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YASKAWA

LINEAR SERVO DRIVE

Linear

SERIES

CORELESS GWSGLGW IRON-CORE FWSGLFW IRON-CORE TWSGLTW SGDH SERVO DRIVERSERVOPACKTYPE LINEAR SERVOMOTOR TYPE

Certified for ISO9001 and ISO14001

JQA-0422 JQA-EM0202 JQA-EM0924

LITERATURE NO. KAE-S800-39.10

Direct drive linear servomotors for faster machine cycles.


New speed records are achieved at margins as slim as 1/100 of a second. A finely tuned machine such as a competition sled can reach its peak speeds only when the driver's steering, weight shifting and other critical motion tasks are optimized during the trials.

Advantages of Applying Linear Servo Drives

Improved Machine Performance


Outline
Page

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.

Performances Constructions and Features Range of Products Type Designations

Linear Direct Drive Servomotor Specifications


Coreless GWU-Channel types Iron-core FWFlat-bed types Iron-core TWSee photo below 10 14 22

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

SIGMA-II Servodriver Specifications


SGDH 30

Ease of Operation & High Reliability


Linear motors are quiet even at high speeds since the only contacting mechanisms in the linear motor system are the linear motion guides. The system reliability is increased and maintenance requirements are greatly reduced.
Available Options & Motor Sizing Data Ordering References
34 36

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.

Force Density Linear


Others

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

Magnetic Attraction Forces

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.

Constructions and Features


Type: Coreless GW Construction
Magnets

Linear Application Notes


Features
In order to obtain the maximum motor performance, and to avoid the relative contacting of the motor components, the airgap between the moving coil and the magnet track must be maintained according to the specified dimensional tolerances.

Magnet Track (Stationary Member)

N S N S N S N

Stationary Member Moving Member

Coil Windings

S N S N S N S

Stationary Member

Coil (Moving Member) Magnets

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

Coil Magnets (Moving Member)

Magnet Track (Stationary Member)

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

Stationary Member Moving Member Stationary Member

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

SIGMA- Servodrivers SERVOPACK SGDH 208240VAC


Single-phase Three-phase

40A140
Continuous Peak Force Force

60A140 40A253 40A365 60A253 60A365 20A090

Iron-core FW
20A090 20A120 35A120 35A230 50A200 50A380 1ZA200
Continuous Peak Force Force

20A120 35A120 35A230 50A200 50A380 1ZA200

1ZA380 1000N 2000N 3000N

1ZA380 20A170

Iron-core TW
20A170 35A170 20A320 20A460 35A320 35A460 40A400 40A600 80A400 80A600 2000N 4000N 6000N
Continuous Peak Force Force

20A320 20A460 35A170 35A320 35A460 40A400 40A600 80A400 80A600

Type Designation
Linear Servomotors Moving Coils
Linear series servomotors Model
G Coreless GW F Iron-core FW T Iron-core TW W Moving Coils

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

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.

Height of Magnets Design Revision Order Voltage


A 208240VAC

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

Design Revision Order Length of Magnets


Tracks in mm (See drowings on later pages)

M Magnet Track

Height of Magnets
20 20mm 35 35mm 40 40mm 50 50mm 60 60mm 80 80mm

Standard SIGMA- Servodrivers (SERVOPACK)

SGDH Servodrivers

Model
E Force/speed/position control (Option units available)

Maximum Applicable Servomotor Capacity


Code Capacity kWCode Capacity kW 15 01 0.1 1.5 20 02 0.2 2.0 30 04 0.4 3.0 50 05 0.45 5.0 75 08 0.75 7.5 10 1.0

Power Requirements
A 208240VAC

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLGW- N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 140B 47 0.8 140 2.4 0.39 61.5 20.5 7.8 0.4 6.41 1.87 3.39 0 40A 253B 93 1.6 280 4.9 0.65 61.5 20.5 11.0 0.4 5.37 0.98 2.02 0 365B 140 2.4 420 7.3 0.91 61.5 20.5 13.5 0.4 5.0 0.65 1.38 0

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

Speed 4.0 m/s


3.0 2.0

Speed 4.0 m/s


3.0 2.0

Speed 4.0 m/s


3.0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
2-Screws #4-40 UNC

DXF & DWG drawing files available.


L5 45 L6 N2-M4 TAP 6 depth

Moving CoilSGLGW40AB

17

A Ins.

50

YASKAWA ELECTRIC CORPORATION JAPAN

25.4 6.5 4.8 0.5 7.2


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

L3 15 7.5 63 N1-M4 TAP 6 depth Both Side

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

Connector for Hall Sensor 9 6

1 2 3

Hall Sensor Output Signal


Pin No. 1 2 3 4 Name Phase U Phase V Phase W FG Color Red White Blue Green

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

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

Sw 180 360 540 Electrical Angle

Moving Coil Type SGLGW- 40A140B 40A253B 40A365B

L1 140 252.5 365

L2 125 237.5 350

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

Mass kg 0.39 0.65 0.91

Magnet TrackSGLGM40B
L1 -0.3 1Unit
-0.1

7.4

CORELESS LINEAR SERVO MOTOR W A N Ins. YASKAWA ELECTRIC CORPORATION JAPAN

May cause injury. Keep magnetic materials WARNING away.

45 22.5 X 22.5 45 L2 Mounting holes Qty. "N"-See chart

12.7 25.4

10 5.5

L2

5.4 X-X Mounting holes M5 Tap 10 depth Qty. "N"-See chart

5.4

Magnet Track Type SGLGM- 40090B 40225B 40360B 40405B 40450B

L1 90 225 360 405 450

L2 45 180 315 360 405

N 2 5 8 9 10

Mass kg 0.8 2.0 3.1 3.5 3.9

11

SERVOPACK

X 7

Warning label Name plate for magnet track

10

62

Linear Servomotor

Outline

Gap 0.8

Gap 0.8

Linear Servomotor Specifications

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

Ratings and Specifications


60A 253B 365B 220 N 147 Continuous Force 3.5 Arms 2.3 Continuous Current 660 N 440 Peak Force 10.5 Arms 7.0 Peak Current 1.13 kg 0.80 Moving Coil Mass 66.6 N/Arms 66.6 Force Constant 22.2 V/ m/s 22.2 BEMF Constant 19.2 N/ 15.7 W Motor Constant 0.5 0.5 ms Electrical Time Constant 3.07 3.25 ms Mechanical Time Constant 0.53 0.80 Thermal Resistance With Heatsink K/W 1.20 1.54 Thermal Resistance Without Heatsink K/W 0 0 N Magnetic Attraction Force Note The above values are with aluminum heatsink 140B : 20030012mm, 253B : 30040012mm, 365B : 40050012mmmounted 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. Linear Servomotor Type SGLGW- 140B 73 1.2 220 3.5 0.47 66.6 22.2 11.1 0.5 3.81 1.62 2.69 0
B Force vs. Speed Characteristics A Continuous Duty ZoneIntermittent Duty Zone

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

Speed 4.0 m/s


3.0 2.0

Speed 4.0 m/s


3.0 2.0

Speed 4.0 m/s


3.0 2.0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
2-Screws #4-40 UNC

DXF & DWG drawing files available.


L5 45 L6 N2-M4 TAP 6 depth

Moving CoilSGLGW60AA

17

A Ins.


YASKAWA ELECTRIC CORPORATION JAPAN

500 50

25.4 500 50 6.5 4.8 0.5 7.2

NoteMoving coil moves in arrow direction when commutated phase U, V and W in order.

L1 16 L4 45 4 L3 15 7.5 83 N1-M4 TAP 6 depth Both Side

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

Connector for Hall Sensor 6 9

Hall Sensor Output Signal


Pin No. 1 2 3 4 Name Phase V Phase U Phase W FG Color Red White Blue Green

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

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

Sw 180 360 540 Electrical Angle

Moving Coil Type SGLGW- 60A140B 60A253B 60A365B

L1 140 252.5 365

L2 125 237.5 350

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

Mass kg 0.47 0.80 1.13

Magnet TrackSGLGM60A
L1 -0.3 1Unit
-0.1

7.4

CORELESS LINEAR SERVO MOTOR W A N Ins. YASKAWA ELECTRIC CORPORATION JAPAN

WARNING

May cause injury. Keep magnetic materials away.

Warning label

X 7

45 22.5 X 22.5 45 L2 Mounting holes Qty. "N"-See chart

12.7 25.4

10 5.5

L2

5.4 X-X

5.4

10

Mounting holes M5 Tap 10 depth Qty. "N"-See chart

Magnet Track Type SGLGM- 60090B 60225B 60360B 60405B 60450B

L1 90 225 360 405 450

L2 45 180 315 360 405

N 2 5 8 9 10

Mass kg 1.0 2.6 4.1 4.6 5.1

13

SERVOPACK

Name plate for magnet track

82

Linear Servomotor

Outline

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLFW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 20A 090A 125 25 0.7 86 3.0 0.7 36.0 12.0 7.9 3.2 11.1 4.35 7.69 314 120A 140 40 0.8 125 2.9 0.9 54.0 18.0 9.8 3.3 9.3 3.19 5.02 462

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm

DXF & DWG drawing files available.


min.50 30 30 36 12 L1 L2 7.5 20 A 25

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.

10 2-Screws #4-40 UNC


50 0
50

0.5 12.5 6 4.2 34 Gap 0.8 45 10.2


0.1

22.5

min.30
4.2

Mounting holes M4 Tap 5.5 depth Qty."N"-See Chart L3 12

12.5

7 2.5 A-A 5.5 8

00

50

Name plate for moving coil

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

4 5 6 7 8 9

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

3-M4 Tap 5.5 depth


Vw 0 Sw 180 360 540 Electrical Angle

SGLFW- 20A090A 20A120A

L1 91 127

L2 36 72

L3 72 108

N 2 3

12.5

Moving Coil Type

Mass kg 0.7 0.9

30

36 72

Magnet TrackSGLFM20AC
4.5 17.5
9.9

Mounting holes 4.8

44

40

35

S
TYPE:

N
YASKAWA
O/N S/N MADE IN JAPAN DATE

S
TYPE:

YASKAWA

O/N S/N MADE IN

4.5

25.4

Serial number label 54 Name plate for magnet track Standard mark L2 L1
-0.1 -0.3

22.5

Standard mark 30.8


0 -0.2

54

Standard mark

6 10.2

4.2 34

30.8

Gap 0.8 45
0.1

Includes 0.2 thick magnet cover.

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.

Hight of screw head is less than 4.2mm. Detail drawing of mounting

Magnet Track Type SGLFM- 20324AC 20540AC 20756AC

L1 324 540 756

L2 270 486 702

L3 331.6 547.6 763.6

N 6 10 14

Mass kg 0.9 1.4 2

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.

2-M4 Tap 5.5 depth

20

22.5

Outline

6.1

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLFW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 35A 120A 200 80 1.4 220 4.4 1.3 62.4 20.8 14.4 3.6 6.2 1.57 4.10 809 230A 400 160 2.8 440 8.8 2.3 62.4 20.8 20.4 3.6 5.5 0.96 1.94 1586

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm

DXF & DWG drawing files available.

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

0.5 12.5 6 4.2 34 Gap 0.8 10.2 45


0.1

2-Screws #4-40 UNC

00

50

min 30

Mounting holes M4 Tap 5.5 depth Qty."N"-See Chart

NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order. 7

L3 2.5 A-A 5.5 8

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

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

6-M4 Tap 5.5 depth

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

12-M4 Tap 5.5 depth

Moving Coil Type SGLFW- 35A120A 35A230A

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

Mounting holes 4.8

60

51

55

S
TYPE:

N
YASKAWA
O/N S/N MADE IN JAPAN DATE

S
TYPE:

YASKAWA

O/N S/N MADE

4.5

Serial number label 54 32.2 -0.2


0

Standard mark 54 32.2

6 10.2

4.2 34 Gap 0.8 45


0.1

Standard mark

Name plate for magnet track Standard mark L2


-0.1 L1 -0.3

Includes 0.2 thick magnet cover.

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.

Hight of screw head is less than 4.2mm. Detail drawing of mounting

Magnet Track Type SGLFM- 35324AC 35540AC 35756AC

L1 324 540 756

L2 270 486 702

L3 334.4 550.4 766.4

N 6 10 14

Mass kg 1.2 2 2.9

17

SERVOPACK

3025

30

40.4

Linear Servomotor

Vv

30

36

30

Outline

4.2

Name plate for moving coil

6.1

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLFW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 50A 200A 500 200 3.2 600 10.9 3.7 67.9 22.6 29.3 9.6 4.1 1.12 2.13 2095 380A 1000 400 6.3 1200 21.8 6.9 67.9 22.6 41.1 9.4 4.1 0.46 1.06 4144

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm

DXF & DWG drawing files available.

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

2-Screws #4-40 UNC

min.50
4.2

25

Mounting holes M5 Tap 7 depth Qty."N"-See Chart

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

Gap 0.8 58 14.2


0.1

A-A

Name plate for moving coil

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

5 6 7 8 9

Vu BEMFV

Su

Mating Types
Socket Type Connector17JE-13090-02 D8C Stud17L-002C or 17L-002C1

14

Cap 350780-1 Socket350536-3 or 350550-3

Sv

30

60 120

Vw 0

Sw 180 360 540 Electrical Angle

B SGLFW50A380A

12-M5 Tap 7 depth

Moving Coil Type SGLFW- 50A200A 50A380A

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:

Standard mark 9 14.2 5.2 43 Gap 0.8 58


0.1 0 39.4 -0.2

Serial number label 67.5 Name plate for magnet track L2 L1 -0.1 -0.3

Standard mark 67.5

Standard mark 39.4

Includes 0.2 thick magnet cover.

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.

Hight of screw head is less than 5.2mm. Detail drawing of mounting

Magnet Track Type SGLFM- 50405AC 50675AC 50945AC

L1 405 675 945

L2 337.5 607.5 877.5

L3 416.3 686.3 956.3

N 6 10 14

Mass kg 2.8 4.6 6.5

19

SERVOPACK

8.6

Mounting holes 5.8

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

6-M5 Tap 7 depth

Outline

7.4

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLFW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 1ZA 200A 1000 400 5.7 1200 19.7 6.4 75.3 25.1 44.6 10.4 3.2 0.82 1.34 4190 380A 2000 800 11.4 2400 39.3 11.5 75.3 25.1 62.4 9.7 3.0 0.39 0.79 8289

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
40 3 7

DXF & DWG drawing files available.


min.50 30 L1 L2

Moving Coil SGLFW1ZAA


15 Magnet track Hall sensor 60 10 55 40

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

2-Screws #4-40 UNC

5.2 43

0.5
4.2

Mounting holes M5 Tap 7 depth Qty."N"-See Chart min.50 25

12

50

50

35.5

10

Gap 0.8 58 14.2


0.1

Name plate for moving coil

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

Sw 180 360 540 Electrical Angle

B SGLFW1ZA380A

Moving Coil Type SGLFW- 1ZA200A 1ZA380A

L1 215 395

L2 120 300

L3 180 360

N 9 18

Mass kg 6.4 11.5


14 12 55 60 35.5 35.5 95

18-M5 Tap 7 depth

300 605 L3

Magnet TrackSGLFM1ZAC
6.5 Moving coil
8.6

Mounting holes 7 11.5 Spot facing 1.5 depth

61.5

62.5

99.4

TYPE:

YASKAWA

O/N S/N MADE IN JAPAN DATE

TYPE:

YASKAWA

9 14.2

5.2 43 Gap 0.8 58 0.1 11.5 1.5

Standard mark 0 43.2-0.2

Serial number label Name plate for magnet track 67.5 L2


-0.1 L1 -0.3

6.5

Standard mark 67.5 Standard mark 43.2

Includes 0.2 thick magnet cover.

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.

Hight of screw head is less than 6.7mm. Detail drawing of mounting

Magnet Track Type SGLFM- 1Z405AC 1Z675AC 1Z945AC

L1 405 675 945

L2 337.5 607.5 877.5

L3 423.9 693.9 963.9

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.

A SGLFW1ZA200A 9-M5 Tap 7 depth

Outline

8.4

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLTW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 170A 325 130 2.3 380 7.7 2.6 61.0 20.3 18.7 5.9 7.5 1.01 1.82 0 20A 320A 625 250 4.4 760 15.4 4.6 61.0 20.3 26.5 5.9 6.5 0.49 1.11 0 460A 950 380 6.7 1140 23.2 6.7 61.0 20.3 32.3 5.9 6.4 0.38 0.74 0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
55 51 15 47.5 12 1 70 28

DXF & DWG drawing files available.

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

2-Screws #4-40 UNC 500

80

Hall sensor

NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.

50

4.2 7.4 Name plate for moving coil 500 50 min.63

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

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

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

Sw 180 360 540 Electrical Angle

Moving Coil Type SGLTW- 20A170A 20A320A 20A460A

L1 170 315 460


11.7 20 54

L2 144 288 432


L2

L3 16 17 18
54

N 8 14 20

Mass kg 2.6 4.8 7

Magnet TrackSGLTM20AY
15 Base 15 70 55 40

27

0.8

100

70 0.3

132 116 87

60

Name plate for magnet track 2.4


0.3

Serial number label


TYPE:

YASKAWA

O/N S/N MADE IN JAPAN DATE

Moving Coil

Mounting holes 74 M6 Tap 8 depth 1


9.9

L5 L4 Mounting holes 10 2

74

14 162

Air Gap Includes 0.2 thick magnet cover. 15 27

2.40.3

M6 Bolts 16 length 1 2.3

54 20 L2 L3 -0.1 L1 -0.3 54 11.7

NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.

Magnet Track Type SGLTM- 20324AY 20540AY 20756AY

L1 324 540 756

L2 270 486 702

L3 310 526 742

L4

L5

N1 6 10 14

N2 2 3 4

162 162 378 189 594 198

Mass kg 5.1 8.5 12

23

SERVOPACK

15 19.2 0.8 0.3

Linear Servomotor

Outline
TYPE:

YASKAWA

O/N

S/N

MADE IN JAPAN

DATE

9. 9

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLTW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 170A 550 220 3.5 660 12.1 3.7 67.5 22.5 26.7 6.9 5.2 0.76 1.26 0 35A 320A 1100 440 7 1320 24.2 6.8 67.5 22.5 37.5 6.8 4.8 0.44 0.95 0 460A 1675 670 10.7 2000 36.7 10.0 67.5 22.5 46.4 7.0 4.6 0.32 0.61 0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
70 66 15 55 12 1 70 28

DXF & DWG drawing files available.


Mounting holes M6 Tap 12 depth Qty."N"-See Chart

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.

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

Connector for Hall Sensor 9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

Color Red White Black Green

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

Pin Type Connector17JE-23090-02 D8C Daiichi Electronic Industries Co., Ltd.

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

Sw 180 360 540 Electrical Angle

Moving Coil Type SGLTW- 35A170A 35A320A 35A460A

L1 170 315 460


13 20 54

L2 144 288 432


L2

L3 16 17 18

N 8 14 20
54

Mass kg 3.7 6.8 10

Magnet TrackSGLTM20AY
85 70 55 34.5

15 Base 15

9. 9

0.8

100

70 0.3

132 116 87

60

Name plate for magnet track 2.4


0.3

Serial number label


YASKAWA
TYPE:
O/N S/N MADE IN JAPAN DATE

Moving Coil Mounting holes M6 Tap 8 depth 1 74

L5 L4 Mounting holes 10 2

74

14 162

Air Gap Includes 0.2 thick magnet cover.

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.

Magnet Track Type SGLTM- 35324AY 35540AY 35756AY

L1 324 540 756

L2 270 486 702

L3 310 526 742

L4

L5

N1 6 10 14

N2 2 3 4

162 162 378 189 594 198

Mass kg 6.4 11 15

25

SERVOPACK

15 19.2 0.8 0.3

Linear Servomotor

Outline

TYPE:

YASKAWA

O/N

S/N

MADE IN JAPAN

DATE

9.9

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLTW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 40A 400A 1675 670 10.8 2000 37 20.0 66.9 22.3 64.1 17.8 4.9 0.34 0.60 0 600A 2500 1000 16.1 3000 55.5 30.0 66.9 22.3 76.6 16.5 5.1 0.23 0.47 0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
83 78 19.1 75 16

DXF & DWG drawing files available.


Mounting holes M8 Tap 16 depth Qty."N"-See Chart 20 40 60

Moving CoilSGLTW40AA
Hall sensor 63 Receptacle Magnet track L1 L2 L3

1 111.8 38 150 124 4.2

97

Gap 1.2

19.1

30

98

25.3

2-Screws #4-40 UNC 500

min. 64

NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.

50

Linear SERVO MOTOR TYPE MADE IN JAPAN m/s N W

Pin No.

Name 5V Power Supply Phase U Phase V Phase W 0V Power Supply

Connector for Hall Sensor


9 6

1 2 3

Pin No. 1 2 3 4

Name Phase U Phase V Phase W FG

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.

ReceptacleMS3102A-22-22P Made by Daiichi Electronic Industries Co,. Ltd.

Vw 0

Sw 180 360 540 Electrical Angle

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

Moving Coil Type SGLTW- 40A400A 40A600A

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

190 170 131

90

1.4

0.3

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

Moving Coil Mounting holes M8 Tap 10 depth


5.6

L5 92.5 L4 Mounting holes 12

92.5

17.5 202.5

Air Gap Includes 0.2 thick magnet cover.

20 39

1.40.3

M8 Bolts 25 length 5

67.5 25 L2 L3 -0.1 L1 -0.3 67.5 12.5

NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.

Magnet Track Type SGLTM- 40405AY 40675AY 40945AY

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

Name plate for magnet track Serial number label

19.1 25.3 1.2 0.3

Linear Servomotor

Outline

Name plate for moving coil Connector for Motor

TYPE:

YASKAWA

O/N

S/N

MADE IN JAPAN

DATE

A S/N O/N DATE YASKAWA ELECTRIC V ins.

Linear Servomotor Specifications

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

Ratings and Specifications


Linear Servomotor Type SGLTW- W Continuous Output N Continuous Force Arms Continuous Current N Peak Force Arms Peak Current kg Moving Coil Mass N/Arms Force Constant V/ m/s BEMF Constant N/ W Motor Constant ms Electrical Time Constant ms Mechanical Time Constant Thermal Resistance With Heatsink K/W Thermal Resistance Without Heatsink K/W N Magnetic Attraction Force 80A 400A 2600 1300 19.3 4000 67.8 30.0 72.6 24.2 89.7 19.3 3.7 0.28 0.55 0 600A 4000 2000 29.7 6000 101.8 43.0 72.6 24.2 105.4 16.6 3.9 0.19 0.36 0

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.

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Dimensions in mm
120 19.1 115 75 16

DXF & DWG drawing files available.

Moving CoilSGLTW80AA Mounting holes


Hall sensor Receptacle Magnet track 63 20 40 60 M8 Tap 16 depth Qty."N"-See Chart L1 L2 L3

1 111.8 38 150 124 4.2

97

Gap 1.2

30

98

19.1

25.3

2-Screws #4-40 UNC 500

min. 64

NoteMoving coil moves in arrow direction when commutated phase U, V, and W in order.

50

Linear SERVO MOTOR TYPE MADE IN JAPAN m/s N W

Pin No.

Name 5V Power Supply Phase U Phase V Phase W 0V Power Supply

Connector for Motor


Pin No. 1 2 3 4 Name Phase U Phase V Phase W FG

Connector for Hall Sensor


9 6

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.

ReceptacleMS3102A-22-22P Made by Daiichi Electronic Industries Co,. Ltd.

Vw 0

Sw 180 360 540 Electrical Angle

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

Moving Coil Type SGLTW- 80A400A 80A600A

L1 395 585
25 67.5 33.75

L2 360 540
L2

L3 15 25
67.5

N 14 20

Mass kg 30 43

Magnet TrackSGLTM80AY 14.4


5.6

20 19.1 Base

140 120 100 Moving Coil

57

1.2

150

111.8

YASKAWA
TYPE:

O/N S/N MADE IN JAPAN DATE

Air Gap Includes 0.2 thick magnet cover.

Mounting holes M8 Tap 10 depth 1 5. 6 1.50.3 57

L5 92.5 L4

92.5

17.5 202.5

20

M8 Bolts 25 length 3 3.1

33.75 67.5 25 L2 L3 -0.1 L1 -0.3 67.5 14.4

NoteUsers of pacemakers and similar devices are strongly recommended to maintain minimum distance of 200mm from the magnets.

Magnet Track Type SGLTM- 80405AY 80675AY 80945AY

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

190 170 131

90

Mounting holes 12 1.5


0.3

0.3

Name plate for magnet track Serial number label

19.1 25.3 1.2 0.3

Linear Servomotor

Outline

Name plate for moving coil

TYPE:

YASKAWA

O/N

S/N

MADE IN JAPAN

DATE

A S/N O/N DATE YASKAWA ELECTRIC V ins.

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

Position Control Mode I/O Signal

Speed/Force Control Mode

Input Pulse Type Reference Input Pulse Form Pulse Input Pulse Frequency Control Signal Position Signal Output Sequence Input Signal

Sequence Output 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

+10% Single-Phase 100 to 115 VAC -15% 50/60Hz

Noise Filter Power OFF Power ON 1MC Alarm Interlock

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

B1 1MC L1 L2 L1C L2C 1 2

U V

SERVOPACK Type SGDH

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

Servo Ready Output ON When Ready

3Ry

/ALM-RST /P-CL

44 45

31 32

ALM+ ALM-

Servo Alarm Output OFF with an Alarm

7Ry

/N-CL

46

Photocoupler Output Maximum Operating Voltage30VDC Maximum Output Current 50mADC

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

Noise Filter Power OFF Power ON 1MC Alarm Interlock

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

1MC L1 L2 L3 L1C L2C 1 2

B1

U V

Serial Converter CN2

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

2 LPF 2 LPF A/D 37 38 39 150 ALO1 ALO2 ALO3

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

/V-CMP+ COIN+ / /V-CMPCOIN- / /TGON+ /TGON-

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

Servo Ready Output ON When Ready

3Ry

/ALM-RST /P-CL

44 45

31 32

ALM+ ALM-

Servo Alarm Output OFF with an Alarm

7Ry

/N-CL

46

Photocoupler Output Maximum Operating Voltage30VDC Maximum Output Current 50mADC

Connect Shielded wire to connector shell.

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

SERVOPACK Type SGDH

D 4

Option
Serial ConverterJZDP-A004-
1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

Characteristics and Specifications


Item Power Supply Voltage Current Consumption 1 Output Resolution Max. Frequency Response Analog Input Signal 2 Cos Ref Sin Hall Sensor Signal Inputs Mass Dimensions Vibration Resistance Shock Resistance Operational Temperature Storage Temperature Humidity Specifications +5.0VDC 5% ripple content 5% or less 120mA Typ.350mA max. Input analog pitch Subdivided by 1/256 250kHz Input differential0.4 to 1.2V Input signal level1.5 to 3.5V CMOS level 150g 906023mm 98m/s2 max. 10 to 2500Hz directions 3 980m/s211ms directions for 2 times 3 0 to 55 20 to 80 20 to 90%RH non-condensing Environment Mechanical Characteristics Electrical Characteristics

* 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

300 1.5 3 14.35 65 72 82 90


B See .
B Analog Signals from Linear Motor 1 9

15

C Hall Sensor Signals from Linear Motor

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

4-M5 Tap 10 Depth

34

Selecting Motor Force


Comparison with Rotary Motor
Rotary Motor Vm/min L Linear Motor
L Vm/min

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

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

Pmm B Wkg W Wkg T

Drive Mechanism

W Workpiece mass Wkg Wkg T Table mass M Moving Coil mass Wkg Friction coefficient Mechanical efficiency m/s2 Acceleration

FL FS=WWWTWM Frms= FP2t aFL2t cFS2t d T FP

Required Torque Trms N m

Trms= TP

TP2t aTL2t cTS2t d T

Required Force Frms N

TL ta tc T td TS Estimated Winding Temperature C ta

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 =

120m/min 1kg 2kg 0.2 0.9 0.4s 0.02s 0.5s

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

Normal Force FN L Running Power O PW Accel Force FN P Decel Force S FN

WWWTWM 9.8 FLVL 60 FP=WWWTWM FL

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

Cable for Servodriver Signal I/O

Connection Cable TypeJZSP-CMS01 to 03

Name

CN2
U V W Power Ground Line

Servodriver Type SGDH-01AE

Connector Cable B

SGDH-02AE

Serial Converter

SGDH-04AE Servodriver and Servomotor SGDH-05AE

Following devices are prepared by user. Linear length measuring system Linear guide
G

Motor Cable C

SGDH-08AE SGDH-10AE

4P 4P

SGDH-15AE

SGDH-20AE SGDH-30AE SGDH-50AE SGDH-75AE SGDH-01BE SGDH-02BE

Hall Sensor Unit

Coreless Linear Servomotor

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

1N=0.2276 lbs.=0.102kgf 1kg=2.232 ibs. 1mm=0.03937 in.

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

Cables and Connectors


A CN1 Connector for I/O Signals Name Connector Terminal Conversion Unit Type JUSP-TA50P Specifications Terminal block and connection cable 0.5m 1m 2m 3m

B CN2 Serial Converter C

Servodriver Terminal Motor

D CN3 Setting Device E CN5 G Serial Converter Linear Encoder

H Serial Converter Hall Sensor

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

Attached to digital operator (JUSP-OP02A-2)

1m 3m 5m 10m 15m 1m 3m 5m 1m 3m 5m 10m 15m

D-SUB15-pin D-SUB15-pin D-SUB15-pin D-SUB15-pin D-SUB15-pin D-SUB15-pin D-SUB15-pin D-SUB15-pin

37

SERVOPACK

2mD-SUB25-pin 2mD-SUB9-pin 2mHalf pitch14-pin 1m

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

YASKAWA ELECTRIC AMERICA, INC.


2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-847-887-7000 Fax 1-847-887-7370

MOTOMAN INC. HEADQUARTERS


805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.


Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil Phone 55-11-5071-2552 Fax 55-11-5581-8795 CEP: 04304-000

YASKAWA ELECTRIC EUROPE GmbH


Am Kronberger Hang 2, 65824 Schwalbach, Germany Phone 49-6196-569-300 Fax 49-6196-569-312

Motoman Robotics Europe AB


Box 504 S38525 Torsas, Sweden Phone 46-486-48800 Fax 46-486-41410

Motoman Robotec GmbH


Kammerfeldstrae 1, 85391 Allershausen, Germany Phone 49-8166-90-100 Fax 49-8166-90-103

YASKAWA ELECTRIC UK LTD.


1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION


Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.


151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.


No.18 Xizang Zhong Road. Room 1805, Harbour Ring Plaza Shanghai 20000, China Phone 86-21-5385-2200 Fax 86-21-5385-3299

YATEC ENGINEERING CORPORATION


4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan Phone 886-2-2298-3676 Fax 886-2-2298-3677

YASKAWA ELECTRIC (HK) COMPANY LIMITED


Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone 852-2803-2385 Fax 852-2547-5773

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

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.


27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.


30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536

SHOUGANG MOTOMAN ROBOT CO., LTD.


7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

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.

LITERATURE NO. KAE-S800-39.10


Printed in Japan January 2004 01-3 03-10

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