Sigma V Brochure

AC SERVO DRIVES

SERIESPRODUCT CATALOG

Field-Proven Performance: A Servo that Does What You Need!

Certified for ISO9001 and ISO14001

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ENVIRONMENTAL SYSTEM

JQA-0422 JQA-EM0202 JQA-EM0924

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Build the machine youve dreamed of, today!AC servo driveSigma Five

v-V series is here with

You want maximum effect quickly and easily, as does every engineer in the field. And now the the practical answer to your dreams! How many times have you heard people say servos need adjustment to work well? Our new tuning-less function means it works as soon as you hook it up! And if you want more performance than ever before, the -V series advanced autotuning function lets you set up for it rapidly. Advanced technology makes possible a host of safety

standards compliance for the first time in Japan (as of April 2007),compliance with key international standards, a diverse motor line-up, compact size, high speed and simple maintenance: everything you need to answer todays requirements.

International Standards

Safety StandardsSafety Stop-0 (Standard)

RoHS DirectiveRoHS Directive Stands for the EU directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment.

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Features

Features

Superlative Performance

Operate your machinery faster and with higher precision than ever!

The delivers the highest performance in the industry.The best amplifier response in the industry slashes settling timeIn-house comparison: 1/12th0

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Servo Adjustment Example: When the ball screw slider was run using a combination of the SGMJV-02ADA servomotor and SGDV-1R6A SERVOPACK.

Position Error

Outstanding frequency response

Reference Speed

1.6

* kHz

Positioning Completed

Representative value when using combination of the SGMAV-02ADA servomotor *: and SGDV-1R6A SERVOPACK ataone time of the moment of inertia ratio.

Settling Time 0 to 4 ms

Enhanced vibration suppressionExisting functions to minimize vibration have been enhanced, and new ones added, improving tracking and further improving settling time. Vibration and noise during driving have also been cut, along with vibration at machine edges when stopping.

Contributing to machine performance in conjunction with a medium-inertia motorSmall Capacity Medium Capacity

SGMJV SeriesLow Heating Improved motor constants have reduced both losses and heating. Better Tact Time Instantaneous peak torque has been boosted from 300% to 350%, contributing to shorter tact times Ease of Use Moment of inertia ratio has been doubled in the same motor, reducing the moment of inertia ratio and boosting gain for faster settling

SGMGV SeriesCompact Design Smaller package and about 20% lighter, but with the same rotor moment of inertia as the conventional model. A small encoder connector is applied. Improved Vibration Resistance New coupling delivers typical 5G vibration resistance

Encoder resolution 1,048,576 pulses/revolution

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Features

Simple Start-upUnpacking

Making servo adjustment quick and simple

Let the series simplify your life!

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Installation and Wiring

Basic Parameter Setting

Trial Operation

Gain and Filter Adjustment

Operation

Faster setupSetup WizardSimple parameter set-up with wizard-aided input

SigmaWin+

Simple TuningGet up and running quickly after hooking up the motor

New Advanced Autotuning Window

Even without servo adjustment and with load changes, oscillation- and vibration-free drive is possible up to 20 times the load moment of inertia.

New Tuning-less FunctionThe SigmaWin+ wiring check function checks your wiring in a single operation

Wiring Check Function

Settling time: 100 to 150 ms level

Minimize settling time with less vibration

New Advanced Autotuning

The reference filter and feedback gain adjustment functions have a new automatic feed forward gain adjustment for optimal adjustment performance. The friction compensation function automatically cancels out the effect of friction on machine characteristics.

Settling time: 10 ms level

Fine-tuning is a mustUSB1.1 SupportTrace FunctionRealtime trace of adjustment state means you can check instantly.

Fine-tuning can tweak machine performance to the max.

New One-parameter Tuning

Settling time: 0 to 4 ms level

Full of handy functions for start-up and more effective operation!SelectionServomotor capacity selection software

Maintenance

Faster TroubleshootingEngineering tool

SigmaJunmaSize+

Alarm

Optimal selection for your application: With consideration of moment of inertia, DB resistance, etc.

SigmaWin+

Diagnostic Information

Alarm diagnostic function: Presumes possible causes of the alarm and immediately displays suggested corrective actions.

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Outstanding Expandability

Use servos that really fit into your system

A rich selection of models and options to match your requirementsExtensive variety of motors to match any machineMedium-inertia servomotors Improved control stability Low-inertia servomotors High-speed acceleration and deceleration

Selection of servo actuatorsSupport for direct drive servomotors, linear servomotors and linear sliders

Standard support for four different SERVOPACK typesAnalog voltage/pulse train reference type MECHATROLINK-2 communications reference type MECHATROLINK-3 communications reference type INDEXER Module Type

Wide selection of option modules for various communication interfaces and feedback Compliant with applicable safety standardsEasy compliance with machine safety standardsSGDV SERVOPACKs have a safety function equivalent to the STO (Safe Torque Off) function as defined in the international standard IEC61800-5-2. (This was the first in the industry in Japan as of March 2007.) When used with the Safety Module, SGDV SERVOPACKs have safety functions equivalent to the STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), and SLS (Safely-Limited Speed) functions as defined in IEC61800-5-2. (This was the first in the industry in Japan as of May 21, 2010.)

Option Module

The first in the industry in Japan!

Compliant with applicable SEMI F47 standards for 200-VAC SERVOPACKsEasy use with applications for semiconductors and LCD manufacturing equipmentNote: SEMI F47 Standards: Specification for Semiconductor Processing Equipment Voltage Sag Immunity

Motor line-up to handle a wide range of markets and applicationsSGMAV (20 bit) SGMSV (20 bit) Low InertiaResolution Semiconductors (Bonders)

SGMJV (20 bit) SGMPS (17 bit) SGMGV (20 bit) Medium InertiaMachine tools, MC lathes/grinders

Semiconductors (Probes)

Linear (High resolution) Direct Drive

LCD coater/ dispensers Electronic Components LCD scribers Injection molding machines Metal processing Robot articulated/ scalar/extraction Food Packaging Material Handling Textiles

SGMJV (13 bit) Medium Inertia

Moment of Inertia Ratio

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Product Line-up

Product Line-upServomotorsRotary Servomotors (Small Capacity)

SGMJV (Medium Inertia, Small Capacity) 50 W to 750 W

SGMAV (Low Inertia, Small Capacity) 50 W to 1 kW

SGMPS (Medium Inertia, Small Capacity, Flat Type) 100 W to 1.5 kW

Rotary Servomotors (Medium Capacity)

Direct Drive Servomotors

SGMGV (Medium Inertia, Medium Capacity) 300 W to 15 kW

SGMSV (Low Inertia, Medium Capacity) 1.0 kW to 7.0 kW

SGMCS (Small Capacity) 2 to 35 N m

SGMCS (Medium Capacity) 45 to 200 N m

Linear Servomotors Linear

Series

Cylinder Type Linear Servomotor -Stick Series

SGLGW (Coreless Type) 12.5 to 750 N

SGLFW (With F-type Iron Core) 25 to 1120 N

SGLTW (With T-type Iron Core) 130 to 1300 N

SGLC (Cylinder Type) 17 to 180 N

Linear Sliders

-Trac Series

SGT ( -Trac) 47 to 560 N

SGTMM ( -Trac- ) 3.5 to 7 N

SGTMF ( -Trac-MAG) 90 to 200 N

SERVOPACKsAnalog Voltage /Pulse Train Reference MECHATROLINK-2 Communications Reference MECHATROLINK-3 With INDEXER Module

Communications Reference

SGDV-01/05 SERVOPACK



SGDVE 1 SERVOPACK

Note: Available for fully-closed loop control. (Custom orders only.)

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Rotary Servomotors and SERVOPACKsRotary Servomotor Model Capacity SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC R70F R90F R70A*1 R90A*1 1R6A*1 2R8A*1 5R5A*1 R70A*1 R90A*1

SGMJV(Medium Inertia, Small Capacity) 3000 min-1

SGMJV-A5A SGMJV-01A SGMJV-02A SGMJV-04A SGMJV-08A SGMAV-A5A SGMAV-01A

SGMAVLow Inertia,

SGMAV-C2A SGMAV-02A SGMAV-04A SGMAV-06A SGMAV-08A SGMAV-10A

Small Capacity) 3000 min-1

SGMPS(Medium Inertia, Small Capacity, Flat Type) 3000 min-1

SGMPS-01A SGMPS-02A SGMPS-04A SGMPS-08A SGMPS-15A SGMSV-10A SGMSV-15A SGMSV-20A SGMSV-25A SGMSV-30A SGMSV-40A

SGMSV(Low Inertia, Medium Capacity) 3000 min-1

SGMSV-50A SGMSV-70A SGMSV-10D SGMSV-15D SGMSV-20D SGMSV-25D SGMSV-30D SGMSV-40D SGMSV-50D SGMGV-03A SGMGV-05A SGMGV-09A SGMGV-13A SGMGV-20A SGMGV-30A SGMGV-44A SGMGV-55A SGMGV-75A

SGMGV(Medium Inertia, Medium Capacity) 1500 min-1

SGMGV-1AA SGMGV-1EA SGMGV-03D SGMGV-05D SGMGV-09D SGMGV-13D SGMGV-20D SGMGV-30D SGMGV-44D SGMGV-55D SGMGV-75D SGMGV-1AD SGMGV-1ED

50 W 100 W 200 W 400 W 750 W 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1 kW 100 W 200 W 400 W 750 W 1.5 kW 1.0 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 4.0 kW 5.0 kW 7.0 kW 1.0 kW 1.5 kW 2.0 kW 2.5 kW 3.0 kW 4.0 kW 5.0 kW 300 W 450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11 kW 15 kW 300 W 450 W 850 W 1.3 kW 1.8 kW 2.9 kW 4.4 kW 5.5 kW 7.5 kW 11 kW 15 kW

2R 1F 2R 8F

R70F R90F

2R 1F 2R 8F

1R6A*1 2R8A*1 5R5A*1 120A*2R90A*1

R90F

2R 1F 2R 8F

2R8A*1 5R5A*1 120A*2 7R6A 120A 180A 200A 330A 550A

3R5D 5R4D 8R4D

120D 170D

3R8A 7R6A 120A 180A 330A/200A*3 330A 470A 550A 590A 780A

1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D

powered with single or three-phase. *1:: These-amplifiers can beSERVOPACKs are also available (Model: SGDV-120AA008000). VAC *2: Single phase 200of the SGDV-200A SERVOPACK and the SGMGV-30A The combination SERVOPACK Model SGDV-200A *3 servomotor must be used at the following reduction ratings. Rated Current Arms Rated Torque Nm Allowable Load Moment of Inertia

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Reduction Ratings 19.6 15.1 3 times

Ratings 23.8 18.6 5 times

Product Line-up

Linear Servomotors and SERVOPACKsLinear Servomotor Model SGLGW-30A050C SGLGW-30A080C SGLGW-40A140C Rated Force N Peak Force N SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC R70F R90F R70A* R90A*

SGLGW(Coreless Type, With standard magnetic way)

SGLGW-40A253C SGLGW-60A140C SGLGW-40A365C SGLGW-60A253C SGLGW-60A365C SGLGW-90A200C SGLGW-90A370C SGLGW-90A535C

SGLGW(Coreless Type, With high-efficiency magnetic way)

SGLGW-40A140C SGLGW-60A140C SGLGW-40A253C SGLGW-40A365C SGLGW-60A253C SGLGW-60A365C SGLFW-20A090A SGLFW-20A120A SGLFW-35A120A SGLFW-35A230A SGLFW-50A200B SGLFW-50A380B

SGLFW(With F-type Iron Core)

SGLFW-1ZA200B SGLFW-1ZA380B SGLFW-35D120A SGLFW-35D230A SGLFW-50D200B SGLFW-50D380B SGLFW-1ZD200B SGLFW-1ZD380B SGLTW-20A170A SGLTW-35A170A SGLTW-35A170H SGLTW-50A170H SGLTW-20A320A SGLTW-20A460A SGLTW-35A320A SGLTW-35A320H SGLTW-50A320H

SGLTW(With T-type Iron Core)

SGLTW-35A460A SGLTW-40A400B SGLTW-40A600B SGLTW-80A400B SGLTW-80A600B SGLTW-35D170H SGLTW-50D170H SGLTW-35D320H SGLTW-50D320H SGLTW-40D400B SGLTW-40D600B SGLTW-80D400B SGLTW-80D600B

12.5 25 47 93 70 140 140 210 325 550 750 57 85 114 171 170 255 25 40 80 160 280 560 560 1120 80 160 280 560 560 1120 130 220 300 450 250 380 440 600 900 670 670 1000 1300 2000 300 450 600 900 670 1000 1300 2000

40 80 140 280 220 420 440 660 1300 2200 3000 230 360 460 690 720 1080 86 125 220 440 600 1200 1200 2400 220 440 600 1200 1200 2400 380 660 600 900 760 1140 1320 1200 1800 2000 2600 4000 5000 7500 600 900 1200 1800 2600 4000 5000 7500

2R1F 2R8F

1R6A* 2R8A* 5R5A* 120A 180A 200A 1R6A* 2R8A* 3R8A 7R6A

2R1F 2R8F

2R1F

1R6A* 3R8A 5R5A* 120A 200A

1R9D

3R5D 5R4D 120D

3R8A 5R5A* 7R6A

120A

180A

330A 550A 3R5D 8R4D

120D 170D 260D

*: These amplifiers can be powered with single or three-phase.

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Cylinder Type Servomotors ( -Stick) and SERVOPACKsLinear Servomotor Model SGLC-D16A085 SGLC-D16A115 SGLC-D16A145 SGLC-D20A100 Rated Force N Peak Force N Single-phase 100 VAC R70F R90F SERVOPACK Model SGDV- Three-phase 200 VAC R70A* R90A*

SGLCCylinder Type

SGLC-D20A135 SGLC-D20A170 SGLC-D25A125 SGLC-D25A170 SGLC-D32A165 SGLC-D25A215 SGLC-D32A225 SGLC-D32A285

17 25 34 30 45 60 70 105 90 140 135 180

60 90 120 150 225 300 280 420 420 560 630 840

1R6A* 2R1F 2R8A* 1R6A* 2R8A* 5R5A*

2R8F

*: These amplifiers can be powered with single or three-phase.Linear Sliders ( -Trac) and SERVOPACKsLinear Slider Model SGTGD SGT GE SGTGG SGT GF Rated Force N Peak Force N SERVOPACK Model SGDV- Single-phase 100 VAC Three-phase 200 VAC R90F R90A

SGT( -Trac)

SGTGH SGT G I SGT F 3 SGT F 4 SGT F 9 SGT FA

( -Trac- )

SGTMM

SGTMM01 SGTMM03 SGTMF4A SGTMF4B SGTMF5A SGTMF5B

SGTMF( -Trac-MAG)

47 93 70 140 140 210 80 160 280 560 3. 5 7 90 120 150 200

140 280 220 420 440 660 220 440 600 1200 10 25 270 360 540 720

2R1F 2R8F

1R 6A 2R 8A 5R 5A 1R 6A 3R 8A 5 R 5A 120A R70A R90A 1R 6A 5R 5A

2R1F

R70F R90F

2R1F

Direct Drive Servomotors and SERVOPACKsDirect Drive Servomotor Model SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C SGMCS-10C SGMCS-14C SGMCS-08D SGMCS-17D SGMCS-25D SGMCS-16E SGMCS-35E SGMCS-45M Rated Torque N m Peak Torque N m Single-phase 100 VAC SERVOPACK Model SGDV- Three-phase 200 VAC

SGMCS(Small Capacity)

SGMCS(Medium Capacity)

SGMCS-80M SGMCS-80N SGMCS-1AM SGMCS-1EN SGMCS-2ZN

2 5 7 4 10 14 8 17 25 16 35 45 80 80 110 150 200

6 15 21 12 30 42 24 51 75 48 105 135 240 240 330 450 600

2R1F

2R 8A 2R8F

5R 5A 7R 6A 120A

180A 200A

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Product Line-up

Recommended Linear Scales Incremental Linear ScalesOutput Signal Manufacturer Scale Type Model Scale Sensor Interpolator (serial Head converter unit) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D003/-D006) (JZDP-G003/-G006) (JZDP-D005/-D008) (JZDP-G005/-G008) MJ620-T13

Scale Pitch m

Resolution Maximum Hall Speed*4 Sensor nm m/s Input

Linear Motor

Fully-closed Loop Control

LIDA48

20 40 4 20 800 80 80 80 80

1Vp-p Analog Voltage*2

HEIDENHAIN Corporation

Open Type

LIDA18 LIF48

Renishaw plc*5 Applicable for Yaskawa s Serial Interface*3

Open Type Open Type

RGS20 RGH22B SL70

78.1 4.9 156.3 9.8 15.6 1.0 78.1 4.9 97.7 9.8 78.1 9.8 78.1

5 2 5 4 1 0.4 5 2 5 3.33 3.33 3.33 3.33

*

6

PL101-RY PL101

Magnescale Co., Ltd.

SR75-LF Sealed SR75-MF Type SR85-LF SR85-MF

Absolute Linear ScaleOutput Signal Manufacturer Scale Type Model Scale Sensor Interpolator (serial Head converter unit)

Scale Pitch m

Resolution Maximum Hall Speed*4 Sensor nm m/s Input

Linear Motor

Fully-closed Loop Control

SR77-LF Applicable for Yaskawa s Serial Interface*3 Magnescale Co., Ltd. Sealed SR77-MF Type SR87-LF SR87-MF ST781A Mitutoyo Corporation Open Type ST782A ST783A ST784A

80 80 80 80 256 256 51.2 51.2

9.8 78.1 9.8 78.1 500 500 100 100

3.33 3.33 3.33 3.33 5 5 5 5

Absolute Rotary ScaleOutput Signal Applicable for Yaskawa s Serial Interface Manufacturer Scale Type Sealed Type Model Scale Sensor Interpolator (serial Head converter unit) RU77-4096ADF RU77-4096AFFT01 Scale Pitch m

Resolution Maximum Fully-closed Linear Speed*4 Loop Motor bit/rev min-1 Control

Magnescale Co., Ltd.

20 22

2000 2000

Before using the linear *1: operating conditions. scales, contact the manufacturer of the scale for specifications including accuracy, dimensions, and recommended The use of Yaskawa *2: converter units. serial converter units is required. Output signals are divided into 256 (8-bits multiplier) or 4096 (12-bits multiplier) in the serial linear scale has a different multiplier (number of divisions). Before *3:: Eachmaximum speed shown is for the linear scale when combined with use, write the parameters of the linear servomotors into the linear scales. a Yaskawa *4 The the maximum speed of the linear servomotor or that of the linear scale in thisSERVOPACK. maximum speed. Either table limits the If the zero-point signal accuracy might be affected, and the zero point might be detected as being at a *5: different position. If so,is used with the Renishawtolinear scale, thepoint in one direction. use BID and DIR signals send the zero *6: Contact your Yaskawa representative.

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AC SERVO DRIVES

Servomotors

Rotary ServomotorsSGMJV SGMAV SGMPS SGMGV SGMSV (Medium inertia, small capacity) (Low inertia, small capacity) (Medium inertia, small capacity, flat type) (Medium inertia, medium capacity) (Low inertia, medium capacity)

11 23 47 71 93 111

Rotary Servomotor General Instructions

Direct Drive ServomotorsSGMCS (Small capacity, medium capacity)

121121

Linear ServomotorsSGLGW SGLFW SGLTW SGLC (Coreless type) (With F-type iron core) (With T-type iron core) (Cylinder type

139139 159 179 207 221

-Stick)

Linear Servomotor General Instructions

Linear SlidersSGT SGTMM SGTMF

229-Trac -Trac- -Trac-MAG 229 241 249

SERVOPACKs

Analog Voltage/Pulse Train Reference Type SERVOPACKsSGDV- 01/05

257 269

MECHATROLINK-2 Communications Reference Type SERVOPACKsSGDV- 11/15

MECHATROLINK-3 Communications Reference Type SERVOPACKs 279SGDV- 21/25

INDEXER Module Type SERVOPACKSGDV E 1 Description of Components Command Option Attachable Type SERVOPACK (SGDV- E1/E5 INDEXER Module SGDV-OCA03A

289289 301

SERVOPACK External Dimensions Wiring Main Circuit and Peripheral DevicesSERVOPACK Options

303 333 353

Fully-closed ModuleSGDV 1 1Model number for SERVOPACK and module set SGDV-OFA01AModel number for module only

Safety ModuleSGDV 1 (Model number for SERVOPACK and module set) SGDV-OSA01A (Model number for module only)

361

Others

Selecting Servomotor Capacity and Regenerative Capacity 367 Connection to Host Controller Read Before Ordering383 391

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Detailed ContentsServomotors

Linear ServomotorsSGLGW (Coreless Type)Model Designations

139 139 141 145 156 159 159 161 163 174 179 179 181 184 202 207 207 209 211 219 221 221 228

Rotary ServomotorsSGMJVModel Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm

1 1 3 6 8 15 17 23 23 25 28 30 39 41 47 47 49 52 54 63 65 67 69 71 71 73 76 83 85 89 93 93 95 98 102 111 111 113 114 115 115 116 117 118 119 120

Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGLFW (With F-type iron core)Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGMAVModel Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm

SGLTW (With T-type iron core)Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

SGMPSModel Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables With Low-backlash Gears Ratings and Specifications With Low-backlash Gears External Dimensions Units: mm Flange-type With Low-backlash Gears Ratings and Specifications Flange-type With Low-backlash Gears External Dimensions Units: mm

SGLC (Cylinder Type)Model Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

Linear Servomotor General InstructionsSerial Converter Unit (Model: JZDP- 00 - -E) Flexible Cables

SGMGVModel Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables (SGMGV-03/-05) Selecting Cables (SGMGV-09 to -1E) Selecting Cables

Linear Sliders-TracModel Designations SGT1F3 and SGT1F4 Linear Sliders SGT1F9 and SGT1FA Linear Sliders SGT1GD , SGT1GE , and SGT1GF Linear Sliders SGT1GG , SGT1GH , and SGT1GI Linear Sliders Selecting Cables and Connectors

229 229 231 233 235 237 239 241 241 243 247 249 249 251 253 255

SGMSVModel Designations Ratings and Specifications External Dimensions Units: mm Selecting Cables

-Trac-Model Designations SGTMM Linear Sliders Selecting Cables and Connectors

Rotary Servomotor General InstructionsPrecautions on Servomotor Installation Cable Connections to SGMJV, SGMAV and SGMPS Servomotors Cable Connections to SGMGV-03/-05 Servomotors Mechanical Specifications Rotor Moment of Inertia Servomotor Heating Conditions Holding Brake Delay Time Terms for Servomotors with Gears Cables Battery Case

-Trac-MAGModel Designations SGTMF4 Linear Sliders SGTMF5 Linear Sliders Selecting Cables and Connectors

SERVOPACKs

Analog Voltage/Pulse Train Reference Type SERVOPACKsSGDV- 01 (For Rotary Servomotors) SGDV- 05 (For Linear Servomotors)257 257 258 259 262 263

Direct Drive ServomotorsSGMCSModel Designations Ratings and Specifications Mechanical Specifications External Dimensions Units: mm

121 121 123 126 127 133

Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

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Selecting Cables

AC SERVO DRIVES

MECHATROLINK-2 Communications Reference Type SERVOPACKsSGDV- 11 (For Rotary Servomotors) SGDV- 15 (For Linear Servomotors)Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

SERVOPACK Options

269 269 270 271 273 274

Fully-closed ModuleSGDV 1 1Model number for SERVOPACK and module set SGDV-OFA01A Model number for module only 353System Configuration Model Designations Nameplate External Dimensions Units: mm Serial Converter Units

MECHATROLINK-3 Communications Reference Type SERVOPACKsSGDV- 21 (For Rotary Servomotors) SGDV- 25 (For Linear Servomotors)Model Designations Ratings Specifications Power Supply Capacities and Power Losses Selecting Cables

353 355 356 356 357

279 279 280 281 283 284

Safety ModuleSGDV 1 (Model number for SERVOPACK and module set) SGDV-OSA01A (Model number for module only)Applicable Standards and Functions System Configurations Model Designations Nameplate External Dimensions Units: mm Specifications Selecting Cables

361 361 362 363 364 364 365 366

INDEXER Module Type SERVOPACKSGDV E 1 Model Designations Nameplate Ratings Specifications Program Table Functions Power Supply Capacities and Power Losses Selecting Cables

289 289 290 291 291 293 294 295 301 301 302

Others

Description of ComponentsCommand Option Attachable Type SERVOPACK (SGDV- E1/E5 INDEXER Module SGDV-OCA03A

Selecting Servomotor Capacity and Regenerative CapacityServomotor Capacity Selection Examples Selecting Regenerative Resistors

367 372

SERVOPACK External DimensionsExternal Dimensions Units: mm (Without Option Module) External Dimensions Units: mm (With Option Module)

Connection to Host Controller303 316Example of Connection to Machine Controller MP2 Example of Connection to MP2200/MP2300 Motion Module SVA-01Example of Connection to MP920 4-axes Analog Module SVA-01

Wiring Main Circuit and Peripheral DevicesWiring Main Circuit SERVOPACK Main Circuit Wire Molded-case Circuit Breaker and Fuse Capacity Noise Filters Surge Absorber Magnetic Contactors AC/DC Reactors Holding Brake Power Supply Unit Regenerative Resistors

Example of Connection to OMRON s Motion Control Unit Example of Connection to OMRON s Position Control Unit Example of Connection to Mitsubishi s AD72 Positioning Unit (SERVOPACK in Speed Control) Example of Connection to Mitsubishi s AD75 Positioning Unit (SERVOPACK in Position Control) Example of Connection to Mitsubishi s QD75D Positioning Unit (SERVOPACK in Position Control)

383 384 385 386 387 388 389 390

333 337 339 340 343 344 347 348 349

Read Before Ordering

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Rotary Servomotors

SGMJV

Model Designations2Without Gears

SGMJV - 01Series Servomotor SGMJV

A3rd digit

D4th digit

A5th digit

26th digit

17th digit

1st+2nd digits

1st+2nd digits Rated OutputCode A5 Specifications

5th digit Design Revision OrderCode A Specifications Standard

7th digit OptionsCode Specifications Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal

01 02 04 08

50 W 100 W 200 W 400 W 750 W

1C

6th digit Shaft EndCode

2

Specifications Straight without key (standard) Straight with key and tap (optional) With two flat seats (optional)

E S

3rd digit Power Supply VoltageCode A Specifications

6B

200 VAC

4th digit Serial EncoderCode

3 D A

Specifications 20-bit absolute (standard) 20-bit incremental (standard) 13-bit incremental (standard)

1

Servomotors

SGMJVFeatures1Medium inertia 1Instantaneous peak torque

Rotary Motors

Application Examples1Semiconductor equipment 1Chip mounters 1PCB drilling stations 1Robots 1Material handling machines 1Food processing equipment

(350% of rated torque)

1Mounted high-resolution serial encoder:

13, 20 bits1Maximum speed: 6,000 min-1 1Wide Selection: 50 to 750 W capacity, holding

brake and gear options

1With Gears

SGMJV - 01Series Servomotor SGMJV

A3rd digit

D4th digit

A5th digit

H6th digit

17th digit

28th digit

19th digit

1st+2nd digits

1st+2nd digits Rated OutputCode A5 Specifications


8th digit Shaft EndCode Specifications Flange output Straight without key Straight with key and tap

01 02 04 08

50 W 100 W 200 W 400 W 750 W

6th digit Gear TypeCode H Specifications HDS planetary low-backlash gear

0 2 6

9th digit OptionsCode Specifications Without options With holding brake (24 VDC)

3rd digit Power Supply VoltageCode A Specifications 200 VAC

7th digit Gear RatioCode B C Specifications 1/11 (Not available: 50 W) 1/21 1/5 1/9 (Only 50 W) 1/33

1 C


3 D A

Specifications 20-bit absolute (standard) 20-bit incremental (standard)

1 2 7

13-bit incremental (standard)

2

Rotary Servomotors

Ratings and SpecificationsTime Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: BVoltage Servomotor Model: SGMJV- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed*1 Torque Constant Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK W Nm Nm Arms Arms min-1 min-1 N m/Arms A 5A

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side01A 100 0.318 1.11 0.84 2.9 200 V 02A 200 0.637 2.23 1.6 5.8 3000 6000 0.435 0.259 (0.323) 15.7 24600 1R6A,2R1F 04A 400 1.27 4.46 2.7 9.3 08A 750 2.39 8.36 4. 7 16.9

50 0.159 0.557 0.61 2. 1

0.285 0.0414 (0.0561) 6.11 38400 R70

0.413 0.0665 (0.0812) 15.2 47800 R90

0.512 0.442 (0.506) 36.5 28800 2R8

0.544 1.57 (1.74) 36.3 15200 5R5A

10-4 kg m2kW/s rad/s2 SGDV-

These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values quoted are at 20C. Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached. SGMJV-A5A, -01A: 200 mm200 mm6 mm SGMJV-02A, -04A, -08A: 250 mm250 mm6 mm Note: The values in parentheses are for servomotors with holding brakes.

*1: *2:

1Torque-Motor Speed CharacteristicsSGMJV-A5A6000Motor Speed (min-1) Motor Speed (min-1)

A

: Continuous Duty ZoneSGMJV-01A

B

: Intermittent Duty ZoneSGMJV-02A6000

6000 5000 4000 3000A B Motor Speed (min-1)

5000 4000 3000A B

5000 4000 3000A B

2000 1000 0 0 0.15 0.3 0.45 Torque (Nm) 0.6

2000 1000 0 0 0.25 0.5 0.75 Torque (Nm) 1

2000 1000 0 0 0.5 1 1.5 Torque (Nm) 2

SGMJV-04A6000Motor Speed (min-1)

SGMJV-08A6000Motor Speed (min-1)

5000 4000 3000A B

5000 4000 3000A B

2000 1000 0 0 1 2 3 Torque (Nm) 4

2000 1000 0 0 2 4 6 Torque (Nm) 8

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMJV-A5A servomotor combined with a single-phase 200 V SERVOPACK has the same characteristics as one combined with threephase 200 V SERVOPACK. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

3

Servomotors

SGMJV

Rotary Motors

1Derating Rate for Servomotor Fitted with an Oil Seal When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.Servomotor Model SGMJVDerating Rate % A 5A

01A 90

02A

04A 95

08A

80

1Holding Brake Electrical SpecificationsHolding Brake Rated Voltage Servomotor Model SGMJV-A5A SGMJV-01A Servomotor Rated Output W Holding Brake Specifications Capacity W Holding Torque N m Coil Resistance (at 20C) Rated Current A(at 20C) Brake Release Time ms Brake Operation Time ms

24 VDC +10% 0

SGMJV-02A SGMJV-04A SGMJV-08A

50 100 200 400 750

5.5 5.5 6 6 6.5

0.159 0.318 0.637 1.27 2.39

103 103 97.4 97.4 87.7

0.23 0.23 0.25 0.25 0.27

60 60 60 60 80

100 100 100 100 100

Notes:1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers.

1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.10000

1000

Detecting time (s)

100

10

1 100

150

200

250

300

350

Torque reference (percent of rated torque) (%)

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.

4

Rotary Servomotors

Ratings and Specifications

Ratings and Specifications1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.Servomotor Model A5A, 01A SGMJVServomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

02A 04A, 08A

50, 100 W 200 W 400, 750 W

20 times 15 times 10 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. . The program can be downloaded for free from our web site (http://www.e-mechatronics.com/An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.Servomotor Model A 5A Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference DiagramLF

78 01ASGMJV-

54

20Fr

02A 245 04A 08A 392 147 35 74 25

Fs

5

Servomotors

SGMJV

Rotary Motors

(1) 50, 100 W0.04 AL LL

25LM

0.04 Dia. A40

20.5 6.1 2 17 20

2.5 5

19 14QK

12

U

30 0.021 Dia. 0

46

8 0.009 Dia. 0

Dia .

W

Y

Y

T Cross Section Y-Y

A

0.02

2-4.3 Dia.Tap Depth

Shaft End With Key and Tap

Model SGMJVA5AA21 (A5AA2C) A5AA61 (A5AA6C)

L

LL

LM

Tap Depth No tap

Key Dimensions QK U W T

Approx. Mass kg

94 (139)

69 (114)

No key

37M3 6L No tap

14

1.8

3

3

0.3 (0.6)

01AA21 (01AA2C) 01AA61 (01AA6C)

107.5 (152.5)

82.5 (127.5)

No key

50.5M3 6L

14

1.8

3

3

0.4 (0.7)

Note: The models and values in parentheses are for servomotors with holding brakes.

2With Two Flat SeatsQH 8 0.009 Dia. 01.5

2With an Oil Seal7.5

H1

H2

Model SGMJVA5AAB

Dimensions of Servomotor with Two Flat Seats mm QH H1 H2Oil Seal Cover

01AAB

15

7. 5

7.5Notes: 1 The 7th digit of the model designation is S or E. 2 Key dimensions are the same as those in the table above.

29.8 Dia.

30 0.021 Dia. 0

6

Rotary Servomotors

External Dimensions

Units: mm

External Dimensions(2) 200 to 750 W

Units: mm

L LL

0.04LR LE LG

A

0.04 Dia. ALC MW

20.5 MD 14

LM

1.5

17

21

QK LB Dia. W Y

MH

U

S Dia.

T Cross Section Y-Y Shaft End With Key and Tap.

LA

Y

A

Tap Depth

Dia

4-LZ Dia.

0.02

Model SGMJV-

L

LL

LM

Flange Face Dimensions LR LE LG LC LA LB LZ

S

Tap Depth No tap


MD MW MH

Approx. Mass kg

02AA21 (02AA2C) 02AA61 (02AA6C) 04AA21 (04AA2C) 04AA61 (04AA6C) 08AA21 (08AA2C) 08AA61 (08AA6C)

110 (150)

80 (120)

No key

51

30

3

6

60 70 50 0.025 5.5 14 0.011 0 0M58L No tap

8.3 14 3 5 5

21

13

0.9 (1.5)

128.5 98.5 69.5 30 (168.5) (138.5)

No key

3

6

60 70 50 0.025 5.5 14 0.011 0 0M58L No tap

8.3 14 3 5 5

21

13

1.3 (1.9)

155 (200)

115 (160)

No key

85

40

3

8

80 90 70 0.030 0

7

19 0.013 0M610L

13.8 22 3. 5 6 6

27

15

2.7 (3.6)

Note: The models and values in parentheses are for servomotors with holding brakes.

2With Two Flat SeatsQH

2With an Oil SealLS2 LS1 LE

S Dia.

H1

E1 Dia.

H2

Model SGMJV-

Dimensions of Servomotor with Two Flat Seats mm QH S H1 H2Oil Seal Cover

02AAB 04AAB 08AAB

15 22

14 19

0 0.011 0 0.013

13 18

13 18

Model SGMJV-

Dimensions of Servomotor with an Oil Seal E1 E2 LS1 LS2

02A, 04A 08A

36 49

48 66

E2 Dia.

4 6

10 11

Notes: 1 The 7th digit of the model designation is S or E. 2 Key dimensions are the same as those in the table above.

7

Servomotors

SGMJV

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m(See page 14.)(Example) SGDV SERVOPACK Relay Encoder Cable (See page 14.)

e Cable with a Battery (Required when an absolute encoder is used.)

Encoder Cable (See page 12.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 8 and 9.) SGMJV Servomotor Servomotor Main Circuit Cable (See page 8 and 9.)

w Cable with Connectors, or r Cable

q Encoder-end Cable

SGMJV Servomotor

CAUTIONSeparate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit CableName Servomotor Rated Output Length Order No. Standard Type JZSP-CSM01-03-E JZSP-CSM01-05-E JZSP-CSM01-10-E JZSP-CSM01-15-E JZSP-CSM01-20-E JZSP-CSM01-30-E JZSP-CSM01-40-E JZSP-CSM01-50-E JZSP-CSM02-03-E JZSP-CSM02-05-E JZSP-CSM02-10-E JZSP-CSM02-15-E JZSP-CSM02-20-E JZSP-CSM02-30-E JZSP-CSM02-40-E JZSP-CSM02-50-E JZSP-CSM03-03-E JZSP-CSM03-05-E JZSP-CSM03-10-E JZSP-CSM03-15-E JZSP-CSM03-20-E JZSP-CSM03-30-E JZSP-CSM03-40-E JZSP-CSM03-50-E Flexible Type* JZSP-CSM21-03-E JZSP-CSM21-05-E JZSP-CSM21-10-E JZSP-CSM21-15-E JZSP-CSM21-20-E JZSP-CSM21-30-E JZSP-CSM21-40-E JZSP-CSM21-50-E JZSP-CSM22-03-E JZSP-CSM22-05-E JZSP-CSM22-10-E JZSP-CSM22-15-E JZSP-CSM22-20-E JZSP-CSM22-30-E JZSP-CSM22-40-E JZSP-CSM22-50-E JZSP-CSM23-03-E JZSP-CSM23-05-E JZSP-CSM23-10-E JZSP-CSM23-15-E JZSP-CSM23-20-E JZSP-CSM23-30-E JZSP-CSM23-40-E JZSP-CSM23-50-E(Contd)Wire Markers M4 Crimped Terminals SERVOPACK End Servomotor End 50 mm

Specifications

Details

50, 100 W

For Servomotor without Holding Brakes

200, 400 W

750 W

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

(1)

8

Rotary Servomotors

Selecting Cables

Selecting CablesName Servomotor Rated Output Length Order No. Standard Type JZSP-CSM11-03-E JZSP-CSM11-05-E JZSP-CSM11-10-E JZSP-CSM11-15-E JZSP-CSM11-20-E JZSP-CSM11-30-E JZSP-CSM11-40-E JZSP-CSM11-50-E JZSP-CSM12-03-E JZSP-CSM12-05-E JZSP-CSM12-10-E JZSP-CSM12-15-E JZSP-CSM12-20-E JZSP-CSM12-30-E JZSP-CSM12-40-E JZSP-CSM12-50-E JZSP-CSM13-03-E JZSP-CSM13-05-E JZSP-CSM13-10-E JZSP-CSM13-15-E JZSP-CSM13-20-E JZSP-CSM13-30-E JZSP-CSM13-40-E JZSP-CSM13-50-E Flexible Type* JZSP-CSM31-03-E JZSP-CSM31-05-E JZSP-CSM31-10-E JZSP-CSM31-15-E JZSP-CSM31-20-E JZSP-CSM31-30-E JZSP-CSM31-40-E JZSP-CSM31-50-E JZSP-CSM32-03-E JZSP-CSM32-05-E JZSP-CSM32-10-E JZSP-CSM32-15-E JZSP-CSM32-20-E JZSP-CSM32-30-E JZSP-CSM32-40-E JZSP-CSM32-50-E JZSP-CSM33-03-E JZSP-CSM33-05-E JZSP-CSM33-10-E JZSP-CSM33-15-E JZSP-CSM33-20-E JZSP-CSM33-30-E JZSP-CSM33-40-E JZSP-CSM33-50-ECrimped Type (A crimp tool is required.)

Specifications

Details

50, 100 W

For Servomotor with Holding Brakes

200, 400 W

750 W

3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m

SERVOPACK End 50 mm

Servomotor End L

(2)Wire Markers M4 Crimped Terminal

50, 100 WServomotorend Connector Kit

JZSP-CSM9-1-E JZSP-CSM9-2-E JZSP-CSM9-3-E

(3) (4) (5)

200, 400 W 750 W 5m 10 m 15 m 20 m 30 m 40 m 50 m 5m 10 m 15 m 20 m 30 m 40 m 50 m

JZSP-CSM90-05-E JZSP-CSM90-10-E JZSP-CSM90-15-E JZSP-CSM90-20-E JZSP-CSM90-30-E JZSP-CSM90-40-E JZSP-CSM90-50-E JZSP-CSM91-05-E JZSP-CSM91-10-E JZSP-CSM91-15-E JZSP-CSM91-20-E JZSP-CSM91-30-E JZSP-CSM91-40-E JZSP-CSM91-50-E

JZSP-CSM80-05-E JZSP-CSM80-10-E JZSP-CSM80-15-E JZSP-CSM80-20-E JZSP-CSM80-30-E JZSP-CSM80-40-E JZSP-CSM80-50-E JZSP-CSM81-05-E JZSP-CSM81-10-E JZSP-CSM81-15-E JZSP-CSM81-20-E JZSP-CSM81-30-E JZSP-CSM81-40-E JZSP-CSM81-50-E (7) (6)

50 to 400 W

Cables

750 W

*: Use flexible cables for movable sections such as robot arms.(1) Wiring Specications for Servomotors without Holding Brakes (2) Wiring Specications for Servomotor with Holding BrakesSERVOPACK-end Leads Wire Color Green/yellow Blue White Red Signal FG Phase W Phase V Phase U Servomotor-end Connector Signal FG Phase W Phase V Phase U

SERVOPACK-end Leads Wire Color Green/yellow Blue White Red Black Black Signal FG Phase W Phase V Phase U Brake Brake

Servomotor-end Connector Signal FG Phase W Phase V Phase U Brake Brake Pin No.

Pin No.

1 2 3 4 5 6

1 2 3 4 5 6

9

Note: No polarity for connection to a holding brake.

Servomotors

SGMJV

Rotary Motors

(3) Servomotor-end Connector Kit Specifications: For 50, 100 W ServomotorsItems Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-1-E (Cables are not included.) SGMJV-A5A, -01A J.S.T. Mfg. Co., Ltd. J17-06FMH-7KL-1-CF SJ1F-01GF-P0.8 AWG20 to 2412

External Dimensions mm20 19

654 321Pin No.1

1.11 dia. to 1.53 dia. mmM2 Pan-head screw

7 0.3 dia. mm

Pin No.6

Note: A crimp tool (Model no.: YRS-8841) is required. Contact the respective manufacturer for more information.

(4) Servomotor-end Connector Kit Specications: For 200, 400 W ServomotorsItems Order No. Applicable Servomotors Manufacturer Receptacle Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-2-E (Cables are not included.) SGMJV-02A, -04A J.S.T. Mfg. Co., Ltd. J27-06FMH-7KL-1-CF SJ2F-01GF-P1.0 AWG20 to 2413

External Dimensions mm21 21

654 321Pin No.1

1.11 dia. to 1.53 dia. mmM2 Pan-head screwPin No.6

7 0.3 dia. mm

Note: A crimp tool (Model no.: YRS-8861) is required. Contact the respective manufacturer for more information.

(5) Servomotor-end Connector Kit Specications: For 750 W ServomotorsItems Order No. Applicable Servomotors Manufacturer Receptacle Cable Type Electrical Contact Applicable Wire Size Outer Diameter of Insulating Sheath Mounting Screw Applicable Cable Outer Diameter Specifications JZSP-CSM9-3-E (Cables are not included.) SGMJV-08A J.S.T. Mfg. Co., Ltd. J37-06FMH-8KL-1-CF Standard SJ3F-41GF-P1.8 (For power terminals) AWG16 to 20 SJ3F-01GF-P1.8 (For brake terminals) AWG20 to 2427 21

External Dimensions mm

15

654321Pin No.1 Pin No.6

1.11 dia. to 1.53 dia. to 2.5 dia. mm 1.86 dia. mm M2.5 Pan-head screw 8 0.3 dia. mm

Note: The following crimp tools are required. For power terminals: Model no. YRF-880 For brake terminals: Model no. YRF-881 Contact the respective manufacturer for more information.

10

Rotary Servomotors

Selecting Cables

Selecting Cables(6) Cable Specications: For 50 to 400 W ServomotorsItems Order No.* Standard Type JZSP-CSM90--E (50 m max.) UL2517 (Rating temperature: 105C) AWG20 6C For power line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.53 dia. mm Flexible Type JZSP-CSM80--E (50 m max.) UL2517 (Rating temperature: 105C) AWG22 6C For power line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

7 0.3 dia. mm

Black Green/ (yellow)

White

Internal Configuration and Lead Color

BlueBlack

Red

Yaskawa Standard Specifications (Standard Length)Specify *: Examplethe cable length in 5of order no. : JZSP-CSM90-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

(7) Cable Specications: For 750 W ServomotorsItems Order No.* Standard Type JZSP-CSM91--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG20 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.15 dia. mm For holding brake line: AWG20 (0.52 mm2) Outer diameter of insulating sheath: 1.6 dia. mm Flexible Type JZSP-CSM81--E (50 m max.) UL2517 (Rating temperature: 105C) AWG16 4C, AWG22 2C For power line: AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.35 dia. mm For holding brake line: AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.37 dia. mm

Specifications

Finished Dimensions

8 0.3 dia. mm

Black Green/ (yellow)

Red

Internal Configuration and Lead Color

BlueBlack

White

Yaskawa Standard Specifications (Standard Length)Specify *: Examplethe cable length in 5of order no. : JZSP-CSM91-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

11

Servomotors

SGMJV

Rotary Motors

1Encoder Cables (Length: 20 m or less)Name Cable with Connectors (For Incremental Encoder) Cable with Connectors*2 (For Absolute Encoder, with a Battery Case) SERVOPACK-end Connector Kit Encoder-end Connector Kit Length Order No. Standard Type JZSP-CSP01-03-E JZSP-CSP01-05-E JZSP-CSP01-10-E JZSP-CSP01-15-E JZSP-CSP01-20-E JZSP-CSP05-03-E JZSP-CSP05-05-E JZSP-CSP05-10-E JZSP-CSP05-15-E JZSP-CSP05-20-E Flexible Type*1 JZSP-CSP21-03-E JZSP-CSP21-05-E JZSP-CSP21-10-E JZSP-CSP21-15-E JZSP-CSP21-20-E JZSP-CSP25-03-E JZSP-CSP25-05-E JZSP-CSP25-10-E JZSP-CSP25-15-E JZSP-CSP25-20-E SpecificationsSERVOPACK End L Encoder End

Details

3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m

(1)Connector Plug Connector (Crimped) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End L Encoder End

(2)Battery Case (Battery attached) Plug Connector Connector (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

Soldered

JZSP-CMP9-1-ECrimped Type (A crimp tool is required.)

(3)

JZSP-CSP9-2-E

Cables

3m 5m 10 m 15 m 20 m

JZSP-CMP09-03-E JZSP-CMP09-05-E JZSP-CMP09-10-E JZSP-CMP09-15-E JZSP-CMP09-20-E

JZSP-CSP39-03-E JZSP-CSP39-05-E JZSP-CSP39-10-E JZSP-CSP39-15-E JZSP-CSP39-20-E (4)

sections such as robot *1:: Use flexible cables for movableto the host controller, noarms. case is required. If so, use a cable for incremental encoders. battery *2 When the battery is connected

(1) Wiring Specications for Cable with Connectors (For incremental encoder) Standard TypeSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire

Flexible TypeSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire

Encoder (Servomotor) End Pin No. Wire Color Light blue/white Light blue Orange/white Orange Black Red FG

Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1Shell

5 4 8 9 3 6Shell

6 5 4 3 2 1Shell

5 4 8 9 3 6Shell

(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case) Standard TypeSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire

Flexible TypeSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire


Encoder (Servomotor) End Pin No. Wire Color Black/pink Red/pink Black/light blue Red/light blue Green Orange FG

6 5 4 3 2 1Shell

5 4 8 9 3 6Shell

6 5 4 3 2 1Shell

5 4 8 9 3 6Shell

Battery Case Pin No. Signal BAT () BAT (+)


2 1

2 1

12

Rotary Servomotors

Selecting Cables

Selecting Cables(3) SERVOPACK-end/Encoder-end Connector Kit SpecificationsItems Order No. Manufacturer SERVOPACK-end Connector Kit JZSP-CMP9-1-E (Cables are not included.) Molex Japan Co., Ltd. 55100-0670 (soldered) Product Specification: PS-54280 Encoder-end Connector Kit JZSP-CSP9-2-E (Cables are not included.) Molex Japan Co., Ltd.

Specifications

54346-0070 (crimped)* Mounting screw: M2 pan-head screw ( 2) Applicable cable outer diameter of applicable cable: 6.3 dia. to 7.7 dia. mm Applicable wire size: AWG22 to 26 Outer diameter of insulating sheath: 1.05 dia. to 1.4 dia. mm Application Specification: AS-54992 Crimping Specification: CS-56161(27)

20.5

17 2-M2 Pan-head Screws

External Dimensions (Units: mm)

5 6 3 4 1 2

(19)

11

7(12) (33)

1

9 6required. *: A crimp tool iscrimp tool is applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for The following crimp tools. Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000

(4) Cable SpecicationsItems Order No.* Cable Length Standard Type JZSP-CMP09--E UL20276 (Rating temperature: 80C) Flexible Type JZSP-CSP39--E

Specifications

20 m max. UL20276 (Rating temperature: 80C) AWG222C+AWG242P AWG222C+AWG242P AWG22 (0.33 mm2) AWG22 (0.33 mm2) Outer diameter of insulating sheath: 1.15 dia. mm Outer diameter of insulating sheath: 1.35 dia. mm AWG24 (0.20 mm2) AWG24 (0.20 mm2) Outer diameter of insulating sheath: 1.09 dia. mm Outer diameter of insulating sheath: 1.21 dia. mm 6.5 dia. mm 6.8 dia. mm

Finished Dimensions

Light blue

Internal Configuration and Lead ColorOrange Orange/ white

Light blue/ white Red BlackBlack/ pink Red/ pink Orange Green

Yaskawa Standards Specifications (Standard Length)Specify *: Examplethe cable length in 5of order no. : JZSP-CMP09-05-E ( m)

Cable length: 5 m, 10 m, 15 m, 20 m

13

5Black/ light blue Red/ light blue

Servomotors

SGMJV

Rotary Motors

1Relay Encoder Cables (For extending from 30 to 50 m)Name Length Order No. Standard Type SpecificationsSERVOPACK End Encoder End

Details

q

0.3 m

Encoder-end Cables (For incremental and absolute encoder)

0.3 m

JZSP-CSP11-EPlug Connector (Crimped) Connector (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

(1)

30 mw

JZSP-UCMP00-30-E JZSP-UCMP00-40-E JZSP-UCMP00-50-E

SERVOPACK End

L

Encoder End

Cable with Connectors (For incremental and absolute encoder)

40 m 50 m

(2)Plug Connector (Crimped) Socket Connector (Soldered) (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.) SERVOPACK End

0.3 m

Encoder End

Cable with a Battery Case (Required when an absolute encoder is used*.)

0.3 m

JZSP-CSP12-E

Battery Case (Battery attached)Plug Connector (Crimped) (Molex Japan Co., Ltd.) Socket Connector (Soldered) (Molex Japan Co., Ltd.)

(3)

30 m

JZSP-CMP19-30-E JZSP-CMP19-40-E JZSP-CMP19-50-E (4)

Cables

40 m 50 m

*: Not required when connecting a battery to the host controller.(1) Wiring Specifications for Encoder-end CableSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire

(2) Wiring Specifications for Cable with ConnectorsSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire



6 5 4 3 2 1Shell

5 4 8 9 3 6Shell

6 5 4 3 2 1Shell

6 5 4 3 2 1Shell

(3) Wiring Specications for Cable with a Battery CaseSERVOPACK End Pin No. Signal /PS PS BAT () BAT (+) PG 0V PG 5V FGShield Wire

(4) Cable SpecicationsItem Order No.* Cable Length Standard Type JZSP-CMP19--E


50 m max.UL20276 (Rating temperature: 80C) AWG162C+AWG262P AWG16 (1.31 mm2) Outer diameter of insulating sheath: 2.0 dia. mm AWG26 (0.13 mm2) Outer diameter of insulating sheath: 0.91 dia. mm

6 5 4 3 2 1Shell

6 5 4 3 2 1Shell

Specifications

Finished Dimensions

6.8 dia. mm


Black

2 1

Internal Configuration and Lead Colors

Orange Orange /white

Light Blue Light Blue /white

Red

Yaskawa Standard Specifications (Standard Length)

Cable length: 30 m, 40 m, 50 m

of order *: Specify the cable length in 30 m) no. Example: JZSP-CMP19-30-E (

14

Rotary Servomotors

Selecting Cables

With Low-backlash Gears

Ratings and SpecificationsWithstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP55 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load sideGear Rated Torque N m Instantaneous Peak Torque N m Gear Ratio Lost Motion arc-min Rated Torque / Efficiency*1 N m /% Instantaneous Peak Torque N m Rated Speed min-1 Max. Speed min-1

Time Rating: Continuous Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Gear Mechanism: Planetary gear mechanism Thermal Class: BServomotor Servomotor Model SGMJVA5AAH1 A5AAH2 A5AAHC A5AAH7 Rated Output W Rated Speed min-1 Max. Speed min-1

50

3000

6000

0.159

0.557

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7

100

3000

6000

0.318

1.11

200

3000

6000

0.637

2.23

400

3000

6000

1.27

4.46

750

3000

6000

2.39

8.36

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

3 max.

3 max.

3 max.

3 max.

3 max.

0.433/64*2 1.12/78 2.84/85 3.68/70 1.06/78*2 2.52/72 5.35/80 7.35/70 2.39/75 5.74/82 10.2/76 17.0/81 5.35/84 11.5/82 23.0/86 34.0/81 10.0/84 23.1/88 42.1/84 69.3/88

2.37 3.78*3 10.6 15.8 4.96 10.7 20.8 32.7 9.80 22.1 42.1 67.6 20.1 45.1 87.0 135 38.4 86.4 163 259

600 333 143 91 600 273 143 91 600 273 143 91 600 273 143 91 600 273 143 91

1200 667 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182 1200 545 286 182

Gear output torque is expressed using the following equation. 1 (Gear output torque)= (Servomotor output torque) (efficiency) (gear ratio) Gear efficiency depends on operating conditions such as output torque, motor speed, and temperature etc. The values in the table are representative values with rated torque, rated speed, and an ambient temperature of 25C, and are not guaranteed values. 2: When using SGMJV-A5A, -01A servomotors with a gear ratio of 1/5, maintain an 85% max. effective load ratio. The values in the table are provided with consideration given to the effective load ratio. 3: Instantaneous Peak torque is 300% Notes: 1 The gear mounted to our servomotor has not been broken in. Break in the servomotor if necessary. First, run the motor at low speed with no load. If no problems arise, gradually increase the speed and load. 2 The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later. This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.

*1: * *

IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 min-1 at gear output shaft), when using servomotors with one pulse feed reference for extended periods and in some other situations, the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or increase the load ratio. Contact your Yaskawa representative if you are using your servomotor under these conditions.

15

Servomotors

SGMJV

Rotary Motors

Moment of Inertia and Allowable Radial and Thrust LoadsMoment of Inertia10-4 kg m2 Servomotor Model SGMJVA5AAH1 A5AAH2 A5AAHC A5AAH7 Flange Output Motor Motor Servomotors with Low-backlash Gears Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

+

Gear

Gear

+

Gear

Gear

01AAH1 01AAHB 01AAHC 01AAH7 02AAH1 02AAHB 02AAHC 02AAH7 04AAH1 04AAHB 04AAHC 04AAH7 08AAH1 08AAHB 08AAHC 08AAH7

0.0474 0.0444 0.0454 0.0864 0.0725 0.127 0.117 0.132 0.466 0.452 0.749 0.709 0.649 1.01 0.932 1.06 2.27 2.17 4.57 4.37

0.006 0.003 0.004 0.045 0.006 0.060 0.050 0.065 0.207 0.193 0.490 0.450 0.207 0.570 0.490 0.620 0.700 0.600 3.00 2.80

0.0464 0.0444 0.0454 0.0864 0.0715 0.126 0.117 0.131 0.460 0.451 0.747 0.708 0.643 1.00 0.930 1.05 2.23 2.16 4.55 4.36

0.005 0.003 0.004 0.045 0.005 0.059 0.050 0.064 0.201 0.192 0.488 0.449 0.201 0.560 0.488 0.610 0.660 0.590 2.98 2.79

95 113 146 267 95 192 233 605 152 192 528 605 152 435 528 951 343 435 830 951

431 514 663 1246 431 895 1087 2581 707 895 2254 2581 707 1856 2254 4992 1465 1856 4359 4992

37 37 37 53 37 53 53 75 53 53 75 75 53 75 75 128 75 75 128 128

With shaftLF

Fr Fs

With flangeLF

Fr

Fs

IMPORTANT The gear generates the loss at gear mechanism and oil seal. The loss varies with torque and motor speed conditions. The temperature rise depends on heating conditions. Always check the actual gear and motor temperature. If the temperature is high, take the measures shown below. Decrease the load ratio. Change the heating conditions. Cool the motor with a cooling fan etc.

Rated Output W

1/5

50 100 200 400 750

Heat Sink Size 1/9 or 1/11 1/21 A

1/33

B C

A : 250 mm 250 mm 6 mm, aluminum B : 300 mm 300 mm 12 mm, aluminum C : 350 mm 350 mm 12 mm, aluminum

16

Rotary Servomotors



With Low-backlash Gears(1) 50, 100 W

External Dimensions

Units: mmWU T

L LL LM LG

0.06 (0.05) ALR L1 L3 LE L2 Q QK A Shaft End With Key and Tap 0.05 Dia. (0.04 Dia.) A LCLA Di a.

0.04 (0.03)

214

17

20

12

Note: The geometric tolerance in parentheses indicates the value when LC=40.

Rotating Section (Shaded Section)

C Dia. B Dia. LD Dia. LB Dia.

S Dia.

4-LZ Dia.

Tap Depth

Model SGMJVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) *

Gear Ratio

L

LL

LM

Flange Face Dimensions LR LE LG B LD LB LC LA LZ

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33

150.5 (195.5) 159.5 (204.5) 191 (236) 164 (209) 204.5 (249.5) 229 (274)

108.5 (153.5) 117.5 (162.5) 133 (178) 122 (167) 146.5 (191.5) 149 (194)

76.5 42 85.5 101 90 58 42 2.5 2.2 8 5 40 29 55.5 39.5 56 0.030 0 40 0.025 0 60 40 70 46 5. 5 3. 4 2.2 5 29 39.5 40 0.025 0 40 46 3. 4

A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) *

01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) *Model SGMJVA5AAH11 * (A5AAH1C) * A5AAH21 * (A5AAH2C) *

01A AHB1 * (01AAHBC) *

01AAH11 * (01AAH1C) *

114.5

58

2.5

8

40

55.5

56 0.030 0

60

70

5. 5

117

80

7.5

10

59

84

85 0.035 0

90

105

9Approx. Mass kg

Flange Face Dimensions L1 L2 L3

Q

C

S

Tap Depth


22

20

14.6

10

0 0.015

M3 6L

15

2.5

4

4

0.6 (0.9) 0.7 (1.0)

A5AAHC1 * (A5AAHCC) * A5AAH71 * (A5AAH7C) *

28 22

30 20

20 14.6

28

20

16 0.018 0 10 0.015 0

M4 8L M3 6L

25 15

3 2.5

5 4

5 4

1.3 (1.6) 0.7 (1.0) 1.4 (1.7) 2.8 (3.1)

01AAHC1 * (01AAHCC) * 01AAH71 * (01AAH7C) *

01AAHB1 * (01AAHBC) *

01AAH11 * (01AAH1C) *

28

30

20

28

20

16 0.018 0

M4 8L

25

3

5

5

36

44

26

42

32

25 0.021 0

M6 12L

36

4

8

7

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

17

Servomotors

SGMJV

Rotary Motors

1Flange Output FaceL

0.06LR L3 LE0.05

A

0.02 0.04 0.03 A

0.05 Dia.

0.04 Dia.

ALC

LA

Di

a.

F Dia. G Dia. LD Dia. LB Dia.

LJ D

ia.

Note: The geometric tolerance in parentheses indicates the value when LC=40.

LK

4-LZ Dia.

Tap Depth

Model SGMJVA5AAH101 (A5AAH10C) A5AAH201 (A5AAH20C) A5AAHC01 (A5AAHC0C) A5AAH701 (A5AAH70C)

Gear Ratio

L

LR

LJ

F

G

LK

No. of pcs Approx. Mass Tap Depth kg

1/5 1/9 1/21 1/33 1/5 1/11 1/21 1/33

123.5 (168.5) 123.5 (168.5) 132.5 (177.5) 154 (199) 137 (182) 167.5 (212.5) 167.5 (212.5) 176 (221) 21 15 30 18 14 5+0.018 0

15

18

5

+0.012 0

24

3

3-M4 6L

0.6 (0.9)

40 24

5 3

6-M4 7L 3-M4 6L

1.2 (1.5) 0.7 (1.0) 1.3 (1.6) 2.4 (2.7)

01AAH101 (01AAH10C) 01AAHB01 (01AAHB0C) 01AAHC01 (01AAHC0C) 01AAH701 (01AAH70C)

+0.012 0

21

30

14

+0.018 0

40

5

3-M4 7L

27

45

24

+0.021 0

59

5

6-M6 10L

Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Dimensions not found in the table above are the same as those in the table on the previous page.

IMPORTANT Regarding the flange output type shaft end, when the flange "LC" is 40 mm, we recommend designing a servomotor with the dimensions shown in the diagram on the right, in order to secure the gap between the gear oil seal and the parts on the load side.

0.5 min.

Parts on the load side

24 Dia. max.

18

Rotary Servomotors


External Dimensions

Units: mm

With Low-backlash Gears(2) 200, 400 W

External Dimensions

Units: mm

WU TLC

L LL LM LG

0.06LR L1 L3 LE

A Shaft End With Key and Tap

L2 Q QK

0.05 Dia. A 0.04ALA Di

1.5

17

21

a.

14

13

S Dia. C Dia. B Dia. LD Dia. LB Dia.


4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

L

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) *

02AAH11 * (02AAH1C) * 02AAHB1 * (02AAHBC) *

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

202 (242)

144 (184)

115

58

2.5

8

40

55.5

56 0.030 0

60

70

5.5

231 (271) 220.5 (260.5) 249.5 (289.5) 335.5 (375.5)

151 (191) 162.5 (202.5) 169.5 (209.5) 202.5 (242.5)

122

80

7.5

10

59

84

85 0.035 0

90

105

9

133.5

58

2.5

8

40

55.5

56 0.030 0

60

70

5.5

04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) *Model SGMJV-


140.5

80

7.5

10

59

84

85 0.035 0

90

105

9

173.5

133

12.5

13

84

114

115 0.035 0

120

135

11


Q

C

S

Tap Depth


Approx. Mass kg

02AAHB1 * (02AAHBC) * 02AAHC1 * (02AAHCC) * 02AAH71 * (02AAH7C) * 04AAH11 * (04AAH1C) *

02AAH11 * (02AAH1C) *

28

30

20

28

20

16 0.018 0

M4 8L

25

3

5

5

1.9 (2.5) 2.0 (2.6) 3.8 (4.4) 2.3 (2.9) 4.2 (4.8) 8.8 (9.4)

36

44

26

42

32

25 0.021 0

M6 12L

36

4

8

7

28

30

20

28

20

16 0.018 0

M4 8L

25

3

5

5

04AAHC1 * (04AAHCC) * 04AAH71 * (04AAH7C) *


36

44

26

42

32

25 0.021 0

M6 12L

36

4

8

7

48

85

33

82

44

40 0.025 0

M10 20L

70

5

12

8

The asterisk ( ) describes the 8th digit of *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap). Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

19

Servomotors

SGMJV

Rotary Motors

1Flange Output FaceL LR L3 LE A

0.06 A 0.02 0.05 Dia. A 0.04LC

a. Di LA


LJ Dia .

5Model SGMJVGear Ratio

4-LZ Dia.

Tap Depth

L

LR

LJ

F

G

No. of pcs Approx. Mass Tap Depth kg

02AAH101 (02AAH10C) 02AAHB01 (02AAHB0C) 02AAHC01 (02AAHC0C) 02AAH701 (02AAH70C) 04AAH101 (04AAH10C) 04AAHB01 (04AAHB0C) 04AAHC01 (04AAHC0C) 04AAH701 (04AAH70C)

1/5 1/11 1/21 1/33 1/5 1/11 1/21 1/33

165 (205)

21

30

14

+0.018 0

40

6-M4 7L

1.8 (2.4) 1.9 (2.5) 3.4 (4.0) 2.2 (2.8) 3.8 (4.4) 7.4 (8.0)

178 (218) 183.5 (223.5) 196.5 (236.5) 237.5 (277.5)

27

45

24

+0.021 0

59

6-M6 10L

21

30

14

+0.018 0

40

6-M4 7L

27

45

24

+0.021 0

59

6-M6 10L

35

60

32

+0.025 0

84

6-M8 12L


20

Rotary Servomotors


External Dimensions

Units: mm

With Low-backlash Gears(3) 750 W

External Dimensions

Units: mmW U T

L LL LM LG

0.06LR L1 L3 LE

A

L2 Q QK

0.04A

1. 5 14

17

21 15

Shaft End With Key and Tap 0.05 Dia. A LCLA Di a.

S Dia. C Dia. B Dia. LD Dia. LB Dia.


4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

L

LL

LM

LR

LE

LG

Flange Face Dimensions B LD LB

LC

LA

LZ

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) *Model SGMJV-

1/5 1/11 1/21 1/33

273 (318)

193 (238)

163

80

7.5

10

59

84

85 0.035 0

90

105

9

352 (397)

219 (264)

189

133

12.5

13

84

114

115 0.035 0

120

135

11


Q

C

S

Tap Depth


Approx. Mass kg

08AAH11 * (08AAH1C) * 08AAHB1 * (08AAHBC) * 08AAHC1 * (08AAHCC) * 08AAH71 * (08AAH7C) *

36

44

26

42

32

25

0 0.021

M6 12L

36

4

8

7

5.6 (6.5) 5.8 (6.7) 10.5 (11.4)

48

85

33

82

44

40 0.025 0

M10 20L

70

5

12

8

8th digit of The asterisk ( ) describes the *: order a servomotor with shaft values of the(without key the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, * end code 2 and tap).Notes: 1 The models and values in parentheses are for servomotors with holding brakes. 2 Please note that gear dimensions are different from those of , , and series.

21

Servomotors

SGMJV

Rotary Motors

2Flange Output FaceL LR L3 LE ALA Di

0.06 A 0.02 0.05 Dia. A 0.04LC

a.


LJ Dia .

5

4-LZ Dia.

Tap Depth

Model SGMJV-

Gear Ratio

L

LR

LJ

F

G

No. of pcs Approx. Mass kg Tap Depth

08AAH101 (08AAH10C) 08AAHB01 (08AAHB0C) 08AAHC01 (08AAHC0C) 08AAH701 (08AAH70C)

1/5 1/11 1/21 1/33

220 (265)

27

45

24

+0.021 0

59

6-M6 10L

5.2 (6.1) 5.4 (6.3) 9.1 (10.0)

254 (299)

35

60

32

+0.025 0

84

6-M8 12L


22

Rotary Servomotors


External Dimensions

Units: mm

Rotary Servomotors

SGMAV

Model Designations2Without Gears

SGMAV - 01Series Servomotor SGMAV

A3rd digit

D4th digit

A5th digit

26th digit

17th digit

1st+2nd digits

1st+2nd digits Rated OutputCode A5 Specifications 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1.0 kW


7th digit OptionsCode Specifications Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal

1C

01C2

02 04 06 08 10

6th digit Shaft EndCode

2 6B

Specifications Straight without key (standard) Straight with key and tap (optional) With two flat seats (optional)

E S

3rd digit Power Supply VoltageCode A Specifications 200 VAC


3 D


23

Servomotors

SGMAVFeatures1Super high power rate (Extremely low inertia) 1Instantaneous peak torque (300% of rated

Rotary Motors

Application Examples1Semiconductor equipment 1Chip mounters 1PCB drilling stations 1Robots 1Material handling machines 1Food processing equipment

torque)

1Mounted high-resolution serial encoder:

20 bits1Maximum speed: 6,000 min-1 1Wide selection: 50 W to 1.0 kW capacity,

holding brake and gear options

1With Gears

SGMAV - 01Series Servomotor SGMAV

A3rd digit

D4th digit

A5th digit

H6th digit

17th digit

28th digit

19th digit

1st+2nd digits

1st+2nd digits Rated OutputCode A5 Specifications 50 W 100 W 150 W 200 W 400 W 550 W 750 W 1.0 kW


8th digit Shaft EndCode Specifications Flange output Straight without key Straight with key and tap

01C2

02 04 06 08 10

6th digit Gear TypeCode H Specifications HDS planetary low-backlash gear

0 2 6

9th digit OptionsCode Specifications Without options With holding brake (24 VDC)

7th digit Gear RatioCode B C Specifications 1/11 (Not available: 50 W)

1 C

3rd digit Power Supply VoltageCode A Specifications

200 VAC


1 2 7

1/21 1/5 1/9 (Only 50 W) 1/33

3 D


24

Rotary Servomotors

Ratings and SpecificationsTime Rating: Continuous Vibration Class: V15 Insulation Resistance: 500 VDC, 10 M min. Ambient Temperature: 0 to 40C Excitation: Permanent magnet Mounting: Flange-mounted Thermal Class: BVoltage Servomotor Model: SGMAV- Rated Output*1 Rated Torque*1, *2 Instantaneous Peak Torque*1 Rated Current*1 Instantaneous Max. Current*1 Rated Speed*1 Max. Speed* Torque Constant1

Withstand Voltage: 1500 VAC for one minute Enclosure: Totally enclosed, self-cooled, IP65 (except for shaft opening) Ambient Humidity: 20% to 80% (no condensation) Drive Method: Direct drive Rotation Direction: Counterclockwise (CCW) with forward run reference when viewed from the load side01A 100 0.318 0.955 0.91 2.8C2A

A 5A

W Nm Nm Arms Arms min-1 min-1 N m/Arms

50 0.159 0.477 0.66 2.1

150 0.477 1.43 1.3 4.2

0.265 0.0242 (0.0389) 10.4 65800 R70

0.375 0.0380 (0.0527) 26.6 83800 R90

0.381 0.0531 (0.0678)

200 V 02A 04A 200 400 0.637 1.27 1.91 3.82 1.5 2.6 5.3 8.5 3000 6000 0.450 0.539 0.116 (0.180) 0.190 (0.254) 84.9 67000 2R8

06A 550 1.75 5.25 3.8 12.2

08A 750 2.39 7.16 5.3 16.6

10A 1000 3.18 9.55 7.4 23.9

0.496 0.326 (0.403) 93.9 53700 5R5A

0.487 0.769 (0.940) 74.1 31000 5R5A

0.467 1.20 (1.41) 84.3 26500 120A

Rotor Moment of Inertia Rated Power Rate*1 Rated Angular Acceleration*1 Applicable SERVOPACK

10-4 kg m2kW/s rad/s2 SGDV-

42.8 35.0 89900 54900 1R6A,2R1F

These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values quoted are at 20C. Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached. SGMAV-A5A, -01A: 200 mm200 mm6 mm SGMAV-C2A, -02A, -04A, -06A, -08A: 250 mm250 mm6 mm SGMAV-10A: 300 mm300 mm12 mm Note: The values in parentheses are for servomotors with holding brakes.

*1: *2:

1Torque-Motor Speed CharacteristicsSGMAV-A5AMotor Speed (min-1) Motor Speed (min-1)

A

: Continuous Duty ZoneMotor Speed (min-1)

B

: Intermittent Duty ZoneSGMAV-02AMotor Speed (min-1)

SGMAV-01A6000 5000 4000 3000 2000 1000 0 0 0.25 0.5 0.75Torque () A B

SGMAV-C2A6000 5000 4000 3000 2000 1000 0 1 0 0.4 0.8 1.2Torque () A B

6000 5000 4000 3000 2000 1000 0 0 0.15 0.3 0.45 0.6Torque () A B

6000 5000 4000 3000 2000 1000 0 0 0.5 1 1.5 2A B

1.6

Torque ()

SGMAV-04AMotor Speed (min-1) Motor Speed (min-1)

SGMAV-06AMotor Speed (min-1)

SGMAV-08AMotor Speed (min-1)

SGMAV-10A6000 5000 4000 3000 2000 1000 0 0 2.5 5 7.5 10A B

6000 5000 4000 3000 2000 1000 0 0 1 2 3 4Torque () A B

6000 5000 4000 3000 2000 1000 0 0 1.5 3 4.5 6Torque () A B

6000 5000 4000 3000 2000 1000 0 0 2 4 6 8Torque () A B

Torque ()

Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltages. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations: The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK The dotted line: With a single-phase 200 V SERVOPACK The dashed-dotted line: With a single-phase 100 V SERVOPACK An SGMAV-A5A servomotor combined with a single-phase 200 V SERVOPACK has the same characteristics as one combined with a three-phase 200 V SERVOPACK. 2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone. 3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

25

Servomotors

SGMAV

Rotary Motors

1Derating Rate for Servomotor Fitted with an Oil Seal When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.Servomotor Model SGMAVDerating Rate % A 5A

01A

C2A

02A

04A

06A 95

08A

10A

80

90

1Holding Brake Electrical SpecificationsHolding Brake Rated Voltage Servomotor Model SGMAV-A5A SGMAV-01A+10%

Servomotor Rated Output W

Holding Brake Specifications Capacity W Coil Resistance Rated Current Holding (at 20C) Torque N m A(at 20C) Brake Release Time ms Brake Operation Time ms

24 VDC

SGMAV-C2A SGMAV-02A SGMAV-04A SGMAV-06A SGMAV-08A SGMAV-10A

0

50 100 150 200 400 550 750 1000

5.5 5.1 6 8 6.5 7

0.159 0.318 0.477 0.637 1.27 1.75 2.39 3.18

103 114 97.4 74.3 87.7 82.8

0.23 0.21 0.25 0.32 0.27 0.29

60 60 60 80 80 80

100 100 100 100 100 100

Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor. 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake operation time are correct for your servomotor. 3 A 24-VDC power supply is provided by customers.

1Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.10000

1000

Detecting time (s)

100

SGMAV-02A, 04A, 06A, 08A,10A

10SGMAV-A5A, 01A, C2A

1 100

200Torque reference (percent of rated torque) (%)

300

Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.

26

Rotary Servomotors


Ratings and Specifications1Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.Servomotor Model A5A, 01A, C2A, 02A SGMAVServomotor Rated Output Allowable Load Moment of Inertia (Rotor Moment of Inertia Ratio)

04A, 06A, 08A 10A

50 to 200 W 400 to 750 W 1000 W

30 times 20 times 10 times

1Load Moment of Inertia The larger the load moment of inertia, the worse the movement response. The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions. Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following steps if this occurs. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum speed. Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on page 349. Regenerative resistors are not built into SERVOPACKs for 400 W motors or less. External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

1Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the table.Servomotor Model A 5A Allowable Radial Load (Fr) N Allowable Thrust Load (Fs) N LF mm Reference Diagram

01AC2A SGMAV-

78

54

20

LF

02A 04A 06A 08A 10A 392 147 35 245 74 25

Fr Fs

27

Servomotors

SGMAV

Rotary Motors

(1) 50 to 150 W0.04 AL LL

25LM

0.04 Dia. A40

20.5 6.1 2 17 20

2.5 5

19 14QK

12

46 D

0

ia.

W

Y

30 -0.021 Dia.

U

Y

S Dia.

T Cross Section Y-Y

A

0.02

Tap Depth

2-4.3 Dia.

Shaft End With Key and Tap

Model SGMAVA5AA21 (A5AA2C) A5AA61 (A5AA6C)

L

LL

LM

S

Tap Depth No tap M3 6L No tap


Approx. Mass kg

95.5 (140.5)

70.5 (115.5)

38.5

8 0.009* 0

No key

14

1. 8

3

3

0.3 (0.6)

01AA21 (01AA2C) 01AA61 (01AA6C) C2AA21 (C2AA2C)C2AA61 (C2AA6C)

107.5 (152.5)

82.5 (127.5)

No key

50.5

8 0.009

0

M3 6L No tap

14

1. 8

3

3

0.4 (0.7)

119.5 (164.5)

94.5 (139.5)

No key

62.5

8 0.009

0

M3 6L

14

1. 8

3

3

0.5 (0.8)

Note: The models and values in parentheses are for servomotors with holding brakes. : When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.

*

Shaft End and Other Options 1With Two Flat SeatsQH0 8 -0.009 Dia.

1With an Oil Seal7.5 1.5

H1

H2

Model SGMAVA5AAB 01AAB C2AAB

Dimensions of Servomotor with Two Flat Seats QH H1 H2

15

7.5

7.5

Oil Seal Cover

Note: The 7th digit of the model designation is S or E. The key dimensions are the same as those in the table above.

30 -0.021 Dia.

29.8 Dia.

0

28

Rotary Servomotors

External Dimensions

Units: mm

External Dimensions(2) 200 W to 1.0 kW

Units: mm

L LL

0.04LM LR LE LG

A

0.04 Dia. ALC

20.5 MD 14

1.5

17

21

MW MH QK LB Dia. W Y U

LA

S Dia.

T Cross Section Y-Y Shaft End With Key and Tap 4-LZ Dia.

Dia

Y

A

Tap Depth

.

0.02Model SGMAVL LL LM Flange Face Dimensions LE LG LC LA LB S Tap Depth No tap Key Dimensions U W T No key MD MW MH Approx. Mass kg

LR

LZ

QK

02AA21 (02AA2C) 02AA61 (02AA6C) 04AA21 (04AA2C) 04AA61 (04AA6C) 06AA21 (06AA2C) 06AA61 (06AA6C) 08AA21 (08AA2C) 08AA61 (08AA6C) 10AA21 (10AA2C) 10AA61 (10AA6C)

110 (150)

80 (120)

51

30

3

6

60

70

0 0 50 0.025 5.5 14 0.011

8.5M5 8L No tap

21

13

14

3

5

5

0.9 (1.5)

128.5 98.5 (168.5) (138.5)

No key

69.5

30

3

6

60

70

0 0 50 0.025 5.5 14 0.011

8.5M5 8L No tap

21

13

14

3

5

5

1.2 (1.8)

154.5 124.5 (200.5) (170.5)

No key

95.5

30

3

6

60

70

0 0 50 0.025 5.5 14 0.011

8.5M5 8L

21

13

14

3

5

5

1.7 (2.4)

155 (200)

115 (160)

85

40

3

8

80

90

70 0.030

0

7

19 0.013

0

*

No tap M6 10L No tap M6 10L

No key

13.8 22 3.5 6 6

27

15

2.6 (3.2)

185 (235)

145 (195)

115

40

3

8

80

90

70 0.030

0

7

19 0.013

0

*

No key

13.8 22 3.5 6 6

27

15

3.6 (4.6)

Note: The models and values in parentheses are for servomotors with holding brakes. : When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.

*

Shaft End and Other Options 2With Two Flat SeatsQH

2With an Oil SealLS2 LS1 LE

S Dia.

H1

E1 Dia. Oil Seal Cover

H2Model SGMAVDimensions of Servomotor with Two Flat Seats QH S H1 H2

02AAB 04AAB 06AAB 08AAB 10AAB

14

14 0.0110

0

13

13

Model SGMAV-

22

19 0.013

18

18

02A, 04A, 06A 08A,10A

Dimensions of Servomotor with an Oil Seal E1 E2 LS1 LS2 36 48 4 10 49 66 6 11

Note: The 7th digit of the model designation is S or E. The key dimensions are the same as those in the table above.

29

E2 Dia.

Servomotors

SGMAV

Rotary Motors

1Cables Connections 2Standard Wiring (Max. encoder cable length: 20 m)SGDV SERVOPACK

2Encoder Cable Extension from 30 to 50 m(Example) SGDV SERVOPACK Relay Encoder Cable (See page 37.)e Cable with a Battery (Required when an absolute encoder is used.) w Cable with Connectors, or r Cable

(See page 37.)

Encoder Cable (See page 35.) Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable (See page 30.) SGMAV Servomotor Servomotor Main Circuit Cable (See page 30.)

q Encoder-end Cable

SGMAV Servomotor

CAUTIONSeparate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. When the cable length exceeds 20 m, be sure to use a relay encoder cable. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.

1Servomotor Main Circuit CableName Servomotor Rated Output Length Order No. Standard Type JZSP-CSM01-03-E JZSP-CSM01-05-E JZSP-CSM01-10-E JZSP-CSM01-15-E JZSP-CSM01-20-E JZSP-CSM01-30-E JZSP-CSM01-40-E JZSP-CSM01-50-E JZSP-CSM02-03-E JZSP-CSM02-05-E JZSP-CSM02-10-E JZSP-CSM02-15-E JZSP-CSM02-20-E JZSP-CSM02-30-E JZSP-CSM02-40-E JZSP-CSM02-50-E JZSP-CSM03-03-E JZSP-CSM03-05-E JZSP-CSM03-10-E JZSP-CSM03-15-E JZSP-CSM03-20-E JZSP-CSM03-30-E JZSP-CSM03-40-E JZSP-CSM03-50-E Flexible Type* JZSP-CSM21-03-E JZSP-CSM21-05-E JZSP-CSM21-10-E JZSP-CSM21-15-E JZSP-CSM21-20-E JZSP-CSM21-30-E JZSP-CSM21-40-E JZSP-CSM21-50-E JZSP-CSM22-03-E JZSP-CSM22-05-E JZSP-CSM22-10-E JZSP-CSM22-15-E JZSP-CSM22-20-E JZSP-CSM22-30-E JZSP-CSM22-40-E JZSP-CSM22-50-E JZSP-CSM23-03-E JZSP-CSM23-05-E JZSP-CSM23-10-E JZSP-CSM23-15-E JZSP-CSM23-20-E JZSP-CSM23-30-E JZSP-CSM23-40-E JZSP-CSM23-50-E(Contd)Wire Markers M4 Crimped Terminals SERVOPACK End Servomotor End 50 mm

Specifications

Details

For Servomotor without Holding Brakes

3m 5m 10 m 15 m 50 to 150 W 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 200 to 550 W 20 m 30 m 40 m 50 m 3m 5m 10 m 750 W, 15 m 1.0 kW 20 m 30 m 40 m 50 m

(1)

30

Rotary Servomotors

Selecting Cables

Selecting CablesName Servomotor Rated Output Length Order No. Standard Type JZSP-CSM11-03-E JZSP-CSM11-05-E JZSP-CSM11-10-E JZSP-CSM11-15-E JZSP-CSM11-20-E JZSP-CSM11-30-E JZSP-CSM11-40-E JZSP-CSM11-50-E JZSP-CSM12-03-E JZSP-CSM12-05-E JZSP-CSM12-10-E JZSP-CSM12-15-E JZSP-CSM12-20-E JZSP-CSM12-30-E JZSP-CSM12-40-E JZSP-CSM12-50-E JZSP-CSM13-03-E JZSP-CSM13-05-E JZSP-CSM13-10-E JZSP-CSM13-15-E JZSP-CSM13-20-E JZSP-CSM13-30-E JZSP-CSM13-40-E JZSP-CSM13-50-E Flexible Type* JZSP-CSM31-03-E JZSP-CSM31-05-E JZSP-CSM31-10-E JZSP-CSM31-15-E JZSP-CSM31-20-E JZSP-CSM31-30-E JZSP-CSM31-40-E JZSP-CSM31-50-E JZSP-CSM32-03-E JZSP-CSM32-05-E JZSP-CSM32-10-E JZSP-CSM32-15-E JZSP-CSM32-20-E JZSP-CSM32-30-E JZSP-CSM32-40-E JZSP-CSM32-50-E JZSP-CSM33-03-E JZSP-CSM33-05-E JZSP-CSM33-10-E JZSP-CSM33-15-E JZSP-CSM33-20-E JZSP-CSM33-30-E JZSP-CSM33-40-E JZSP-CSM33-50-E (3)Crimped Type (A crimp tool is required.)SERVOPACK End 50 mm Servomotor End L

Specifications

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