Sigma II Servo System Product Catalog Supplement 2009

Sigma II Servo System Product Catalog Supplement
Sigma II Servo System

Product Catalog Supplement
Table of Contents
Product Overview............................................................................................2 ~ 7
100/200V Single-phase Sigma II Servo System
SGMAH Sigma II Servo System...................................................................9 ~ 25

SGMPH Sigma II Servo System.................................................................27 ~ 43
SGMPH Sigma II Gearmotor System.........................................................45 ~ 54
SGDH Sigma II Servo Amplifier................................................................95 ~ 123
200V Three-phase Sigma II Servo System
SGMGH Sigma II Servo System ................................................................55 ~ 66

SGMGH Sigma II Gearmotor System.........................................................67 ~ 81
SGMSH Sigma II Servo System.................................................................83 ~ 93
SGDH Sigma II Servo Amplifier................................................................95 ~ 123
400V Three-phase Sigma II Servo System
SGMGH Sigma II Servo System ............................................................125 ~ 136

SGMSH/UH Sigma II Servo System.......................................................137 ~ 149
SGMBH Sigma II Servo System.............................................................151 ~ 162
SGDH Sigma II Servo Amplifier..............................................................163 ~ 199
1
Product Overview
Yaskawa has a full lineup of servomotors and amplifiers. Choose the best drives for your needs and specifications.
Servomotor
Series Description Applications

SGMAH High Speed Series
(3000rpm/5000rpm max)
Large torque required at low
inertia.
PCB Drilling Machines

Chip Mounters
capacity
Small
Robots
SGMPH Flat Series
Material Handling Equipment

Short L-length. Good for
installation in compact
spaces.
SGMGH General Purpose

High speed rotation required
without load.
Machine Tool Feeds

Packaging Machines
capacity
Medium
SGMSH High Speed Series

PCB Drilling Machines
High torque required at low

inertia.
Chip Mounters
SGMUH High Speed Series

(6000rpm max)
High torque at 6000rpm.
SGMBH Large kW
Injection molding
Thermoforming
(2000rpm max)
capacity
Converting
Large
2
Product Overview
Servomotor Servo Amplifier

Type SGDH-*** Page
110V 230V 480V
Peak Torque Capacity
Single-phase Single-phase Three-phase Three-phase
30W A3BE A3AE — —
50W A5BE A5AE — —
up to 100W 01BE 01AE — —

11, 97
1,010oz • in 200W 02BE 02AE — —
400W — 04AE — —
750W — 08AE-S — —
100W 01BE 01AE — —
200W 02BE 02AE — —
up to
400W — 04AE — — 29, 97
2,027oz • in
750W — 08AE-S 08AE —
1500W — 15AE-S 15AE —
0.45kW — — 05AE 05DE
0.85kW — — 10AE 10DE
1.3kW — — 15AE 15DE
1.8kW — — 20AE 20DE
2.9kW — — 30AE 30DE 57, 97,
up to
127,
1,988in • lb 4.4kW — — 50AE 50DE 153
5.5kW — — 60AE 60DE
7.5kW — — 75AE 75DE
11kW — — 1AAE 1ADE
15kW — — 1EAE 1EDE
1.0kW — — 10AE 10DE
1.5kW — — 15AE 15DE
2.0kW — — 20AE 20DE 85, 97,
up to
139,
422in • lb 3.0kW — — 30AE 30DE 153
4.0kW — — 50AE 50DE
5.0kW — — 50AE 50DE
up to 1.0 kW — — — 10DE 139,

190in • lb 3.0kW — — — 30DE 153
22kW — — — 2BDE
30kW — — — 3ZDE
up to 153,
37kW — — — 3GDE
6120in • lb 165
45kw — — — 4EDE
55kW — — — 5EDE
3
Product Overview
Single-phase
30W to 1500W (230VAC)
88 8 8 8
Molded-case Circuit SERVOPACK
ALARM
.
Breaker (MCCB)
YASKAWA
Protects the power Digital Operator Personal

line by shutting (Type JUSP-OP02A-1) Computer
the circuit OFF
when overcurrent Cable for
is detected. connecting to
servo amplifier
required.
Host Controller
Noise Filter (optional) Connect the SGDH servo amplifier to a
Used to eliminate external noise Yaskawa host controller or one made by
from the power line. other vendors. (Analog input, pulse train input
available)
Magnetic Contactor
Turns the servo
ON and OFF.
Install a surge
suppressor on
the magnetic
contactor.
Holding Brake
Power Supply SGDH
(customer supplied) Servo Amplifier
Used only for SGM* servomotor Type SGDH-A3AE
with a holding brake. to -15AE-S
SGMPH Servomotor
4
Product Overview
Three-phase
0.5kW to 15kW (230VAC)
Molded-case Circuit
Breaker (MCCB)
88 8 8 8
SERVOPACK
ALARM
.
Protects the power
line by shutting YASKAWA
the circuit OFF

when overcurrent
is detected.
Digital Operator Personal
(Type JUSP-OP02A-1) Computer
Cable for
connecting to
amplifier
Noise Filter (optional) required.
Used to eliminate external noise
from the power line.
Host Controller
Connect the SGDH servo amplifier to a
Yaskawa host controller or one made by
other vendors. (Analog input, pulse train input
Magnetic Contactor available)
Turns the servo

ON and OFF.
Install a surge
suppressor on
the magnetic
contactor.
Holding Brake
Power Supply
(customer supplied)
Used for SGM* servomotor
with a brake SGDH Servo Amplifier
Type SGDH-05AE to -1EAE
SGMSH Servomotor
5
Product Overview
Three-phase
0.5kW to 55kW (480VAC) Power Supply
Three-phase, 480VAC
Molded-case Circuit
Breaker (MCCB)
88 8 8 8
SERVOPACK
ALARM
.
Protects the power
line by shutting YASKAWA
the circuit OFF

when overcurrent
is detected.
Digital Operator Personal
Molded-case (Type JUSP-OP02A-1) Computer
Circuit Breaker
Cable for
connecting to
amplifier
Noise Filter (optional) required.
Used to eliminate external noise
from the power line.
Noise
Filter
Host Controller
Connect the SGDH servo amplifier to a
Yaskawa host controller or one made by
other vendors. (Analog input, pulse train input
Magnetic Contactor available)
Turns the servo

ON and OFF.
Install a surge Magnetic
suppressor on Contactor
the magnetic MP920
contactor.
Control Power Supply

24V
0V
SGDH Servo Amplifier

Type SGDH-05DE to -5EDE
SGMGH Servomotor
6
Product Overview
Selecting Your Sigma Servo System

For your convenience, each motor series in this selection guide includes a diagram to help
you select and identify the components necessary for your system. Each item is letter-coded
and cross-referenced in the option tables on the following pages.
Digital Operator (E)
3CN Connector
Peripheral SGDH Servo Encoder Signal (D)
Signal Amplifier
(B) Encoder side Motor side
Cable (E) Connector (D) Connector (D)
1CN 2CN
Encoder Cable (C)
I/O Signal
Motor Cable (C)
Connector
(D)
Regenerative Unit (E)
1. First, select the Sigma servomotor suited for your application using the Yaskawa Servomotor Sizing
Software or the Sigma Servomotor Data Sheets. Using the tab indicators in this guide, locate the section
describing the type of servomotor you selected.
2. Then select a compatible amplifier using the Sigma II Servo Amplifier Selection Table in the appropriate
servomotor section of this guide.
3. Yaskawa offers pre-wired power and encoder cables with correctly matched, high quality connectors
attached to permit correct interconnection. Refer to the Pre-wired Cable Selection Table to select the
correct cable assembly from the list of standard cable lengths.
4. Solder-type connectors without cables are also available. Refer to the appropriate Servomotor Connector
Selection Table to select the connector kit to be used with the selected servomotor or encoder (with or
without brake).
5. Refer to the Peripheral Device Selection Table to select peripheral equipment to be used with the servo
amplifier (i.e., digital operator, regenerative unit, software, etc.).
6. Specify technical product manual YEA-SIA-S800-32.2 on your Sigma II Servo System purchase order.
One manual is available at no charge with each purchase order. The manual can also be downloaded at
no charge from Yaskawa’s Web site at www.yaskawa.com.
Each table includes a column labeled “Item Class,” which classifies the availability of the specified option. Following are
descriptions of the codes used:
Stock: Normally 3 to 5 days lead time for most order quantities. 3 to 5 weeks maximum if temporary outages occur.
For critical lead times or requirements for larger quantity shipments, check with your Yaskawa inside sales
representative.
Limited Typically, small quantities are available from stock. These items will likely change to stock items as the
Stock: order demand increases. For critical lead times or requirements for larger quantity shipments, check with your
Yaskawa inside sales representative.
Non-Stock: Normal delivery: 12 to 16 weeks.
7
Product Overview
NOTES:
8
100/200V Single-phase Sigma II Servo Systems
Super High Power Rate Series

SGMAH Servomotors - With Incremental / Absolute Encoder
Servomotors
SGMAH
Rated Output: 30W, 50W, 100W,
200W, 400W, 750W
For Additional Information Page(s)

SGMAH Ratings & Specifications 12
SGMAH Speed/Torque Curves 13
SGMAH Dimensions 14 - 22
SGMAH Selection/Ordering Information 23 - 27
SGDH Ratings & Specifications 99 - 100
SGDH Dimensions 101 - 112
Design Features
1. Compact
z Small sized motor
Five frame sizes (including NEMA 23 and 34 flanges): up to 1,010oz • in peak torque
Smaller installation space for more compact machine designs.
2. High Speed
z High power rating
High power is achieved by minimizing the inertia of the motor
This increases the acceleration/deceleration rate and reduces positioning time
z Maximum rotation speed of 5000rpm
Increases maximum rotation speed and shortens positioning time
z Rated speed of 3,000rpm
3. Encoders (reduced wiring serial encoder)
z 13-bit (2048 ppr x 4) incremental encoder (standard)
z 16-bit (16384) absolute encoder (option)
4. Enclosure
z Totally enclosed, self-cooled IP55 (not including shaft)
z Optional shaft seals are available.
5. Application Emphasis
z Compact, high torque to inertia ratio
z Chip mounters
z PCB drilling machines
z Robots
z Conveyors
z Packaging
6. Low Noise
z Adopting the IGBT power element eliminates irritating “metallic” sounds
7. Certified International Standards
z UL, cUL recognized (File #: E165827), CE compliance
9
Servomotor Ratings and Specifications

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Excitation: Permanent magnet
Insulation: Class B Ambient Temperature: 0 to 40ºC Drive Method: Direct drive
Servomotors
Vibration: 15μm or less Ambient Humidity: 20 to 80% Mounting: Flange-mounted

SGMAH
Withstand Voltage: 1500Vac (non-condensing) Applicable Encoder: 13-bit incremental

Insulation Resistance: 10MΩ minimum at Rated Rotation Speed: 3000rpm or 16-bit absolute
500VDC Maximum Rotation Speed: 5000rpm encoder
Specifications are the same for either absolute or incremental encoders.
Rated Rated Instantaneous Continuous Maximum Rated Rated Power

Voltage
System
MOTOR Output Torque* Peak Rated Cur- Peak Angular Rate*

SGMAH- Torque* rent Current Acceleration
W (hp) oz • in N•m oz • in N•m Arms Arms rad/s2 kW/s
A3B 30 (0.04) 13.5 0.095 40.5 0.29 0.66 2.0 57500 3.49
A5B 50 (0.07) 22.6 0.159 67.7 0.48 0.95 2.9 72300 11.5
100Vac
01B 100 (0.13) 45.1 0.318 135 0.96 2.4 7.2 87400 27.8
02B 200 (0.27) 90.1 0.637 270 1.91 3.0 9.0 60100 38.2
04A** 400 (0.53) 181 1.27 542 3.82 2.8 8.5 73600 93.7
A3A 30 (0.04) 13.5 0.095 40.5 0.29 0.44 1.3 57500 5.49
A5A 50 (0.07) 22.6 0.159 67.7 0.48 0.64 2.0 72300 11.5
200Vac
01A 100 (0.13) 45.1 0.318 135 0.96 0.91 2.8 87400 27.8
02A 200 (0.27) 90.1 0.637 270 1.91 2.1 6.5 60100 38.2
04A 400 (0.53) 181 1.27 542 3.82 2.8 8.5 73600 93.7
08A 750 (1.01) 338 2.39 1010 7.1 4.4 13.4 35600 85.1
* Values when the servomotor is combined with an SGDH servo amplifier.

** When combined with an SGDH-04FE servo amplifier.
Moment of Inertia Holding Brake (at 20°C) Allowable

Voltage
System
Coil Rated Load

MOTORS Motor without Brake Motor with Brake Capacity Torque Inertia*
SGMAH- Resistance Current
oz • in • s2 × 10-3 kg • m2 × 10-4 oz • in • s2 × 10-3 kg • m2 × 10-4 W N•m Ω A kg • m2 × 10-4

A3B 0.235 0.0166 0.355 0.251 6 .20 96 0.25 0.63
A5B 0.312 0.0220 0.432 0.0305 6 .20 96 0.25 0.78
100Vac
01B 0.515 0.0364 0.635 0.0449 6 .35 96 0.25 1.20

02B 1.50 0.106 2.321 0.164 6.5 1.5 89 0.27 3.69
04A 2.45 0.173 3.271 0.231 6.5 1.5 89 0.27 3.82
A3A 0.235 0.0166 0.355 0.0251 6 .20 96 0.25 0.63
A5A 0.312 0.0220 0.432 0.0305 6 .20 96 0.25 0.78
200Vac
01A 0.515 0.0364 0.635 0.0449 6 .35 96 0.25 1.20

02A 1.50 0.106 2.321 0.164 6.5 1.5 89 0.27 3.69
04A 2.45 0.173 3.271 0.231 6.5 1.5 89 0.27 3.82
08A 9.52 0.671 11.5 0.811 6 2.5 96 0.25 13.4
* · Values apply to motors without brake.

· JL (allowable load inertia) shows the range requiring no exterior regenerative unit. When these values are exceeded, appli-
cation may be restricted or a regenerative unit may be required.
10
Speed / Torque Curves

200V
SGMAH-A3A SGMAH-A5A SGMAH-01A
Servomotors
SGMAH
㪌㪇㪇㪇㪌㪇㪇㪇㪌㪇㪇㪇
㪋㪇㪇㪇㪋㪇㪇㪇㪋㪇㪇㪇
㪪㪧㪜㪜㪛㩷㩿㫉㫇㫄㪀
㪊㪇㪇㪇㪊㪇㪇㪇㪊㪇㪇㪇
㪘㪙㪘㪙㪘㩷㩷㩷㩷㪙
㪉㪇㪇㪇㪉㪇㪇㪇㪉㪇㪇㪇
㪈㪇㪇㪇㪈㪇㪇㪇㪈㪇㪇㪇
㪇㪇㪇
㪇㩷㩷㩷㩷㩷㪇㪅㪈㩷㩷㩷㩷㪇㪅㪉㩷㩷㩷㪇㪅㪊㩷㩷㩷㪇㪅㪋㪇㩷㩷㩷㪇㪅㪈㪌㩷㩷㩷㪇㪅㪊㩷㩷㩷㪇㪅㪋㪌㩷㩷㪇㪅㪍㪇㩷㩷㪇㪅㪉㪌㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㪇㪅㪎㪌㩷㩷㩷㩷㪈
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕
䍕㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㩷㩷㩷㩷㩷㩷㩷㪋㪇㩷㩷㩷㩷㩷㩷㩷㪍㪇㩷㩷㩷㩷㩷㩷㪏㪇
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪍㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪌㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪌㪇
㪈㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀
SGMAH-02A SGMAH-04A SGMAH08A

㪌㪇㪇㪇 5000 㪌㪇㪇㪇
㪋㪇㪇㪇㪋㪇㪇㪇
4000
㪊㪇㪇㪇 3000 㪊㪇㪇㪇

㪘㩷㩷㩷㩷㩷㩷㪙 A B 㪘㩷㩷㩷㩷㪙
㪉㪇㪇㪇 2000 㪉㪇㪇㪇
㪈㪇㪇㪇 1000 㪈㪇㪇㪇
㪇 0 㪇㪇㩷㩷㩷㩷㩷㩷㪉㩷㩷㩷㩷㩷㩷㪋㩷㩷㩷㩷㩷㩷㩷㪍
㪇㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㩷㩷㪈㩷㩷㩷㩷㩷㪈㪅㪌㩷㩷㩷㩷㩷㪉 0 1 2 3 4
㪏
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕
䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕
䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕䍕㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪇㪇㩷㩷㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㪍㪇㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㪏㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪉㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀
100V
SGMAH-A3B SGMAH-A5B SGMAH-01B

㪘㪙㪘㪙㪘㩷㩷㩷㩷㪙
㪉㪇㪇㪇㪉㪇㪇㪇㪉㪇㪇㪇
㪇㪇㪇
㪇㩷㩷㩷㩷㪇㪅㪈㩷㩷㩷㩷㪇㪅㪉㩷㩷㩷㩷㪇㪅㪊㩷㩷㩷㪇㪅㪋㪇㩷㩷㩷㪇㪅㪈㪌㩷㩷㩷㪇㪅㪊㩷㩷㩷㪇㪅㪋㪌㩷㩷㪇㪅㪍㪇㩷㩷㪇㪅㪉㪌㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㪇㪅㪎㪌㩷㩷㩷㩷㪈
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕
䍕㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㩷㩷㩷㩷㩷㩷㩷㪋㪇㩷㩷㩷㩷㩷㩷㩷㪍㪇㩷㩷㩷㩷㩷㩷㪏㪇
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪍㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪌㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪌㪇
㪈㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕㩷㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀
SGMAH-02B SGMAH-04A*
5000
㪌㪇㪇㪇 A : CONTINUOUS
㪋㪇㪇㪇 4000 DUTY ZONE
㪊㪇㪇㪇 3000
㪘㩷㩷㩷㩷㪙 AA : CONTINUOUS
B DUTY ZONE B : INTERMITTENT
㪉㪇㪇㪇 2000
DUTY ZONE
B : INTERMITTENT DUTY ZONE
㪈㪇㪇㪇 1000
㪇㪇㩷㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㩷㩷㪈㩷㩷㩷㩷㩷㪈㪅㪌㩷㩷㩷㩷㩷㪉 0
0 1 2 3 4
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷䍕
䍕㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㩷䍕䍕㩷㫀㫅㪀 * When combined with SGDH-04 FE amp.
11
Dimensions in inches (mm)

(1) 13-Bit Incremental or 16-Bit Absolute Encoder, without Brake
Servomotors
• 30W (0.04hp), 50W (0.07hp), 100W (0.13hp)

SGMAH
11.81 (300) ±1.18 (30)

Encoder plug
ENCODER CABLE, Φ0.24 (Φ6) 55100-0600
UL20276
MOTOR CABLE, Φ0.28 (Φ7) U
UL1818 or UL3535 1.38 (35)
Motor Plug
350779-1
W
11.81 (300) ±1.18 (30) T
0.0016 (0.04) A
Cross-section Y-Y
Φ0.0016 (Φ0.04) A
L
LL 0.98 (25)
LM 0.30 (7.5) 1.57 (40)
0.37 (9.5)
0.87 (22) 0.79 (20) 0.098 (2.5) 0.85 (21.5)

0.16 (4)
0.60 (15.2)
0.43 (11)
0.20 (5)
QK
ΦS*
Φ0.315 (F8)
1.57 (40)
ΦLB**
2-Φ0.17 (4.3)
Y
Φ1.81 (Φ46)
Serial encoder A
0.0008 (0.002)
Type Approximate Allowable Allowable

Output
† QK U W T L LL LM ΦS* ΦLB** Mass Radial Load Thrust Load
SGMAH- W (hp)
lb (kg) lb (N) lb (N)
A3F2 Without Keyway 3.72 2.74 1.44 30 0.66
A3F4 0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2) (94.5) (69.5) (36.5) (0.04) (0.3)
0.24 15
A5F2 Without Keyway (6) (68)
4.02 3.03 1.73 1.18 50 0.88 12
A5F4 0.55 (14) 0.047 (1.2) 0.079 (2) 0.079 (2) (102) (77) (44) (30) (0.07) (0.4) (54)
01F2 Without Keyway 4.7 3.72 2.42 0.31 100 1.10 17
01F4 0.55 (14) 0.07 (1.8) 0.12 (3) 0.12 (3) (119.5) (94.5) (61.5) (8) (0.13) (0.5) (78)
†
Some motor dimensions vary for motors with the optional shaft seal: See p.19 for details.
Connector Specifications
Specified Tolerances
Dimension *Φ S **ΦLB
Unit Diameter Tolerance Diameter Tolerance
0.2362 +0.0000-0.0003
in 1.181 +0.0000 -0.0008
0.3150 +0.0000-0.0004
6.000 +0.000 -0.008
mm 30.000 +0.000 -0.021
8.000 +0.000 -0.009
Encoder Connection Motor Connection

Encoder Plug Motor Plug
Pin Output Wire Color Pin Output Wire Color
5 6 1 PG 5V Red 1 Phase U Red
2 PG 0V Black 1 2 Phase V White
d
3 4 3 Battery + Orange 3 Phase W Blue
e
4 Battery − White/Orange 4 FG (Frame Ground) Green/Yellow
5 Data + Light Blue 4
1 2 Plug 350779-1 (AMP)
6 Data - White/Light Blue Pin: 350561-3 or 350690-3 (Nos. 1 to 3)
Note: Pins Number 3 and 4 are connectors Ground pin: 770210-1 (No 4)
used for 16-bit absolute encoder option only.
Plug: 55100-0600 (Molex) Mating connector:
Mating connector: Cap: 350780-1
Socket: 54280-0600 Socket: 350570-3 or 350689-3
12
• 200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
Servomotors
SGMAH
Encoder cable, Φ0.24 (Φ6)
UL20276 11.85 (300) ±1.18 (30) Encoder plug
55100-0600 U
W
Motor cable
UL1818, UL3534 or UL3535 1.38 (35) Motor plug T
350779-1 Cross-section Y-Y
11.85 (300) ±1.18 (30)
0.0016 (0.04) A
0.0016 (0.04) A
0.51 (13) L
LL LR
1.04 (26.5) 0.12 (3) LC
LM
0.79 (20) LG 0.85 (21.5)
0.43 (11)
0.37(9.5)
ΦLA
QK
Y ΦS*
ΦLB**
LC
Y
A
Serial encoder 4-ΦLZ
0.0008 (0.02)
Allowable Allowable
Type Approximate
Output Radial Thrust
L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** QK U W T Mass
SGMAH-† W (hp)
lb (kg)
Load Load
lb (N) lb (N)
4.98 3.8 2.46 200
02F4 (126.5) (96.5) (62.5) (0.27)
2.43 (1.1)
1.18 0.24 2.36 2.76 0.22 0.55 1.97 0.79 0.12 0.2 0.2
55 (245) 17 (74)
6.08 4.9 3.56 (30) (6) (60) (70) (5.5) (14) (50) (20) (3) (5) (5) 400
04AF4 (154.5) (124.5) (90.5) (0.53)
3.75 (1.7)
7.28 5.71 4.37 1.57 0.31 3.15 3.54 0.28 0.63 2.76 1.18 0.12 0.2 0.2 750 7.5
08AF4 (185) (145) (111) (40) (8) (80) (90) (7) (16) (70) (30) (3) (5) (5) (1.01) (3.4)
88 (392) 33 (147)
*Please see the following table for dimension tolerances.

†
Dimension *ΦS **ΦLB
0.5512 +0.0000-0.0004 1.9685 +0.0000 -0.0010
in
0.6299 +0.0000-0.0004 2.7559 +0.0000 -0.0012
14.000 +0.000 -0.011 50.000 +0.000 -0.025
mm
16.000 +0.000 -0.011 70.000 +0.000 -0.030
13
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake

• 30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
Servomotors
Encoder cable, Φ0.24 (Φ6) 11.85 (300) ±1.18 (30) Encoder plug
SGMAH
UL20276 55100-0600 U
W
Motor cable Φ0.28 (Φ7)
UL1828 or UL3535 1.38 (35) Motor plug T
350779-1 Cross-section Y - Y
11.85 (300) ±1.18 (30)

0.0016 (0.04) A
L Φ0.0016 (Φ0.04) A
LL 0.98 (25)
LM 0.098 (2.5) 1.57 (40)
0.87 (22) 0.85 (21.5)
0.37(9.5)
0.79 (20) 0.20 (5)

0.16 (4)
0.43 (11)
0.60 (15.2) 0.30 (25)
QK Φ0.315
(Φ8)
1.57 (40)
Y
ΦLB**
2−Φ0.17
ΦS*
Y
(Φ4.3) Φ1.81 (Φ46)
Holding brake (de-energized operation)
DC Power supply = 24V A
Brake holding torque = Motor rated torque 0.0008 (0.02)
Serial encoder
Type Output Approximate Allowable Allowable

† U W T L LL LM ΦS* ΦLB** QK W Mass Radial Load Thrust Load
SGMAH- (hp) lb (kg) lb (N) lb (N)
A3F2C 4.96 3.98 1.44 30 1.32
A3F4C 0.047 0.079 (126) (101) (36.5) 0.24 0.55 (0.04) (0.6) 15
A5F2C (1.2) (2) 5.26 4.27 1.73 (6) 1.18 (14) 50 1.54 (68) 12
A5F4C (133.5) (108.5) (44.0) (30) (0.07) (0.7) (54)
01F2C 0.07 0.12 0.12 6.3 5.31 2.42 0.31 0.55 100 1.76 18
01F4C (1.8) (3) (3) (160) (135) (61.5) (8) (14) (0.13) (0.8) (78)
†
0.2362 +0.0000-0.0003
in 1.181 +0.0000 -0.0008
0.3150 +0.0000-0.0004
6.000 +0.000 -0.008
mm 30.000 +0.000 -0.021
8.000 +0.000 -0.009
Connector Specifications:
Motor Plug Motor Connection Encoder Plug
Encoder Connection
1 Phase U Red 5 6
1 PG 5V Red
h
3
2 Phase V White 2 PG 0V Black

d
5
3 Phase W Blue 3 4
f
3 Battery + Orange
1
4 FG (Frame Ground) Green/Yellow 4 Battery − White/Orange

5 Brake Terminal Red 1 2
5 Data + Light Blue
6 Brake Terminal Black 6 Data - White/Light Blue
Plug: 350715-1 (AMP) Note: Pins number 3 and 4 are connectors used for
Pin: 350561-3 or 350690-3 (except No. 4) 16-bit absolute encoder option only.
Ground pin: : 770210-1 (No. 4) Plug: 55100-0600 (Molex)
Mating connector: Mating connector:
Cap: 350781-1 Socket: 54280-0600
Socket: 350570-3 or 350689-3
14
• 200W (0.27hp), 400W (0.53hp), 750W (1.01hp)

11.85 (300) ±1.18 (30)
Encoder plug
Encoder cable, Φ0.24 (Φ6) 55100-0600
UL20276 Motor cable Φ0.28 (Φ7) U
Servomotors
UL1828 or UL3535 1.38 (35) Motor Plug
SGMAH
350715-1
T
Cross-Section Y-Y
11.85 (300) ±1.18 (30)
0.0016 (0.04) A
0.51 (13) 0.79 (20) L
LL LR Φ0.0016 (Φ0.04) A
LC
0.37 (9.5) LM 0.12 (3)
0.43 (11)
1.04 (26.5) 0.85 (21.5)
LG
QK ΦLA
ΦLB**
LC
ΦS*
Y
A
4-ΦLZ
0.0008 (0.02)
Holding brake (de-energized operation)
DC Power supply = 24V
Brake holding torque = Motor rated torque
Serial encoder
Allowable Allowable
Type Approximate
Output Radial Thrust
U W T L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** QK Mass
SGMAH-† W (hp)
lb (kg)
Load Load
lb (N) lb (N)
02F4C 6.54 5.35 2.46 200 3.53

(166) (136) (62.5) 1.18 0.24 2.36 2.76 0.22 0.55 1.97 0.79 (0.27) (1.6) 55 17
04AF4C 0.12 7.64 6.46 3.56 (30) (6) (60) (70) (5.5) (14) (50) (20) 400 4.85 (245) (74)
(3) 0.2 (5) (194) (164) (90.5) (0.53) (2.2)
08AF4C 9.04 7.46 4.37 1.57 0.31 3.15 3.54 0.28 0.64 2.76 1.18 750 9.48 88 33
(229.5) (189.5) (111) (40) (8) (80) (90) (7) (16) (70) (30) (1.01) (4.3) (392) (147)
†
0.5512 +0.0000-0.0004 1.9685 +0 -0.0010
in
0.6299 +0.0000-0.0004 2.7558 +0 -0.0012
14.000 +0.000 -0.011 50.000 +0 -0.025
mm
16.000 +0.000 -0.011 70.00 +0 -0.03
15
• 200W (0.27hp), 400W (0.54hp) with NEMA 23* Flange/Pilot

UL20276 11.85 (300) ±1.18 (30) Encoder plug
55100-0600
Servomotors
Motor cable
SGMAH
UL1818, UL3534 or 1.38 (35) Motor plug

UL3535 350779-1
11.85 (300) ±1.18 (30)
0.0016 (0.04) A
Φ0.0016 (0.04) A
0.51 (13) L
LL LR
1.32 (33.5) LM 0.06 LC
0.79 (20) (1.6) 0.85 (21.5)
0.43 (11)
0.37(9.5)
LG
ΦLA
ΦLB**
ΦS*
LC
A
Serial encoder 4-ΦLZ
0.0008 (0.02)
Allowable Allowable
Approximate
Type Output Radial Thrust
L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** Mass
SGMAH- W (hp) Load Load
lb (kg)
lb (N) lb (N)
4.67 3.9 2.56 200
02AN21 (118.5) (98.5) (65) (0.27)
2.43 (1.1)
0.79 0.24 2.36 2.63 0.18 0.50 1.5
(20) (6) (60) (66.7) (4.5) (12.7) (38.1) 55 (245) 17 (74)
5.77 5.0 3.66 400
04AN21 (146.5) (126.5) (93) (0.53)
3.75 (1.7)
in 0.5000 +0 -0.00043 1.5000 +0.0000 -0.00098
mm 12.7 +0 -0.011 38.1 +0.000 -0.025
*For servo application torques: shaft diameter is 0.5in (12.7mm) rather than 0.25 (6.35mm), as is in typical NEMA 23.
16
• 750W (1.01hp) with NEMA 34* Flange/Pilot

11.85 (300) ±1.18 (30)
UL20276 Φ6
Encoder plug
Servomotors
55100-0600
SGMAH
Motor cable Φ0.27 (Φ7)
UL3443 1.38 (35)
Motor plug
350779-1
11.85 (300) ±1.18 (30)
0.0016 (0.04) A
0.51 (13)
L Φ0.0016 (Φ0.04) A
LL LR
LM 0.08 (2) LC
0.28 (7)
0.43 (11)
1.04 0.91(23) 0.63 (16) 0.85 (21.5)
(26.5) LG
0.37 (9.5)
ΦLA
ΦLD***
ΦLB**
ΦS*
LC
13-bit serial incremental encoder A
4-ΦLZ
0.0008 (0.02)
Allowable Allowable
Approx
Type Output Radial Thrust
L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** ΦLD*** Mass
SGMAH- W (hp) Load Load
lb (kg)
lb (N) lb (N)
08AN21 7.20 5.75 4.43 1.46 0.31 3.35 3.87 0.28 0.63 2.87 2.60 (66) 750 7.5 88 (392) 33 (147)
(183) (146) (112.5) (37) (8) (85) (98.4) (7) (16) (73) (1.01) (3.4)
Dimension *ΦS **ΦLB **Φ*LD
Unit Diameter Tolerance Diameter Tolerance Diameter Tolerance
in 0.625 +0.0000-0.00043 2.874 +0.0000 -0.0012 2.598 +0.00012 -0
mm 15.875 +0.000 -0.011 73.000 +0.000 -0.030 66.000 +0.003 -0
*For servo application torques: shaft diameter is 0.625in (15.875mm) rather than 0.375 (9.525mm), as is in typical NEMA 34.
17
L
2.27 (57.7)
Servomotors
0.73 (18.6)
8-32 UNC - 2 places
SGMAH
0.06 (1.5)
∅ LA
2.27 (57.7) ∅ LB ∅S
∅ 0.206 (5.2)
4 places 0.19 (4.8)
Motor type *Dimensions - Inch (mm)
L ∅S ∅ LB ∅LA
SGMAH-A3 3.72 (94.5) 0.2362 +.000 / -.0003 1.500 +.002 / -.002 2.625 (66.7)
w/NEMA 23 Adaptor (6.0 +.000 / -.006) (38.1 +.05 / -.05)
SGMAH-A5 4.02 (102) 0.2362 +.000 / -.0003 1.500 +.002 / -.002 2.625 (66.7)
w/NEMA 23 Adaptor (6.0 +.000 / -.006) (38.1 +.05 / -.05)
SGMAH-01 4.70 (119.5) 0.3150 +.000 / -.0004 1.500 +.002 / -.002 2.625 (66.7)
w/NEMA 23 Adaptor (8.0 +.000 / -.009) (38.1 +.05 / -.05)
*Dimensions include a field installed SGM-N23 adapter flange on the listed motor.
18
•
Dimension Modifications for Motors with Optional Shaft Seal

• 30W (0.04hp), 50W (0.07hp), 100W (0.13hp)
Servomotors
SGMAH
LR
LE
LD
QK
ΦLP
ΦLB
ΦS
Shaft seal
Type SGMAH- QK ΦLB* ΦS* LE LR LD ΦLP
A3
0.236 (6)
A5 0.55 (14) 1.18 (30) 0.10 (2.5) 0.98 (25) 0.30 (7.5) 1.14 (28)
01 0.315 (8)
*Tolerances for diameters LB and S are the same as those for motors without shaft seals.
19
• 200W (0.27hp), 400W (0.53hp), 750W (1.01hp)
LR
Servomotors
LE
SGMAH
LD
QK
ΦLP
ΦLB
ΦS
Shaft seal
Type SGMAH- QK ΦLB* ΦS* LE LR LD ΦLP

02
0.55 (14) 1.97 (50) 0.55 (14) 1.18 (30) 0.39 (10) 1.89 (48)
04 0.12 (3)
08 0.98 (25) 2.76 (70) 0.63 (16) 1.57 (40) 0.43 (11) 2.60 (66)
*Tolerances for diameters LB and S are the same as those for motors without shaft seals.
Torque Reduction Factor for SGMAH motors equipped with a shaft seal:
Servo Motor Model A3 A5 01 02 04 08
Torque Reduction 70% 80% 90% 90% 95% 95%
Factor
For example: The SGMAH-A3 continuous and peak torque rating should be reduced to 70%
of the listed catalog specification.
To specify a motor with a shaft seal, refer to the motor part number explanation on the
following page.
20
Selecting Your SGMAH Sigma II Servo System

First, select the Sigma II servomotor suited for your application using SigmaSize: the Yaskawa
servomotor sizing software, available at no charge. (Request SigmaSize software via e-mail, at:
Servomotors
literature@yaskawa.com).
SGMAH
Use the diagram below to locate and identify the components of your system. Each item is letter-
coded and cross-referenced in the option tables on the following pages.
System Configuration
Digital Operator (E) Optional Holding Brake
5CN
Shaft Keyway
For Monitor (D) SGMAH
Servomotor
3CN Connector (A)
SGDH Servo Encoder (D) Shaft Seal
Peripheral
Signal Amplifier
1CN 2CN
Encoder Cable (C)
I/O Signal Motor Cable (C)
Connector Specify a technical manual, if it is needed, on your
(D)
servo system purchase order:
Sigma II Series Servo System User’s Manual: YEA-SIA-S800-32.2
(Manual is provided at no charge with a purchase order,
Regenerative Unit (E) but it must be requested).
Model Number Designation

SGMAH - 01 A A F 4 1
Accessories
Sigma II Servomotor Type 1: Standard
Rated Output C: Standard with 24VDC Brake*
A3: 30W (0.04hp) S: Standard with Shaft Seal*
A5: 50W (0.07hp) E: Standard with Brake & Shaft Seal*
01: 100W (0.13hp) Shaft Specifications
02: 200W (0.25hp) 4: Straight Shaft with Keyway*
04: 400W (0.5hp) 2: Straight Shaft without Keyway
08: 750W (1hp) Revision Level
Power Supply F: Standard
A: 200V N: NEMA flange (200W, 400W & 800W
B: 100V only without holding brake)
Encoder Specifications
A: 13-bit (2048 x 4) Incremental Encoder
1: 16-bit (16384 x 4) Absolute Encoder
* Keyways, shaft seals, and holding brakes not available on motors with NEMA flanges (revision level = N).
21
Servomotor & Amplifier Selection

Use the table below to select the recommended SGMAH Sigma II servomotor and amplifier.
Servomotors
(Refer to the motor model # designation on the previous page specifying the available modification to motor
SGMAH
construction/features.)
Motors Used with 13-bit Incremental Encoders (5000rpm Maximum) Amplifier
Amplifier MODEL NUMBER
Peak Rated Motor Inertia (B)* Motor &
Motor
Description Torque Torque Amplifier
(oz • in) (oz • in) (oz • in • s2×10-3) MODEL NUMBER (A) Single-Phase 3-Phase Item Class
SGDH SGDH-
0.235 SGMAH-A3AAF21
40.5 13.5 A3AE –
200V, 0.355 SGMAH-A3AAF2C
Single-Phase 0.312 SGMAH-A5AAF21
67.7 22.6 A5AE –
Straight Shaft 0.432 SGMAH-A5AAF2C
without Keyway 0.515 SGMAH-01AAF21
01AE
0.635 SGMAH-01AAF2C
135 45.1
0.515 SGMAH-01AAF41
01AE –
0.635 SGMAH-01AAF4C
200V, 1.50 SGMAH-02AAF41
270 90.1 02AE –
Single-Phase, 2.321 SGMAH-02AAF4C
Straight Shaft with 2.45 SGMAH-04AAF41
542 181 04AE –
Keyway 3.271 SGMAH-04AAF4C
9.52 SGMAH-08AAF41
1010 338 08AE-S 08AE
11.5 SGMAH-08AAF4C
200V, 0.515 SGMAH-01AAF21**
135 45.1 01AE –
Single-Phase, 0.635 SGMAH-01AAF2C**
Straight Shaft 270 90.1 1.50 SGMAH-02AAN21*** 02AE
–
without Keyway 542 181 2.45 SGMAH-04AAN21*** 04AE Stock
NEMA flange 1010 338 9.52 SGMAH-08AAN21**** 08AE-S 08AE
0.235 SGMAH-A3BAF21
40.5 13.5 A3BE –
100V, 0.355 SGMAH-A3BAF2C
Single-Phase, 0.312 SGMAH-A5BAF21
67.7 22.6 A5BE –
Straight Shaft 0.432 SGMAH-A5BAF2C
without Keyway 0.515 SGMAH-01BAF21
01BE –
0.635 SGMAH-01BAF2C
135 45.1
0.515 SGMAH-01BAF41
01BE –
100V, 0.635 SGMAH-01BAF4C
Single-Phase, 1.50 SGMAH-02BAF41
270 90.1 02BE –
Straight Shaft 2.321 SGMAH-02BAF4C
with Keyway 2.45 SGMAH-04AAF41
542 181 04FE –
3.271 SGMAH-04AAF4C
100V, 0.515 SGMAH-01BAF21**
135 45.1 01BE –
Single-Phase, 0.635 SGMAH-01BAF2C**
Straight Shaft 270 90.1 1.50 SGMAH-02BAN21*** 02BE –
without Keyway
NEMA flange 542 181 2.45 SGMAH-04AAN21*** 04FE –
Notes: 24VDC brakes for SGMAH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
Motor power and encoder cables are factory pre-wired with approximately 13” lead length with amplifier mating connectors.
Use the tables on the following pages to specify mating connectors or pre-wired cables available in various lengths.
For technical information, request Yaskawa manual number YEA-SIA-S800-32.2.
* For more detailed SGDH amplifier specifications and dimensions, refer to pages 95 to 110.
** NEMA 23 adapter flange (see "Peripheral Device Selection")
*** NEMA 23 flange and pilot (see "Dimensions in inches (mm)")
**** NEMA 34 flange and pilot (see "Dimensions in inches (mm)")
22
Pre-wired Cable Selection

Use the table below to select pre-wired cables for your SGMAH Sigma II servomotor.
Servomotors
SGMAH
Motor
Item
Cable Description (C) Size Part Number* Comments
Class
(kW)
Power Cable
without Brake JZSP-CMM00-(A)
These cables are available
in five lengths. Use two dig- Stock**
Power Cable with its in the part number’s last
Brake JZSP-CMM10-(A) place:
03: 3m
05: 5m
Shielded Power 10: 10m (standard)
Cable without BAHCE-(A) 15: 15m
Brake*** 20: 20m Limited
Stock
Shielded Power
Cable with Brake*** BAHBCE-(A)
Encoder Cable
(incremental and — JZSP-CMP00-(A) —
absolute)
Encoder Cable
(for applications
up to 20m) FR-RMCT-SB These cables are available
Only for Solder in any length.
Connections
For example, to order one
Encoder Cable FR-RMCT-SB cable, 16m
(for applications long, specify:
from >20 to <50m UL20276-SB quantity: 16
maximum) part no.: FR-RMCT-SB
Only for Solder
Connections All
Input/Output 1CN 35mm DIN rail mountable;

Cable & Transition JUSP-TA50P the cable length is 0.5
Terminal Block meters. Stock
Use the following key to

specify required cable length
Input/Output 1CN (last digit of part number):
Cable with Pigtail JZSP-CKI01-(A) 1: 1m (standard)
Leads 2: 2m
3: 3m
specify required cable length
Input/Output 1CN (last two digits of the part
Cable Cable with number):
Female JZSP-CKI0D-
D-Sub output Con- D50: 0.5m
nector**** 01: 1m (standard)
02: 2m
03: 3m
* “(A)” at the end of the cable part number is the revision level. Revision level may be changed prior to this catalog reprinting.
** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
*** Use these power cables where it is important to meet CE (EMC) requirements.
**** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
23
Connector Selection
Use the table below to select mating connectors or kits for your SGMAH Sigma II servomotor.
Servomotors
SGMAH
Motor Size Item

Connector Description (D) Part Number Comments
(kW) Class
Motor Power
Mating Connector JZSP-CMM9-1
(without Brake)
These connector kits

include pin and socket.
Requires use of Amp Stock
Crimp Tool (90548-1).
(See below).
Motor Power
Mating Connector JZSP-CMM9-2
(with Brake)
Crimp tool for Motor

Amp Crimp Tool — 90548-1 Power Connector Limited
Stock
(JZSP-CMM9-)
All
2CN Amplifier JZSP-CMP9-1 —

Mating Connector
Motor Encoder
Mating Connector JZSP-CMP9-2 —
Stock
1CN Mating JZSP-CKI9

for SGDH I/O
Connector 50-pin
3CN Peripheral —
Mating Connector YSC-1 —
5CN Analog Monitor —

Connector DE9404559 —
24
Peripheral Device Selection

Use the table below to select peripheral devices for your SGMAH Sigma II servomotor.
Servomotors
SGMAH
Component Description (E) Part Number Comments Item Class
Hand-held Digital JUSP-OP02A-1 Portable unit with 1m adapter cable

Operator Panel and for Sigma II
JZSP-CMS00-1
Stock
Absolute Encoder Battery JZSP-BA01 3.6V, 1000mAh (lithium battery)
Software Interface Cable — YS-12 Pre-wired 2.0m cable with

9-pin connector
Minimum Recommended System
Requirements Pentuim 200 MHz,
64MB RAM, 200MB hard drive,
CDROM Drive, RS-232 or RS-422
SigmaWin+ Software JZSP-WP0001 port, Screen rsolution 800x600 w/
256 colors, and Windows
95,98,NT4.0,2000,ME. (Windows
XP planned)
For 200V: SGDH-A3AE —
SGDH-A5AE —
SGDH-01AE X5071
SGDH-02AE X5070 —
DC Reactor SGDH-04AE X5069
SGDH-08AE X5061 Limited
(for suppressing harmonics Stock
in the power supply) SGDH-08AE-S X5079
For 100V: SGDH-A3BE —
SGDH-A5BE — —
SGDH-01BE X5063
SGDH-02BE X5062
This is a general purpose
regenerative unit.*
Individual External Regener- 50 Ω, 70W for A3, A5, 01, 02, RH120-50ohmJ
ative Unit 04, AND 08 AMPS Caution: Proper set-up is neces-
sary to avoid equipment damage. Stock
For 30, 50, and 100W SGMAH
NEMA Flange Adapter — SGM-N23 motors only. Complies to NEMA 23
mounting standard.
* Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System
User’s Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
25
NOTES:
Servomotors
SGMAH
26
Flat Series
SGMPH Servomotors - With Incremental / Absolute Encoder
Rated Output: 100W, 200W, 400W,
750W, 1500W

SGMPH Ratings & Specifications 30
SGMPH Speed/Torque Curves 31
SGMPH Dimensions 32 - 40
SGMPH Selection/Ordering Information 41 - 45
Servomotors
SGMPH
Design Features
1. Compact
z The length is about 1/2 of conventional motors
z Enhanced withstand load since motor output shaft bearing size is upgraded
z Up to 5000rpm maximum speed
2. Enhanced Environmental Resistance
z Water resistance (not including the shaft), IP67 standard
z Optional shaft seals available
z Reinforced lead-out cable access
3. Encoders (reduced wiring serial encoder)
z 13-bit (2,048ppr x 4) incremental encoder (standard)
z 16-bit (16,384ppr x 4) absolute encoder (option)
z Chip mounters
z Robots
z Conveyor
z Packaging
z UL, cUL recognized, (File #: E165827), CE compliance
27

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Excitation: Permanent magnet
Insulation: Class B Ambient Temperature: 0 to 40ºC Drive Method: Direct drive
Vibration: 15μm or less Ambient Humidity: 20 to 80% Mounting: Flange-mounted
Withstand Voltage: 1500Vac (non-condensing) Applicable Encoder:
Insulation Resistance: 500VDC Rated Rotation Speed: 3000rpm 13-bit Incremental and
10MΩ or more Maximum Rotation Speed:5000rpm 16-bit Absolute encoder
Continuous Maximum Rated

Rated Rated Instantaneous Peak Rated
Voltage
Applied
Rated Peak Angular

MOTORS: Output Torque Torque Power Rate
SGMPH- Current* Current* Acceleration
W (hp) oz • in N•m oz • in N•m A rms A rms rad/s2 kW/s

01A 100 (0.13) 45.1 0.318 135 0.96 0.89 2.8 64800 20.4
Servomotors
02A 200 (0.27) 90.1 0.637 270 1.91 2.0 6.0 33000 21.0
200Vac
04A 400 (0.54) 180 1.27 542 3.82 2.6 8.0 38500 49.0
SGMPH
08A 750 (1.01) 338 2.39 1010 7.1 4.1 13.9 11400 27.0
15A 1500 (2.01) 676 4.77 2027 14.3 7.5 23.0 11900 56.7
01B 100 (0.13) 45.1 0.318 135 0.96 2.2 7.1 64800 20.4
100Vac
02B 200 (0.27) 90.1 0.637 270 1.91 2.7 8.4 33000 21.0
04A** 400 (0.54) 180 1.27 542 3.82 2.6 8.0 38500 49.0
* Values are calculated when the servomotor is combined with an SGDH servo amplifier.
** When combined with an SGDH-04FE
Moment of Inertia Holding Brake (at 20°C) Allowable

System Voltage
Coil Rated Load

MOTORS Motor without Brake Motor with Brake Capacity Inertia *
Resistance Current
SGMPH-
oz • in • s2 × 10-3 KG • m2 × 10-4 oz • in • s2 × 10-3 KG • m2 × 10-4 W Ω A KG • m2 × 10-4
01A 0.695 0.0491 1.106 0.0781 6 96 0.25 1.20

02A 2.73 0.193 4.274 0.302 5 115 0.21 3.69
200Vac
04A 4.69 0.331 6.234 0.44 7.6 76 0.32 3.82

08A 29.7 2.10 42.09 2.975 7.5 77 0.31 13.4
15A 56.9 4.02 69.29 4.895 10 58 0.42 24.1
01B 0.695 0.0491 1.106 0.0781 6 96 0.25 1.20
100Vac
02B 2.73 0.193 4.274 0.302 5 115 0.21 3.69

04A 4.69 0.331 6.234 0.44 7.6 76 0.32 3.82
* Allowable load inertia (JL) shows the range requiring no exterior regenerative unit. When these values are exceeded, applica-
tion may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined with an
SGDH servo amplifier.
Servomotor Holding Brake

MOTORS
SGMPH- Capacity Holding Torque
W oz-in KG · cm
01 100 69.5 5.0
02 200 139 10
04A 400 279 20
08A 750 514 37
15A 1500 1015 73
28

200V
SGMPH-01A SGMPH-02A SGMPH-04A
㪘㩷㩷㩷㩷㩷㩷㪙㪉㪇㪇㪇
㪘㩷㩷㩷㩷㩷㪙㪘㩷㩷㩷㩷㩷㩷㪙
㪉㪇㪇㪇㪉㪇㪇㪇
㪇㪇㪇
㪇㩷㩷㩷㪇㪅㪉㪌㩷㩷㩷㪇㪅㪌㩷㩷㩷㪇㪅㪎㪌㩷㩷㪈㪅㪇㪇㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㩷㩷㪈㩷㩷㩷㩷㩷㪈㪅㪌㩷㩷㩷㩷㩷㪉㪇㩷㩷㩷㩷㩷㪈㩷㩷㩷㩷㩷㩷㪉㩷㩷㩷㩷㩷㩷㪊㩷㩷㩷㩷㩷㩷㩷㪋
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪌㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪌㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㪊㪇㪇㩷㩷㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㪇㩷㩷㩷㩷㩷㩷㪍㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀
Servomotors
SGMPH-08A SGMPH15A
SGMPH
㪌㪇㪇㪇㪌㪇㪇㪇
㪋㪇㪇㪇㪋㪇㪇㪇
㪊㪇㪇㪇㪊㪇㪇㪇
㪘㩷㩷㩷㩷㩷㩷㩷㪙㪘㩷㩷㩷㩷㩷㩷㩷㪙
㪉㪇㪇㪇㪉㪇㪇㪇
㪈㪇㪇㪇㪈㪇㪇㪇
㪇㪇
㪇㩷㩷㩷㩷㩷㪉㩷㩷㩷㩷㩷㩷㪋㩷㩷㩷㩷㩷㩷㪍㩷㩷㩷㩷㩷㩷㪏㪇㩷㩷㩷㩷㩷㪋㩷㩷㩷㩷㩷㩷㪏㩷㩷㩷㩷㩷㪈㪉㩷㩷㩷㩷㩷㪈㪍
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪏㪇㪇㩷㩷㩷㩷㩷㩷㩷㪈㪉㪇㪇㩷㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪏㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㪈㪍㪇㪇㩷㩷㩷㩷㩷㪉㪋㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㪆㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀
100V
SGMPH-01B SGMPH-02B SGMPH-04A*
㪌㪇㪇㪇㪌㪇㪇㪇 5000
㪋㪇㪇㪇㪋㪇㪇㪇 4000

㪊㪇㪇㪇㪊㪇㪇㪇 3000

㪘㩷㩷㩷㩷㩷㩷㪙㪘㩷㩷㩷㩷㩷㩷㪙 A B
㪉㪇㪇㪇㪉㪇㪇㪇 2000
㪈㪇㪇㪇㪈㪇㪇㪇 1000
㪇㪇 0
㪇㩷㩷㩷㪇㪅㪉㪌㩷㩷㩷㪇㪅㪌㩷㩷㪇㪅㪎㪌㩷㩷㩷㪈㪅㪇㪇㩷㩷㩷㩷㪇㪅㪌㩷㩷㩷㩷㩷㪈㩷㩷㩷㩷㩷㪈㪅㪌㩷㩷㩷㩷㩷㪉 0 1 2 3 4
㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀㪫㪦㪩㪨㪬㪜㩷㩿㪥㩷㩷㫄㪀
㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪌㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪌㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪇㪇㩷㩷㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪇㪇㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㪇㪇㩷㩷㩷㩷㩷㩷㪍㪇㪇
㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㪆㫀㫅㪀㪫㪦㪩㪨㪬㪜㩷㩿㫆㫑㪆㫀㫅㪀
A : CONTINUOUS DUTY ZONE

*When combined with SGDH-04FE amplifier.
29

(1) 13-Bit Incremental or 16-Bit Absolute Encoder, w/o Brake
Note: 1. The keyway complies with JIS B1301-1976 (precision). A straight key is supplied.
2. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available).
3. The quoted allowable radial load is the value at a position 5mm (0.2in) from the shaft end.
• 100W (0.13hp)
Encoder cable
UL20276 Φ0.24 (6) 11.81 (300) ±1.18 (30)
Encoder plug
SRUC 17GMRCN087 U
W
Motor Plug
Motor cable SRUC 06JMSCN236 T
Cross-section Y-Y
Hexagonal nut
11.81 (300) ±1.18 (30) Opposite Side width: 0.55 (14)
Servomotors
L 0.0016 (0.04) A
SGMPH
LL LR LC
LM Φ0.0016 (Φ0.04) A 0.83 (21)
0.42 (10.5) 0.12 (3)
0.71 (18)
LG
ΦLA
QK
0.51 0.55 Y
ΦLB**
0.35 (9.0) (13) (14)
LC
4 - ΦLZ
ΦS*
A
Serial encoder 0.0008 (0.002)
(absolute or incremental)
Key Allowable Allowable

Torque Rated Approx
Output Time Radial Thrust
Type SGMPH- L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** in•lb Speed Mass
QK U W T W (hp) Rating Load Load
(N•m) (rpm) lb (kg)
lb (N) lb (N)
01E41D 3.43 2.44 1.67 0.98 0.24 2.36 2.76 0.21 0.315 1.97 0.55 0.071 0.12 0.12 100 2.81 Continu- 1.54 17.5 11.0
3000
01E41D (87) (62) (42.5) (25) (6) (60) (70) (5.3) (8) (50) (14) (1.8) (3) (3) (0.13) (0.318) ous (0.7) (78) (49)
Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting surface.
†
in 0.3150 +0.0000-0.0004 1.9685 +0.0000 -0.0010
mm 8.000 +0.000 -0.009 50.000 +0.000 -0.025
Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications
Pin No. Description Color Pin
1 11
1* Battery - — Number Description Color
2
12
10 1 6
3 13 16 9
2* Battery * (3.6V) — 1 Phase U Red
17
3 Data + Blue 2 5
4 14 15 8 2 Phase V White
4 Data− Blue/White 3 Phase W Blue
5
6
7 3 4
5 - 7, 10 - 17 Free — 6 FG (Frame Ground) Green/Yellow
SRUC 17GMRCN087 8 +5V (Power Supply) Red
SRUC 06JMSCN236 Mating Connector: SPNA06KFSDN169
(Interconnectron) 9 0V (Power Supply) Black
(Interconnectron)
Connector Case FG (Frame Ground) Shield wire (Interconnectron)
*Note: Incremental Terminal pins number 1 and 2 are connectors
Mating Connector: SPNA17HFRON16900E3
(Interconnectron)
30
• 200W (0.27hp), 400W (0.53hp)

Encoder cable
UL20276 Φ0.24 (6) 11.81 (300) ±1.18 (30)
Encoder plug U
SRUC 17GMRCN087
W
Motor cable
Motor Plug
SRUC 06JMSCN236 T
Cross-section Y-Y
11.81 (300) ±1.18 (30) Hexagonal nut

Opposite side width: 0.55 (14)
L LC
LL LR
0.28 (7) LM 0.0016 (0.04) A 0.83 (21)
maximum
0.33 (8.5) LG
0.71 (18)
Φ0.0016 (Φ0.04) A 4 - ΦLZ
Servomotors
0.12 (3)
SGMPH
0.35
(9.0) QK
0.51 0.55
(13) (14)
Y
ΦLB**
LC
ΦS*
Y ΦLA
A

Voltage Output Torque Rated Approx
Time Radial Thrust
QK U W T Rating Load Load
V W (hp) (N•m) (rpm) lb (kg)
lb (N) lb (N)
3.82 2.64 1.89 200 5.64 3.09
02E41D
(97) (67) (48.1) 1.18 0.31 3.15 3.54 0.28 0.551 2.76 0.63 0.12 0.20 0.20 (0.27) (0.637) Continu- (1.4) 55.1 15.4
200 3000
4.61 3.46 2.68 (30) (8) (80) (90) (7) (14) (70) (16) (3) (5) (5) 400 11.2 ous 4.63 (245) (68)
04E41D
(117) (87) (68.1) (0.53) (1.27) (2.1)
Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the mounting surface.
†Some motor dimensions vary for motors with the optional shaft seal: See p.38 for details.
in 0.5512 +0.0000-0.0004 2.7559 +0.0000 -0.0012
mm 14.000 +0.000 -0.011 70.000 +0.000 -0.030
Interconnection Connector Specifications: See p.30.
31
• 750W (1.01hp)
Encoder cable U
UL20276 F0.24 (6) 11.81 (300) ±1.18 (30)
Encoder plug
SRUC 17GMRCN087
W
MOTOR CABLE Motor Plug T
SRUC 06JMSCN236
Cross-section Y - Y
11.81 (300) ±1.18 (30)
Hexagonal nut
Opposite side width: 0.67 (17)
L 0.0016 (0.04) A
LL LR
LM LC
0.28
0.41 (10.5) 1.50 (38)
maximum
(7)
1.1 (28)
LG
0.14 Φ0.0016 (Φ0.04) A
Servomotors
(3.5)
SGMPH
0.35 QK
(9.0) 0.51 0.75
(13) (19) Y
ΦLB**
LC
Y
ΦS*
4 - ΦLZ ΦLA
A

Torque Rated Approx
Voltage Output Time Radial Thrust
Type SGMPH- L LL LM LR LG LC ΦLA ΦLZ ΦS* ΦLB** in•lb Speed Mass lb
QK U W T V W (hp) Rating Load Load
(N•m) (rpm) (kg)
lb (N) lb (N)
4.98 3.41 2.63 1.57 0.39 4.72 5.71 0.39 0.63 4.33 0.87 0.12 0.20 0.20 750 21.1 Contin- 9.26 88.1 33.0
08E41D 200 3000
(126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) (1.01) (2.39) uous (4.2) (392) (147)
Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface.
in 0.6299 +0.0000-0.0004 4.3307 +0.0000 -0.0014
mm 16.000 +0.000 -0.011 110.000 +0.000 -0.035
Interconnection Connector .Specifications: See p.30.
32
• 1500W (2.0hp)
Encoder cable U
UL20276 Φ0.24 (6)
11.81 (300) ±1.18 (30)
Encoder plug
W
SRUC 17GMRCN087
T
Motor cable Motor Plug
SRUC 06JMSCN020
Cross-section Y - Y
11.81 (300) ±1.18 (30)

Hexagonal nut
0.0016 (0.04) A Opposite side width: 0.67 (17)
L
LL LR
LC
LM
1.50 (38)
maximum
0.28 0.41 (10.5)
(7) LG 4 - ΦLZ
1.1 (28)
0.14 (3.5) Φ0.0016 (Φ0.04) A
Servomotors
SGMPH
ΦLA
0.35
(9.0) 0.51 0.75 QK
(13) (19) Y
ΦLB**
LC
Y
ΦS*


Torque Rated Approx
lb (N) lb (N)
6.08 4.51 3.73 1.57 0.39 4.72 5.71 0.39 0.75 4.33 0.87 0.14 0.24 0.24 1500 42.1 Continu- 14.55 110 33.0
15E41D (154.5) (114.5) (94.7) (40) (10) (120) (145) (10) (19) (110) (22) (3.5) (6) (6)
200
(2.0) (4.77) ous
3000
(6.6) (490) (147)
†
in 0.7480 +0.0000-0.0005 4.3307 +0.0000 -0.0014
mm 19.000 +0.000 -0.013 110.000 +0.000 -0.035
Interconnection Connector Specifications
1 11 Pin Number Description Color Pin No. Description Color
2 10
1* Battery - — 1 6
12 1 Phase U Red
3 13 16 9
17 2* Battery * (3.6V) — 2 5 2 Phase V White
14 15
4 8 3 Data + Blue 3 Phase W Blue
5
6
7
4 Data− Blue/White 3 4 6 FG (Frame Ground) Green/Yellow
5 - 7, 10 - 17 Free —
SRUC 17GMRCN087 SRUC 06JMSCN020 Mating Connector: SPNA06KFSDN169
(Interconnectron) 8 +5V (Power Supply) Red
(Interconnectron) (Interconnectron)
9 0V (Power Supply) Black
Connector Case FG (Frame Ground) Shield wire
(Interconnectron)
33
(2) 13-Bit Incremental or 16-Bit Absolute Encoder, with Brake

Note: 1. The keyway complies with JIS B1301-1976 (precision). A straight key is supplied.
2. The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
3. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available).
• 100W (0.13hp)
11.81 (300) ±1.18 (30)
Encoder cable Encoder plug
UL20276 Φ0.24 (6) SRUC 17GMRCN087 U
W
Motor Plug T
MOTOR cable SRUC 06JMSCN236
Cross-section Y - Y
Hexagonal nut
11.81 (300) ±1.18 (30) Opposite side width: 0.67 (17)
L
LL LR LC
Servomotors
LM 0.83 (21)
maximum.
0.0016 (0.04) A
SGMPH
0.28 (7) 0.41 (10.5)
0.71 (18)
0.12 (3)
Φ0.0016 (Φ0.04) A
LG ΦLA 4 - ΦLZ
QK
0.35 0.51
(9.0) 0.90 Y
(13)
LC
(23)
ΦLB**
ΦS*
A
Serial encoder Magnetic brake: Non-excitation operation 0.0008 (0.002)
(Absolute or Incremental) DC power supply: 24V

Torque Rated Approx
QK U W T (V) W (hp) Rating Load Load
lb (N) lb (N)
4.57 3.58 1.67 0.98 0.24 2.36 2.76 0.22 0.315 1.968 0.55 0.071 0.12 0.12 100 2.81 Contin- 1.5 17.5 11.0
01E4CD 200 3000
(116) (91) (42.5) (25) (6) (60) (70) (5.5) (8) (50) (14) (1.8) (3) (3) (0.13) (0.318) uous (0.7) (78) (49)
in 0.3150 +0.0000-0.0004 1.9685 +0.0000 -0.0010
mm 8.000 +0.000 -0.009 50.000 +0.000 -0.025
Encoder Plug Motor Plug Motor Wiring Specifications
Incremental Terminal Specifications
1 11
Pin Number Description Color Pin Number Description Color
2
12
10 1* Battery - - 1 6 1 Phase U Red
3 13
17
16 9 2* Battery * (3.6V) 2 Phase V White
2 5
4 14 15 8 3 Data + Blue 3 Phase W Blue
5
6
7 4 Data− Blue/White 3 4 4 Holding Brake Black
5 - 7, 10 - 17 Free - 5 Holding Brake Black
SRUC 17GMRCN087 8 +5V (Power Supply) Red SRUC 06JMSCN236 6 FG (Frame Ground) Green/Yellow
(Interconnectron) 9 0V (Power Supply) Black (Interconnectron) Mating Connector: SPNA06KFSDN169
Connector Case FG (Frame Ground) Shield wire (Interconnectron)
Mating Connector: SPNA17HFRON16900E3 (Interconnectron)
34
• 200W (0.27hp), 400W (0.53hp)

Encoder cable
UL20276 Φ0.24 (6) 11.81 (300) ±1.18 (30)
U
Encoder plug
SRUC 17GMRCN087
W
Motor cable T
Motor Plug
SRUC 06JMSCN236 Cross-section Y-Y
HEXAGONAL NUT
11.81 (300) ±1.18 (30) Opposite side width: 0.67 (17)
L 0.0016 (0.04) A
LL LR LC
maximum
LM 0.83 (21)
0.71 (18)
0.28 (7) LG
0.33 (8.5) 0.12 (3)
Φ0.0016 (Φ0.04) A
Servomotors
SGMPH
0.35
0.51 0.90 QK
(9.0)
(13) (23)
Y ΦLB**
LC
Y ΦLA
ΦS*
ΦLZ
Serial encoder Magnetic brake: Non-excitation operation A

(Absolute or Incremental) DC power supply: 24V 0.0008 (0.002)

Torque Rated Approx
QK U W T V W (hp) Rating Load lb Load
( N•m) (rpm) lb (kg)
(N) lb (N)
5.06 3.88 1.89 200 5.64 4.2
02E4CD 200
(128.5) (98.5) (48.1) 1.18 0.31 3.15 3.54 0.28 0.551 2.756 0.63 0.12 0.20 0.20 (0.27) (0.637) Contin- (1.9) 55.1 15.29
3000
04E4CD 5.85 4.67 2.68 (30) (8) (80) (90) (7) (14) (70) (16) (3) (5) (5)
400 400 11.2 uous 5.7 (245) (68)
(148.5) (118.5) (68.1) (0.53) (1.27) (2.6)
in 0.5512 +0.0000-0.0004 2.7559 +0.0000 -0.0012
mm 14.000 +0.000 -0.011 70.000 +0.000 -0.030
Interconnection Connector Specifications: See p.33.
35
• 750W (1.01hp)
11.81 (300) ±1.18 (30) U
Encoder cable Encoder plug
UL20276 Φ0.24 (6) SRUC 17GMRCN087
W
Motor cable
Motor Plug
SRUC 06JMSCN236
T
11.81 (300) ±1.18 (30) Cross-section Y - Y
Hexagonal nut
L
LL LR Opposite side width: 0.55 (14)
LC
LM 0.0016 (0.04) A
0.41 (10.5) 1.5 (38)
maximum.
LG
1.1 (28)
0.28 (7) Φ0.0016 (Φ0.04) A
0.14 (3.5) 4 - ΦLZ
0.35 QK
(9.0) 0.51 1.0
Servomotors
(13) (25.5) Y
SGMPH
ΦLB**
ΦLC
ΦS*
Y
ΦLA
A

Torque Rated Approx
QK U W T V W (hp) Rating Load lb Load
(N) lb (N)
6.42 4.84 2.63 1.57 0.39 4.72 5.71 0.39 0.63 4.33 0.87 0.12 0.20 0.20 750 21.15 Contin- 12.6 88.1 33.0
08E4CD 200 3000
(163) (123) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) (1.01) (2.39) uous (5.7) (392) (147)
†
in 0.6299 +0.0000-0.0004 4.3307 +0.0000 -0.0014
mm 16.000 +0.000 -0.011 110.000 +0.000 -0.035
Interconnection Connector Specifications:

. See p.33.
36
• 1500W (2.0hp)
Encoder cable
UL20276 Φ0.24 (6) 11.81 (300) ±1.18 (30) Encoder plug U
SRUC 17GMRCN087
W
Motor Plug T
Motor cable SRUC 06JMSCN020 Cross-section Y - Y
11.81 (300) ±1.18 (30)

Hexagonal nut
L 0.0016 (0.04) A Opposite side width: 0.55 (14)
LL LR
0.28 1.30 (33) LC
LM
(7) 1.50 (38)
Maximum
0.41 (10.5) LG
1.1 (28)
0.14 (3.5)
Φ0.0016 (Φ0.04) A
Servomotors
0.35 QK
SGMPH
(9.0) 0.51 1.00
(13) (25.5) Y
ΦS*
ΦLB**
LC
Y
A

Torque Rated Approx
( N•m) (rpm) lb (kg)
lb (N) lb (N)
7.40 5.83 3.73 1.57 0.39 4.72 5.71 0.39 0.75 4.33 0.87 0.14 0.24 0.24 1500 42.1 Contin- 17.9 110 33.0
15E4CD (188) (148) (94.7) (40) (10) (120) (145) (10) (19) (110) (22) (3.5) (6) (6)
200
(2.02) (4.77) uous
3000
(8.1) (490) (147)
in 0.7480 +0.0000-0.0005 2.7559 +0.0000 -0.0014
mm 19.000 +0.000 -0.013 70.000 +0.000 -0.035
Pin Number Description Color Pin
1 11
Description Color
2
12
10 1* Battery - — 1 6 No.
3 13
17
16 9 2* Battery * (3.6V) — 1 Phase U Red
2 5
4 14 15 8 3 Data + Blue 2 Phase V White
5
6
7 4 Data − Blue/White 3 4 3 Phase W Blue
5 - 7, 10 - 17 Free — 4 Holding Brake Black
SRUC 17GMRCN087 8 +5V (Power Supply) Red SRUC 06JMSCN020 5 Holding Brake Black
(Interconnectron) 9 0V (Power Supply) Black (Interconnectron) 6 FG (Frame Ground) Green/Yellow
Connector Case FG (Frame Ground) Shield wire
Mating Connector: SPNA06KFSDN169
*Note: Incremental Terminal pins number 1 and 2 are
connectors used for 16-bit absolute encoder option (Interconnectron
only.
(Interconnectron)
37
Dimension Modifications for Motors with Optional Shaft Seal
LR
LE
LD
QK
ΦLB
ΦS
LP
Servomotors
SGMPH
Shaft Seal
Type SGMPH- QK ΦLB* ΦS* LE LR LD ΦLP

01 0.55 (14) 1.97 (50) 0.31 (8) 0.98 (25) 0.28 (7) 1.54 (39)
02 0.12 (3)
0.64 (16) 2.76 (70) 0.55 (14) 1.18 (30) 0.39 (10) 1.93 (49)
04
08 0.63 (16)
0.87 (22) 4.33 (110) 0.14 (3.5) 1.57 (40) 0.41 (10.5) 3.03 (77)
15 0.75 (19)
*Refer to the following table for tolerances for diameters LB and S.
Dimension * ΦS **ΦLB
0.3150 +0.0000-0.0004 1.9685 +0.0000 -0.0010
0.5512 +0.0000-0.0004 2.7559 +0.0000 -0.0014
in
0.6299 +0.0000-0.0004 4.3307 +0.0000 -0.0014
0.7480 +0.0000-0.0005
8.000 +0.000 -0.009 50.000 +0.000 -0.025
14.000 +0.000 -0.011 70.000 +0.000 -0.035
mm
16.000 +0.000 -0.011 110.000 +0.000 -0.035
19.000 +0.000 -0.013
Torque Reduction Factor for SGMPH motors equipped with a shaft seal:
Servo Motor Model 01 02 04 08 15
Torque Reduction
Factor 90% 90% 95% 95% 95%
For Example: The SGMPH-01 continuous and peak torque rating should be reduced to
90% of the listed catalog specification.
To specify a motor with a shaft seal, refer to the motor part number explanation on the
following page.
38
Selecting Your SGMPH Sigma II Servo System

5CN
Shaft Keyway
For Monitor (D) SGMPH
Servomotor
3CN Connector (A)
SGDH Servo Encoder (D) Shaft Seal
Servomotors
Peripheral
Signal Amplifier
SGMPH
1CN 2CN
Encoder Cable (C)
Connector
(D)
Specify a technical manual, if it is needed, on your
Regenerative Unit (E) (Manual is provided at no charge with a purchase order,
but it must be requested).

SGMPH - 01 A A E 4 1D
Sigma Servomotor Type Accessories
Rated Output 1D: Standard
01: 100W (0.13hp) CD: Standard with 24VDC Holding Brake
02: 200W (0.25hp) SD: Standard with Shaft Seal
04: 400W (0.5hp) ED: Standard with Brake & Shaft Seal
08: 750W (1hp) Shaft Specifications
15: 1.5kW (2hp) 4: Straight Shaft with Keyway
Power Supply Revision Level
A: 200V UL Recognized Encoder Specifications
B: 100V UL Recognized A: 13-Bit (2048 x 4) Incremental Encoder
1: 16-Bit (16,384 x 4) Absolute Encoder
39

Use the table below to select the appropriate SGMPH Sigma II servomotor and amplifier.
Peak Rated Amplifier MODEL # (B)* Motor &

Motor Inertia
Description Torque Torque Motor MODEL # (A) 1-Phase 3-Phase Amplifier
(oz • in) (oz • in) (oz • in • s2x10-3) Item Class
SGDH- SGDH-
0.917 SGMPH-01AAE41D
135 45.1 01AE —
1.46 SGMPH-01AAE4CD
2.96 SGMPH-02AAE41D
Servomotors
270 90.1 02AE —

SGMPH
200V
13-Bit Incremental 4.35 SGMPH-02AAE4CD
Encoder
Straight Shaft with 4.92 SGMPH-04AAE41D
Keyway
542 181 04AE —
5000rpm 6.31 SGMPH-04AAE4CD
Pre-wired with
Heavy Duty 29.9 SGMPH-08AAE41D
Connectors
1010 338 08AE-S 08AE
35.7 SGMPH-08AAE4CD
57.1 SGMPH-15AAE41D Stock

2027 676 15AE-S 15AE
67.8 SGMPH-15AAE4CD
0.917 SGMPH-01BAE41D
100V, 1-Phase 135 45.1 01BE —

1.46 SGMPH-01BAE4CD
13-Bit Incremental
Encoder
Straight Shaft with 2.96 SGMPH-02BAE41D
Keyway
270 90.1 02BE —
5000rpm
4.35 SGMPH-02BAE4CD
Pre-wired with
Heavy Duty
Connectors 4.92 SGMPH-04AAE41D
542 181 04FE —
6.31 SGMPH-04AAE4CD
Notes: 24VDC brakes for SGMPH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies. Motor power
and encoder cables are factory pre-wired with approximately 13” lead length with heavy duty mating connectors.
Use the tables on the following page to specify mating connectors and/or various cable lengths.
40

Use the table below to select pre-wired cables for your SGMPH Sigma II servomotor.
Motor Size Item
Cable Description (C) Part Number* Comments
(kW) Class
0.1, 0.2, B4ICE-(A)
Power Cable with Intercon- 0.4, 0.8
nectron Connectors
(without Brake) 1.5 B5ICE-(A) These UL and CE compli-
ant cables are available in
five lengths. Use two digits
0.1, 0.2, in the part number’s last
Power Cable with Intercon- 0.4, 0.8 B4IBCE-(A) place:
nectron Connectors 03: 3m
(with Brake) 05: 5m
(IP67) 1.5 B5IBCE-(A) 10: 10m (standard)
15: 15m
Encoder Cable with Intercon- 20: 20m
Servomotors
nectron Connector A1ICE-(A)
(incremental or absolute)
SGMPH
(IP67)
Encoder Cable
(for applications
up to 20m) FR-RMCT-SB These cables are avail-
Only for Solder able in any length.
Connections
For example, to order one
FR-RMCT-SB cable, 16m
long,
Encoder Cable specify:
(for applications quantity:16
from >20 to <50m) UL20276-SB part no.: FR-RMCT-SB
Only for Solder
Connections Stock**
All
Input/Output 1CN Cable & 35mm DIN rail mountable;

Transition JUSP-TA50P the cable length is 0.5
Terminal Block meters.

specify required cable
Input/Output 1CN Cable with length (last digit of part
Pigtail Leads JZSP-CKI01-(A) number):
1: 1m (standard)
2: 2m
3: 3m
length (last two digits of the
Input/Output 1CN Cable part number):
Cable with Female JZSP-CKI0D-
D-Sub output Connector*** D50: 0.5m
01: 1m (standard)
02: 2m
03: 3m
* The “(A)” at the end of the cable part number is the revision level. Revision level may be changed prior to catalog reprinting.
*** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449,
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others)
41
Connector Selection
Use the table below to select mating connectors or kits for your SGMPH Sigma II servomotor.
Motor Size Item

(kW) Class
Interconnectron
Connector for Motor
Power Cable (with or FIN07S-B2 Solder Cup
without Brake)
(IP67)
Servomotors
0.1, 0.2,
2CN Amplifier 0.4, 0.8,
SGMPH
JZSP-CMP9-1 —
Mating Connector 1.5
Stock
Interconnectron
Connector for Encoder Gauge: 24 - 18AWG
Cable FIN17C-A2 Requires Crimp Tool
(incremental or B150 and positioner.
absolute encoder)
(IP67)
1CN Mating
Connector JZSP-CKI9 –
All
Interconnectron — B150 —
Crimp Tool Limited
Stock
Positioner — B055/A —
42

Use the table below to select peripheral devices for your SGMPH Sigma II servomotor.
Component Description (E) Part Number Comments Item Class
JUSP-OP02A-1 Portable unit with 1m adapter cable for

Hand-held Digital and
Operator Panel JZSP-CMS00-1
Sigma II
Servomotors
SGMPH
Stock
Software Interface Cable — YS-12 Pre-wired 2.0m cable with

9-pin connector
SigmaWin+ Software JZSP-WP0001 CDROM Drive, RS-232 or RS-422
port, Screen rsolution 800x600 w/ 256
colors, and Windows
95,98,NT4.0,2000,ME. (Windows XP
planned)
For: SGDH-01AE
SGDH-02AE
SGDH-04AE RH12050ohmJ These are general purpose regenera-
Individual External Regener- SGDH-08AE tive units.*
ative Unit SGDF-08AE-S Caution: Proper set-up is necessary
amps to avoid equipment damage.
For: SGDH-15AE RH500N25_ohmΚ
SGDH-15AE-S
For 200V: SGDH-01AE X5071
SGDH-02AE X5070
SGDH-04AE X5069
DC Reactor SGDH-08AE X5061
(for suppressing harmonics SGDF-08AE-S X5079 — Limited
in the power supply) SGDH-15AE X5060 Stock
SGDH-15AE-S X5078
For 100V: SGDH-01BE X5063
SGDH-02BE X5062
* For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection.
Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo System User’s
Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
43
NOTES:
Servomotors
SGMPH
44
SGMPH Gearmotors - With Incremental / Absolute Encoder

Rated Output : 100W, 200W, 400W,
750W, 1500W

SGMPH Gearmotor Ratings & Specifications 48 - 49
SGMPH Gearmotor Dimensions 50 - 51
SGMPH Gearmotor Selection/Ordering Information 52 - 55
Design Features
1. Compact Construction
z Easy to install - pre-engineered and pre-assembled
z Ideal for cyclic and reversing applications
z Fits in limited mounting space
z Planetary gear geometry allowing high output torques in a compact package
2. Torque
z 40.9 to 3540in • lb peak torque
Gearmotors
z Cost-effective solution for low speed and high torque applications
SGMPH
z Gear ratios - 5:1 to 100:1 in some sizes
z High torsional stiffness and low backlash
z Lubrication is self-replenishing to ensure long life
3. Encoders
z 13-Bit (2,048ppr x 4) incremental encoder (standard)
z 16-Bit (16,384ppr x 4) absolute encoder (option)
4. Enclosure
z Motor is totally enclosed, self-cooled IP67 (not including shaft)
z Robots
z Conveyors
z Packaging machines
45
Gearmotor Ratings and Specifications

Amplifier Model
Rated Peak Rated Maximum Speed Torque Torque Number
GEARMOTOR
Torque Torque Speed Speed N1 T1 T2
Part Number Analog Input
(in • lb) (in • lb) (rpm) (rpm) (rpm) (in • lb) (in • lb)
SGDH-
SG05SA-PE01 13.67 40.93 600 1000 900 8.59 34.34
SG10SA-PE01 27.34 81.84 300 500 450 17.17 68.68
SG25SA-PE01 66.95 200.39 120 200 180 42.04 168.16 01
SG50SA-PE01 133.89 283.00 60 100 90 84.08 336.32
SG1ASA-PE01 267.78 637.00 30 50 45 168.16 672.65
SG05SA-PE02 27.34 81.84 600 1000 1000/600 17.17 81.8/36.2*
SG10SA-PE02 54.68 163.69 300 500 500/300 34.34 163.7/72.4*
SG25SA-PE02 133.89 283.00 120 200 200/120 84.08 283/177* 02
SG50SA-PE02 267.78 708.00 60 100 100/60 168.16 708/354.7*
SG1ASAPE02 535.56 1593.00 26 48 50/30 336.32 1593/704.4*
SG05SA-PE04 54.81 164.42 600 1000 640 34.34 77.27
SG10SA-PE04 109.61 283.00 300 500 320 68.68 154.53
SG25SA-PE04 268.38 708.00 120 200 128 168.16 378.36 04
SG50SA-PE04 536.75 1610.25 52 96 64 336.32 756.73
SG1ASA-PE04 1073.50 2832.00 20 36 32 672.65 1513.45
SG05SA-PE08 102.34 306.04 600 1000 640 51.51 51.51
SG10SA-PE08 204.67 612.07 300 500 320 103.02 103.02
08
SG25SA-PE08 501.13 1498.63 104 192 128 252.24 252.24
SG50SA-PE08 1002.25 2997.25 40 72 64 504.48 504.48
SG05SA-PE15 205.16 614.50 520 960 640 103.02 103.02
SG10SA-PE15 410.31 1228.99 260 480 320 206.04 206.04
15
SG25SA-PE15 1004.63 3009.13 80 144 128 504.48 504.48
SG50SA-PE15 2009.25 3540.00 40 72 64 1008.97 1008.97
* Values for 100V Gearmotor
Note: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000
Gearmotors
cycles per hour or less. Contact your Yaskawa representative when duty cycles exceed 60%, and when the gear-
SGMPH
motor runs for more than 1,000 cycles per hour.

2. Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature.
3. For right-angle gearmotors, please consult the factory for availability.
Torque
A = Continuous Duty
Peak Torque B = Intermittent Duty
T2
B
Rated Torque
A
T1
Speed
Rated Speed N1
Maximum Speed
46
Gearmotor Mechanical Ratings

Gearhead Gearhead Gearhead Gearhead Gearmotor
GEARMOTOR Inertia
Backlash Maximum Radial Maximum Axial Weight
Part Number
(arc min) Load (lbf) Load (lbf) (in • lb • s2) (lb)
SG05SA-PE01
146 158 0.000052 3.24
SG10SA-PE01
SG25SA-PE01 <10
326 349 0.00025 6.39
SG50SA-PE01
SG1ASA-PE01 540 428 0.0016 12.79
SG05SA-PE02
7.28
SG10SA-PE02 326 349 0.00025
SG25SA-PE02 <10 7.94
SG50SA-PE02 540 428 0.0016 14.34
SG1ASA-PE02 1035 900 0.0049 27.79
SG05SA-PE04
326 349 0.00025 8.82
SG10SA-PE04
SG25SA-PE04 <10 540 428 0.0016 15.88
SG50SA-PE04 1035 900 0.0049 29.33
SG1ASA-PE04 1687 1350 0.0047 50.83
SG05SA-PE08
540 428 0.0016 19.18
SG10SA-PE08
<10
SG25SA-PE08 1035 900 0.0049 34.84
SG50SA-PE08 1687 1350 0.0047 56.34
Gearmotors
SG05SA-PE15
1035 900 0.0048 34.40
SGMPH
SG10SA-PE15
<10
SG25SA-PE15
1687 1350 0.0047 60.75
SG50SA-PE15
CONVENTIONAL GEARMOTOR
TORSIONAL ANGLE
YASKAWA
Sigma II
GEARMOTOR
REDUCER’S BACKLASH
TORQUE
2% OF RATED TORQUE
47

Q W
QK
T KD
Motor leads extend 11.81in (300mm) from motor
U T
LL LC
(4) Holes 90° apart
LL3 MT threaded
MD deep
LR
LE
øGD øLA
øLB
øS
GEARMOTOR LL3 LL LE LR LB GD S LC LA MT MD Q QK KD W T U
SG05SA-PE01A 1.988 5.177 0.158 0.965 1.378 1.969 0.472 2.362 1.732 M4 0.315 0.709 0.551 0.158 0.158 0.098
SG10SA-PE01A (50) (131.5) (4) (24.5) (35) (50) (12) (60) (44) x 0.7 (8) (18) (14) (4) (4) (2.5)
SG25SA-PE01A 3.465 6.858 1.417 2.047 2.756 0.630 2.756 2.441 M5 0.394 1.102 0.984 0.197 0.197 0.118
SG50SA-PE01A (88) (174.2) (36) (52) (70) (16) (70) (62) x 0.8 (10) (28) (25) (5) (5) (3)
SG1ASA-PE01A 4.193 7.500 1.811 2.677 3.543 0.866 3.543 3.150 M6 0.472 1.417 1.260 0.236 0.236 0.138
(106.5) (190.5) (46) (68) (90) (22) (90) (80) x 1.0 (12) (36) (32) 0.079 (6) (6) (3.5)
(2)
SG05SA-PE02A 2.677 6.181 0.197
(68) (157) (5)
SG10SA-PE02A 1.417 2.047 2.756 0.630 3.150 2.441 M5 0.394 1.102 0.984 0.197 0.197 0.118
Gearmotors
(36) (52) (70) (16) (80) (62) x 0.8 (10) (28) (25) (5) (5) (3)
3.465 6.969
SG25SA-PE02A
SGMPH
(88) (177)
4.193 7.697 1.811 2.677 3.543 0.866 3.543 3.150 M6 0.472 1.417 1.260 0.236 0.236 0.138
SG50SA-PE02A
(106.5) (195.5) (46) (68) (90) (22) (90) (80) x 1.0 (12) (36) (32) (6) (6) (3.5)
5.295 9.036 0.236 2.756 3.543 4.724 1.260 4.724 4.252 M8 0.630 2.284 1.969 0.158 0.394 0.315 0.197
SG1ASA-PE02A x
(134.5) (229.5) (6) (70) (90) (120) (32) (120) (108) 1.25 (16) (58) (50) (4) (10) (8) (5)
SG05SA-PE04A 2.677 6.969 1.417 2.047 2.756 0.630 3.150 2.441 M5 0.394 1.102 0.984 0.197 0.197 0.118
SG10SA-PE04A (68) (177) 0.197 (36) (52) (70) (16) (80) (62) x 0.8 (10) (28) (25) 0.079 (5) (5) (3)
4.193 8.484 (5) 1.811 2.677 3.543 0.866 3.543 3.150 M6 0.472 1.417 1.260 (2) 0.236 0.236 0.138
SG25SA-PE04A
(106.5) (215.5) (46) (68) (90) (22) (90) (80) x 1.0 (12) (36) (32) (6) (6) (3.5)
5.295 9.823 0.236 2.756 3.543 4.724 1.260 4.252 M8 0.630 2.284 1.969 0.158 0.394
SG50SA-PE04A x
(134.5) (249.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) 0.315 0.197
(8) (5)
6.024 10.551 0.315 3.819 4.724 6.102 1.575 5.512 M10 0.787 3.228 2.756 0.236 0.472
SG1ASA-PE04A
(153) (268.0) (8) (97) (120) (155) (40) (140) x 1.5 (20) (82) (70) (6) (12)
SG05SA-PE08A 3.150 7.815 0.197 1.811 2.677 3.543 0.866 3.150 M6 0.472 1.417 1.260 0.079 0.236 0.236 0.138
SG10SA-PE08A (80) (198.5) (5) (46) (68) (90) (22) (80) x 1.0 (12) (36) (32) (2) (6) (6) (3.5)
5.295 9.803 0.236 2.756 3.543 4.724 1.260 4.724 4.252 M8 0.630 2.284 1.969 0.158 0.394
SG25SA-PE08A x
(134.5) (249) (6) (70) (90) (120) (32) (120) (108) 1.25 (16) (58) (50) (4) (10)
6.024 10.532( 0.315 3.819 4.724 6.102 1.575 5.512 M10 0.787 3.228 2.756 0.236 0.472
SG50SA-PE08A
(153) 267.5) (8) (97) (120) (155) (40) (140) x 1.5 (20) (82) (70) (6) (12) 0.315 0.197
SG05SA-PE15A 4.016 9.626 0.236 2.756 3.543 4.724 1.260 4.252 M8 0.630 2.284 1.969 0.158 0.394 (8) (5)
x
SG10SA-PE15A (102) (244.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10)
SG25SA-PE15A 6.024 11.634 0.315 3.819 4.724 6.012 1.575 5.512 M10 0.787 3.228 2.756 0.236 0.472
SG50SA-PE15A (153) (295.5) (8) (97) (120) (155) (40) (140) x 1.5 (20) (82) (70) (6) (12)
48
Tolerances for standard (SG) gearmotors

Dimension ΦS ΦLB W
Unit Diameter Tolerance Diameter Tolerance Width Tolerance
0.472, 0.630 +0.00047 +0.00004 1.378 +0.00000 -0.00063 0.158, 0.197, 0.236 +0.00000 -0.00118
in 0.866 +0.00059 +0.00008 2.047, 2.677 +0.00000 -0.00075 0.39370 +0.00000 -0.00142
1.25984, 1.57480 +0.00071 +0.00008 3.5433, 4.724 +0.00000 -0.00087 0.47244 +0.00000 -0.00169
12, 26 +0.012 +0.001 35 +0.000 -0.016 4, 5, 6 +0.000 -0.030
mm 22 +0.015 +0.002 52, 68 +0.000 -0.019 10 +0.000 -0.036
32, 40 +0.018 +0.002 90, 120 +0.000 -0.022 12 +0.000 -0.043
Gearmotors
SGMPH
49
Selecting Your SGMPH Gearmotor System

5CN
Shaft w/Keyway
For Monitor (D)
SGMPH
Gearmotor
3CN Connector for (A)
Peripheral SGDH Servo Encoder Signal (D)
Signal Amplifier
1CN 2CN
Encoder Cable (C)
I/O Signal
Motor Cable (C)
Connector
(D) Specify a technical manual, if it is needed, on your
Gearmotors
SGMPH

SG 05 S A-PE 02 A A C
Sigma II Gearmotor Series Accessories
G: Standard (<10 arc min) C: 24VDC Brake
Reduction Ratio Blank:Standard YEA stock motor
05: 5:1 options
10: 10:1 Encoder Specifications
25: 25:1 A: 13-Bit Incremental Encoder
50: 50:1 1: 16-Bit Absolute Encoder
1A: 100:1 Power Supply
Construction A: 200V
S: Standard B: 100V
Revision Level Motor Output
Motor Series 01: 100W (0.13hp)
PE: SGMPH 02: 200W (0.25hp)
04: 400W (0.5hp)
08: 750W (1hp)
15: 1.5kW (2hp)
50
Gearmotor & Amplifier Selection

Use the table below to select the appropriate SGMPH Sigma II gearmotor and amplifier.
(Refer to the motor model # designation on the previous page specifying the available modification to motor construc-
tion/features.)
Gearmotor (A) Gearhead only Amplifier Gear

Amplifier
Rated Peak Rated Maximum MODEL # Motor
Inertia Gear Item
MODEL # Torque Torque Speed Speed (B)* Item
Class
(in • lb) (in • lb) (rpm) (rpm) (in • lb • s2) Ratio SGDH- Class
SG05SA-PE01AA 13.67 40.93 600 1000 5:1

0.000052
SG10SA-PE01AA 27.34 81.84 300 500 10:1
SG25SA-PE01AA 66.95 200.39 120 200 25:1 01A
0.00025
SG50SA-PE01AA 133.89 283.00 60 100 50:1
SG1ASA-PE01AA 267.78 637.00 30 50 0.0016 100:1
SG05SA-PE02AA 27.34 81.84 600 1000 5:1
SG10SA-PE02AA 54.68 163.69 300 500 0.00025 10:1
SG25SA-PE02AA 133.89 283.00 120 200 25:1 02A
SG50SA-PE02AA 267.78 708.00 60 100 0.0016 50:1
SG1ASA-PE02AA 535.56 1593.00 26 48 0.0049 100:1
SG05SA-PE04AA 54.81 164.42 600 1000 5:1
0.00025
SG10SA-PE04AA 109.61 283.00 300 500 10:1
SG25SA-PE04AA 268.38 708.00 120 200 25:1 04A
0.0016
SG50SA-PE04AA 536.75 1610.25 52 96 50:1
SG1ASA-PE04AA 1073.50 2832.00 20 36 0.0047 100:1
SG05SA-PE08AA 102.34 306.04 600 1000 5:1 Normal
0.0016 leadtime
Gearmotors
SG10SA-PE08AA 204.67 612.07 300 500 10:1 3-4 Stock
SGMPH
08A weeks for
SG25SA-PE08AA 501.13 1498.63 104 192 0.0049 25:1 assembly
SG50SA-PE08AA 1002.25 2997.25 40 72 0.0047 50:1
SG05SA-PE15AA 205.16 614.50 520 960 5:1
0.0048
SG10SA-PE15AA 410.31 1228.99 260 480 10:1
15A
SG25SA-PE15AA 1004.63 3009.13 80 144 0.0047 25:1
SG50SA-PE15AA 2009.25 3540.00 40 72 0.0047 50:1
SG05SA-PE01BA 13.67 40.93 600 1000 5:1
0.000052
SG10SA-PE01BA 27.34 81.84 300 500 10:1
SG25SA-PE01BA 66.95 200.39 120 200 25:1 01B
0.00025
SG50SA-PE01BA 133.89 283.00 60 100 50:1
SG1ASA-PE01BA 267.78 637.00 30 50 0.0016 100:1
SG05SA-PE02BA 27.34 81.84 600 1000 5:1
SG10SA-PE02BA 54.68 163.69 300 500 0.00025 10:1
SG25SA-PE02BA 133.89 283.00 120 200 25:1 02B
SG50SA-PE02BA 267.78 708.00 60 100 0.0016 50:1
SG1ASA-PE02BA 535.56 1593.00 26 48 0.0049 100:1
Notes:24VDC Brakes for SGMPH Sigma II gearmotors are standard. Contact a local source for 24VDC power supplies.
Use the tables on the following page to specify mating connectors or pre-wired cables in different lengths.
For technical information, request Yaskawa technical bulletin number YEA-TSA-S800-16.16 and Yaskawa manual number
TSE-S800-15.
51
* For more detailed 100/200V SGDH amplifier specifications and dimensions, refer to pages 99 - 112.
.

Use the table below to select pre-wired cables for your SGMPH Sigma II gearmotor.
Motor Size Item
Cable Description (C) Part Number* Comments
(kW) Class
Power Cable with Intercon- 0.1, 0.2, B4ICE-(A) These UL and CE compli-
nectron Connectors 0.4, 0.8 ant cables are available in
(without Brake) 1.5 B5ICE-(A) five lengths.Use the fol-
0.1, 0.2, lowing key to specify
Power Cable with Intercon- B4IBCE-(A)
nectron Connectors 0.4, 0.8 needed cable length (last
(with Brake) two digits of the part num-
1.5 B5IBCE-(A)
ber):
03: 3m
Encoder Cable with Intercon- 05: 5m
nectron Connector A1ICE-(A)
(incremental or 10: 10m (standard)
absolute) 15: 15m
20: 20m
Encoder Cable
(for applications These cables are available
up to 20m) FR-RMCT-SB in any length.
Only for Solder
Connections For example, to order one
from >20 to <50m) UL20276-SB quantity: 16
Only for Solder part no.: FR-RMCT-SB
Connections
Stock**
Gearmotors
SGMPH
Input/Output 1CN Cable & 35mm DIN rail mountable;

Transition All JUSP-TA50P the cable length is 0.5
Terminal Block meters.

length (last digit of part
Input/Output 1CN Cable with JZSP-CKI01-(A) number):
Pigtail Leads 1: 1m (standard)
2: 2m
3: 3m
length (last two digits of
Input/Output 1CN Cable the part
Cable with Female number):
JZSP-CKI0D-
D-Sub output Connector***
D50: 0.5m
01: 1m (standard)
02: 2m
03: 3m
* The “(A)” at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this
catalog reprinting.
Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others)
52
Connector Selection
Use the table below to select mating connectors or kits for your SGMPH Sigma II gearmotor.
Motor Size Item

(kW) Class
Interconnectron
Connector for Motor IP67 Mated
Power Cable (with or FIN07S-B2 Solder Cup
without Brake)
0.1, 0.2,
2CN Amplifier 0.4, 0.8,
JZSP-CMP9-1 —
Mating Connector 1.5
Stock
Interconnectron IP67 Mated
Connector for Encoder Gauge: 24 - 18 AWG
Cable FIN17C-A2 Requires Crimp Tool
(incremental or B150 and positioner.
absolute encoder)
1CN Mating
Connector JZSP-CKI9 —
All
Gearmotors
Interconnectron
SGMPH
— B150 — Limited
Crimp Tool
Stock
Positioner — B055/A —
53

Use the table below to select peripheral devices for your SGMPH Sigma II gearmotor.
Item
Component Description (E) Part Number Comments
Class
Hand-held Digital JUSP-OP02A-1 Portable unit with 1m adapter

Operator Panel and cable for Sigma II
JZSP-CMS00-1
3.6V, 1000mAh
Absolute Encoder Battery JZSP-BA01 (lithium battery) Stock
Pre-wired 2.0m cable with 9-

Software Interface Cable — YS-12 pin connector
Minimum Recommended Sys-
tem Requirements Pentuim
200 MHz, 64MB RAM, 200MB
hard drive, CDROM Drive, RS-
Gearmotors
SigmaWin+ Software JZSP-WP0001 232 or RS-422 port, Screen

SGMPH
rsolution 800x600 w/ 256 col-

ors, and Windows
95,98,NT4.0,2000,ME. (Win-
dows XP planned)
For: SGDH-01AE
SGDH-02AE
SGDH-04AE These are general purpose
RH12050ohmJ regenerative units.*
Individual External Regener- SGDH-08AE
ative Unit SGDF-08AE-S Caution: Proper set-up is
amps necessary to avoid equipment
damage.
For: SGDH-15AE RH500N25_ohmΚ
SGDH-15AE-S
SGDH-02AE X5070
SGDH-04AE X5069
DC Reactor SGDH-08AE X5061 —
(for suppressing harmonics SGDF-08AE-S X5079 Limited
in the power supply) SGDH-15AE X5060 Stock
SGDH-15AE-S X5078
For 100V: SGDH-01BE X5063
SGDH-02BE X5062 —
* For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connec-
tion. Refer to the SGDH servo amplifier section of this catalog (pages 97 to 126) for additional specifications, and the Sigma II
Series Servo System User’s Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
54
200V Three-phase Sigma II Servo Systems
General Purpose
SGMGH Servomotors - With Incremental / Absolute Encoder
Servomotors
Rated Output: 0.45kW, 0.85kW,
SGMGH
1.3kW, 1.8kW, 2.9kW,
4.4kW, 5.5kW, 7.5kW,
11kW, 15kW.
SGMGH Ratings & Specifications 58

SGMGH Speed/Torque Curves 59
SGMGH Dimensions 60 - 62
SGMGH Selection/Ordering Information 63 - 68
Design Features
1. Compact
z Small sized motor
Compatible with previous generation G series motors
Ten types of rated outputs ranging from 0.79 to 1988in • lb of peak torque
Optional built-in holding brake available
2. Higher Speed and acceleration

z Up to 3000rpm maximum
z High torque to inertia ratio
3. Encoders
z 17-bit (32,768 ppr x 4) incremental encoder (standard)
z 17-bit absolute encoder (optional)
z Totally enclosed, self-cooled IP67 (excluding shaft)
z Shaft seal (optional)
z Machine tools and woodworking machines
z Packagingmachines
z Gantry Robots
z Press Automation
z Thermoforming
z UL, cUL recognized (File #: E165827) CE compliance
55

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Maximum Rotational Speed*:
Insulation: Class F IP67 (except for shaft opening) 0.45 to 7.5kW: 3000rpm
Servomotors
Vibration: 15μm or less Ambient Temperature: 0 to 40ºC 11 and 15kW: 2000rpm

SGMGH
Withstand Voltage: 1500Vac Ambient Humidity: 20 to 80% Excitation: Permanent magnet

Insulation Resistance: 10MΩ minimum (non-condensing) Drive Method: Direct drive
at 500VDC Rated Speed*: 1500rpm Mounting: Flange-mounted
Instantaneous
Rated Rated Instantaneous Peak Rated
MOTORS: Output* Torque* Torque* Current* Maximum
SGMGH- Current*
kW (hp) N•m lbf • in (KG • cm) N•m lbf • in (KG • cm) A rms Arms
05AA 0.45 (0.6) 2.84 25 (29) 8.92 79 (91) 3.8 11
09AA 0.85 (1.1) 5.39 48 (55) 13.8 122 (141) 7.1 17
13AA 1.3 (1.7) 8.34 74 (85) 23.3 207 (238) 10.7 28
20AA 1.8 (2.4) 11.5 102 (117) 28.7 254 (293) 16.7 42
30AA 2.9 (3.9) 18.6 165 (190) 45.1 400 (460) 23.8 56
44AA 4.4 (5.9) 28.4 252 (290) 71.1 629 (725) 32.8 84
55AA 5.5 (7.4) 35.0 310 (357) 87.6 775 (894) 42.1 110
75AA 7.5 (10) 48.0 425 (490) 119 1053 (1210) 54.7 130
1AAA 11 (15) 70.0 620 (714) 175 1550(1790) 58.6 140
1EAA 15 (20) 95.4 845 (974) 224 1988(2290) 78.0 170

Holding Brake (at 20°C)
Allowable Rated Rated Inertia Inductive
Torque
Moment of Inertia Load Power Angular Time Time
Constant Coil. Rated Additional
Capacity Torque Inertia Rate* Acceleration* Constant Constant
Resistance Current Inertia
MOTORS
SGMGH- lbf • in
Arms lb • in • s2 KG • m2 lb • in • s2 KG • m2
W N•m W A kW/s rad/s2 ms ms
(N • m
Arms
) × 10-3 × 10-4 × 10-3 × 10-4
7.3
05AA (0.82) 6.41 7.24 4.41 36.2 11.2 3930 5.0 5.1
7.3
09AA 12.3 13.9 9.85 58.5 0.41 1.85 69.5 20.9 3880 3.1 5.3
(0.83)
12.7
7.4
13AA (0.84) 18.2 20.5 103 33.8 4060 2.8 6.3
6.5
20AA 28.1 31.7 159 41.5 3620 2.2 12.8
(0.73)
30AA 7.3 40.7 46.0 18.5 43.1 31.1 0.77 7.75 230 75.3 4050 1.9 12.5
(0.82)
8.0
44AA (0.91) 59.8 67.5 338 120 4210 1.3 15.7
7.8
55AA 78.8 89.0 445 137 3930 1.3 16.4
(0.88)
23.5 72.6 24.5 0.98 7.75
75AA 8.2 111 125 625 184 3850 1.1 18.4
(0.93)
11
1AAA (1.25 249 281 32.0 84.3 18.0 1.33 16.7 1405 174 2490 1.2 22.6
11.7
1EAA 279 315 35.0 115 16.4 1.46 33.2 1575 289 3030 0.98 27.2
(1.32)
* Values when the servomotor is combined with an SGDH servo amplifier at an armature winding temperature of 20°C.
** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 05AA to 13AA: 15.75 × 15.75 × 0.79 (in) (400 × 400 × 20 (mm))
Type 20AA to 75AA: 21.65 × 21.65 × 1.18 (in) (550 × 550 × 30 (mm))
Type 1AAA to 1EAA: 25.59 × 25.59 × 1.38 (in) (650 × 650 × 35 (mm))
56

200V
Servomotors
SGMGH-05A A SGMGH-09A A SGMGH-13A A
SGMGH
3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000
A B A B A B
1000 1000 1000
0 0 0
0 2 4 6 8 10 0 5 10 15 20 0 10 20 30
TORQUE (N · m) TORQUE (N · m) TORQUE (N · m)
0 20 40 60 80 0 50 100 150 0 50 100 150 200 250
TORQUE (lb · in) TORQUE (lb · in) TORQUE (lb · in)
SGMGH-20A A SGMGH-30A A SGMGH-44A A

3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000
A B A B A B
1000 1000 1000
0 0 0
0 10 20 30 40 0 10 20 30 40 50 0 20 40 60 80
0 100 200 300 0 100 200 300 400 0 200 400 600 800
SGMGH-55A A SGMGH-75A A SGMGH-1AA A

3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000
A B A B
1000 1000 1000 A B
0 0 0
0 20 40 60 80 100 0 50 100 150 0 50 100 150 200
0 200 400 600 800 0 500 1000 1500 0 500 1000 1500
SGMGH-1EA A
3000
SPEED (rpm)
2000
1000 A B
0
0 50 100 150 200 250
TORQUE (N · m)
0 500 1000 1500 2000
TORQUE (lb · in)
57
(1) 17-Bit Incremental/Absolute Encoder
L
Servomotors
LL LR
LT
SGMGH
LM
0.0016 A
LG LE LC
0.0016 A
LR
S*
W
LE
3.94(100)
A
ΦL Q
LH
U
QK
LC
T
LB**
S
3.46 (88)
IE
KL1
A
4 - LZ
0.0008
KB1 MTG Holes
KB2
Flange Dimensions Shaft End Dimension Allowable Allowable

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 IE KL1 Mass
SGMGH- FLA FLB** LC LE LG FLH FLZ FS* Q QK W T U Load Load
lbf (kg)
lbf (N) lbf (N)
7.72 5.43 3.62 2.56 4.61 12.1
05AA61
(196) (138) (92) (65) (117) 0.75 0.20 0.20 0.12 (5.5) 110 22
8.62 6.34 4.53 2.28 1.81 3.46 5.51 4.29 5.71 4.33 5.12 0.24 0.47 6.5 0.35 (19) 1.57 0.98 (5) (5) (3) 16.8 (490) (98)
09AA61
(219) (161) (115) (58) (46) (88) (140) (109) (145) (110) (130) (6) (12) (165) (9) (40) (25) (7.6)
9.57 7.28 5.47 4.41 6.46 0.87 0.24 0.24 0.14 21.2 154 77
13AA61
(243) (185) (139) (112) (164) (22) (6) (6) (3.5) (9.6) (686) (343)
—
9.65 6.54 4.69 3.5 5.71 30.9 265
20AA61
(245) (166) (119) (89) (145) (14) (1176)
10.67 7.56 5.71 3.11 1.85 4.53 6.73 5.51 1.38 2.99 2.36 0.39 39.7 110
30AA61
(271) (192) (145) (79) (47) (115) (171) (140) (35) (76) (60) (10) (18) 331 (490)
12.01 8.9 7.05 5.87 8.07 7.87 4.5 7.09 0.13 9.06 50.7 (1470)
44AA61 (114.
(305) (226) (179) (149) (205) (200) 3) (180) (3.2) 0.71 (230) 0.31 0.20 (23)
14.69 10.24 8.39 6.85 9.41 (18) 0.53 (8) (5) 66.1
55AA61 (13.5
(373) (260) (213) 4.45 (174) (239) 4.92 5.91 ) (30)
17.6 13.15 11.3 (113) 1.85 9.76 12.32 (125) (150) 1.65 0.47 88.2 397 132
75AA61
(447) (334) (287) (47) (248) (313) (42) 4.33 3.54 (12) (40) (1764) (588)
17.87 13.31 11.46 9.88 12.48 (110) (90) 127
1AAA61 10.6
(454) (338) (291) 4.57 (251) (317) 5.59 6.61 9.25 7.87 8.66 0.16 (57.5)
3
22.56 17.99 15.28 (116) 2.72 13.50 17.13 (142) (168) (235) (200) (220) (4) 0.79 (270) 2.17 0.63 0.39 0.24 189.6 1125 485
1EAA61
(573) (457) (388) (69) (343) (435) (20) (55) (16) (10) (6) (86) (4998) (2156)
Note: 1. SGMGH-05AA to 44AA do not contain eyebolts.
2. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
3. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
0.7480, 0.8661 +0.0000-0.0005 4.3307 +0.0000 -0.0014
1.3780 +0.0004-0.0000
in 4.5000 +0.0000 -0.0010
1.6535 +0.0000 -0.0006
2.1700 +0.0012+0.0004 7.8700 +0.0000 -0.0018
19.000, 22.000 +0.000 -0.013 110.000 +0.000 -0.035
35.000 +0.010 -0.000
mm 114.300 +0.000 -0.025
42.000 +0.000 -0.016
55.000 +0.030 +0.011 200.000 +0.0000 -0.046
Encoder Plug Connector Wiring on the Encoders Motor Plug
A — K — Connector Wiring on the Motor Side
M B B — L — A U Phase
L N P C C Data + M — D A B V Phase
A
K D D Data - N — C W Phase
S R E — P — C B
D Ground Terminal
J E
H F — R —
G F G 0V S Battery - (Note*)
MS3102A20-29P H +5Vdc T Battery + (Note*)
J FG (Frame Ground) *Note: Used with an absolute encoder only.
Non-Environmental Mating Connector:
MS3108B20-29S (L Type)
MS3106B20-29S (Straight Type)
Cable Clamp: MS3057 12A
58
(2) 17-Bit Incremental/Absolute Encoder. with Brake
Servomotors
• 0.5 to 4.4kW (0.7 to 5.9hp)
SGMGH
LL LR
LT LM
0.0016 A
LG LE
0.0016 A LC
LR
S*
LE W
100 (3.94)
Q
A
LH ΦL QK
U
T
LC
LB**
S
KL2
KL1
A 0.0008
4 - LZ
KB1 MTG Holes
KB2

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 KL1 KL2 Mass
SGMGH- ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U Load Load
lbf (kg)
lbf (N) lbf (N)
9.21 6.93 5.08 2.2 6.1 16.5
05AA6C (234) (176) (129) (56) (155) (7.5)
0.75 0.20 0.20 0.12 110 22
10.1 (19) (5) (5) (3) (490) (98)
09AA6C 2 7.83 5.98 2.28 3.11 7.01 4.72 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.57 0.98 21.2
(199) (152) (79) (178) (120 (165 (9.6)
(257) (58) ) (145) (110) (130) (6) (12) ) (9) (40) (25)
11.0
8.78 6.93 4.06 7.95 0.87 0.24 0.24 0.14 26.5 154 77
13AA6C 6 (223) (176) (103) (202) (22) (6) (6) (3.5) (12) 686) (343)
(281)
1.85 3.46
11.6 8.54 6.69 (47) 3.11 7.72 (88) 41.9 265
20AA6C 5
(296) (217) (170) (79) (196) (19) (1176)
12.6 5.75 4.5 9.06 0.53
30AA6C 8 9.57 7.72 3.11 4.13 8.74 (146 7.87 (114. 7.09 0.13 0.71 (230 (13.5 1.38 2.99 2.36 0.39 0.31 0.20 51.8 110
(243) (196) (79) (105) (222) (200) (180) (3.2) (18) (35) (76) (60) (10) (8) (5) (23.5) (490)
(322) ) 3) ) ) 331
14.0 10.9 10.0 (1470)
9.06 5.47 62.8
44AA6C 2 1 (230) (139) 8 (28.5)
(356) (277) (256)
Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
0.7480, 0.8661 +0.0000- 4.3307 +0.0000 -0.0014

0.0005
in
1.3780 +0.0004- 4.5000 +0.0000 -0.0010
0.0000
19.000, 22.000 +0.000 -0.013 110.000 +0.000 -0.035
mm
35.000 +0.010 -0.000 114.300 +0.000 -0.025
Motor Plug
F A Connector Wiring on the Motor Side
E A U Phase E Brake Terminal
B
G B V Phase F Brake Terminal
D C C W Phase G —
D FG (Frame Ground)
59
• 5.5 to 15kW (7.4 to 20hp)
L W
Servomotors
LL LR
SGMGH
LT LM
U
0.0016 A
T
LG LE 0.0016 A LC
LR
S*
100 (3.94)
LE
QK
LA
LH
LC
LB**
S
KL2
KL3
IE
Q
KL1
4 - LZ
KB1 0.0016 MTG Holes
KB3
KB2

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 Mass
SGMGH- ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U Load Load
lbf (kg)
lbf (N) lbf (N)
55AA6C 16.69 12.24 10.39 6.85 11.42 9.09 77.2

(424) (311) 264 4.45 1.85 (174) (290) (231) 4.92 5.91 4.84 7.87 4.5 7.09 0.13 9.06 (35)
15.16 13.31 (113) (47) 9.76 14.33 12.01 (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230)
75AA6C 19.61 1.65 0.47 0.31 0.20 100.3 397 132
(498) (385) (338) (248) (364) (305) 3.46 (18) 0.53 (42) 4.33 3.54 (12) (8) (5) (45.5) (1764) (588)
(88) (13.5) (110) (90)
1AAA6C 19.65
15.08 13.39 1.69 10.16 14.25 12.40 145
(499) (383) (340) 4.57 (43) (258) (362) (315) 5.59 6.61 5.59 9.25 7.87 8.66 0.16 10.63 (65.5)
25.00 20.43 18.62 (116) 1.81 13.50 19.57 16.34 (142) (168) (142) (235) (200) (220) (4) 0.79 (270) 2.17 0.63 0.39 0.24 189.6 1125 485
1EAA6C (635) (519) (473)
(46) (343) (497) (415) (20) (55) (16) (10) (6) (86) (4998) (2156
Dimension *FS **FLB
1.6535 +0.0000-0.0006 4.5000 +0.0000 -0.0010
in
2.1700 +0.0012+0.0004 7.8700 +0.0000 -0.0018
42.000 +0.000 -0.016 114.300 +0.000 -0.025
mm
55.000 +0.030 +0.011 200.000 +0.0000 -0.046
Plug for Holding Brake Connector Wiring on the Brake, Motor Side
Motor Plug Connector Wiring on the Power, Motor Side
A U Phase
A Brake Terminal D A
C A B V Phase
B Brake Terminal C W Phase
C — C B D Ground Terminal
B Non-Environmental Mating Connector:
MS3108A1056-3S (L Type)
MS3102A1056-3P MS3106A1056-3S (Straight Type)
Cable Clamp: MS3057-4A
60
Selecting Your SGMGH Sigma II Servo System

Servomotors
SGMGH
5CN Shaft Keyway
For Monitor (D) SGMGH
Servomotor
3CN (A)
Peripheral SGDH Connector for Shaft
Signal Amplifier Encoder Signal (D) Seal
Connector (D) (B) Encoder side Motor side
Connector (D) Connector (D)
1CN 2CN
Encoder Cable (C)
Connector
(Manual is provided at no charge with a purchase order, but it must
Regenerative Unit (E) be requested).

SGMGH - 09 A C A 6 C
1: Standard
Rated Output
C: 24VDC Brake
05: 500W (0.7hp)
09: 850W (1.14hp) S: Shaft Seal
13: 1.3kW (1.7hp) E: Brake and Shaft Seal
20: 2.0kW (2.7hp) Shaft Specifications
30: 3.0kW (4.0hp) 6: Straight Shaft with Keyway
44: 4.4kW (6.0hp)
55: 5.5kW (7.5hp) Rated Speed
75: 7.5kW (10hp) A: 1500rpm
1A: 11.0kW (15hp) Encoder Specifications
1E: 15kW (20hp) C: 17-Bit Incremental Encoder
Power Supply 2: 17-Bit Absolute Encoder
A: 200V
61

Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier.
Servomotors
SGMGH
Amplifier
Rated Motor Inertia Motor &
Peak Torque Motor MODEL # (B)*
Description Torque Amplifier
(in • lb)
(in • lb) (in • lb • s2 x 10-3) MODEL # (A) Analog/Digital Input
Item Class
SGDH-
6.41 SGMGH-05ACA61
79 25 05AE
8.26 SGMGH-05ACA6C
12.30 SGMGH-09ACA61
122 48 10AE
14.15 SGMGH-09ACA6C
18.2 SGMGH-13ACA61
207 74 15AE
20.1 SGMGH-13ACA6C
28.1 SGMGH-20ACA61
254 102 20AE
200V 35.9 SGMGH-20ACA6C
Three-Phase Stock
40.7 SGMGH-30ACA61
17-bit 404 165 30AE
Incremental Encoder 48.5 SGMGH-30ACA6C
Straight Shaft with
Keyway 59.8 SGMGH-44ACA61
630 252 50AE
3000rpm maximum** 67.6 SGMGH-44ACA6C
MS Connectors 78.8 SGMGH-55ACA61 60AE

776 310 Requires
86.6 SGMGH-55ACA6C Regenerative Unit (E)
111 SGMGH-75ACA61 75AE

1050 425 Requires
119 SGMGH-75ACA6C Regenerative Unit (E)
249 SGMGH-1AACA61 1AAE Limited Stock

1550 620 Requires
267 SGMGH-1AACA6C Regenerative Unit (E) Non-stock
279 SGMGH-1EACA61 1EAE Limited Stock

1988 845 Requires
309 SGMGH-1EACA6C Regenerative Unit (E) Non-stock
Note: 24VDC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
For technical information, request request Yaskawa manual number YEA-SIA-S800-32.2.
**2000rpm maximum for 11 and 15kW systems only.
62
Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor.
Motor Part Number*
Servomotors
Item
Cable Description (C) Size Comments
without Brake with Brake Class
SGMGH
(kW)
0.5,
0.9, B1E-(A) B1BE-(A)
1.3 specify needed cable
length (last two digits of the
Power Cable with 2.0,
B2E-(A) B2BE-(A) part number):
Connectors 3.0
03: 3m
4.4 B3E-(A) B3BE-(A)
(IP67) 05: 5m
5.5, B5E-(A)
B5E-(A) B7BCE-(A) 10: 10m (standard)
7.5**
15: 15m
11, B6E-(A)
B6E-(A) 20: 20m
15** B7BCE-(A)
These cables are avail-
able in five lengths. Use
Encoder Cable two digits in the part num-
(incremental or ber’s last place:
absolute) JZSP-CMP02-(B) 03: 3m
05: 5m
(IP67) 10: 10m (standard)
15: 15m
20: 20m
Encoder Cable
(for applications
These cables are avail-
up to 20m) for FR-RMCT-SB able in any length.
solder connec-
tions For example, to order one
(for applications long, specify: Stock***
from >20 to UL20276-SB quantity: 16
<50m) for solder part no.: FR-RMCT-SB
connections
All
Input/Output
35 mm DIN rail mount-
1CN Cable &
JUSP-TA50P able; the cable length is
Transition
0.5m.
Terminal Block

specify needed cable
Input/Output length (last digit of part
1CN Cable with JZSP-CKI01-(A) number):
Pigtail Leads 1: 1m (standard)
2: 2m
3: 3m
Input/Output specify required cable
1CN Cable length (last two digits of
Cable with JZSP-CKI0D- the part number):
Female D50: 0.5m
D-Sub output 01: 1m (standard)
Connector**** 02: 2m
03: 3m
* “(A)” at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
** When ordering these cables for motors with brakes, order the standard power cable and the additional cable for the brake.
*** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
**** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449, Weidmuller
#919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
63
Connector Selection
Use the table below to select mating connectors for each SGMGH Sigma II servomotor.
Servomotors
SGMGH
Motor Size Part Number Item

Connector Description (D) Comments
(kW) without Brake with Brake Class
MS3106B18-10S MS3106B20-15S Straight-type connector
0.5, 0.9,
1.3 MS3108B18-10S MS3108B20-15S L-type connector
MS3057-10A MS3057-12A Cable clamp
2.0, 3.0,
MS Connector for
Motor Power Cable* MS3106B32-17S
MS3106B32-17S and Straight-type connector
MS3106A10SL-3S
5.5, 7.5. MS3108B32-17S
1A, 1E MS3108B32-17S and L-type connector
MS3108A10SL-3S
MS3057-4A
MS3106B20-29S Straight-type connector
MS Connector for MS3108B20-29S L-type connector
Encoder Cable
(incremental or
absolute encoder) MS3057-12A Cable clamp
Stock
1CN Mating JZSP-CKI9 —

Connector
All
2CN Encoder JZSP-CMP9-1 —
Mating Connector
3CN Peripheral — YSC-1 —

Mating Connector
Can use 5CN for analog

5CN Connector and speed and torque monitor
1m Cable with Pig- — DE9404559 service checks.
tails
* Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type
connector MS3108B18-10S is compatible with cable clamp MS3057-10A. MS connectors listed in the table are non-environ-
mental.
64

Use the table below to select peripheral devices for each SGMGH Sigma II servomotor.
Servomotors
SGMGH
Component (E) Part Number Description Item Class
Hand-held Digital JUSP-OP02A-1 Portable unit with 1m adapter

and
Operator Panel JZSP-CMS00-1 cable for Sigma II
Software Interface Cable — YS–12

Pre-wired 2.0m cable with 9-pin
connector
Stock
JZSP–BA01 3.6V, 1000mAh (Lithium Battery)
Absolute Encoder Battery For SGDH–60 and above (same
JZSP–BA01–1 as JZSP–BA01 with longer lead)

CDROM Drive, RS-232 or RS-422
SigmaWin+ Software JZSP–WP0001
port, Screen rsolution 800x600 w/
95,98,NT4.0,2000,ME. (Windows
XP planned)
These are general purpose

Regenerative Unit for
JUSP-RA04 regenerative units.*
6.0kW amplifier (880W)
Order the Motion document:
PI#99004 for setup instructions for
this unit.
Regenerative Unit for 7.5,
11, and 15kW amplifiers JUSP-RA05 Caution: Proper set-up is
(1760W) necessary to avoid equipment
damage.

SGDH-08AE
DC Reactor SGDH-10AE
(for suppressing harmonics SGDH-15AE X5060 — Limited Stock
in the power supply) SGDH-20AE
SGDH-30AE X5059
SGDH-50AE X5068
tion. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo Sys-
tem User’s Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
65
CE Pre-wired Cable Selection

Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor.
Servomotors
SGMGH
Part Number*
Motor
Cable Description (C) Comments Item Class
Size (kW)
without Brake with Brake
0.5, 0.9, 1.3 B1CE-(A) B1BCE-(A)

2.0, 3.0 B2CE-(A) specify needed cable
Power Cable B3BCE-(A) length (last two digits of
with Connec- 4.4 B3CE-(A) the part number):
Limited
tors 03: 3m Stock
B5CE-(A) 05: 5m
5.5, 7.5 B5CE-(A)
IP67 B7BCE-(A) 10: 10m (standard)
15: 15m
B6CE-(A) 20: 20m
11, 15 B6CE-(A)
B7BCE-(A)
* “(A)” at the end of the cable number is the revision level, which may be changed prior to this catalog’s reprinting.
CE Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II servomotor.
Motor Part Number
Item
Connector Description (D) Size Comments**
Class
(kW) without Brake with Brake
0.5, 0.9, CE05-8A18-10SD-B-BAS CE05-8A20-15SD-B-BAS L-type connector

1.3 CE3057-10A-1(D265) CE3057-12A-1(D265) Cable clamp
2.0, 3.0, CE05-8A22-22SD-B-BAS CE05-8A24-10SD-B-BAS L-type connector

Connector for
L-type connector
Motor Power CE05-8A32-17SD-B-BAS
Cable* or
or
5.5, 7.5, CE05-6A32-17SD-B-BSS Straight-type connector
11, 15 and and
CE3057-20A-1 Cable clamp
(diameters 0.866 to Limited
0.937in) Stock
Connector for L-type connector for
Holding Brake holding brake
CE05-8A10SL-3SC-B-BAS and
and
CE3057-4A-1 (D265) Cable clamp
(diameters 0.142 to
0.220in)
All
CE02-6A20-29NSW and CE20BA-S L-type connector
Connector for (plug and back shell)
Encoder Cable and and
(incremental or Cable clamp
absolute encoder) CE3057-12A-3(D265) (diameters 0.265 to
0.394in)
* Choose the connector and the associated cable clamp for a complete assembly. Connectors listed in this table are environmentally sealed.
** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
66
SGMGH Gearmotors (1500rpm) - With Incremental/Absolute

Encoder
1.3kW,1.8kW, 2.9kW,
4.4kW, 5.5kW, 7.5kW
Gearmotors
SGMGH
SGMGH Gearmotor Ratings & Specifications 70 -73
SGMGH Gearmotor Dimensions 74 -76
SGMGH Gearmotor Selection/Ordering Information 77 -83
Design Features
1. Compact
z Fits in limited mounting space
2. Torque
z 383 to 30,090in • lb peak torque
z Uses time-proven, Sigma motor technology
3. Encoders
z 17-Bit (32,768 ppr x 4) incremental encoder (standard)
z 17-Bit absolute encoder (option)
z Totally enclosed, self-cooled IP67 (not including shaft)
z Machine tools, woodworking machines, and thermoforming machines
z Roll feeders
z Press automation
z Gantry robots
z cUL recognized (File #: E165827), CE compliance
67
Gearmotor Ratings and Specifications

Rated Peak Rated Maximum Speed Torque Torque
GEARMOTOR
Part Number
Standard SGMGH Gearmotors
SG05SA-GA05AC 122 383 300 600 440 61 206
SG10SA-GA05AC 244 637 150 300 220 122 412
SG25SA-GA05AC 597 1770 60 120 88 298 1009
SG50SA-GA05AC 1194 3540 30 60 44 597 2018
SG05SA-GA09AC 231 592 300 600 560 116 498
SG10SA-GA09AC 463 1,185 150 300 280 232 996
SG25SA-GA09AC 1133 2901 60 120 112 568 2438
SG50SA-GA09AC 2266 3540 30 60 60 1135 3540
SG05SA-GA13AC 358 1000 300 600 550 179 721
SG10SA-GA13AC 716 1593 150 300 275 358 1442
SG25SA-GA13AC 1753 3540 60 120 110 877 3531
Gearmotors
SG05SA-GA20AC 494 1232 300 600 560 244 1052

SGMGH
SG10SA-GA20AC 987 2464 150 300 280 494 2103

SG05SA-GA30AC 798 1936 300 600 500 399 1361
SG05SA-GA44AC 1219 3052 300 600 470 610 1829
SG05SA-GA55AC 1502 3540 300 600 450 751 2314
SG05SA-GA75AC 2060 3540 300 600 500 1030 2374
Precision SGMGH Gearmotors
SH04SA-GA05AC 98 306 375 750 550 49 165
SH05SA-GA05AC 122 383 300 600 440 61 206
SH07SA-GA05AC 171 536 214 429 314 85 288
SH10SA-GA05AC 244 708 150 300 220 122 412
SH e e
SH16SA-GA05AC 378 885 94 188 138 189 639

SH20SA-GA05AC 473 1484 75 150 110 236 799
SH28SA-GA05AC 662 2,078 54 107 79 331 1118
SH40SA-GA05AC 945 2,213 38 75 55 473 1597
Pr m v
SH50SA-GA05AC 1,181 2,213 30 60 44 591 1997

G
SH70SA-GA05AC 1,654 4,425 21 43 31 827 2795

SH04SA-GA09AC 185 474 375 750 700 93 389
ec ot ail
Lo
SH05SA-GA09AC 231 592 300 600 560 116 498

ar r A
SH07SA-GA09AC 324 829 214 429 400 162 697

is ors ab
SH10SA-GA09AC 463 1185 150 300 280 232 996

ng
SH16SA-GA09AC 717 1837 94 188 175 363 1561

io
SH20SA-GA09AC 897 2213 75 150 140 454 1951

SH28SA-GA09AC 1,256 2213 54 107 107 636 2213
n
SH40SA-GA09AC 1794 4425 38 75 70 908 3901

SH50SA-GA09AC 2242 4425 30 60 60 1135 4425
Ty o
SH04SA-GA13AC 286 800 375 750 688 143 577

SH05SA-GA13AC 358 1000 300 600 550 179 721
pe
SH07SA-GA13AC 501 1400 214 429 393 251 1010

N
SH10SA-GA13AC 716 1770 150 300 275 358 1442

SH16SA-GA13AC 1110 2213 94 188 188 555 2213
SH20SA-GA13AC 1388 3877 75 150 138 694 2795
SH28SA-GA13AC 1943 4425 54 107 98 971 3914
SH40SA-GA13AC 2775 7753 38 75 69 1388 5591
l
SH04SA-GA20AC 395 986 375 750 700 197 841

e
SH05SA-GA20AC 494 1232 300 600 560 247 1052

SH07SA-GA20AC 691 1725 214 429 400 346 1472
SH10SA-GA20AC 987 2464 150 300 280 494 2103
SH16SA-GA20AC 1531 3820 94 188 175 756 3261
68
Rated Peak Rated Maximum Speed Torque Torque
GEARMOTOR
Part Number
SH20SA-GA20AC 1913 4425 75 150 140 957 4077
SH e e
SH28SA-GA20AC 2679 4425 54 107 107 1339 4425
SH40SA-GA20AC 3827 9550 38 75 70 1913 8153
SH50SA-GA20AC 4783 9735 30 60 60 2392 9735
SH04SA-GA30AC 639 1549 375 750 625 319 1089
Pr m v
SH05SA-GA30AC 798 1936 300 600 500 399 1361
G
SH07SA-GA30AC 1118 2710 214 429 357 559 1905
ec ot ail
SH10SA-GA30AC 1597 3540 150 300 250 798 2721
Lo
SH16SA-GA30AC 2476 4425 94 188 156 1238 4220
ar r A
SH20SA-GA30AC 3095 7504 75 150 125 1547 5275
is ors ab
SH28SA-GA30AC
ng
4333 9735 54 107 89 2166 7384
SH40SA-GA30AC 6189 9735 38 75 75 3095 9735
io
SH04SA-GA44AC 975 2441 375 750 588 488 1463
SH05SA-GA44AC 1219 3052 300 600 470 610 1829
n
SH07SA-GA44AC 1707 4273 214 429 336 853 2560
SH10SA-GA44AC 2438 6104 150 300 235 1219 3657
Gearmotors
Ty o
SGMGH
SH16SA-GA44AC 3780 9464 94 188 147 1890 5671
SH20SA-GA44AC 4725 9735 75 150 118 2363 7088
pe
SH04SA-GA55AC 1202 3008 375 750 563 601 1851
N
SH05SA-GA55AC 1502 3760 300 600 450 751 2314
SH07SA-GA55AC 2103 5264 214 429 321 1052 3239
SH10SA-GA55AC 3005 7520 150 300 225 1502 4627
SH04SA-GA75AC 1648 4086 375 750 625 824 1899
SH05SA-GA75AC 2060 5108 300 600 500 1030 2374
l
SH07SA-GA75AC 2884 7151 214 429 357 1442 3323
e
SH10SA-GA75AC 4121 7789 150 300 250 2060 4748
Torque
A = Continuous Duty
Peak Torque B = Intermittent Duty
T2 B
Rated Torque
A
T1
Speed
Rated Speed N1
Maximum Speed
69
Gearmotor Mechanical Ratings

Gearhead Approx.
Gearhead Gearhead Gearhead
GEARMOTOR Inertia Gearmotor
Backlash Maximum.Radial Load Maximum Axial Load
Part Number Weight
(arc min) (lbf) (lbf) (lb • n • s2) (lb)
SG05SA-GA05AC
540 428 0.0016 21.14
SG10SA-GA05AC
SG25SA-GA05AC 1035 900 0.0049 36.80
SG50SA-GA05AC 1687 1350 0.0047 58.30
SG05SA-GA09AC 540 428 0.0016 25.84
SG10SA-GA09AC 1035 900 0.0048 36.65
SG25SA-GA09AC
1687 1350 0.0047 63.00
SG50SA-GA09AC
SG05SA-GA13AC <10
1035 900 0.0048 41.05
SG10SA-GA13AC
SG25SA-GA13AC 1687 1350 0.0047 67.40
SG05SA-GA20AC
1687 1350 0.022 69.49
Gearmotors
SG10SA-GA20AC
SGMGH
SG05SA-GA30AC 1687 1350 0.022 78.29

SG05SA-GA44AC 1687 1350 0.022 89.29
SG05SA-GA55AC 1687 1350 0.022 104.69
SG05SA-GA75AC 1687 1350 0.022 126.71
SH04SA-GA05AC 0.000558 18.30
SH05SA-GA05AC 0.000487 18.30
SH07SA-GA05AC 855 720 0.000434 18.30
SH10SA-GA05AC 0.000407 18.30
SH16SA-GA05AC 0.000522 18.90
SH20SA-GA05AC 1350 1215 0.00159 27.80
SH e e
SH28SA-GA05AC 0.00159 27.80

SH40SA-GA05AC 1350 1215
0.00106 27.80
SH50SA-GA05AC
SH70SA-GA05AC <6 2025 2115 0.00239 44.10
Pr m v
SH04SA-GA09AC 0.000558
G
SH05SA-GA09AC 855 720 0.000487 23.00

SH07SA-GA09AC 0.000434
ec ot ail
Lo
SH10SA-GA09AC 0.00115
ar r A
SH16SA-GA09AC
1350 1215 30.50
SH20SA-GA09AC 0.00159
is ors ab
ng
SH28SA-GA09AC
SH40SA-GA09AC
io
2025 2115 0.00239 48.80

SH50SA-GA09AC
SH04SA-GA13AC 0.00239
n
SH05SA-GA13AC 0.00212
<4
SH07SA-GA13AC 1350 1215 0.00186 34.90
Ty o
SH10SA-GA13AC 0.00177
SH16SA-GA13AC 0.00221
SH20SA-GA13AC
pe
<6 2025 2115 0.004514 53.20

SH28SA-GA13AC
N
SH40SA-GA13AC 3150 3038 0.003098 85.10

SH04SA-GA20AC 0.007257
SH05SA-GA20AC 0.006461
<4 56.30
SH07SA-GA20AC 0.005753
SH10SA-GA20AC 2025 2115 0.00531
l
SH16SA-GA20AC
e
SH20SA-GA20AC 0.006726 62.90

SH28SA-GA20AC <6
SH40SA-GA20AC
3150 3038 0.00531 94.80
SH50SA-GA20AC
70
Gearhead Approx.
Gearhead Gearhead Gearhead
GEARMOTOR Gearmotor
SH e e
Backlash Maximum.Radial Load Maximum Axial Load Inertia
Part Number Weight
(arc min) (lbf) (lbf) (lb • in • s2) (lb)
SH04SA-GA30AC 0.00726
Pr m v
SH05SA-GA30AC 0.00646
G
<4 65.10
SH07SA-GA30AC 2025 2115 0.00575
SH10SA-GA30AC 0.00531
ec ot ail
Lo
SH16SA-GA30AC 0.006726 71.70
ar r A
SH20SA-GA30AC 0.00708
<6
SH28SA-GA30AC 3150 3038 0.0069 103.60
is ors ab
ng
SH40SA-GA30AC 0.00531
io
SH04SA-GA44AC 0.0281
SH05SA-GA44AC 0.023
<4 110.20
n
3150 3038
SH16SA-GA44AC 0.00726
Ty o
<6 114.60
Gearmotors
SH20SA-GA44AC 0.00708
SGMGH
SH04SA-GA55AC 0.03204
SH05SA-GA55AC 0.02699
pe
<4 3150 3038 125.60
N
SH07SA-GA55AC 0.02266
SH10SA-GA55AC 0.02036
SH04SA-GA75AC 0.03204
SH05SA-GA75AC 0.02699
<4 3150 3038 147.62
SH07SA-GA75AC 0.02266
SH10SA-GA75AC 0.02036
l e
CONVENTIONAL GEARMOTOR
TORSIONAL ANGLE
YASKAWA
FR
SIGMA II
GEARMOTOR
REDUCER’S BACKLASH
FA
TORQUE
FR: Radial Force

2% OF RATED TORQUE FA: Axial Force
71

U
LL
W
LL1 LL3 LC
T
LR
P Q
MD QK KD 4 - ΦMT
LE
ΦGD
LC1
ΦLB
ΦS
ΦLA
Gearmotors
SGMGH
• Standard SGMGH Gearmotors

GEARMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1 ΦLA ΦMT* MD* Q QK KD W T U
SG05SA-GA05AC 3.15 10.83 0.20 1.81 2.68 3.54 0.87 3.15 M6 x 0.47 1.42 1.26 0.08 0.24 0.24 0.14
SG10SA-GA05AC (80) (275) (5) (46) (68) (90) (22) (80) 1.0 (12) (36) (32) (2) (6) (6) (3.5)
5.43 5.30 12.62 0.24 2.76 3.54 4.72 1.26 4.25 M8 x 0.63 2.28 1.97 0.16 0.39
SG25SA-GA05AC (138) (134.5) (320.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10) 0.32 0.20
SG50SA-GA05AC 6.02 13.35 0.32 3.82 4.72 6.10 1.58 5.51 M10 x 0.79 3.23 2.76 0.24 0.47 (8) (5)
(153) (339) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) (6) (12)
SG05SA-GA09AC 3.15 11.73 0.20 1.81 2.68 3.54 0.87 3.15 M6 x 0.47 1.42 1.26 0.08 0.24 0.24 0.14
(80) (298) (5) (46) (68) (90) (22) 5.12 (80) 1.0 (12) (36) (32) (2) (6) (6) (3.5)
SG10SA-GA09AC 6.34 4.02 12.24 0.24 2.76 3.54 4.72 1.26 (130) 4.25 M8 x 0.63 2.28 1.97 0.16 0.39
(161) (102) (311) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10)
SG25SA-GA09AC 6.02 14.25 0.32 3.82 4.72 6.10 1.58 5.51 M10 x 0.79 3.23 2.76 0.24 0.47
SG50SA-GA09AC (153) (362) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) (6) (12)
SG05SA-GA13AC 4.02 13.19 0.24 2.76 3.54 4.72 1.26 N/A N/A 4.25 M8 x 0.63 2.28 1.97 0.16 0.39
SG10SA-GA13AC 7.28 (102) (335) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) (4) (10)
(185) 6.02 15.20
SG25SA-GA13AC (153) (386)
SG05SA-GA20AC 6.54 13.92 0.32 0.20
SG10SA-GA20AC (166) (353.5) (8) (5)
SG05SA-GA30AC 7.56 14.94

(192) (379.5) 0.32 3.82 4.72 6.10 1.58 5.51 M10 x 0.79 3.23 2.76 0.24 0.47
8.90 4.82 16.28 (8) (97) (120) (155) (40) 7.48 (140) 1.5 (20) (82) (70) (6) (12)
SG05SA-GA44AC (226) (122.5) (413.5) (190)
SG05SA-GA55AC 10.24 19.00
(260) (482.5)
13.15 21.91
SG05SA-GA75AC (334) (556.5)
Note:* For Standard (SG) Gearmotors only: 4 x ΦMT threaded holes to a depth of dimension MD, set 90° apart.
Specified Tolerances for Standard (SG) Gearmotor Models:

Dimension ΦS ΦLB W
0.472, 0.630 +0.00047 +0.00004 1.378 +0.00000 -0.00063 0.158, 0.197, 0.236 +0.00000 -0.00118
in 0.866 +0.00059 +0.00008 2.047, 2.677 +0.00000 -0.00075 0.39370 +0.00000 -0.00142
1.260, 1.575 +0.00071 +0.00008 3.54331, 4.72441 +0.00000 -0.00087 0.47244 +0.00000 -0.00169
12, 16 +0.012 +0.001 35 +0.000 -0.016 4, 5, 6 +0.000 -0.030
mm 22 +0.015 +0.002 52, 68 +0.000 -0.019 10 +0.000 -0.036
32, 40 +0.018 +0.002 90, 120 +0.000 -0.022 12 +0.000 -0.043
72
• Precision SGMGH Gearmotors

GEARMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦLA ΦMT** MD** Q QK KD W T U
SH04SA-GA05AC
SH05SA-GA05AC 3.78 10.87
SH07SA-GA05AC (96) (276) 1.50 1.50 2.76 0.87 0.79 2.99 3.35 0.26 0.28 1.42 1.26 0.08 0.24 0.24 0.14
(38) (38) (70) (22) (20) (76) (85) (6.6) (7) (36) (32) (2) (6) (6) (3.5)
SH10SA-GA05AC
4.82 11.91 0.08 5.12
SH16SA-GA05AC 5.43 (122.5) (302.5) (2) (130)
SH20SA-GA05AC (138)
SH28SA-GA05AC 5.77 12.89 2.36 2.17 3.54 1.26 3.98 4.72 0.35 0.39 2.28 1.97 0.16 0.39
SH40SA-GA05AC (146.5) (327.5) (60) (55) (90) (32) 1.18 (101) (120) (9) (10) (58) (50) (4) (10) 0.32 0.20
(30) (8) (5)
SH50SA-GA05AC
SH70SA-GA05AC
SH04SA-GA09AC
SH05SA-GA09AC
7.13
(181)
3.78
SH e e
14.35
(364.5)
11.77
0.12
(3)
3.35
(85)
1.50
2.76
(70)
1.50
5.12
(130)
2.76
1.58
(40)
0.87 0.79
5.51
(140)
5.12
5.55
(141)
2.99
6.50
(165)
3.35
0.43
(11)
0.26
0.47
(12)
0.28
3.23
(82)
1.42
2.76
(70)
1.26
0.20
(5)
0.08
0.47
(12)
0.24 0.24 0.14

(96) (299) (38) (38) (70) (22) (20) (130) (76) (85) (6.6) (7) (36) (32) (2) (6) (6) (3.5)
SH07SA-GA09AC
Pr m v
G
4.49 12.52 0.08
SH10SA-GA09AC (114) (318) (2)
6.34
SH16SA-GA09AC
ec ot ail
(161) 2.36 2.17 3.54 1.26 5.12 3.98 4.72 0.35 0.39 2.28 1.97 0.16 0.39
Lo
5.77 13.80 (60) (55) (90) (32) (130) (101) (120) (9) (10) (58) (50) (4) (10)
SH20SA-GA09AC
Gearmotors
(146.5) (350.5)
ar r A
SH28SA-GA09AC
SGMGH
SH40SA-GA09AC
is ors ab
ng
7.13 15.26 0.12 3.35 2.76 5.12 1.58 5.51 5.55 6.50 0.43 0.47 3.23 2.76 0.20 0.47
SH50SA-GA09AC (181) (387.5) (3) (85) (70) (130) (40) (140) (141) (165) (11) (12) (82) (70) (5) (12)
io
0.32 0.20
SH04SA-GA13AC (8) (5)
SH05SA-GA13AC 4.49 13.47
SH07SA-GA13AC
SH10SA-GA13AC
7.283
(114) (342) 0.08
(2)
n 2.36
(60)
2.17
(55)
3.54
(90)
1.26
(32)
5.12
(130)
3.98
(101)
4.72
(120)
0.35
(9)
0.39
(10)
2.28
(58)
1.97
(50)
0.16
(4)
0.39
(10)
Ty o
5.77 14.74
SH16SA-GA13AC (185) (146.5) (374.5)
SH20SA-GA13AC 7.13 16.20 2.76 5.12 1.58 5.55 0.43 0.47 0.20
SH28SA-GA13AC (181) (411.5) (70) (130) (40) 5.51 (141) (11) (12) (5)
SH40SA-GA13AC 7.87 16.95
pe 3.54 6.30 2.17

(140)
7.17 0.51 0.59 0.24 0.39 0.24
N
(200) (430.5) (90) (160) (55) (182) (13) (15) (6) (10) (6)
SH04SA-GA20AC 1.18
SH05SA-GA20AC 5.55 14.08 (30) 6.50 0.47
(141) (357.5) (165) (12)
SH07SA-GA20AC
2.76 5.12 1.58 5.55 0.43 0.47 0.20 0.32 0.20
SH10SA-GA20AC (70) (130) (40) (141) (11) (12) (5) (8) (5)
6.535
SH16SA-GA20AC
l
(166)
e
7.13 15.65
SH20SA-GA20AC (181) (397.5)
SH28SA-GA20AC 0.12 3.35 3.23 2.76
SH40SA-GA20AC (3) (85) (82) (70)
7.87 16.40 3.54 6.30 2.17 7.17 8.47 0.51 0.59 0.24 0.63 0.39 0.24
SH50SA-GA20AC (200) (416.5) (90) (160) (55) 7.48 (182) (215) (13) (15) (6) (16) (10) (6)
(190)
SH04SA-GA30AC
SH05SA-GA30AC 5.55 15.10
SH07SA-GA30AC (141) (383.5) 2.76 5.12 1.58 5.55 6.50 0.43 0.47 0.20 0.47 0.32 0.20
(70) (130) (40) (141) (165) (11) (12) (5) (12) (8) (5)
SH10SA-GA30AC 7.56
(192) 7.13 16.67
SH16SA-GA30AC (181) (423.5)
SH20SA-GA30AC
7.87 17.42 3.54 6.30 2.17 7.17 8.47 0.51 0.59 0.24 0.63 0.39 0.24
SH28SA-GA30AC (200) (442.5) (90) (160) (55) (182) (215) (13) (15) (6) (16) (10) (6)
SH40SA-GA30AC
73
• Precision SGMGH Gearmotors (Continued)

GEARMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦLA ΦMT** MD** Q QK KD W T U
SH04SA-GA44AC
SH05SA-GA44AC 6.87 17.24
SH e e
SH07SA-GA44AC (174.5) (438)
8.90 3.35 3.54 6.30 2.17 1.18 7.17 8.47 0.51 0.59 3.23 2.76 0.24 0.63 0.39 0.24
SH10SA-GA44AC (226) (85) (90) (160) (55) (30) (182) (215) (13) (15) (82) (70) (6) (16) (10) (6)
SH16SA-GA44AC 7.87 18.76
SH20SA-GA44AC (200) (476.5)
Pr m v
SH04SA-GA55AC 0.12 7.48
G
SH05SA-GA55AC (3) (190)
10.24 6.87 19.96 3.35 3.54 6.30 2.17 1.18 7.17 8.47 0.51 0.59 3.23 2.76 0.24 0.63 0.39 0.24
SH07SA-GA55AC (260) (174.5) (507) (85) (90) (160) (55) (30) (182) (215) (13) (15) (82) (70) (6) (16) (10) (6)
ec ot ail
Lo
SH10SA-GA55AC
SH04SA-GA75AC
SH05SA-GA75AC 13.15 6.87
ar r A
22.87 3.35 3.54 6.30 2.17 1.18 7.17 8.47 0.51 0.59 3.23 2.76 0.24 0.63 0.39 0.24
is ors ab
ng
SH07SA-GA75AC (334) (174.5) (581) (85) (90) (160) (55) (30) (182) (215) (13) (15) (82) (70) (6) (16) (10) (6)
SH10SA-GA75AC
io
Note: * LC1 may be greater than LC, despite the depiction on the gearmotor drawing.
n
** For Precision (SH) Gearmotors only: 4 x ΦMT “thru holes” at a depth of dimension MD, set 90° apart.
Gearmotors
Ty o
SGMGH
Specified Tolerances for Precision (SH) Gearmotor Models:

Dimension ΦS ΦGD W
pe
N
0.86614 +0.00059 +0.00008 2.75591 -0.00039 -0.00114 0.1685, 0.23622 +0.00000 -0.00118
1.25984, 1.57480 +0.00071 +0.00008 3.54331 -0.00047 -0.00134 0.39370 +0.00000 -0.00142
in
2.16535, 2.95276 +0.00083 +0.00008 5.11811, 6.29921, 7.08661 -0.00055 -0.00154 0.47244, 0.62992 +0.00000 -0.00169
3.34646 +0.00098, +0.00012 7.87402 -0.00059 -0.00173 0.787400, 0.86614 +0.00000 -0.00205
22 +0.015 +0.002 70 -0.010 -0.029 5, 6 +0.000 -0.030
l e
32, 40 +0.018 +0.002 90 -0.012 -0.034 10 +0.000 -0.036
mm
55, 75 +0.021 +0.002 130, 160, 180 -0.014 -0.039 12, 16 +0.000 -0.043
85 +0.025 +0.003 200 -0.015 -0.044 20, 22 +0.000 -0.052
74
Selecting Your SGMGH Gearmotor System


5CN Shaft Keyway
Gearmotor
3CN (A)
Gearmotors
SGDH Connector for Shaft
SGMGH
Peripheral
1CN 2CN
Encoder Cable (C)
Connector

SG 05 S A - GA 05 A 2 C
Sigma II Gearmotor Series Accessories
SG: Standard (<10 arc minute) C: 24Vdc Brake
Blank:Standard YEA motor (stock)
Reduction Ratio
04: 4:1 25: 25:1 Encoder Specifications
05: 5:1 28: 28:1 C: 17-Bit Incremental Encoder
07: 7:1 40: 40:1 2: 17-Bit Absolute Encoder
10: 10:1 50: 50:1
16: 16:1 70: 70:1 Power Supply
20: 20:1 A: 200V
Construction Motor Output
S: Standard 05: 0.45kW (0.6hp)
09: 0.85kW (1.14hp)
Orientation 13: 1.3kW (1.7hp)
A: For SG: Standard 20: 1.8kW (2.4hp)
For SH: Mounted horizontally 30: 2.9kW (3.9hp)
B: SH Only - Mounted vertically (Shaft facing UP) 44: 4.4kW (6.0hp)
C: SH Only - Mounted vertically (Shaft facing DOWN) 55: 5.5kW (7.3hp)
(Used to specify SH gearbox lubrication during manufacturing) 75: 7.5kW (10.0hp)
Motor Series
G: SGMGH Design Revision
A: SGMGH (1500rpm)
75
Gearmotor & Amplifier Selection

Use this table below to select the appropriate SGMGH Sigma II gearmotor and amplifier. See notes
on page 77.
Rated Peak Rated Maximum Amplifier Motor and
Gear Gearmotor
Description Torque Torque Speed Speed MODEL # Amplifier
Ratio Model Number* (A)
(in • lb) (in • lb) (rpm) (rpm) SGDH- (B)** Item Class
122 383 300 600 5:1 SG05SA-GA05AC
244 637 150 300 10:1 SG10SA-GA05AC
05AE
597 1770 60 120 25:1 SG25SA-GA05AC
1194 3540 30 60 50:1 SG50SA-GA05AC
231 592 300 600 5:1 SG05SA-GA09AC
Gear-
463 1185 150 300 10:1 SG10SA-GA09AC motor:
10AE
1133 2901 60 120 25:1 SG25SA-GA09AC 3-4 weeks
2266 3540 30 60 50:1 SG50SA-GA09AC
358 1000 300 600 5:1 SG05SA-GA13AC
716 1593 150 300 10:1 SG10SA-GA13AC 15AE
Gearmotors
1753 3540 60 120 25:1 SG25SA-GA13AC Amplifier:

SGMGH
Stock
494 1232 300 600 5:1 SG05SA-GA20AC
20AE
987 2464 150 300 10:1 SG10SA-GA20AC
798 1936 300 600 5:1 SG05SA-GA30AC 30AE
1219 3052 300 600 5:1 SG05SA-GA44AC 50AE
1502 3540 300 600 5:1 SG05SA-GA55AC 60AE
2060 3540 300 600 5:1 SG05SA-GA75AC 75AE
98 306 375 750 4:1 SH04S-GA05AC
122 383 300 600 5:1 SH05S-GA05AC
171 536 214 429 7:1 SH07S-GA05AC
200V, 3-phase 244 708 150 300 10:1 SH10S-GA05AC
SH e e
17-bit 378 885 94 188 16:1 SH16S-GA05AC

05AE
Incremental 473 1484 75 150 20:1 SH20S-GA05AC
Encoder 662 2078. 54 107 28:1 SH28S-GA05AC
945 2213 38 75 40:1 SH40S-GA05AC
Straight Shaft 1181 2213 30 60 50:1 SH50S-GA05AC
Pr m v
with Keyway
G
1654 4425 21 43 70:1 SH70S-GA05AC

MS connectors 185 474 375 750 4:1 SH04S-GA09AC
ec ot ail
231 592 300 600 5:1 SH05S-GA09AC

Lo
324 829 214 429 7:1 SH07S-GA09AC Gear-

ar r A
463 1185 150 300 10:1 SH10S-GA09AC motor:

6-8 weeks
is ors ab
717 1837 94 188 16:1 SH16S-GA09AC 10AE

ng
897 2213 75 150 20:1 SH20S-GA09AC

io
1256 2213 54 107 28:1 SH28S-GA09AC

1794 4425 38 75 40:1 SH40S-GA09AC Amplifier:
2242 4425 30 60 50:1 SH50S-GA09AC Stock
n
286 800 375 750 4:1 SH04S-GA13AC

358 1000 300 600 5:1 SH05S-GA13AC
Ty o
501 1400 214 429 7:1 SH07S-GA13AC

716 1770 150 300 10:1 SH10S-GA13AC
15AE
1110 2213 94 188 16:1 SH16S-GA13AC
pe
1388 3877 75 150 20:1 SH20S-GA13AC

N
1943 4425 54 107 28:1 SH28S-GA13AC

2775 7753 38 75 40:1 SH40S-GA13AC
395 986 375 750 4:1 SH04S-GA20AC
494 1232 300 600 5:1 SH05S-GA20AC
691 1725 214 429 7:1 SH07S-GA20AC
20AE
l
987 2464 150 300 10:1 SH10S-GA20AC

e
1531 3820 94 188 16:1 SH16S-GA20AC

1913 4425 75 150 20:1 SH20S-GA20AC
76
Rated Peak Rated Maximum Amplifier Motor and

Gear Gearmotor
Description Torque Torque Speed Speed MODEL # Amplifier
Ratio Model Number (A)*
(in • lb) (in • lb) (rpm) (rpm) SGDH- (B)** Item Class
2679 4425 54 107 28:1 SH28S-GA20AC
3827 9550 38 75 40:1 SH40S-GA20AC
4783 9735 30 60 50:1 SH50S-GA20AC
SH e e
395 986 375 750 4:1 SH04S-GA20AC
494 1232 300 600 5:1 SH05S-GA20AC
691 1725 214 429 7:1 SH07S-GA20AC
20AE
987 2464 150 300 10:1 SH10S-GA20AC
Pr m v
1531 3820 94 188 16:1 SH16S-GA20AC
1913
2679
G4425
4425
75
54
150
107
20:1
28:1
SH20S-GA20AC
SH28S-GA20AC
ec ot ail
Lo
3827 9550 38 75 40:1 SH40S-GA20AC
4783 9735 30 60 50:1 SH50S-GA20AC
639 ar r A
1549 375 750 4:1 SH04S-GA30AC
is ors ab
200V, 3-phase
ng
798 1936 300 600 5:1 SH05S-GA30AC
1118 2710 214 429 7:1 SH07S-GA30AC Motor:
io
17-bit
Incremental 1597 3540 150 300 10:1 SH10S-GA30AC Non Stock
30AE
Encoder 2476 4425 94 188 16:1 SH16S-GA30AC
Gearmotors
3095 7504 75 150 20:1 SH20S-GA30AC
SGMGH
Straight Shaft 4333 9735 54 107 28:1 SH28S-GA30AC Amplifier:
Ty o
with Keyway
6189 9735 38 75 40:1 SH40S-GA30AC Stock
MS connectors 975 2441 375 750 4:1 SH04S-GA44AC
1219 3052 300 600 5:1 SH05S-GA44AC
pe
1707 4273 214 429 7:1 SH07S-GA44AC
2438
3780
4725
6104
9464
9735
N 150
94
75
300
188
150
10:1
16:1
20:1
SH10S-GA44AC
SH16S-GA44AC
SH20S-GA44AC
50AE
1202 3008 375 750 4:1 SH04S-GA55AC

1502 3760 300 600 5:1 SH05S-GA55AC
60AE***
l
2103 5264 214 429 7:1 SH07S-GA55AC
e
3005 7520 150 300 10:1 SH10S-GA55AC
1648 4086 375 750 4:1 SH04S-GA75AC
2060 5108 300 600 5:1 SH05S-GA75AC
75AE***
2884 7151 214 429 7:1 SH07S-GA75AC
4121 7789 150 300 10:1 SH10S-GA75AC
Notes: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Con-
tact your Yaskawa representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour.
2. Rated Speed is at 20°C ambient temperature. Reduce Rated Speed by 20% at 40°C ambient temperature.
3. For right-angle gearmotors, please consult the factory for availability.
4. 24VDC brakes for SGMGH Sigma II gearmotors are standard. Contact a local source for 24VDC power supplies.
5. For technical information, request Yaskawa manual number YEA-SIA-S800-32.2.
* To complete the model number in type SH gearmotors, please specify the shaft orientation as shown in the Model Number Designation on
page 75.
** For more detailed SGDH amplifier specifications and dimensions, refer to pages 99-112.
*** Amplifier models SGDH-60AE and SGDH-75AE require a regenerative unit (see "Component (E)" on page 80).
77
Use the table below to select pre-wired cables for your SGMGH Sigma II gearmotor.

Motor Part Number*
Item
Cable Description (C) Size without Comments
with Brake Class
(kW) Brake
0.5, B1E- B1BE- Use the following key to
0.9, 1.3 (A) (A) specify needed cable length
B2E- B2BE- (last two digits of the part
2.0, 3.0 (A) (A)
Power Cable with number):
Connectors B3E- B3BE-
4.4 03: 3m
(A) (A) 05: 5m
(IP67)
B5E-(A) 10: 10m (standard)
B5E-
5.5, 7.5 (A) B7BCE- 15: 15m
(A)** 20: 20m
Cables are available in five
Gearmotors
lengths. Use two digits in

SGMGH
the part number’s last place:

Encoder Cable 03: 3m
(incremental or JZSP-CMP02-(B) 05: 5m
absolute) 10: 10m (standard)
15: 15m
20: 20m
Encoder Cable
(for applications These cables are available
up to 20m) FR-RMCT-SB in any length.
Only for Solder
Connections For example: to order one
from >20 to <50m) UL20276-SB quantity: 16
Only for Solder part no.: FR-RMCT-SB. Stock***
Connections
Input/Output
1CN Cable & All 35 mm DIN rail mountable;
JUSP-TA50P
Transition the cable length is 0.5m.
Terminal Block

specify needed cable length
Input/Output (last digit of part number):
1CN Cable with JZSP-CKI01-(A) 1: 1m (standard)
Pigtail Leads 2: 2m
3: 3m

specify cable length (last
Input/Output 1CN two digits of the part
Female JZSP-CKI0D-
nector**** 01: 1m (standard)
02: 2m
03: 3m
* ”(A)” at the end of the cable number indicates the revision level. The revision level may be changed prior to this catalog’s reprinting.
** When ordering these cables for motors with brakes, order the standard B5E power cable and the additional cable for the brake.
*** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
78
Connector Selection
Use the table below to select mating connectors for your SGMGH Sigma II gearmotor.
Motor Part Number Item
Size (kW) without Brake with Brake Class
0.5, 0.9,
2.0, 3.0, MS3108B22-22S MS3108B24-10S L-type connector
4.4
MS Connector for MS3106B32-17S
Motor Power Cable * MS3106B32-17S and Straight-type connector
MS3106A10SL-3S
MS3108B32-17S
5.5, 7.5 MS3108B32-17S and L-type connector
MS3108A10SL-3S
Gearmotors
MS3057-4A
SGMGH
MS Connector for MS3106B20-29S Straight-type connector
Encoder Cable MS3108B20-29S L-type connector
(incremental or abso-
lute encoder) MS3057-12A Cable clamp

Connector Stock

Mating Connector
All
3CN Peripheral —
Mating Connector YSC-1 —

5CN Connector and speed and torque monitor
1m Cable with — DE9404559
service checks.
Pigtails
connector MS3108B18-10S is compatible with cable clamp MS3057-10A.
79

Use the table below to select peripheral devices for your SGMGH Sigma II gearmotor.
JUSP–OP02A–1
Hand-held Digital and Portable unit with 1m adapter cable
Operator Panel JZSP–CMS00–1
for Sigma II
Gearmotors
SGMGH
Pre-wired 2.0m cable with

Software Interface Cable — YS–12 9-pin connector
Stock
JZSP–BA01 3.6V, 1000mAh (Lithium Battery)
Absolute Encoder Battery For SGDH–60 and above (same as
JZSP–BA01–1 JZSP–BA01 with longer lead)

CDROM Drive, RS-232 or RS–422
SigmaWin+ Software JZSP–WP0001 port, Screen rsolution 800x600 w/
95,98,NT4.0,2000,ME. (Windows
XP planned)
Regenerative Unit for These are general purpose

6.0kW amplifier (880W) JUSP–RA04 regenerative units.*
this unit.
Regenerative Unit for 7.5, 11, JUSP–RA05 Caution: Proper set-up is
and 15kW amplifiers (1760W) necessary to avoid equipment dam-
age.
For 200V: SGDH-05AE

SGDH-08AE X5061
(for suppressing harmonics in SGDH-15AE — Limited
X5060 Stock
the power supply)‘ SGDH-20AE
SGDH-30AE X5059
SGDH-50AE X5068
tion. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the Sigma II Series Servo Sys-
tem User’s Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
80

Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II gearmotor.
Motor Part Number*

Item
Class
0.5, 0.9, Use the following key to

1.3 B1CE-(A) B1BCE-(A)
specify needed cable
Power Cable length (last two digits of
with 2.0, 3.0 B2CE-(A)
B3BCE-(A) the part number): Limited
Connectors 03: 3m
4.4 B3CE-(A) Stock
05: 5m
B5CE-(A) 15: 15m
5.5, 7.5 B5CE-(A)
B7BCE-(A) 20: 20m
Gearmotors
SGMGH
* The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this
catalog’s reprinting.
Use the table below to select mating connectors for your SGMGH Sigma II gearmotor.
Motor Part Number
Item
Connector Description (D) Size Comments**
Class
CE05-8A18-10SD-B-
CE05-8A20-15SD-B-BAS L-type connector
0.5, BAS
0.9, 1.3 CE3057-12A-1(D265) Cable clamp
CE3057-10A-1(D265)
CE05-8A22-22SD-B- CE05-8A24-10SD-B-BAS L-type connector
2.0, BAS
3.0, 4.4
Connector for CE3057-12A-1(D265)
CE3057-16A-1(D265) Cable clamp
Motor Power
Cable* CE05-8A32-17SD-B-BAS L-type connector
or or
5.5, 7.5
CE05-6A32-17SD-B-BSS Straight-type connector Limited
and and Stock
CE3057-20A-1 Cable clamp
(diameters 0.866 to 0.937in)
Connector for L-type connector for holding
Holding Brake CE05-8A10SL-3SC-B-BAS brake
and and
CE3057-4A-1 (D265) Cable clamp
(diameters 0.142 to 0.220in)
All L-type connector
Connector for CE02-6A20-29NSW and CE20BA-S (plug and back shell)
Encoder Cable and and
(incremental or
absolute CE3057-12A-3(D265) Cable clamp
encoder) (diameters 0.265 to 0.394in)
* Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for
IP67 environments.
81
NOTES:
Gearmotors
SGMGH
82
Super High Power Rate Series

SGMSH Servomotors - With Incremental / Absolute Encoder
Rated Output: 1.0kW, 1.5kW, 2.0kW,
3.0kW, 4.0kW, 5.0kW
SGMSH Ratings & Specifications 86

SGMSH Speed/Torque Curves 87
SGMSH Dimensions 88 - 89
SGMSH Selection/Ordering Information 90 - 95
Design Features
1. Compact
z Small sized motor
Servomotors
Six frame sizes: up to 422in • lb peak torque
SGMSH
2. High Speed
z Rated Speed: 3000rpm
z Maximum Speed: 5000rpm
3. Encoders
z 17-bit absolute encoder (option)
4. Enclosure
z IP67 with shaft seal (option)
z Chip mounters
z Robots
z Conveyors
z Packaging
83

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Maximum Rotational Speed:
Insulation: Class F IP67 (except for shaft opening) 5000rpm
Vibration: 15μm or less Ambient Temperature: 0 to 40ºC Excitation: Permanent magnet
Withstand Voltage: 1500Vac Ambient Humidity: 20 to 80% Drive Method: Direct drive
Insulation Resistance: 10MΩ minimum (non-condensing) Mounting: Flange-mounted
at 500VDC Rated Speed: 3000rpm Painting Color: Muncell notation N1.5
Amplifier System
Rated Rated Instantaneous Peak Rated Instantaneous

Output* Torque* Torque* Current* MaximumCurrent*
Voltage
MOTORS:
SGMSH-
kW KG • cm KG • cm Arms Arms
N •m N•m
(hp) (lb • in) (lb • in)
10AA 1.0 (1.3) 3.18 32.4 (28.2) 9.54 97.2 (84.4) 5.7 17
15AA 1.5 (2.0) 4.9 50 (43.4) 14.7 150 (130) 9.7 28
20AA 2.0 (2.7) 6.36 65 (56.4) 19.1 195 (169) 12.7 42

200Vac
30AA 3.0 (4.0) 9.8 100 (87) 29.4 300 (260) 18.8 56
40AA 4.0 (5.4) 12.6 129 (112) 37.8 387 (336) 25.4 77
50AA 5.0 (6.7) 15.8 161 (140) 47.6 486 (422) 28.6 84

Torque Moment of Inertia Load Power Angular Time Time
Constant Coil Rated Additional Inertia Rate* Acceleration* Constant Constant
Capacity Torque Resistance Current Inertia
MOTORS
SGMGH- lbf • in
Arms lbf • in • s2. KG • m2 × lbf • in • s2. KG • m2
Servomotors
W N•m Ω A kW/s rad/s2 ms ms

( NArms
•m
) × 10-3 10-4 × 10-3 × 10-4
SGMSH
10AA 5.6 (0.64) 1.54 1.74 8.7 57.9 18250 0.87 7.1
15AA 5.0 (0.56) 2.19 2.47 7.0 7.84 82.0 0.29 0.289 12.4 97.2 19840 0.71 7.7
20AA 4.8 (0.55) 2.82 3.19 16.0 127 19970 0.58 8.3
30AA 5.1 (0.57) 6.20 7.00 35.0 137 14000 0.74 13.0
40AA 4.9 (0.53) 8.50 9.60 9.85 20.0 58.5 0.41 1.89 48.0 166 13160 0.60 14.1
50AA 5.4 (0.60) 10.9 12.3 61.5 202 12780 0.57 14.7
* These items and torque-speed characteristics quoted in combination with an SGDH servo amplifier at an
armature winding temperature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling
purposes:
Type 10AA to 20AA: (11.81 × 11.81 × 0.47 (in)) (300 × 300 × 12 (mm))
Type 30AA to 50AA: (15.75 × 15.75 × 0.79 (in)) (400 × 400 × 20 (mm))
84

200V
SGMSH-10A A SGMSH-15A A
5000 5000
4000 4000
SPEED (rpm)
SPEED (rpm)
3000 3000
2000
A B A B
2000
1000 1000
0 0
0 2 4 6 8 10 0 5 10 15
TORQUE (N · m) TORQUE (N · m)
0 20 40 60 80 0 50 100 150
TORQUE (lb · in) TORQUE (lb · in)
5000 5000
4000 4000
SPEED (rpm)
SPEED (rpm)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 5 10 15 20 0 10 20 30
0 50 100 150 0 100 200

TORQUE (lb · in)
Servomotors
SGMSH
5000 5000
4000 4000
SPEED (rpm)
SPEED (rpm)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 10 20 30 40 0 10 20 30 40 50
TORQUE (N · m)
TORQUE (N · m)
0 100 200 300 400 0 100 200 300 400 500

85

(1) 17-bit Incremental or Absolute Encoder
L
LL LR
LT LM 0.0016 A
LG LE 0.0016 A LC
LR
3.94 (100)
LE
Q
S
LH LA
QK
LC
LB
S
KL2
0.31 (8)
KL1
0.28 (7)
0.16 (4)
A 0.0008
4 - LZ
MTG Holes
KB1
KB2
Shaft End Allowable Allowable

Flange Dimensions Approximate
Type Dimension Radial Thrust
SGMSH- Load Load
lbf (kg)
ΦLA ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK lbf (N) lbf (N)
7.64 5.87 4.06 2.99 5.04
10AA61 (194) (149) (103) (76) (128) 10.1 (4.6)
8.66 6.89 5.08 1.77 4.02 6.06 3.78 3.43 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26 12.8 (5.8) 154 44
15AA61 (220) (175) (129 ) (45) (102) (154) (96) (87) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32) (686) (196)
9.57 7.8 5.98 4.92 6.97
20AA61 (243) (198) (152)
15.4 (7.0)
1.81 (125) (177)
10.31 7.83 6.02 (46) 4.8 7.01 220
30AA61 24.3 (11)
Servomotors
(262) (199) (153 ) (122) (178) (980)

11.77 9.29 7.48 2.48 6.26 8.46 4.49 3.43 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96 30.9 (14) 88
SGMSH
40AA61 (299) (236) (190) (63) (159) (215) (114) (87) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50) (392)
265
13.35 10.87 9.06 7.83 10.04 (1176)
50AA61 (339) (276) (230) (199) (255)
37.5 (17)
2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
in 0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014
mm 24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035
Connector Wiring on the Incremental Encoders

A — K — Motor Plug
Encoder Plug B — L — Connector Wiring on the Motor Side
M A C Data + M — D A A U Phase
B
L N P C D Data − N — B V Phase
T
K D C W Phase
E — P — C B
J S R D Ground Terminal
H
E F — R —
G F Battery − (Note*)
G 0V S MS3102A22-22P
86
(2) 17-bit Incremental or Absolute Encoder, with Brake
LL LR LR
0.0016 A
LE
LT LM 0.0016 A Q
LG LE LC
QK
S
3.94 (100)
LH LA
LC
LB
0.31 (8)
KL2
KL1
0.28 (7)
0.16 (4)
S
A 4- LZ
MTG Holes
0.0008
KB1
KB2

SGMSH- Load Load
lbf (kg)
ΦLA ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK lbf (N) lbf (N)
9.37 7.6 5.79 1.77 2.64 6.77 13.2
10AA6C (238) (193) (147) (45) (67) (172) (6.0)
15AA6C 10.39
(264)
8.62 6.81
(219) (173)
1.77
(45)
3.66 7.8
(93) (198) (100)
3.94 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26
(115) (95) (100) (3) (10) (130) (7) (24) (40) (32)
16.5
(7.5)
154
(686)
44
(196)
Servomotors
11.3 9.53 7.72 1.77 4.57 8.7 18.7
20AA6C (287)
SGMSH
(242) (196) (45) 1.81 (116) (221) 3.43 (8.5)
(46) (87)
30AA6C 11.81
(300)
9.33 7.52
(237) (191)
4.45
(113) (216)
8.5 30.9
(14)
220
(980)
10.79 8.98 2.48 5.91 9.96 4.69 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96 37.5 88
40AA6C (274) (228) (63) (150) (253) (119) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50) (17) (392)
14.84 265
(377) 12.36 10.55 7.48 11.54 44.1 (1176)
50AA6C (314) (268) (190) (293) (20)
in 0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014
mm 24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035
Motor Plug
F A Connector Wiring on the Motor Side
E A U Phase E Brake Terminal
B
G B V Phase F Brake Terminal
D C C W Phase G —
D FG (Frame Ground)
MS3102A20-15P
87
Selecting Your SGMSH Sigma II Servo System

Use the diagram below to locate and identify the components of your system. Each item is
letter-coded and cross-referenced in the option tables on the following pages.

5CN Shaft Keyway
For Monitor (D) SGMSH
Servomotor
3CN (A)
Peripheral SGDH Connector for Shaft Seal
Signal Amplifier Encoder Signal (D)
Connector (D) (B) Motor side
Encoder side
1CN 2CN
Encoder Cable (C)
Connector
Regenerative Unit (E) but it must be requested).
Servomotors
SGMSH

SGMSH - 10 A C A 6 1
Rated Output 1: Standard
10: 1.0kW (1.3hp) C: 24VDC Brake
15: 1.5kW (2.0hp) S: Shaft Seal
20: 2.0kW (2.7hp) E: Shaft Seal and Brake
50: 5.0kW (6.7hp)
Rated Speed
Power Supply A: 3000rpm
A: 200V
C: 17-bit Incremental
Encoder
2: 17-bit Absolute Encoder
88

Use the table below to select the appropriate SGMSH Sigma II servomotor and amplifier.
Amplifier
Motor Inertia Motor &
Peak Torque Rated Torque Motor MODEL # (B)*
Description Amplifier
(in • lb) (in • lb) (in • lb • s2 X 10-3) MODEL # (A) Analog/Digital Input
Item Class
SGDH-
1.54 SGMSH-10ACA61
84.4 28.2 10AE
200V, 1.76 SGMSH-10ACA6C
Three-Phase 2.19 SGMSH-15ACA61
130 43 15AE
2.41 SGMSH-15ACA6C
17-bit
Incremental Encoder 2.82 SGMSH-20ACA61
169 56.4 20AE
3.04 SGMSH-20ACA6C
Straight Shaft with Stock
6.2 SGMSH-30ACA61
Keyway 260 87 30AE
8.1 SGMSH-30ACA6C
5000rpm maximum 8.5 SGMSH-40ACA61
336 112
10.4 SGMSH-40ACA6C
50AE
MS Connectors 10.9 SGMSH-50ACA61
422 140
12.8 SGMSH-50ACA6C
Note: 24VDC brakes for SGMSH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
* For more detailed SGDH amplifier specifications and dimensions, refer to pages 99 - 112.
Servomotors
SGMSH
89

Use the table below to select pre-wired cables for your SGMSH Sigma II servomotor.
Part Number*
Motor
Item
without Class
(kW) with Brake
Brake
1.0,
1.5, B1E-(A) B1BE-(A) Use the following key to specify
2.0 needed cable length (last two digits of
Power Cable with L- the part number):
type Connectors 03: 3m
3.0 B2E-(A) B2BE-(A) 05: 5m
15: 15m
4.0, B3E-(A) B3BE-(A) 20: 20m
5.0
These cables are available in five
Encoder Cable lengths. Use two digits in the part
(incremental or number’s last place:
03: 3m
absolute) JZSP-CMP02-(B) 05: 5m
15: 15m
20: 20m
Encoder Cable
(for applications
up to 20m) FR-RMCT-SB These cables are available in any
Only for Solder length.
Connections
For example, to order one FR-RMCT-
Encoder Cable SB cable, 16m long, specify:
(for applications quantity: 16
from >20 to <50m) UL20276-SB part no.: FR-RMCT-SB
Only for Solder
Connections All Stock**
Servomotors
Input/Output 1CN
35mm DIN rail mountable; the cable
JUSP-TA50P
SGMSH
Cable & Transition length is 0.5m.

Terminal Block
Use the following key to specify

Input/Output 1CN required cable length (last digit of part
number):
Cable with Pigtail JZSP-CKI01-(A)** 1: 1m (standard)
Leads
2: 2m
3: 3m
Use the following key to spec-

Input/Output ify cable length (last two digits
1CN Cable of the part number):
Cable with JZSP-CKI0D- D50: 0.5m
Female 01: 1m (standard)
D-Sub output 02: 2m
Connector*** 03: 3m
*** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g., Wago #289-449, Weidmuller
#919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
90
Connector Selection
Use the table below to select mating connectors for your SGMSH Sigma II servomotor.
Motor Part Number

Item
Connector Description (D) Size Comments
without Brake with Brake Class
(kW)
1.0, MS3108B18-10S MS3108B20-15S L-type connector
1.5, 2.0
MS Connector for Motor MS3057-10A MS3057-12A Cable clamp
Power Cable * MS3106B22-22S MS3106B24-10S Straight-type connector
3.0, MS3108B22-22S MS3108B24-10S L-type connector
4.0, 5.0
MS3108B20-29S L-type connector
MS Connector for Encoder

Cable
(incremental or absolute
encoder) MS3057-12A Cable clamp
Stock
1CN Mating All

Connector JZSP-CKI9 —
2CN Encoder Mating Con-

nector JZSP-CMP9-1 —
Servomotors
SGMSH
3CN Peripheral
Mating Connector — YSC-1 —
5CN Connector and 1m
Cable with Pigtails
— DE9404559 —
* Choose either a straight or L-type connector and the associated cable clamp for a complete assembly.
91

Use the table below to select peripheral devices for your SGMSH Sigma II servomotor.
Hand-held Digital JUSP-OP02A-1 Portable unit with adapter cable

Operator Panel and for Sigma II
JZSP-CMS00-1

Stock

SigmaWin+ Software JZSP-WP0001 CDROM Drive, RS-232 or RS-422
port, Screen rsolution 800x600 w/
95,98,NT4.0,2000,ME. (Windows
Servomotors
XP planned)
SGMSH

Software Interface Cable — YS-12 9-pin connector

regenerative units.*
External Regenerative Unit Order the Motion document:

(Optional) JUSP-RA04 PI#99004 for setup instructions for
this unit.
Caution: Proper set-up is neces-

sary to avoid equipment damage
SGDH-10AE X5061
X5060 Limited
(for suppressing harmonics in SGDH-20AE — Stock
the power supply)
SGDH-30AE X5059
SGDH-50AE X5068
* For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or
parallel connection. Refer to the SGDH servo amplifier section of this catalog for additional specifications, and the
Sigma II Series Servo System User’s Manual (YEA-SIA-S800-32.2) for proper resistor sizing guidelines.
92

Use the table below to select shielded pre-wired cables for your SGMSH Sigma II
servomotor. These are suitable for IP67 environments.
Use the standard encoder cable MS3057-12A listed on page 93.
Motor Part Number*

Item
Class
1.0, B1CE-(A) Use the following key to

1.5, 2.0 B1BCE-(A)
Power Cable with length (last digit of part
Connectors number): Limited
3.0 B2CE-(A) 03. 3m Stock
(IP67) 05: 5m
B3BCE-(A) 10: 10m (standard)
4.0 15: 15m
B3CE-(A) 20: 20m
5.0
CE/IP67 Connector Selection

Use the table below to select mating connectors for your SGMSH Sigma II servomotor.
Part Number*
Motor Item
Servomotors
Size (kW) Class
without Brake with Brake
SGMSH
CE05-8A18-10SD-B-BAS CE05-8A20-15SD-B-BAS L-type
1.0, 1.5, connector
Connector for
Motor Power
Cable**
3.0, 4.0, CE05-8A22-22SD-B-BAS CE05-8A24-10SD-B-BAS L-type
5.0 connector
CE3057-12A-1(D265) CE3057-16A-1(D265) Cable clamp Limited
Stock
CE02-6A20-29NSW L-type connector
Connector for and (plug and back
Encoder Cable CE20BA-S shell)
(incremental or All
absolute CE3057-12A-3(D265) Cable clamp
encoder) (for diameters
0.265 to 0.394in)
* Connectors are manufactured by DDK and listed here with the largest standard cable clamp available.
** Choose the connector and the associated cable clamp for a complete assembly. The connectors listed
in the table are suitable for IP67 environments.
93
NOTES:
Servomotors
SGMSH
94
100/200V Sigma II Servo Systems
SGDH Servo Amplifier - For Speed, Torque, & Position Control

With Incremental or Absolute Encoder
99 - 100
SGDH Internal Connections 115
Connection Diagram, Single Phase 116
Connection Diagram, Three Phase
Connector Terminal Block Unit 117
Terminal Block Pin Numbers 118
Amplifier/Encoder Connections 119
Cable Specs and Peripherals 121- 125
SGMAH Sigma II Servo System 11 -28
SGMPH Sigma II Servo System
SGMPH Gearmotor 29 -46
SGMGH Sigma II Servo System 47 -56
SGMGH Gearmotor 57 -68
Single-phase Three-phase SGMSH Sigma II Servo System 65 -84
85 -96
Design Features
1. Improved Performance
z Higher bandwidth response (400Hz speed loop frequency response)
z Positioning settling time shortened to 1/2 to 1/3
z Smooth control at low rpm made possible by Sigma II servomotors’
high resolution feedback
2. Easy Operation
z All-in-one model (speed, torque, and position control)
z PC monitoring function available including graphical tuning and file storage
z Adaptive-tuning function
Online auto-tuning
z Multi-axis communication provided as standard
One PC can communicate with up to 14 SGDH units by parameter setting
z Built-in parameter setting device
z On-board storage of alarm history
z Automatic determination of motor settings at connection Servo Amplifiers
3. Additional functionality with ready-to-install application modules
z Configurable single axis controls including serial networking capability
SGDH
z Fieldbus connectivity (Devicenet¥, Profibus¥, etc.)

z Full closed loop (optional position feedback)
z Yaskawa MP940 single axis motion controller
z UL, cUL listed (File #: E147823), CE compliance
95
100/200V Sigma II Servo System

SGDH - AE-
Sigma II Series Options
SGDH Servo Amplifier S: Single Phase*
Rated Output Model
Power Supply E: Speed, Torque, and
A: 200V Position Control
B: 100V
F: 100V (for SGMH-04A
motors only) * Only required for single-phase
sizes 08 and 15.
Amplifier Capacity AC Supply

Model kW (HP) Phases
A3 0.03 (0.04)
A5 0.05 (0.07)
01 0.10 (0.13)
02 0.20 (0.27) 1
04 0.40 (0.54)
08 0.75 (1.0)
15 1.5 (2.0)
05 0.5 (6.7)
08 0.75 (1.0)
10 1.0 (1.3)
15 1.5 (2.0)
20 2.0 (2.7)
30 3.0 (4.0) 3
50 5.0 (6.2)
60 6.0 (8.0)
75 7.5 (10)
1A 11 (15)
1E 15 (20)
Servo Amplifiers
SGDH
96
SGDH Amplifier Ratings and Specifications

Three-phase (or single-phase) 200 to 230Vac +10% to -15%, 50/60 Hz,
Input Power
Main Circuit* or single-phase 100 to 115Vac +10% to -15%, 50/60 Hz

Supply
Basic Specifications
Control Circuit* Single-phase 200 to 230Vac (or 100 to 115Vac) +10% to -15%, 50/60 Hz
Control Mode Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation)

Feedback Serial incremental encoder, absolute encoder
Ambient/Storage Temperature** 0 to 55°C / -20 to 85°C
Location
Ambient/Storage Humidity 90% or less (no-condensing)

Vibration/Shock Resistance 4.9m/s2/19.6m/s2
Structure Base mounted (duct ventilation available as option) and flat mount type
Speed Control Range 1 : 5000 (The lowest speed of the speed control range is the speed at which the servomotor will not
stop with a rated torque load.)
Load Regulation 0% to 100%: 0.01% max. (at rated speed)
Regulation***
Performance
Voltage Regulation Rated voltage ±10% : 0% (at rated speed)

Speed
Temperature Regulation 25 ± 25°C : 0.1% maximum (at rated speed)
Frequency Characteristics 400Hz (at JL = JM)

Speed/Torque Control Mode
Accel/Decel Time Setting 0 to 10s (Can be set individually for acceleration and deceleration).
±6VDC (variable setting range: ±2 to ±10VDC) at rated speed (forward rotation with positive
Reference
Reference Voltage**** reference); input voltage: ±12V (maximum)

Speed
Input Impedance Approximately 14kΩ

Circuit Time Constant —
±3VDC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with positive
Reference
Reference Voltage****
Input Signal
Torque
reference), input voltage: ±12VDC (maximum)

Circuit Time Constant Approximately 47μs
Rotation Direction Selection Uses P control signal
Contact Speed
Reference
Speed Selection Forward/reverse rotation current limit signals are used (1st to 3rd speed selection). When both
signals are OFF, the motor stops or enters another control mode.
Notes: * The power voltage must not exceed 230V +10% (253V). If it is likely that it will exceed this limit, use a step-down
transformer. For types SGDH-08AE-S and SGDH-15AE-S, voltage is 200 to 230V + 10% -5%.
** Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet
must not exceed the specified range. Servo Amplifiers
*** Speed regulation is defined as follows:
SGDH
( no-load motor speed - full-load motor speed )

Speed regulation = ------------------------------------------------------------------------------------------------------------------------- x100%
rated motor speed
**** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and
shaft end).
97
Ratings and Specifications (cont’d)

Bias Setting 0 to 450rpm (setting resolution: 1rpm)
Performance
Feed-forward Compensation 0 to 100% (setting resolution: 1%)

Positioning Control Mode
Position Complete Width Setting 0 to 250 reference units (setting resolution: 1 reference unit)
Type Sign + pulse train, 90° phase difference 2-phase pulse (phase A + phase B), or CCW +
Reference
CW pulse train
Input Signal
Signal
Pulse Buffer Line driver (+5V level), open collector (+5V or +12V level)
Pulse Frequency Maximum 500/200kpps (line driver/open collector)
Control SIgnal CLEAR (input pulse form identical to reference pulse)
Built-in Open Collector Power Supply * +12V (With built-in 1kW resistor)
Phases A, B and C: Line driver output
Position
Output Form
Output
Phase S: Line driver output (Only when absolute encoder is used)

Frequency Dividing Ratio Any
I/O Signals
Servo ON, P control (or forward/reverse rotation in contact input speed control mode),
Sequence Input forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT), alarm reset, forward
rotation current limit, and reverse rotation current limit (or contact input speed control)
— Servo alarm, 3-bit alarm codes
Sequence
Output
Configurable: (Any 3 of these Positioning complete (speed coincidence), servomotor rotating, servo ready, current limit,
signals) brake release, warning, and near position signals
Dynamic Brake (DB) Activated at main power OFF, servo alarm, servo OFF or overtravel
Regenerative Processing Incorporated. For 60 to 1A types, external regenerative resistor must be mounted.
Overtravel (OT) Prevention Motor decelerates or coasts to a stop, or is stopped by a dynamic brake.
Overcurrent, overload, regenerative error, main circuit voltage error, heat sink overheat,
Protection power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun,
CPU error, parameter error.
LED Display POWER, CHARGE, five 7-segment LEDs (built-in digital operator functions)
Built-in Functions
Built-in analog monitor connector to observe speed, torque, and other reference signals
Analog Monitor (5CN) Speed:1V/1000rpm
Torque1V/rated torque
Pulses remaining:0.05V/reference units or 0.05V/100 reference units
Digital operator (mount type or hand-held)
Interface RS422A port such as person computer (RS-232C port can be used if some conditions are
met).
Communication
1 : N Communication N can be up to 14 when RS-422A port is used.

Axis Address Setting Set via user parameters
Functions Status display, user constant setting, monitor display, alarm traceback display, jogging,
autotuning, speed/torque reference signals, other graphing functions, etc.
Others Reverse rotation connection, home position search, automatic servomotor ID, DC reactor
connection terminal for high power supply frequency control.
Servo Amplifiers
Note: * The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier.
SGDH
98

SGDH Servo Amplifier (Standard)
• SGDH-A3AE to -02AE (200V Single-phase, 30 to 200W) and
• SGDH-A3BE to -01BE (100V Single-phase, 30 to 100W)
0.32 (8)
SERVOPACK
SGDH
YASKAWA
Terminal
1.54
(39)
88888
block
MODE/SET DATA/
(3 types) CHARGE POWER

CN3
L1 C
N
3
L2
6.30 (160)
⊕1
4.17 (106)
⊕2
C
CN1
N
L1C 1
0.24 (6)
L2C
B1
B2
U CN2
V
C
W N
2
Ground terminal 0.39

2 x M4 screws 0.24 (10)
(6) 2.95 (75) 5.12 (130)
2.17 (55)
Mounting Hole Diagram

0.28 (7) 3.60 (91.5)
(5.5)
0.22
2 x M4 screw holes
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
0.67 (17)
0.20 (5)
0.20 1.97 (50)

(5)
Approximate mass: 1.76lb (0.8kg)
Connectors on the amplifier (supplied):

Connector Symbol Servo Amplifier Receptacle Manufacturer
CN1 10250-52A2JL 3M Company Servo Amplifiers
CN2 53460-0611 Molex Co.
CN3 10214-52A2JL 3M Company
SGDH
User needs to obtain the following:

Connector Symbol Mating Connector Manufacturer
1CN 10150-3000VE connector 3M Company
10350-52A0-008 case
2CN 55100-0600 Molex Co.
3CN JEZ-9S connector JST Company
J-C9-2C case
99
• SGDH-04AE (200V Single-phase, 400W) and
• SGDH-02BE (100V Single-phase, 200W) and
• SGDH-04FE (100V Single-phase, 400W)
2-Φ0.20 (Φ5) holes

0.315 (8)
SERVOPACK
SGDH
YASKAWA
Terminal
1.54
88888
(39)
block
(3 types) MODE/SET
CHARGE
DATA/
POWER CN3
6.30 (160)
L1 C
N
3
L2
4.17 (106)
⊕1
⊕2
CN1
C
N
L1C 1
L2C
B1
B2
CN2
U
V
C
W N
2
0.39 (10)
0.24 (6)
0.24 (6) 2.95 (75) 5.12 (130)

Ground terminal 0.20 (5)
2 x M4 screws 2.95 (75)

0.28 (7) 3.60 (91.5)
(5.5)
0.22
2 x M4 screw holes
5.89 (149.5) ±0.020 (0.5)
0.67 (17)
(Mounting pitch)
Servo Amplifiers
SGDH
0.47 2.48 (63) Mating connectors: See page 99

0.20 (5)
12)
100
• SGDH-05AE to 10AE (200V Three-phase, 0.5 to 1.0kW)

• SGDH-08AE-S (200V* Single-phase, 750W)
2-Φ0.20 (Φ5) holes

Air flow
0.31 (8)
Terminal SERVO
block SGDH
YASKAWA
(3 types) 88888
1.54
(39)
MODE/SET DATA/
CHARGEPOWER CN3
6.30 (160)
L1 C
N
3
L2
L3
4.17 (106)
⊕1 CN1
⊕2
C
N
1
L1C
Air flow L2C
B1 CN2
B2
B3
0.24 (6)
U C
N
V 2
Ground 0.39 (10)

terminal 0.59 (15) 2.95 (75) 7.09 (180)
2 x M4 Air flow
screws 1.38 (35) 2.17 (55)
3.54 (90)
0.28 (7) 5.57 (91.5)

(5.5)
0.22
2 x M4
screw holes
0.67 (17)
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
Air flow
Servo Amplifiers
SGDH
1.06 2.48 (63)

Mating connectors: See page 99
0.20
(5)
(27)
* Rating 200 to 230Vac +10% -5%
101
• SGDH-15AE (200V Three-phase, 1.5kW)
2-Φ0.20 (Φ5) holes

Heat sink
Air flow 0.31 (8)

SGDH
YASKAWA
1.54
(39)
88888
MODE/SET DATA/
CN3
6.30 (160)
CHARGE POWER
L1 C
N
3
L2
⊕1
4.17 (106)
⊕2
C
CN1
N
L1C 1
L2C
B1
B2
U CN2
V
C
W N
2
Terminal 0.16 (4)

Ground terminal block
2 x M4 screws (3 types) 2.95 (75) 7.09 (180)
Air flow
0.20 (5) 4.33 (110)
2 x M4 screw holes
(5.5)
0.22
0.28 (7) 5.57 (141.5)

5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
Cooling fan
Servo Amplifiers
0.20
(5)
0.20 3.94 (100) ±0.020 (0.5) 0.20

(5) (Mounting pitch) (5) Approximate mass: 6.17lb (2.8kg)
SGDH
102
• SGDH-20AE, 30AE (200V Three-phase, 2.0kW, 3.0kW)

• SGDH-15AE-S (200V Single-phase, 1.5 kW)*
2-Φ0.24 (Φ6) holes

Heat sink
Air flow 0.315 (8)
SERVOPACK
SGDH
YASKAWA
88888
1.54
(39)
MODE/SET DATA/
CHARGE POWER
CN3
CN3
CN1
CN1
9.84 (250)
CN2
CN2
7.72 (196)
B2
B3
U
V
W
Air 14-pin terminal 0.16 (4)

Ground terminal
2 x M4 screws flow M4 mounting screws 2.95 (75) 7.09 (180)
0.24 (6) 4.33 (110)
4 x M5 screw holes
0.24
(6)
0.28 (7) 5.57 (141.5)

9.39 (238.5) ±0.020 (0.5)
(Mounting pitch)
(100°)
1.57
(40) Cooling fan Servo Amplifiers
SGDH

(5.5)
0.22
0.20 3.94 (100) 0.20 Mating connectors: See page 99

(5) ±0.020 (0.5) (5)
(Mounting pitch)
* Rating: 200 to 230Vac +10%, -5%
103
• SGDH-50AE (200V Three-phase, 5.0kW)
2 Φ0.24 (Φ6) holes

Heat sink 0.31 (8)
5-pin terminal
YASKAWA SERVOPACK
SGDH-50AE
200V
M6 mounting screws
Ver.
6-pin terminal L1
1.54
(39)
M5 mounting screw L2
MODE/SET DATA/
CHARGE POWER
CN3
L3 C
N
3
2 CN1
C
N
1
9.84 (250)
L1C
CN2
L2C C
N
2
B1
B1
B1

5.31 (135) 9.06 (230)
2 × M4 screws
Cover (not shown) hinges
3-pin terminal from this line, closing over
M5 mounting screws the left side of the front.
4 x M5 screw holes
0.24
(6)
0.28 (7) 7.54 (191.5)

9.39? (238.5) ±0.020 (0.5)
Mouting pitch
( 10
0° )
Servo Amplifiers
3.27 (8.3)
SGDH
(5.5)
0.22

0.20 4.92 (125) 0.20
(5) ±0.020 (0.5) (5)
(Mounting pitch)
104
• SGDH-60AE, SGDH-75AE (200V Three-phase, 6.0kW, 7.5kW)
Cooling fan
Air flow
10 (0.39)
SERVOPACK 200V
SGDH-
Ver.
0.31
CN8 (8)
maximum 13.78 (350)

CN3 CN10
CN5
1.54 (39)
4.33 (110)
Control circuit 0.83 (21)

terminal M4
11.13 (282.6)
8.31 (211.1)
Control circuit
CN1 CN2 terminal
Main circuit
0.98 (25)3.96 (100.5)
terminal
4.92 (125)
51 2.60 (66) 1.81

(2.01) (46)
0.49 (12.5)
Main circuit
terminal
L1 L2 L3 + - B1 B2 U V W
0.35 (9)
4.86 (123.4) 1.67 2.58

0.75 (19) (41)
1.06 3.45 (87.7) 4.20 (106.8)
(65.6)
9 x 0.75 (19) = 6.75 (171) 1.11 (27)
(28.3) maximum 9.25 (235)
maximum 9.06 (230)
Ground Ground
terminal terminal Air flow
A

(7.5)
0.30
4 x M5 screw holes
(Mounting pitch)
5.71 (145)
13.19 (335)
Servo Amplifiers
SGDH
3.54 (90)
View A
0.98 7.09 (180) 0.98
(7.5)
0.30
Approximate Mass: 31.5lb (14.3kg)

(25) (Mounting pitch) (25)
105
• SGDH-1AAE, SGDH-1EAE (200V Three-phase, 11.0kW, 15.0kW)
Cooling fan Air flow

0.28 (7) 9.69 (246)
0.295
(7.5)
0.39 (10)
SERVOPACK 200V
SGDH—
Ver.
YASKAWA
5.51 (140) 0.31
(8)
CN3
8. 8. 8. 8. 8.
maximum 17.72 (450)
DATA
1.53
(39)
17.13 (435)
CN10
12.60 (320)
CN1 CN2
M4 Control
circuit terminal
M4 Mounting screws
L1 L2 L3 +1 +2 B1 B2 U V W
1.42 (36)
0.28 0.28
(7.5)
0.295
0.68 (17)
0.35 (9)
(7)5.28 (134) (7)

2.05 (52) 2.91 (74) 0.94(24) 0.75 4.62 (117) 4.92 (125)
10.55 (268) (19) 11.12 (285)
M5 Main circuit terminal M8 Ground terminal Main circuit/Control circuit terminal
Air flow
M8 Ground terminal
A
(7.5)
0.30
View A:
10.67 (271)
8.74 (2.22)
17.13 (435)
8.23 (209)
5.59 (142)
Servo Amplifiers
SGDH

1.18 0.28 (7)
(7.5)
7.87 (200)
0.30
1.18
(30) (30)
106
Regenerative Resistor Units (JUSP-RA)

• Type JUSP-RA04
External Regenerative Resistors
Regenerative resistors for servo amplifiers are internally
or externally mounted, as shown in the following table.
They can be mounted externally on all servo amplifiers,
but are especially effective when regenerative energy
13.2 (335)
13.8 (350)
exceeds the servo amplifier’s capacity.

When mounted externally, be sure to remove the jumper
between B2 and B3, which deactivates the internal
regenerative resistor.
7.09 (180) 3.62 (92)

Important: External regeneration resistor sizing and
amplifier set-up will be important for proper operation.
8.66 (220) M4 Ground terminal
M5 Main
circuit terminal Use Yaskawa’s SigmaSize and the Sigma II Series Servo
Current resistance
For SGDH-60AD 220W 25Ω (configurable x4) System User’s Manual: YEA-SIA-S800-32.2
Regenerative Resistor Internal
Mounted in a Minimum
Regeneration
11.8 (30)
Applicable Servo Servo Amplifier Allowable

Power
Amplifier Resistance
Approximate mass: 8.82lb (4kg) Resistance Wattage* Capacity
(Ω)
(Ω) (W) (W)
SGDH-A3AE
• Type JUSP-RA05 SGDH-A5AE
200V SGDH-01AE — — —
40
Single- SGDH-02AE
phase SGDH-04AE
SGDH-08AE-S 50 60 12
SGDH-15AE-S 25 140 28 20
SGDH-05AE 40
13.2 (335)
13.8 (350)
SGDH-08AE 50 60 12
SGDH-10AE
SGDH-15AE 30 70 14 20
200V SGDH-20AE 25
140 28 12
Three- SGDH-30AE 12.5
phase SGDH-50AE 8 280 56 8
SGDH-60AE 6.25** 880** 180 5.8
SGDH-75AE
9.84 (250) 3.74 (95) SGDH-1AAE 3.13*** 1760*** 350 2.9
SGDH-1EAE
Earth ground Servo Amplifiers
11.8 (300) M4 screw SGDH-A3BE
100V SGDH-A5BE
External terminal Single- — — — 40
SGDH-01BE
SGDH
M5 screw phase
Current resistance SGDH-02BE
For SGDH-75 to 1AAD 220W 25Ω (x 8)
* Capacity prior to derating. If regeneration power require-
ments exceed internal capacity of the amp, install an exter-
11.8 (30)
nal regeneration resistor (reference “Minimum Allowable

Resistance”. Be sure to derate wattage of external resistor
to 20% or less (natural convection) and to 50% or less with
Approximate mass: 15.4lb (7kg) forced air cooling.
** Provided externally by JUSP-RA04
*** Provided externally by JUSP-RA05
107
Single Regeneration Resistance Units

Consult the Design and Maintenance section of the Sigma II Series SGMH/SGDH User’s
Manual (No. YEA-SIA-S800-32.2) for a more detailed description of the selection procedure.
Part#RH500N25_OHMK Part#RH120 50 OHMJ

3.15 (80)
0.18 (4.5) 5.91 (150)
9.84 (250) 0.63 (16)
9.21 (234) 0.12 (3) 0.79 (20)
0.14 (3.5)
7.17 (182)
2 - M3 0.18 (4.5)
6.77 (172) 0.87 (22)
2.36 (60)
8.58 (218) 2 - Φ0.18 (Φ4.5)
1.57 (40) ∅ 0.18 (4.5) 1.65 (42)
Lead wire:L = 17.72 (450) Lead wire:L = 11.81 (300)

Rated power:300W Rated power:70W
Resistance value:25Ω Resistance value:50Ω
• Regenerative Resistor Specifications
Tolerance J: ±7%, K: ±10%

Temperature Characteristics ±260PPM/°C (20Ω or higher)
Withstand Voltage ΔR at 2000Vac applied for one minute: ±(0.1% + 0.05Ω)
Insulation Resistance 20MΩ or higher at 500VDC
Short-term Overload ΔR with ten times the rated power applied for five seconds (±2% + 0.05Ω)
Service Life ΔR in 1000 hours at rated power 90 minutes ON and 30 minutes OFF (±5% +0.05Ω)
Inflammability Fire does not occur with 10 times the rated power applied for one minute.
Ambient Temperature Range -25 to 150°C
Servo Amplifiers
SGDH
108
Control of Harmonic Frequency in the Power Supply Circuit

If harmonic frequency control is needed in the power supply, connect a DC reactor between termi-
nals (+) 1 and (+) 2 on the servo amplifier’s main circuit. Use the following table as a guide for selec-
tion of the appropriate reactor.
Reactor Specifications
Applicable Servo Amplifier Impedance Rated Current Reactor Model
(mH) (A)
SGDH-A3BE — — —
SGDH-A5BE — — —
100V
SGDH-01BE 10.0 1.8 X5063
SGDH-02BE 4.7 3.5 X5062
SGDH-A3AE — — —
SGDH-A5AE — — —
SGDH-01AE 40.0 0.85 X5071
SGDH-02AE 20.0 1.65 X5070
SGDH-04AE 10.0 3.3 X5069
SGDH-08AE-S 4.0 5.3 X5079
SGDH-15AE-S 2.5 10.5 X5078
SGDH-05AE
200V
SGDH-08AE 2.0 4.8 X5061
SGDH-10AE
SGDH-15AE
1.5 8.8 X5060
SGDH-20AE
SGDH-30AE 1.0 14.0 X5059
SGDH-50AE 0.47 26.8 X5068
Larger size — — Consult factory
amplifiers for availability
Servo Amplifiers
SGDH
109
• DC Reactor Dimensional Drawings
ΦJ
B G
1 2
C D
A E
4 − ΦH F
Dimensions Approximate
Reactor in (mm) Mass
Model
A B C D E F G ΦH ΦJ lb (kg)
X5063 1.38 2.05 3.54 4.13 1.38 1.77 1.97 0.16 0.17 1.323
(35) (52) (90) (105) (35) (45) (50) (4) (4.3) (0.6)
X5062 1.57 2.32 3.94 4.72 1.57 1.97 2.17 0.16 0.17 1.984
(40) (59) (100) (120) (40) (50) (55) (4) (4.3) (0.9)
X5061 1.38 2.05 3.15 3.73 1.38 1.77 1.97 0.16 0.17 1.102
(35) (52) (80) (95) (35) (45) (50) (4) (4.3) (0.5)
X5060 1.57 2.32 4.13 4.92 1.77 2.36 2.56 0.16 0.17 2.21
(40) (59) (105) (125) (45) (60) (65) (4) (4.3) (1.0)
X5059 1.97 2.91 4.92 5.51 1.38 1.77 2.36 0.20 0.21 2.43
(50) (74) (125) (140) (35) (45) (60) (5) (5.3) (1.1)
X5068 1.97 2.91 4.92 6.1 2.09 2.6 2.95 0.20 0.25 4.19
(50) (74) (125) (155) (53) (66) (75) (5) (6.4) (1.9)
X5069 1.25 2.32 4.13 4.92 1.77 2.36 2.56 0.16 0.21 2.205
(40) (59) (105) 125 45 60 65 4 5.3 (1.0)
X5070 1.57 2.32 3.94 4.72 1.38 1.77 1.97 0.16 0.17 1.764
(40) (59) (100) (120) (35) (45) (50) (4) (4.3) (0.8)
X5071 1.38 2.05 3.15 3.74 1.18 1.57 1.77 0.16 0.17 1.102
(35) (52) (80) (95) (30) (40) (45) (4) (4.3) (0.5)
X5078 1.97 2.91 4.92 6.1 2.36 2.76 3.15 0.20 0.21 4.41
(50) (74) (125) (155) (60) (70) (80) (5) (5.3) (2.0)
1.97 2.91 4.92 5.51 1.38 1.77 2.36 0.20 0.17 2.65
X5079 (50) (74) (125) (140) (35) (45) (60) (5) (4.3) (1.2)
Servo Amplifiers
SGDH
110
Typical Internal Connection Diagrams

• 0.5kW to 1.5kW, 200V Models
Three-phase 200 to +10%

250V (50\60Hz) -15% B1 B2 B3 FAN1
1
RY1 R2
2
FU1 ±12V
D2 D3 D4
P P AC servomotor
Noise filter
CHARGE
1MC U U
L1
XX1
R
+ +
XX3 C1 V
L2 V
S - -
L3 XX2 W W
T
N
PG
N
+ THS1
Gate drive over- ` `
Voltage current protection
Relay drive Gate drive
- sensor
PG
Voltage CN2
sensor Interface
*0.5 to 1.0kW,
200V models
Current
L1C ASIC sensor For battery
±5V PWM connection
+ + generator CN8
±15V
- DC/DC
L2C - converter Digital
current PG signal
Divider
+5V amp processing
CN1
±12V Reference pulse PG output
processing
+5V
Power
Power ON
OFF 1MC Current Speed and torque
Position A/D
reference reference input
calculation control
0V
POWER
1MC Monitor display
Surge suppressor
Speed
control
Analog voltage I/O Sequence I/O
converter CPU
Open during Serial port
(SRY) servo alarm CN5 CN3
Analog monitor Digital operator

output for supervision personal computer
Three-phase 200 to +10%

230V (50\60Hz) -15% B1 B2 B3
1
FAN1
2
FU1
P P AC servomotor
Noise filter
±12V
CHARGE
1MC U U
L1 +
XX1
R +
XX3 C1 V
L2 V
S - -
L3 XX2 W W ` `
T
N `
DB
N
+
Gate drive over-
Voltage current protection
- Relay drive Gate drive
sensor + -
PG
Voltage CN2
sensor Interface Gate drive
Current
Servo Amplifiers
L1C ASIC sensor For battery
±5V PWM
connection
+ + generator CN8
±15V
SGDH
- DC/DC
L2C - converter Digital
PG signal
current Divider
+5V processing
amp
CN1
±12V Reference pulse PG output
processing
+5V
Power
Power ON
OFF 1MC Current Speed and torque
Position A/D
reference reference input
calculation control
0V
POWER
1MC Monitor display
Surge suppressor
Speed
control
converter CPU
Open during Serial port
(SRY) servo alarm CN5 CN3
Analog monitor Digital operator

output for supervision personal computer
111
Regenerative Resistor (optional)
Three-phase +10%
200 to 230V -15% B1 B2 THS1
(50\60Hz) FAN1
RY1
DB1
PM1/PM2/PM3
FU1 R3
±12V AC servomotor
P D1 P
Line filter
C10 CT1
1MC U
L1 BA1 BA3 U
R + CT2
C1 CHARGE V
L2 V
S _
L3 W
W ` `
T TR1
BA2
C7 SCR1
N N `
- +
R2
Base drive over-current
protection isolator
Voltage sensor
Voltage Relay drive
isolator
sensor
isolator CN2 PG
Gate drive
isolator
u
L1C + Current
+ sensor
±5V CN8
_ DC/DC
converter ±12V For battery
L2C _ ASIC
(PWM control, etc.) connection
PG5V CN1
PG
output
+5V Reference
Open during pulse input
Power servo alarm (1RY)
Power
OFF ON 1MC
Speed and torque
0V A/D
reference input
CPU
Surge POWER (position/speed
1MC Monitor display
suppressor calculation, etc.)

converter
CN10 CN5 CN3
Connector Analog monitor Digital operator

for output output for personal computer
unit supervision
Servo Amplifiers
SGDH
112
Connection Diagram, Single-phase

Single-phase 200 to 230Vac or Single-phase 100 to 115Vac
(50/60Hz) (50/60Hz)
1MCCB
Power Power Alarm

Noise filter OFF ON processing
1MC
1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.
1MC B1 B2 B3 A (1) Servomotor

U
L1 B (2)
V M
L2 C (3)
W
D (4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG
Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
V-REF 5
Reference speed: LPF*
LPF*
P SG
±2 to ±10V/rated motor speed (set by parameter) 6
37
T-REF 9 A/D ALO1 Alarm code maximum output:
Torque reference: LPF*
LPF*
P 38 ALO3 Operating voltage: 30VDC
±1 to ±10V/rated motor speed (set by parameter) SG 10 Operating current: 20mADC
39
ALO3
PULS PULS 7 150Ω
CW P
A phase /PULS 8
SIGN SIGN 11 33
CCW P PAO
B phase /SIGN 12 34 /PAO PG dividing ratio output
Position reference CLR 15 Applicable line receiver
CLR 35
P /CLR 14 PBO SN75175 or MC3486 manufac-
36
/PBO tured by T/I, or the equivalent
Open-collector +12V
PL1 3 1kΩ 19
reference PCO
PL2 13 20
power supply /PCO
PL3 18 Amount of S-phase rotation
48
Used only with PSO Serial data output
49
BAT (+) an absolute encoder /PSO
Backup battery 2.8 to 4.5V 21 Applicable line receiver
1
(When using an absolute encoder). PBAT (-) SG SN75175 or MC3486 manufac-
22 tured by T/I, or the equivalent
+5V SEN
SEN signal input 4
P SG 2
(When using an absolute encoder).
0V
+24V +24V 47 3.3kΩ 25
Speed coincidence detection
1Ry /V-CMP+ (ON when speed coincides)
/S-ON 40 Servo ON 26 (/COIN+) Positioning completed
Servo ON with 2Ry ON /V-CMP-
2RY (ON when positioning is
/P-CON 41 Proportional control (P control) (/COIN-)
completed)
P control with 2Ry ON
P-LS Forward run 27
P-OT 42 prohibited /T-GON+ T-GON output
Forward run prohibited with 28 (ON at levels above the setting)
P-LS OPEN N-LS Reverse run /T-GON-
N-OT 43 prohibited
Reverse run prohibited with
N-LS OPEN 3Ry
/ALM-RST 44 Alarm reset
29
/S-RDY+ Servo ready output Servo Amplifiers
30 (ON when ready)
Alarm reset with 3Ry ON /S-RDY-
6Ry Forward current
/P-CL 45 limit ON 31
SGDH
Forward current limit ON with 6Ry ON ALM+ Servo alarm output

7RY Reverse current 32 ALM- (OFF with an alarm)
/N-CL 46 limit ON
Reverse current limit ON with &ARy ON
Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mADC
*The time constant for the primary filter is 47μs P: Indicates twisted wire pairs.
113
Connection Diagram, Three-phase

Three-phase 200 to 230Vac
(50/60Hz)
R S T
1MCCB
Power Power Alarm

1MC


U
L1 B (2)
V M
L2 C (3)
W
L3 D (4)
L1C
1 encoder
2 2CN PG
Be sure to
1CN
V-REF 5
LPF*
P SG
37
LPF*
P 38 ALO3 Operating voltage: 30VDC
±1 to ±10V/rated motor speed (set by parameter) SG 10 Operating current: 20mADC
39
ALO3
PULS PULS 7 150Ω
CW P
A phase /PULS 8
SIGN SIGN 11 33
CCW P PAO
CLR 35
36
Open-collector +12V
PL1 3 1kΩ 19
reference PCO
PL2 13 20
power supply /PCO
48
49
1
(When using an absolute encoder). PBAT (-) SG SN75175 or MC3486 manufac-
+5V SEN
SEN signal input 4
P SG 2
0V
+24V +24V 47 3.3kΩ Speed coincidence detection
25
2RY (ON when positioning is
completed)
P-LS Forward run 27
N-OT 43 prohibited
Reverse run prohibited with 29
N-LS OPEN 3Ry Alarm reset /S-RDY+ Servo ready output
ALM-RST 44 (ON when ready)
30
Servo Amplifiers
6Ry Forward current

P-CL 45 limit ON 31
N-CL 46 limit ON
SGDH
Connector shell
114
Connector Terminal Block Converter Unit JUSP-TA50P
Servo Amplifier
88888
CN1
+10%
Length of cable supplied: 19.69 (500) -0%
50-pin connector plug

MR-50RMD2
50-pin terminal block
M3.5 screws
1.77 (45)
1 49
2 50
9.74 (247.5)
Connector Terminal Block Converter Unit

JUSP-TA50P* (cable included)
10.01 (254.2)
0.14 (3.5) 0.14 (3.5)
0.61 (15.5)
1.77 (45)
(29.5)
1.16
0.27 (7.0) 0.27 (7.0)

10.28 (261.2)
Servo Amplifiers
SGDH
*Terminal specifications : See the following page
115
JUSP-TA50P Terminal Block Pin Numbers and

Signal Names
SGDH Servo Amplifier JUSP-TA50P Terminal Block Unit
Signal Name* CN1 Pin Connector Terminal Block

Number Number Number
SG 1 A1 1
SG 2 B1 2
P
PL1 3 A2 3
SEN 4 B2 4
V-REF 5 A3 5
P
SG 6 B3 6
PULS 7 P A4 7
/PULS 8 B4 8
T-REF 9 A5 9
P
SG 10 B5 10
SIGN 11 P
A6 11
/SIGN 12 B6 12
PL2 13 A7 13
/CLR 14 B7 14
P
CLR 15 A8 15
16 B8 16
17 A9 17
PL3 18 B9 18
PCO 19 A10 19
P
/PCO 20 B10 20
BAT (+) 21 P
A11 21
BAT (-) 22 B11 22
23 A12 23
24 B12 24
/V-CMP+ 25 A13 25
P
/V-CMP- 26 B13 26
/TGON+ 27 A14 27
P
/TGON- 28 B14 28
/S-RDY+ 29 A15 29
P
/S-RDY- 30 B15 30
ALM+ 31 A16 31
P
ALM- 32 B16 32
PAO 33 A17 33
P
/PAO 34 B17 34
BPO 35 A18 35
P
/PBO 36 B18 36
ALO1 37 A19 37
ALO2 38 B19 38
ALO3 39 A20 39
/S-ON 40 B20 40
/P-CON 41 A21 41
P-OT 42 B21 42
N-OT 43 A22 43
Servo Amplifiers
/ALM-RST 44 B22 44
/P-CL 45 A23 45
/N-CL 46 B23 46
SGDH
+24V IN 47 A24 47
PSO 48 B24 48
P
/PSO 49 A25 49
50 B25 50
Connector Case
Cable: Supplied with the terminal block
P: Indicates twisted pair wires.
*Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from
the factory. Use the connection diagrams on the previous pages for more functional details.
116
Amplifier to Encoder Connection Diagram

Connection Example
The following diagrams show the procedure for wiring a servo amplifier to an encoder.
Connecting an encoder (CN2) and output signals from the servo amplifier (CN1)
Incremental Encoders
Servo amplifier
CN1
A phase 1-33 PAO
1-34 /PAO P
Incremental encoder
B phase 1-35 PBO
1-36 /PBO P
CN2
C (5) 2-5 C phase 1-19 PCO
D (6) P 2-6 1-20 /PCO P
PG Output line-driver Applicable line

SN751LS194 manufactured receiver
by T/I, or the equivalent SN75175
H (1) 2-1 manufactured
PG5V by T/I, or the
G (2) 2-2 PG0V equivalent
0V 1-1 SG 0V
22AWG
J Connector shell
(Shell) Shield wires Connector
shell
Absolute Encoders
Absolute encoder Servo amplifier
CN2 CN1
A phase 1-33 PAO
1-34 /PAO P
C (5) 2-5 B phase 1-35 PBO
D (6) P 2-6 1-36 /PBO P
C phase 1-19 PCO
1-20 /PCO P
S phase 1-19 PSO
PG 1-20 /PSO P
H (1) 2-1
PG5V
G (2) 2-2 PG0V Applicable line
receiver: MC3486
Output line-driver or SN75175
SN751LS194NS
manufactured by T/I,
manufactured Servo Amplifiers
22AWG by T/I, or the
or the equivalent equivalent
1-4 SEN
+5V
SGDH
1-2 SG P
1-1 SG 0V
T (3) 2-3 0V 1-21 BAT(+)
+
S (4) 2-4 1-22 BAT(-) P - Battery
J Connector shell 1-50

(Shell) Shield wires
Connector
P: Indicates twisted wire pairs. shell
117
Overload Characteristics
Servo amplifiers have a built-in overload protection function that protects the servo amplifiers
and servo motors from overload. Allowable power for the servo amplifiers is limited by the
overload protective function, as shown in the figure below.
The overload detection level is set under hot start conditions at a servomotor ambient
temperature of 40°C.
10,000
1,000
Operating Time (s)
100
A
10
5
1
Rated torque + Maximum torque
Approx.
2
Rated torque Maximum Torque
Motor Torque
Note: The overload protection characteristics of A and B in the figure are applicable when the servo amplifier is combined with one of
the following servomotors:
A: SGMAH or SGMPH servomotor with a maximum capacity of 400W.
B: Other servomotors similar to the SGMAH, SGMPH, SGMGH, and SGMSH.
Servo Amplifiers
SGDH
118
Cable Specifications and Peripheral Devices

Ratings and specifications for peripheral devices, as well as cable specifications for servo
amplifiers are summarized in the tables below.
CAUTION
Wiring Precautions
• Do not bundle or run power and signal lines together in the same duct.
Keep power and signal lines at least 11.81” (30cm) apart.
• Use twisted pair or shielded multi-core twisted pair wires for signal and
encoder (PG) feedback lines.
• The maximum lengths for signal lines are as follows:
• Maximum of 9.84ft (300cm) for reference input lines.
• Maximum of 65.6ft (20m) for PG feedback lines.
• Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m).
Cable Specifications
The following table provides wire size specifications:
SGDH Wire Size AWG [in2 (mm2)]

External Terminal Name
Terminal Symbol A3AE A5AE 01AE 02AE 04AE
L1, L2 14 AWG
Main circuit power input terminals (Single Phase) 16 AWG [HIV 0.002 (1.25)] [0.003 (2.0)]
Servomotor connection terminals U, V, W
16 AWG [HIV 0.002 (1.25)]
Control power supply terminals L1C, L2C
for Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires
200V Core wire at least 28 AWG [0.0002 (0.12)], tinned,
annealed copper twisted wires
PG signal connector CN2 Finished cable dimensions:
maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm)
for CN2.
Ground terminal 14 AWG [HIV 0.003 (2.0)]
SGDH Wire Size AWG [in2 (mm2)]

External Terminal Name Terminal
Symbol 08AE-S 15AE-S
Main circuit power input terminals L1, L2 Servo Amplifiers

(Single Phase) 14 AWG [0.003 (2.0)] 12 AWG [0.0054 (3.5)]
SGDH
Control power supply terminals L1C, L2C 16 AWG [HIV 0.002 (1.25)] 14 AWG [0.003 (2.0)]
200V Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed copper
twisted wires
maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2.
119
Cable Specifications (cont’d)
SGDH Terminal Wire Size AWG [in2 (mm2)]

Symbol 05AE 08AE 10AE 15AE 20AE
Main circuit power input terminals L1, L2, L3

(Three-phase) 14 AWG [HIV 0.003 (2.0)] 12 AWG [HIV
0.005 (3.5)]
Control power supply terminals L1C, L2C 16 AWG [HIV 0.002 (1.25)]
200V Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed
copper twisted wires. See page 122 for details.
PG signal connector CN2 Finished cable dimensions: maximum Φ0.63in (16mm) for CN1
and Φ0.27in (6.8mm) for CN2.

Symbol 30AE 50AE 60AE 75AE
12 AWG 10 AWG 8 AWG
Main circuit power input terminals L1, L2, L3 [HIV 0.005 [HIV 0.009 [HIV 0.012
(Three-phase) (3.5)] (5.5)] (8)] 6 AWG [HIV
10 AWG 6 AWG 0.022 (14)]
Servomotor connection terminals U, V, W 8 AWG [HIV
[HIV 0.009 0.012 (8)] [HIV 0.022
(5.5)] (14)]
for Control power supply terminals L1C, L2C 16 AWG [HIV 0.002 (1.25)]
200V
Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)] tinned, annealed
PG signal connector CN2 Finished cable dimensions: maximum Φ0.63in (16mm) for
CN1 and Φ0.27in (6.8mm) for CN2.

Symbol 1AAE 1EAE
Main circuit power input terminals L1, L2, L3

(Three-phase) 4 AWG.
[HIV 0.022 (14)]
200V Core wire at least 28 AWG [0.0002 (0.12)], tinned,
annealed copper twisted wires. See page 122 for details.
Servo Amplifiers

maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm)
for CN2.
SGDH
Notes: 1. Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.
2. Use cables with a minimum withstand voltage of 600V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly
deteriorate.
120
Cable Specifications (cont’d)

Symbol A3BE A5BE 01BE 02BE
Main circuit power input terminals L1, L2 16 AWG [HIV 0.002 (1.25)] 14 AWG [0.003
(Single Phase) (2.0)]
16 AWG [HIV 0.002 (1.25)]
Control power supply terminals L1C, L2C
Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires
for Core wire at least 28 AWG [0.0002 (0.12)], tinned,
100V annealed copper twisted wires. See page 122 for
details.
maximum Φ0.63in (16mm) for CN1 and Φ0.27in
(6.8mm) for CN2.
The following table shows types of cables. It is used in conjunction with the preceding
tables.
Cable Type Temperature Rating of Conductor

Name Composition °C
PVC Standard polyvinyl chloride cable —
IV 600V PVC cable 60
HIV Temperature-resistant vinyl cable 75
The following table specifies the appropriate cables for CN1 and CN2 servo amplifier
connectors.
Wire sizes were selected with the expectation of three cables per bundle, at an ambient
temperature of 40°C, at the rated current level.
Connector Name Signal Description Specification

Cable Use twisted pair or shielded twisted pair wire.
Control I/O Signal CN1 Applicable wire (AWG): 24, 26, 28
Connector
Finished cable Dimension Φ0.63 (Φ16.0) maximum
Cable Use Yaskawa cable, or shielded twisted pair wire.
(AWG): 22, 24, 26
PG Signal CN2 Applicable wire Use 22 AWG [0.0005in2 (0.34mm2)] for the encoder power supply and 26 AWG
Connector [0.0002 in2 (0.14mm2)] for other signals. These conditions permit wiring distances
up to 65.6ft (20m).
Servo Amplifiers
SGDH
121
Peripheral Device Types and Capacities
Recommended
Amplifier Model Power Supply
Main Control Noise Filter**
Motor
Circuit Power Applicable Rated Maximum MCCB or
Capacity per Magnetic
Power Capacity Required Servomotor Main Inrush Fuse Contactor
Supply (kW) SGDH- (W) Servo Amplifier
Power Current Capacity*
Model Specifications
(kVA)
(Arms) (Arms) (Arms)
0.03 A3BE SGMAH-A3B 0.15 1.1
0.05 A5BE SGMAH-A5B 0.25 1.8 Single-phase
Fn2070-6/07 250Vac
4 (or FS5827-4-07)
Single- SGMAH-01B 6A (4A)
phase 0.10 01BE 0.40 2.0
SGMPH-01B
100V SGMAH-02B Single-phase
0.20 02BE 0.60 5.2 6 Fn2070-10/07 250Vac
SGMPH-02B 10A (10A) or
equivalent
0.03 A3AE SGMAH-A3A 0.20 0.82
13
0.05 A5AE SGMAH-A5A 0.25 1.1
SGMAH-01A Single-phase
0.10 Fn2070-6/07 250Vac
01AE 0.40 2.0 4 (or FS5827-4-07)
SGMPH-01A 6A (4A)
SGMAH-02A
0.20 02AE 0.75 3.4
SGMPH-02A
Single- SGMAH-04A Single-phase
phase Fn2070-10/07 250Vac
0.40 04AE 1.2 5.5 8 (or FS5827-7-07)
200V SGMPH-04A 28 10A (7A) (20A) or
Single-phase equivalent
0.75 08AE-S SGMAH-08 2.1 11.0 11 Fn2070-16/07 250Vac
SGMPH-08 (or FS5827-15-07)
16A (15A)
Single-phase 35A or
1.5 15AE-S SGMPH-15 4.0 19.0 19 Fn350-30/33 250Vac
(or FS5827-25-07) equivalent
30A (25A)
(8A) or
0.50 05AE SGMGH-05AOA 1.4 4.0 4
equivalent
SGMAH-08A
0.75 08AE 1.9 5.4
SGMPH-08A
7
SGMGH-09AOA Three-phase (20A) or
1.0 10AE 15 2.3 7.0
SGMSH-10A Fn258L-16/07 480Vac equivalent
SGMPH-15A 16A
1.5 15AE SGMGH-13AOA 3.2 9.5 10
SGMSH-15A
SGMGH-20AOA
2.0 20AE 4.3 12.0 13
Three- SGMSH-20A
56 (35A) or
phase SGMGH-30AOA Three-phase equivalent
200V 3.0 30AE 5.9 17.0 17 Fn258L-30/07 480Vac
SGMSH-30A 30A
SGMGH-44 Three-phase
5.0 50AE SGMSH-50 7.5 24 58 28 50A or
Fn258L-42/07 480Vac
equivalent
6.0 60AE SGMGH-55 12.5 32 32 42A
93 Three-phase
7.5 75AE SGMGH-75 15.5 41 41 Fn258L-55/07 480Vac 65A or
equivalent
Servo Amplifiers
55A
27
11.0 1AAE SGMGH-1A 19.0 60 60 75A or
Three-phase equivalent
116 FS5559-150-35 250Vac
SGDH
150A 100A or
15.0 1EAE SGMGH-1E 30.0 80 80 equivalent
* Size per local code requirements . Typical fuse interrupting characteristics at 25°C: 200% for 2s minimum; 700% for 0.01s minimum.
** The Fn noise filter is manufactured by Schaffner Corporation. Specifiactions are available at: www.schaffner.com .
122
Peripheral Device Manufacturers
J.S.T. Corporation Schaffner EMC Inc.

1957 South Lakeside Drive 52 Mayfield Ave.
Waukegan, Illinois 60085 Edison, New Jersey 08837
Phone: (847) 473-1957 Phone: 1-800 367-5566
http://www.jst.com (732) 225-9533
Fax: (732) 225-4789
Molex (Headquarters) http://www.shaffner.com
(Note: not selling 2CN serial
encoder connector in the US) TDK Corporation of America
2222 Wellington Court 1600 Feehanville Dr.
Lisle, Illinois 60532 Mount Prospect, Illinois 60056
Phone: (630) 527-4474 Phone: (847) 803-6100
Fax: (630) 548-2897 Fax: (847) 803-6296
(Connector information is not
available from Molex or Yaskawa) Tokin America
32950 Alvarado-Niles Rd.
For literature requests or Molex Suite 500
support for the 2CN connector, Union City, California 94507
the Chicago area distributor isTTI.
Ask for the Yaskawa inside slaes Phone: (510) 324-4110
representative. Fax: (510) 324-1762
1-800-CALLTTI http://www.tokin.com
(1-800-225-5884)
Servo Amplifiers
SGDH
123
NOTES:
Servo Amplifiers
SGDH
124
General Purpose
SGMGH Servomotors - With Incremental / Absolute Encoder
Servomotors
SGMGH
1.3kW, 1.8kW, 2.9kW,
4.4kW, 5.5kW, 7.5kW,
11kW, 15kW.
SGMGH Ratings & Specifications 128

SGMGH Speed/Torque Curves 129
SGMGH Dimensions 130 - 132
SGMGH Selection/Ordering Information 133 - 138
SGDH (400V) Ratings & Specifications 167 - 168
Design Features
1. Compact
z Small sized motor
Compatible with previous generation G series motors
Ten types of rated outputs ranging from 0.79 to 1988in • lb of peak torque
2. Higher Speed and acceleration
z Up to 3000rpm maximum
3. Encoders
z 17-bit absolute encoder (optional)
z Machine tools and woodworking machines
z Gantry robots
z Press automation
z Thermoforming
z UL, cUL recognized (File #: E165827) CE compliance
125

Time Rating: Continuous Maximum Rotational Speed*:
Enclosure: Totally-enclosed, self-cooled
Insulation: Class F 0.45 to 7.5kW: 3000rpm
IP67 (except for shaft opening)
Servomotors
11 and 15kW: 2000rpm

Vibration: 15μm or less Ambient Temperature: 0 to 40ºC
SGMGH
Withstand Voltage: 1500Vac Excitation: Permanent

Ambient Humidity: 20 to 80%
magnet
Insulation Resistance: 10MΩ minimum (non-condensing) Drive Method: Direct drive
at 500VDC Rated Speed*: 1500rpm
Mounting: Flange-mounted
Instanta-
Rated Rated Instantaneous Peak Rated neous
Amplifier
Voltage
System
MOTORS: Output* Torque* Torque* Current* Maximum

SGMGH- Current*
lbf • in lbf • in
kW (hp) N•m N•m Arms Arms
(KG • cm) (KG • cm)
05DA 0.45 (0.6) 2.84 25 (29) 8.92 79 (91) 1.9 5.5
09DA 0.85 (1.1) 5.39 48 (55) 13.8 122 (141) 3.5 8.5
13DA 1.3 (1.7) 8.34 74 (85) 23.3 207 (238) 5.4 14.0
20DA 1.8 (2.4) 11.5 102 (117) 28.7 254 (293) 8.4 20.0
400Vac
30DA 2.9 (3.9) 18.6 165 (190) 45.1 400 (460) 11.9 28.0
44DA 4.4 (5.9) 28.4 252 (290) 71.1 629 (725) 16.4 42.0
55DA 5.5 (7.4) 35.0 310 (357) 87.6 775 (894) 21.0 55.0
75DA 7.5 (10) 48.0 425 (490) 119 1053 (1210) 27.3 65.0
1ADA 11 (15) 70.0 620 (714) 175 1550(1790) 29.3 70.0
1EDA 15 (20) 95.4 845 (974) 224 1988(2290) 39.0 85.0
Holding Brake (at 20°C) Allow- Rated

Rated Inertia Inductive
Torque Addi- able Angular
Constant Moment of Inertia Coil. Rated Load Power Accelera- Time Time
Capacity Torque Resistance Current tional Rate* Constant Constant
Inertia Inertia tion*
MOTORS
SGMGH- lbf • in
Arms lb • in • s2 KG • m2 lb • in • s2 KG • m2
W N•m W A kW/s rad/s2 ms ms
( NArms
•m
) × 10-3 × 10-4 × 10-3 × 10-4
05DA 14.5 (1.64) 6.41 7.24 4.41 36.2 11.2 3930 5.6 4.5
09DA 14.6 (1.65) 12.3 13.9 9.85 58.5 0.41 1.85 69.5 20.9 3880 3.1 5.3
12.7
13DA 14.9 (1.68) 18.2 20.5 103 33.8 4060 2.9 6.1
20DA 12.9 (1.46) 28.1 31.7 159 41.5 3620 2.4 11.1
30DA 14.7 (1.66) 40.7 46.0 18.5 43.1 31.1 0.77 7.75 230 75.3 4050 2.0 12.3
44DA 16.0 (1.82) 59.8 67.5 338 120 4210 1.4 15.2
55DA 15.6 (1.76) 78.8 89.0 445 137 3930 1.4 14.4
23.5 72.6 24.5 0.98 7.75
75DA 16.4 (1.86) 111 125 625 184 3850 1.1 17.6
1ADA 22.0 (2.5) 249 281 32.0 84.3 18.0 1.33 16.7 1405 174 2490 1.1 22.9
1EDA 23.4 (2.64) 279 315 35.0 115 16.4 1.46 33.2 1575 289 3030 1.0 26.2
* Values when the servomotor is combined with an SGDH servo amplifier at an armature winding temperature of 20°C.
** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 05DA to 13DA: 15.75 × 15.75 × 0.79 (in) (400 × 400 × 20 (mm))
Type 20DA to 75DA: 21.65 × 21.65 × 1.18 (in) (550 × 550 × 30 (mm))
Type 1ADA to 1EDA: 25.59 × 25.59 × 1.38 (in) (650 × 650 × 35 (mm))
126

400V
Servomotors
SGMGH-05D A SGMGH-09D A SGMGH-13D A
SGMGH
3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000
A B A B A B
1000 1000 1000
0 0 0
0 2 4 6 8 10 0 5 10 15 20 0 10 20 30
0 20 40 60 80 0 50 100 150 0 50 100 150 200 250
SGMGH-20D A SGMGH-30D A SGMGH-44D A

3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000

A B A B A B
1000 1000 1000
0 0 0
0 10 20 30 40 0 10 20 30 40 50 0 20 40 60 80
0 100 200 300 0 100 200 300 400 0 200 400 600 800
TORQUE (lb · in)
SGMGH-55D A SGMGH-75D A SGMGH-1AD A

3000 3000 3000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
2000 2000 2000
A B A B
1000 1000 1000 A B
0 0 0
0 20 40 60 80 100 0 50 100 150 0 50 100 150 200
0 200 400 600 800 0 500 1000 1500 0 500 1000 1500
SGMGH-1ED A
3000
SPEED (rpm)
2000
1000 A B B : INTERMITTENT DUTY ZONE
0
0 50 100 150 200 250
TORQUE (N · m)
0 500 1000 1500 2000
TORQUE (lb · in)
127

(1) 17-Bit Incremental/Absolute Encoder
Servomotors
L
LL LR
SGMGH
LT LM
0.0016 A
LG LE LC
0.0016 A
LR
S*
W
LE
A
ΦL
3.94 (100)
LH Q
U
QK
LC
T
LB**
S
3.46 (88)
IE
KL1
A
4 - LZ
0.0008
KB1 MTG Holes
KB2

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 IE KL1 Mass
SGMGH- ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U lbf (kg)
Load Load
lbf (N) lbf (N)
7.72 5.43 3.62 2.56 4.61 12.1
05DA61
(196) (138) (92) (65) (117) 0.75 0.20 0.20 0.12 (5.5) 110 22
8.62 6.34 4.53 2.28 1.81 3.46 5.51 4.29 5.71 4.33 5.12 0.24 0.47 6.5 0.35 (19) 1.57 0.98 (5) (5) (3) 16.8 (490) (98)
09DA61
(219) (161) (115) (58) (46) (88) (140) (109) (145) (110) (130) (6) (12) (165) (9) (40) (25) (7.6)
9.57 7.28 5.47 4.41 6.46 0.87 0.24 0.24 0.14 21.2 154 77
13DA61
(243) (185) (139) (112) (164) (22) (6) (6) (3.5) (9.6) (686) (343)
—
9.65 6.54 4.69 3.5 5.71 30.9 265
20DA61
(245) (166) (119) (89) (145) (14) (1176)
10.67 7.56 5.71 3.11 1.85 4.53 6.73 5.51 1.38 2.99 2.36 0.39 39.7 110
30DA61
(271) (192) (145) (79) (47) (115) (171) (140) (35) (76) (60) (10) (18) 331 (490)
12.01 8.9 7.05 5.87 8.07 7.87 4.5 7.09 0.13 9.06 50.7 (1470)
44DA61
(305) (226) (179) (149) (205) (200) (114.3) (180) (3.2) 0.71 (230) 0.31 0.20 (23)
14.69 10.24 8.39 6.85 9.41 (18) 0.53 (8) (5) 66.1
55DA61
(373) (260) (213) 4.45 (174) (239) 4.92 5.91 (13.5) (30)
17.6 13.15 11.3 (113) 1.85 9.76 12.32 (125) (150) 1.65 0.47 88.2 397 132
75DA61
(447) (334) (287) (47) (248) (313) (42) 4.33 3.54 (12) (40) (1764) (588)
17.87 13.31 11.46 9.88 12.48 (110) (90) 127
1ADA61
(454) (338) (291) 4.57 (251) (317) 5.59 6.61 9.25 7.87 8.66 0.16 10.63 (57.5)
22.56 17.99 15.28 (116) 2.72 13.50 17.13 (142) (168) (235) (200) (220) (4) 0.79 (270) 2.17 0.63 0.39 0.24 189.6 1125 485
1EDA61
(573) (457) (388) (69) (343) (435) (20) (55) (16) (10) (6) (86) (4998) (2156)
Note: 1. SGMGH-05DA to 44DA do not contain eyebolts.
2. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal).
0.7480, 0.8661 +0.0000-0.0005 4.3307 +0.0000 -0.0014
1.3780 +0.0004-0.0000
in 1.6535 +0.0000 -0.0006
4.5000 +0.0000 -0.0010
2.1700 +0.0012+0.0004 7.8700 +0.0000 -0.0018
19.000, 22.000 +0.000 -0.013 110.000 +0.000 -0.035
35.000 +0.010 -0.000
mm 42.000 +0.000 -0.016
114.300 +0.000 -0.025
55.000 +0.030 +0.011 200.000 +0.0000 -0.046
Connector Wiring on the Encoders

Encoder Plug A — K — Motor Plug
A B — L —
M B Connector Wiring on the Motor Side
L N P C C Data + M — D A
T A U Phase
K D
D Data - N —
S R E — P — B V Phase
J E C B
F — R — C W Phase
H F
G G 0V S Battery − (Note*) D Ground Terminal
128
(2) 17-Bit Incremental/Absolute Encoder, With Brake

• 0.5 to 4.4kW (0.7 to 5.9hp)
Servomotors
SGMGH
L W
LL LR
U
LT 0.0016
LM
0.04 A
LG 0.0016
LE
T
0.04 A LC
LR
3.94 (100)
S
LE
LA QK
LH
LC
S
LB
KL2
KL1
IE
Q
A
0.0008 4 - LZ
KB1 0.02 MTG Holes
KB3
KB2

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 KB3 KL1 KL2 Mass
SGMGH- ΦLA ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U Load Load
lbf (kg)
lbf (N) lbf (N)
9.21 6.93 5.08 2.56 6.1 4.29 16.5
05DA6C
(234) (176) (129) (65) (155) (109) 0.75 0.20 0.20 0.12 (7.5) 110 22
10.12 7.83 5.98 2.28 3.46 7.01 5.20 4.29 5.71 4.33 5.12 0.24 0.47 6.5 0.35 (19) 1.57 0.98 (5) (5) (3) 21.2 (490) (98)
09DA6C
(257) (199) (152) (58) (88) (178) (132) (109) (145) (110) (130) (6) (12) (165) (9) (40) (25) (9.6)
11.06 8.78 6.93 4.41 7.95 6.14 0.87 0.24 0.24 0.14 26.5 154 77
13DA6C
(281) (223) (176) 1.85 (112) (202) (156) 3.46 (22) (6) (6) (3.5) (12) 686) (343)
11.65 8.54 6.69 (47) 3.50 7.72 5.39 (88) 41.9 265
20DA6C
(296) (217) (170) (89) (196) (137) (19) (1176)
12.68 9.57 7.72 3.11 4.53 8.74 6.42 5.51 7.87 4.5 7.09 0.13 0.71 9.06 0.53 1.38 2.99 2.36 0.39 0.31 0.20 51.8 110
30DA6C
(322) (243) (196) (79) (115) (222) (163) (140) (200) (114.3) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8) (5) (23.5) 331 (490)
14.02 10.91 9.06 5.87 10.08 7.72 62.8 (1470)
44DA6C
(356) (277) (230) (149) (256) (196) (28.5)
Note: 1. Dimensions are the same when using other incremental encoders (with or without optional shaft seal)..
2. Tolerances on the dimensions LB of flange type and S of shaft extensions are based on JIS (Japanese Industrial Standard) B0401 “Limits and Fits for Engineering.”
0.7480, 0.8661 +0.0000-0.0005 4.3307 +0.0000 -0.0014
in
1.3780 +0.0004-0.0000 4.5000 +0.0000 -0.0010
19.000, 22.000 +0.000 -0.013 110.000 +0.000 -0.035
mm
35.000 +0.010 -0.000 114.300 +0.000 -0.025
Plug for Holding Brake Plug for Motor

Connector Wiring on the Brake, Motor Side
Connector Wiring on the Motor Side
A Brake Terminal
C A
B Brake Terminal
Do oA A U Phase
C — B V Phase
Co oB C W Phase
B
Non-Environmental Mating Connector: D FG (Frame Ground)
MS3108A10SL-3S (L Type)
MS3102A10SL-3P Cable Clamp: MS3057-4A
129
• 5.5 to 15kW (7.4 to 20hp)

L W
LL LR
Servomotors
LT LM
U
0.0016 A
T
SGMGH
LG LE 0.0016 A LC
LR
S*
100 (3.94)
LE
QK
LA
LH
LC
LB**
S
KL2
KL3
IE
Q
KL1
4 - LZ
KB1 0.0016 MTG Holes
KB3
KB2

Approximate
Type Radial Thrust
L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 Mass
SGMGH- ΦLA ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U Load Load
lbf (kg)
lbf (N) lbf (N)
16.69 12.24 10.39 6.85 11.42 9.09 77.2
55DA6C
(424) (311) 264 4.45 1.85 (174) (290) (231) 4.92 5.91 4.84 7.87 4.5 7.09 0.13 9.06 (35)
19.61 15.16 13.31 (113) (47) 9.76 14.33 12.01 (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230) 1.65 0.47 0.31 0.20 100.3 397 132
75DA6C
(498) (385) (338) (248) (364) (305) 3.46 (18) 0.53 (42) 4.33 3.54 (12) (8) (5) (45.5) (1764) (588)
19.65 15.08 13.39 1.69 10.16 14.25 12.40 (88) (13.5) (110) (90) 145
1ADA6C
(499) (383) (340) 4.57 (43) (258) (362) (315) 5.59 6.61 5.59 9.25 7.87 8.66 0.16 10.63 (65.5)
25.00 20.43 18.62 (116) 1.81 13.50 19.57 16.34 (142) (168) (142) (235) (200) (220) (4) 0.79 (270) 2.17 0.63 0.39 0.24 189.6 1125 485
1EDA6C
(635) (519) (473) (46) (343) (497) (415) (20) (55) (16) (10) (6) (86) (4998) (2156
Note: 1. Dimensions are the same when using either incremental or absolute encoders (with or without optional shaft seal)..
1.6535 +0.0000-0.0006 4.5000 +0.0000 -0.0010
in
2.1700 +0.0012+0.0004 7.8700 +0.0000 -0.0018
42.000 +0.000 -0.016 114.300 +0.000 -0.025
mm
55.000 +0.030 +0.011 200.000 +0.0000 -0.046
Plug for Holding Brake Connector Wiring on the Brake, Motor Side Motor Plug Connector Wiring on the Power, Motor Side
A Brake Terminal
C A B Brake Terminal A U Phase
D A
C — B V Phase
C W Phase
Non-Environmental Mating Connector: C B D Ground Terminal
B MS3108A10SL-3S (L Type)
MS3102A10SL-3P MS3106A10SL-3S (Straight Type)
130
Selecting Your SGMGH Sigma II Servo System

Servomotors
SGMGH
Use the diagram below to locate and identify the components of your system. Each item is let-
ter-coded and cross-referenced in the option tables on the following pages.
5CN Shaft Keyway
Servomotor
3CN (A)
1CN 2CN
Encoder Cable (C)
Connector
Regenerative Unit (E) (Manual is provided at no charge with a purchase order,

SGMGH - 09 D C A 6 C
Rated Output 1: Standard
05: 500W (0.7hp) C: 24VDC Brake
09: 850W (1.14hp) S: Shaft Seal
13: 1.3kW (1.7hp) E: Brake and Shaft Seal
44: 4.4kW (6.0hp)
Rated Speed
55: 5.5kW (7.5hp)
A: 1500rpm
75: 7.5kW (10hp)
1A: 11.0kW (15hp)
1E: 15kW (20hp) C: 17-Bit Incremental Encoder
2: 17-Bit Absolute Encoder
Power Supply
D: 400V
131

Use the table below to select the appropriate SGMGH Sigma II servomotor and amplifier.
Servomotors
SGMGH
tion/features.)
Amplifier
Peak Rated Motor Inertia Motor and
Motor MODEL # (B)*
Description Torque Torque Amplifier
(in • lb) (in • lb) (in • lb • s2 x 10-3) MODEL Number (A) Analog/Digital Input
Item Class
SGDH-
6.41 SGMGH-05DCA61
79 25 05DE
8.26 SGMGH-05DCA6C
12.30 SGMGH-09DCA61
122 48 10DE
14.15 SGMGH-09DCA6C
18.2 SGMGH-13DCA61
207 74 15DE
20.1 SGMGH-13DCA6C
28.1 SGMGH-20DCA61
254 102 20DE
400V 35.9 SGMGH-20DCA6C
Three-Phase
40.7 SGMGH-30DCA61
17-bit 404 165 30DE Stock
Incremental 48.5 SGMGH-30DCA6C
Encoder
59.8 SGMGH-44DCA61
Straight Shaft 630 252 50DE
with 67.6 SGMGH-44DCA6C
Keyway
78.8 SGMGH-55DCA61 60DE
3000rpm 776 310 Requires
maximum** 86.6 SGMGH-55DCA6C Regenerative Unit
(E)
MS Connectors
111 SGMGH-75DCA61 75DE
1050 425 Requires
119 SGMGH-75DCA6C Regenerative Unit
(E)
249 SGMGH-1ADCA61 1ADE
1550 620 Requires
267 Regenerative Unit Limited
SGMGH-1ADCA6C Stock
(E)
279 SGMGH-1EDCA61 1EDE Stock
Requires
1988 845 Regenerative Unit Limited
309 SGMGH-1EDCA6C
(E) Stock
Note: 24VDC brakes for SGMGH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
**2000rpm maximum for 11 and 15kW systems only.
132

Use the table below to select pre-wired cables for your SGMGH Sigma II servomotor.
Servomotors
SGMGH
Motor
Item
Cable Description (C) Size Part Number* Comments
Class
(kW)
0.5,
BAE-(A)
0.9, 1.3
Power Cable with 2.0, Use the following key to specify
Connectors BBE-(A) needed cable length (last two
3.0, 4.4
digits of the part number):
(IP67) 5.5, 03: 3m
BDE-(A)
7.5, 11 05: 5m
10: 10m (standard)
15 B5E-(A) 15: 15m
Power Cable for Hold- 20: 20m
ing Brake B7BCE-(A)
(IP67)
These cables are available in
five lengths. Use two digits in
Encoder Cable the part number’s last place:
(incremental or JZSP-CMP02-( 03: 3m
absolute) B) 05: 5m
10: 10m (standard)
(IP67) 15: 15m
20: 20m
Encoder Cable (for These cables are available in
applications up to FR-RMCT-SB any length.
20m) Only for Solder
Encoder Cable (for FR-RMCT-SB cable, 16m long,
applications from >20 specify: Stock**
to <50m) Only for Sol- UL20276-SB quantity: 16
der Connections part no.: FR-RMCT-SB
All
Input/Output
1CN Cable & JUSP-TA50P 35 mm DIN rail mountable; the
Transition cable length is 0.5m.
Terminal lock

specify needed cable length
Input/Output (last digit of part number):
1CN Cable with JZSP-CKI01-(A) 1: 1m (standard)
Pigtail Leads 2: 2m
3: 3m

Input/Output 1CN required cable length (last two
Cable Cable with digits of the part
Female JZSP-CKI0D- number):
01: 1m (standard)
nector*** 02: 2m
03: 3m
* (A)” at the end of the cable number is the revision level. The revision level may be changed prior to this catalog’s reprinting.
133
Connector Selection
Use the table below to select mating connectors for each SGMGH Sigma II servomotor.
Servomotors
SGMGH
Connector Description Item

Motor Size (kW) Part Number Comments
(D) Class
0.5, 0.9, 1.3 MS3108B18-10S L-type connector
MS3057-10A Cable clamp
MS Connector for 2.0, 3.0, 4.4 MS3108B22-22S L-type connector
Motor Power Cable*
5.5, 7.5, 11, 15 MS3108B32-17S L-type connector
MS Connector for MS3108A10SL-3S L-type connector
Brake Power Cable MS3057-4A Cable clamp
Encoder Cable
(incremental or abso-
lute encoder) MS3057-12A Cable clamp
Stock
1CN Mating —
JZSP-CKI9
Connector
All

Mating Connector
3CN Peripheral

5CN Connector speed and torque monitor
and 1m Cable with Pig- — DE9404559 service checks.
tails
mental.
134

Use the table below to select peripheral devices for each SGMGH Sigma II servomotor.
Servomotors
SGMGH
JUSP–OP02A–1
Hand-held Digital Portable unit with 1m adapter
and cable for Sigma II
Operator Panel
JZSP–CMS00–1

Software Interface Cable — YS–12
9-pin connector
JZSP–BA01 3.6V, 1000mAh (Lithium Battery) Stock
Absolute Encoder Battery For SGDH–60 and above (same
JZSP–BA01–1 as JZSP–BA01 with longer lead)
CDROM Drive, RS–232 or
SigmaWin+ Software JZSP-WP0001 RS–422 port, Screen rsolution
800x600 w/ 256 colors, and Win-
dows 95,98,NT4.0,2000,ME.
(Windows XP planned)
Regenerative Unit (880W) JUSP-RA18 These are general purpose

for 6.0 and 7.5kW amplifier regenerative units.
this unit.
Regenerative Unit (1760W)
JUSP-RA19 Caution: Proper set-up is necessary
for 11 and 15kW amplifiers to avoid equipment damage.
For 400V: SGDH-05DE X5074

For 400V: SGDH-10DE X5075
SGDH-15DE Limited
DC Reactor
(for suppressing For 400V: SGDH-20DE Stock
X5076 —
harmonics in the power sup- SGDH-30DE
ply) For 400V: SGDH-50DE X5077
Larger capacity Check factory for —
amplifiers availability.
135

Use the table below to select shielded pre-wired power cables for your SGMGH Sigma II servomotor.
Servomotors
SGMGH
Cable Description Motor Size Item

Part Number* Comments
(C) (kW) Class
0.5, 0.9, 1.3 BACE-(A)

Power Cable with 2.0, 3.0, 4.4 BBCE-(A) specify needed cable length Limited
Connectors (last two digits of the part Stock
(IP67) 5.5, 7.5, 11 BDCE-(A) number):

03: 3m
15 B5CE-(A) 05: 5m —
10: 10m (standard)
Power Cable for
15: 15m Limited
Holding Brake All B7BCE-(A)
20: 20m Stock
(IP67)
* The “(A)” at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog’s reprinting.
Use the table below to select mating connectors for your SGMGH Sigma II servomotor.
Connector Motor Size Item
Part Number Comments**
Description (D) (kW) Class
0.5, 0.9, 1.3 CE3057-10A-1(D265) Cable clamp
(for diameters 0.413 to 0.555in)
2.0, 3.0, 4.4 CE3057-12A-1(D265) Cable clamp
Connector for Motor (for diameters 0.492 to 0.630in)
Power Cable*
or or
5.5, 7.5, 11, 15 CE05-6A32-17SD-B-BSS Straight-type connector
Limited
CE3057-20A-1 Cable clamp Stock
CE05-8A10SL-3SC-B-BAS L-type connector for holding brake
Connector for Hold- and and
ing Brake CE3057-4A-1 (D265) Cable clamp
All L-type connector

CE02-6A20-29NSW and (plug and back shell)
Connector for CE20BA-S
Encoder Cable or
(incremental or or
absolute encoder) Cable clamp
CE3057-12A-3(D265) (for diameters 0.265 to 0.394in)
* Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67
environments.
136
p
Higher rpm Power Rate Series

SGMSH/UH Servomotors - With Incremental / Absolute
Encoder
Rated Output: 1.0kW, 1.5kW, 2.0kW,
3.0kW, 4.0kW, 5.0kW
SGMSH/UH Ratings & Specifications 140
Servomotors
SGMSH/UH Speed/Torque Curves 141
SGMSH/UH
SGMSH Dimensions 142 - 143
SGMUH Dimensions 144 - 145
SGMSH/UH Selection/Ordering Information 146 - 150
SGMSH/UH Optional CE Selection 151
Design Features
1. Compact
z Small sized motor
z Eight frame sizes: up to 422in • lb peak torque
2. Higher Speed
z Rated Speed: 3000rpm
z Maximum Speed: Up to 6000rpm (SGMUH only)
3. Encoders
z 17-bit absolute encoder (option)
4. Enclosure
z IP67 with shaft seal (option)
z Chip mounters
z Robots
z Conveyors
z Packaging
137

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Maximum Rotational Speed:
Insulation: Class F IP67 (except for shaft opening) 5000, 6000rpm*
Vibration: 15μm or less Ambient Temperature:0 to 40ºC Excitation: Permanent magnet
Withstand Voltage: 1500Vac, 1800Vac* Ambient Humidity: 20 to 80% Drive Method: Direct drive
Insulation Resistance:10MΩ minimum (non-condensing) Mounting: Flange-mounted
at 500VDC Rated Speed: 3000rpm, 6000rpm* Painting Color: Muncell notation N1.5
* SGMUH models only.
Amplifier Systems
Instantaneous
Rated Instantaneous Rated
MOTORS: Rated Torque* Maximum
Output* Peak Torque* Current*
Voltage
Current*
Type
Number kW (hp) N•m lb • in (KG • cm) N•m lb • in (KG • cm) A (rms) A (rms)
10DA 1.0 (1.3) 3.18 28.2 (32.4) 9.54 84.4 (97.2) 2.8 8.5
Servomotors
SGMSH/UH
15DA 1.5 (2.0) 4.9 43.4 (50) 14.7 130 (150) 4.7 14
SGMSH-
20DA 2.0 (2.7) 6.36 56.4 (65) 19.1 169 (195) 6.2 19.5
30DA 3.0 (4.0) 9.8 87 (100) 29.4 260 (300) 8.9 28

400Vac
40DA 4.0 (5.4) 12.6 112 (129) 37.8 336 (387) 12.74 38.5
50DA 5.0 (6.7) 15.8 140 (161) 47.6 422 (486) 14.3 42
10DA 1.0 (1.3) 1.59 14.1 (16.2) 6.5 57.6 (66.18) 2.7 8.5
SGMUH-**
30DA 3.0 (4.0) 4.9 43.4 (50) 21.5 190 (218.3) 8.1 28
** Only the Sigma II SGMUH models are available with a maximum speed of 6000rpm.
Torque
MOTORS: Moment of Inertia Load Power Angular Time Time
Constant Coil Rated Additional
Capacity Torque Inertia Rate* Acceleration* Constant Constant
Resistance Current Inertia
lbf • in • s2 KG • m2
Type
Number lbf • in W N•m W A lbf • in • s2 × 10-3 KG • m2 × 10-4 kW/s rad/s2 ms ms

Arms × 10 -3 × 10-4
10DA 11.2 1.54 1.74 8.7 57.9 18250 0.97 6.3
15DA 10.2 2.19 2.47 7.0 7.84 82.0 0.29 0.219 12.4 97.2 19840 0.80 6.8
SGMSH-
20DA 9.9 2.82 3.19 16.0 127 19970 0.66 7.3
30DA 10.5 6.20 7.00 35.0 137 14000 0.76 16.3
40DA 9.38 8.50 9.60 9.85 20.0 58.5 0.41 1.89 48.0 166 13160 — —
50CA 10.62 10.9 12.3 61.5 202 12780 — —
10DA 7.2 1.54 1.74 — — — — — 8.7 14.5 9130 0.87 7.1

SGMUH-
30DA 7.2 6.2 7.0 — — — — — 35 34.3 7000 0.72 17.3
* These items and torque-speed characteristics quoted in combination with an SGDH servo amplifier at an armature winding tem-
perature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 10DA to 20DA: (11.81 × 11.81 × 0.47 (in)) (300 × 300 × 12 (mm))
Type 30DA to 50DA: (15.75 × 15.75 × 0.79 (in)) (400 × 400 × 20 (mm))
138

400V
SGMSH-10D A SGMSH-15D A SGMSH-20D A

5000 5000 5000
4000 4000 4000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
3000 3000 3000

A B A B 2000
A B
2000 2000
1000 1000 1000
0 0 0
0 2 4 6 8 10 0 5 10 15 0 5 10 15 20
0 20 40 60 80 0 50 100 150 0 50 100 150
Servomotors
SGMSH/UH
SGMSH-30D A SGMSH-40D A SGMSH-50D A
5000 5000 5000
4000 4000 4000
SPEED (rpm)
SPEED (rpm)
SPEED (rpm)
3000 3000 3000
2000
A B A B A B
2000 2000
1000 1000 1000
0 0 0
0 10 20 30 0 10 20 30 40 0 10 20 30 40 50
TORQUE (N · m)
0 100 200 0 100 200 300 400 0 100 200 300 400 500
SGMUH-10D A SGMUH-30D A
6000 6000
5000 5000
4000 4000
SPEED (rpm)
SPEED (rpm)
3000 A B 3000 A B
2000 2000
1000 1000
0 0
0 4 8 12 0 10 20 30
0 40 80 0 100 200 300
139
SGMSH Dimensions in inches (mm)

L
LL LR
LT LM 0.0016 A
LG LE 0.0016 A LC
LR
3.94 (100)
LE
Q
S
LH LA
QK
LC
LB
S
KL2
0.31 (8)
KL1
0.28 (7)
Servomotors
0.16 (4)
A 0.0008
4 - LZ
SGMSH
MTG Holes
KB1
KB2
Shaft End Approximate Allowable Allowable

Type Flange Dimensions
L LL LM LR LT KB1 KB2 KL1 KL2 Dimension Mass Radial Load Thrust Load
SGMSH-
ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK lbf (kg) lbf (N) lbf (N)
10DA61 7.64 5.87 4.06 2.99 5.04 10.1 (4.6)

(194) (149) (103) (76) (128)
15DA61 8.66 6.89 5.08 1.77 4.02 6.06 3.78 3.43 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26 12.8 (5.8) 154 44
(220) (175) (129 ) (45) (102) (154) (96) (87) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32) (686) (196)
9.57 7.8 5.98 4.92 6.97
20DA61 (243) (198) (152) 15.4 (7.0)
1.81 (125) (177)
10.31 7.83 6.02 (46) 4.8 7.01 220
30DA61 (262) (199) (153 ) (122) (178) 24.3 (11) (980)
11.77 9.29 7.48 2.48 6.26 8.46 4.49 3.43 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96 88
40DA61 (299) (236) (190) (63) (159) (215) (114) (87) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50) 30.9 (14) (392)
265
13.35 10.87 9.06 7.83 10.04 (1176)
50DA61 (339) (276) (230) (199) (255) 37.5 (17)
in 0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014
mm 24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035
Encoder Plug Connector Wiring on the Incremental Encoders

M B
A — K —
L N P C B — L — Motor Plug
A
K D C Data + M — Connector Wiring on the Motor Side
D A
J S R
E D Data − N — A U Phase
H
G F E — P — B V Phase
C B
MS3102A20-29P F — R — C W Phase
G 0V S Battery − (Note*) D Ground Terminal
H +5Vdc T Battery + (Note*)

J FG (Frame *Note: Used with an absolute
Ground) encoder only.
140
L W
LL LR
W = 0.31 (8)
U
LT LM 0.0016 T = 0.28 (7)
0.04 A
LG LE 0.0016 U = 0.16 (4)
T
0.04 A LC
LR
3.94 (100)
S
LE
LA QK
LH
LC
S
LB
KL2
KL3
KL1
IE
Q
A
Servomotors
0.0008 4 - LZ
0.02 MTG Holes
SGMSH
KB1
KB3
KB2

L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 Mass
SGMSH- Load Load
ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK lbf (kg)
lbf (N) lbf (N)
9.37 7.6 5.79 1.77 2.99 6.77 4.72 13.2
10DA6C (238) (193) (147)
(45) (76) (172) (120) (6.0)
15DA6C 10.39 8.62 6.81
1.77 4.02 7.80 5.75 378 16.5
3.35 4.53 3.74 3.94 0.12 0.39 5.12 0.28 0.94 1.57 1.26 154 44
(264) (219) (173) (45) (102) (198) (146) (96) (7.5)
(85) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32) (686) (196)
11.3 9.53 7.72 1.77 4.92 8.7 6.65 18.7
20DA6C (125)
(287) (242) (196) (45) 1.81 ) (221) (169) 3.46 (8.5)
(46) (88)
11.81 9.33 7.52 4.80 8.50 6.69 4.49 3.86 30.9 220
30DA6C
(300) (237) (191) (122) (216) (170) (114) (98) (14) (980)
40DA6C 10.79 8.98 2.48 5.71 4.33 5.12 0.24 0.47 6.5 0.35 1.1 2.17 1.96 37.5 88
— — — — — (145) (110) (130) (6)
13.27 (274) (228) (63) (12) (165) (9) (28) (55) (50) (17) 265 (392)
(337) 12.36 10.55 44.1 (1176)
50DA6C — — — — —
(314) (268) (20)
in 0.9449, 1.1024 +0.0000-0.0005 3.7402, 4.3307 +0.0000 -0.0014
mm 24.000, 28.000 +0.000 -0.013 95.000, 110.000 +0.000 -0.035
Plug for Holding Brake Connector Wiring on the Brake, Motor Side
Motor Plug
A Brake Terminal
C A Connector Wiring on the Motor Side
B Brake Terminal D A
C — A U Phase
B V Phase
B Non-Environmental Mating Connector: C B
C W Phase
MS3102A10SL-3P D Ground Terminal
MS3106A10SL-3S (Straight Type)
141
SGMUH Dimensions in inches (mm)

L
LL LR
LT LM 0.0016 A
LG LE 0.0016 A LC
LR
3.94 (100)
LE
Q
S
LH LA
QK
LC
LB
S
KL2
0.31 (8)
Servomotors
KL1
0.28 (7)
0.16 (4)
A
SGMUH
0.0008
4 - LZ
MTG Holes
KB1
KB2
Shaft End Approximate Allowable Allowable

Type Flange Dimensions
L LL LM LR LT KB1 KB2 KL1 KL2 Dimension Mass Radial Load Thrust Load
SGMUH-
ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK lbf (kg) lbf (N) lbf (N)
7.64 5.87 4.06 2.99 5.04
10DA61 (194) (149) (103) 1.77 (76) (128) 3.78
10.1 (4.6)
5.12 4.33 4.57 0.39 5.91 0.35 0.94 1.57 1.26 110 22
8.66 6.89 5.08 (45) 1.81 4.02 6.06 (96) 3.46 (130) (110) (116) 0.14 (10) (150) (9) (24) (40) (32) 12.8 (5.8) (490) (98)
15DA61 (220) (175) (129) (46) (102) (154) (88) (3.5)
10.31 7.95 6.14 2.36 5.00 7.13 4.49 6.50 5.12 6.10 0.47 7.48 0.43 1.1 2.17 1.96 154 44.1
30DA61 (262) (202) (156) (60) (127) (181) (114) (165) (130) (155) (12) (190) (11) (28) (55) (50) 24.3 (11) (686) (196)
4.3307 +0.0005 -0.00035
in 0.9449, 1.1024 +0.0000-0.0005
5.12 +0.00055 -0.00043
110.000 +0.013 -0.009
mm 24.000, 28.000 +0.000 -0.013
130 +0.014 -0.011
Encoder Plug Connector Wiring on the Incremental Encoders

M B A — K —
L N P B — L —
A
C Motor Plug
K D C Data + M —
J S R
E D Data − N — D A
Connector Wiring on the Motor Side
H A U Phase
G F E — P —
F — R — C B
B V Phase
MS3102A20-29P
G 0V S Battery − (Note*) C W Phase
H +5Vdc T Battery + (Note*) D Ground Terminal
J FG (Frame *Note: Used with an absolute

Ground) encoder only.
142
L W
LL LR W = 0.31 (8)
U
LT LM 0.0016
0.04 A
T = 0.28 (7)
LG LE 0.0016 U = 0.16 (4)
T
0.04 A LC
LR
3.94 (100)
S
LE
LA QK
LH
LC
S
LB
KL2
KL3
KL1
IE
Q
A
0.0008 4 - LZ
Servomotors
KB1 0.02 MTG Holes
SGMUH
KB3
KB2

L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 Mass
SGMUH- Load Load
ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK lbf (kg)
lbf (N) lbf (N)
9.37 7.6 5.79 2.99 6.77 4.72 13.2
10DA6C (238) (193) (147)
1.77 (76) (172) (120) 3.78 3.35 5.12 4.33 4.57 0.14 0.39 5.91 0.35 0.94 1.57 1.26 (6.0) 110 22
(45). 1.81 4.02 7.80 5.75 (96) 3.46 (85) (130) (110) (116) (3.5) (10) (150) (9) (24) (40) (32) (490) (98)
15DA6C 10.39 8.62 6.81
16.5
(264) (219) (173) (46) (102) (198) (146) (88) (7.5)
30DA6C 11.81
9.33 7.52 2.36 4.80 8.50 6.69 4.49 3.86 6.50 5.12 6.10 0.24 0.47 7.48 0.43 1.1 2.17 1.96 30.9 154 44
(300) (237) (191) (60) (122) (216) (170) (114) (98) (165) (130) (155) (6) (12) (190) (11) (28) (55) (50) (14) (686) (196)
4.3307 +0.0005 -0.00035
in 0.9449, 1.1024 +0.0000-0.0005
5.12 +0.00055 -0.00043
110.000 +0.013 -0.009
mm 24.000, 28.000 +0.000 -0.013
130 +0.014 -0.011
Plug for Holding Brake

Connector Wiring on the Motor Plug
C A Brake, Motor Side D A Connector Wiring on the
A Brake Terminal Motor Side
B Brake Terminal C B A U Phase
B
B V Phase
MS3102A10SL-3P C — C W Phase
Non-Environmental Mating Connector: D Ground Terminal
MS3106A10SL-3S (Straight Type)
143
Selecting Your SGMSH/UH Sigma II Servo System

5CN Shaft Keyway
For Monitor (D) SGMSH/UH
Servomotor
3CN (A)
Servomotors
SGMSH/UH
Peripheral SGDH Connector for Shaft Seal

Signal Amplifier Encoder Signal (D)
Connector (D) (B) Motor side
Encoder side
1CN 2CN
Encoder Cable (C)
Connector

SGMSH - 10 D C A 6 1
SGMSH: 5000rpm 1: Standard
SGMUH: 6000rpm C: 24VDC Brake
Rated Output S: Shaft Seal
10: 1.0kW (1.3hp) E: Shaft Seal and Brake
30: 3.0kW (4.0hp)
Rated Speed
40: 4.0kW (5.4hp)
A: Revision Level
50: 5.0kW (6.7hp)
Power Supply
C: 17-bit Incremental
D: 400V
Encoder
2: 17-bit Absolute Encoder*
*SGMUH is not available with absolute
encoder
144

Use the table below to select the appropriate SGMSH or SGMUH Sigma II servomotor and amplifier.
tion/features.)
Amplifier
Motor Inertia Motor and
Peak Torque Rated Torque Motor MODEL # (B)*
Description Amplifier
(in • lb) (in • lb) (in • lb • s2 X 10-3) MODEL # (A) Analog/Digital Input
Item Class
SGDH-
1.54 SGMSH-10DCA61
84.4 28.2 10DE
400V, 1.76 SGMSH-10DCA6C
Three-Phase 2.19 SGMSH-15DCA61
130 43 15DE
2.41 SGMSH-15DCA6C
17-bit
Incremental Encoder 2.82 SGMSH-20DCA61
169 56.4 20DE
3.04 SGMSH-20DCA6C
Straight Shaft with 6.2 SGMSH-30DCA61
260 87 30DE
Servomotors
Keyway 8.1 SGMSH-30DCA6C
SGMSH/UH
5000rpm maximum 8.5 SGMSH-40DCA61
336 112
10.4 SGMSH-40DCA6C
50DE
MS Connectors 10.9 SGMSH-50DCA61
422 140 Stock
12.8 SGMSH-50DCA6C
400V,
Three-Phase
57.6 14.1 1.54 SGMUH-10DCA61 10DE
17-bit
Incremental Encoder
Straight Shaft with
Keyway
190 43.4 6.2 SGMUH-30DCA61 30DE
6000rpm maximum
MS Connectors
Note: 24VDC brakes for SGMUH and SGMSH Sigma II servomotors are standard. Contact a local source for 24VDC power supplies.
145

Use the table below to select pre-wired cables for your SGMSH/UH–Series Sigma II servomotor.
Motor Size
Cable Description (C) Part Number* Comments Item Class
(kW)
Power Cable with 1.0, 1.5, 2.0 BAE-(A) Use the following key to specify
L-type Connectors needed cable length (last two digits
of the part number):
(IP67) 3.0 BBE-(A) 03: 3m
4.0, 5.0 05: 5m
Cable with Holding 10: 10m (standard)
1.0, 1.5 15: 15m
Brake 2.0, 3.0 B7BCE-(A) 20: 20m
(IP67) 4.0, 5.0
These cables are available in five
lengths. Use two digits in the part
Encoder Cable number’s last place:
(incremental or
Servomotors
JZSP-CMP02-(B) 03: 3m
SGMSH/UH
absolute) All 05: 5m

15: 15m
20: 20m
Encoder Cable
(for applications These cables are available in any
up to 20m) FR-RMCT-SB length.
Only for Solder
Encoder Cable FR-RMCT-SB cable, 16m long,
(for applications specify:
from >20 to <50m) UL20276-SB quantity: 16 Stock**
Only for Solder part no.: FR-RMCT-SB
Connections
Input/Output 1CN
Cable & Transition Ter- JUSP-TA50P 35mm DIN rail mountable; the
minal Block cable length is 0.5m.

Input/Output 1CN specify required cable length
Cable with Pigtail (last digit of part number):
JZSP-CKI01-(A) 1: 1m (standard)
Leads
2: 2m
3: 3m
Input/Output 1CN required cable length (last two dig-
its of the part
Female JZSP-CKI0D- D50: 0.5m
D-Sub output Connec- 01: 1m (standard)
tor***
02: 2m
03: 3m
146
Connector Selection
Use the table below to select mating connectors for your SGMSH/UH Sigma II servomotor.
Motor
Connector Description Item
Size Part Number Comments
(D) Class
(kW)
1.0, MS3108B18-10S L-type connector
1.5, 2.0
MS Connector for MS3057-10A Cable clamp
Motor Power Cable* MS3106B22-22S Straight-type connector
3.0, MS3108B22-22S L-type connector
4.0, 5.0
MS Connector for MS3108A-10SL-3S L-type connector
Brake Power Cable All
MS3108B20-29S L-type connector
Servomotors
SGMSH/UH
MS Connector for
Encoder Cable
(incremental or
absolute encoder) MS3057-12A Cable clamp
Stock

Connector
All
2CN Encoder Mating JZSP-CMP9-1 —

Connector
3CN Peripheral
5CN Connector
and 1m Cable with Pig- — DE9404559 —
tails
mental.
147

Use the table below to select peripheral devices for your SGMSH/UH Sigma II servomotor.
Hand-held Digital JUSP-OP02A-1 Portable unit with adapter cable

and
Operator Panel JZSP-CMS00-1 for Sigma II
Servomotors
SGMSH/UH
Absolute Encoder Battery JZSP-BA01 3.6V, 1000mAh (lithium battery) Stock

tem Requirements Pentuim 200
MHz, 64MB RAM, 200MB hard
drive, CDROM Drive, RS-232 or
SigmaWin+ Software JZSP-WP0001 RS-422 port, Screen rsolution
dows 95,98,NT4.0,2000,ME.
Software Interface Cable — YS-12
9-pin connector
regenerative units.

External Regenerative Unit PI#99004 for setup instructions
JUSP-RA04
(Optional) for this unit.
Caution: Proper set-up is

necessary to avoid equipment
damage.
SGDH-10DE
X5075
SGDH-15DE
DC Reactor
SGDH-20DE Limited
(for suppressing harmonics in X5076 — Stock
SGDH-30DE
the power supply)
Check factory for
Large Capacity Amplifiers avialability
148

Use the table below to select shielded pre-wired cables for your SGMSH/UH Sigma II
servomotor. These are suitable for IP67 environments.
Use the standard encoder cable listed on page 148.
Motor Size
Cable Description (C) Part Number* Comments Item Class
(kW)
Power Cable with 1.0, 1.5, 2.0 BACE-(A) Use the following key to specify
Connectors needed cable length (last two dig-
3.0,4.0, BBCE-(A) its of the part number):
(IP67) 5.0 03: 3m Limited
Power Cable for 05: 5m Stock
Holding Brake 10: 10m (standard)
All B7BCE-(A) 15: 15m
20: 20m
(IP67)
Servomotors
SGMSH/UH
CE/IP67 Connector Selection

Use the table below to select mating connectors for your SGMSH/UH Sigma II servomotor.
Connector Motor Size
Part Number Comments** Item Class
Description (D) (kW)

1.0, 1.5, 2.0 Cable clamp
Connector for Motor
Power Cable* L-type connector
CE05-8A22-22SD-B-BAS
3.0, 4.0, 5.0 Cable clamp
L-type connector for holding Limited
Connector for Hold- CE05-8A10SL-3SC-B-BAS brake Stock
and
ing Brake CE3057-4A-1 (D265) Cable clamp
All CE02-6A20-29NSW L-type connector
Connector for and
Encoder Cable CE20BA-S (plug and back shell)
(incremental or
absolute encoder) CE3057-12A-3(D265) Cable clamp
* Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable
for IP67 environments.
149
NOTES:
Servomotors
SGMSH/UH
150
400V Large Capacity Sigma II Servo System
General Purpose
Large Capacity Servomotors (1500rpm) -With
Incremental / Absolute Encoder
Rated Output: 22kW, 30kW, 37kW,
45kW, and 55kW
SGMBH Ratings & Specifications 154

SGMBH Speed/Torque Curves 155
SGMBH Dimensions 156 -159
SGMBH Selection/Ordering Information 160 -164
SGDH Ratings & Specifications 167 -168
SGDH Dimensions 169 -188
Design Features
1. Compact Size
z Smaller sized motor
Five types of rated outputs ranging from 2480 to 6120in·lb of peak torque
z Brushless Permanent Magnet (PM) design
Smaller size
Lower rotor inertia
Servomotor
SGMBH
Neodynium Internal Permanent Magnet (IPM) construction
2. Lower Maintenance Requirements
z Clean, energy-efficient replacement for hydraulic power systems
z Quieter, cleaner operation ( no noisy pumps or leaky hoses)
3. Higher Speed and Acceleration
z Up to 2000rpm (maximum)
4. Rugged, Industrially-Designed Feedback
z 17-Bit (32,768 ppr x 4) incremental encoder (standard)
z 17-Bit absolute encoder (optional)
z Totally enclosed, self-cooled IP44 (including shaft)
z Machine tools
z Packagingmachines
z Press Automation
z Thermoforming
z All-Electric Injection Molding Machines
7. zUL, cUL recognized (File #: E165827), CE compliance
151

Time Rating: Continuous Enclosure: Totally-enclosed, self-cooled Instantaneous Maximum Speed*: 2000rpm
Insulation: Class F IP44 (including shaft) Excitation: Permanent magnet
Vibration: 15μm or less Ambient Temperature: 0 to 40ºC Drive Method: Direct drive
Withstand Voltage: 1500Vac Ambient Humidity: 20 to 80% Mounting: Flange-mounted
Insulation Resistance: 500Vdc (non-condensing) Foot Mount (55kW only)
10MΩ or more Rated Speed*: 1500rpm Thermal Protection: Built-in
Instantaneous Maxi-
Rated Rated Instantaneous Peak Rated mum
MOTORS: Output* Torque* Torque* Current*
SGMBH-- Current*
kW (hp) N•m lbf • in (KG • cm) N•m lbf • in (KG • cm) A rms Arms
2BD A 22 (30) 140 1240 (1430) 280 2480 (2855) 58 120
3ZD A 30 (40) 191 1690 (1947) 382 3380 (3895) 80 170
3GD A 37 (50) 236 2090 (2400) 471 4170 (4803) 100 210
4ED A 45 (60) 286 2530 (2920) 572 5060 (5837) 127 260
5ED A 55 (74) 350 3100 (3570) 700 6120 (7143) 150 310
24VDC Holding Brake Allowable Rated Rated Inertia Inductive

Torque
Moment of Inertia Additional Load Power Angular Time Time
Constant Torque Watts Inertia Rate* Acceleration* Constant Constant
Inertia
MOTORS
SGMBH
SGMBH- lbf • in
Arms lb • in • s2 kg • m2 lbf • in in • lbf • s2 × kg • m2
kW/s rad/s2 ms ms
× 10-3
Servomotor
(N • m ) × 10-3 × 10-4 10-3 × 10-4

SGMBH
Arms
2BD A 22.1 (2.50) 525 592 2106 604 54 2960 331 2360 2.6 53
3ZD A 21.2 (2.39) 685 773 2106 604 54 3865 472 2470 2.3 57
3GD A 21.8 (2.46) 1230 1390 — — 6950 401 1700 3.6 67
4ED A 21.0 (2.37) 1336 1510 — — 8400 542 1890 2.8 72
5ED A 21.2 (2.40) 1750 1970 — — 9850 622 1780 2.7 78
* These specifications and torque-speed characteristics are quoted with the motor used in combination with an SGDH servo
amplifier at an armature winding temperature of 20°C.
Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes:
Type 2BDA to 3ZDA: 25.59 × 25.59 × 1.38 (in) (650 × 650 × 35 (mm))
Type 3GDA to 5EDA: 29.53 × 29.53 × 1.38 (in) (750 × 750 × 45 (mm))
152

SGMBH 400V Servomotors
D A
SGMBH - 2BAD SGMBH - 3ZAD
DA
2000 2000
SPEED (rpm)
SPEED (rpm)
1000 1000
A B A B
0 0
0 100 200 300 0 100 200 300 400
0 887.5 1775 2662.5 0 887.5 1775 2662.5 3550
D A
SGMBH - 3GAD
2000
SPEED (rpm)
1000
A B
0
0 100 200 300 400 500
TORQUE (N · m)
0 887.5 1775 2662.5 3550 4437.5
TORQUE (lb · in)
Servomotor
SGMBH
D A
SGMBH - 4EAD SGMBH - 5EAD
D A
2000 2000
SPEED (rpm)
SPEED (rpm)
1000
A B 1000 A B
0 0
0 200 400 600 0 200 400 600 800
0 1775 3550 5325 0 1775 3550 5325 7100
A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE
153

(1) 17 Bit Incremental / Absolute Encoder
W
L
U
0.0020 (0.05) A
T
LL
0.0020 (0.05) A
Cross-section Y-Y
LD LF LR
LC
Fan connector LN LP
LE CK1 CK2
LG
A
QK
ΦL
ΦL
Y
H
ΦS
ΦLB
LC
Y
KG Power wiring KT
Encoder connector A KS 4 - ΦLZ
KB1 Φ2.40 (Φ61)
0.0012 (0.03) KN
KB2
Type Motor Body Dimensions Flange Dimensions Shaft End Dimension

SGMBH L LL LR LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U
29.13 23.62 6.97 6.30 17.17 19.06 8.82
2BD A61
(740) (600) 5.51 9.06 (177) (160) 4.57 (436) (484) (224) 8.66 6.42 5.87 1.77 1.77 9.84 10.43 9.06 9.84 0.20 0.79 11.81 0.53 2.36 5.51 4.33 0.71 0.43 0.28
31.91 26.38 (140) (230) 9.65 9.06 (116) 19.86 21.75 11.50 (220) (163) (149) (45) (45) (250) (265) (230) (250) (5) (20) (300) (13.5) (60) (140) (110) (18) (11) (7)
3ZD A61
SGMBH
(810) (670) (245) (230) (504) (552) (292)

Servomotor
Approximate Allowable Allowable Specified Tolerances

Type
SGMBH
Mass Radial Load Thrust Load

SGMBH- Dimension *ΦS **ΦLB ***T ****W
264.5 1323 Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance
2BD A61
(120) (5880) 485
308.7 1410 (2156) in 2.362 +0.00118 -0.00043 9.055 +0.0000 -0.00181 0.433 +0.0000 -0.00043 0.709 +0.0000 -0.00169
3ZD A61
(140) (6272) mm 60 +0.030 -0.011 230 +0.000 -0.046 11 +0.000 -0.1103 18 +0.000 -0.043
2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width and depth are based on JIS (Japanese Industrial Standard)
B0401 “Limits and Fits for Engineering.”
Encoder Plug Connector Wiring on the Encoders Fan Connector
Fan Connector
M A B A — K —
L N P C B — L — D A A U Phase
T B V Phase
K D C Data + M —
D Data − N — C W Phase
J S R C B
E D —
H E — P —
G F F — R — Receptacle: CE05-2A18-10PD-B
G 0V S Battery − (Note*) Non-environmental mating connector:
H +5Vdc T Battery + (Note*) MS3108B18-10S (L-Type)
J FG (Frame Ground) *Note: Used with an absolute encoder only. Cable Clamp: MS3057-10A
MS3108B20-29S (L Type) Power Wiring Terminal Box
Cable Clamp: MS3057-12A Terminal Connection Screw Size
U, V, W Motor
M10
Ground
154
_
(2) 17 Bit Incremental/Absolute Encoder, with Brake

W
L
U
0.0020 (0.05) A
T
LL
0.0020 (0.05) A
Cross-section Y-Y
LF LD LR
LC
Fan connector LN LP
LE CK1 CK2
LG
A
QK
ΦL
ΦL
Y
H
ΦS
ΦLB
LC
Y
KG Power wiring KT
Encoder connector A Φ2.40 (Φ61) KS 4 - ΦLZ
KB1
0.0012 (0.03) KN
KB2

SGMBH- L LL LR LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U
2BD A6C 33.86
28.35 6.97 15.47 21.89 23.78 8.82
(860 (720) 5.51 (177) 9.06 (393) 4.57 (556) (604) (224) 8.66 6.42 5.87 1.77 0.98 9.84 10.43 9.06 9.84 0.20 0.79 11.81 0.53 2.36 5.51 4.33 0.71 0.43 0.28
36.64 31.13 (140) 9.65 (230) 18.16 (116) 24.57 26.46 11.5 (220) (163) (149) (45) (25) (250) (265) (230) (250) (5) (20) (300) (13.5) (60) (140) (110) (18) (11) (7)
3ZD A6C (930)
(790) (245) (461) (624) (672) (292)
Servomotor
Type
SGMBH
Mass Radial Load Thrust Load Dimension *ΦS **ΦLB ***T ****W
SGMBH-
331 1323
Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance
2BD A6C
(150) (5880) 485 in 2.362 +0.00118 -0.00043 9.055 +0.0000 -0.00181 0.433 +0.0000 -0.00043 0.709 +0.0000 -0.00169
375 1410 (2156) mm 60 +0.030 -0.011 230 +0.000 -0.046 11 +0.000 -0.1103 18 +0.000 -0.043
3ZAD A6C
(170) (6272)
Power WiringTerminal Box

Terminal Connection Screw Size Fan Connector
D A
A U Phase
U, V, W Motor B V Phase
C B C W Phase
M10
D Ground Terminal
Ground
Receptacle: CE05-2A18-10PD-B
Non-environmental mating connector:
A, B Brake M4 MS3108B18-10S (L-Type)
155
_
(3) 17 Bit Incremental/Absolute Encoder

W
0.0020 (0.05) A
U
L
T
LL Φ0.0020 (Φ0.05) A
Cross-section Y-Y
LD LF
LN LP LC
Fan connector
LE CK1 CK2
LG
A
ΦL
ΦL
QK Y
H
ΦS
ΦLB
J
LC
Y
Power wiring KT
KG
A Φ2.40 (Φ61) KS 4 - ΦLZ
Encoder connector KB1
0.0012 (0.03) KN
KB2

SGMBH- L LL LD LF LN LP KB1 KB2 KG KN KS KT CK1 CK2 J ΦLA ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W**** T*** U
3GD A61 32.0

26.5 9.45 5.91 20.1 22.0 11.6
(814) (674) 9.29 (240) (150) 7.87 (510) (558) (295) 8.66 7.91 6.85 2.36 2.36 8.66 11.8 9.84 11.8 0.20 1.38 13.8 0.69 2.76 5.51 4.33 0.79 0.47 0.29
33.7 28.1 (236) 11.1 7.87 (200) 21.7 23.6 13..2 (220) (201 (174) (60) (60) (220) (300) (250) (300) (5) (35) (350) (17.5) (70) (140) (110) (20) (12) (7.5)
4ED A61 (855)
(715) (281) (200) (551) (599) (336)
SGMBH

Servomotor
Type
Mass Radial Load Thrust Load
SGMBH-
SGMBH
Dimension *ΦS **ΦLB ***T ****W

507.1 1674 Unit Diameter Tolerance Diameter Tolerance Length Tolerance Length Tolerance
3GD A61
(230) (7448) 485 in 2.76 +0.0012 -0.004 9.84 +0.0000 -0.0018 0.47 +0.0000 -0.00433 0.79 +0.0000 -0.00204
551.1 1762 (2156)
4ED A61 mm 70 +0.030 +0.011 250 +0.000 -0.046 12 +0.000 -0.110 20 +0.000 -0.052
(250) (7840)
.
Encoder Plug Connector Wiring on the Encoders Fan Connector
Fan Connector
M A B A — K —
D A A U Phase
L N P C B — L —
T B V Phase
K D C Data + M —
C W Phase
J S R D Data − N — C B
E D —
H E — P —
G F F — R — Receptacle: CE05-2A18-10PD-B
G 0V S Battery − (Note*) Non-environmental mating connector:
H +5Vdc T Battery + (Note*) MS3108B18-10S (L-Type)
J FG (Frame Ground) *Note: Used with an absolute encoder only. Cable Clamp: MS3057-10A
U, V, W Motor
M10
Ground
156
_
(4) 17 Bit Incremental/Absolute Encoder

0.87 (22) = W
0.55 (14) = T
0.35 (9)
Cross-section Y-Y
38.19 (970) 0.0020 (0.05) A

31.50 (800) 6.69 (170)
Power wiring
26.93 (684) Φ0.0020 (Φ0.05) A
Fan connector 16.57 (421)
12.99 (330)
9.29 (236) 14.41 (366)
11.81 (300)
12.32 (313) 7.87 (200) 8.66 (220)
0.20 (5)
Φ2.40 (Φ61)
10.24 (260)
Ι 13.8
7.91 (201)
( Ι 350)
6.69 (170)
Y
Φ3.15
(Φ80)
7.09 (180)
Encoder connector Y
A 3.54 (90)
15.98 (406) 4.75 (121) 4-Φ0.94
0.0012 (0.03) (Φ24)
5.49 (139.5) 5.49 (139.5)
12.99 (330)
Approximate Allowable Radial Specified Tolerances

Allowable Thrust Load
Type SGMBH Mass Load
lb (N) Dimension *T *W
Servomotor
lb (kg) lb (N)
SGMBH
5ED AL1 772 (350) 1895 (8428) 485 (2156) Unit Length Tolerance Length Tolerance
Note: 1. Dimensions are the same when using either incremental or absolute encoders in 0.55 +0.0000 -0.00433 0.87 +0.0000 -0.00204
(with or without optional shaft seal)..
2. Tolerances on the dimensions of flange type LB, of shaft extensions S, and of keyway width mm 14 +0.000 -0.110 22 +0.000 -0.052
and depth are based on JIS (Japanese Industrial Standard)
Encoder Plug Connector Wiring on the Encoders Fan Connector Fan Connector
M A B A — K — A U Phase
L N P C D A B V Phase
B — L —
T
K D C Data + M — C W Phase
J S R D Data − N — C B D —
E
H E — P — Receptacle: CE05-2A18-10PD-B
G F
F — R — Non-environmental mating connector:
G 0V S Battery − (Note*) MS3108B18-10S (L-Type)
H +5Vdc T Battery + (Note*) CableClamp: MS3057-10A
U, V, W Motor
M10
Ground
157
Selecting Your SGMBH Sigma Servo System

First, select the Sigma servomotor suited for your application using SigmaSize: the Yaskawa
Use the diagram below to locate and identify the components of your system. Each item is
letter-coded and cross-referenced in the option tables on the following pages.
5CN Shaft Keyway
For Monitor (D) SGMBH
Servomotor
3CN (A)
Connector (D) (B) Encoder side
Fan Cable Connector (D)
1CN 2CN
Encoder Cable (C)
I/O Signal
Connector Specify a technical manual, if it is needed, on your
(D)
Sigma Series SGMBH/SGDH User’s Manual: SIEZ-SXX-
Regenerative Unit (E) Dynamic but it must be requested).
(Required) Brake
SGMBH
(Optional)
Servomotor
SGMBH

SGMBH - 2B D C A 6 1
Sigma Servomotor Type
Accessories
SGMBH
1: None
Rated Output
C: 24VDC Brake (22+30 Kw Only)
2B: 22.0kW (30hp)
3Z: 30.0kW (40hp) S: Shaft Seal
3G: 37.0kW (50hp) E: Brake and Shaft Seal
4E: 45.0kW (60hp) Specifications
5E: 55.0kW (74hp) 6: Flange, straight shaft with key
and tap (Up to 45kW)
Power Supply L: Foot mount, straight shaft with
D: 400 VAC Series key and tap (55kW only)
Encoder Specifications Design
C: 17-Bit Incremental Encoder A: Standard (Revision)
2: 17-Bit Absolute Encoder
158

Use the table below to select the appropriate SGMBH Sigma servomotor and amplifier
construction/features.).
Amplifier
Motor
Peak Rated MODEL # (B)*
Motor Inertia Motor Regenerative and
Description Torque Torque Analog/Digital
(in·lb·s2 x 10-3) MODEL # (A) Unit Amplifier
(in·lb) (in·lb) Input
Item Class
SGDH-
400V 3-Phase SGMBH-2BDCA61
2480 1240 525 2BDE JUSP-RA12
17-Bit SGMBH-2BDCA6C
Incremental SGMBH-3ZDCA61
Encoder 3380 1690 685 3ZDE JUSP-RA13
SGMBH-3ZDCA6C
Straight Shaft Non-Stock
with 4170 2090 1230 SGMBH-3GDCA61 3GDE JUSP-RA14
Keyway
5060 2530 1336 SGMBH-4EDCA61 4EDE JUSP-RA15
2000rpm
maximum
6120 3100 1750 SGMBH-5EDCAL1 5EDE JUSP-RA16
MS Connectors
Note: 24VDC brakes for SGMBH Sigma servomotors are standard. Contact a local source for 24VDC power supplies.
* External regenerative units are required. For detailed SGDH amplifier specifications and dimensions, refer to pages 165 -188.
Consult factory for availability of 37KW, 45KW, and 55KW motors with holding brakes.
Servomotor
SGMBH
159

Use the table below to select pre-wired cables for your SGMBH Sigma servomotor.
Part Number
Motor
Cable Description (C) Without Comments Item Class
Size (kW) With Brake
Brake
22 4×6AWG 4×6AWG
2×14AWG
4×4AWG Based on 30°C
30 4×4AWG
2×14AWG
Recommended ambient temperature Source
Power Cable *** 4×2AWG — Locally
37 4×2AWG
2×14AWG —
4×1AWG
45, 55 4×1AWG
2×12AWG
Use following key to specify cable
length (last digit of part #):
B1E-(A)** 03: 3m
SGMBH Fan Power 05: 5m
Cable 10: 10m
15: 15m
B1CE-(A)** 20: 20m
length (last digit of part #):
Encoder Cable 03: 3m
(incremental or JZSP-CMP22-(A)** 05: 5m
absolute) 10: 10m (standard)
15: 15m
20: 20m
Use following key tospecify cable
Encoder Cable Only length (last digit of part #):
for solder connections JZSP-CMP29 - _ _ 20: 20m
(up to 50m) 50: 50m
SGMBH
Servomotor
All Stock*
SGMBH
Input/Output 1CN 35mm DIN rail mountable; the

Cable & Transition JUSP-TA50P cable length is 0.5m.
Terminal lock

Input/Output length (last digit of part #):
1CN Cable with JZSP-CKI01-(A)** 1: 1m (standard)
Pigtail Leads 2: 2m
3: 3m

Input/Output 1CN length (last two digits of the part
Female JZSP-CKI0D- D50: 0.5m
D-Sub output 01: 1m (standard)
Connector**** 02: 2m
03: 3m
* Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items.
** This part of the cable number is the revision level. Cable revision can change and is independent of this catalog’s reprinting.
*** Connectors for power cable should be ring terminals sourced locally by the customer, based on the motor power terminal block
screw size given in the dimension pages.
160
Connector Selection
Use the table below to select mating connectors for your SGMBH Sigma servomotor.
Motor
Connector Item
Size Part Number Comments
Description (D) Class
(kW)

Motor Fan*
MS Connector for
Encoder Cable MS3108B20-29S L-type connector
(incremental or
absolute encoder)

1CN Mating JZSP-CKI9 speed and torque moni-
Connector All tor service checks. Stock
2CN Encoder
Servomotor
JZSP-CMP9-1 —
Mating Connector
SGMBH
3CN Peripheral — YSC-1 —
Mating Connector
5CN Connector
and 1m Cable with — DE9404559 —
Pigtails
connector MS3108B18-10S is compatible with cable clamp MS3057-10A. MS connectors listed in this table are non-environ-
mental.
161

Use the table below to select peripheral devices for your SGMBH Sigma servomotor.
JUSP-OP02A-1
Hand-held Digital and Portable unit with lm adapter
Operator Panel JUSP-CM500-1
cable for Sigma II.
Stock

tem Requirements Pentuim 200
MHz, 64MB RAM, 200MB hard
SigmaWin+ Software JZSP-WP0001 drive, CDROM Drive, RS-232 or
RS-422 port, Screen rsolution
dows 95,98,NT4.0,2000,ME.
SGMBH
Servomotor
Absolute Encoder Battery JZSP-BA01 3.6V, 1000mAh (Lithium Battery)

SGMBH

Software Interface Cable — YS-12 9-pin connector
Optional Dynamic Brake Unit
for 22kW and 30kW amplifiers JUSP-DB03
Optional Dynamic Brake Unit

for 37kW amplifier JUSP-DB04
— Non-Stock
Optional Dynamic Brake Unit JUSP-DB05
for 45kW amplifiers
Dynamic Brake Resistor Unit JUSP-DB06

for 55kW amplifiers
162
400V Sigma II Servo Systems
SGDH Servo Amplifier- For Speed, Torque, & Position Control

With Incremental or Absolute Encoder

SGDH Connections 189 - 197
Peripherals 198 - 200
SGMGH Sigma II Servo System 127 - 138
SGMSH/UH Sigma II Servo System 139 - 152
SGMBH sigma II Servo System 153 - 164
400V Three-phase
Design Features
1. Improved Performance
z Higher bandwidth response (up to 400Hz speed loop frequency response)
z Positioning settling time shortened to 1/2 to 1/3
z Smooth control at low rpm
made possible by Sigma II servomotors’ high resolution feedback
2. Easy Operation
z All-in-one model (speed, torque, and position control)
z PC monitoring function available including graphical tuning and file storage
z Adaptive-tuning function
Online auto-tuning
z Multi-axis communication provided as standard
One PC can communicate with up to 14 SGDH units by parameter setting
z Built-in parameter setting device
z On-board storage of alarm history
z Automatic determination of motor settings at connection
Servo Amplifiers
3. Additional functionality with ready-to-install application modules
z Configurable single axis controls including serial communication capability
SGDH
z Fieldbus connectivity (Devicenet¥, Profibus¥, etc.)

z Full closed loop (optional position feedback)
z Single axis motion controller
z UL, cUL listed (File #: E147823), CE compliance
163
Sigma II Series
SGDH - D E
SGDH Servo Amplifier Model
Rated Output E: Speed, Torque, and
Position Control
Power Supply
D: 400V
Amplifier Capacity AC Supply

Model kW (HP) Phases
05 0.5 (.67)
10 1.0 (1.3)
15 1.5 (2.0)
20 2.0 (2.7)
30 3.0 (4.0)
50 5.0 (6.7)
60 6.0 (8.0)
75 7.5 (10) 3
1A 11 (15)
1E 15 (20)
2B 22 (30)
3Z 30 (40)
3G 37 (50)
4E 45 (60)
5E 55 (74)
Servo Amplifiers
SGDH
164
SGDH Amplifier Ratings and Specifications

Main Circuit Three-phase 380 to 480Vac +10% to -15%, 50/60 Hz.
1. 24VDC ±10% to ±15%, 1A (maximum)

Input Power
Supply
2 . 24VDC ±10%, 40W for 22 to 55kw units

Note: For 22 to 55kW units only, the power supply for the optional dynamic brake
Control Circuit (DB) contactor is made from the control circuit power supply. If DB operation is nec-
essary when the power interruption occurs, maintain the DC24V while the DB oper-
ates. If 5 times inertia is attached and a standard DB resistor is used, DB operation
time is approximately 2 to 5 seconds.
Control Mode Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation)
Feedback Serial incremental encoder, absolute encoder
Ambient/Storage Temperature* 0 to 55°C / -20 to 85°C
Basic Specifications
Ambient/Storage Humidity 90% or less (no-condensing)

1. 4.9m/s2 / 19.6m/s2 for 500W to 15kW units
Location
Vibration/Shock Resistance 2 . 9.8m/s2 (1G) / 49m/s2 (5G) for 22 to 55kW units

Cyclic shock resistance is 29m/s2 (3G)
Structure Base mounted (duct ventilation available as option) and flat mount type
1 : 5000 (The lowest speed of the speed control range is the speed at which the
Speed Control Range
servomotor will not stop with a rated torque load.)
Load Regulation 0% to 100%: 0.01% max. (at rated speed)
Regulation **
Voltage
Speed
Regulation Rated voltage ±10% : 0% (at rated speed)

Temperature
25 ± 25°C : 0.1% maximum (at rated speed)
Performance
Regulation
400Hz (at JL = JM)
Frequency Characteristics
Note: 100 Hz (JL = JM) for 22 to 55kW systems
Accel/Decel Time Setting 0 to 10s (Can be set individually for acceleration and deceleration).
±6VDC (variable setting range: ±2 to ±10VDC) at rated speed (forward rotation with
Reference
Reference Voltage ***

Speed
positive reference); input voltage: ±12V (maximum)

Circuit Time Constant —
±3VDC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with
Reference
Reference Voltage ***

Speed/Torque Control Mode
Torque
positive reference), input voltage: ±12VDC (maximum)

Circuit Time Constant Approximately 47μs
Rotation Direction Uses P control signal
Contact Speed
Selection
Reference
Input Signal
Forward/reverse rotation current limit signals are used (first to third speed selec-
Servo Amplifiers
Speed Selection
tion). When both signals are OFF, the motor stops or enters another control mode.
SGDH
Notes: * Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cab-
inet must not exceed the specified range.
** Speed regulation is defined as follows:
( no-load motor speed - full-load motor speed )

Speed regulation = ------------------------------------------------------------------------------------------------------------------------- x100%
rated motor speed
*** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load
and shaft end).
165
Ratings and Specifications (cont’d)

Bias Setting 0 to 450rpm (setting resolution: 1rpm)
Performance
Feed-forward Compensation 0 to 100% (setting resolution: 1%)

Positioning Control Mode
Position Complete Width Setting 0 to 250 reference units (setting resolution: 1 reference unit)
Sign + pulse train, 90° phase difference 2-phase pulse (phase A + phase B), or
Reference
Type
CCW + CW pulse train
Signal
Pulse Buffer Line driver (+5V level), open collector (+5V or +12V level)
Signal
Input
Pulse Frequency Maximum 500/200kpps (line driver/open collector)

Control SIgnal CLEAR (input pulse form identical to reference pulse)
Built-in Open Collector Power Sup-
+12V (With built-in 1kW resistor)
ply *
Phases A, B and C: Line driver output
Position
Output Form
Output
Phase S: Line driver output (Only when absolute encoder is used)

Frequency Dividing Ratio Any
I/O Signals
Servo ON, P control (or forward/reverse rotation in contact input speed control
Sequence Input mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT),
alarm reset, forward rotation current limit, and reverse rotation current limit (or
contact input speed control)
— Servo alarm, 3-bit alarm codes
Sequence
Output
Configurable: (Any 3 of these sig- Positioning complete (speed coincidence), servomotor rotating, servo ready,
nals) current limit, brake release, warning, and near position signals
Dynamic Brake (DB) Activated at main power OFF, servo alarm, servo OFF or overtravel
Regenerative Processing Incorporated. For 6 to 55 kW units, external regenerative resistor must be
mounted.
Overtravel (OT) Prevention Motor decelerates or coasts to a stop, or is stopped by a dynamic brake. This
requires optional dynamic brakes for 22 to 55kW units.
Overcurrent, overload, regenerative error, main circuit voltage error, heat sink
Protection overheat, power open phase, overflow, overspeed, encoder error, encoder dis-
connected, overrun, CPU error, parameter error.
LED Display POWER, CHARGE, five 7-segment LEDs (built-in digital operator functions)
Built-in Functions
Built-in analog monitor connector to observe speed, torque, and other reference
signals
Analog Monitor (5CN) Speed: 1V/1000rpm
Torque 1V/rated torque
Pulses remaining: 0.05V/reference units or 0.05V/100 reference units
Digital operator (mount type or hand-held)
Interface RS422A port such as person computer (RS-232C port can be used if some con-
Communication
ditions are met).

1 : N Communication N can be up to 14 when RS-422A port is used.
Servo Amplifiers
Axis Address Setting Set via user parameters

Status display, user constant setting, monitor display, alarm traceback display,
Functions jogging, autotuning, speed/torque reference signals, other graphing functions,
SGDH
etc.
Others Reverse rotation connection, home position search, automatic servomotor ID,
DC reactor connection terminal for high power supply frequency control.
Note: * The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier.
166

• SGDH-05DE, -10DE, -15DE (400V Three-phase, 0.5kW to 1.5kW)
2-Φ0.20 (Φ5) holes
Heat sink
Air flow 0.31 (8)

SGDH
YASKAWA
1.54
(39)
88888
MODE/SET DATA/
CN3
6.30 (160)
CHARGE POWER
L1 C
N
3
L2
⊕1
4.17 (106)
⊕2
C
CN1
N
L1C 1
L2C
B1
B2
U CN2
V
C
W N
2
Terminal 0.16 (4)

Ground terminal block
2 x M4 screws (3 types) 2.95 (75) 7.09 (180)
Air flow
0.20 (5) 4.33 (110)

2 x M4 screw holes
(5.5)
0.22
0.28 (7) 5.57 (141.5)

5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
Cooling fan
0.20
(5)
0.20 3.94 (100) ±0.020 (0.5) 0.20 Approximate mass: 6.17lb (2.8kg)
Connectors on the amplifier (supplied):

Connector Symbol Servo Amplifier Receptacle Manufacturer
Servo Amplifiers
CN2 53460-0611 Molex Co.
SGDH

User needs to obtain the following:
Connector Symbol Mating Connector Manufacturer
1CN 10150-3000VE connector 3M Company
10350-52A0-008 case
2CN 55100-0600 Molex Co.
3CN JEZ-9S connector JST Company
J-C9-2C case
167
• SGDH-20DE, 30DE (400V Three-phase, 2.0kW, 3.0kW)
2-Φ0.24 (Φ6) holes

Heat sink
Air flow 0.315 (8)
SERVOPACK
SGDH
YASKAWA
88888
1.54
(39)
MODE/SET DATA/
CHARGE POWER
CN3
CN3
CN1
CN1
9.84 (250)
CN2
CN2
7.72 (196)
B2
B3
U
V
W
Air 14-pin terminal 0.16 (4)

Ground terminal
2 x M4 screws flow M4 mounting screws 2.95 (75) 7.09 (180)
0.24 (6) 4.33 (110)
4 x M5 screw holes
0.24
(6)
0.28 (7) 5.57 (141.5)

9.39 (238.5) ±0.020 (0.5)
(Mounting pitch)
(100°)
1.57
(40) Cooling fan
Servo Amplifiers
SGDH

(5.5)
0.22
0.20 3.94 (100) 0.20

(5) ±0.020 (0.5) (5) Mating connectors: See page 167
(Mounting pitch)
168
• SGDH-50DE (400V Three-phase, 5.0kW)
2 Φ0.24 (Φ6) hole

Heat sink 0.31 (8)
5-pin terminal
YASKAWA SERVOPACK
SGDH-50AE
200V
M6 mounting screw
Ver.
6-pin terminal L1
1.54
(39)
M5 mounting screw L2
MODE/SET DATA/
CHARGE POWER
CN3
L3 C
N
3
2 CN1
C
N
1
9.84 (250)
L1C
CN2
L2C C
N
2
B1
B2
B3

5.31 (135) 9.06 (230)
2 × M4 screws
Cover (not shown) hinges
3-pin terminal from this line, closing over
M5 mounting screw the left side of the front.
4 x M5 screw holes
0.24
(6)
0.28 (7) 7.54 (191.5)

9.39 (238.5?) ±0.020? (0.5?)
Mounting pitch
(1 0
0° )
3.27 (8.3) Servo Amplifiers

SGDH
(5.5)
0.22

0.20 4.92 (125) 0.20
169
• SGDH-60DE, SGDH-75DE (400V Three-phase, 6.0kW, 7.5kW)
0.31 Cooling fan

(8) Air flow
0.39
(10)
8. 8. 8. 8. 8.
CN8
CN5
CN10
1.54
(39)
4.33 (110)
11.13 (282.6)
Control
Circuit
M5 Main circuit terminal Terminal
13.78 (350)
CN1 CN2
8.31 (211.1)
Main circuit/
Control circuit
4.61 (117) 1.81 (46) Terminal
1.26
(32) 0.28
(7)
L1 L2 L3 + + – + − B1 B2 U V W
0.28 (7) 0.94 4.76 (121) 3.54(90)

6.22 (158) 0.79 (24) maximum 9.25 (235)
1.2 (30.7) 1.11
(20)
maximum 9.05 (230) (28.3)
M4 Control circuit terminal M8 Ground terminal Ground terminal Air flow
Mounting Hole Diagram::

0.295
(7.5)
8.74 (22)
13.19 (335)
Servo Amplifiers
5.04 (128)
4.09 (104)
SGDH
0.98 0.98
0.295
7.09 (180)
(7.5)
(25) (25)
170
• SGDH-1ADE, SGDH-1EDE (400V Three-phase, 11.0kW, 15.0kW)
Cooling fan Air flow

0.28 (7) 9.69 (246)
0.295
(7.5)
0.39 (10)
SERVOPACK 200V
SGDH—
Ver.
YASKAWA
5.51 (140) 0.31
(8)
CN3
8. 8. 8. 8. 8.
maximum 17.72 (450)
DATA
1.54
(39)
17.13 (435)
CN10
12.60 (320)
CN1 CN2
M4 Control
circuit terminal
M4 Mounting screws
L1 L2 L3 +1 +2 B1 B2 U V W
1.42 (36)
0.28 0.28
(7.5)
0.295
0.68 (17)
0.35 (9)
(7)5.28 (134) (7)

2.05 (52) 2.91 (74) 0.94(24) 0.75 4.62 (117) 4.92 (125)
10.55 (268) (19) 11.12 (285)
M5 Main circuit terminal M8 Ground terminal Main/Control circuit terminal
Air flow
M8 Ground terminal
A
0.295
(7.5)
View A:
10.67 (271)
8.74 (2.22)
8.23 (209)
17.13 (435)
5.59 (142)
Servo Amplifiers
SGDH

0.295
1.18 0.28 (7)

(7.5)
7.87 (200) 1.18

(30) (30)
171
• SGDH-2BDE ( 400V Three-phase, 22kW)

18.07 (459)
Front cover Cooling fan
2.56
(65)
14.56 (370) Air flow
14.56 (370)
19.69 (500)
Control circuit
connector
5.59
3CN
(142)
4.57
1CN 2CN
(116)
14.56 (370) 6.61 (152)

2.56
(65)

M8 Main circuit terminal 2 x M8 screws 13.70 (348)

0.49
(12.5)
Note: Dimensions are for positioning of application

module. Unlike other Sigma II amplifiers, the male
connector is inset into the amplifier so that it does
not protrude past the outside edge.
4-M8 Mounting holes
18.70 (475)
Approximate Mass: 88.2lb (40kg)
0.98
(12.5)
0.98 12.60 (320)

0.49
(25) (25)
Servo Amplifiers
SGDH
172
• SGDH-3ZDE( 400V Three-phase, 30kW)
18.07 (459)
Front cover Cooling fan
2.56
(65)
14.56 (370) Air flow
14.56 (370)
19.69 (500)
Control circuit
connector
5.59
3CN
(142)
4.57
1CN 2CN
(116)
14.56 (370) 6.61 (152)

2.56
(65)


0.49
(12.5)

4-M8 Mounting holes
18.70 (475)

0.98
(12.5)
0.98 12.60 (320)

0.49
(25) (25) Servo Amplifiers

SGDH
173
• SGDH-3GDE ( 400V Three-phase, 37kW)
23.19 (589)
3.56 Front cover
Cooling fan
(65) Air flow
19.69 (500)
14.56 (370)
Control circuit
connector
5.59
3CN
(142)
4.57
1CN 2CN
(116)
19.69 (500)
2.56
(65)
6.87 (174.5)
Ground terminal 12.07 (306.5)
Mounting Hole Diagram Note: Dimensions are for positioning of application

(12.5)
0.49
4-M8 Mounting holes

18.70 (475)

Servo Amplifiers

SGDH
0.98 18.37 (450) 0.98

(25) (25)
(12.5)
0.49
174
• SGDH-4EDE ( 400V Three-phase, 45kW)

• SGDH-5EDE ( 400V Three-phase, 55kW)
25.16 (639)
Front cover
2.56
Cooling fan
(65)
Air flow
19.69 (500)
14.56 (370)
Control circuit Connector for operator

connector
5.59
(142)
3CN
4.57
1CN 2CN
(116)
21.65 (550)
2.56
(65)
6.87 (174.5)
M10 Main circuit terminal Ground terminal 12.07 (306.5)

2 x M8 screws 13.70 (348)

(12.5)
0.49

4-M8 Mounting holes

18.70 (475)

Servo Amplifiers
SGDH
0.98 19.69 (500) 0.98

(25) (25)
(12.5)
0.49
175
Regenerative Resistor Units (JUSP-RA)

Externally attach a regenerative resistor to the servopack. This resistor is used for dissipating
regenerative energy.
Use one of the following regenerative resistor units according to the servopack model.
Servopack Model SDGH- 2BDE 3ZDE 3GDE 4EDE 5EDE
Regenerative Resistor Unit JUSP- RA12 RA13 RA14 RA15 RA16
Resistance 9Ω 6.7Ω 5Ω 4Ω 3.8Ω
Resistance Capacity 3600W 3600W 4800W 6000W 7200W
Allowable Load Moment of Inertia 5 times the load moment of inertia at motor shaft.
Allowable Duty 2% ED at maximum speed and torque deceleration.

Servo Amplifiers
SGDH
176
• JUSP-RA12
Front cover
19.69 (500)
M4 Main circuit terminal
1.34
(34)
0.95 (24)
2.36
(60)
1.50 (38)
Wire lead-in hole with
1.77 Φ1.30 (Φ33) grommet 8.27 (210) 1.93
(45) 10.20 (259) (49)
13.7 (348)

(7.5)
0.30
4-M5 Mounting holes

19.09 (485)
Servo Amplifiers
SGDH

1.16 7.87 (200) 1.16
(7.5)
0.30
(29.5) (29.5)
177
• JUSP-RA13
Front cover
19.69 (500)
M8 Main circuit terminal
1.46
(37)
2.32
1.14 (29)
(59)
1.34 (34)
1.77 Φ1.30 (Φ33) grommet 8.27 (210) 1.93
(45) 10.20 (259) (49)
13.7 (348)

(7.5)
0.30
4-M5 Mounting holes

19.09 (485)
Servo Amplifiers
SGDH
Approximate Mass: 30.9lb (14kg) 1.16 7.87 (200) 1.16

(7.5)
0.30
(29.5) (29.5)
178
• JUSP-RA14
Front cover
19.69 (500)
1.46 9.09 (231) 1.14 (29)

3.11
(79)
(37)
1.77 Φ1.30 (Φ33) grommet 9.53 (242) M5 Main circuit terminal
(45) 19.06 (484)
13.7 (348)

(7.5)
0.30
4-M5 Mounting holes

19.09 (485)
Servo Amplifiers
SGDH
1.16 16.73 (425) 1.16

(7.5)
0.30
(29.5) (29.5)
179
• JUSP-RA15
19.69 (500) 8.82 (224) 1.50 (38)
(78.5)
1.40
(35.5) 3.09
1.77 (45) Wire lead-in hole with
Φ1.30 (Φ33) grommet 9.53 (242) M6 Main circuit terminal
19.06 (484)
13.7 (348)

(7.5)
0.30
4-M5 Mounting holes

19.09 (485)
Servo Amplifiers
SGDH
Approximate Mass: 47.4lb (21.5kg) 1.16 16.73 (425) 1.16

(7.5)
0.30
(29.5) (29.5)
180
• JUSP-RA16
19.69 (500)
1.40 8.82 (224) 1.50 (38)

(78.5)
3.09
(35.5)
1.77 (45) Wire lead-in hole with
Φ1.30 (Φ33) grommet 9.53 (242) M6 Main circuit terminal
19.06 (484)
13.7 (348)

(7.5)
0.30
4-M5 Mounting holes

19.09 (485)
Servo Amplifiers
SGDH
Approximate Mass: 51.8lb (23.5kg)
1.16 16.73 (425) 1.16

(7.5)
0.30
(29.5) (29.5)
181
• Type JUSP-RA18
2 - F0.24 (F6)
mounting holes
External Regenerative Resistors
13.2 (335) Regenerative resistors for servo amplifiers are internally

13.8 (350)
or externally mounted, as shown in the following table.
They can be mounted externally on all servo amplifiers,
but are especially effective when regenerative energy
exceeds the servo amplifier’s capacity.
0.24 (6) When mounted externally, be sure to remove the jumper

7.09 (180) 3.62 (92)
between B2 and B3, which deactivates the internal
8.66 (220) M4 Ground terminal regenerative resistor.
M5 Main
circuit terminal
For SGDH-60DE and 75DE
Current resistance Important: External regeneration resistor sizing and
220W 18Ω (x 4 configurable)
amplifier set-up will be important for proper operation.
11.8 (30)
Use Yaskawa’s SigmaSize and the Sigma II Series

Approximate mass: 8.82lb (4kg)
Servo System User’s Manual: YEA-SIA-S800-32.2
Regenerative Resistor Internal
• Type JUSP-RA19 Mounted in a Regenerati Minimum
Applicable Servo Servo Amplifier on Allowable
Amplifier Power Resistance
Resistance Wattage* (Ω)
Capacity
(Ω) (W)
(W)
SGDH-05DE 73
13.8 (350)
13.2 (335)
SGDH-10DE 108 70 14
SGDH-15DE
SGDH-20DE
400V SGDH-30DE 45 140 28 44
Three-pha SGDH-50DE
se 32 180 36 28
SGDH-60DE
18** 880** 180 18
SGDH-75DE
9.84 (250) SGDH-1ADE
3.74 (95) 14.25*** 1760*** 350 14.2
SGDH-1EDE
11.8 (300)
* Capacity prior to derating. If regeneration power require-
M5 Main M4 Ground terminal ments exceed internal capacity of the amp, install an exter-
For SGDH-1A to 1EDE circuit terminal Current resistance nal regeneration resistor (reference: Minimum allowable
220W 25.8Ω (x 8 configurable) resistance). Be sure to derate wattage of external resistor
to 20% or less (natural convection) and of 50% or less with
11.8 (30)
forced air cooling.

Servo Amplifiers
** Provided externally by JUSP-RA18

*** Provided externally by JUSP-RA19
SGDH
Approximate mass: 15.4lb (7kg)
182
DB Units (For large capacity servo systems)

Externally attach a DB unit to the servopack.
This DB unit is used for dissipating motor EMF energy.
The DB unit does not need to be installed if the dynamic brake function is not required.
• Specifications
Use one of the following DB units according to the servopack model.
Servopack Model SDGH- 2BDE 3ZDE 3GDE 4EDE 5EDE
Regenerative DB Unit JUSP- DB03 DB04 DB05 DB06
DB contactor and surge Built into servopack Built into DB unit

absorption unit
Resistance 0.8Ω
Resistance Capacity 180W 300W
Allowable Load Moment of 5 times the load moment of inertia at motor shaft.
Inertia
Allowable Duty Less than 1 time/H at maximum speed DB operation.
Servo Amplifiers
SGDH
183
• JUSP-DB03 Dynamic Brake Unit

Servo Amplifiers
SGDH
184
Servo Amplifiers
SGDH
185
Control of Harmonic Frequency in the Power Supply Circuit

If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals
(+) 1 and (+) 2 on the servo amplifier’s main circuit. Use the following table as a guide for selection of
the appropriate reactor.
Reactor Specifications
Applicable Servo Amplifier Impedance Rated Current Reactor Model
(mH) (A)
SGDH-05DE 4.7 1.5 X5074
SGDH-10DE
3.3 4.5 X5075
SGDH-15DE
400V SGDH-20DE
2.2 8.6 X5076
SGDH-30DE
SGDH-50DE 1.5 14.1 X5077
Larger size amplifiers — — Consult factory for availability
• DC Reactor Dimensional Drawings
ΦJ
B G
1 2
C D
A E
4 − ΦH F
Dimensions Approximate
Reactor
Servo Amplifiers
in (mm) Mass
Model
A B C D E F G ΦH ΦJ lb (kg)
SGDH
1.18 1.85 2.76 3.35 1.10 1.50 1.77 0.661

X5074 (30) (47) (70) 85 28 38 (45) (0.3)
0.16
1.57 2.32 3.94 4.72 1.57 1.97 2.17 (4) 0.17 1.984
X5075 (40) (59) (100) (120) (40) (50) (55) (4.3). (0.9)
X5076 1.97 2.91 4.92 5.51 1.38 1.77 2.36 0.20 2.43
(50) (74) (125) (140) (35) (45) (60) (5) (1.1)
X5077 Consult factory
186
Typical Internal Connection Diagrams

• 400V, 0.5kW to 3.0kW Models
Three-phase +10%
380 to 480V -15% B1 B2 B3
(50\60Hz) 1
FAN1
2
FU1
P P AC servomotor
Noise filter
±12V
+ + CHARGE
C1 U
1MC U
L1 + - -
R
XX1
L2 XX3 + + V V
S - C2
L3 XX2 - - W `
W `
T
N `
N
+ - - -
Gate drive over-
current protection
- D1 D2 D3
RLY1 + + +
PG
Control power CN2
+24VDC
(not provided) Voltage
Relay drive Gate drive
sensor
Voltage
sensor Interface
+ -
FU2
Voltage
24V
sensor For battery
±7.5V
+ + CN8 connection
±15V (x 4 circu its)
0V - DC/DC
- converter ASIC
(PWM control, etc.)
+5V
CN1
±12V PG output
AC power supply +5V Reference pulse

Open during (100/200V) input
Power ON Speed and torque
OFF 2RY A/D reference input
0V CPU
+
2RY High speed Monitor display POWER (position/speed
diode calculation, etc.) I/O
1MC
-
Analog voltage Sequence I/O
converter
Surge suppressor
CN10 CN5 CN3
Connector for Analog monitor Digital operator

optional unit output for supervision personal computer
• 400V, 5.0kW Models

Three-phase +10%
380 to 480V -15%
(50\60Hz) B1 B2 B3
FAN1
DB1 PM1
FU1
±12V
P AC servomotor
P
Line filter
+ R7
1MC CHARGE U
L1 BA1 BA3 + U
C1 _
R _
+ + V
B V
L2 _ _
S C2
+ +
L3 _ THS W
_ W
T
BA2
SCR1
N N
PLY1
- +
1 R2
Base drive over-current RLY2
2 protection isolator
Relay Voltage sensor
Control power drive isolator
+24VDC PG
(not provided) Gate drive
isolator
CN2
+ -
Servo Amplifiers
L1C Current
±5V sensor
+ CN8
_
DC/DC ±12V
L2C converter ASIC For battery
+7V (PWM control, etc.) connection
SGDH
CN1
+15V x 4 circuits
PG
output
+5V Reference
Power
OFF ON 1MC
Speed and torque
0V A/D
reference input
CPU
1MC Monitor display

converter
CN10 CN5 CN3

unit supervision
187
• 400V, 6.0W to 7.5kW Models
Three-phase +10%
380 to 480V -15% B1 B2
(50\60Hz) FAN1 FAN2
DB1
PM1/PM2/PM3
FU1
+24V -0V +24V -0V AC servomotor
P P
Line filter
C10 CT1
+
1MC U
L1 BA1 BA3 + + U
C1 C3 _
R _ _ CT2
+ + V
+ + B V
L2 _ _ R1
S C2 C4
+ _ _ CHARGE
L3 _ W
PLY1 W
T
BA2
SCR1
N N
- +
1
Relay Base drive over-current RLY2 R2
2 drive protection isolator
Voltage sensor
Control power isolator
+24VDC PG
(not provided) Gate drive
isolator
CN2
+ - L1C Current
±5V sensor
+ CN8
_
DC/DC ±12V
L2C converter ASIC For battery
+7V (PWM control, etc.) connection
CN1
+15V x 4 circuits
PG
output
+5V Reference
Power
OFF ON 1MC
Speed and torque
0V A/D
reference input
CPU
1MC Monitor display

converter
CN10 CN5 CN3

unit supervision
Servo Amplifiers
SGDH
188
• 400V, 500W to 15kW Models

Three-phase 380 to 480Vac
(50/60Hz)
R S T
1MCCB
Power Power Alarm

1MC


U
L1 B (2)
V M
L2 C (3)
W
L3 D (4)
L1C
24VDC ±15%
1 encoder
2 2CN PG
Be sure to
1CN
V-REF 5
LPF*
P SG
37
LPF*
P 38 Operating voltage: 30VDC
±1 to ±10V/rated torque (set by parameter) SG 10 ALO3
Operating current: 20mADC
39
ALO3
PULS PULS 7 150Ω
CW P
A phase /PULS 8
SIGN SIGN 11 33
CCW P PAO
CLR 35
36
Open-collector +12V
PL1 3 1kΩ 19
reference PCO
PL2 13 20
power supply /PCO
48
49
P BAT (-) 1 SN75175 or MC3486 manufac-
(When using an absolute encoder). SG
+5V SEN
SEN signal input 4
P SG 2
0V
3.3kΩ Speed coincidence detection
+24V +24V 47 25
0V 2RY (ON when positioning is
completed)
Servo Amplifiers
P-LS Forward run 27
SGDH
N-OT 43 prohibited
Reverse run prohibited with 29
N-LS OPEN 3Ry Alarm reset /S-RDY+ Servo ready output
ALM-RST 44 (ON when ready)
30
6Ry Forward current
P-CL 45 limit ON 31
N-CL 46 limit ON
Connector shell
189
• 400V, 22kW to 30kW Models
Three-phase 380 to 480Vac +10 %

(50/60Hz) -15
R S T
1MCCB
Noise filter Power Power Be sure to attach a

OFF ON 1MC 1Ry surge suppressor to
the excitation coil of U(A) V(B) W(C)
the magnetic contactor
1MC SUP and relay.
Regenerative Resistor Fan
U A (1)Servomotor Thermal
B1 B2
B (2) Protector
380 ~ 480V V M
1MC OV C (3) 1
W
L1/R Be sure to D (4)
ground
L2/S
L3/T 1B
Optical
24VDC +10% maximum DC24P encoder
DC24N
2CN PG

1CN Be sure to properly
prepare the end of
Reference speed: V-REF 5 the shielded wire.
LPF*
±2V to ±10V/rated speed (set by parameter) P SG 6 DU
T-REF 9 A/D DV
±1 to ±10V/rated torque (set by parameter) P SG 10 DW
Dynamic
Brake
PULS PULS 7 150W
CW
Phase A P /PULS 8 +24V
31 ALM+
Position reference SIGN 1Ry
SIGN 11
CCW P /SIGN 12
Phase B 32 1D
0V
CLR CLR 15 ALM-
P /CLR 14
37
ALO1 Alarm code maximum output:
+12V 38 ALO3
Open-collector PL1 3 1kΩ Operating voltage: 30VDC
reference PL2 13 39 ALO3 Operating current: 20mADC
power supply PL3 18
33 PAO
34 /PAO
Backup battery 2.8 to 4.5V BAT (+) 21 PG dividing ratio output
(When using an absolute encoder). P BAT (-) 35 PBO Applicable line receiver
22 36 /PBO
+5V SEN 4 SN75175 or MC3486 manufac-
SEN signal input tured by T/I, or the equivalent
P SG 2 19 PCO
0V 20
/PCO
48 PSO Amount of S-phase rotation
Used only with Serial data output
49 /PSO
an absolute encoder Applicable line receiver
24VDC ±15% +24V +24V 47 4.7kΩ 1 SG SN75175 or MC3486 manufac-
1Ry Servo ON tured by T/I, or the equivalent
/S-ON 40
Servo ON with 1Ry ON 0V 2RY
/P-CON 41 Proportional (P) control
P control with 2Ry ON Speed coincidence detection
Forward run 25 /V-CMP+ (ON when speed coincides)
Servo Amplifiers
P-LS P-OT 42 prohibited 26 (/COIN+) Positioning completed

Forward run prohibited with
P-LS OPEN N-LS N-OT 43 Reverse run /V-CMP-
prohibited (/COIN-) (ON when positioning is
Reverse run prohibited with completed)
SGDH
N-LS OPEN 3Ry ALM-RST 44 Alarm reset 27

/T-GON+ T-GON output
Alarm reset with 3Ry ON Forward current 28 (ON at levels above the setting)
6Ry /P-CL 45 /T-GON-
limit ON
Forward current limit ON with 6Ry ON
7RY /N-CL 46 Reverse current 29
limit ON /S-RDY+ Servo ready output
Reverse current limit ON with 7Ry ON 30 /S-RDY- (ON when ready)
Connector shell
190
• 400V, 37kW to 55kW Models
Three-phase 380 to 480Vac +10 %

(50/60Hz) -15
R S T
1MCCB
Noise filter Power Power Be sure to attach a

OFF ON 1MC 1Ry surge suppressor to
the excitation coil of U(A) V(B) W(C)
the magnetic contactor
1MC SUP and relay.
Regenerative Resistor Fan
U A (1)Servomotor Thermal
B1 B2
B (2) Protector
380 ~ 480V V M
OV C (3) 1
1MC W
L1/R Be sure to D (4)
ground
L2/S
1B
L3/T Optical
DC24P encoder
24VDC +10% maximum
DC24N 2CN PG
1CN SGDH Servo Amplifier
Be sure to properly
Reference speed: V-REF 5 prepare the end of
LPF*
±2V to ±10V/rated speed (set by parameter) P SG 6 the shielded wire.
Torque reference: T-REF 9 DU
LPF*
±1 to ±10V/rated torque (set by parameter) P SG 10 DV
DW
Dynamic
A/D Brake
DB24
PULS PULS 7 150W
CW DBON
Phase A P /PULS 8 +24V
31 ALM+
Position reference SIGN 1Ry
SIGN 11
CCW P /SIGN 12
Phase B 32 1D 0V
CLR CLR 15 ALM-
P /CLR 14
37
ALO1 Alarm code maximum output:
38 ALO3 Operating voltage: 30VDC
+12V 39 ALO3 Operating current: 20mADC
Open-collector PL1 3
reference PL2 13
power supply PL3 18
33 PAO
34 /PAO
Backup battery 2.8 to 4.5V BAT (+) 21 PG dividing ratio output
(When using an absolute encoder). P BAT (-) 35 PBO Applicable line receiver
22 36 /PBO
+5V SEN 4 SN75175 or MC3486 manufac-
SEN signal input tured by T/I, or the equivalent
P SG 2 19 PCO
0V 20
/PCO
48 PSO Amount of S-phase rotation
Used only with Serial data output
49 /PSO
an absolute encoder Applicable line receiver
24VDC ±15% +24V +24V 47 4.7kΩ 1 SG SN75175 or MC3486 manufac-
1Ry Servo ON tured by T/I, or the equivalent
/S-ON 40
Servo ON with 1Ry ON 0V 2RY
/P-CON 41 Proportional (P) control
P control with 2Ry ON Speed coincidence detection
P-LS 25 /V-CMP+ (ON when speed coincides)
P-OT 42 Forward run
26 (/COIN+) Positioning completed
Servo Amplifiers
Forward run prohibited with prohibited
P-LS OPEN N-LS N-OT 43 /V-CMP-
Reverse run (/COIN-) (ON when positioning is
Reverse run prohibited with prohibited completed)
N-LS OPEN 3RyALM-RST 44 27
Alarm reset /T-GON+ T-GON output
SGDH
Alarm reset with 3Ry ON 28 (ON at levels above the setting)

6Ry /P-CL 45 /T-GON-
Forward current
Forward current limit ON with 6Ry ON limit ON
7RY /N-CL 46 29
Reverse current /S-RDY+ Servo ready output
Reverse current limit ON with 7Ry ON limit ON 30 /S-RDY- (ON when ready)
Connector shell
191

JUSP-TA50P
Servo Amplifier
88888
CN1
+10%
Length of cable supplied: 19.69 (500) -0%
50-pin connector plug

MR-50RMD2
50-pin terminal block
M3.5 screws
1.77 (45)
1 49
2 50
9.74 (247.5)

JUSP-TA50P* (cable included)
10.01 (254.2)
0.14 (3.5) 0.14 (3.5)
0.61 (15.5)
1.77 (45)
(29.5)
1.16
Servo Amplifiers
0.27 (7.0) 0.27 (7.0)

10.28 (261.2)
SGDH
*terminal specifications : see the following page
192
JUSP-TA50P Terminal Block Pin Numbers and

Signal Names
SGDH Servo Amplifier JUSP-TA50P Terminal Block Unit
CN1 Pin Connector Terminal Block
Signal Name* Number Number Number
SG 1 A1 1
SG 2 B1 2
P
PL1 3 A2 3
SEN 4 B2 4
V-REF 5 A3 5
P
SG 6 B3 6
PULS 7 A4 7
P
/PULS 8 B4 8
T-REF 9 A5 9
SG 10 P B5 10
SIGN 11 A6 11
/SIGN 12 P B6 12
PL2 13 A7 13
/CLR 14 B7 14
CLR 15 P A8 15
16 B8 16
17 A9 17
PL3 18 B9 18
PCO 19 A10 19
/PCO 20 P B10 20
BAT (+) 21 A11 21
BAT (-) 22 P B11 22
23 A12 23
24 B12 24
V-CMP+ 25 A13 25
V-CMP- 26 P B13 26
/TGON+ 27 A14 27
/TGON- 28 P B14 28
/S-RDY- 29 A15 29
/S-RDY- 30 P B15 30
ALM+ 31 A16 31
ALM- 32 P B16 32
PAO 33 A17 33
/PAO 34 P B17 34
PBO 35 A18 35
/PBO 36 P B18 36
ALO1 37 A19 37
ALO2 38 B19 38
ALO3 39 A20 39
S-ON 40 B20 40
/P-CON 41 A21 41
P-OT 42 B21 42
N-OT 43 A22 43
/ALM-RST 44 B22 44 Servo Amplifiers
/P-CL 45 A23 45
/N-CL 46 B23 46
SGDH
+24V IN 47 A24 47
PSO 48 B24 48
/PSO 49 A25 49
P
50 B25 50
Connector Case
Cable: Supplied with the terminal block

P: Indicates twisted pair wires.
* Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the
factory. Use the connection diagrams on the previous pages for more functional details.
193
Amplifier to Encoder Connection Diagram

Connection Example
The following diagrams show the procedure for wiring a servo amplifier to an encoder.
Connecting an encoder (CN2) and output signals from the servo amplifier (CN1)
Incremental Encoders
Servo amplifier
CN1
A phase 1-33 PAO
1-34 /PAO P
Incremental encoder
B phase 1-35 PBO
1-36 /PBO P
CN2
C (5) 2-5 C phase 1-19 PCO
D (6) P 2-6 1-20 /PCO P
PG Output line-driver Applicable line

SN751LS194 manufactured receiver
by T/I, or the equivalent SN75175
H (1) 2-1 manufactured
PG5V by T/I, or the
G (2) 2-2 PG0V equivalent
0V 1-1 SG 0V
22AWG
J Connector shell
(Shell) Shield wires Connector
shell
Absolute Encoders
Absolute encoder Servo amplifier
CN2 CN1
A phase 1-33 PAO
1-34 /PAO P
C (5) 2-5 B phase 1-35 PBO
D (6) P 2-6 1-36 /PBO P
C phase 1-19 PCO
1-20 /PCO P
S phase 1-19 PSO
PG 1-20 /PSO P
H (1) 2-1
PG5V
G (2) 2-2 PG0V Applicable line
receiver: MC3486
Output line-driver or SN75175
SN751LS194NS manufactured
22AWG manufactured by T/I, by T/I, or the
or the equivalent equivalent
Servo Amplifiers
1-4 SEN
+5V
1-2 SG P
1-1 SG 0V
SGDH
T (3) 2-3 0V 1-21 BAT(+)

+
S (4) 2-4 1-22 BAT(-) P - Battery
J Connector shell 1-50

(Shell) Shield wires
Connector
P: Indicates twisted wire pairs. shell
194
Overload Characteristics
Servo amplifiers have a built-in overload protection function that protects the servo amplifi-
ers and servo motors from overload. Allowable power for the servo amplifiers is limited by
the overload protective function, as shown in the figure below.
The overload detection level is set under hot start conditions at a servomotor ambient
temperature of 40°C.
10,000
1,000
Operating Time (s)
100
10
5
1
Rated torque + Maximum torque
Approx.
2
Rated torque Maximum Torque
Motor Torque
Note: The overload protection characteristics in the figure are applicable when the servo amplifier is combined with one of the fol-
lowing servomotors:
SGMGH
SGMSH
SGMUH
SGMBH
Servo Amplifiers
SGDH
195
Cable Specifications and Peripheral Devices

Ratings and specifications for peripheral devices, as well as cable specifications for servo
amplifiers are summarized in the tables below.
CAUTION
Wiring Precautions
• Do not bundle or run power and signal lines together in the
same duct.
Keep power and signal lines at least 11.81” (30cm) apart.
• Use twisted pair or shielded multi-core twisted pair wires for
signal and encoder (PG) feedback lines.
• The maximum lengths for signal lines are as follows:
• Maximum of 9.84ft (300cm) for reference input lines.
• Maximum of 65.6ft (20m) for PG feedback lines.
Cable Specifications
The following table provides wire size specifications:

Symbol 05DE 10DE 15DE 20DE 30DE
L1, L2, L3
Main circuit power input terminals (Three-phase) 16 AWG [HIV 0.0019 (1.25)] 14 AWG [0.003 (2.0)]
for 400V Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed

Symbol 50DE 60DE 75DE 1ADE 1EDE
Main circuit power input terminals L1, L2, L3 HIV 3.5 (0.005) HIV 5.5 HIV 8 HIV 14
(Three-phase) (0.009) (0.012) (0.022)
Servo Amplifiers
Servomotor connection terminals U, V, W HIV 3.5 HIV 5.5 HIV 5.5 HIV 8 HIV 14
(0.005) (0.009) (0.009) (0.012) (0.022)
SGDH
for 400V Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires
Core wire at least 28 AWG [0.0002 (0.12)], tinned, annealed
196

Symbol 2BDE 3ZDE 3GDE 4EDE 5EDE
Main circuit power input termi- L1/R, L2/S, 4AWG 2AWG 1AWG
nals L3/T 6AWG [HIV 0.022 (14)] [HIV 0.034 [HIV 0.046 [HIV 0.059
(22)] (30)] (38)]
Servomotor connection 6AWG 4AWG 2AWG 1AWG 1AWG

U, V, W [HIV [HIV 0.034 [HIV 0.046 [HIV 0.059 [HIV 0.077
terminals 0.022 (14)] (22)] (30)] (38)] (50)]*
Control power supply termi- DC24P, DC24N 18 AWG [HIV 0.0015 (1.0)]
nals
Heatsink fan power 380~480V, OV 18 AWG [HIV 0.0015 (1.0)]
for
400V U(A),V(B),
Fan power terminals W(C) 18 AWG [HIV 0.0015 (1.0)]
12AWG
Regenerative resistor B1, B2 14 AWG [HIV 0.003 (2.0)] [HIV
connector 0.0054
(3.5)]
Dynamic brake power 12AWG

connector DU, DV, DW 16 AWG [HIV 0.002 (1.25)] [HIV 0.003
(2.0)]
Dynamic brake control power DB24, DBON 16 AWG [HIV 0.002 (1.25)]
*The larger dimension falls within the limits of 1AWG.

Notes: 1. Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.
2. Use cables with a minimum withstand voltage of 600V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate.
The following table shows types of cables. It is used in conjunction with the preceding
tables.
Cable Type Temperature Rating of Conductor

Name Composition °C
PVC Standard polyvinyl chloride cable -
IV 600V PVC cable 60
HIV Temperature-resistant vinyl cable 75
Servo Amplifiers
SGDH
197
The following table specifies the cables for CN1 and CN2 servo amplifier connectors.
Wire sizes were selected with the expectation of three cables per bundle, at an ambient
temperature of 40°C, at the rated current level.
Connector Name Signal Description Specification

Cable Use twisted pair or shielded twisted pair wire.
Control I/O Sig- CN1 Applicable wire (AWG): 24, 26, 28
nal Connector
Cable Use Yaskawa cable, or shielded twisted pair wire.
(AWG): 22, 24, 26
PG Signal Con- CN2 Applicable wire Use 22 AWG [0.0005 (0.34)] for the encoder power supply and 26 AWG
nector [0.0002 (0.14)] for other signals. These conditions permit wiring distances
up to 65.6ft (20m).
Peripheral Device Types and Capacities

Recommended
Amplifier Model Power Supply
Main Control Noise Filter**
Motor
Circuit Power Applicable Maximum MCCB or
Capacity per Rated Magnetic
Power Capacity Required Servomotor Inrush Fuse
Supply (kW) SGDH- (W) Servo Amplifier Input Model Specifications Contactor
Current Capacity*
(kVA) (Arms)
(Arms) (Arms)
0.45 05DE SGMGH-05DA 1.2 2.0 1.7
SGMGH-09DA
1.0 10DE SGMSH-10D 2.3 3.5 3.4 Three-phase
28 Fn258L-7/07 480Vac 10A or
SGMUH-10D (or FS5826-6-07) equivalent
7A (6A)
SGMGH-13DA
1.5 15DE 3.2 4.8 4.6
SGMSH-15D
SGMGH-20DA
2.0 20DE 4.9 6.0 7.1
SGMSH-20D Fn258L-16/07 Three-phase
SGMGH-30DA 56 (or 480Vac 20A or
FS5826-10-07) equivalent
3.0 30DE 15 SGMSH-30D 6.8 8.5 9.8 16A (10A)
SGMUH-30D
Three-p 5.0 50DE SGMGH-44D 10.3 14.9 58 14.9
SGMSH-50D 40A or
hase Three-phase equivalent
6.0 60DE SGMGH-55D 12.4 17.8 17.8 FS5559-35/33 (or 480Vac
400V FS5827-30-07)
93 35A (30A) 50A or
7.5 75DE SGMGH-75D 15.4 22.3 22.3 equivalent
75A or
11.0 1ADE SGMGH-1AD 22.6 32.7 32.7 Three-phase equivalent
116 FS5559-80/34 (or 480Vac
FS5826-55-07) 100A or
15.0 1EDE SGMGH-1ED 30.9 44.6 44.6 80A (55A)
equivalent
Servo Amplifiers
Three-phase 100A or
22.0 2BDE SGMBH-2B 36.7 53 162 100 Fn258L-75-34 480Vac equivalent
SGDH
30.0 3ZDE SGMBH-3Z 50.1 72 Fn258L-100-35 Three-phase 150A or

150 650 150 480Vac
37.0 3GDE SGMBH-3G 61.8 89 Fn258L-130-35 equivalent
45.0 4EDE SGMBH-4E 75.2 109 Three-phase 225A or
1300 225 Fn258L-180-7 480Vac
55.0 5EDE SGMBH-5E 91.9 133 equivalent
* Size per local code requirements . Typical fuse interrupting characteristics at 25°C: 200% for 2s minimum; 700% for 0.01s minimum.
** The Fnžžžž noise filter is manufactured by Schaffner Corporation. Specifications are available at: www.schaffner.com
198
Peripheral Device Manufacturers
J.S.T. Corporation Schaffner EMC Inc.

1957 South Lakeside Drive 52 Mayfield Ave.
Waukegan, Illinois 60085 Edison, New Jersey 08837
Phone: (847) 473-1957 Phone: 1-800 367-5566
http://www.jst.com (732) 225-9533
Fax: (732) 225-4789
Molex (Headquarters) http://www.shaffner.com
(Note: not selling 2CN serial
encoder connector in the US) TDK Corporation of America
2222 Wellington Court 1600 Feehanville Dr.
Lisle, Illinois 60532 Mount Prospect, Illinois 60056
Phone:(630) 527-4474 Phone: (847) 803-6100
Fax: (630) 548-2897 Fax: (847) 803-6296
(Connector information is not
Tokin America
available from Molex or Yaskawa)
32950 Alvarado-Niles Rd.
For literature requests or Molex Suite 500
support for the 2CN connector, Union City, California 94507
the Chicago area distributor is TTI
Phone: (510) 324-4110
Ask for the Yaskawa inside sales
Fax: (510) 324-1762
representative.
http://www.tokin.com
1-800-CALLTTI
(1-800-225-5884)
Servo Amilifiers
SGDH
199
NOTES:
Servo Amplifiers
SGDH
200
Sigma II Servo System Product Catalog Supplement
Yaskawa . . . A World of Automation Solutions
Yaskawa Electric America, Inc. Yaskawa Electric Europe Yaskawa Electric Corporation
Chicago-Corporate Headquarters Am Kronberger Hang 2, 65824 New Pier Takeshiba
2121 Norman Drive South Schwalbach, Germany South Tower, 1-16-1 Kaigan
Waukegan, Illinois 60085 49-6196-569-300 Minatoku, Tokyo 105 Japan
1-800-YASKAWA 81-3-5402-4511
http://www.yaskawa.de
http://www.yaskawa.com http://www.yaskawa.co.jp
Yaskawa Electric America, Inc. January, 2009 G-MI#99001K Printed In U.S.A.

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Sigma II Servo System Product Catalog Supplement 2009

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Sigma II Servo System Product Catalog Supplement

Sigma II Servo System

100/200V Single-phase Sigma II Servo System

SGMAH Sigma II Servo System...................................................................9 ~ 25

200V Three-phase Sigma II Servo System

SGMGH Sigma II Servo System ................................................................55 ~ 66

400V Three-phase Sigma II Servo System

SGMGH Sigma II Servo System ............................................................125 ~ 136

Series Description Applications

PCB Drilling Machines

Material Handling Equipment

SGMGH General Purpose

Machine Tool Feeds

SGMSH High Speed Series

High torque required at low

SGMUH High Speed Series

Servomotor Servo Amplifier

up to 100W 01BE 01AE — —

up to 1.0 kW — — — 10DE 139,

Protects the power Digital Operator Personal

the circuit OFF

Turns the servo

the circuit OFF

Turns the servo

Control Power Supply

SGDH Servo Amplifier

Selecting Your Sigma Servo System

Digital Operator (E)

Regenerative Unit (E)

Non-Stock: Normal delivery: 12 to 16 weeks.

Super High Power Rate Series

For Additional Information Page(s)

Servomotor Ratings and Specifications

Vibration: 15μm or less Ambient Humidity: 20 to 80% Mounting: Flange-mounted

Withstand Voltage: 1500Vac (non-condensing) Applicable Encoder: 13-bit incremental

Rated Rated Instantaneous Continuous Maximum Rated Rated Power

MOTOR Output Torque* Peak Rated Cur- Peak Angular Rate*

* Values when the servomotor is combined with an SGDH servo amplifier.

Moment of Inertia Holding Brake (at 20°C) Allowable

Coil Rated Load

oz • in • s2 × 10-3 kg • m2 × 10-4 oz • in • s2 × 10-3 kg • m2 × 10-4 W N•m Ω A kg • m2 × 10-4

01B 0.515 0.0364 0.635 0.0449 6 .35 96 0.25 1.20

01A 0.515 0.0364 0.635 0.0449 6 .35 96 0.25 1.20

* · Values apply to motors without brake.

Speed / Torque Curves

SGMAH-02A SGMAH-04A SGMAH08A

㪊㪇㪇㪇 3000 㪊㪇㪇㪇

㪈㪇㪇㪇 1000 㪈㪇㪇㪇

㪊㪇㪇㪇 㪊㪇㪇㪇 㪊㪇㪇㪇

㪈㪇㪇㪇 㪈㪇㪇㪇 㪈㪇㪇㪇

Dimensions in inches (mm)

• 30W (0.04hp), 50W (0.07hp), 100W (0.13hp)

11.81 (300) ±1.18 (30)

0.87 (22) 0.79 (20) 0.098 (2.5) 0.85 (21.5)

Type Approximate Allowable Allowable

Encoder Connection Motor Connection

• 200W (0.27hp), 400W (0.53hp), 750W (1.01hp)

11.85 (300) ±1.18 (30)

㪊㪇㪇㪇㪊㪇㪇㪇㪊㪇㪇㪇

㪈㪇㪇㪇㪈㪇㪇㪇㪈㪇㪇㪇

02F4C 6.54 5.35 2.46 200 3.53

㪈㪇㪇㪇㪈㪇㪇㪇㪈㪇㪇㪇

㪋㪇㪇㪇㪋㪇㪇㪇 4000

㪊㪇㪇㪇㪊㪇㪇㪇 3000

㪈㪇㪇㪇㪈㪇㪇㪇 1000