions 4.4.4 SGLFW2-90: Water-Cooled Models
4.4.4
SGLFW2-90: Water-Cooled Models
Contact your Yaskawa representative for information on the SGLFW2-90A380AL and 90A560AL.
Moving Coils with Polarity Sensors (Hall Sensors): SGLFW290A200ASL
65±0.1
0.2 2 × RC 1/8 (for cooling medium)*
Polarity Sensor 50 min.
205
(Hall Sensor) Magnetic Way
32 16 30
60
60
(39)
(12)
120
(1.5)
(60)
(60)
(6) (11.2)
53±0.1
Gap 0.8
0.5±0.1 (from Magnetic Way end surface)
114.5 (cooling plate)
116.5 (motor)
Thermal protector relay connector (Molex Japan Co., Ltd.) Plug housing: 5559-02P Receptacle housing: 5557-02R
Polarity sensor (hall sensor) and
thermal protector cable
UL20276, AWG28
2 screws #4-40 UNC
L
L
Polarity sensor (hall sensor) and thermal protector connector
Servomotor connector
(11.7 dia.)
(5)
87.5
102
60 min.
6 × M6 × 11.5 Thermal protector cable UL1333, AWG20
Thermal protector relay cable UL1333, AWG22
Servomotor Main Circuit Cable UL2586, AWG10
6
15
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
(2)
* Use R1/8 stainless steel joints for the cooling medium. There is no directionality to the cooling medium ports. Use either side as the inlet port.
Moving Coil Model SGLFW2-
90A200ASL 90A200ASLH
L
300 ±30 500 ±50
Approx. Mass [kg] 6.1 6.1
Unit: mm
Connector Specifications · Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
B2
Phase U Phase V Phase W
FG
Red White Black Green
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
· Polarity Sensor (Hall Sensor) and Thermal
Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
Inverse power (V)
sor (hall sensor) output sig-
nals and the inverse power of
Vv
Sv
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
Vw 0
Sw
180 360 540 Electrical angle (°)
Moving Coil.
4-28
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.4 External Dimensions 4.4.4 SGLFW2-90: Water-Cooled Models
Moving Coils without Polarity Sensors (Hall Sensors): SGLFW290A200ATL
65±0.1 0.2
205
Magnetic Way 16
30
60
60
(39)
2 × RC 1/8 (for cooling medium)*
(12)
(60)
(5)
102
120
60 min.
87.5
114.5 (cooling plate)
116.5 (motor)
(60)
(2)
15
6
100±20
0.5±0.1 (from Magnetic Way
end surface)
(1.5)
(11.7 dia.)
(6) (11.2)
53±0.1
Gap 0.8
6 × M6 × 11.5
L Servomotor connector
Thermal protector cable UL1333, AWG20
Thermal protector connector
Servomotor Main Circuit Cable UL2586, AWG10
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
* Use R1/8 stainless steel joints for the cooling medium. There is no directionality to the cooling medium ports. Use either side as the inlet port.
Moving Coil Model SGLFW2-
90A200ATL 90A200ATLH
L
300 ±30 500 ±50
Approx. Mass [kg] 6.1 6.1
Connector Specifications · Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
B2
Phase U Phase V Phase W
FG
Red White Black Green
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
· Thermal Protector Connector
1
1 2
Thermal protector Thermal protector
2
Receptacle housing: 5557-02R
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
Plug housing: 5559-02P
Terminals: 5558T or 5558TL
Unit: mm
4
4-29
4.4 External Dimensions 4.4.5 SGLFW2-90: Self-Cooled and Water-Cooled Models
4.4.5
SGLFW2-90: Self-Cooled and Water-Cooled Models
Magnetic Ways: SGLFM2-90A
2 × N, 7-dia. mounting holes 11.5 dia. 2
(6.5)
(60)
107
120
NS
(60)
6.5
0.3 6 5.2
11.2±0.1
102 51±0.1
Reference mark (There are two, approx. 4-dia. indentations.)
L2 L1±0.1
NS NS
(102) (51) (Reference mark)
Height of screw head: 6.7 max. Mounting Section Details
Unit: mm
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 SGLFM290306A 90510A 90714A
L1±0.1
306 510 714
L2
204 (102 × 2) 408 (102 × 4) 612 (102 × 6)
N
Approx. Mass [kg]
3
2.6
5
4.2
7
5.9
4-30
4.4 External Dimensions 4.4.6 SGLFW2-1D
4.4.6
SGLFW2-1D
Moving Coil with Polarity Sensor (Hall Sensor): SGLFW2-1DAAS1
Thermal protector relay connector (Molex Japan LLC)
Receptacle housing: 5557-02R
Plug housing: 5559-02P
50 min.
L1
50±0.1
Refer to the folowing table.
Polarity sensor (hall sensor)
32
48.5
L2
(55)
(36) 2
Magnetic Way
12
(9)
(87.5)
22.5 45 45
Polarity sensor (hall sensor) and thermal protector cable UL20276, AWG28
160
136
175
67.5
(87.5)
2 × #4-40 UNC
screws
L4
20±0.1
15
(5)
(6)
(11.2) 38±0.1
L4
Gap 0.8
Polarity sensor (hall sensor) and thermal protector connector
Servomotor connector
(10.5 dia.)
L3
60 min. Refer to the following figures and .
Thermal protector cable UL1333, AWG20
Thermal protector relay cable UL1333, AWG22
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.
SGLFW2-1DA380AS 12 × M8 × 16
SGLFW2-1DA560AS 18 × M8 × 16
Inverse power (V) 82.5
Specifications, Ratings, and External Dimensions of SGLF Servomotors
22.5 45 45
136
82.5
22.5 45 45
136
15
60.5 89.5 268.5 (89.5 × 3)
15
60.5 89.5
447.5 (89.5 × 5)
Unit: mm
Moving Coil Model SGLFW2-
L1
1DA380AS1 384
1DA380AS1H
1DA560AS1 563
1DA560AS1H
L2 268.5 447.5
L3 365.5 544
L4
300 ±30 500 ±50 300 ±30 500 ±50
Flatness
Approx. Mass [kg]
0.3
14.6
0.3
21.5
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
B2
Phase U Phase V Phase W
FG
Red White Black Green
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall sensor) output signals and the inverse power of each motor phase Vu, Vv,
Vu Su Vv
Sv
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
and Vw when the Moving
Vw
Coil moves in the direction
Sw
4
indicated by the arrow in the
0 180 360 540
dimensional drawings of the
Electrical angle (°)
Moving Coil.
Contacts: 179956-2
· Polarity Sensor (Hall Sensor) and Thermal
Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
1
2
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
4-31
4.4 External Dimensions 4.4.6 SGLFW2-1D
Moving Coil without Polarity Sensor (Hall Sensor): SGLFW2-1DAAT1
50±0.1 (36) 2
Refer to the following table. Magnetic Way 12
48.5
L1
L2
(55)
(9)
(87.5)
22.5 45 45
160
136
175
67.5
(87.5)
4-32
(6) (11.2)
(5)
38±0.1
Gap 0.8
15
20±0.1
Servomotor Main Circuit Cable UL2586, AWG12
L4
Servomotor connector
(10.5 dia.)
L3
60 min.
Refer to the following figures and .
100±20
Thermal protector cable UL1333, AWG20
Thermal protector connector
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
SGLFW2-1DA380AT 12 × M8 × 16
SGLFW2-1DA560AT 18 × M8 × 16
82.5
22.5 45 45
136
136 45 45
82.5
15 22.5
60.5 89.5 268.5 (89.5 × 3)
15
60.5 89.5
447.5 (89.5 × 5)
Moving Coil Model SGLFW2-
L1
1DA380AT1 384
1DA380AT1H
1DA560AT1 563
1DA560AT1H
L2 268.5 447.5
L3 365.5 544
Connector Specifications
· Servomotor Connector
B1
B2
A1
A2
A1
A2
B1
Phase U Phase V Phase W
B2
FG
Red White Black Green
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
· Polarity Sensor (Hall Sensor) and Thermal Protector Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
L4
300 ±30 500 ±50 300 ±30 500 ±50
Unit: mm
Flatness 0.3
Approx. Mass [kg]
14.6
0.3
21.5
Specifications, Ratings, and External Dimensions of SGLF Servomotors
Magnetic Ways: SGLFM2-1DA
2 × N, 10-dia. mounting holes 15 dia. 3
4.4 External Dimensions 4.4.6 SGLFW2-1D
(9.5)
(87.5)
156
175
NS
(87.5)
0.3 6 5.2
11.2±0.1
9.5
102 51±0.1
Reference mark (There are two, approx. 4-dia. indentations.)
L2 L1±0.1
NSNS
(102) (51)
(Reference mark)
Height of screw head: 8.2 max. Mounting Section Details
Unit: mm
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 SGLFM21D306A 1D510A 1D714A
L1 ±0.1
306 510 714
L2
204 (102 × 2) 408 (102 × 4) 612 (102 × 6)
N
Approx. Mass [kg]
3
3.7
5
6.2
7
8.6
4
4-33
4.4 External Dimensions 4.4.7 SGLFW-20
4.4.7
SGLFW-20
Moving Coils: SGLFW-20AA
(32) 2
50 min.
L1
Polarity sensor
30 30
L2
(25)
(hall sensor)
36
Magnetic Way
(12) (20) (7.5)
(17.5)
40
28
12.5 22 5.5
(20)
(44) (22) (22)
9.7 dia.
(22.5)
0.5
(6)
7.7
34
0.1
(4.2 with magnet cover) (4 without magnet cover)
45±0.1 (Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
(10.2 with magnet cover) (10 without magnet cover)
2 × #4-40 UNC 500±50 screws
500±50
(10) (12.5)
5
30 min.
Refer to the following figures
L3
12
and .
The Moving Coil moves in the direction indicated by the arrow when current flows in 7 the following phase sequence: U, V, W.
(6.1 dia.) (4.2 dia.)
4-34
SGLFW-20A090A
2 × M4 × 8
SGLFW-20A120A
3 × M4 × 8
(12.5) (20) (22.5)
(12.5) (20) (22.5)
Inverse power (V)
30 36
30 36 72
Unit: mm
Moving Coil Model SGLFW-
L1
L2
L3
Approx. Mass [kg]
20A090A
91
36
72
0.7
20A120A
127
72
108
0.9
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall senors) and
models without polarity sensors (hall sensors).
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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 Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
Cap: 350780-1
Socket: 350536-3 or 350550-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
12
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
Magnetic Ways: SGLFM-20A
Moving Coil
9.9°
4.4 External Dimensions 4.4.7 SGLFW-20
(L3) 2 × N × 4.8 dia.
44 4.5 35 (4.5)
22 (22)
(17.5) (40)
NS NS
NS NS
(22.5)
64
10 (34)
54
45±0.1
(Gap: 1)
LA
Reference mark (There are two, approx. 4-dia. indentations.)
Reference mark
(Reference mark) (54)
L2
(30.8)
L1
Height of screw head: 4.2 max. Mounting Section Details
Unit: mm
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 SGLFM-
20324A
20540A
20756A
L1
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
L2
270 (54 × 5) 486 (54 × 9) 702 (54 × 13)
(L3) (331.6) (547.6) (763.6)
LA
30.8
0 -0.2
30.8
0 -0.2
30.8
0 -0.2
N
Approx. Mass [kg]
6
0.9
10
1.4
14
2
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
4-35
4.4 External Dimensions 4.4.8 SGLFW-35
4.4.8 SGLFW-35
Moving Coils: SGLFW-35AA
(32) 2
50 min.
L1
30 30
L2
25
(7.5)
36 Magnetic Way Polarity sensor
(hall sensor)
(35)
(8.5) 18 (10.5)
(60) (30) (30)
(35) 12.5 37 5.5
(30) (25) 43 55
9.7 dia.
0.5
(4.2 with magnet cover)
(6)
7.7 34
(4 without magnet cover)
Refer to the following table.
2 #4-40 UNC screws
50050
450.1
(Gap: 0.8 with magnet cover)
50050
(Gap: 1 without magnet cover)
(10.2 with magnet cover) (10 without magnet cover)
(6.1 dia.) (4.2 dia.)
5
(12.5)
30 min.
Refer to the following
figures and . L3
7
12
The Moving Coil moves in
the direction indicated by
the arrow when current flows in
the following phase sequence: U, V, W.
4-36
SGLFW-35A120A
6 M4 8
SGLFW-35A230A
12 M4 8
18
(35)
18
(35)
Inverse power (V) (30)
(30)
(8.5)
(12.5)
(8.5)
(12.5)
30 36 72
30 36
180 (365)
Unit: mm
Moving Coil Model SGLFW-
L1
L2
L3
Flatness Approx. Mass [kg]
35A120A
127
72
108
0.1
1.3
35A230A
235
180
216
0.2
2.3
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and models without polarity sensors (hall sensors).
Connector Specifications
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
· Polarity Sensor (Hall Sensor) Connector
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
sor (hall sensor) output sig-
nals and the inverse power
Vv Sv
of each motor phase Vu, Vv,
and Vw when the Moving
Vw
Coil moves in the direction
Sw
indicated by the arrow in the dimensional drawings of the
0 180 360 540 Electrical angle (°)
Moving Coil.
9
6 1 +5 V (power supply) 6
5
12
Phase U
7 Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
Inverse power (V) (30)
Specifications, Ratings, and External Dimensions of SGLF Servomotors
Moving Coils: SGLFW-35AAD
(32) 2
50 min.
30 30
Magnetic Way
Polarity sensor (Hall sensor)
36
4.4 External Dimensions 4.4.8 SGLFW-35
L1
L2
25
(35) (7.5)
(10.5)
(8.5) 18
(60) (30) (30)
(35) 12.5 37 5.5
(30) (25) 43 55
9.7 dia.
0.5
(6)
7.7
(4.2 with magnet cover) (4 without magnet cover)
34 450.1
Refer to the following table.
2 × #4-40 UNC screws
(Gap: 0.8 with magnet cover)
(Gap: 1 without magnet cover)
(10.2 with magnet cover) (10 without magnet cover)
50050 50050
(6.1 dia.) (4.2 dia.)
Refer to the following figures and .
L3
7
30 min. 12
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
(12.5)
SGLFW-35A120AD 6 M4 8
SGLFW-35A230AD 12 M4 8
18
(12.5) (35)
18
(30)
(12.5) (35)
(8.5)
(8.5)
30 36 72
30 36
180 (365)
Unit: mm
Moving Coil Model SGLFW-
L1
L2
L3
Flatness Approx. Mass [kg]
35A120AD
127
72
108
0.1
1.3
35A230AD
235
180
216
0.2
2.3
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and models without polarity sensors (hall sensors).
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
5 61
1
Phase U
5
Not used
2
Phase V
6
Not used
4
2
4
Phase W
Ground
Extension: ARRA06AMRPN182
Pins: 021.279.1020
From Interconnectron GmbH
Mating Connector
Plug: APRA06BFRDN170
Socket: 020.105.1020
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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 Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
4
5
12
Phase U
7 Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
4-37
4.4 External Dimensions 4.4.8 SGLFW-35
Magnetic Ways: SGLFM-35A
9.9° Moving Coil
(L3) 2 × N × 4.8 dia.
(4.5)
30 (30)
51
60
(55)
(30) (25)
NS NS
NS NS
4.5
64
10 (34)
54
45±0.1
(Gap: 1)
LA
Reference mark
(There are two, approx.
4-dia. indentations.)
Reference mark
(Reference mark) (54)
L2
(32.2)
L1
Height of screw head: 4.2 max. Mounting Section Details
Unit: mm
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 SGLFM-
35324A
35540A
35756A
L1
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
L2
270 (54 × 5) 486 (54 × 9) 702 (54 × 13)
(L3) (334.4) (550.4) (766.4)
LA
32.2
0 -0.2
32.2
0 -0.2
32.2
0 -0.2
N
Approx. Mass [kg]
6
1.2
10
2
14
2.9
4-38
4.4.9
SGLFW-50
Moving Coils: SGLFW-50AB
(40) 3
50 min.
30 55
Magnetic Way
Polarity sensor (hall sensor)
60
4.4 External Dimensions 4.4.9 SGLFW-50
L1
L2
40
(15)
7
23.5
71.5
(37.75) (33.75)
(64.5)
(48)
(75) (37.5) (37.5)
12 dia.
0.5 (4.2 with magnet cover)
(9)
(4 without magnet cover)
43
Refer to the following table.
580.1 (Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
(10.2 with magnet cover) (10 without magnet cover)
2 #4-40 UNC screws
50050
50050
(7.4 dia.) (4.2 dia.)
5
Refer to the following figures and .
50 min. 25
L3
10
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
SGLFW-50A200B 6 M5 9.5
SGLFW-50A380B 12 M5 9.5
Specifications, Ratings, and External Dimensions of SGLF Servomotors
23.5
(48)
(12) 23.5
(48)
(12)
(14)
(14)
55 60 120
55 60
300 (60 5)
Unit: mm
Moving Coil Model SGLFW-
50A200B 50A380B
L1
L2
L3
Flatness
Approx. Mass [kg]
215
120
180
0.2
3.5
395
300
360
0.3
6.9
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and
models without polarity sensors (hall sensors).
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
The figure on the right shows
Inverse power (V)
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
sor (hall sensor) output signals and the inverse power
Vv Sv
of each motor phase Vu, Vv,
and Vw when the Moving
Vw
Coil moves in the direction
Sw
indicated by the arrow in the
0 180 360 540
dimensional drawings of the
Electrical angle (°)
Moving Coil.
4
Socket: 350536-3 or 350550-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (thermal protector), +5 V (power supply)
5
1
2
Su
6
3
Sv
7
Not used
4
Sw
8
5 0 V (power supply) 9 Thermal protector
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
4-39
4.4 External Dimensions 4.4.9 SGLFW-50
Moving Coils: SGLFW-50ABD
50 min.
L1
30 55
L2
40
(40) 3
Magnetic Way
Polarity sensor (hall sensor)
60
(15)
7
23.5
71.5
(37.75) (33.75)
(64.5)
(48)
(75) (37.5) (37.5)
(9)
0.5 43
Refer to the following table. 50050
(4.2 with magnet cover)
580.1 (4 without magnet cover)
(Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
(10.2 with magnet cover) (10 without magnet cover)
2 #4-40 UNC screws
50050
(7.4 dia.) (4.2 dia.)
12 dia.
5
Refer to the following figures and .
50 min. 25
L3
10
55
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
SGLFW-50A200BD 6 M5 9.5
SGLFW-50A380BD 12 M5 9.5
23.5
(48)
(12) 23.5
(48)
(12)
(14)
(14)
55 60 120
55 60
300 (60 5)
Unit: mm
Moving Coil Model SGLFW-
50A200BD 50A380BD
L1
L2
L3
Flatness
Approx. Mass [kg]
215
120
180
0.2
3.5
395
300
360
0.3
6.9
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and models without polarity sensors (hall sensors).
Connector Specifications · Servomotor Connector
5 61
1
Phase U
5
Not used
2
Phase V
6
Not used
4
2
4
Phase W
Ground
Extension: ARRA06AMRPN182
Pins: 021.279.1020
From Interconnectron GmbH
Mating Connector
Plug: APRA06BFRDN170
Socket: 020.105.1020
· Polarity Sensor (Hall Sensor) Connector
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows
Inverse power (V)
the relationship between the Su, Sv, and Sw polarity sen-
Vu Su
sor (hall sensor) output signals and the inverse power
Vv Sv
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
Vw 0
Sw
180 360 540 Electrical angle (°)
Moving Coil.
9
6 1 +5 V (power supply) 6
5
12
Phase U
7 Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
4-40
75
Magnetic Ways: SGLFM-50A
8.6° Moving Coil
NS NS
65
(5)
4.4 External Dimensions 4.4.9 SGLFW-50
(L3) 2 × N × 5.8 dia.
NS NS
37.5 (37.5)
(71.5)
(37.75) (33.75)
5
95 14 (43)
(Gap: 1) 58±0.1
67.5 LA
Reference mark (There are two, approx. 4-dia. indentations.)
Reference mark (67.5)
(Reference
L2
(39.4) mark)
L1
Unit: mm
Height of screw head: 5.2 max. Mounting Section Details
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 SGLFM-
50405A
50675A
50945A
L1
405 -0.1 -0.3
675 -0.1 -0.3
945 -0.1 -0.3
L2
(L3)
337.5 (67.5 × 5) 607.5 (67.5 × 9) 877.5 (67.5 × 13)
(416.3) (686.3) (956.3)
LA
39.4
0 -0.2
39.4
0 -0.2
39.4
0 -0.2
N
Approx. Mass [kg]
6
2.8
10
4.6
14
6.5
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
4-41
4.4 External Dimensions 4.4.10 SGLFW-1Z
4.4.10 SGLFW-1Z
Moving Coils: SGLFW-1ZAB
50 min.
L1
(40) 3
Magnetic Way
Polarity sensor (hall sensor)
30 55
60
L2
40
(15)
7
(96)
35.5 35.5
119
(61.5) (57.5)
(62.5)
98
(96)
(125)
(62.5)
2 × #4-40 UNC screws
14
(9)
0.5
(5.2 with magnet cover)
43 (5 without magnet cover)
(Gap: 0.8 with magnet cover) 58±0.1 (Gap: 1 without magnet cover)
(14.2 with magnet cover) (14 without magnet cover)
(8.4 dia.) (4.2 dia.)
500±50 500±50
Refer to the following figures and . 50 min. 25
(12)
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
L3
10
SGLFW-1ZA200B 9 × M5 × 9.5
SGLFW-1ZA380B 18 × M5 × 9.5
(12) 35.5 35.5
(96)
(96) 35.5 35.5
(14)
(14) (12)
4-42
55
60
120
55 60
300 (60 × 5)
Unit: mm
Moving Coil Model SGLFW-
L1
L2
L3
Approx. Mass [kg]
1ZA200B
215
120
180
6.4
1ZA380B
395
300
360
11.5
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and
models without polarity sensors (hall sensors).
Connector Specifications
Polarity Sensor (Hall Sensor) Output Sig-
nal
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Black Green
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
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
Cap: 350780-1
Socket: 350536-3 or 350550-3
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12
Phase U
7 Not used
3
Phase V
8
4
Phase W
9
5 0 V (power supply) -
-
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
Inverse power (V)
Specifications, Ratings, and External Dimensions of SGLF Servomotors
Moving Coils: SGLFW-1ZA200BD
(40) 3
50 min.
Polarity sensor
Magnetic Way (hall sensor)
30 55
4.4 External Dimensions 4.4.10 SGLFW-1Z
215
120 (60 × 2)
40
60
(15)
7
35.5 35.5
(61.5) (57.5)
(112)
(62.5)
(96)
119
(125)
Proximity sensor (Hall sensor) cable UL20276, AWG28
(62.5)
(9) 43
58±0.1
2 × #4-40 UNC screws 0.5 (5.2 with magnet cover)
(5 without magnet cover) 0.2 (Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
(14.2 with magnet cover) (14 without magnet cover)
Polarity sensor (hall sensor) connector
Servomotor connector
500±50 500±50
(8.4 dia.) (4.2 dia.)
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.
50 min. 25
180
10
Servomotor Main Circuit Cable UL2517, AWG15
SGLFW-1ZA200BD 9 × M5 × 9.5L
35.5 35.5
(96)
(12)
(14)
55
60
120
Approx. mass: 6.4 kg Unit: mm
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors (hall sensors) and models without polarity sensors (hall sensors).
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
1
1
Phase U
4
Not used
6
22
Phase V
5
Not used
3
Phase W
6
Ground
5
3 Extension: SROC06JMSCN169
4
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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 Su
Vv Sv
Vw 0
Sw
180 360 540 Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
4
5 0 V (power supply) -
-
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
4-43
4.4 External Dimensions 4.4.10 SGLFW-1Z
Magnetic Ways: SGLFM-1ZA
8.6° Moving Coil
(6.5)
(62.5)
(57.5)
112
125
(119)
NS NS
62.5
(61.5)
6.5
9
5
14 (43)
(Gap1) 58±0.1
1.5
67.5 LA
Reference mark (There are two, approx. 4-dia. indentations.)
(L3) 2 × N, 7-dia. mounting holes 11.5 dia. 1.5
NS NS
Reference mark
(Reference (67.5) mark)
L2
(43.2)
L1
11.5 dia.
Height of screw head: 6.7 max. Mounting Section Details
Unit: mm
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 SGLFM-
1Z405A
1Z675A
1Z945A
L1
405 -0.1 -0.3
675 -0.1 -0.3
945 -0.1 -0.3
L2
337.5 (67.5 × 5) 607.5 (67.5 × 9) 877.5 (67.5 × 13)
(L3) (423.9) (693.9) (963.9)
LA
43.2
0 -0.2
43.2
0 -0.2
43.2
0 -0.2
N
Approx. Mass [kg]
6
5
10
8.3
14
12
4-44
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4.5 Selecting Cables
4.5.1
Cable Configurations
Prepare the cable required for the encoder. Refer to the following catalog to select a Linear Encoder.
AC Servo Drives -7 Series (Manual No.: KAEP S800001 23)
SERVOPACK
4.5 Selecting Cables 4.5.1 Cable Configurations
Serial Converter Unit
Serial Converter Unit Cable* (between SERVOPACK connector CN2 and Serial Converter Unit)
Linear Servomotor Main Circuit Cable
Linear Encoder Cable
Linear Encoder (Not provided by Yaskawa.)
Sensor Cable (between Serial Converter Unit and polarity sensor (hall sensor))
Polarity sensor (hall sensor)
Linear Servomotor
* You can connect directly to an absolute linear encoder. Note: Refer to the following manual for the following information.
· Cable dimensional drawings and cable connection specifications · Order numbers and specifications of individual connectors for cables · Order numbers and specifications for wiring materials
-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
4
4-45
4.5 Selecting Cables 4.5.2 Linear Servomotor Main Circuit Cables
4.5.2 Linear Servomotor Main Circuit Cables
Linear Servomotor Model
SGLFW-20A, -35A
SGLFW-50A, -1ZA
SGLFW-AD
SGLFW2-30A070A SGLFW2-30A120A SGLFW2-30A230A
SGLFW2-45A200A SGLFW2-45A380A
SGLFW2-90A200A SGLFW2-90A380A
SGLFW2-90A560A SGLFW2-1DA380A SGLFW2-1DA560A
Length (L)
Order Number
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
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
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
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
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
1 m JZSP-CL2N803-01-E
3 m JZSP-CL2N803-03-E
5 m JZSP-CL2N803-05-E
10 m JZSP-CL2N803-10-E
15 m JZSP-CL2N803-15-E
20 m JZSP-CL2N803-20-E 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
Appearance
SERVOPACK end L
Linear Servomotor end
*1
SERVOPACK end
Linear Servomotor
L
end
*1
SERVOPACK end
Linear Servomotor
L
end
*2
SERVOPACK end L
Motor end *1
SERVOPACK end L
Motor end *1
SERVOPACK end L
Motor end
SERVOPACK end L
Motor end
Continued on next page.
4-46
4.5 Selecting Cables 4.5.2 Linear Servomotor Main Circuit Cables
Continued from previous page.
Linear Servomotor Model
Length (L)
Order Number
Appearance
1 m JZSP-CLN423-01-E
SGLFW2-90A200AL
3 m 5 m 10 m
JZSP-CLN423-03-E JZSP-CLN423-05-E JZSP-CLN423-10-E
SERVOPACK end
Linear Servomotor end
L
15 m JZSP-CLN423-15-E
20 m JZSP-CLN423-20-E
Note: Estimates are available for models other than those listed above (SGLFW2-90AAL and SGLFW21DAL).
*1. Connector from Tyco Electronics Japan G.K. *2. Connector from Interconnectron GmbH
Specifications, Ratings, and External Dimensions of SGLF Servomotors
4
4-47
Specifications, Ratings, and External Dimensions of SGLT Servomotors
This chapter describes how to interpret the model numbers of SGLT Servomotors and gives their specifications, ratings, and external dimensions.
5.1 Model Designations . . . . . . . . . . . . . . . . . . 5-2
5.1.1 5.1.2 5.1.3
Moving Coil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Magnetic Way . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Precautions on Moving Coils with Polarity Sensors (Hall Sensor) . . . . . . . . . . . . . . . . . . . . . 5-4
5.2 Ratings and Specifications . . . . . . . . . . . . . 5-5
5.2.1 5.2.2 5.2.3 5.2.4
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6 Force-Motor Speed Characteristics . . . . . . . . . . 5-7 Servomotor Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3 External Dimensions . . . . . . . . . . . . . . . . . 5-10
5.3.1 5.3.2 5.3.3
5.3.4 5.3.5 5.3.6
SGLTW-20: Standard Models . . . . . . . . . . . . . . 5-10 SGLTW-35: Standard Models . . . . . . . . . . . . . . 5-13 SGLTW-35H: High-efficiency Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16 SGLTW-40: Standard Models . . . . . . . . . . . . . . 5-18 SGLTW-50: High-efficiency Models . . . . . . . . . . 5-21 SGLTW-80: Standard Models . . . . . . . . . . . . . . 5-23
5.4 Selecting Cables . . . . . . . . . . . . . . . . . . . . 5-26
5.4.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . 5-26 5.4.2 Linear Servomotor Main Circuit Cables . . . . . . . 5-27
5
5.1 Model Designations 5.1.1 Moving Coil
5.1 Model Designations
5.1.1
Moving Coil
S G L T W - 20 A 170 A P - E
Linear Series
1st 2nd digit digit
3rd+4th 5th 6th+7th+8th 9th 10th 11th
digits digit
digits
digit digit digit
12th digit
Linear Servomotors
1st digit Servomotor Type Code Specification
T With T-type iron core
5th digit Power Supply Voltage Code Specification
A 200 VAC
2nd digit Moving Coil/Magnetic Way
Code
Specification
W Moving Coil
3rd+4th digits Magnet Height
Code
Specification
20 20 mm
35 36 mm
40 40 mm
50 51 mm
80 76.5 mm
Length of 6th+7th+8th digits Moving Coil Code Specification
170 170 mm 320 315 mm 400 394.2 mm 460 460 mm 600 574.2 mm
9th digit Design Revision Order A, B ... H: High-efficiency model
10th digit Sensor Specification and Cooling Method
Specifications
Code
Polarity Sensor
Applicable Models Cooling Method
(Hall Sensor)
None C* H* P
None None Yes Yes
Self-cooled Water-cooled Water-cooled Self-cooled
All models SGLTW-40, -80 All models
11th digit Connector for Servomotor Main Circuit Cable
Code
Specification
Connector from Tyco Electronics Japan G.K.
Applicable Models
SGLTW-20A -35A
None MS connector
Loose lead wires with no connector
SGLTW-40AB -80AB
SGLTW-35AH -50AH
12th digit EU Directive Certification
Code E
None
Certified Not certified
Specification
* 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.
5-2
5.1 Model Designations 5.1.2 Magnetic Way
5.1.2
Magnetic Way
SGL
Linear Series Linear Servomotors
T M - 20 324 A
1st
2nd
digit digit
3rd+4th 5th+6th+7th 8th
9th
digits
digits
digit digit
1st digit Servomotor Type (Same as for the Moving Coil.)
2nd digit Moving Coil/Magnetic Way
Code
Specification
M Magnetic Way
3rd+4th digits Magnet Height (Same as for the Moving Coil.)
5th+6th+7th digits
Length of Magnetic Way
Code Specification
324 324 mm
405 405 mm
540 540 mm
675 675 mm
756 756 mm
945 945 mm
9th digit Options
Code
Specification
None Without options
C With magnet cover
Y
With base and magnet cover
8th digit Design Revision Order
A, B ... H: High-efficiency model
Applicable Models
All models SGLTM-20, -35*, -40,
-80
* 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.
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5
5-3
5.1 Model Designations 5.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensor)
5.1.3 Precautions on Moving Coils with Polarity Sensors (Hall Sensor)
When you use a Moving Coil with a Polarity Sensor (Hall Sensor), the Magnetic Way must cover the bottom of the polarity sensor (hall sensor). Refer to the example that shows the correct installation. Note 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 (hall sensor). Refer to the following table.
Correct Installation
Polarity sensor (hall sensor)
Moving Coil movement direction
Incorrect Installation
Moving Coil Magnetic Way
Polarity sensor (hall sensor)
Edge of Magnetic Way
Edge of Magnetic Way
Total Length of Moving Coil with Polarity Sensor (Hall Sensor)
L
A
L1
Polarity sensor
(hall sensor)
Moving Coil
Magnetic Way
Moving Coil Model SGLTW-
20A170AP 20A320AP 20A460AP 35A170AP 35A320AP 35A460AP 35A170HP 35A320HP 50A170HP 50A320HP 40A400BH 40A400BP 40A600BH 40A600BP 80A400BH 80A400BP 80A600BH 80A600BP
Length of Moving
Coil, L1 [mm]
170 315 460 170 315 460 170 315 170 315
394.2
574.2
394.2
574.2
Length of Polarity Sensor (Hall Sensor), A [mm]
34
34
34
34 26 26 26 26
Total Length, L [mm]
204 349 494 204 349 494 204 349 204 349
420.2
600.2
420.2
600.2
5-4
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.2 Ratings and Specifications
5.2 Ratings and Specifications 5.2.1 Specifications
5.2.1 Specifications
Linear Servomotor Moving Coil Model
SGLTW-
Time Rating
Thermal Class
Insulation Resistance
Withstand Voltage
Excitation
Cooling Method
Protective Structure
Surrounding Air Temperature
Environmental Conditions
Surrounding Air Humidity
Installation Site
Shock Resistance
Vibration Resistance
Impact Acceleration Rate
Number of Impacts
Vibration Acceleration Rate
Standard Models
High-efficiency Models
20A
35A
40A
80A
35A
50A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Continuous
B
500 VDC, 10 M min.
1,500 VAC for 1 minute
Permanent magnet
Self-cooled
IP00
0°C to 40°C (with no freezing)
20% to 80% relative humidity (with no condensation)
· Must be indoors and free of corrosive and explosive gases. · Must be well-ventilated and free of dust and moisture. · Must facilitate inspection and cleaning. · Must have an altitude of 1,000 m or less. · Must be free of strong magnetic fields.
196 m/s2
2 times
49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
5
5-5
5.2 Ratings and Specifications 5.2.2 Ratings
5.2.2 Ratings
5-6
Linear Servomotor Moving
Coil Model SGLTW-
20A
Standard Models
High-efficiency Models
35A
40A
80A
35A
50A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 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 2.0 2.0 2.0 2.5 2.0 2.0 2.0
Maximum Speed*1
Rated Force*1, *2
Maximum Force*1
Rated Current*1
m/s
N N Arms
5.0 5.0 5.0 5.0 5.0 5.0 3.1 3.1 2.5 2.5 4.8 4.8 3.2 3.1
130 250 380 220 440 670 670 1000 1300 2000 300 600 450 900 380 760 1140 660 1320 2000 2600 4000 5000 7500 600 1200 900 1800 2.3 4.4 6.7 3.5 7.0 10.7 7.3 10.9 11.1 17.1 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 60.6 57.9 86.9 11.9 23.9 11.8 23.6
Moving Coil Mass kg
2.5 4.6 6.7 3.7 6.8 10 15 23 24 35 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 99.1 126 126 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 33.0 42.0 42.0 21.3 21.3 31.7 31.7
Motor Constant N/ W 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116 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 17 17 15 16 16 17
Mechanical Time Constant
ms
7.1 6.6 6.4 5.2 4.8 4.6 4.0 4.1 2.7 2.6 3.5 3.1 2.5 2.4
Thermal
Resistance
K/W
(with Heat Sink)
1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.20 0.22 0.18 0.76 0.40 0.61 0.30
Thermal
Resistance (without Heat
K/W
1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.40 0.47 0.33 1.26 0.83 0.97 0.80
Sink)
Magnetic Attrac-
tion*3
N
00000000000000
Magnetic
Attraction on
N
One Side*4
800 1590 2380 1400 2780 4170 3950 5890 7650 11400 1400 2780 2000 3980
Maximum Allowable Payload
kg
25 50 76 44 88 130 280 440 690 1000 33 67 92 190
Maximum Allow-
able Payload
(With External
Regenerative
kg
Resistor and
External Dynamic
Brake Resistor)
25 50 76 44 88 130 280 440 690 1000 40 82 95 190
Combined Magnetic Way, SGLTM-
20A
35A
40A 80A 35H 50H
Combined Serial Converter Unit, JZDP--
011 012 013 014 015 016 185 186 187 188 105 106 108 109
Applicable SERVOPACKs
SGD7S- 3R8A 7R6A 120A 5R5A 120A
SGD7WSGD7C-
5R5A
7R6A
-
5R5A
180A
330A
-
550A 5R5A 120A 5R5A 120A 5R5A - 5R5A -
*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 a surrounding air temperature of 40°C with an aluminum heat sink of the
dimensions given in the following table. · Heat Sink Dimensions
· 254 mm × 254 mm × 25 mm: SGLTW-20A170A and -35A170A · 400 mm × 500 mm × 40 mm: SGLTW-20A320A, -20A460A, -35A170H, -35A320A, -35A320H, -35A460A,
and -50A170H · 609 mm × 762 mm × 50 mm: SGLTW-40A400B, -40A600B, -50A320H, -80A400B, and -80A600B *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.
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.2 Ratings and Specifications 5.2.3 Force-Motor Speed Characteristics
5.2.3
Force-Motor Speed Characteristics
A : Continuous duty zone
B : Intermittent duty zone
Standard Models
(solid lines): With three-phase 200-V input (dotted lines): With single-phase 200-V input
SGLTW-20A170A 6
SGLTW-20A320A 6
Motor speed (m/s)
Motor speed (m/s)
5
5
4
4
3
2A
B
3
2A
B
1
1
0 0 100 200 300 400 Force (N)
0 0 200 400 600 800 Force (N)
6
SGLTW-35A170A
SGLTW-35A320A 6
Motor speed (m/s)
Motor speed (m/s)
5
5
4
4
3
2
A
B
3
2A
B
1
1
0 0 200 400 600 700 Force (N)
SGLTW-40A400B 4
0
0
400 800 1200 1400
Force (N)
SGLTW-40A600B 4
3
3
Motor speed (m/s)
Motor speed (m/s)
SGLTW-20A460A 6
5
4
3
2A
B
1
0 0 200 400 600 800 1000 1200 Force (N)
SGLTW-35A460A 6
5
4
3
2A
B
1
0 0 500 1000 1500 2000 2500 Force (N)
Motor speed (m/s)
Motor speed (m/s)
2
A
B
1
0
0
1000 2000
Force (N)
SGLTW-80A400B 4
3000
3
2
A
B
1
0
0
2000
4000
Force (N)
SGLTW-80A600B 4
3
Motor speed (m/s)
Motor speed (m/s)
2
A
B
1
2
A
B
1
0
0
2000 4000 6000
Force (N)
0 0 2000 4000 6000 8000
Force (N)
Note: 1.These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.
5
5-7
5.2 Ratings and Specifications 5.2.3 Force-Motor Speed Characteristics
High-efficiency Models
Motor speed (m/s) Motor speed (m/s) Motor speed (m/s) Motor speed (m/s)
SGLTW-35A170H
6
5
4
3
2
A
B
1
0 0 200 400 600
Force (N)
SGLTW-35A320H
6
5
4
3
A 2
B
1
0 0 400 800 1200 Force (N)
SGLTW-50A170H
4
3
2
A
B
1
0 0 300 600 900 Force (N)
SGLTW-50A320H
4
3
2
A
B
1
0 0 600 1200 1800 Force (N)
Note: 1.These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 100°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermittent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed characteristics will become smaller because the voltage drop increases.
5-8
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.2 Ratings and Specifications 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 temperature of 40°C.
10000
SGLTW-20AA and -35AA
10000
SGLTW-40AB and -80AB
1000
1000
Detection time (s)
Detection time (s)
100
100
10
10
1 50 100 150 200 250 300 350 400
Force reference (percent of rated force) (%)
1 50 100 150 200 250 300 350 400 450 500 550
Force reference (percent of rated force) (%)
10000
SGLTW-35AH and -50AH
1000
Detection time (s)
100
10
1
50
100
150
200
250
Force reference (percent of rated force) (%)
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 5.2.3 Force-Motor Speed Characteristics on page 5-7.
5
5-9
5.3 External Dimensions 5.3.1 SGLTW-20: Standard Models
5.3 External Dimensions
5.3.1 SGLTW-20: Standard Models
Moving Coils: SGLTW-20AA
(55) 51 47.5 12
N × M6 × 12
50
L1
Magnetic Way
10
L2
(L3)
48
(15)
1
80
20 28 60 100
60 (19.2 with magnet cover) (19 without magnet cover) (Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
(70)
(15)
2 × #4-40 UNC screws
500±50
500±50
(7.4 dia.)
The Moving Coil moves in the direction Polarity sensor indicated by the arrow when current flows (hall sensor) in the following phase sequence: U, V, W.
(4.2 dia.)
63 min.
90 min.
Unit: mm
Moving Coil Model SGLTW-
L1
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
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Blue Green
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
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu Su
Vv
Sv
Vw
Sw
0
180
360
540
Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
61
+5 V (DC)
6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5
0 V
-
-
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
5-10
8
Specifications, Ratings, and External Dimensions of SGLT Servomotors
Magnetic Ways: SGLTM-20A
LB 54
27
9.9°
(55)
LA
40
Moving Coil
54
5.3 External Dimensions 5.3.1 SGLTW-20: Standard Models
L1
L2
(54)
L2
(29.3)
(54)
15
(1)
87
3 (100)
*70±0.3
71.5 1 (at the factory)
103 max.(at the factory)
C1
C1 32
(8)
*2.4±0.3
(29.3)
R6 2 N 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Gap1±0.3
19
15
Side-to-Side Cross Section
R: 0.5 max.
R: 1 max.
27
2 × N × M6 × 8
9.9°
*2.4±0.3
54
Mount the Magnetic
LD
Mount the Magnetic
LC
Way so that its edge surfaces are flush
*70±0.3
Way so that its edge surfaces are flush
(9.4)
with the inner step.
with the inner step.
Mounting Section Details
Spacers: Do not remove them until the Moving Coil is mounted on the machine.
L2 L1
(54) Unit: mm
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. 3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
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 . 4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Magnetic Way Model SGLTM-
20324A
20540A
20756A
L1
L2
LA
LB
LC
LD
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
270 (54 × 5)
31.7
0 -0.2
486 (54 × 9)
31.7
0 -0.2
702 (54 × 13)
31.7
0 -0.2
13.7
0 -0.2
13.7
0 -0.2
13.7
0 -0.2
40.3
0 -0.2
40.3
0 -0.2
40.3
0 -0.2
62 +0.6 0
62 +0.6 0
62 +0.6 0
N
Approx. Mass [kg]
6
3.4
10
5.7
14
7.9
5
5-11
5.3 External Dimensions 5.3.1 SGLTW-20: Standard Models
Magnetic Ways with Bases: SGLTM-20AY
15 Base
(70) (55) 40
9.9°
11.7 20
L2
(54)
54
(100) 132 116 87
27
15
60
(0.8)
70±0.3
15
19.2
0.8±0.3
1
Moving Coil
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
9.9°
2.4±0.3
74
2 × N1 × M6 × 8 (2.4±0.3)
DATE
L5
74
(14)
L4
(162)
2 N2 10 dia. (Refer to Side-to-Side Cross Section for the depth.)
15 27
54
2×N1×M6×16 20
L2
2.3
L3
L1
(54) (11.7)
Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model SGLTM-
L1
L2
L3
L4
L5
N1
20324AY
324 -0.1 -0.3
270
310
162
162
6
20540AY
540 -0.1 -0.3
486
526
378
189
10
20756AY
756 -0.1 -0.3
702
742
594
198
14
N2
Approx. Mass [kg]
2
5.1
3
8.5
4
12
5-12
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.3.2
SGLTW-35: Standard Models
Moving Coils: SGLTW-35AA
(70) 66 55 12
1
50 10
Magnetic Way
N × M6 × 12
L1 L2 48
(15)
5.3 External Dimensions 5.3.2 SGLTW-35: Standard Models
(L3)
80
20 28 60 100
60
(70)
(15) (19.2 with magnet cover) (19 without magnet cover) (Gap: 0.8 with magnet cover) (Gap: 1 without magnet cover)
2 #4-40 UNC screws
500±50
(8.4 dia.)
500±50
Polarity sensor (hall sensor)
(4.2 dia.) 63 min.
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
100 min.
Unit: mm
Moving Coil Model SGLTW-
L1
35A170A
170
35A320A
315
35A460A
460
L2
144 (48 × 3) 288 (48 × 6) 432 (48 × 9)
(L3)
N
Approx. Mass [kg]
(16)
8
3.7
(17)
14
6.8
(18)
20
10
Connector Specifications
· Servomotor Connector
1
Phase U
1234
2
Phase V
3
Phase W
4
FG
Red White Blue Green
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
· Polarity Sensor (Hall Sensor) Connector
9
61
+5 V (DC)
6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5
0 V
-
-
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right shows
Inverse power (V)
the relationship between the Su, Sv, and Sw polarity sen-
Vu
Su
sor (hall sensor) output sig-
nals and the inverse power of
Vv
Sv
each motor phase Vu, Vv, and
Vw when the Moving Coil
Vw
moves in the direction indi-
Sw
cated by the arrow in the dimensional drawings of the
0
180
360
540
Electrical angle (°)
Moving Coil.
Pin connector: 17JE-23090-02 (D8C)-CG
5
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)A-CG
Studs: 17L-002C or 17L-002C1
5-13
5.3 External Dimensions 5.3.2 SGLTW-35: Standard Models
Magnetic Ways: SGLTM-35A
L1
LB
L2
(54)
54
34.5
9.9°
(70)
LA
L2
55
Moving Coil
54
(30.6) (54)
15
87
3 (100)
19
Gap1±0.3
(1)
*70±0.3
71.5 1 (at the factory)
103 max.(at the factory)
C1
C1
47
(8)
*2.4±0.3
R6
(30.6) 2 N 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
15
Side-to-Side Cross Section
R: 0.5 max.
R: 1 max.
2 × N × M6 × 8
9.9°
*2.4±0.3
4
Spacers: Do not remove them until the Moving Coil is mounted on the machine.
34.5
54
Mount the Magnetic
LD
Mount the Magnetic
LC
L2
Way so that its edge surfaces are flush with
*70±0.3
Way so that its edge (12) surfaces are flush with
L1
the inner step.
the inner step.
Mounting Section Details
(54) Unit: mm
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. 3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
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 . 4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Magnetic Way Model SGLTM35324A
35540A
35756A
L1
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
L2
270 (54 × 5) 486 (54 × 9) 702 (54 × 13)
LA
33 0 -0.2
33 0 -0.2
33 0 -0.2
LB
15 0 -0.2
15 0 -0.2
15 0 -0.2
LC
39 0 -0.2
39 0 -0.2
39 0 -0.2
LD
62 +0.6 0
62 +0.6 0
62 +0.6 0
N
Approx. Mass [kg]
6
4.8
10
8
14
11
5-14
5.3 External Dimensions 5.3.2 SGLTW-35: Standard Models
Magnetic Ways with Bases: SGLTM-35AY
13 20
L2
(54)
54
(85)
9.9°
15
(70)
Base
55
(100) 132 116 87 34.5
15
60
(0.8)
70±0.3
1
2.4±0.3
0.8±0.3
19.2
15
Moving Coil
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
9.9°
74
2 × N1 × M6 × 8 (2.4±0.3)
L5 L4
74
(14)
(162)
2 N2 10 dia. (Refer to Side-to-Side Cross Section for the depth.)
15 34.5
54
2 × N1 × M6 × 16
20
L2
1
L3
L1
(54) (13)
Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model SGLTM-
L1
L2
L3
L4
L5
N1
35324AY
324 -0.1 -0.3
270
310
162
162
6
35540AY
540 -0.1 -0.3
486
526
378
189
10
35756AY
756 -0.1 -0.3
702
742
594
198
14
N2
Approx. Mass [kg]
2
6.4
3
11
4
15
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5
5-15
5.3 External Dimensions 5.3.3 SGLTW-35H: High-efficiency Models
5.3.3 SGLTW-35H: High-efficiency Models
SGLTW-35H: High-efficiency Models
(70) 66 62.5 12
Magnetic Way
30 10
20 48±0.15
N × M6 × 12
L1
L2
(L3)
(15)
20±0.1
1
100±0.15
60
120±0.1
(4.2 dia.)
30 30 28
(90)
80±0.05
(15) (19.2 with magnet cover) (19 without magnet cover) (Gap: 0.8 with magnet cover) (Gap: 1.0 without magnet cover)
2 #4-40 UNC screws
Polarity sensor (hall sensor) Protective tube
500±50
500±50
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
35 43 63 min.
Moving Coil Model SGLTW-
L1
L2
L3
35A170H
170
144 (48 × 3)
(16)
35A320H
315
288 (48 × 6)
(17)
Unit: mm
N
Approx. Mass [kg]
8
4.7
14
8.8
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Moving Coil Lead
Phase V Phase W
Phase U
Phase U Phase V Phase W
Red White Black
U
V W
2 mm2
Ground
Ground Green
-
(Viewed from the top surface Secure the lead from the Moving Coil of
of the Moving Coil.)
the Linear Servomotor so that it moves
together with the Moving Coil.
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0
180
360
540
Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
61
+5 V (DC)
6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5
0 V
-
-
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
5-16
(4)
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.3 External Dimensions 5.3.3 SGLTW-35H: High-efficiency Models
Magnetic Ways: SGLTM-35H
L1
LB
L2
(54)
54
34.5
9.9°
15±0.1
(70)
LA
L2
55
Moving Coil
54
(30.6) (54)
(0.8)
107
(120)
*90±0.3
123 max.(at the factory) 91.5 1 (at the factory)
YASKAWA TYPE:
O/N S/N MADE IN JAPAN
DATE
15±0.1
C1
4.2±0.1
0.8±0.3
C1
47
(8)
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
*2.4±0.3
R6
(30.6) 2 N 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
2 × N × M6 × 8
Spacers: Do not remove them until the Moving Coil is mounted on the machine.
9.9°
R: 0.5 max.
R: 1 max.
3 34.5
*2.4±0.3
54
LC
L2
(12)
L1
Mount the Magnetic
LD
Mount the Magnetic
Way so that its edge surfaces are flush
*90±0.3
Way so that its edge surfaces are flush with
with the inner step.
the inner step.
(54) Unit: mm
Mounting Section Details
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. 3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
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 . 4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Magnetic Way Model SGLTM35324H
35540H
35756H
L1
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
L2
LA
270 (54 × 5) 486 (54 × 9) 702 (54 × 13)
33 0 -0.2
33 0 -0.2
33 0 -0.2
LB
15 0 -0.2
15 0 -0.2
15 0 -0.2
LC
39 0 -0.2
39 0 -0.2
39 0 -0.2
LD
82 +0.6 0
82 +0.6 0
82 +0.6 0
N
Approx. Mass [kg]
6
4.8
10
8
14
11
5
5-17
5.3 External Dimensions 5.3.4 SGLTW-40: Standard Models
5.3.4 SGLTW-40: Standard Models
Moving Coils: SGLTW-40AB
(83)
Polarity sensor (hall sensor) N × M8 × 16
78 75
Receptacle 63 20
L1 L2
(L3)
16
Magnetic Way
40
60
(19.1)
1
124
30 38 98
149.8 (4.2 dia.)
(111.8) 97
(19.1) (25.3 with magnet cover) (25.1 without magnet cover) (Gap: 1.2 with magnet cover) (Gap: 1.4 without magnet cover)
2 #4-40 UNC screws
500±50
64 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
Moving Coil Model SGLTW-
40A400B 40A600B
L1
394.2 574.2
L2
360 (60 × 6) 540 (60 × 9)
(L3)
N
Approx. Mass [kg]
(15)
14
15
(15)
20
22
Connector Specifications
· Servomotor Connector
A
DA
B
CB
C
D
Phase U Phase V Phase W Ground
Receptacle: MS3102A-22-22P From DDK Ltd. Mating Connector Right-angle plug: MS3108B22-22S Straight plug: MS3106B22-22S Cable clamp: MS3057-12A
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5 0 V (power supply) -
-
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right
shows the relationship between the Su, Sv, and Sw
Vu Su
Inverse power (V)
polarity sensor (hall sensor) output signals and the inverse power of each motor
Vv Sv
phase Vu, Vv, and Vw when
Vw
the Moving Coil moves in the
Sw
direction indicated by the arrow in the dimensional
0
180 360 540
Electrical angle (°)
drawings of the Moving Coil.
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
5-18
6
Specifications, Ratings, and External Dimensions of SGLT Servomotors
Magnetic Ways: SGLTM-40A
LB 67.5
5.6°
(83)
63
Moving Coil
LA
67.5
5.3 External Dimensions 5.3.4 SGLTW-40: Standard Models
L1
L2
(67.5)
YASKAWA TYPE:
L2
(36.1)
(67.5)
(150) 131
39
19.1
(1.4)
25.1
Gap 1.4±0.3
111.8±0.3 *
153 max.(at the factory) 113 1 (at the factory)
*1.4±0.3
C1
R7
19.1
C1
48
(15)
Side-to-Side Cross Section
R: 0.5 max.
R: 1 max.
(36.1)
2 × N × M8 × 10
5.6°
*1.4±0.3
2 N 9 dia. (Refer to Side-to-Side Cross Section for the depth.) Spacers: Do not remove them until the Moving Coil is mounted on the machine.
O/N S/N MADE I
4 39
Mount the Magnetic
LD
Mount the Magnetic
67.5
Way so that its edge surfaces are flush
*111.8±0.3
Way so that its edge surfaces are flush
LC
L2
with the inner step.
with the inner step.
(7.6)
L1
Mounting Section Details
(67.5) Unit: mm
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.
3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according 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 .
4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Magnetic Way Model SGLTM40405A
40675A
40945A
L1
405 -0.1 -0.3
675 -0.1 -0.3
945 -0.1 -0.3
L2
LA
337.5 (67.5 × 5)
37.5
0 -0.2
607.5 (67.5 × 9)
37.5
0 -0.2
877.5 (67.5 × 13)
37.5
0 -0.2
LB
15 0 -0.2
15 0 -0.2
15 0 -0.2
LC
LD
52.5
0 -0.2
52.5
0 -0.2
52.5
0 -0.2
100
+0.6 0
100
+0.6 0
100
+0.6 0
N
Approx. Mass [kg]
6
9
10
15
14
21
5
5-19
5.3 External Dimensions 5.3.4 SGLTW-40: Standard Models
Magnetic Ways with Bases: SGLTM-40AY
12.5 25
L2
67.5
(67.5)
(103)
20
(83)
5.6°
Base
63
(150) 190 170 131 39
19.1
(1.2)
90
111.8 ±0.3
1
1.4±0.3
1.2 ±0.3
25.3
19.1
Moving Coil
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
5.6°
92.5
2 × N1 × M8 × 10 (1.4±0.3)
L5
92.5
(17.5)
L4
(202.5)
2 × N2 × 12 dia. (Refer to the side cross-sectional view for the depth.)
20 39
67.5
2 × N1 × M8 × 25 25
L2
5
L3
L1
(67.5) (12.5)
Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model SGLTM-
L1
L2
L3
L4
L5
N1
40405AY
405 -0.1 -0.3
337.5
387.5
202.5
202.5
6
40675AY
675 -0.1 -0.3
607.5
657.5
472.5 236.25
10
40945AY
945 -0.1 -0.3
877.5
927.5
742.5
247.5
14
N2
Approx. Mass [kg]
2
13
3
21
4
30
5-20
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.3 External Dimensions 5.3.5 SGLTW-50: High-efficiency Models
5.3.5
SGLTW-50: High-efficiency Models
Moving Coils: SGLTW-50AH
(85) 81 62.5 12
N × M6 × 12
30
L1
Magnetic Way 10
L2
(L3)
20 48±0.15
(4.1)
(19.1)
20±0.1
1
100±0.15
120±0.1
60
(90)
80±0.05
30 28
(19.1) (23.3 with magnet cover) (23.1 without magnet cover) (Gap: 0.8 with magnet cover) (Gap: 1.0 without magnet cover)
Polarity sensor 2 #4-40 (hall sensor) UNC screws
Protective tube
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
500±50
(4.2 dia.)
500±50
Polarity sensor (hall sensor) connector
Cable UL20276, AWG28
35 43 63 min.
Unit: mm
Moving Coil Model SGLTW-
L1
L2
(L3)
N
Approx. Mass [kg]
50A170H
170
144 (48 × 3)
(16)
8
6
50A320H
315
288 (48 × 6)
(17)
14
11
Connector Specifications
Polarity Sensor (Hall Sensor) Output Signal
· Moving Coil Lead
Phase V Phase W
Phase U
Phase U Phase V Phase W
Red White Black
U
V W
2 mm2
Ground
Ground Green
-
(Viewed from the top surface Secure the lead from the Moving Coil of
of the Moving Coil.)
the Linear Servomotor so that it moves
together with the Moving Coil.
The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor (hall 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.
Inverse power (V)
Vu
Su
Vv
Sv
Vw
Sw
0
180
360
540
Electrical angle (°)
· Polarity Sensor (Hall Sensor) Connector
9
61
+5 V (DC)
6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5
0 V
-
-
Pin connector: 17JE-23090-02 (D8C)-CG
5
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C)A-CG
Studs: 17L-002C or 17L-002C1
5-21
5.3 External Dimensions 5.3.5 SGLTW-50: High-efficiency Models
Magnetic Ways: SGLTM-50H
L1
LB
L2
(54)
54
42
19.1±0.1
(4.1)
(85) LA
L2
(27)
70
54
(54)
(0.8)
112
(120)
*90±0.3
91.5 1 (at the factory)
131 max.(at the factory)
19.1±0.1
C1
4.2±0.1
0.8±0.3
C1
62
(8)
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
Moving Coil
12 dia.
2 N 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Spacers: Do not remove them until the Moving Coil is mounted on the machine.
(4)
R: 0.5 max.
R: 1 max.
Mount the Magnetic Way so that its edge surfaces are flush with the inner step.
LD
*90±0.3
3 42
2 × N × M6 × 8
54
LC
Mount the Magnetic Way so that its edge surfaces are flush with the inner step.
Mounting Section Details
L2 L1
(54) Unit: mm
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. 3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
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 . 4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Magnetic Way Model SGLTM50324H
50540H
50756H
L1
324 -0.1 -0.3
540 -0.1 -0.3
756 -0.1 -0.3
L2
LA
270 (54 × 5) 486 (54 × 9) 702 (54 × 13)
27 0 -0.2
27 0 -0.2
27 0 -0.2
LB
90 -0.2
90 -0.2
90 -0.2
LC
45 0 -0.2
45 0 -0.2
45 0 -0.2
LD
82 +0.6 0
82 +0.6 0
82 +0.6 0
N
Approx. Mass [kg]
6
8
10
13
14
18
5-22
Inverse power (V)
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.3.6
SGLTW-80: Standard Models
Moving Coils: SGLTW-80B
(120) 115
75
Polarity sensor (hall sensor) N × M8 × 16
Receptacle Magnetic Way 16
63
20
40
60
(19.1)
1
5.3 External Dimensions 5.3.6 SGLTW-80: Standard Models
L1
L2
(L3)
124
30 38 98 149.8
(111.8) 97
(4.2 dia.)
(19.1) (25.3 with magnet cover) (25.1 without magnet cover) (Gap: 1.2 with magnet cover) (Gap: 1.4 without magnet cover)
2 × #4-40 UNC screws
64 min.
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase sequence: U, V, W.
Unit: mm
Moving Coil Model SGLTW-
80A400B 80A600B
L1
394.2 574.2
L2
360 (60 × 6) 540 (60 × 9)
(L3)
N
Approx. Mass [kg]
(15)
14
24
(15)
20
35
Connector Specifications
· Servomotor Connector
A
DA
B
CB
C
D
Phase U Phase V Phase W Ground
Receptacle: MS3102A-22-22P From DDK Ltd. Mating Connector Right-angle plug: MS3108B22-22S Straight plug: MS3106B22-22S Cable clamp: MS3057-12A
· Polarity Sensor (Hall Sensor) Connector
9
6 1 +5 V (power supply) 6
5
12 3
Phase U Phase V
7 8
Not used
4
Phase W
9
5 0 V (power supply) -
-
Polarity Sensor (Hall Sensor) Output Signal
The figure on the right
shows the relationship between the Su, Sv, and Sw
Vu Su
polarity sensor (hall sensor) output signals and the inverse power of each motor
Vv
Sv
phase Vu, Vv, and Vw when
Vw
the Moving Coil moves in the
Sw
direction indicated by the arrow in the dimensional
0
180 360 540
Electrical angle (°)
drawings of the Moving Coil.
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
5
5-23
5.3 External Dimensions 5.3.6 SGLTW-80: Standard Models
Magnetic Ways: SGLTM-80A
L1
LB
L2
67.5
(67.5)
(150) 131 57
57
5.6°
19.1
(120) 100
LA Moving Coil
L3 33.75
(37.9) (67.5)
Gap 1.4±0.3
C1
25.1 (1.4)
*111.8±0.3
113 ±1 (at the factory)
153 max. (at the factory)
C1
85 Side-to-Side Cross Section
19.1
R0.5 max.
R: 1 max.
4
*1.5±0.3
(15)
(37.9)
2 × N1 × M8 × 10
5.6°
*1.5±0.3
R7
2 × N2 × 9 dia. (Refer to Side-to-Side Cross Section for the depth.)
Spacers: Do not remove them until the Moving Coil is mounted on the machine.
6
Mount the Magnetic Way so
LD
Mount the Magnetic Way so
67.5
that its edge surfaces are flush with the inner step.
*111.8±0.3
that its edge surfaces are flush with the inner step.
LC (11.3)
L2 L1
Mounting Section Details
(67.5)
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. 3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according
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 . 4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use stainless steel screws.)
Unit: mm
Magnetic
Way Model
L1
SGLTM-
80405A
405 -0.1 -0.3
80675A
675 -0.1 -0.3
80945A
945 -0.1 -0.3
L2
L3
LA
337.5 (67.5 × 5)
607.5 (67.5 × 9)
877.5 (67.5 × 13)
337.5 (33.75 × 10)
607.5 (33.75 × 18)
887.5 (33.75 × 26)
39.4
0 -0.2
39.4
0 -0.2
39.4
0 -0.2
LB
16.9
0 -0.2
16.9
0 -0.2
16.9
0 -0.2
Approx.
LC
LD N1 N2 Mass
[kg]
50.6
0 -0.2
100
+0.6 0
6 11
14
50.6
0 -0.2
100
+0.6 0
10 19
24
50.6
0 -0.2
100
+0.6 0
14 27
34
5-24
Specifications, Ratings, and External Dimensions of SGLT Servomotors
(150) 190 170 131 57
5.3 External Dimensions 5.3.6 SGLTW-80: Standard Models
Magnetic Ways with Bases: SGLTM-80AY
14.4 25
L2
67.5 33.75
(67.5)
5.6°
20 Base
(140) (120) 100
Moving Coil
19.1
(1.2)
2 × N2 × 12 dia.
(Refer to Side-to-Side Cross Section for the depth.)
1
1.5±0.3
90
111.8±0.3
1.2±0.3
25.3
19.1
92.5
Gap Includes a 0.2-mm-thick magnet cover.
Side-to-Side Cross Section
2 × N1 × M8 × 10
5.6°
(1.5±0.3)
L5 L4
92.5
(17.5)
(202.5)
20 57
33.75
2 × N3 × M8 × 25
67.5 25
L2
3.1
L3
L1
(67.5) (14.4)
Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model SGLTM-
L1
L2
L3
L4
L5
N1
N2
N3
Approx. Mass [kg]
80405AY
405 -0.1 -0.3
337.5
387.5
202.5
202.5
6
2
11
18
80675AY
675 -0.1 -0.3
607.5
657.5
472.5 236.25
10
3
19
31
80945AY
945 -0.1 -0.3
877.5
927.5
742.5
247.5
14
4
27
43
5
5-25
5.4 Selecting Cables 5.4.1 Cable Configurations
5.4 Selecting Cables
5.4.1
Cable Configurations
Prepare the cable required for the encoder. Refer to the following catalog to select a Linear Encoder.
AC Servo Drives -7 Series (Manual No.: KAEP S800001 23)
SERVOPACK
Serial Converter Unit
Linear Encoder Cable Linear encoder (Not provided by Yaskawa.)
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 (hall sensor))
Linear Servomotor
Polarity sensor (hall sensor)
* You can connect directly to an absolute linear encoder. Note: Refer to the following manual for the following information.
· Cable dimensional drawings and cable connection specifications · Order numbers and specifications of individual connectors for cables · Order numbers and specifications for wiring materials
-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
5-26
Specifications, Ratings, and External Dimensions of SGLT Servomotors
5.4 Selecting Cables 5.4.2 Linear Servomotor Main Circuit Cables
5.4.2
Linear Servomotor Main Circuit Cables
Linear Servomotor Model SGLTW-20A, -35A
SGLTW-AD
SGLTW-40B -80B
Length (L)
Order Number
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
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
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
Appearance
SERVOPACK end
Linear Servomotor
L
end
*1
SERVOPACK end
Linear Servomotor
L
end
*2
SERVOPACK end L
Motor end *3
*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.
JZSP-CLN39--E Cables
8.5 mm
U V W M4 crimp terminal G
50 mm Wire markers
L
Heat-shrinkable tube Finished diameter: 15.8
35 mm
2 mm
Cable (UL2570) AWG11/4C
Wiring Specifications
SERVOPACK Leads
Servomotor Connector
Wire Color Signal
Signal
Pin
Red White
Phase U Phase V
Phase U
A
Phase V
B
5
Blue Phase W
Phase W
C
Green/yellow FG
FG
D
JZSP-CLN39 Cable Connectors
Applicable Servomotor
Connector Provided with Servomotor
SGLTW-40 and -80 MS3102A22-22P
Plug
Straight
Right-angle
MS3106B22-22S or
MS3106A22-22S
MS3108B22-22S
Cable Clamp MS3057-12A
5-27
5.4 Selecting Cables 5.4.2 Linear Servomotor Main Circuit Cables
MS3106B22-2S: Straight Plug with Two-piece Shell
Q 50 max.
55.57 max.
J
W
A
Cable Clamp mounting thread: 1-3/16-18UNEF
Shell Size
Joint Thread A
22
1-3/8-18UNEF
Length of Joint
J ±0.12
18.26
Joint Nut Outer
Diameter Q +0
-0.38
40.48
Unit: mm
Effective Thread Length
W min. 9.53
MS3106A22-2S: Straight Plug with Solid Shell
Q 34.99 ±0.5 dia.
54±0.5
J
W
A
Cable Clamp mounting thread: 1-3/16-18UNEF
Shell Size
Joint Thread A
22
1-3/8-18UNEF
Length of Joint
J ±0.12
18.26
Joint Nut Outer
Diameter Q +0
-0.38
40.48
Unit: mm
Effective Thread Length W min.
9.53
MS3108B22-2S: Right-angle Plug with Two-piece Shell
Q W 33.3±0.5 24.1±0.5
76.98 max. J A
Cable Clamp mounting thread: 1-3/16-18UNEF
Shell Size
Joint Thread A
Length of Joint J ± 0.12
22
1-3/8-18UNEF
18.26
Joint Nut Outer
Diameter Q +0
-0.38
40.48
Unit: mm
Effective Thread Length W min.
9.53
Dimensional Drawings: MS3057-12A Cable Clamp with Rubber Bushing
Unit: mm
35 ±0.7 dia. 37.3±0.7
23.8±0.7 1.6 C
V
15.9 dia. (bushing inner diameter)
19.0 dia. (Cable Clamp inner diameter)
4.0 (slide range)
Applicable Connector Shell Size
20.22
Effective Thread Length
C
10.3
Mounting Thread V
1-3/1618UNEF
Attached Bushing
AN3420-12
5-28
Equipment Design Precautions
This chapter provides precautions for equipment design.
6.1 Influence of Magnetic Attraction . . . . . . . . . 6-2
6.1.1 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . 6-2 6.1.2 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2 Influence of Magnetic Way Leakage Flux . . 6-4
6.2.1 6.2.2 6.2.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . 6-4 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . 6-4 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3 Special Precautions for SGLT Servomotors . .6-6
6.4 Precautions for Water-Cooled Models . . . . . .6-7
6
6.1 Influence of Magnetic Attraction 6.1.1 SGLF Servomotors
6.1 Influence of Magnetic Attraction
6.1.1
SGLF Servomotors
The Moving Coil and Magnetic Way face each other, so magnetic attraction will occur. Consider the following magnetic attractions when you design the equipment.
Gap, G
Moving Coil Model
SGLFWSGLFW2-
20A090 20A120 35A120 35A230 50A200 50A380 1ZA200 1ZA380 30A070 30A120 30A230 45A200 45A380 90A200 90A380 90A560 1DA380 1DA560
Gap, G*1 (mm) 0.7
(0.5)*3
0.5
Magnetic Attraction, F*2 (N) 410 600 1100 2100 2100 4100 4200 6520 240 750 1490 2390 4770 4770 9550 14300 14300 21500
Magnetic attraction,
F
*1. Gap values are given for the design value minus 0.3 mm. *2. The maximum force is given for the magnetic attraction. *3. Dimensions in parentheses are for when the magnet cover is attached.
6-2
6.1 Influence of Magnetic Attraction 6.1.2 SGLT Servomotors
6.1.2
SGLT Servomotors
The Magnetic Way tracks are located on both sides of the Moving Coil. If the gaps on both sides of the Moving Coil are the same, the magnetic attraction is canceled. However, it is difficult to obtain the same gaps due to Servomotor precision, the precision of the user's equipment, error when assembling the Servomotor, and other factors. Consider the following magnetic attractions when you design the equipment.
Moving Coil Model SGLTW-
20A170 20A320 20A460 35A170 35A320 35A460 40A400
40A600 50A170 50A320 80A400 80A600
Magnetic Gap, G1*1 (mm)
1.3 (1.1)*3
1.3 (1.1)*3
1.7 (1.5)*3 1.7 (1.5)*3
1.3 (1.1)*3
1.7 (1.5)*3
Magnetic Gap, G2*1 (mm)
Magnetic
Magnetic
Attraction, F1*2 Attraction, F2*2
(N)
(N)
0.7 (0.5)*3
0.7 (0.5)*3
1.1 (0.9)*3 1.1 (0.9)*3
0.7 (0.5)*3
1.1 (0.9)*3
760 1510 2260 1330 2650 4000 4700
7000 1900 3750 9200 13600
1030 2040 3050 1800 3570 5400 5900
8700 2600 5100 11400 16900
Difference in Magnetic
Attraction, F (N) 270 530 790 470 920 1400 1200
1700
700 1350 2200 3300
*1. Gap values are given for the design value plus 0.3 mm on one side and minus 0.3 mm on the other side. *2. The maximum force is given for the magnetic attraction. *3. Dimensions in parentheses are for when the magnet cover is attached.
Moving Coil
Magnetic Magnetic
attraction, attraction,
F1
F2
Gap, G1
Gap, G2
Magnetic Way track Magnetic Way track
Equipment Design Precautions
6
6-3
6.2 Influence of Magnetic Way Leakage Flux 6.2.1 SGLG Servomotors
6.2 Influence of Magnetic Way Leakage Flux
The Magnetic Way has leakage flux. Particularly in locations where the leakage flux is 10 gauss or higher, the influence of the leakage flux will be strongly felt. Consider this in the equipment design. The following tables give the locations where the leakage flux will be 10 gauss for each Servomotor model.
6.2.1 SGLG Servomotors
Magnetic Way Model
SGLGM30 40C 40C-M 60C 60C-M 90
Z
X (mm)
25 30 50 45 65 100
Location of 10-Gauss Leakage Flux
+Y (mm)
-Y (mm)
25
5
30
5
50
5
40
5
60
5
85
5
Z
Z (mm)
35 40 60 55 75 115
-Y
+Y
X
6.2.2 SGLF Servomotors
Magnetic Way Model
SGLFM-20 SGLFM-35 SGLFM-50 SGLFM-1Z SGLFM2-30 SGLFM2-45 SGLFM2-90 SGLFM2-1D
+Z
X (mm) 60 70 90 120 60 90 120 130
Y -Z
Location of 10-Gauss Leakage Flux
Y (mm)
+Z (mm)
35
65
45
85
50
105
60
135
30
70
50
105
60
135
70
150
+Z
X -Z
-Z (mm) 5 5 5 5 5 5 5 5
6-4
6.2 Influence of Magnetic Way Leakage Flux 6.2.3 SGLT Servomotors
6.2.3 SGLT Servomotors
Magnetic Way Model SGLTM-
20 35A 35H 40 50 80
Z
Location of 10-Gauss Leakage Flux
X (mm)
Y (mm)
Z (mm)
55
40
10
60
40
10
65
45
15
80
60
15
70
50
15
90
60
20
Z
Y
X
Equipment Design Precautions
6
6-5
6.3 Special Precautions for SGLT Servomotors
6.3 Special Precautions for SGLT Servomotors
To mount the Magnetic Way, space is required between the Magnetic Way yoke and the positioning ridges on the equipment. Design the equipment with the following recommended values (W2) for the positioning ridges on the equipment.
Mounting spacer
Magnetic Way yoke
Magnetic Way Model SGLTM-
20 35 40 80 35H 50
Magnet Positioning ridges
Magnetic Way yoke
Equipment
W2 W1
Dimensions (mm)
W1 (Factory Distance between
Magnetic Way Yokes)
W2 (Recommended Positioning Ridge
Dimensions for Equipment)
71.5 ± 1
70 ± 0.15
113 ± 1
111.8 ± 0.15
91.5 ± 1
90 ± 0.15
6-6
6.4 Precautions for Water-Cooled Models
6.4
Precautions for Water-Cooled Models
SGLFW2 Servomotors (SGLFW2-AL) use forced cooling with a cooling medium. Observe the following precautions if you use one of these Servomotors.
Cooling System Design and Installation
· You must design, purchase, and install the portion of the cooling system that is external to the Servomotor, such as the cooling medium, piping, and chiller or other cooling device.
· The joints on the Servomotor are made of stainless steel. Use parts that will not corrode for the connecting joints, piping, and other connecting parts. (We recommend that you use stainless steel parts.)
· The joints on the Servomotor are Rc1/8 (taper pipe thread). Wrap joints with sealing tape or take other measures to prevent the cooling water from leaking.
· Use flexible piping tubes to prevent leaking.
Cooling Medium
· Use cooling water for the cooling medium. · Use cooling water that meets the water quality standards given in the following table (con-
forming to JRA GL-02 1994 of the Japan Refrigeration and Air Conditioning Industry Association). If the water quality standards are not met, cooling performance will suffer and corrosion may cause problems.
Item
Water Quality Standard (Makeup Water Requirements for Cooling
Water)
pH (25°C)
6.8 to 8.0
Conductivity (mS/m) (25°C)
30 max.
Chloride ions (mgCl-/l)
50 max.
Sulfate ions (mgSO42-/l) Alkalinity (pH4.8) (mgCaCO3/l) Total hardness (mgCaCo3/l) Calcium hardness (mgCaCO3/l) Ionic silica (mgSiO2/l) Iron (mgFe/l)
50 max. 50 max. 70 max. 50 max. 30 max. 0.3 max.
Copper (mgCu/l)
0.1 max.
Sulfide ions (mgS2-/l)
Must not be detected.
Ammonium ions (mgNH4+/l) Residual chlorine (mgCl/l)
0.1 max. 0.3 max.
Free carbon dioxide (mgCO2/l)
4.0 max.
· The temperature range for the cooling medium supplied to the Servomotor is 5°C to 25°C.
Using a colder cooling medium will increase cooling performance, but make sure that freezing
or condensation does not occur.
· The rated cooling medium flow rate is 4 L/min. This is the minimum flow rate required to pre-
vent burning in the Servomotor for the current flow that corresponds to the rated force.
If the flow rate is less than 4 L/min, install a protective circuit to cut off the current to the Ser- 6
vomotor.
· The maximum cooling medium flow rate is 6 L/min.
· Do not allow cooling water to be contaminated with oils, chemicals, or other impurities.
Preventing Contamination by Foreign Matter
Any foreign matter that is 0.5 mm or larger must not be allowed to enter the cooling piping to the Servomotor. Install a strainer, filter, or similar device to remove such foreign matter from the cooling water in the piping upstream from the cooling medium inlet port on the Servomotor.
6-7
Equipment Design Precautions
6.4 Precautions for Water-Cooled Models
Pressure
· Install a safety valve or other mechanism to keep the pressure in the Servomotor cooling piping below 1.0 MPa.
· The normal withstand pressure of the Servomotor is 0.5 MPa. Do not allow the pressure to increase even momentarily to greater than 1.0 MPa, e.g., for cooling medium surges. Do not allow the pressure to exceed 0.5 MPa more than 99 times.
Checking the Flow Rate
Use a flow rate meter or other device to confirm that the required flow rate is achieved. If the flow rate is too low, burning may occur in the Servomotor and cooling performance may suffer.
Storage and Periods of Nonuse
· If you store the Servomotor or do not use it for a period of time, remove all of the cooling medium from the cooling piping.
· Observe the following conditions when you store the Servomotor or do not use it for a period of time. Temperature: -20°C to +60°C (with no freezing) Humidity: 20% to 80% relative humidity (with no condensation)
Other Precautions
· If cooling medium leaks from the Servomotor, stop using the Servomotor immediately. Then, inspect the Servomotor and take suitable countermeasures.
· After you install the Servomotor, make sure that there is no cooling medium or other liquid on the Servomotor. If you find any liquid, wipe it off immediately and dry the Servomotor sufficiently. A Servomotor may be damaged if it is used with liquid on it.
· If you disconnect the piping during maintenance or at any other time, do not allow the cooling water to get on the Servomotor.
6-8
Servomotor Installation
This chapter describes the installation conditions, procedures, and precautions for Servomotors.
7.1 Installation Conditions . . . . . . . . . . . . . . . . 7-2
7.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . 7-2 7.1.2 Installation Orientation . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Installation Procedure . . . . . . . . . . . . . . . . . 7-3
7.2.1 7.2.2
7.2.3
SGLG Servomotors (Coreless Models) . . . . . . . . 7-3 SGLF Servomotors (Models with F-type Iron Cores) . . . . . . . . . . . . . 7-5 SGLT Servomotors (Models with T-type Iron Cores) . . . . . . . . . . . . 7-10
7.3 Servomotor Temperature Increase . . . . . . 7-16
7
7.1 Installation Conditions 7.1.1 Installation Environment
7.1 Installation Conditions
The service life of a Servomotor will be shortened or unexpected problems will occur if the Servomotor is installed incorrectly or in an inappropriate location. Always observe the following installation instructions.
7.1.1
Installation Environment
Refer to the specifications for each type of Servomotor for the mechanical specifications, protective structure, and environmental conditions related to Servomotor installation.
7.1.2
Installation Orientation
You can install the Servomotor in any orientation.
Installation Orientation
Figure
Precautions
Horizontal Direction
-
Hung
Vertical Direction (Stroke in Vertical Direction)
Install a mechanism on the equipment to provide protection in case the Servomotor falls off.
· Implement safety measures, such as attaching a counterbalance, so that the workpiece will not fall, e.g., when an alarm occurs, when overtravel occurs, or when the power supply is interrupted.
· Set the parameters so that the Servomotor will stop in the zero clamping state when overtravel occurs.
7-2
7.2 Installation Procedure
7.2 Installation Procedure 7.2.1 SGLG Servomotors (Coreless Models)
7.2.1 SGLG Servomotors (Coreless Models)
Mounting the Magnetic Way
The SGLG Magnetic Ways consist of C-shaped steel plates with magnets facing each other attached between them. Be careful not to let foreign matter (magnetic material) enter between the magnets.
Note
Magnet
Use the following procedure.
1. Confirm the mounting reference surfaces of the Magnetic Way and place the Magnetic Way on one of the reference surfaces. There are two mounting references surfaces, as shown in the following figure. Select the appropriate reference surface for your system.
Note: Be careful not to pinch your hands between the equipment and the Magnetic Way.
Mounting reference surface
Nameplate
Servomotor Installation
Mounting reference surface
2. Press the Magnetic Way tightly against the equipment and secure it with screws.
Magnetic Way Model SGLGM-
30 40 60 90
Screw Nominal Size M4 M5 M6
Tightening Torque (Ncm) 360 to 500 720 to 1,010
1,220 to 1,710
Note:Use socket head screws with a strength class of 10.9.
3. Place the second Magnetic Way in line with and at least 30 mm away from the first Magnetic Way.
4. Align the corners of the connecting surfaces of the Magnetic Ways and then rotate the second Magnetic Way so that it connects to the first Magnetic Way.
Note: The magnetic attraction will pull the Magnetic Ways together. Be careful not to pinch your fingers.
First Magnetic Way
Align the corners.
7
Second Magnetic Way
Rotate the Magnetic Way.
5. Secure the second Magnetic Way with screws.
7-3
7.2 Installation Procedure 7.2.1 SGLG Servomotors (Coreless Models)
6. Mount the third and any other Magnetic Ways in the same way.
This concludes the procedure.
Mounting the Moving Coil
An SGLGW Moving Coil consists of an aluminum base and a winding section that is protected by plastic. Do not subject them to shock. Doing so may result in injury or equipment damage.
Note
Use the following procedure. 1. Insert the winding section between the magnets of the Magnetic Ways that you previ-
ously installed.
Magnetic Ways
Moving Coil
Winding section
Base
2. Attach the Moving Coil to the moving table that is supported by the linear motion guides.
Secure the table with screws.
Linear motion guides
Moving table
Linear motion guides
Moving Coil Magnetic Way
7-4
H
Servomotor Installation
7.2 Installation Procedure 7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
3. Confirm that the gap, G, between the winding section of the Moving Coil and the magnets of the Magnetic Way are as given in the following table.
Moving Coil Magnetic Way
G
P
Moving Coil
Model
SGLGW-
30A050
30A080
G
40
60
90
H
1 ± 0.3 1 ± 0.3 1 ± 0.3 1 ± 0.3 2 ± 0.3
Dimensions (mm)
P
1 ± 0.1 1 ± 0.1 0 ± 0.1 0 ± 0.1 0.9 ± 0.1
G
0.85 ± 0.3 0.95 ± 0.3 0.8 ± 0.3 0.8 ± 0.3
1 ± 0.3
4. Move the Moving Coil back and forth to the ends of the Magnetic Ways several times and confirm the following items.
· That the Moving Coil does not come into contact with the Magnetic Ways · That there is no foreign matter (magnetic material) between the magnets
This concludes the procedure.
7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
Outline
1. Mount one Magnetic Way.
To install the Moving Coil, you need a Magnetic Way that is longer than the Moving Coil. If one Magnetic Way is shorter than the Moving Coil, install two Magnetic Ways first and then Important install the Moving Coil.
Moving table
Linear motion guide
Magnetic Way
2. Separate the moving table that is supported by the linear motion guides from the Magnetic Way and attach the Moving Coil to it.
Moving Coil
7
7-5
7.2 Installation Procedure 7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
Important
If you will use only one Magnetic Way, the linear motion guide may not be sufficiently long enough to install the Moving Coil at a location separated from the Magnetic Way. Install a dummy linear motion guide and use it to mount the Moving Coil.
Proper linear motion guide Dummy linear motion guide
Magnetic Way
Moving Coil
Moving table
Blocks
3. Place the Moving Coil on top of the Magnetic Way.
4. Attach the second and any other Magnetic Ways.
Second and any other Magnetic Ways
This concludes the procedure.
Mounting the First Magnetic Way
When a Magnetic Way is shipped, the side with the magnets is covered with cardboard onto which thin rectangular steel plates are placed. The steel plates are dummy plates that are used to reduce the influence of the magnetism on the Note surroundings. When you remove the plates, be careful not to pinch your fingers and to not damage the magnets or magnet cover.
Dummy plate to reduce magnetic force
Magnet Cover
7-6
Magnet
Cardboard Magnetic Way yoke
Nameplate Condition with Cardboard Removed
Use the following procedure.
The magnets in the Magnetic Way exert a very strong magnetic attraction. Be very careful when you use steel screws, wrenches, or other metal objects.
Note
7.2 Installation Procedure 7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
1. Remove the dummy plates to reduce magnetic force and the cardboard from the surface of the Magnetic Way.
2. Face the reference marks on the Magnetic Way (depressions of approx. 4 mm in diameter) toward the equipment and set down the Magnetic Way.
Note: Be careful not to pinch your hands between the equipment and the Magnetic Way. Magnetic Way connecting section
K K
Mounting surface Reference mark
Reference mark
3. Press the Magnetic Way tightly against the equipment and secure it with screws.
Magnetic Way Screw Nominal
Model
Size
SGLFM-20 M4
SGLFM-35
SGLFM-50
M5
SGLFM-1Z
M6
SGLFM2-30
M4
SGLFM2-45
M5
SGLFM2-90
M6
SGLFM2-1D
M8
Tightening Torque (Ncm)
360 to 500
720 to 1,010 1,220 to 1,710
360 to 500 720 to 1,010 1,220 to 1,710
2,970 to 4,150
Screw Head Height, K (mm)
4.2 max.
5.2 max. 6.7 max. 4.2 max. 5.2 max. 6.7 max.
8.2 max.
Reference Figure 1 Figure 2
Magnet Magnetic Way yoke
Figure 1
Magnet Magnetic Way yoke
Figure 2
Note:Use socket head screws with a strength class of 10.9.
This concludes the procedure.
Mounting the Moving Coil
An SGLF Moving Coil consists of an iron core and a winding section that is protected by plastic. Do not subject them to shock. Doing so may result in injury or equipment damage.
Note
Use the following procedure.
1. On a line extending from the Magnetic Way that you previously mounted, attach the Moving Coil to the moving table supported by the linear motion guides.
2. Confirm that the gap, G, between the Moving Coil and the Magnetic Way are as given in the following table.
7
Servomotor Installation
7-7
7.2 Installation Procedure 7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
Mounting hole
P
Cable
Gap, G H
Moving Coil
Reference mark
Magnetic Way
Side of Linear Servomotor (viewed from side of Moving Coil cable)
Moving Coil Model
20 35 SGLFW50 1Z 30A070 30A120 30A230 SGLFW245 90 1D
H 45 ± 0.1 58 ± 0.1 40 ± 0.1
50 ± 0.1
Dimensions (mm)
P
G (Gap)
22 ± 0.2
21 ± 0.2 25.8 ± 0.2
1 (0.8)*
27 ± 0.2
27.5 ± 0.2
20 ± 0.2 0.8
26 ± 0.2 30 ± 0.2 42.5 ± 0.2
*Dimensions in parentheses are for when the magnet cover is attached.
3. Place a thin nonmagnetic sheet in the gap between the Moving Coil and Magnetic Way. The sheet must be approximately 0.5 mm thick, and we recommend using a plastic sheet.
4. Slowly move the Moving Coil toward the Magnetic Way and confirm that there are no noises, such as noise from contact between the Moving Coil and Magnetic Way.
As the Moving Coil approaches the Magnetic Way, magnetic attraction will pull on the Moving Coil. Be careful not to pinch your fingers or tools.
Important
Moving Coil
Move the Moving Coil slowly.
Nonmagnetic sheet
5. Move the Moving Coil back and forth to the ends of the Magnetic Ways several times and confirm the following items.
· That the Moving Coil does not come into contact with the Magnetic Ways · That there is no foreign matter (magnetic material) between the magnets
7-8
7.2 Installation Procedure 7.2.2 SGLF Servomotors (Models with F-type Iron Cores)
6. Remove the thin nonmagnetic sheet. 7. Use a nonmagnetic gap gauge to confirm that the gap between the Moving Coil and
Magnetic Way is 1 ±0.3 mm* at all locations. (We recommend a brass or stainless steel gauge.)
*If the magnet cover is in place, the gaps should be 0.8 ±0.3 mm
This concludes the procedure.
Mounting the Second and Any Other Magnetic Ways
Use the following procedure. 1. Place the second Magnetic Way in line with and at least 30 mm away from the first Mag-
netic Way.
Note: Face the Magnetic Ways in same orientation using the locations of the reference marks as a guide (depressions of approx. 4 mm in diameter). 30 mm
Reference mark
2. Hold down the Magnetic Way tightly, press the second Magnetic Way against the first Magnetic Way, and then secure the second Magnetic Way with screws.
Note: The magnetic attraction will pull the Magnetic Ways together. Be careful not to pinch your fingers. First Magnetic Way Magnetic attraction Second Magnetic Way
3. Mount the third and any other Magnetic Ways using steps 1 and 2, above. This concludes the procedure.
7
7-9
Servomotor Installation
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
Outline
1. Mount one Magnetic Way.
To install the Moving Coil, you need a Magnetic Way that is longer than the Moving Coil. If one Magnetic Way is shorter than the Moving Coil, install two Magnetic Ways first and then Important install the Moving Coil.
Moving table
Linear motion guide
Magnetic Way
2. Separate the moving table that is supported by the linear motion guides from the Magnetic Way and attach the Moving Coil to it.
Moving Coil
Important
If you will use only one Magnetic Way, the linear motion guide may not be sufficiently long enough to install the Moving Coil at a location separated from the Magnetic Way. Install a dummy linear motion guide and use it to mount the Moving Coil.
Proper linear motion guide Dummy linear motion guide
Magnetic Way
Moving Coil
Moving table
Blocks
3. Place the Moving Coil on top of the Magnetic Way.
Moving Coil
4. Attach the second and any other Magnetic Ways.
Second and any other Magnetic Ways
7-10
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
Mounting the First Magnetic Way
There are two types of Magnetic Ways: Magnetic Ways with mounting spacers, and Magnetic Ways with Magnetic Way yokes secured to bases. · Magnetic Ways with mounting spacers: SGLTM-A and SGLTM-AC · Magnetic Ways with Magnetic Way yokes secured to bases: SGLTM-AY
The installation procedure depends on the type of Magnetic Way.
SGLTM-A and SGLTM-AC
Important
When the Magnetic Way is shipped, the two Magnetic Way yokes are secured to mounting spacers made from aluminum. Never remove these mounting spacers until the Magnetic Way is provisionally installed on the equipment.
Mounting spacer
Be careful of the magnetic
force.
Magnetic Way yoke Magnetic Way yoke
Use the following procedure.
1. Without removing the mounting spacers, place the Magnetic Way on the positioning ridges on the equipment. There should be a gap between the positioning ridges on the equipment and the Magnetic Way yokes.
Note: Be careful not to damage the equipment and the Magnetic Way.
Mounting spacer
Magnetic Way yoke
Magnet Positioning ridges
Gap
Gap
Magnetic Way yoke
Equipment
2. Place a mounting screw in one of the Magnetic Way yokes and secure it provisionally
7
Servomotor Installation
7-11
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
3. Hold the provisionally mounted Magnetic Way yoke tightly against the positioning ridges and secure it completely with screws.
Hold the Magnetic Way yoke.
Positioning ridge
Magnetic Way Model SGLTM-
20 35 50 40 80
Screw Nominal Size M6 M8
Tightening Torque (Ncm)
1,220 to 1,710
2,970 to 4,150
Note:These values are for the following conditions. ·Equipment materials: Iron ·Use of socket head screws with a strength class of 10.9
4. Remove the bolts from mounting spacers on the side of the Magnetic Way yoke that you mounted.
5. Hold the other Magnetic Way yoke tightly against the positioning ridges and secure it completely with screws.
Note: Be careful not to let the Magnetic Way yoke slip in the direction of Moving Coil forward movement.
6. Remove the mounting spacers. If there are Magnetic Way mounting holes in the positions where the mounting spacers were attached, secure the yokes with screws in those mounting holes as well.
This concludes the procedure.
SGLTM-AY
Use the following procedure. 1. Place the base to which the Magnetic Way yokes are attached in the specific location in
the equipment.
2. Firmly secure the base to the equipment with bolts using the base mounting bolt holes.
This concludes the procedure.
7-12
Mounting the Moving Coil
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
An SGLT Moving Coil consists of an aluminum or steel base, iron core, and a winding section that is protected by plastic. Do not subject them to shock. Doing so may result in injury or equipment Note damage.
Use the following procedure.
1. On a line extending from the Magnetic Way that you previously mounted, attach the Moving Coil to the moving table supported by the linear motion guides.
Moving table
Linear motion guide
Magnetic Way
Moving Coil
2. Confirm that the gaps, G1 and G2, between the Moving Coil and the Magnetic Way are as given in the following table.
A
Magnetic Way
Moving Coil
Magnetic Way
Gap, G1
Gap, G2
Viewed from Moving Coil Cable Side
Moving Coil Model SGLTW-
20 35 50 40 80
H
55 ± 0.3 70 ± 0.3 85 ± 0.3 83 ± 0.3 120 ± 0.3
Dimensions (mm)
A
G1 , G2
15 ± 0.1 19.1 ± 0.1 19.1 ± 0.1
1 ± 0.3 (0.8 ± 0.3)*
1.4 ± 0.3 (1.2)*
*Dimensions in parentheses are for when the magnet cover is attached.
3. Place a thin nonmagnetic sheet in the gap between the Moving Coil and Magnetic Way. The sheet must be approximately 0.5 mm thick, and we recommend using a plastic sheet.
H
Servomotor Installation
7
7-13
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
4. Slowly move the Moving Coil attached to the moving table toward the Magnetic Way and confirm that there are no noises, such as noise from contact between the Moving Coil and Magnetic Way.
As the Moving Coil approaches the Magnetic Way, magnetic attraction will pull on the Moving Coil. Be careful not to pinch your fingers or tools.
Important
Nonmagnetic sheet
Move the Moving Coil slowly.
Moving table
5. Move the Moving Coil back and forth to the ends of the Magnetic Ways several times and confirm the following items.
· That the Moving Coil does not come into contact with the Magnetic Ways · That there is no foreign matter (magnetic material) between the magnets
6. Remove the thin nonmagnetic sheet.
7. Use a nonmagnetic gap gauge to confirm that the gap between the Moving Coil and Magnetic Way is 1 ±0.3 mm* at all locations. (We recommend a brass or stainless steel gauge.)
*If the magnet cover is in place, the gaps should be 0.8 ±0.3 mm
This concludes the procedure.
7-14
7.2 Installation Procedure 7.2.3 SGLT Servomotors (Models with T-type Iron Cores)
Mounting the Second and Any Other Magnetic Ways
Use the following procedure. 1. Place the second Magnetic Way in line with and at least 30 mm away from the first Mag-
netic Way. 2. Press the second Magnetic Way against the first Magnetic Way and secure it with
screws.
Note: The magnetic attraction will pull the Magnetic Ways together. Be careful not to pinch your fingers.
Magnetic attraction
3. Mount the third and any other of the Magnetic Ways using steps 1 and 2, above. This concludes the procedure.
7
7-15
Servomotor Installation
7.3 Servomotor Temperature Increase
7.3 Servomotor Temperature Increase
This section describes measures to suppress temperature increases in the Servomotor. · When you install the Servomotor, observe the cooling conditions (heat sink sizes) that are
given in the specifications for each type of Servomotor. The Servomotor generates heat when it operates. The heat generated by the Servomotor radiates to the heat sink through the motor mounting surface. Therefore, if the surface area of the heat sink is too small, the temperature of the Servomotor may increase abnormally. · If the operating environment makes it difficult to use a large heat sink, or if the ambient operating temperature or altitude given in the specifications is exceeded, implement the following measures.
· Derate the Servomotor. Contact your Yaskawa representative for information on derating.
· Use external forced-air cooling for the Servomotor with a cooling fan or other means.
Do not place packing or any other insulating material between the Servomotor and heat sink. Doing so will cause the motor temperature to increase, affect resistance to noise, and Important may cause motor failure.
7-16
Connecting Linear Encoders
This chapter describes the conditions and procedures for mounting linear encoders.
8.1 Installation Conditions for Linear Encoders . . 8-2
8.1.1 8.1.2 8.1.3
SGLG Servomotors . . . . . . . . . . . . . . . . . . . . . . . 8-2 SGLF Servomotors . . . . . . . . . . . . . . . . . . . . . . . 8-3 SGLT Servomotors . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Mounting Linear Encoders . . . . . . . . . . . . . 8-4
8.2.1 8.2.2 8.2.3 8.2.4 8.2.5
8.2.6
Linear Encoders from Heidenhain Corporation . . 8-4 Linear Encoders from RSF Elektronik GmbH . . . . 8-4 Linear Encoders from Renishaw PLC . . . . . . . . . 8-4 Linear Encoders from RLS d.o.o. . . . . . . . . . . . . 8-4 Absolute Linear Encoders from Mitutoyo Corporation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5 Linear Encoders from Magnescale Co., Ltd. . . . . 8-5
8.3 Adjusting Linear Encoders . . . . . . . . . . . . . 8-6
8
8.1 Installation Conditions for Linear Encoders 8.1.1 SGLG Servomotors
8.1 Installation Conditions for Linear Encoders
Observe the following installation conditions so that leakage flux from the Servomotor does not cause the linear encoder to malfunction.
Refer to the specifications for each type of linear encoder for the installation conditions outside a magnetic field.
Manufacturer Magnescale Co., Ltd. Mitutoyo Corporation
Model
SR75/77 SR85/87 SL710/PL101
SQ10 SQ47/SQ57
ST78A
External Magnetic Field Strength
5 mT max.
0.5 mT max. 0.5 mT max. 5 mT max. 3 mT max.
Mounting location guidelines for the linear encoders are given below.
If the linear encoder mounting materials or the Magnetic Way mounting materials are magnetic materials, the magnetic field strength may exceed the specified values even for the following installation conditions. Implement the following measures. Note · Use a nonmagnetic material for the structure (SUS, aluminum, etc.). · Install a magnetic material between the Magnetic Way and the linear encoder. If implementing the above measures is not possible, install the linear encoder in a location where
the magnetic field strength is less than the specified value.
8.1.1
SGLG Servomotors
Magnetic Way Model
SGLGM30 40 40-M 60 60-M 90
Z
-Y
+Y
X (mm)
35 45 65 65 85 130
Z
Distance from Magnetic Way
+Y (mm)
-Y (mm)
35
10
40
10
60
10
55
10
75
10
110
10
X
Z (mm)
50 55 75 75 100 155
8-2
8.1.2 SGLF Servomotors
Magnetic Way Model 20 35
SGLFM50 1Z 30
SGLFM2- 45 90 1D
+Z
Y
-Z
X (mm) 85 100 125 165 85 120 160 175
+Z
-Z
8.1 Installation Conditions for Linear Encoders 8.1.2 SGLF Servomotors
Distance from Magnetic Way
Y (mm)
+Z (mm)
55
85
65
110
80
135
95
170
50
95
75
140
90
175
90
200
X
-Z (mm) 10 10 10 10 10 10 10 10
8.1.3 SGLT Servomotors
Magnetic Way Model SGLTM-
20 35A 35H 50 40 80
Z
X (mm)
70 80 85 85 110 120
Distance from Magnetic Way
Y (mm)
50 55 60 65 80 80
Z
Z (mm)
20 25 25 30 35 40
Y
X
Connecting Linear Encoders
8
8-3
8.2 Mounting Linear Encoders 8.2.1 Linear Encoders from Heidenhain Corporation
8.2 Mounting Linear Encoders
Attach the linear encoder so that the forward direction of the Servomotor is the count-up direction of the linear encoder. If wiring or other restrictions prevent using the same directions for the forward direction and count-up direction, set parameter Pn080 to n.1 (phase-B lead and phase sequence of U, V, W).
If the forward direction of the Servomotor and the count-up direction of the linear motor do not agree, the Servomotor may not operate or it may run out of control.
Important
The forward direction for the motor is toward the side where the cable is connected. (The forward direction is the direction in which the Moving Coil moves when current flows in a phase sequence of U, V, W.)
Motor forward direction (U, V, W)
Moving Coil cable
8.2.1
Linear Encoders from Heidenhain Corporation
Reverse Forward If the linear encoder is installed as shown in the diagram on the left,
LIDA 48 HEIDENHAIN
the count is incremented when the scanning head moves to the
Scanning head
Signal cable right.
8.2.2
Linear Encoders from RSF Elektronik GmbH
Reverse Forward If the linear encoder is installed as shown in the diagram on the left,
the count is incremented when the scanning head moves to the
RSF Elektronik
Scanning head
Signal cable right.
8.2.3
Linear Encoders from Renishaw PLC
Forward Reverse
If the linear encoder is installed as shown in the diagram on the left,
RENISHAW RGH22
the count is incremented when the scanning head moves to the
Signal cable
left.
Scanning head
8.2.4
8-4
Linear Encoders from RLS d.o.o.
Forward
RLS
Signal cable
Reverse
If the linear encoder is installed as shown in the diagram on the left,
the count is incremented when the scanning head moves to the
Scanning head right.
8.2 Mounting Linear Encoders 8.2.5 Absolute Linear Encoders from Mitutoyo Corporation
8.2.5
Absolute Linear Encoders from Mitutoyo Corporation
ST781A, ST783A, ST788A, and ST789A
Reverse Forward
If the linear encoder is installed as shown in the diagram on the left,
Mitutoyo
the count is incremented when the scanning head moves to the
Scanning head
Signal cable right.
ST782A and ST784A
Signal cable Reverse Forward
Mitutoyo
If the linear encoder is installed as shown in the diagram on the left, the count is incremented when the scanning head moves to the right.
Scanning head
8.2.6
Linear Encoders from Magnescale Co., Ltd.
SR75-R, SR85-R, SR77-R, and SR87-R
Reverse
Forward
Scanning head
Signal cable
If the linear encoder is installed as shown in the diagram on the left, the count is incremented when the scanning head moves to the right.
SR75-L, SR85-L, SR77-L, and SR87-L
Signal cable
Reverse
Forward
Scanning head
If the linear encoder is installed as shown in the diagram on the left, the count is incremented when the scanning head moves to the right.
SL700, SL710, SL720, and SL730
Forward Scanning head
Reverse
Signal cable
If the linear encoder is installed as shown in the diagram on the left, the count is incremented when the scanning head moves to the left.
8
Connecting Linear Encoders
8-5
8.3 Adjusting Linear Encoders
8.3
Adjusting Linear Encoders
· Exposed Linear Encoders Always adjust the mounting of the scanning head. Consult the manufacturer of the linear encoder for the adjustment method.
· Sealed Linear Encoders No adjustment is necessary. However, you must observe the dimensional tolerances for mounting. Consult the manufacturer of the linear encoder for details.
8-6
Connections between Servomotors and SERVOPACKs
This chapter describes the cables that are used to connect the Servomotors and SERVOPACKs. It also provides information on peripheral devices and provides related precautions.
9.1 Selecting Cables . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 9.1.2 9.1.3 9.1.4
Linear Encoder Cables . . . . . . . . . . . . . . . . . . . . 9-2 Serial Converter Unit Cables . . . . . . . . . . . . . . . . 9-2 Sensor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 Serial Converter Units . . . . . . . . . . . . . . . . . . . . . 9-4
9.2 Wiring Servomotors and SERVOPACKs . . . 9-7
9.2.1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . 9-7 9.2.2 Wiring Procedure . . . . . . . . . . . . . . . . . . . . . . . 9-10
9
9.1 Selecting Cables 9.1.1 Linear Encoder Cables
9.1 Selecting Cables
9.1.1 Linear Encoder Cables
Name
For linear encoder from Renishaw PLC
For linear encoder from Heidenhain Corporation
Servomotor Model
All Models
Length (L)*
1 m 3 m 5 m 10 m 15 m 1 m 3 m 5 m 10 m 15 m
Order Number
JZSP-CLL00-01-E JZSP-CLL00-03-E JZSP-CLL00-05-E JZSP-CLL00-10-E JZSP-CLL00-15-E JZSP-CLL30-01-E JZSP-CLL30-03-E JZSP-CLL30-05-E JZSP-CLL30-10-E JZSP-CLL30-15-E
Appearance
Serial Converter
Unit end
L
Linear encoder end
* When using a JZDP-J00--E Serial Converter Unit, do not exceed a cable length of 3 m.
9.1.2 Serial Converter Unit Cables
Servomotor Model All Models
Length (L)
1 m 3 m 5 m 10 m 15 m 20 m
Order Number
JZSP-CLP70-01-E JZSP-CLP70-03-E JZSP-CLP70-05-E JZSP-CLP70-10-E JZSP-CLP70-15-E JZSP-CLP70-20-E
Appearance
SERVOPACK end
Serial Converter
L
Unit end
9-2
9.1 Selecting Cables 9.1.3 Sensor Cables
9.1.3 Sensor Cables
Servomotor Model
SGLGW-A SGLFW-A SGLTW-A
SGLFW2-AAS (With Polarity Sensor (Hall Sensor))
SGLFW2-AAT (Without Polarity Sensor (Hall Sensor))
Length (L) 1 m 3 m 5 m
10 m 15 m
1 m 3 m 5 m 10 m 15 m 1 m 3 m 5 m 10 m 15 m
Order Number
JZSP-CLL10-01-E JZSP-CLL10-03-E JZSP-CLL10-05-E JZSP-CLL10-10-E JZSP-CLL10-15-E JZSP-CL2L100-01-E JZSP-CL2L100-03-E JZSP-CL2L100-05-E JZSP-CL2L100-10-E JZSP-CL2L100-15-E JZSP-CL2TH00-01-E JZSP-CL2TH00-03-E JZSP-CL2TH00-05-E JZSP-CL2TH00-10-E JZSP-CL2TH00-15-E
Appearance
Serial Converter
Polarity sensor
Unit end
L
(hall sensor) end
Serial Converter
Polarity sensor
Unit end
L
(hall sensor) end
Serial Converter Unit end
Thermal Protector
L
end
Connections between Servomotors and SERVOPACKs
9
9-3
9.1 Selecting Cables 9.1.4 Serial Converter Units
9.1.4 Serial Converter Units
Order Number
Use the following tables to select the Serial Converter Unit.
JZDP - 00 -
Code
H003 J003
H005 J005
H006 J006
H008 J008
Serial Converter Unit Model
Appearance
Applicable Linear
Encoder
From Heidenhain Corp.
None
From Renishaw
PLC
None
From Heidenhain Corp.
Yes
From Renishaw Yes
PLC
Polarity Sensor (Hall Sensor) Thermal Protector
None None Yes Yes
Applicable Linear Servomotor
Servomotor Model Code
Servomotor Model
30A050C 250
20A090A
30A080C 251
20A120A
40A140C 252
SGLGW (coreless
40A253C
253
SGLFW(models
35A120A 35A230A
models) 40A365C 254 with F-type 50A200B
For Stan- 60A140C 258 iron cores) 50A380B
dard-force 60A253C 259
Magnetic Way
60A365C
260
90A200C 264
1ZA200B 1ZA380B 20A170A
90A370C 265
20A320A
90A535C 266
20A460A
SGLGW - 40A140C 255 +
SGLGM - 40A253C 256
-M 40A365C 257 (coreless models) 60A140C 261
For High- 60A253C 262 force Magnetic Way 60A365C 263
SGLTW(models with Ttype iron cores)
35A170A 35A320A 35A460A 35A170H 35A320H 50A170H
30A070A 628
50A320H
30A120A 629
40A400B
30A230A 630
40A600B
45A200A 631
80A400B
45A380A 632
90A200A1 633
SGLFW2- 90A380A1 634
(models with F-type
90A560A1
648
iron cores) 1DA380A1 649
1DA560A1 650
90A200AL 699
90A380AL 700
90A560AL 701
1DA380AL 702
1DA560AL 703
80A600B
Code 017 018 019 020 181 182 183 184 011 012 013 014
015
016
105
106
108 109 185 186 187 188
Note: Refer to the following manual for detailed specifications of the Serial Converter Units. -7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
9-4
9.1 Selecting Cables 9.1.4 Serial Converter Units
Characteristics and Specifications
Electrical Characteristics
Mechani cal Characteristics
Environment
Item Power Supply Voltage Current Consumption*1
Signal Resolution
Maximum Response Frequency Analog Input Signals*2 (cos, sin, and Ref) Polarity Sensor (Hall Sensor) Input Signal Thermal Protector Input Signal Output Signals Output Method
Output Circuit
Approximate Mass Vibration Resistance
Shock Resistance Operating Temperature Range Storage Temperature Range Humidity Range
JZDP-H00-
JZDP-J00-
+5.0 V ±5%, ripple content: 5% max.
120 mA Typ, 160 mA max.
1/256 pitch of input two-phase sine 1/4,096 pitch of input two-phase
wave
sine wave
250 kHz
100 kHz
Differential input amplitude: 0.4 V to 1.2 V Input signal level: 1.5 V to 3.5 V
CMOS level
Connect the thermal protector built into the Linear Servomotor *3
Position data, polarity sensor (hall sensor) information, and alarms Serial data transmission
Balanced transceiver (SN75LBC176 or the equivalent), internal terminating resistance: 120 150 g
98 m/s2 max. (10 Hz to 2,500 Hz) in three directions 980 m/s2, (11 ms) two times in three directions
0°C to 55°C
-20°C to 80°C 20% to 90% relative humidity (with no condensation)
*1. The current consumptions of the Linear Encoder and the polarity sensor (hall sensor) are not included in this value. The current consumption of the polarity sensor (hall sensor) is approximately 40 mA. Confirm the current consumption of the Linear Encoder that you will use and make sure that the current capacity of the SERVOPACK is not exceeded.
*2. If you input an out-of-range value, the correct position information will not be output. Also, the device may be damaged.
*3. Only SGLFW2 Servomotors come equipped with thermal protectors.
Connections between Servomotors and SERVOPACKs
9
9-5
9.1 Selecting Cables 9.1.4 Serial Converter Units
Analog Signal Input Timing
Input the analog signals with the timing shown in the following figure. The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phases. The Ref and /Ref signals are input to the comparator. Input a signal that will exceed the hysteresis of the comparator (i.e., the broken lines in the following figure). When they are crossed, the output data will be counted up.
100%
*1
cos (A+)
12.5%
0.2 V to 0.6 V
/cos
cos, /cos, sin, and
(A-)
/sin input voltage
range: 1.5 V to 3.5 V
sin (B+)
/sin
(B-)
12.5% min.
12.5% min.
*2
0.05 V
Ref and /Ref input voltage range: 1.5 V to 3.5 V
/Ref (R-)
Ref (R+)
75% max.
75% max.
Origin position, SERVOPACK origin pulse output position
Count-Up Direction
*1. If the analog signal amplitude declines to approximately 0.35 V because of the differential amplitude, the Serial Converter Unit will output an alarm.
*2. This is the hysteresis width.
Important
Application Precautions 1. Never perform insulation resistance or withstand voltage tests.
2. When analog signals are input to the Serial Converter Unit, they are very weak signals, and therefore noise influence on the analog signals affects the Unit's ability to output correct position information. Keep the analog signal cable as short as possible and implement proper shielding.
3. Use the Serial Converter Unit in a location without gases such as H2S. 4. Do not replace the Unit while power is being supplied. There is a risk of device damage.
5. If you use more than one axis, use a shielded cable for each axis. Do not use one shielded cable for multiple axes.
6. If you use any Linear Encoder other than a recommended Linear Encoder, evaluate the system in advance before you use it.
9-6
9.2
9.2 Wiring Servomotors and SERVOPACKs 9.2.1 Wiring Precautions
Wiring Servomotors and SERVOPACKs
9.2.1 Wiring Precautions
CAUTION
Do not connect the Servomotor directly to an industrial power supply. Doing so will destroy the Servomotor. You cannot operate a Servomotor without a SERVOPACK that is designed for it.
General Precautions
· Never perform any wiring work while the power supply is ON. · Always connect the Servomotor Main Circuit Cable before you connect the Encoder Cable. If
you connect the Encoder Cable first, the encoder may be damaged due to the difference in electrical potential from the FG. · Never touch the connector pins on the Servomotor directly with your hands. Particularly the encoder may be damaged by static electricity. · Separate the Servomotor Main Circuit Cable from the I/O Signal Cables and Encoder Cable by at least 30 cm. · Do not connect magnetic contactors, reactors, or other devices on the cables that connect the SERVOPACK and Servomotor. Failure to observe this caution may result in malfunction or damage. · Do not subject the cables to excessive bending stress or tension. The conductors in the Encoder Cable and Servomotor Main Circuit Cable are as thin as 0.2 mm2 or 0.3 mm2. Wire them so that they are not subjected to excessive stress. · If you secure the cables with cable ties, protect the cables with cushioning material. · If the cable will be bent repeatedly, e.g., if the Servomotor will move in the equipment, use Flexible Cables. If you do not use Flexible Cables, the cables may break. · Before you connect the wires, make sure that there are no mistakes in the wiring. · Always use the connectors specified by Yaskawa and insert them correctly. · When you connect a connector, check it to make sure there is no foreign matter, such as metal clippings, inside. · The connectors are made of resin. To prevent damage, do not apply any strong impact. · Perform all wiring so that stress is not applied to the connectors. The connectors may break if they are subjected to stress. · If you move the Servomotor while the cables are connected, always hold onto the main body of the Servomotor. If you lift the Servomotor by the cables when you move it, the connectors may be damaged or the cables may be broken.
Connections between Servomotors and SERVOPACKs
9
9-7
9.2 Wiring Servomotors and SERVOPACKs 9.2.1 Wiring Precautions
Grounding Precautions
The ground terminal on the SERVOPACK is used to ground the Servomotor.
SERVOPACK
Ground terminal
Precautions for Standard Cables
Do not use standard cables in applications that required a high degree of flexibility, such as twisting and turning, or in which the cables themselves must move. When you use Standard Cables, observe the recommended bending radius given in the following table and perform all wiring so that stress is not applied to the cables. Use the cables so that they are not repeatedly bent.
Cable Diameter Less than 8 mm 8 mm Over 8 mm
Recommended Bending Radius [R] 15 mm min. 20 mm min. Cable diameter × 3 mm min.
9-8
9.2 Wiring Servomotors and SERVOPACKs
9.2.1 Wiring Precautions
Precautions for Flexible Cables
· The Flexible Cables have a service life of 10,000,000 operations minimum when used at the recommended bending radius of 90 mm or larger under the following test conditions. The service life of a Flexible Cable is reference data under special test conditions. The service life of a Flexible Cable greatly depends on the amount of mechanical shock, how the cable is attached, and how the cable is secured. Test Conditions
· One end of the cable is repeatedly moved forward and backward for 320 mm using the test equipment shown in the following figure.
· The lead wires are connected in series, and the number of cable return operations until a lead wire breaks are counted. One round trip is counted as one bend.
Travel distance: 320 mm
Bending radius = 90 mm
Fixed end
End of travel
Note: The service life of a Flexible Cable indicates the number of bends while the lead wires are electrically charged for which no cracks or damage that affects the performance of the cable sheathing occur. Breaking of the shield wire is not considered.
· Straighten out the Flexible Cable when you connect it. If the cable is connected while it is twisted, it will break faster. Check the indication on the cable surface to make sure that the cable is not twisted.
· Do not secure the portions of the Flexible Cable that move. Stress will accumulate at the point that is secured, and the cable will break faster. Secure the cable in as few locations as possible.
· If a Flexible Cable is too long, looseness will cause it to break faster. It the Flexible Cable is too short, stress at the points where it is secured will cause it to break faster. Adjust the cable length to the optimum value.
· Do not allow Flexible Cables to interfere with each other. Interference will restrict the motion of the cables, causing them to break faster. Separate the cables sufficiently, or provide partitions between them when wiring.
Connections between Servomotors and SERVOPACKs
9
9-9
9.2 Wiring Servomotors and SERVOPACKs 9.2.2 Wiring Procedure
9.2.2 Wiring Procedure
SGLG Servomotors
Refer to the following figures for wiring.
SERVOPACK
Serial Converter Unit
Serial Converter Unit Cable* (between SERVOPACK connector CN2 and Serial Converter Unit)
Servomotor Main Circuit Cable
Linear Encoder Cable
Linear encoder (Not provided by Yaskawa.)
Sensor Cable (between Serial Converter Unit and polarity sensor (hall sensor))
Polarity sensor (hall sensor)
Linear Servomotor * You can connect directly to an absolute linear encoder.
9-10
SGLF Servomotors
Refer to the following figures for wiring.
SERVOPACK
9.2 Wiring Servomotors and SERVOPACKs 9.2.2 Wiring Procedure
Serial Converter Unit
Serial Converter Unit Cable* (between SERVOPACK connector CN2 and Serial Converter Unit)
Servomotor Main Circuit Cable
Linear Encoder Cable
Linear encoder (Not provided by Yaskawa.)
Sensor Cable (between Serial Converter Unit and polarity sensor (hall sensor))
Polarity sensor (hall sensor)
Linear Servomotor * You can connect directly to an absolute linear encoder.
Connections between Servomotors and SERVOPACKs
9
9-11
9.2 Wiring Servomotors and SERVOPACKs 9.2.2 Wiring Procedure
SGLT Servomotors
Refer to the following figures for wiring.
SERVOPACK
Serial Converter Unit
Serial Converter Unit Cable* (between SERVOPACK connector CN2 and Serial Converter Unit)
Servomotor Main Circuit Cable
Linear Encoder Cable
Linear encoder (Not provided by Yaskawa.)
Sensor Cable (between Serial Converter Unit and polarity sensor (hall sensor))
Linear Servomotor Polarity sensor (hall sensor) * You can connect directly to an absolute linear encoder.
9-12
Maintenance and Inspection
This chapter describes the maintenance, inspection, and disposal of a Servomotor.
10.1 Periodic Inspections . . . . . . . . . . . . . . . . . 10-2
10.1.1 Linear Servomotor Inspections . . . . . . . . . . . . . 10-2 10.1.2 Linear Encoder Inspections . . . . . . . . . . . . . . . . 10-3
10.2 Disposing of Servomotors . . . . . . . . . . . . . 10-4
10
10.1 Periodic Inspections 10.1.1 Linear Servomotor Inspections
10.1 Periodic Inspections
10.1.1 Linear Servomotor Inspections
The following table gives the periodic inspection items for a Servomotor. The inspection periods given in the table are guidelines. Determine the optimum inspection periods based on the application conditions and environment.
CAUTION
Before you perform any maintenance or inspection work, turn OFF the power supply, confirm that the CHARGE indicator on the front of the SERVOPACK has gone out, and then use a tester to check the voltage between the positive and negative terminals on the SERVOPACK. Start inspection work only after you have confirmed that the main circuit voltage has dropped. If there is any main circuit voltage left, the risk of electric shock still exists. Do not touch the Servomotor or any wiring.
All inspection and maintenance work must be performed by a trained technician. Failure to observe this caution may result in electric shock or injury.
Contact your Yaskawa representative for help with failures, repairs, or part replacement.
Daily Inspections
Item
Inspection Period
Check for vibration and noise. Daily
Moving Coil molded plastic
Exterior
Cables Magnets
Daily
Magnetic Way protective cover
Screws
Dirt and foreign matter
As required by conditions
Basic Inspection and Maintenance Procedure
Remarks
Inspect by touching and by listening in a safe location.
There should be no more vibration or noise than normal.
Confirm that there are no cracks, splitting, or chipping, and that there is no rubbing with the Magnetic Way.
Make sure that there are no scratches or splitting.
Make sure that there is no splitting or chipping.
If any abnormality is found, repair it or replace the part. Contact your Yaskawa representative.
Make sure that there is no deformation or rubbing with the Moving Coil.
Make sure that there are no Tighten any loose
loose screws.
screws.
Clean off any dirt or foreign matter with a cloth or pressurized air.
Use alcohol as a solvent.
Continued on next page.
10-2
Periodic Inspections Maintenance and Inspection
10.1 Periodic Inspections 10.1.2 Linear Encoder Inspections
Item Gaps between Moving Coil and Magnetic Way
Measure the insulation resistance.
Overhaul
Inspection Period
At least once a year
At least once a year
At least once every 5 years
Continued from previous page.
Basic Inspection and Maintenance Procedure
Remarks
Disconnect the Servomotor
from the SERVOPACK and
confirm that there is no for-
eign matter caught inside the Servomotor and that none of
-
the gaps has increased in
size since the Servomotor
was first used.
Disconnect the Servomotor
from the SERVOPACK and measure the insulation resistance at 500 V with an insulation resistance meter. (Measurement method: Measure the resistance between phase U, V, or W on the Servomotor's power line and FG.) The insulation is normal if the
· If the resistance is less than 10 M, contact your Yaskawa representative.
· Do not perform insulation resistance measurements or withstand voltage tests on the sensor.
resistance is 10 M or higher.
Contact your Yaskawa representative.
Never attempt to disassemble or clean a Servomotor yourself.
10.1.2 Linear Encoder Inspections
Consult the manufacturer of the linear encoder for maintenance and inspection information.
10
10-3
10.2 Disposing of Servomotors
10.2 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.
CAUTION
When you dispose of a Linear Servomotor, heat the Magnetic Way to 300°C or higher for one hour to demagnetize it. There is a risk of injury from the strong magnetic attraction.
10-4
Revision History
The revision dates and numbers of the revised manuals are given at the bottom of the back cover.
MANUAL NO. SIEP S800001 37B <1>-0 Published in Japan September 2014
WEB revision number Revision number
Date of publication
Date of Publication December 2019 July 2017 April 2017
September 2014
May 2014
Rev. No. <4> <3> <2>
<1>
Web Rev. No.
Section
0
All chapters
Back cover
0
Preface
Back cover
0
All chapters
Chapter 4
6.4
8.1
All chapters
Preface
Chapters 1, 4, and 10
Chapters 1, 5, and 7
-
-
-
Revised Content
Partly revised. Revision: Address Revision: Information on certification for standards Revision: Address Deleted the SGLC, corrected mistakes, and made changes to some parts. Addition: SGLFW2-90A200AL Addition: Precautions for water-cooled models Addition: SG10 and SQ47/SQ57 Corrected mistakes and made changes to some parts. Addition: Troubleshooting precautions Revision: Compliance with UL Standards, EU Directives, and Other Safety Standards Addition: Information on SGLFW2-90A560AS and -1DA560AS
Addition: Information on SGLTW-40A600B, -80A400B, and -80A600B
First edition
Revision History-1
-7-Series AC Servo Drive
Linear Servomotor
Product Manual
IRUMA BUSINESS CENTER (SOLUTION CENTER) 480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 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 YASKAWA EUROPE GmbH Hauptstrae 185, 65760 Eschborn, Germany Phone: +49-6196-569-300 Fax: +49-6196-569-398 www.yaskawa.eu.com E-mail: info@yaskawa.eu.com YASKAWA ELECTRIC KOREA CORPORATION 35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea Phone: +82-2-784-7844 Fax: +82-2-784-8495 www.yaskawa.co.kr YASKAWA ASIA PACIFIC PTE. LTD. 30A, Kallang Place, #06-01, 339213, Singapore Phone: +65-6282-3003 Fax: +65-6289-3003 www.yaskawa.com.sg YASKAWA ELECTRIC (THAILAND) CO., LTD. 59, 1F-5F, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand Phone: +66-2-017-0099 Fax: +66-2-017-0799 www.yaskawa.co.th YASKAWA ELECTRIC (CHINA) CO., LTD. 22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China Phone: +86-21-5385-2200 Fax: +86-21-5385-3299 www.yaskawa.com.cn YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Avenue, Dong Cheng District, Beijing, 100738, China Phone: +86-10-8518-4086 Fax: +86-10-8518-4082 YASKAWA ELECTRIC TAIWAN CORPORATION 12F, No. 207, Section 3, Beishin Road, Shindian District, New Taipei City 23143, Taiwan Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519 www.yaskawa.com.tw
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
MANUAL NO. SIEP S800001 37D <4>-0 Published in Japan December 2019 19-10-16
Original instructions