LEGENDUsers Version F
LEGENDUsers Version F
LEGENDUsers Version F
WARNING Mis-operation may result in a hazardous condition with the possibility of death or
serious injury.
WARNING
YASKAWA manufactures component parts that can be used in a wide variety
of industrial applications. The selection and application of YASKAWA prod-
ucts remain the responsibility of the equipment designer or end user.
YASKAWA accepts no responsibility for the way its products are incorporated
into the final system design.
i
Icon Display
The following icons were designed so as to aid in understanding the type of descriptive
content. The icons are displayed where needed to aid in comprehension.
Major items which should be memorized. In addition、this can be a minor item which does
Important not reach the level of damage to the machine, such as the generation of an alarm display.
Terminology?? This explains difficult-to-understand technical terminology and technical terms which
have not been previously explained.
ii
Outline of Manual
Thank you for purchasing the LEGEND Digital torque amplifier.
Use this product with a full understanding of conditions such as product specifications, usage
limits, etc.
This manual explains the following areas for users of the LEGEND Digital torque amplifier.
• Methods for mounting and wiring servomotor and amplifiers
• How to use the various functions
• Ratings and specifications for standard device types
• Maintenance and Inspection
For additional information on Sigma II servomotor,please refer to the following documents:
• Sigma II Servo System Product Catalog Supplement
(Doc.# G-MI#99001x-Sigma II)
• Sigma II Series Servo System User’s Manual
(Doc.# YEA-S800-32.2x)
• Linear Servomotor Product Catalog
(Doc.#KAE-S800-39.10)
iii
Safety Notes
In this manual, we will describe important cautionary items which should always be
observed regarding usage, inspection upon receipt of product, mounting, wiring,
operation, and maintenance/inspection.
CAUTION
• Use the servomotors and amplifiers in the designated combinations. (See “3.5
Combinations” on page 39.)
Failure to do so may result in fire or unit failure.
■ Mounting
CAUTION
• Never use this product in an area where water may splash, in a corrosive or flammable
atmosphere, or next to flammable items.
Doing so may result in electric shock or fire.
■ Wiring
WARNING
• Be sure to connect the ground terminal of the digital torque amplifier to a grounding
electrode (100Ω or less).
Failure to do so may result in electric shock or fire.
CAUTION
Wiring Precautions
• Do not bundle or run power and signal lines together in the same duct.
Keep power and signal lines at least 11.81” (30cm) apart.
• Use twisted pair or shielded multi-core twisted pair wires for signal and encoder (PG)
feedback lines.
• The maximum lengths for signal lines are as follows:
• Maximum of 9.84ft (300cm) for reference input lines.
• Maximum of 65.6ft (20m) for PG feedback lines.
• Use a cable type UL20276-SB for distances over 65.6ft (20m).
iv
CAUTION
• Do not connect a three-phase power supply to the digital torque amplifier output terminals
U, V, and W.
Doing so may result in injury or fire.
• Securely fasten the screws for the power terminals and motor terminals.
Failure to do say may result in fire.
■ Operation
WARNING
• To prevent unexpected accidents, test the motor with the motor shaft not connected to a
machine or load.
• To prevent unexpected accidents, run with limit switches or stoppers attached to both ends
of the magnet track.
Failure to do so may result in injury.
• Set parameters before operating the motor in connection with a machine..
Operating without making these settings may result in machine runaway and damage.
• After mounting on the machine, prior to the start of operation, make sure the emergency
stop can be applied at any time.
Failure to do so may result in injury.
• Do not touch the heat sink while the unit is running.
The high temperature may result in burns.
■ Maintenance/Inspection
WARNING
CAUTION
• Do not change the wiring while power is ON.
Doing so may result in electrical shock or injury.
v
■ General Cautionary Items
Cautionary Items Regarding Usage
• The figures contained in this manual may, for purposes of detailed explanation, be drawn with covers and
safety shields removed. When operating this product, be sure to return all standard covers and shields to
their original locations, and operate the product in accordance with this manual.
• The figures contained in this manual are representative examples, and may differ from the product
recieved.
• Appropriate modifications may be made to this manual due to improvements or specification changes in
the product, or to improve the ease of use of the manual itself. In the event of such changes, the document
number of the manual will be updated, and issued as a revision.
• To order additional copies of this manual, contact your Yasakwa representative, or the nearest Yaskawa
sales office printed on the back of this manual with the document number written on the cover.
• Yaskawa assumes no responsibility for products modified by the customer as they fall outside the
warranty.
■ Warning Label
危険 通電中および電源オフ後,5分間端子部にさわるな!感電のおそれあり
Disconnect all power and wait 5 min.
WARNING before servicing. May cause electric shock.
注意 通電中はヒートシンクにさわるな!火傷のおそれあり
Do not touch heat sink when power is ON.
CAUTION May cause burn.
必ずアース線を接続せよ
Use proper grounding techniques.
Mounting Position of
Warning Label
Ground Mark
vi
Table of Contents
Safety-Related Symbols .......................................................................................... i
Icon Display ............................................................................................................. ii
Outline of Manual ................................................................................................... iii
Safety Notes............................................................................................................ iv
Inspection Upon Receipt of Product........................................................ iv
Mounting .................................................................................................iv
Wiring ...................................................................................................... iv
Operation .................................................................................................v
Maintenance/Inspection ...........................................................................v
General Cautionary Items ....................................................................... vi
Warning Label ......................................................................................... vi
Chapter 1: Interpretation of Model Number ......................................................... 1
1.1 Rotary Motor Type ..................................................................................... 1
1.2 Linear Motor Type...................................................................................... 2
Motor Coils .............................................................................................. 2
1.3 Core-less Type .......................................................................................... 2
Motor Coil................................................................................................ 2
1.4 T-Type Iron Core ....................................................................................... 3
Motor Coil................................................................................................ 3
1.5 F-Type Iron Core ....................................................................................... 4
Motor Coil................................................................................................ 4
1.6 Digital Torque Amplifier ............................................................................. 5
1.7 Serial Converter Unit ................................................................................. 6
Chapter 2: Wiring ................................................................................................... 9
2.1 Main Circuit Wiring..................................................................................... 9
Main Circuit Terminal Names and Functions .......................................... 9
Example of Typical Main Circuit Wiring................................................. 12
Power ON Sequence Design ................................................................ 13
Power Line Size and Peripheral Devices .............................................. 13
Digital Torque Amplifier Power Loss ..................................................... 13
Main Circuit Terminal Block Wiring Method .......................................... 13
Power Terminal Processing .................................................................. 14
Peripheral Device Types and Capacities .............................................. 15
2.2 Input Signals ............................................................................................ 16
Table of Contents
⑦ Shaft Specification
2 Straight, no key
② Voltage
4 Sraight, w/ key
A 200V 6 Straight, w/ key and tap
*1
B 100V 8 Straight, w/ tap
1
1.2 Linear Motor Type
SGL G W - 40 A 140 A W
Option Specifications
P: w/ Hall sensor only.
W: w/ Hall sensor and
Linear Σ Series Motor Serial Converter. The
Serial Converter is
Motor Type required for operation with
G: Core-less LEGEND Digital Torque
T: T-type iron core Amplifiers.
F: F-type iron core Design Revision Order
Type
Magnet Track Length
W: Motor Coil Voltage
A: 200V
Height of Magnets
15
30
Hall
L2
Sensor
2
1.4 T-Type Iron Core
Hall
Sensor
W Min. 64 L
40
H
3
1.5 F-Type Iron Core
H
Hall Sensor
4
1.6 Digital Torque Amplifier
Voltage
G: 90V~253V
Model
@T: Torque/Force Control
Note: Keep the following in mind in SGDG digital torque amplifier and SGDG/SGL□W
servomotor combinations:
The SGDG-01GT can drive motors of 30~200W rated output.
The SGDG-04GT can drive motors of 100~750W rated output.
The SGDG-10GT can drive motors of 300W~2kW rated output.
The SGDG-15GT can drive motors of 750W~3kW rated output.
Since LEGEND servo drives are applicable to a wider range motor and driver combinations,
the output power of the drive will dictate the available maximum motor power even if the
maximum output power of the motor is larger than that of the connected drive.
Specific speed/torque performance will vary depending on such power supply conditions as
voltage, number of available phases, etc.
5
1.7 Serial Converter Unit
JZDP- By Renishaw
A004
(Note)
US Market- Y
dedicated
JZDP- By Renishaw
A005
JZDP- By Haidenhain
A006
JZDP- By Renishaw
A008
6
1.7 Serial Converter Unit
7
Notes:
8
2.1 Main Circuit Wiring
2. Wiring
2.1 Main Circuit Wiring
Here we will show representative examples of main circuit wiring, the functions of the main
circuit terminals, as well as the power input sequence, etc. Observe the following cautionary
items when wiring.
CAUTION
• Do not pass the power line and signal lines through the same duct or bundle them together. Keep the
power line and signal lines at least 30cm apart when wiring.
• Use a twist pair wire or multi-core twisted-pair bundled shield wire for the signal and encoder lines.
The maximum wiring length is 3m for the command input line, and 20m for the encoder feedback line.
• Do not touch the power terminal for 5 min. after power OFF as a high voltage may remain even after
power OFF.
Perform inspection work after checking that the CHARGE lamp has gone out.
• Do not turn the power ON/OFF frequently. Limit ON/OFF repetition to one time per minute.
Because the digital torque amplifier has a capacitor in its power unit, a large charging current (charging
time: 0.2sec.) will be fed at power ON. For this reason, frequent power ON/OFF switching degrades the
main circuit element within the digital torque amplifier.
• Suitable for use on a circuit capable of delivering not more than 5000 Arms (symmetrical)
9
2.1 Main Circuit Wiring
Table 2.1: Main Circuit Terminal Names and their Functions (Continued)
Terminal
Name Function
Code
Connection not normally needed.
Connect an external regen resistor (provided by
100W/400W customer) between B1-B2 if regen capability is
insufficient.
External Regen (Note)There is no B3 terminal.
B1, B2 or
Resistor Connection 1.0kW/1.5kW B2-B3 is normally shorted (using the integrated
B1, B2, B3
Terminal regen resistor)
If the capacity of the internal regen resistor is
insufficient, connect an external regen resistor
(provided by customer) between B1-B2 with B2-
B3 open (wiring removed).
⊕1,⊕2 High-Frequency This is normally shorted between ⊕1-⊕2. If harmonic
Harmonic frequency suppression is needed, connect a DC reactor
Suppressing DC between ⊕1-⊕2.
Reactor Connection
Terminal
Main Circuit Load Connection is normally not needed.
Terminal
10
2.1 Main Circuit Wiring
SYSTEM HEATSINK
SWITCHES (Side)
OPTION BOARD
(Under the cover)
CONNECTOR
MAIN
POWER
INDICATOR CONTROL
POWER
MAIN INDICATOR
POWER
TERMINAL STATUS
INDICATOR
CONTROL
POWER WARNING
TERMINAL LABEL
MOTOR
CONNECTION
TERMINAL
I/O SIGNAL
CONNECTOR CN1
GROUNDING
TERMINAL ENCODER CONNECTOR
CN2
11
2.1 Main Circuit Wiring
Emergency
Stop Power Power
Noise Filter OFF ON RY10 MC1
MC1 Surge
Supressor
FG
SGDG-□□GT
MC1
L1 A
U
B
L2 V M
C
W
D
L3
L1C
PG
L2C
CN1
31 +24V
ALM Ry10
32 1D 0 24V
ALM-SG
12
2.1 Main Circuit Wiring
Power
2.0s Max.
Note: The regen resistor power loss is the allowable power loss. Take the following measures if this
value is exceeded. Remove the lead wire of the digital torque amplifier's integrated regen
resistor and install an external regen resistor. Furthermore, the external regen resistor is an
option. For details on regen resistors, see “4.5 Regenerative Resistor Selection”.
CAUTION
• Perform wiring after removing the terminal block from the digital torque amplifier unit.
• Insert one wire into each power line insertion aperture in the terminal block.
• When inserting the power lines, be sure that they do not short against the surrounding material due to
exposed wire cores.
• Power lines that have been mistakenly pulled out by excessive force should be re-stripped then connected.
13
2.1 Main Circuit Wiring
Connection Method
1. Strip the insulation of the power lines used.
8~9mm
(.315~.35 in.)
2. Open the terminal block wiring insertion area with a tool. There are two opening
methods as shown in figures A and B.
• Figure A shows opening by prying with an accessory lever.
• Figure B shows opening by forcibly pressing the driver insertion aperture with
either a flathead screwdriver head width 3.0~3.5mm (.118~.138 in.) or a 210-120J-
type driver from Wago, Inc. The work can be done using either of the methods in
Figure A: or Figure B:.
Figure A: Figure B:
3. Insert the core of the power line into the opening. Release the lever or the pressure on
the driver after insertion.
14
2.1 Main Circuit Wiring
15
2.2 Input Signals
Power
Emergency Power
Noise Filter ON RY10 MC1
Stop OFF
MC1 Surge
Supressor
MC1
L1 B1 B2 FG
U
V Motor
W
L2
L1C SGDG-□□GT CN
PG
Digital Torque Amplifier 2
L2C
CN1-26 24V~12V
SV ON 5
24V~12V CN1-27
DB_OFF RY10
CMD-IN CN1-3
Torque/ A/D
CN1-20
Force PA PAO
Reference GND CN1-4 CN1-21
/PAO
CN1-22
Encoder
PB
PA PBO
CN1-23 Divided
/PBO Output
CN1-24
PC
PA PCO
CN1-25
/PCO
SN75ALS174 or similar product
FG
16
2.2 Input Signals
■ CN1 Specifications
Specification for Applied Receptacle Model
Connector Used in
Digital Torque Soldering
Case Manufacturer Name
Amplifier Type
10236-52A2JL-type
10136-3000VE 10336-52A0-008 Sumitomo 3M, Inc.
Right Angle 36P
17
2.2 Input Signals
Input Signals
Pin
Signal Name Function
No.
/S-ON 14 Servo ON
26 • The inverter output is enabled to provide power to the motor.
DB - OFF DB Release
Common 15
• A free run state has resulted by releasing the DB.
+24VIN Sequence signal control power input
13
• +24V power supply provided by customer.
CMD-IN Torque/Force Reference Input
Torque 3
• -10~+10VDC 10V= Peak Motor Torque
Output Signals
Signal Name Pin No. Function
ALM+ 34 Servo Alarm
ALM - 35 : Turns OFF due to error detection.
PAO 20
A-phase Signal
*PAO 21
2-phase pulse (A-phase, B-phase)
PBO 22
B-phase Signal Conversion Encoder Output Signal
*PBO 23
and origin pulse (C-phase) signal
Common PCO 24
C-phase Signal
*PCO 25
RUN+ 7 Base Block Release Signal
RUN - 10 : Output during base block release
SPD-MON 28 Speed Monitor (1V/1000rpm), Linear Scale 1V/1000mm/sec
TORQUE-MON 29 5V/Max Torque
The frame ground in connected upon connection of the I/O signal cable
FG Shell
shield wire to the connector shell.
18
2.2 Input Signals
19
2.2 Input Signals
■ Interface Circuit
An example is given below of connection of the digital torque amplifier I/O signals to an
upper level device.
1.8kΩ(1/2W) or more
3
25HP-10B 2 CMD-IN
12V
2kΩ
1 Approx. 14kΩ
1000:1 SG
0V
Amplifier
DC24V
3.3kΩ
50mA or more +24VIN
/S-ON etc.
This is connected by a relay or open collector transistor circuit. Select a low current type
when connecting by relay. If low current relay is not used, this may cause a connection
fault.
20
2.2 Input Signals
0V
0V
Note: The maximum allowable voltage and current capacity of the photocoupler output circuit are as
follows:
• Voltage: DC30V(Max.)
• Current: DC50mA(Max.)
21
2.3 Wiring to the Encoder
■ Connection to Encoder (CN2) and Output Signal Processing from Digital Torque
Amplifier (CN1)
Digital Torque Amplifier *
CN1 P
A-phase 1- 33 PAO
Incremental * * 1- 34 *PAO
Encoder P
B-phase 1- 35 PBO
1- 36 *PBO
P CN2 P
C(5) 2-5 C-phase 1- 19 PCO
D(6) 2-6 1- 20 *PCO
ov 1- 1 SG
0.33mm2 ov
Connector
J Shell
(Shell) Shield Connector
Wire Shell
(provided by customer)
* S G M A H ,S G M G H ,S G M S H O nly.
22
2.3 Wiring to the Encoder
CN2 Connectors
CN2 Connectors
Note: The plug and socket on the digital torque amplifier side are a set product FA1394 from Japan
Molex, Inc.
Note: The motor-side socket is connected to the connector for the SGMAH, SGMPH servomotor
encoder.
Note: The SGMGH and SGMSH servomotor encoder connectors are shown below.
• Plug L-type: MS3108B20-29S or
• Straight: MS3106B20-29S
• Cable Clamp: MS3057-12A
Supp. Yaskawa provides a dedicated cable for the encoder. For details, see the following document.
23
2.4 Cable Specifications and Peripheral Devices
CAUTION
Wiring Precautions
• Do not bundle or run power and signal lines together in the same duct.
Keep power and signal lines at least 11.81” (30cm) apart.
• Use twisted pair or shielded multi-core twisted pair wires for signal and
encoder (PG) feedback lines.
• The maximum lengths for signal lines are as follows:
• Maximum of 9.84ft (300cm) for reference input lines.
• Maximum of 65.6ft (20m) for PG feedback lines.
• Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m).
■ Cable Specifications
Notes: 1. Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.
2. Use cables with a minimum withstand voltage of 600V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly
deteriorate.
24
2.4 Cable Specifications and Peripheral Devices
The following table shows types of cables. It is used in conjunction with the preceding
tables.
The following table specifies the appropriate cables for CN1 and CN2 digital torque amplifier
connectors. Wire sizes were selected with the expectation of three cables per bundle, at an
ambient temperature of 40°C, at the rated current level.
PG Signal Use 22 AWG [0.0005in2 (0.34mm 2)] for the encoder power supply and 26
Applicable wire
CN2 AWG [0.0002 in2 (0.14mm2)] for other signals. These conditions permit
Connector
wiring distances up to 65.6ft (20m).
Finished cable
Φ 0.27 (Φ6.8) maximum
Dimension
25
2.5 Standard Connection Examples
MC1 Surge
Supressor
MC1
L1 B1 B2 FG
U
V Motor
W
L2
CN1-26 24V~12V
SV ON 5
24V~12V CN1-27
DB_OFF RY10
CMD-IN CN1-3
Torque/ A/D
CN1-20
Force PA PAO
Reference GND CN1-4 CN1-21
/PAO
CN1-22
Encoder
PB PBO
CN1-23 Divided
/PBO Output
CN1-24
PC PCO
CN1-25
/PCO
SN75ALS174 or similar product
FG
26
2.5 Standard Connection Examples
Emergency
Stop Power
Power ON
Noise Filter RY10 MC1
OFF
MC1 Surge
Supressor
MC1
L1 B1 B2 B3 FG
U
L2 V Motor
W
L3 *
CN1-26 24V~12V
SV ON 3
24V~12V CN1-27
DB_OFF RY10
CN1-13 3.3KΩ CN1-34 ALM+
SV ON
* For single-phase
applications, use terminals
L1 + L3 for the main
power connection.
FG
27
Notes:
28
3.1 Linear Motor Mounting
3. Setup
3.1 Linear Motor Mounting
CAUTION
• In the case of linear motors, various changes can occur according to the direction of the motor mounting
and the direction of the encoder mounting. Therefore, perform setup carefully.
Careless setup may result in injury.
CAUTION
• Do not connect the servomotor directly to a
commercial power source. This will damage the
motor.
The servomotor will not run without a dedicated
digital torque amplifier.
29
3.2 Rotary Motor Mounting
Before Mounting
Important
The shaft end is treated with a rust-preventative agent. Before mounting the motor, wipe
off this rust-preventative agent with a cloth soaked in thinner.
When removing the rust-preventative agent, be sure that the thinner does not contact any
other parts of the servomotor.
R ust-
preventative
A gent
■ Storage Temperature
Store the servomotor within the temperature range below when storing without electrical
feed.
■ Mounting Location
The SGM□H servomotor is intended for use indoors. Use in an environment meeting the
following conditions.
• Indoors, in a location free from corrosive or explosive gas.
• A location with good ventilation, with little dust, grime, or steam
• A location with an ambient temperature between 0~40°C
• A location with a relative humidity of 20%~80%, no condensation
• A location easy to inspect and clean
30
3.2 Rotary Motor Mounting
■ Alignment
Upon mating to the machine, make sure the motor shaft core and the machine shaft core
are coupled in a straight line. Mount the servomotor so that it falls within the alignment
accuracy in the figure below.
The maximum deviation at all four sides cannot
exceed 0.03mm (rotated with the coupling)
(1) Improper alignment can lead to vibration, which risks damaging the shaft coupling.
(2) When mounting the coupling, do not apply shock directly to the shaft. This may damage the encoder mounted
Important
on the shaft end opposite the load.
■ Mounting Direction
The SGM□H servomotor can be mounted in either the horizontal or vertical directions.
Shaft
31
3.2 Rotary Motor Mounting
Through
Shaft Section
■ Cable Stress
Do not bend or stretch the power line.
In particular, be careful to wire the signal cable so that they are not subject to stress
because its core is very thin (0.2, 0.3mm).
32
3.2 Rotary Motor Mounting
■ Vibration Resistance
Mount the servomotor with the shaft positioned horizontally. The servomotor will
withstand the following levels of vibration on all three axes: front-to-back (X),
vertical (Y), and side-to-side (Z).
• SGMAH, SGMPH: 49m/s2 (5G)
• SGMSH, SGMGH, SGMDH, and SGMUH: 24.5m/s2 (2.5G)
Front-to-back
Vertical
Horizontal shaft
33
3.3 Digital Torque Amplifier Installation
■ Storage Conditions
Store the digital torque amplifier within the temperature range below when storing
without electrical feed.
■ Mounting Conditions
Location
The following points should be kept in mind with regard to the mounting location.
Installation
Cautions on Mounting
Conditions
Design the control panel size, digital torque amplifier
Mounted in a Control installation, and cooling method so that the ambient
Panel temperature of the digital torque amplifier does not exceed
55°C.
Suppress the temperature rise due to radiated heat and
Mounted Near a Heat- convection from the heat-generating object so that the
Generating Object ambient temperature of the digital torque amplifier does
not exceed 55°C.
Attach vibration-preventative brackets to the digital torque
Mounted Near a
amplifier mounting surface so that the vibrations are not
Vibration Source
communicated to the digital torque amplifier.
34
3.3 Digital Torque Amplifier Installation
Installation
Cautions on Mounting
Conditions
Mounted in a Location Take measures to prevent the influx of corrosive gas. The
gas will have no immediate effect, but will lead to device
Exposed to Corrosive
failures in the electronic components and contact-related
Gas
devices.
Do not install in areas with high temperature or humidity,
Others
or where the atmosphere contains dust or iron particles.
Mounting Direction
Mount in a vertical direction on a wall as shown in the figure below. Cool the digital
torque amplifier either with natural convection or a fan. Be sure to maintain this
direction. Securely fix the digital torque amplifier to the mounting surface by using the
mounting holes at 2~4 locations (the number of holes will differ depending on capacity).
Mounting
Surface
Ventilation
Cooling
Mount the amplifier with sufficient peripheral space around the digital torque amplifier
consideration of the above figure so as to achieve sufficient cooling by either a fan or
natural convection.
35
3.3 Digital Torque Amplifier Installation
Fan Fan
50mm or
more
50mm or
30mm or more 10mm or more more
Mount the digital torque amplifier so that the front side faces the operator.
Side-by-side Installation
When installing digital torque amplifier side by side as shown in the figure above, allow
at least 0.39in (10mm) between and at least 1.97in (50mm) above and below each digital
torque amplifier. Install cooling fans above the digital torque amplifiers to avoid
excessive temperature rise and to maintain even temperature inside the control panel.
36
3.4 Switch Settings
37
3.4 Switch Settings
38
3.5 Combinations
3.5 Combinations
Digital Torque amplifier and motor combinations are shown below.
SGMAH
Digital Torque
Compatible Motor Models
Amplifier Model
SGDG-01GT SGMAH-A3B
SGMAH-A5B
SGMAH-A3A
SGMAH-A5A
SGMAH-01A
SGDG-04GT SGMAH-01B
SGMAH-02B
SGMAH-02A
SGMAH-04A
SGDG-10GT SGMAH-08A
SGMPH
Digital Torque
Compatible Motor Models
Amplifier Model
SGDG-01GT SGMPH-01A
SGDG-04GT SGMPH-01B
SGMPH-02B
SGMPH-02A
SGMPH-04A
SGDG-10GT SGMPH-08A
SGDG-15GT SGMPH-15A
SGMGH
Digital Torque
Compatible Motor Models
Amplifier Model
SGDG-10GT SGMGH-05 □ A
SGMGH-09 □ A
SGDG-15GT SGMGH-13 □ A
39
3.5 Combinations
SGMSH
Digital Torque
Compatible Motor Models
Amplifier Model
SGDG-10GT SGMSH-10 □ A
SGDG-15GT SGMSH-15 □ A
SGDG-01GT SGLGW-40A140A
SGDG-04GT SGLGW-40A253A
SGLGW-40A365A
SGLGW-60A140A
SGLGW-60A253A
SGLFW-20A090A
SGLFW-20A120A
SGLFW-35A120A
SGDG-10GT SGLTW-20A320A
SGLTW-35A170A
SGLTW-35A320A
SGLFW-35A230A
SGLFW-50A200A
SGLGW-60A365A
SGLTW-20A170A
SGDG-15GT SGLFW-50A380A
SGLFW-1ZA200A
40
4.1 Torque/Force Control
4. Description of Functions
4.1 Torque/Force Control
This is the torque/force control-dedicated mode.
This control mode inputs the torque/force reference from CMD-IN (CN1-3 & CN1-4).
Amplifier
CMD-IN
C M D -IN CN1-3
C N 1-3
SG CN1-4
SG C N 1-4
P hotocoupler
Photocoupler Output per CN1-34 ALM+
Output MAX 50mA
Max. Usage voltage: DC30V CN1-35 ALM-
Max. Usage Current: :DC50mA
The basic method for continuing alarm-related “output signals” is shown below.
Prepare an external 24V usage power source. No 24V power source is integrated in the digital
torque amplifier. The photocoupler output signal is handled as follows:
The output is “ON” when the digital torque amplifier detects an error.
41
4.2 Protection Sequence Design
Be sure to configure the external circuit so that the main power to the digital torque amplifier
goes OFF at alarm output.
CN1–34, 35 is “closed”,
ON State Normal State
CN1–34 is level “Low”
CN1–34, 35 is “open”,
OFF State Alarm State
CN1–34 is level “High”
■ Servo ON Input
Serial Input Signal: The basic connection method and for Servo ON (/S-ON) is displayed
below. This is used to forcibly stop the servomotor in a “non-powered” state.
Upper-Level
Device
5mA
S-ON CN1-14
Photocoupler
0
V
→ Input/S-ON CN1-14 Servo ON
Do not start/stop the motor by using the (/S-ON) signal. Always start/stop the motor with an
Important input command.
42
4.2 Protection Sequence Design
■ DB OFF Input
Sequence Input Signal: The basic connection and handling method for the (DB OFF)
signal is shown below. This is used to forcibly release the “DB stop state” during Servo
OFF from the upper-level device.
Upper-Level
Device 5mA
DB-OFF CN1-15
Photocoupler
0V
24V Power
Digital Torque Amplifier +24V 0V
CN1–7, 10 is “closed”
ON State Base Block
CN1–7 is level “L”
CN1–7, 10 is “open” CN1–
OFF State Base Block Released
7 is level “H”
43
4.3 Encoder Signal Output
CN2 CN1
Encoder
Serial Data A-Phase
PG Division B-Phase
Circuit C-Phase
The output circuit is a line driver output. Connect in consideration of the following
circuit.
CN1-22 PBO R 6 5
B-Phase B-Phase
CN1-23 *PBO ‚o
7
CN1-24 PCO R 10 11
C-Phase C-Phase
CN1-25 *PCO ‚o
9
8 ‚b 16 Choke
Coil
OV +5
+5
V + V
CN1-1 -
0V
Smoothing
OV
Connector Shell Shield Wire Capacitor
‚o: Shows a twisted pair wire. Applied Line Receiver: TI SN75175 or MC3486-
equivalent
1. After Division: This means the output converted to the set pulse ratio based on the pulse data from the
encoder mounted on the motor. The unit here is “No. of Pulses/Rotation”.
44
4.3 Encoder Signal Output
■ I/O Signals
The details on the output signal are as follows:
A-Phase A-Phase
B-Phase B-Phase
C-Phase C-Phase
t t
45
4.3 Encoder Signal Output
■ PG Divider Setting
Set the pulse division ratio by the following switches.
Delivery
Setting Range
Setting
PG Divider Unit
SW3 16,000~131,072 (Rotary 17-bit) 65,536
Setting P/R
1000~8192 (Rotary 13-bit) 8192
1/256~1/2 (Linear Motor) 1/20
Set the number of output pulses output by the encoder output signals (PAO, *PAO, PBO,
*PBO).
Output Terminals
PAO(CN1-20)
Amplifier *PAO(CN1-21)
Servo Motor PBO(CN1-22)
Encoder *PBO(CN1-23)
Divider A-Phase
PG Output
B-Phase
Serial Data
This divides the pulses from the motor encoder (PG) by the number of pulses set there,
then outputs it. The setting value is the number of output pulses per motor rotation. Set
this to match the command unit of the machine controller. The setting range differs
according to the encoder used.
46
4.4 Analog Monitor
The analog monitor output voltage is 8VDC (Max.). The output voltage will invert if it
exceeds 8VDC.
* The regen capacity (average) which can be processed is a 20% rating of the regenerative resistor capacity
integrated within the digital torque amplifier.
When installing an external regen resistor, make the resistance the same as that of the resistor
integrated within the digital torque amplifier. When using several resistors with small
resistance combined in a group to increase the capacity (W) of the regen resistor, select
resistors so that the value including the resistance error is equal to or greater than the
“minimum allowable resistance” in the above table.
47
4.5 Regenerative Resistor Selection
(1) If the power resistor is used at the rated load rate, resistor temperatures will reach 200°C~300°C. Be sure to
Important derate before using. Check with the manufacturer for the load characteristics of the resistor. Use at a load rating
of 20% or less when using natural cooling (natural convection cooling), and at 50% or less when forced air
cooling is used.
(2) For safety reasons, we recommend the use of resistors with thermostatic switches.
SGDG-01GT
The SGDG-01GT does not have the regen transistor built-in even though there are
terminals for connecting an external regen resistor. Therefore, for external regen
requirement, the JUSP-RG08D external regen unit must be used. This unit connects
directly across the DC bus. It is a self-contained unit consisting of bus sensing circuitry,
switching IGBT, 50 ohm power resistor, and alarm relay contacts. The regen capacity of
this unit is 60W before derating. The convection cool capacity is 12W. Capacity
increases to 30W with forced-air cooling.
When this external regen unit is used, #5 of SW1 in the SGDG-01GT should be turned
OFF to avoid erroneous alarms.
Dimensional Drawings
48
4.5 Regenerative Resistor Selection
SGDG-04GT
The SGDG-04GT has terminals for connecting an external regen resistor of higher
capacity. However, the SGDG-04GT does not automatically recognize this external regen
resistor and it doesn’t activate the regen IGBT. Thus, when an external resistor is
connected, the regen energy is still processed by internal regen capacity. The alarm #4
(overvoltage) will occur if the regen energy is too high. To add external regen capability
to the SGDG-04GT, one of the following methods may be used:
or
2. Use SGDG-04GTY22P for external regen application only. If the user knows that the
application requires extra regen capacity, the Y-mod unit must be ordered. With
Y22P-mod, two (2) external regen resistors, RH500N25_ohmK, wired in series must
be connected to the SGDH-04GT at all times. These resistors should be connected
across terminals B1 and B2. The convection cool capacity of these two resistors in
series is 120W. The capacity increases to 300W with forced-air cooling. Therefore,
the items required are:
1 x SGDG-04GTY22P
2 x RH500N25_ohmK
49
4.5 Regenerative Resistor Selection
b) When one of these fault detection functions operates, the internal alarm relay is
actuated. Then the circuit between output terminals C1 and C2 is opened.
c) When an external resistor is used, remove the shorting jumper between Y4 and Y5.
Then, connect the resistor between P/Y3 and Y4.
SGDG-04GTY22P
Connect the regen resistor between terminals B1-B2 on the SGDG-04GTY22P digital
torque amplifier.
Amplifier
SGDG-
04GTY22P Regen Resistor
B1
B2
50
4.5 Regenerative Resistor Selection
Regen Resistor
B1
B2
B3
Be sure to remove the lead wire
between B2-B3.
The regen resistor reaches high temperatures. Use wires with high-temperature insulation,
Important
and make sure the wires do not come into contact with the regen resistor.
When an external resistor is connected, turn OFF #5 of SW1. Be sure the energy
capacity of the resistor is adequate to dissipate the regen energy of the load.
51
Notes:
52
5.1 Motor Inspection
53
5.2 Digital Torque Amplifier Inspection
■ Use Conditions
• Ambient Temperature: Yearly average 30°C
• Load Ratio: 80% or less
• Operation Rate: 20 hours or less per day
54
5.3 Alarms
5.3 Alarms
POWER ON: Green LED turns ON at control power ON.
CHARGE LED: Red LED turns ON at main circuit power ON.
■ 7-Segment LED
Base Block
Normal
Status
Servo ON
■ Alarm List
Alarm
Alarm Name Content
Display
55
5.3 Alarms
Alarm
Alarm Name Content
Display
Communication error between encoder and
digital torque amplifier.
Encoder
Communication between the encoder and
Communication Error
digital torque amplifier failed three times in
succession.
Combination Error
Improper motor combination.
56
Appendix A: Host Controller Connection Examples
PAO +MAn
20
P*
21 PAO -MAn
22 PBO +MBn
P*
23 PBO -MBn
PCO +INn
24
P*
25 PCO -INn
26 SV ON5 AMPENn
P*
33 GND GND
CASE
P* = Twisted Pair
n = Axis Designation, X, Y, Z or W
Caution:
Galil motion controllers allow to reverse the loop and encoder polarity with the MT and
CE commands. Check applicable Galil product manuals for the appropriate procedure
on proper loop and encoder phasing. Incorrect phasing may cause the motor to
"run away!"
57
Appendix A: Host Controller Connection Examples
20 PAO CHAn+
TBy - 1
P*
21 PAO CHAn-
TBy - 2
22 PBO CHBn+
TBy - 3
P*
23 PBO CHBn-
TBy - 4
24 PCO CHCn+
TBy - 5
P*
PCO CHCn-
25 TBy - 6
GND GND TBy - 8
33
14 /S-ON AMP_ENAn+
TBx - 7
13 +24V AMP_ENAn-
TBx - 8
24V Power Supply
CASE
P* = Twisted Pair
n = Axis Designation: 1 or 2
when n=1, x=5 and y=2
when n=2, x=7 and y=3
Note:
Jumper pin 1 to 2 on E1 to power ACC-8E digital 5V circuitry from PM AC2
through flat cable on JMACH port.
Jumper pin1 to 2 on E4 (axis n=1) and on E7 (axis n=2) for normally open relay
contact between AM P_ENAn+ an AMP_ENAn-.
58
Appendix A: Host Controller Connection Examples
SGDG, CN1
CMD-IN +/-10V Analog
3
Out n
P*
GND AGND n
4
20 PAO Encoder A+ n
P*
21 PAO Encoder A- n
22 PBO Encoder B+ n
P*
23 PBO Encoder B- n
CASE
P* = Twisted Pair
n = Axis Designation, 0, 1, 2...
59
Appendix A: Host Controller Connection Examples
SGDG, CN1
3 CMD-IN ASIG-x
Torque Reference should be
P* mapped to one of these
4 GND AGND-x
analog outputs
20 PAO CHAn
P*
21 PAO CHAn'
22 PBO CHBn
P*
23 PBO CHBn'
24 PCO MRKn
P*
25 PCO MRKn'
CASE
P* = Twisted Pair
n = Axis Designation, 0, 1, 2...
x = Analog output number
y = Digital output number
Encoder type is Differential Line Driver (+5 Volt Outputs) so Pullups should be removed
Encoders 0-3 are on P1A connector
Encoders 4-7 are on P1B connector
ASIG-0 and AGND-0 through ASIG-7 and GND-7 are on P2 connector
AGND is on P2 connector
OUT-32 through OUT-63 are on P3 connector
60
Appendix B: Installation Conditions for EMC Directives
61
62
SGDG-01GT
SGDG-04GT
Earth Plate/Shield Box
SGDG -04GT
Power supply
Noise
AC200V L1,L2
Filter
Clamp
④
Single phase L1C,L2C
U,V,W
Clamp
Core
PE ② Motor
Appendix B: Installation Conditions for EMC Directives
FG
CN2 Encoder
Core
Core
2m Clamp ③
CN1 5m
Core
Symbol Name Specification
①
① Controller cable Shield cable (2m)
Clamp
② Motor cable Shield cable (5m)
Controller ③ Encoder cable Shield cable (5m)
④ AC Line cable Shield cable (2m)
Clamps : Fix and ground the cable shield using a piece of conductive metal.
SGDG-10GT
SGDG-15GT
Earth Plate/Shield Box
Clamp
④ Filter
3 phase
L1C,L2C
Clamp
U,V,W
Core
PE ② Motor
FG
CN2 Encoder
Core
2m
Core
Clamp
③
CN1 5m
Clamps : Fix and ground the cable shield using a piece of conductive metal.
Appendix B: Installation Conditions for EMC Directives
63
Appendix B: Installation Conditions for EMC Directives
Quantity 1 Cable
Turn 2
The table below shows the cable and position where the core is attached.
Cable Name Mounting Position of the Core
Near the controller and digital torque ampli-
Controller Cable
fier.
Near the digital torque amplifier and the ser-
Servomotor Cable
vomotor.
Near the digital torque amplifier and the ser-
Encoder Cable
vomotor.
■ Cable Clamp
The figure below shows the cable shield using a piece of conductive metal.
<Example of Cable Clamp>
Cable
Shield (Cable sheath stripped)
Clamp
Remove paint on mounting surface
of ground plate
64
Appendix B: Installation Conditions for EMC Directives
■ Cable Specifications
Shielded cables should be used for the following cables:
AC power input line cable (between the power supply and the noise filter)
Servomotor cable (between the digital torque amplifier and the servomotor)
Encoder cable (between the digital torque amplifier and the servomotor)
Controller cable (between the digital torque amplifier and the controller)
■ Shielded Box
A shielded box, a closed metallic enclosure, should be used for shielding electromagnetic
interference. The structure of the box should allow the main body, door, cooling unit, etc., to
be attached to the ground. The box opening should be as small as possible.
65
Notes:
66
INDEX
A Replacement .................................... 54
Core-less Type
Acroloop ACR-8010 ................................ 60
Magnet Track ..................................... 2
Alarms
7-Segment LED ................................ 55
Analog Monitor ....................................... 47 D
Delta Tau PMAC2 ................................... 58
B Digital Torque Amplifier
Amplifier Fault .................................. 56
Brake Power
Component Replacement .................... 54
Noise Filter ...................................... 65
Cooling ........................................... 35
Inspection ........................................ 54
C Cleaning ............................................. 54
Cable ................................................... 65 Component Fault................................ 54
Ferrite Cores .................................... 65 Screws ............................................... 54
Cable Clamp .......................................... 64 Installation ....................................... 34
Cable Core Model Number .................................... 5
Attachment ...................................... 64 Mounting Direction ............................. 35
Cables Mounting Location ............................. 34
Specifications ................................... 24 Mounting Standards ........................... 36
Capacity Power Loss ...................................... 13
SGDG-04GT ...................................... 5 Storage ........................................... 34
SGDG-10GT ...................................... 5 Use Conditions ................................. 54
SGDG-15GT ...................................... 5 Discharge Capacitor
Combination Replacement .................................... 54
Linear Motor ..................................... 40
Serial Conversion Unit ........................ 40 E
SGMSH........................................... 40
EMC Directives ...................................... 61
Combination Error ................................... 56
SGDG-01GT, 04GT ........................... 62
Combinations
SGDG-10GT, 15GT ........................... 63
SGMAH........................................... 39
Encoder Communication Error ................... 56
SGMGH .......................................... 39
Encoder Failure ...................................... 56
SGMPH........................................... 39
Encoder Signal
Connection
Output ............................................. 44
Examples
Encoder Signals
3-Phase Power .................................. 27
I/O Signals ....................................... 45
Single Phase ..................................... 26
Output Phase Form ........................... 45
Connector
PG Divider ....................................... 46
Encoder
Terminal Array ................................... 23
Specification..................................... 17 F
Terminal Array .................................. 17 F-Type Iron Core
Control Panel Magnet Track ..................................... 4
Environment ..................................... 35 Fuses
Cooling Fan Replacement .................................... 54
G P
Galil IMC-1900/2900 ............................... 57 Peripherals ............................................ 24
Power Line
I Size ................................................ 13
Stripping .......................................... 14
Input Circuits Terminal Processing .......................... 14
Command ........................................ 20 Power ON Sequence ............................... 13
Sequence ........................................ 20 Protection Sequence
Input Signals Design ............................................ 41
Connection ...................................... 16
DB OFF........................................... 43
Functions......................................... 18 R
Names ............................................ 18 Regen Circuit Error ................................. 55
Servo ON ........................................ 42 Regenerative Resistor Selection ................ 47
Regenerative Resistors
L -500W Capacity Amps ........................ 48
500W+ Capacity Amps ....................... 51
Linear Motor Model Energy Calculation ............................ 51
Core-less Type ................................... 2 External ........................................... 48
F-Type Iron Core ................................. 4 Relays
Magnet Track ..................................... 2 Replacement .................................... 54
T-Type Iron Core ................................. 3 Rotary Motor
Linear Motors Mounting ......................................... 29
Encoder Rotary Motors
Scale Pitch......................................... 29 Alignment ........................................ 31
Mounting ......................................... 29 Mounting
Encoder ............................................. 29 Direction ............................................. 31
Motor ................................................. 29 Location.............................................. 30
Shaft Tolerance ................................ 31
M Vibration Class ................................. 33
Main Circuit Vibration Resistance .......................... 33
Functions........................................... 9 SGMAH .............................................. 33
Terminal Names.................................. 9 SGMDH.............................................. 33
Main Circuit Power Error .......................... 56 SGMGH.............................................. 33
MEI PCX/DSP ........................................ 59 SGMPH .............................................. 33
Model SGMSH .............................................. 33
Serial Converter Unit ............................ 6 SGMUH.............................................. 33
Model Number ......................................... 1 Runaway............................................... 56
Linear Motor ....................................... 2
Rotary Motor ...................................... 1 S
Scale Polarity Error ................................. 56
O Serial Converter
Oil Seals ............................................... 32 Applied Motor ..................................... 7
Output Circuits ....................................... 21 JZDP-A003 ........................................ 6
Output Signals JZDP-A004 ........................................ 6
RUN ............................................... 43 JZDP-A005 ........................................ 6
Overcurrent ........................................... 55 JZDP-A006 ........................................ 6
Overload ............................................... 55 JZDP-A008 ........................................ 6
Overspeed ............................................ 55 Servo Alarm
Overvoltage ........................................... 55 Output ............................................. 41
Servomotor
Inspection ........................................ 53
Comprehensive ................................. 53
External ............................................. 53
Noise ................................................. 53
Oil Seal .............................................. 53
Vibration ............................................ 53
Maximum Capacity .............................. 5
Vibration Resistance and Class ............ 33
SGDG-01GT ............................................ 5
SGLTW -35A ........................................... 3
SGLTW -80A ........................................... 3
SGLTW-20A ............................................ 3
SGLTW-40A ............................................ 3
Smoothing Capacitor
Replacement .................................... 54
Specifications ........................................ 65
Storage Temperature .............................. 30
Switch Setting
Function Selection ............................. 37
Linear Scale Pitch ............................. 37
PG Divider
13-bit Rotary ...................................... 38
17-bit Rotary ...................................... 38
Linear Motor ...................................... 38
PG Divider Setting ............................. 38
Switch Setting Error ................................ 55
Switch Settings ...................................... 37
T
Terminal Block
Connection ...................................... 14
Torque Control
Description....................................... 41
T-Type Iron Core
Magnet Track ..................................... 3
U
Undervoltage ......................................... 55
W
Wiring .................................................... 9
Encoder .......................................... 22
Main Circuit ........................................ 9
Example............................................. 12
Terminal Block ................................... 13
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