Linear
SERIES
CORELESS GWSGLGW IRON-CORE FWSGLFW IRON-CORE TWSGLTW SGDH SERVO DRIVERSERVOPACKTYPE LINEAR SERVOMOTOR TYPE
4 6 8 9
A linear motor is directly coupled to the load. This achieves high positioning accuracies and super wide operational speed ranges compared to other conventional drive/ translation mechanisms. An unlimited linear travel envelope can be obtained by coupling the stationary magnet tracks as needed. Simplified Machine Design & Construction
Since the moving member of the motor is rigid and is directly fixed to the load, the linear motion mechanism's stiffness is greatly improved. Multiples of the moving motor members can be operated independently over a single axis of the magnet track, a variety of motion can be generated from a very compact drive system.
Yaskawa Electric continuously challenges the performance barrier with the Linear Direct Drive Servomotor products to improve the speeds and accuracies of your machines. Backed by the company's rich technological expertise in the advanced rotary servo drive products, the Linear Direct Drive Servomotors will take your machine performance to the next level into the new Millennium. The Yaskawa Linear Direct Drive Servomotors are in use to improve the reliability, speed and accuracy performance in semiconductor / LCD panel production machinery, SMD placement systems as well as virtually all types of general automation applications.
2
Performances
The Linear Direct Drive Servomotors are designed for high force density in compact
Force Density
packages. This is made possible by the extensive use of high-energy rare earth magnets. Combined with the cutting edge materials are Yaskawa's motor design optimization expertise and high density winding technology from the company's world-famous SIGMA & SIGMAII rotary servo motor products.
Peak Force
The Linear Direct Drive Servomotors exhibit exceptional Force Linearity even at near the
Force Linearity
peak force regions. This is achieved through the advanced magnetic circuitry, optimum winding geometry as well as the d-q axis current control method within the powerful SIGMA-II Digital Servodrivers.
Force Linear
Others
Current
Velocity Ripple
The Linear Direct Drive Servomotor performance levels are further enhanced by the combined use with SIGMA-II Digital Servodrivers. The closed loop-direct drive linear servo system generates extremely smooth linear motion with minimum velocity ripple.
The Linear Direct Drive Servomotors can reach speeds as high as 5 meters (196 inches)
Speed
per second. Since the direct drive linear motors do not suffer from the usual limitations of the conventional mechanical drive systems, the operational speed ranges are not constrained by factors such as the travel lengths of the linear motion systems.
The Linear Direct Drive Servomotors can accelerate well beyond the capability of other
Acceleration
mechanical linear translation systems. The Linear motors themselves can reach astonishing 20Gs of maximum acceleration.
The Linear Direct Drive Servomotors combined with the SIGMA-II Servodrivers can
Settling Time
shorten the system settling time after motion. The excellent dynamic stiffness of the Linear motors and one of the fastest servodriver in the industry can immediately improve your machines' motion cycle specifications.
The Linear Type GW motors are Coreless and there is no attraction force between the
motor members, and is of Zero-Cogging in nature. The Linear Type FW and TW motors are Iron-core type, and there are small to large attraction forces, depending on the size of the motor, between the moving and the stationary parts of the motors. These attraction forces can provide benefits in some systems by providing the Preload Forces to the Linear Motion Guides, increasing the system rigidity. Inversely, the attraction forces may negatively affect the mechanical design freedom since the forces acting on the relative members of the motors must be properly supported by increased bearing load capacities. The Iron-core TW motors overcome this limitation in the Iron-core design by a patented structure where the attraction forces are negated by its unique layout. The TW motors offer the high force density and long linear bearing life in compact packages.
The Linear Direct Drive Servomotors are extremely energy efficient. Due to its optimized
High Efficiency
magnetic circuitry design and high-density windings inherited from the company's legendary SIGMA Servomotors, the effects of motors' heat being transferred to the other areas of your machine are minimized.
N S N S N S N
Coil Windings
S N S N S N S
Stationary Member
The coreless GW linear motors are composed of "Moving Coils" and stationary "Magnet Tracks". The moving coil has no Iron content and is made of accurately resin molded motor windings. The stationary magnet track is made of two nickelized steel plates with accurately placed rare-earth magnets on each side. The steel plates are jointed at one end to form a "U-Channel" to provide a space for the moving coils.
The coreless construction of the GW results in zero-attraction force, zero-cogging and no moment loads on linear motion bearings. The lack of attraction force helps to extend the life of linear motion guides, and the operational noise can be kept to a minimum. The velocity ripple is minimized due to zerocogging nature of the coreless construction.
Type: Iron-core FW
Construction
Coil Windings Laminated Iron-core Magnets
Features
Moving Member N S N S N S N S Stationary Member
Laminated Iron-core
Molded Resin
The Iron-core FW linear motors are composed of "Moving Coils" with laminated iron-core and single sided stationary "Magnet Tracks". The moving coil of the FW linear motors are composed of laminated ironcore and pre-wound coil bobbins inserted into the slots located on the laminated iron-cores. The entire coil unit, after the precision assembly process, is permanently encapsulated in a thermally conductive resin body to give structural rigidity. The magnet track of the FW is made of a row of rare-earth magnets accurately placed on one side of the nickelized steel carrier plate. Stainless-steel magnet covers against minor accidental damages protect the magnets on the FW magnet tracks.
The magnetic attraction force between the moving and stationary members can be used effectively to increase the rigidity of the linear guidance system by pre-loading the linear motion bearings. The magnetic pre-loading on certain types of compliant linear motion bearings can help increase the system's frequency response, improving its deceleration and settling performances. The compact profiles of the FW linear motors result in low profile linear positioning systems.
The iron-core motors typically have the attraction forces that are 56 times that of motors' own peak forces (except for the TW linear motors). Therefore, it is extremely important to design rigid mechanical structure around the iron-core linear motors as well as taking extra care in selecting the linear motion bearings with sufficient load capacities. Since the linear motors are capable of very high terminal linear velocities, be sure to check for the maximum speed limitations on the linear motion bearings selected for the system.
Type F
Magnetic Attraction
Type T
Magnetic Attraction
Magnetic Attraction
Magnets
Avoid foreign materials to fall into the air-gap of linear motors. Employ general cautions regarding the environmental conditions. When the linear motors are intended for use in vertical load orientation, well designed counterbalancing or mechanical braking mechanisms must be provided in order to avoid the load to free-fall when the motor is no longer "In-Servo" mode. The moving motor coil and the linear encoder read-head should be placed as close as practically possible in order to obtain the best system accuracy. However, the effects of the heat generated by the motor must be taken into consideration. Excessive heat transfer from the motor coil to the linear encoder readhead will cause degradation of reliability as well as malfunction of the feedback system. The linear servomotor coils generate heat. The heat management consideration is critical in a linear motor based positioning systems design.
Type: Iron-core TW
Construction
N S N S N S N S
Coil Windings Laminated Iron-core Magnets
Features
Yaskawa's unique construction principles of the TW linear motors negate the effects of magnetic attraction force between the relative motor members. This provides for the use of smaller linear motion bearing systems without major concerns in the linear motion bearing life. The linear motion bearing run quieter due to the lack of attraction force. The TW linear motors have very little cogging due to its optimized internal magnetic circuit design.
S N S N S N S
Magnet Track (Stationary Member) Magnets Molded Resin Laminated Iron-core Coil (Moving Member)
The Iron-core TW linear motors are composed of "Moving Coils" with laminated iron-core and a pair of stationary "Magnet Tracks" that are placed on each side of the moving coils. The moving coil of the TW linear motors are composed of laminated iron-core and pre-wound coil bobbins inserted into the slots located on the laminated iron-cores. The entire coil unit, after the precision assembly process, is permanently encapsulated in a thermally conductive resin body to give structural rigidity. The magnet track of the TW is made of a row of rare-earth magnets accurately placed on one side of the nickelized steel carrier plate. Two of the magnet carrier plates are used as a pair in a fashion similar to that of the Coreless type motors. Stainless-steel magnet covers against minor accidental damages protect the magnets on the TW magnet tracks.
Range of Products
Linear Servomotors
Coreless GW
40A140 60A140 40A253 40A365 60A253 60A365 1000N 2000N
40A140
Continuous Peak Force Force
Iron-core FW
20A090 20A120 35A120 35A230 50A200 50A380 1ZA200
Continuous Peak Force Force
1ZA380 20A170
Iron-core TW
20A170 35A170 20A320 20A460 35A320 35A460 40A400 40A600 80A400 80A600 2000N 4000N 6000N
Continuous Peak Force Force
Type Designation
Linear Servomotors Moving Coils
Linear series servomotors Model
G Coreless GW F Iron-core FW T Iron-core TW W Moving Coils
W: With a Hall Sensor module and a Serial Converter module. (standard stock configuration). The Serial Converter is required for operation with SIGMA-II drives. P : With a Hall Sensor module only, without a Serial Converter (when ordering for a replacement motor coil only). Always use "W" for normal orders.
Coil Length
Magnet Tracks
Linear series servomotors Option (Standard on Iron-core F & T types only)
C With magnet covers Y With base and magnet covers
Model
G Coreless GM F Iron-core type FM T Iron-core type TM
M Magnet Track
Height of Magnets
20 20mm 35 35mm 40 40mm 50 50mm 60 60mm 80 80mm
SGDH Servodrivers
Model
E Force/speed/position control (Option units available)
Power Requirements
A 208240VAC
Coreless GW SGLGW-40A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf/forced air Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink140B : 20030012mm, 253B : 30040012mm, 365B : 40050012mmmounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLGW-40A140B
6.0 5.0
208V 220V 240V
SGLGW-40A253B
6.0 5.0
208V 220V 240V
SGLGW-40A365B
6.0 5.0
208V 220V 240V
A
2.0
B
1.0 0 0 50 100 150 200 1.0 0 0 100
B
1.0 0 200 300 400 0 200
400
600
ForceN
ForceN
ForceN
10
NoteThe voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
2-Screws #4-40 UNC
Moving CoilSGLGW40AB
17
A Ins.
50
500
NoteMoving coil moves in arrow direction when commutated phase U, V and W in order.
L1
500
5.3 7
16
L4 45 4
14
15
78
30
L2
Pin No.
Name 5V Power supply Connector for Motor Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350561-3 or 350690-3No.1 to 3 350654-1 350669-1No.4
1 2 3
4 5 6 7 8 9
BEMFV
When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu
Su
Vv
Sv
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Vw 0
Mating Type
Cap 350780-1 Socket350570-3 or 350689-3
L3 90 180 315
L4 30 37.5 30
L5 52.5 60 52.5
L6 45 135 270
N1 3 5 8
N2 4 8 14
Magnet TrackSGLGM40B
L1 -0.3 1Unit
-0.1
7.4
12.7 25.4
10 5.5
L2
5.4
N 2 5 8 9 10
11
SERVOPACK
X 7
10
62
Linear Servomotor
Outline
Gap 0.8
Gap 0.8
Coreless GW SGLGW-60A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf/forced air Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
SGLGW-60A140B
6.0 5.0
208V
SGLGW-60A253B
6.0 5.0 6.0 5.0
220V 240V
SGLGW-60A365B
208V 220V 240V
220V 240V
208V
A B
B
1.0 0 0 100 200 300 1.0 0 0 200
B
1.0 0 400 600 0 300 600 900
ForceN
ForceN
ForceN
12
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
2-Screws #4-40 UNC
Moving CoilSGLGW60AA
17
A Ins.
YASKAWA ELECTRIC CORPORATION JAPAN
500 50
NoteMoving coil moves in arrow direction when commutated phase U, V and W in order.
5.3 7
14
15
30
L2 98 7
Gap 0.8
Gap 0.8
Pin No. 1 2 3
Name 5V Power supply Connector for Motor Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350561-3 or 350690-3No.1 to 3 350654-1 350669-1No.4
4 5 6 7 8 9
BEMFV
When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu
Su
Vv
Sv
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Vw 0
Mating Type
Cap 350780-1 Socket350570-3 or 350689-3
L3 90 180 315
L4 30 37.5 30
L5 52.5 60 52.5
L6 45 135 270
N1 3 5 8
N2 4 8 14
Magnet TrackSGLGM60A
L1 -0.3 1Unit
-0.1
7.4
WARNING
Warning label
X 7
12.7 25.4
10 5.5
L2
5.4 X-X
5.4
10
N 2 5 8 9 10
13
SERVOPACK
82
Linear Servomotor
Outline
Iron-core FW SGLFW-20A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink125 125 13mm mounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLFW-20A090A
6 5
208,220,240V
SGLFW-20A120A
6
208V 220V 240V
Speed 4 m/s
3 2 1 0 0 20 40 60 80 100
Speed 4 m/s A B
3
A
2 1 0 0 40 80
120
140
ForceN
ForceN
14
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
Moving CoilSGLFW20AA
32 22 22 2 17.5 5.5 Hall sensor Magnet track
44
20
22
40
A NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.
22.5
min.30
4.2
12.5
00
50
Pin No.
Name 5V Connector for Motor Power supply Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350218-3 or 350547-3No.1 to 3 350654-1 or 350669-1No.4
A SGLFW20A090A
1 2 3
Pin No. 1 2 3 4
4 5 6 7 8 9
Vu BEMFV
Su
12.5
30
36
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Mating Type
Cap 350780-1 Socket350536-3 or 350550-3
Sv
B SGLFW20A120A
L1 91 127
L2 36 72
L3 72 108
N 2 3
12.5
30
36 72
Magnet TrackSGLFM20AC
4.5 17.5
9.9
44
40
35
S
TYPE:
N
YASKAWA
O/N S/N MADE IN JAPAN DATE
S
TYPE:
YASKAWA
4.5
25.4
Serial number label 54 Name plate for magnet track Standard mark L2 L1
-0.1 -0.3
22.5
54
Standard mark
6 10.2
4.2 34
30.8
Gap 0.8 45
0.1
Notes1 Magnet track can be coupled. When coupling, the standard marks should be facing the same direction as shown in the diagram. 2 Users of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
N 6 10 14
15
SERVOPACK
Moving coil
L3
2222
Linear Servomotor
Vv
20
22.5
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
20
22.5
Outline
6.1
Iron-core FW SGLFW-35A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink254 254 25mm mounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLFW-35A120A
6 5
208V 220V 240V
SGLFW-35A230A
6
208V 220V 240V
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 50 100
A
2 1 0
150
200
250
100
200
300
400
500
ForceN
ForceN
16
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
Moving CoilSGLFW35AA
min.50 30 32 2 5.5 Magnet track Hall sensor 30 10.5 36 L1 L2 7.5 25
30 30
60
25
35
37
30
55
8.5
18
12.5
35
00
50
min 30
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order. 7
12
0 50
50
Pin No.
Name 5V Connector for Motor Power supply Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350218-3 or 350547-3No.1 to 3 350654-1 350669-1No.4
1 2 3
Pin No. 1 2 3 4
4 5 6 7 8 9
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph. 35 18
A SGLFW35A120A
Vu BEMFV
Su
12.5
8.5
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Mating Type
Cap 350780-1 Socket350536-3 or 350550-3
Sv
72
Vw 0 Sw
B SGLFW35A230A
180 360 540 Electrical Angle
35
18
L1 127 235
L2 72 180
L3 108 216
N 6 12
12.5
8.5
1.3 2.3
30
36 180 365
Magnet TrackSGLFM35AC
L3 4.5 Moving coil
30
Mass kg
9.9
30
60
51
55
S
TYPE:
N
YASKAWA
O/N S/N MADE IN JAPAN DATE
S
TYPE:
YASKAWA
4.5
6 10.2
Standard mark
Notes1 Magnet track can be coupled. When coupling, the standard marks should be facing the same direction as shown in the diagram. 2 Users of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
N 6 10 14
17
SERVOPACK
3025
30
40.4
Linear Servomotor
Vv
30
36
30
Outline
4.2
6.1
Iron-core FW SGLFW-50A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink200A254 254 25mm, 380A400 500 40mmmounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLFW-50A200A
6 5
208V 220V 240V
SGLFW-50A380A
6 5
208V 220V 240V
Speed 4 m/s
3 2 1 0 0 200 400
Speed 4 m/s
3
A
2 1 0 600 700 0 400 800
1200 1400
ForceN
ForceN
18
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
Moving CoilSGLFW50AA
min.50 30 40 3 7 Magnet track Hall sensor 55 15 60 L1 L2 10 40
37.5 37.5
47.5
75
33.75
50.5
37.75
71.5
5.2 43
0.5
min.50
4.2
25
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order. L3 2.5 9.5
14
14
50
50
12
23.5
47.5
10
A-A
50
50
Pin No.
Name 5V Connector for Motor Power supply Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350218-3 or 350547-3No.1 to 3 350654-1 350669-1No.4
1 2 3
Pin No. 1 2 3 4
5 6 7 8 9
Vu BEMFV
Su
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
14
Sv
30
60 120
Vw 0
B SGLFW50A380A
L1 215 395
L2 120 300
L3 180 360
N 6 12
47.5
3.7
14
6.9
12
23.5
Mass kg
30
60 300 605
Magnet TrackSGLFM50AC
5 Moving coil L3
75
37.5
52.4
S
YASKAWA
O/N S/N MADE IN JAPAN DATE
S
YASKAWA
TYPE:
TYPE:
Serial number label 67.5 Name plate for magnet track L2 L1 -0.1 -0.3
Notes1 Magnet track can be coupled. When coupling, the standard marks should be facing the same direction as shown in the diagram. 2 Users of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
N 6 10 14
19
SERVOPACK
8.6
37.75 33.75
71.5
65
37.5
Linear Servomotor
Vv
12
Mating Type
23.5
47.5
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
A SGLFW50A200A
Outline
7.4
Iron-core FW SGLFW-1ZA
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink200A254 254 25mm, 380A400 500 40mmmounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLFW-1ZA200A
6 5
208V 220V 240V
SGLFW-1ZA380A
6
208V 220V 240V
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 400
A
2 1 0
800
1200 1400
1000
2000
3000
ForceN
ForceN
20
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
40 3 7
62.5
57.5
A 35.5 119
A 95 NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order. L3 2.5 9.5 14
125
95
98
62.5
61.5
14
5.2 43
0.5
4.2
12
50
50
35.5
10
A-A
50
50
Pin No.
Name 5V Connector for Motor Power supply Phase U Phase V Phase W 0V Power supply
Plug350779-1AMP Pin350218-3 or 350547-3No.1 to 3 350654-1 350669-1No.4
1 2 3
Pin No. 1 2 3 4
5 6 7 8 9
Vu BEMFV
Su
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Mating Type
Cap 350780-1 Socket350536-3 or 350550-3
14
12
Sv
55
60 120
Vw 0
B SGLFW1ZA380A
L1 215 395
L2 120 300
L3 180 360
N 9 18
300 605 L3
Magnet TrackSGLFM1ZAC
6.5 Moving coil
8.6
61.5
62.5
99.4
TYPE:
YASKAWA
TYPE:
YASKAWA
9 14.2
6.5
Notes1 Magnet track can be coupled. When coupling, the standard marks should be facing the same direction as shown in the diagram. 2 Users of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
N 6 10 14
Mass kg 7.3 12 17
21
SERVOPACK
57.5
119
125
112
62.5
Linear Servomotor
Vv
95
35.5 35.5
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Outline
8.4
Iron-core TW SGLTW-20A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink170A254 254 25mm, 320A/460A400 500 40mmmounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLTW-20A170A
6
208V
SGLTW-20A320A
6
208V
SGLTW-20A460A
6
208V
220V 240V
220V 240V
220V
240V
Speed 4 m/s
3
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 100 200
B
2 1 0 300 400 0
2 1 0
200
400
600
800
200
400
600
800
1000
1200
ForceN
ForceN
ForceN
22
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
55 51 15 47.5 12 1 70 28
Moving CoilSGLTW20AA
50 Magnet track 10 48 Mounting holes M6 Tap 12 depth Qty."N"-See Chart L1 L2 L3
100
60
60
Gap 0.8
20
19.2
15
80
Hall sensor
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.
50
min.90
Pin No. Name 5V Power Supply Phase U Phase V Phase W 0V Power Supply
Plug350779-1AMP Pin350218-3 or 350547-3No.1 to 3 350654-1 350669-1No.4 Connector for Motor
1 2 3
Pin No. 1 2 3 4
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu BEMFV Su
4 5 6 7 8 9
Vv
Sv
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Vw 0
Mating Type
Cap 350780-1 Socket350536-3 or 350550-3
L3 16 17 18
54
N 8 14 20
Magnet TrackSGLTM20AY
15 Base 15 70 55 40
27
0.8
100
70 0.3
132 116 87
60
YASKAWA
Moving Coil
L5 L4 Mounting holes 10 2
74
14 162
2.40.3
NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
L4
L5
N1 6 10 14
N2 2 3 4
23
SERVOPACK
Linear Servomotor
Outline
TYPE:
YASKAWA
O/N
S/N
MADE IN JAPAN
DATE
9. 9
Iron-core TW SGLTW-35A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink170A254 254 25mm, 320A/460A400 500 40mmmounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLTW-35A170A
6
208V
SGLTW-35A320A
6
208V
SGLTW-35A460A
6
208V 220V 240V
220V 240V
220V 240V
Speed 4 m/s
3
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 200 400
A
2 1 0 600 700 0 400 800
A
2 1 0 12001400 0 500 1000
1500
2000
2500
ForceN
ForceN
ForceN
24
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
70 66 15 55 12 1 70 28
Moving CoilSGLTW35AA
50 10 Magnet track 48 L1 L2 L3
100
60
60
20
Gap 0.8
19.2
15
2-Screws #4-40 UNC Hall sensor 500 8.4 Name plate for moving coil 500
50 50
80
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.
4.2 min. 63
min. 100
Pin No.
1 2 3
Pin No. 1 2 3 4
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu BEMFV Su
4 5 6 7 8 9
Vv
Sv
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Vw 0
Mating Type
Cap 350780-1 Socket350536-3 or 350550-3
L3 16 17 18
N 8 14 20
54
Magnet TrackSGLTM20AY
85 70 55 34.5
15 Base 15
9. 9
0.8
100
70 0.3
132 116 87
60
L5 L4 Mounting holes 10 2
74
14 162
15 34.5
2.40.3
M6 Bolts 16 length 1 20 1
54 L2 L3 -0.1 L1 -0.3 54 13
NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
L4
L5
N1 6 10 14
N2 2 3 4
Mass kg 6.4 11 15
25
SERVOPACK
Linear Servomotor
Outline
TYPE:
YASKAWA
O/N
S/N
MADE IN JAPAN
DATE
9.9
Iron-core TW SGLTW-40A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink60976250mm mounted to the motor coil. Values marked with asterisksapply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLTW-40A400A
6 5
208V 220V 240V
SGLTW-40A600A
6
208V
220V 240V
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 500 1000
A
2 1 0
1500
2000
2500
1000
2000
3000 3500
ForceN
ForceN
26
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
83 78 19.1 75 16
Moving CoilSGLTW40AA
Hall sensor 63 Receptacle Magnet track L1 L2 L3
97
Gap 1.2
19.1
30
98
25.3
min. 64
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.
50
Pin No.
1 2 3
Pin No. 1 2 3 4
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu BEMFV Su
4 5 6 7 8 9
Vv
Sv
Pin Type Connector: 17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.
Vw 0
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Mating Type
L-type Plug MS3108B22-22S Straight PlugMS3106B22-22S Cable ClampMS3057-12A
L1 395 585
12.5 25 67.5
L2 360 540
L2
L3 15 25
67.5
N 14 20
Mass kg 20 30
Magnet TrackSGLTM40AY
103 83 63
20 19.1 Base
5. 6
39
1.2
0.3
150
111.8
90
1.4
0.3
YASKAWA
TYPE:
92.5
17.5 202.5
20 39
1.40.3
M8 Bolts 25 length 5
NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
L1
L2
L3
L4
L5
N1
N2 2 3 4
405 337.5 387.5 202.5 202.5 6 675 607.5 657.5 472.5 236.25 10 945 877.5 927.5 742.5 247.5 14
Mass kg 13 21 30
27
SERVOPACK
Linear Servomotor
Outline
TYPE:
YASKAWA
O/N
S/N
MADE IN JAPAN
DATE
Iron-core TW SGLTW-80A
Basic Specifications
Duty RatingContinuous Insulation Dielectric Voltage1500VAC 1min. Insulation Resistance500VDC 10M or more Cooling MethodSelf Ambient Temperature0 to 40 Ambient Humidity20 to 80%non-condensing Motor Type Sinusoidally commutated Allowable Winding Temperature130Class B permanent magnet brushless linear motor
Note The above values are with aluminum heatsink60976250mm mounted to the motor coil. Values marked with asterisks apply when the linear motor is driven from SIGMA-II servodrivers at 20, and the coil temperature is at 100.
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone
SGLTW-80A400A
6 5
208V 220V 240V
SGLTW-80A600A
6
208V
220V 240V
Speed 4 m/s
3
Speed 4 m/s
3
A
2 1 0 0 1000 2000
A
2 1 0
3000
4000
5000
2000
4000
6000 7000
ForceN
ForceN
28
Note: The voltages shown in graphs are for SIGMA-II servodriver's AC supply input voltages, and the actual output motor bus voltages will be higher than indicated.
Dimensions in mm
120 19.1 115 75 16
97
Gap 1.2
30
98
19.1
25.3
min. 64
NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.
50
Pin No.
1 2 3
Hall Sensor Output Signal When the moving coil is moved toward the arrow in the diagram, the relation between the hall sensor's output signals (Su, Sv, Sw) and BEMF of each phase of the motor is as shown in the graph.
Vu BEMFV Su
4 5 6 7 8 9
Vv
Sv
Pin Type Connector: 17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.
Vw 0
Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1
Mating Type
L-type Plug MS3108B22-22S Straight PlugMS3106B22-22S Cable ClampMS3057-12A
L1 395 585
25 67.5 33.75
L2 360 540
L2
L3 15 25
67.5
N 14 20
Mass kg 30 43
20 19.1 Base
57
1.2
150
111.8
YASKAWA
TYPE:
L5 92.5 L4
92.5
17.5 202.5
20
NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.
L1
L2
L3
L4
L5
N1
N2 2 3 4
N3 11 19 27
405 337.5 387.5 202.5 202.5 6 675 607.5 657.5 472.5 236.25 10 945 877.5 927.5 742.5 247.5 14
Mass kg 18 31 43
29
SERVOPACK
90
0.3
Linear Servomotor
Outline
TYPE:
YASKAWA
O/N
S/N
MADE IN JAPAN
DATE
Servodriver SERVOPACKSpecifications
SGDH
Ratings and Specifications
Basic Specifications Usage/storage Temperature Usage/storage Humidity Altitude Vibration/Shock Resistance Speed Control Range Load Variance Speed Voltage Variance Variance Temperature Variance Frequency Characteristics Torque Control Accuracy(Repeatability) Soft Start Time Setting Reference Voltage Speed Reference Input Impedance Input Circuit Time Constant Reference Voltage Force Reference Input Impedance Input Circuit Time Constant Bias Setting Feed Forward Gain Compensation Position Completed Width Setting 0 to 55/20 to 85 90 RH or lessnon-condensing 1000m or less above sea level 4.9m/s219.6m/s2 15000The lower limit of speed is under rated load and no stopping conditions. During 0 to 100 load0.01 or lessat rated speed Rated voltage 100at rated speed 25 250.1 or lessat rated speed 400Hzat JL = JM 2 0 to 10sAcceleration, deceleration each. 6VDC at rated speedset at delivery Variable setting range2 to 10VDC at rated speed/max. input voltage12V Approx. 14k 3VDC at rated thrustset at delivery Variable setting range1 to 10VDC at rated torque reference / max. input voltage12V Approx. 14k Approx. 47s 0 to 450 r/min.setting resolution1 r/min 0 to 100setting resolution1 0 to 250 reference unitssetting resolution1 reference unit Sign pulse train, 90 phase displacement 2-phase pulsephase A phase B or , CCW/CW pulse train Line driver5V level open collector5V or 12V level 500kpps max.200kpps max. at open collector Clear signalinput pulse form is same as reference input pulse form Phase Aphase Bphase CLine driver output. Servo ON, pole detection startor control mode switching, zero clamp, reference pulse inhibit , forward / reverse run prohibit, alarm reset, forward/reverse current limitor internal speed selection Servo alarm, alarm codes3-bit output CN1 output terminal is fixed. It is possible to output three types of signals from amongpositioning completeor speed agree , motor moving, servo ready, current limit, speed limit, brake release, warning, and NEAR. Digital operatorhand-held type , RS-422A port for PCs, etc.RS-232C ports under some conditions N may equal up to 14 when an RS-422A port is used. Set by user setting parameter. Status display, user parameter setting, monitor display, alarm traceback display, JOG run/ auto-tuning operations, and graphing functions for speed/torque refernce signal, etc. Position/speed loop gain and integral time constant can be automatically set. Operates at main power OFF, servo alarm, servo OFF or overtravel Regenerative resistor externally mountedoption DB stop, deceleration stop or coast to stop at P-OTN-OT operation Optional division possible 0.01A/B100 3 speeds may be set internally Overcurrent, overvoltage, undervdtage, regeneration over, overload, main circuit sensor error, heatsink overheat, power open phase, overflow, overspeed, encoder error, runaway, CPU error, parameter error, etc. Integrates analog monitor connectors for supervision of the speed and force reference signals, etc. CHARGEPOWER7-segment LEDIntegrated digital operator function Reverse connection, zero point search, automatic motor model discrimination function and DC reactor connection terminal for high frequency power suppression functionexcept for SGDH-75AE- Conditions Input Signal Performance Input Signal Performance
Input Pulse Type Reference Input Pulse Form Pulse Input Pulse Frequency Control Signal Position Signal Output Sequence Input Signal
Interface Communications 1N Communications Axis Address Setting Items Auto-tuning Dynamic Brake (DB) Regenerative Processing Overtravel (OT) Prevention Encoder Divider Electronic Gearing Internal Speed Setting Protection Analog Monitor Functions for Supervision Display Built-in Functions
30
Others
Dimensions in mm
Single-phase
SGDH-01AE-SGDH-02AE- SGDH-04AE-
SGDH
160
55
75
130
160
75
75
130
SGDH-05AE-SGDH-10AE-
SGDH-15AE-
YASKAWA SERVOPACK
SGDH
160
160
90
75
180
SGDH-20AE-SGDH-30AE-
SGDH
SGDH-50AE-
110
75
180
135
75
230
POWER
CN8 CN5
BATTERY
CN3
MODE/SET
DATA/
CHARQE
CN1 L1C2
CN2
L1 L2 L3
+ - B1 B1 U V W
350
230
235
31
SERVOPACK
SGDH-75AE-
250
Linear Servomotor
110
75
180
250
Outline
Three-phase
Servodriver SERVOPACKSpecifications
Connection Diagram
Single-phase
+10% Single-Phase 200 to 230 VAC -15% 50/60Hz
1MCCB
or
1MC
SUP
Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. B2 A 1 B 2 C 3 D 4 Serial Converter CN2 PG Linear Encoder Linear Servomotor M
U V
Be sure to ground CN1 1 Speed Reference 2 to 10V/Rated Motor Speed Thrust Reference 1 to 10V/Rated Motor Thrust PULS CW Phase A SIGN CCW Phase B Position Reference CLR P V-REF SG T-REF P SG PULS P /PULS SIGN P /SIGN CLR P /CLR 5 6 9 10 7 8 11 12 15 14 +12V Power Supply for Open-Collector Reference +24V 1Ry Servo ON with ON 2Ry P Control with ON Forward Run Prohibit with OFF Reverse Run Prohibit with OFF Alarm Reset with ON Forward Current Limit with ON Reverse Current Limit with ON 6Ry P-LS +24V /S-ON PL1 PL2 PL3 3 13 18 47 40 3.3K Servo ON Proportional Control P Control Forward Run Prohibit Reverse Run Prohibit Alarm Reset Forward Current Limit ON Reverse Current Limit ON Connector Shell FG Connect shielded wire to connector shell. 25 26 /V-CMP+ COIN+ / /V-CMPCOIN- / /TGON+ /TGONSpeed Agree Detection ON When Speed Agreed Positioning Completed ON when Positioning is Completed Moving Output ON at Levels above the Setting 1K 150 150 33 34 35 36 19 20 PAO /PAO PBO /PBO PCO /PCO PG Divided Pulse Output Applicable Line Receiver SN75175 or MC3486Made by TIor Equivalent 150 2 LPF A/D 2 LPF 37 38 39 ALO1 ALO2 ALO3 Be sure to prepare the end of the shielded wire properly. Alarm Code Output Maximum Operating Voltage30VDC Maximum Output Current 20mADC
/P-CON
41
27 28
P-OT
42
29 30
N-LS
/S-RDY+ /S-RDY-
N-OT
43
3Ry
/ALM-RST /P-CL
44 45
31 32
ALM+ ALM-
7Ry
/N-CL
46
1 2
P represents twisted-pair wires. The time constant for the primary filter is 47 s.
32
Three-phase
+10% Three-Phase 200 to 230 VAC -15% 50/60Hz
R 1MCCB S T
1MC
SUP
Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. B2 3 B3 A 1 B 2 C 3 Linear Servomotor M
B1
U V
Linear Encoder PG
Be sure to ground 1 Speed Reference 2 to 10V/Rated Motor Speed Thrust Reference 1 to 10V/Rated Motor Thrust PULS CW Phase A SIGN CCW Phase B Position Reference CLR P V-REF SG T-REF P *1 PULS P /PULS SIGN P /SIGN CLR P /CLR 7 8 11 12 15 14 SG 5 6 9 10
CN1
Be sure to prepare the end of the shielded wire properly. Alarm Code Output Maximum Operating Voltage30VDC Maximum Output Current 20mADC
150
33 34
PAO /PAO PBO /PBO PCO /PCO PG Divided Pulse Output Applicable Line Receiver SN75175 or MC3486Made by TIor Equivalent
150
35 36
+12V Power Supply for Open-Collector Reference +24V 1Ry Servo ON with ON 2Ry P Control with ON Forward Run Prohibit with OFF Reverse Run Prohibit with OFF Alarm Reset with ON Forward Current Limit with ON Reverse Current Limit with ON 6Ry P-LS +24V /S-ON PL1 PL2 PL3 3 13 18 47 40 3.3K Servo ON Proportional Control P Control Forward Run Prohibit Reverse Run Prohibit Alarm Reset Forward Current Limit ON Reverse Current Limit ON Connector Shell FG 1K
19 20
25 26
Speed Agree Detection ON when Speed Agreed Positioning Completed ON When Positioning is Completed Moving Output ON at Levels above the Setting
/P-CON
41
27 28
P-OT
42
29 30
N-LS
/S-RDY+ /S-RDY-
N-OT
43
3Ry
/ALM-RST /P-CL
44 45
31 32
ALM+ ALM-
7Ry
/N-CL
46
1 2 3
P represents twisted-pair wires. The time constant for the primary filter is 47 s. When using SERVOPACK of 6.0kW or more, connect an external regenerative resistor between B1 and B2. B3 terminal is not provided
33
SERVOPACK
Linear Servomotor
Outline
D 4
Option
Serial ConverterJZDP-A004-
1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.
* The current consumption of the linear encoder and hall sensors is not included in this value. * The system may malfunction if signals outside of this range is applied to these inputs.
Dimensions in mm
JZDP-A004
(Standard configuration, applicable for most Sine/Cosine output linear encoders)
2-4#40 Holes UNC Tap 24.2 Holes 44.2 Holes
C See .
6 1
A Serial Data Output to SIGMA-II Servodriver
A See .
NP 24.99 60 52 10
Made by Daiichi Electronic Industries Co., Ltd. 17 Series Connector Connector17JE-13090-02 D2C (Socket) Pin No. 1 2 3 4 5 6 7 8 9 Case Signal 5V Phase S output Not used Not used 0V /Phase S output Not used Not used Not used Shield
15
23
Made by Daiichi Electronic Industries Co., Ltd. 17 Series Connector Connector17JE-13150-02 D8C (Socket) Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case Signal /Cos inputV1- /Sin inputV2- Ref inputV0 5V 5Vs Not used Not used Limit switchVq Cos inputV1 Sin inputV2 /Ref inputV0- 0V 0Vs Not used Inner Shield
Notes1 Do not connect any signals to "Not Used" pins. 2 This connector mates directly with a standard 15-pin D-Sub connector of Renishaw RGH22B/24B/25B linear encoders. For connections to Heidenhain linear encoders, use the optional conversion cable JZSPCLL20-01 (1m), -03 (3m), -05 (5m). The Renishaw RGH22B's BID and DIR signals are not connected within the Serial Converter. 3 The hall sensor inputs U, V and W are internally pulled up at 10k.
Made by Daiichi Electronic Industries Co., Ltd. 17 Series Connector Connector17JE-13090 Pin No. 1 2 3 4 5 6 7 8 9 Case Signal 5V Phase U output Phase V output Phase W output 0V Not used Not used Not used Not used Shield
34
NL Drive Mechanism 1/R J Load Shaft Rotation Speed Nr/min L Motor Speed M Nr/min NM Lead Workpiece mass Table mass Friction coefficient Mechanical efficiency 1000VL PB RNL
2
Drive Mechanism
W Workpiece mass Wkg Wkg T Table mass M Moving Coil mass Wkg Friction coefficient Mechanical efficiency m/s2 Acceleration
Trms= TP
FL tc T
2
td FS
C=Frms/Km Rth
Selection Example
ta tc Tm T td
Temporary Selection
Normal load force0.2 12 9.85.88 N Load accel force 12 120600.025.88=306 N From , select SGLGW-40A365A whose peak force is 420N Specifications of SGLGW-40A365A Continuous force : 140NPeak force: 420NMoving coil mass: 0.91kg Motor constant: 13.5 (N/ W) Thermal resistance: 0.65(K/W) Servomotor Checking (Ambient temperature : 25) Normal force0.2 120.91 9.80.98.5 N Accel force 120.91 120600.028.5400 N Peak force (applicable) Decel force 120.91 120600.028.5383 N Peak force (applicable) 400 0.028.5 0.36383 0.02 Required force111 N Rated force (applicable) 0.5 2 Estimated winding temperature: (111/13.5) 0.652569()130() (applicable)
2 2 2
35
SERVOPACK
Load speed Workpiece mass Table mass Friction coefficient Mechanical efficiency Positioning time Accel time 1 cycle time
VL = WW = WT = = = Tm = ta = T =
Linear Servomotor
Inertia Converted PB 1 into Load Shaft WWWT 1000 4 J1 2 Inertia Converted 1 into Motor Shaft J1 R JL Drive Torque PB by Load Shaft WWWT 9.8 2000 1 TN m 1 1 Connected Motor Shaft T1 TN m L R TL2NM Running Power O PW 60 JLJM 2 NM Accel Torque TP TL 60t a P TN m JLJM 2 NM Decel Torque TS TL 60t d S TN m
Outline
Ordering Reference
ServodriverSERVOPACKSGDH
Without Option Unit
Analog Monitor Host Controller
E Cable
Can be connected to a YASKAWA host controller. MP910 MP920 and other motion controllers.
CN5
Digital Operator
Type JUSP-OP02A-2 Sets each user Parameter and displays the commmand status and alarms. Can also be used for communications with a PC.
CN3 D Cable
Personal Computer
CN1 A
Name
CN2
U V W Power Ground Line
Connector Cable B
SGDH-02AE
Serial Converter
Following devices are prepared by user. Linear length measuring system Linear guide
G
Motor Cable C
SGDH-08AE SGDH-10AE
4P 4P
SGDH-15AE
Max. Applicable Specifications Motor Type Input Voltage, Capacity SGLGW-40A140 AC Single-phase 200 to 230V,100W SGLGW-40A253 SGLGW-60A140 AC Single-phase SGLFW-20A090 200 to 230V,200W SGLFW-20A120 SGLFW-35A120 SGLGW-40A365 AC Single-phase SGLGW-60A253 200 to 230V,400W SGLFW-35A230 AC Three-Phase SGLTW-20A170 200 to 230V,500W SGLGW-60A365 AC Three-phase SGLFW-50A200 200 to 230V,800W SGLTW-35A170 SGLTW-20A320 AC Three-phase 200 to 230V,1kW SGLFW-50A380 SGLFW-1ZA200 AC Three-phase SGLTW-20A460 200 to 230V,1.5kW SGLTW-35A320 SGLFW-1ZA380 AC Three-phase SGLTW-35A460 200 to 230V,2kW SGLTW-40A400 SGLTW-40A600 AC Three-phase 200 to 230V,3kW SGLTW-80A400 AC Three-phase 200 to 230V,5kW SGLTW-80A600 AC Three-phase 200 to 230V,7.5kW SGLGW-40A140 AC Single-phase 100 to 115V,100W SGLGW-40A253 AC Single-phase SGLGW-60A140 100 to 115V,200W
36
Option
Name Digital Operator Digital Operator Cable Type JUSP-OP02A-2 JZSP-CMS00-1 JZSP-CMS00-2 JZSP-CMS00-3 SUP-P5H-EPR-4 SUP-P8H-EPR-4 SUP-P10H-EPR-4 SUP-P15H-EPR-4 SUP-P20H-EPR-4 LF3200 Specifications A 1m cable is attached. 1m Required only when using JUSP-OP02A-1, 2m the digital operator for Series. 3m Single-phase5A Single-phase8A Single-phase10A Single-phase15A Single-phase20A Three-phase 20A
Noise Filter
JZSP-CK101-1 Cable with connector on JZSP-CK101-2 only Servodriver Side JZSP-CK101-3 Connector Kit JZSP-CK19 for CN1 JZSP-CLP20-03 JZSP-CLP20-05 Cable with Connectors JZSP-CLP20-10 on Both Ends JZSP-CLP20-15 JZSP-CLP20-20 JZSP-CLN11-011m JZSP-CLN11-033m JZSP-CLN11-055m JZSP-CLN11-1010m JZSP-CLN11-1515m JZSP-CLN21-011m JZSP-CLN21-033m JZSP-CLN21-055m Motor Cable JZSP-CLN21-1010m (for Main Circuit) JZSP-CLN21-1515m JZSP-CLN39-011m JZSP-CLN39-033m JZSP-CLN39-055m JZSP-CLN39-1010m JZSP-CLN39-1515m Cable for Digital Operator JZSP-CMS01 JZSP-CMS02 Cable for PC JZSP-CMS03 DE9404559 Cable for Analog Monitor JZSP-CLL00-01 JZSP-CLL00-03 Special Cable JZSP-CLL00-05 for Renishaw Linear JZSP-CLL00-10 Encoders JZSP-CLL00-15 JZSP-CLL20-01 Conversion Cable JZSP-CLL20-03 for Heidenhain JZSP-CLL20-05 Linear Encoders JZSP-CLL10-01 JZSP-CLL10-03 Special Cable JZSP-CLL10-05 for Hall Sensor JZSP-CLL10-10 JZSP-CLL10-15
Applicable linear Servomotor type SGLFW-50 SGLFW-1Z SGLTW-20 SGLTW-35 Applicable linear Servomotor type SGLTW-40 SGLTW-80
37
SERVOPACK
Linear Servomotor
3m 5m 10m 15m 20m Applicable linear Servomotor type All types in SGLGW series SGLFW-20 SGLFW-35
Outline
Linear
IRUMA BUSINESS CENTER
SERIES
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-42-962-5696 Fax 81-42-962-6138
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-6532-1850 Fax 86-10-6532-1851
TAIPEI OFFICE
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA
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. 2002-2004 YASKAWA ELECTRIC CORPORATION. All rights reserved.