∑-Ⅴ EN 样本

AC SERVO DRIVES
SERIES
PRODUCT CATALOG
Field-Proven Performance:
A Servo that Does What You Need!
Certified for ER
TI FIED
ER
T I FI ED
C
ISO9001 and
MA N
MAN
ISO14001
M
M
TE
TE
AG S AG S
E MENT SY E MENT SY
QUALITY SYSTEM ENVIRONMENTAL

SYSTEM
JQA-0422 JQA-EM0202
JQA-EM0924
Build the machine youve
dreamed of, today!
v
AC servo drive
Sigma Five
You want maximum effect quickly and easily,

as does every engineer in the field.
And now the -V series is here with
the practical answer to your dreams!
How many times have you heard people say servos need
adjustment to work well? Our new tuning-less function
means it works as soon as you hook it up!
And if you want more performance than ever before,

the -V series advanced autotuning function lets
you accomplish it rapidly.
Advanced technology makes possible a host of safety

standards compliance for the first time in Japan (as of April 2007),
compliance with key international standards, a diverse motor

line-up, compact size, high speed and simple maintenance:
everything you need to answer todays requirements.
International Standards
Safety Standards
Safety Stop-0 (Standard)
RoHS Directive
RoHS Directive Stands for the EU directive on the Restriction of
the Use of Certain Hazardous Substances in Electrical
and Electronic Equipment.
ii
Features
Features
Superlative
Performance Operate your machinery faster and
with higher precision than ever!
The v
delivers the highest
performance in the industry.
Servo Adjustment Example
The best amplifier response
in the industry slashes settling time Position Error
In-house comparison: 1/12th
0
Reference Speed
Outstanding
frequency response Positioning Completed
1.6 kHz
Settling Time 0 to 4 ms
()v
Enhanced vibration suppression
Existing functions to minimize vibration have been enhanced, and new ones added,
improving tracking and further improving settling time. Vibration and noise during
driving have also been cut, along with vibration at machine edges when stopping.
Contributing to machine performance in conjunction with a medium-inertia motor
Small Capacity Medium Capacity

SGMJV Series SGMGV Series
Low Heating Compact Design
Improved motor constants have reduced Smaller package and about 20% lighter,
both losses and heating. but with the same inertia as the conventional model.
A small encoder connector is applied.
Better Tact Time
Peak torque has been boosted from 300% Improved Vibration Resistance
to 350%, contributing to shorter tact times New coupling delivers typical 5G
vibration resistance
Ease of Use
Moment of inertia has been
doubled in the same motor, Resolution 1,048,576 pulses/revolution
reducing the load inertia ratio
and boosting gain for faster settling
iii
Making servo adjustment
Simple quick and simple
Start-up
Installation and Basic Parameter

Unpacking Trial Operation
Wiring Setting
Faster setup SigmaWin+
Setup Wizard
Simple parameter set-up with
wizard-aided input
Wiring Check Function

The SigmaWin+ wiring check function checks
your wiring in a single operation
USB1.1 Support
Trace Function
Realtime trace of adjustment state
means you can check instantly.
Full of handy functions for start-up and more effective operation!

Selection
Servomotor capacity selection software
SigmaJunmaSize+
Optimal selection for

your application:
With consideration of moment
of inertia, DB resistance, etc.
Features
Let the series v

simplify your life!
Gain and Filter Operation

Adjustment
Simple Tuning New Advanced

Autotuning Window
Even without servo adjustment and with load
Get up and running quickly after hooking up the motor changes, oscillation- and vibration-free drive is
possible up to 20 times the load moment of inertia.
New Tuning-less Function Settling time: 100 to 150 ms level
The reference filter and feedback gain adjustment

Minimize settling time with functions have a new automatic feed forward gain
less vibration adjustment for optimal adjustment performance.
The friction compensation function automatically cancels
New Advanced out the effect of friction on machine characteristics.
Autotuning Settling time: 10 ms level
Fine-tuning can tweak machine performance to

Fine-tuning is a must the max.
New One-parameter Settling time: 0 to 4 ms level
Tuning
Maintenance
Faster Troubleshooting
PC tool Alarm
SigmaWin+ Diagnostic
Information
Alarm diagnostic function:
Presumes possible causes of the alarm and
immediately displays suggested corrective actions.
v
Use servos that really fit
Outstanding into your system
Expandability
A rich selection of models and
options to match your requirements
Extensive variety of motors to match any machine

Medium-inertia servomotors Improved control stability
Low-inertia servomotors High-speed acceleration and deceleration
Selection of servo actuators

Support for direct drive servomotors, linear servomotors and linear sliders
Standard support for analog voltage/pulse train reference series

or MECHATROLINK- communications reference series
Wide selection of option

modules for various
communication interfaces
and feedback Option
Module
Compliant with applicable

safety standards The first in the industry in Japan!
(as of April 2007)
Easy compliance with machine safety standards
Motor line-up to handle a wide range of markets and applications

SGMJV (20 bit)
SGMAV (20 bit) SGMGV (20 bit)
Low Inertia Medium Inertia
Resolution
Semiconductors Machine tools,

(Bonders) Semiconductors MC lathes/grinders Linear (High resolution)
(Probes)
LCD coater/
dispensers
Electronic LCD
Components scribers Injection molding machines
Metal processing
Robot articulated/
scalar/extraction
Food Packaging
Material Handling SGMJV (13 bit)
Textiles SGMGV (20 bit)
Medium Inertia
Moment of Inertia Ratio

Product Line-up
Product Line-up
Analog Voltage/Pulse Train Reference
SERVOPACKs
MECHATROLINK-2 Communications Reference
Rotary
Low Inertia
Direct Drive
Servomotors Medium Inertia
Series
Series
Series
Linear
Linear Cylinder Type Linear Sliders

Series -Stick Series -Trac Series
SERVOPACK Model
Rotary Servomotor Model
Three-phase 200 VAC Three-phase 400 VAC
SGMJV-A5A SGDV-R70A
Medium Inertia, SGMJV-01A SGDV-R90A

Three-phase
Small Capacity SGMJV-02A SGDV-1R6A
200 VAC
Servomotor SGMJV-04A SGDV-2R8A
SGMJV-08A SGDV-5R5A
SGMAV-A5A SGDV-R70A
SGMAV-01A SGDV-R90A
Low Inertia, SGMAV-C2A

Three-phase SGDV-1R6A
Small Capacity SGMAV-02A
200 VAC
Servomotor SGMAV-04A SGDV-2R8A
SGMAV-06A
SGDV-5R5A
SGMAV-08A
SGMGV-03D
SGDV-1R9D
SGMGV-05D
Medium Inertia, SGMGV-09D SGDV-3R5D

Three-phase
Medium Capacity SGMGV-13D SGDV-5R4D
400 VAC
Servomotor SGMGV-20D SGDV-8R4D
SGMGV-30D SGDV-120D
SGMGV-44D SGDV-170D
SGMCS-02B
SGMCS-05B
SGMCS-07B
SGMCS-04C
SGMCS-10C SGDV-2R8A
Direct Drive Three-phase
SGMCS-14C
Servomotor 200 VAC
SGMCS-08D
SGMCS-17D
SGMCS-25D
SGMCS-16E
SGDV-5R5A
SGMCS-35E
vii
Product Line-up
SERVOPACK Model
Linear Servomotor Model
Three-phase 200 VAC
SGLGW-30A050 SGDV-R70A
SGLGW-30A080
SGDV-R90A
SGLGW-40A140
Coreless Type SGLGW-40A253
SGDV-1R6A
(With standard magnetic way) SGLGW-60A140
SGLGW-40A365
SGDV-2R8A
SGLGW-60A253
SGLGW-60A365 SGDV-5R5A
SGLGW-40A140
SGDV-1R6A
Coreless Type SGLGW-60A140
(With high-efficiency SGLGW-40A253 SGDV-2R8A
magnetic way)
SGLGW-40A365
SGDV-3R8A
SGLGW-60A253
SGLFW-20A090
SGLFW-20A120 SGDV-1R6A
With F-type Iron Core SGLFW-35A120
Linear Servomotors
SGLTW-20A170 SGDV-3R8A
With T-type Iron Core SGLTW-35A170
SGDV-5R5A
SGLTW-50A170
SGLCW-D16A085
SGDV-R70A
SGLCW-D16A115
SGLCW-D16A145 SGDV-R90A
SGLCW-D20A100
SGLCW-D20A135
SGDV-1R6A
SGLCW-D20A170
Cylinder Type
SGLCW-D25A125
SGLCW-D25A170
SGDV-2R8A
SGLCW-D32A165
SGLCW-D25A215
SGLCW-D32A225 SGDV-5R5A
SGLCW-D32A285
SGT-G1 SGDV-R90A
SGT-G2
SGT-G4 SGDV-1R6A
SGT-F3
-Trac SGT-G3
SGDV-2R8A
SGT-G5
SGT-F4 SGDV-3R8A
Linear Sliders SGT-G6

SGDV-5R5A
SGT-G7
SGTMM-01 SGDV-R70A
-Trac-
SGTMM-03 SGDV-R90A
SGTMF-4A
SGDV-1R6A
SGTMF-4B
-Trac-MAG
SGTMF-5A
SGDV-5R5A
SGTMF-5B
Contents
Rotary Servomotors 1
SGMJV (Medium inertia, small capacity) 1
SGMAV (Low inertia, small capacity) 23
SGMGV (Medium inertia, medium capacity) 47
Rotary Servomotor General Instructions 67
Direct Drive Servomotors 75

SGMCS 75
Linear Servomotors 89
SGLGW (Coreless type) 89
SGLFW (With F-type iron core) 101
SGLTW (With T-type iron core) 115
SGLCW (Cylinder type -Stick) 131
Linear Servomotor General Instructions 145
Linear Sliders 153

-Trac 153
SERVOPACKs 165
SGDV- 01/05 (Analog voltage/pulse train reference type)* 165
SGDV- 11/15 (MECHATROLINK-2 communications reference type)* 187
*: Compatible with fully-closed loop control
Wiring Main Circuit and Peripheral Devices 207
Connection to Host Controller 221
ix
Rotary Servomotors
SGMJV
Model Designations
LWithout Gears
SGMJV - 01 A D A 2 1
Series 1st+2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit
Servomotor
SGMJV
1st+2nd digits Rated Output 4th digit Serial Encoder 7th digit Options
Code Specifications Code Specifications Code Specifications
A5 50 W 3 20-bit absolute (standard) 1 Without options
01 100 W D 20-bit incremental (standard) With holding brake
C
02 200 W A 13-bit incremental (standard) (24 VDC)
04 400 W With oil seal and holding brake
E
08 750 W (24 VDC)
5th digit Design Revision Order
S With oil seal
Code Specifications
3rd digit Power Supply Voltage
A Standard
Code Specifications
A 200 VAC
6th digit Shaft End
Code Specifications
2 Straight without key (standard)
Straight with key and tap
6
(optional)
Straight without key and with tap

8
(optional)
B With two flat seats (optional)
1
Servomotors
Rotary Motors
SGMJV
Features Application Examples
LMedium inertia LSemiconductor equipment
LInstantaneous peak torque LChip mounters
(350% of rated torque)
LPCB drilling stations
LMounted high-resolution serial encoder:
13, 20 bits LRobots
LMaximum speed: 6,000 rpm LMaterial handling machines
LWide Selection: 50 to 750 W capacity, holding brake LFood processing equipment

and gear options
Rotary Servomotors
LWith Gears
SGMJV - 01 A D A H 1 2 1
Series 1st+2nd 3rd 4th 5th 6th 7th 8th 9th
digits digit digit digit digit digit digit digit
Servomotor
SGMJV
1st+2nd digits Rated Output 5th digit Design Revision Order 8th digit Shaft End
A5 50 W A Standard 0 Flange output
01 100 W 2 Straight without key
02 200 W 6 Straight with key and tap
6th digit Gear Type
04 400 W 8 Straight without key and with tap
08 750 W Code Specifications
H HDS planetary low-backlash gear
9th digit Options
Code Specifications
Code Specifications 7th digit Gear Ratio 1 Without options
A 200 VAC C With holding brake (24 VDC)
Code Specifications
B 1/11 (Not available: 50 W)
4th digit Serial Encoder C 1/21
Code Specifications 1 1/5
3 20-bit absolute (standard) 2 1/9 (Only 50 W)
D 20-bit incremental (standard) 7 1/33
A 13-bit incremental (standard)
2
Ratings and Specifications
Time Rating: Continuous Thermal Class: B

Vibration Class: V15 Withstand Voltage: 1500 VAC for one minute
Insulation Resistance: 500 VDC, 10 M7 min. Enclosure: Totally enclosed, self-cooled, IP65
Ambient Temperature: 0 to 40C (except for shaft opening)
Excitation: Permanent magnet Ambient Humidity: 20% to 80% (no condensation)
Mounting: Flange method Drive Method: Direct drive
Rotation Direction: Counterclockwise (CCW)
Voltage 200 V
Servomotor Model: SGMJV- A5A 01A 02A 04A 08A
Rated Output *1 W 50 100 200 400 750
Rated Torque *1, *2 Nm 0.159 0.318 0.637 1.27 2.39
Instantaneous Peak Torque *1 Nm 0.557 1.11 2.23 4.46 8.36
Rated Current *1 Arms 0.61 0.84 1.6 2.7 4.7
Instantaneous Max. Current *1 Arms 2.1 2.9 5.8 9.3 16.9
Rated Speed *1 rpm 3000
Max. Speed *1 rpm 6000
Torque Constant Nm/Arms 0.285 0.413 0.435 0.512 0.544
0.0414 0.0665 0.259 0.442 1.57
Rotor Moment of Inertia kg-m210-4
(0.0489) (0.0740) (0.323) (0.506) (1.74)
Rated Power Rate *1 kW/s 6.11 15.2 15.7 36.5 36.3
Rated Angular Acceleration *1 rad/s2 38400 47800 24600 28800 15200
Applicable SERVOPACK SGDV- R70 R90 1R6 2R8 5R5
*1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other
values quoted are at 20C.
*2: Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached.
SGMJV-A5, -01: 200 mm 200 mm 6 mm
SGMJV-02, -04, -08: 250 mm 250 mm 6 mm
Note: The values in parentheses are for servomotors with holding brakes.
LTorque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGMJV-A5A SGMJV-01A SGMJV-02A

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

A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 0.15 0.3 0.45 0.6 0 0.25 0.5 0.75 1 0 0.5 1 1.5 2
Torque (Nm) Torque (Nm) Torque (Nm)
SGMJV-04A SGMJV-08A
6000 6000
Motor Speed (min-1)
Motor Speed (min-1)
5000 5000
4000 4000
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 1 2 3 4 0 2 4 6 8
Torque (Nm) Torque (Nm)
Notes: 1 The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs in the following combinations:
The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK
The dotted line: With a single-phase 200 V SERVOPACK
An SGMJV-A5 servomotor has the same characteristics in combination with three-phase and single-phase SERVOPACKs.
3 2 The characteristics of the intermittent duty zone differ depending on the supply voltages.
Servomotors
Rotary Motors
SGMJV
LDerating Rate for Servomotor Fitted with an Oil Seal

When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model
A5A 01A 02A 04A 08A
SGMJV-
Derating Rate % 80 90 95
LHolding Brake Electrical Specifications
Servomotor Holding Brake Specifications

Holding Brake Servomotor
Rated Output Capacity Holding Coil Resistance Rated Current Brake Release Brake Operation
Rotary Servomotors
Rated Voltage Model
W W Torque Nm (at 20C) A(at 20C) Time ms Time ms
SGMJV-A5A 50 6 0.159 96 0.25 60 100
SGMJV-01A 100 6 0.318 96 0.25 60 100
24 VDC10%
0 SGMJV-02A 200 6.9 0.637 83 0.29 60 100
SGMJV-04A 400 6.9 1.27 83 0.29 60 100
SGMJV-08A 750 7.7 2.39 75 0.32 80 100
Note: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor.
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake
operation time are correct for your servomotor.
LOverload Characteristics
The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
10000
1000
Detecting time (s)

100
10
1
100 200 300 350
Torque reference (percent of rated torque)
(%)
LAllowable Load Moment of Inertia at the Motor Shaft

The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Rated Allowable Load Moment of Inertia

Servomotor Model
Output (Rotor Moment of Inertia Ratio)
A5A, 01A, 02A 50 to 200 W 15 times
SGMJV-
04A, 08A 400 to 750 W 10 times
4
LLoad Moment of Inertia

The larger the load moment of inertia, the worse the movement response of the load.
The allowable load moment of inertia (JL) depends on motor capacity and is limited to within 5 to 30 times the rotor moment of
inertia of each servomotor (JM). This value is provided strictly as a guideline and results may vary depending on servomotor drive
conditions.
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load
moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take
one of the following steps if this occurs.
LReduce the torque limit.
LReduce the deceleration rate.

LReduce the maximum speed.
LInstall an external regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa representative.
Regenerative resistors are not built into 400 W SGDV-2R8 SERVOPACKs.

The following figures show the relationship between the load moment of inertia and motor speed using an example with a load
moment of inertia 10 to 15 times the rotor moment of inertia at the motor shaft.
External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in
regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.
LLoad Moment of Inertia and Motor Speed
SGMJV-A5A SGMJV-01A SGMJV-02A

Load Moment of Inertia (104kgm2)

0.9 1.4 4.5
0.8 1.2 4.0
0.7 3.5
1.0
0.6 3.0
0.5 0.8 2.5
0.4 0.6 2.0
0.3 1.5
0.4
0.2 1.0
0.1 0.2 0.5
0.0 0.0 0. 0
0 2000 4000 6000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1)
SGMJV-04A SGMJV-08A
5.0 18
4.5 16
4.0 14
3.5 12
3.0
10
2.5
8
2.0
6
1.5
1.0 4
0.5 2
0.0 0
0 2000 4000 6000 8000 0 2000 4000 6000 8000
Motor Speed (min-1) Motor Speed (min-1)
LAllowable Radial and Thrust Loads

Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the
ranges shown in the table.
Allowable Radial Allowable Thrust LR

Servomotor Model Reference Diagram
Load (Fr) N Load (Fs) N mm
A5A LR
78 54 20
01A
Fr
SGMJV- 02A
245 74 25 Fs
04A
08A 392 147 35
5
Servomotors
Rotary Motors
SGMJV
External Dimensions Units: mm
LWithout Holding Brakes (With Holding Brakes)

(1) 50 to 100 W
0.04 A
L
LL 25
0.04 Dia. A
20.5 LM 2.5
6.1 2 17 20 5 40
19
QK
14
12
Rotary Servomotors
U
Y
30 00.021 Dia.
W
46
Dia
.
8 00.009 Dia.
T
Y
Cross Section Y-Y
A
2-4.3 Dia. Shaft End
0.02 With Key and Tap
Tap Depth
Model Key Dimensions Approx.

L LL LM Tap s Depth
SGMJV- QK U W T Mass kg
A5A A21
No tap No key
(A5A A2C)
A5A A61 94 69 0.3

37 14 1.8 3 3
(A5A A6C) (139) (114) (0.6)
M3 s 6L
A5A A81
No key
(A5A A8C)
01A A21
No tap No key
(01A A2C)
01A A61 107.5 82.5 0.4

50.5 14 1.8 3 3
(01A A6C) (152.5) (127.5) (0.7)
M3 s 6L
01A A81
No key
(01A A8C)
Note: The models and values in parentheses are for servomotors with holding brakes.
<Shaft End and Other Options>

LWith Two Flat Seats LWith an Oil Seal
QH 7.5
1.5
8 00.009 Dia.
H1
30 00.021 Dia.
29.8 Dia.
H2
Model Dimensions of Servomotor with Two Flat Seats mm

SGMJV- QH H1 H2
A5A AB1 Oil Seal Cover
15 7.5 7.5
(A5A ABC)
Notes: 1 The 7th digit of the model designation is S or E.
01A AB1 2 Key dimensions are the same as those in the table above.
15 7.5 7.5
(01A ABC)
Note: The models in parentheses are for servomotors with holding brakes.
6
(2) 200 to 750 W

0.04 A
L
0.04 Dia. A
LL LR
20.5 LM LE LC
MD 1.5 17 21 LG MW
MH
14
QK
U
Y
W
LB Dia.
T
S Dia.
LA
Y
Cross Section Y-Y
Dia.
Shaft End
With Key and Tap
A Tap Depth 4-LZ Dia.
0.02
Model Flange Face Dimensions Taps Key Dimensions Approx.

L LL LM S MD MW MH
SGMJV- LR LE LG LC LA LB LZ Depth QK U W T Mass kg
02A A21
No tap No key
(02A A2C)
02A A61 110 80 0 0 0.9
51 30 3 6 60 70 500.025 5.5 140.011 14 3 5 5 8.3 21 13
(02A A6C) (150) (120) (1.5)
M5s8L
02AA81
No key
(02A A8C)
04A A21
No tap No key
(04A A2C)
04A A61 128.5 98.5 0 0 1.3
69.5 30 3 6 60 70 500.025 5.5 140.011 14 3 5 5 8.3 21 13
(04A A6C) (168.5) (138.5) (1.9)
M5s8L
04A A81
No key
(04A A8C)
08A A21
No tap No key
(08A A2C)
08A A61 155 115 0 0 2.7
85 40 3 8 80 90 700.030 7 190.013 22 3.5 6 6 13.8 27 15
(08A A6C) (200) (160) (3.6)
M6s10L
08A A81
No key
(08A A8C)

QH LS2
LS1
LE
S Dia.
H1
LB Dia.
E1 Dia.
E2 Dia.
H2
Model Dimensions of Servomotor with Two Flat Seats mm

SGMJV- QH S H1 H2 Oil Seal Cover
02A AB1 0
15 14 0.011 13 13
(02A ABC) Model Dimensions of Servomotor with an Oil Seal
04A AB1 SGMJV- E1 E2 LS1 LS2
0
15 140.011 13 13
(04A ABC) 02, 04 36 48 4 10
08A AB1 0
08 49 66 6 11
22 190.013 18 18
(08A ABC) Notes: 1 The 7th digit of the model designation is S or E.
2 Key dimensions are the same as those in the table above.
7
Servomotors
Rotary Motors
SGMJV
Selecting Cables
LCables Connections
LStandard Wiring (Max. encoder cable length: 20 m) LEncoder Cable Extension from 30 to 50 m
(See page 14.)
SGDV (Example)
SERVOPACK
SGDV
SERVOPACK
Relay Encoder Cable

(See page 14.)
e Cable with a Battery
Rotary Servomotors
(Required when an absolute
encoder is used.)
Encoder Cable (See page 12.)
w Cable with Connectors, or
Battery Case r Cable
encoder is used.)
Servomotor
Main Circuit Cable q Encoder-end Cable
Servomotor (See page 8 and 9.)
Main Circuit Cable
(See page 8 and 9.)
SGMJV SGMJV
Servomotor Servomotor
CAUTION
Separate the servomotor main circuit wiring from the signal line and encoder (PG) feedback line at least 30 cm,
and do not bundle or run them in the same duct.
LServomotor Main Circuit Cable

Contact Yaskawa Controls Co., Ltd.
Servomotor Order No.

Name Length Specifications Details
Rated Output Standard Type Flexible Type*
3m JZSP-CSM01-03-E JZSP-CSM21-03-E
10 m JZSP-CSM01-10-E JZSP-CSM21-10-E
50 to 100 W
SERVOPACK End Servomotor End
10 m JZSP-CSM02-10-E JZSP-CSM22-10-E 50 mm
For Servomotor
without Holding 200 to 400 W (1)
20 m JZSP-CSM02-20-E JZSP-CSM22-20-E Wire Markers
Brakes
30 m JZSP-CSM02-30-E JZSP-CSM22-30-E M4 Crimped Terminals
750 W
8
(Contd)
Selecting Cables

50 to 100 W
SERVOPACK End Servomotor End
10 m JZSP-CSM12-10-E JZSP-CSM32-10-E 50 mm L
For Servomotor
with Holding 200 to 400 W (2)
Brakes
40 m JZSP-CSM12-40-E JZSP-CSM32-40-E M4 Crimped Terminal
750 W
50 to 100 W JZSP-CSM9-1-E Crimping Type (3)

(A crimp tool is required.)
Servomotor-end
200 to 400 W JZSP-CSM9-2-E (4)
Connector Kit
750 W JZSP-CSM9-3-E (5)
50 to 400 W 20 m JZSP-CSM90-20-E JZSP-CSM80-20-E (6)
Cables
750 W 20 m JZSP-CSM91-20-E JZSP-CSM81-20-E (7)
*: Use flexible cables for movable sections such as robot arms.
(1) Wiring Specications for Servomotors without Holding Brakes (2) Wiring Specications for Servomotor with Holding Brakes
SERVOPACK-end Leads Servomotor-end Connector SERVOPACK-end Leads Servomotor-end Connector

Wire Color Signal Signal Pin No. Wire Color Signal Signal Pin No.
Green/yellow FG FG 1 Green/yellow FG FG 1
Blue Phase W Phase W 2 Blue Phase W Phase W 2
White Phase V Phase V 3 White Phase V Phase V 3
Red Phase U Phase U 4 Red Phase U Phase U 4
5 Black Brake Brake 5
Note: No polarity for connection to a holding brake.
9
Servomotors
Rotary Motors
SGMJV
Selecting Cables
(3) Servomotor-end Connector Kit Specifications: For 50 to 100 W Servomotors
Items Specifications External Dimensions mm

JZSP-CSM9-1-E
Order No.
(Cables are not included.) 20 19
Applicable Servomotors SGMJV-A5, -01
Manufacturer J.S.T. Mfg. Co., Ltd.
Receptacle J17-06FMH-7KL-1-CF
12
Electrical Contact SJ1F-01GF-P0.8
Applicable Wire Size AWG20 to 24 654 321
Rotary Servomotors
Outer Diameter of
1.11 dia. to 1.53 dia. mm 1
Insulating Sheath
Crimp Hand tool YRS-8841
Tool Applicator APLMK SJIF/M-01-08
Mounting Screw M2 Pan-head screw
6
Applicable Cable
70.3 dia. mm
Outer Diameter
(4) Servomotor-end Connector Kit Specications: For 200 to 400 W Servomotors

JZSP-CSM9-2-E
Order No.
(Cables are not included.)
21 21
Applicable Servomotors SGMJV-02, -04
13
654 321
Applicable Wire Size AWG20 to 24
Outer Diameter of 1
1.11 dia. to 1.53 dia. mm
Insulating Sheath
Tool Applicator APLMK SJ2F/M-01-08
6
Applicable Cable
70.3 dia. mm
Outer Diameter
(5) Servomotor-end Connector Kit Specications: For 750 W Servomotors

JZSP-CSM9-3-E
Order No.
Applicable Servomotors SGMJV-08
Manufacturer J.S.T. Mfg. Co., Ltd. 27 21
Cable Type Standard
15
SJ3F-41GF-P1.8 SJ3F-01GF-P1.8
Electrical Contact
(For power terminals) (For brake terminals)
654321
Applicable Wire Size AWG16 to 20 AWG20 to 24
Outer Diameter of 1.53 dia. to 2.5 dia. 1.11 dia. to 1.86 dia.
1
Insulating Sheath mm mm
Hand tool YRF-880 YRF-881 6

Crimp
Tool APLMK APLMK
Applicator
SF3F/M-41-20 SF3F/M-01-20
Mounting Screw M2.5 Pan-head screw
Applicable Cable
80.3 dia. mm
Outer Diameter
10
Selecting Cables
(6) Cable Specications: For 50 to 400 W Servomotors
Items Standard Type Flexible Type

Order No.* JZSP-CSM90- -E (50 m max.) JZSP-CSM80- -E (50 m max.)
UL2517 (Max. operating temperature: 105C) UL2517 (Max. operating temperature: 105C)
AWG206C AWG226C
For power line: AWG20 (0.52 mm2) For power line: AWG22 (0.33 mm2)
Specifications
Outer diameter of insulating sheath: 1.53 dia. mm Outer diameter of insulating sheath: 1.37 dia. mm
For holding brake line: AWG20 (0.52 mm2) For holding brake line: AWG22 (0.33 mm2)
Finished Dimensions 70.3 dia. mm
Black
Green/
(yellow) White
Internal Configuration and
Lead Color
Blue Red
Black
Yaskawa Standard
Specifications Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
(Standard Length)
*: Specify the cable length in of order no.

Example: JZSP-CSM90-05-E (5 m)
(7) Cable Specications: For 750 W Servomotors

AWG164C, AWG202C AWG164C, AWG222C
Specifications
Black
Green/
(yellow) Red
Lead Color
Blue White
Black
Yaskawa Standard
(Standard Length)

11
Servomotors
Rotary Motors
SGMJV
Selecting Cables
LEncoder Cables (Length: 20 m or less)

Order No.
Standard Type Flexible Type*
3m JZSP-CSP01-03-E JZSP-CSP21-03-E
SERVOPACK End L Encoder End
Cable with 5m JZSP-CSP01-05-E JZSP-CSP21-05-E
Connectors
10 m JZSP-CSP01-10-E JZSP-CSP21-10-E (1)
(For Incremental
Encoder) 15 m JZSP-CSP01-15-E JZSP-CSP21-15-E Plug Connector (Crimped) Connector
20 m JZSP-CSP01-20-E JZSP-CSP21-20-E (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
3m JZSP-CSP05-03-E JZSP-CSP25-03-E SERVOPACK End Encoder End

Cable with L
Rotary Servomotors
Connectors
(For Absolute 10 m JZSP-CSP05-10-E JZSP-CSP25-10-E (2)
Encoder, with a Battery Case
15 m JZSP-CSP05-15-E JZSP-CSP25-15-E (Battery attached)
Plug Connector Connector
Battery Case) (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
20 m JZSP-CSP05-20-E JZSP-CSP25-20-E
Soldered
SERVOPACK-end
JZSP-CMP9-1-E
Connector Kit
(3)
Crimping Type (A crimp tool is required.)
Encoder-end
JZSP-CSP9-2-E
Connector Kit
3m JZSP-CMP09-03-E JZSP-CSP39-03-E
Cables 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E (4)
15 m JZSP-CMP09-15-E JZSP-CSP39-15-E

Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders.
(1) Wiring Specications for Cable with Connectors

(For incremental encoder)
LStandard Type LFlexible Type
SERVOPACK End Encoder (Servomotor) End SERVOPACK End Encoder (Servomotor) End
Pin No. Signal Pin No. Wire Color Pin No. Signal Pin No. Wire Color
6 /PS 5 Light blue/white 6 /PS 5 Black/pink
5 PS 4 Light blue 5 PS 4 Red/pink
4 BAT () 8 White/orange 4 BAT () 8 Black/light blue
3 BAT (+) 9 Orange 3 BAT (+) 9 Red/light blue
2 PG 0V 3 Black 2 PG 0V 3 Green
1 PG 5V 6 Red 1 PG 5V 6 Orange
Shell FG Shell FG Shell FG Shell FG
Shield Shield
Wire Wire
(2) Wiring Specications for Cable with Connectors

(For absolute encoder, with a battery case)
LStandard Type LFlexible Type
Shield Shield
Battery Case Wire Battery Case Wire
Pin No. Signal Pin No. Signal

2 BAT () 2 BAT ()
1 BAT (+) 1 BAT (+) 12
Selecting Cables
(3) SERVOPACK-end/Encoder-end Connector Kit Specifications
Items SERVOPACK-end Connector Kit Encoder-end Connector Kit

JZSP-CMP9-1-E JZSP-CSP9-2-E
Order No.
(Cables are not included.) (Cables are not included.)
Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd.
55100-0670 (soldered) 54346-0070 (crimped)*
Note: Contact Molex Japan Co., Ltd. for 55102-0600 Mounting screw: M2 pan-head screw (2)
connectors (caulking). Applicable cable outer diameter of applicable cable:
Specifications 6.3 dia. to 7.7 dia. mm
Applicable wire size: AWG22 to 26
Outer diameter of insulating sheath: 1.05 dia. to 1.4
dia. mm
(27)
20.5 17
2-M2
Pan-head
Screws
11
External 5 6
(19)
3 4
Dimensions 1 2
(Units: mm) 7 1
(12) (33)
5
9
6
*: A crimp tool is required.

The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools.
Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000
Applicator Model No. 57175-3000
(4) Cable Specications

Order No.* JZSP-CMP09- -E JZSP-CSP39- -E
Cable Length 20 m max.
AWG22s2CAWG24s2P AWG22s2CAWG24s2P
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
Specifications
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
Finished Dimensions 6.5 dia. mm 6.8 dia. mm
Light blue Black/

light blue
Light blue/ Red/
white light blue
Internal Configuration
Red Black Orange Green
and Lead Color Black/
Orange pink
Orange/ Red/
white pink
Yaskawa Standards
Specifications Cable length: 5 m, 10 m, 15 m, 20 m
(Standard Length)

Example: JZSP-CSP09-05-E (5 m)
13
Servomotors
Rotary Motors
SGMJV
Selecting Cables
LRelay Encoder Cables (For extending from 30 to 50 m)

Order No.
Name Length Specifications Datails
Standard Type
SERVOPACK End Encoder End

0.3 m
1 Encoder-end Cables
0.3 m JZSP-CSP11-E (1)
(For incremental and absolute encoder)
Plug Connector (Crimped) Connector
(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
30 m JZSP-UCMP00-30-E SERVOPACK End Encoder End

L
2 Cable with Connectors
40 m JZSP-UCMP00-40-E (2)
Rotary Servomotors
Plug Connector (Crimped) Socket Connector (Soldered)
50 m JZSP-UCMP00-50-E (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

0.3 m
3 Cable with a Battery Case

0.3 m JZSP-CSP12-E* (3)
(For absolute encoder)
30 m JZSP-CMP19-30-E
4 Cables 40 m JZSP-CMP19-40-E (4)
*: When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required.
(1) Wiring Specifications for Encoder-end Cable (2) Wiring Specifications for Cable with Connectors
(For incremental and absolute encoder) (For incremental and absolute encoder)
6 /PS 5 Light blue/white 6 /PS 6 Light blue/white
5 PS 4 Light blue 5 PS 5 Light blue
4 BAT () 8 White/orange 4 BAT () 4 White/orange
3 BAT (+) 9 Orange 3 BAT (+) 3 Orange
2 PG 0V 3 Black 2 PG 0V 2 Black
1 PG 5V 6 Red 1 PG 5V 1 Red
Shield Shield
Wire Wire
(3) Wiring Specications for Cable with a Battery Case (4) Relay Encoder Cable Specications
Item Standard Type
SERVOPACK End Encoder (Servomotor) End Order No.* JZSP-CMP19- -E
Pin No. Signal Pin No. Wire Color Cable Length 50 m max.
6 /PS 6 Light blue/white
UL20276 (Max. operating temperature: 80C)
5 PS 5 Light blue AWG16s2CAWG26s2P
4 BAT () 4 White/orange AWG16 (1.31 mm2)
Specifications
Outer diameter of insulating sheath: 2.0 dia. mm
3 BAT (+) 3 Orange
AWG26 (0.13 mm2)
2 PG 0V 2 Black
1 PG 5V 1 Red
Shell FG Shell FG
Shield
Battery Case Wire
Pin No. Signal Black

Internal Configuration Orange Light Blue
2 BAT ()
and Lead Colors Orange Light Blue
1 BAT (+) /white
Red
/white
Yaskawa Standard
Specifications Cable length: 30 m, 40 m, 50 m
(Standard Length)

Example: JZSP-CMP19-30-E (30 m)
14
With Low-backlash Gears Ratings and Specifications
Time Rating: Continuous Withstand Voltage: 1500 VAC for one minute
Gear Mechanism: Planetary gear mechanism Rotation Direction: Counterclockwise (CCW)
Thermal Class: B
Servomotor Gear
Servomotor
Rated Rated Max. Rated Instantaneous Lost Rated Torque / Instantaneous Rated Max.
Model Gear
Output Speed Speed Torque Peak Torque Motion Efficiency*1 Peak Torque Speed Speed
SGMJV- Ratio
W rpm rpm Nm Nm arc-min Nm /% Nm rpm rpm
A5A AH1 1/5 0.557/70 2.40 600 1200
A5A AH2 1/9 1.15/80 3.80*2 333 667
50 3000 6000 0.159 0.557 3 max.
A5A AHC 1/21 2.67/80 10.6 143 286
A5A AH7 1/33 3.68/70 15.8 91 182
01A AH1 1/5 1.35/85 5.00 600 1200
01A AHB 1/11 2.45/70 10.6 273 545
100 3000 6000 0.318 1.11 3 max.
01A AHC 1/21 5.35/80 20.7 143 286
01A AH7 1/33 7.35/70 31.9 91 182
02A AH1 1/5 2.39/75 9.80 600 1200
02A AHB 1/11 5.60/80 22.1 273 545
200 3000 6000 0.637 2.23 3 max.
02A AHC 1/21 10.0/75 42.3 143 286
02A AH7 1/33 16.8/80 67.4 91 182
04A AH1 1/5 5.41/85 20.1 600 1200
04A AHB 1/11 11.2/80 45.0 273 545
400 3000 6000 1.27 4.46 3 max.
04A AHC 1/21 22.7/85 87.1 143 286
04A AH7 1/33 33.6/80 135 91 182
08A AH1 1/5 10.2/85 38.6 600 1200
08A AHB 1/11 23.6/90 86.4 273 545
750 3000 6000 2.39 8.36 3 max.
08A AHC 1/21 42.6/85 163 143 286
08A AH7 1/33 70.9/90 259 91 182
1
*: Gear output torque is expressed using the following equation.
1
(Gear output torque)= (Servomotor output torque) (efficiency)
(gear ratio)
2
*: Peak torque is 300%
Note: The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later.
This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.
IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 rpm at gear output shaft), when using servomotors
with one pulse feed reference for extended periods and in some other situations, the gear bearing lubrication may be insufficient. That may cause
deterioration of bearing or increase the load ratio.
Contact your Yaskawa representative if you are using your servomotor under these conditions.
15
Servomotors
Rotary Motors
SGMJV
LMoment of Inertia and Allowable Radial and Thrust Loads

Moment of Inertias10-4 kg-m2 Servomotors with Low-backlash Gears
Servomotor Flange Output
Motor Allowable Allowable LR Reference
Model Motor
+ Gear Radial Load Thrust Load Diagram
SGMJV- + Gear
Gear (Fr) N (Fs) N mm
Gear
A5A AH1 0.0474 0.006 0.0464 0.005 95 431 37
A5A AH2 0.0444 0.003 0.0444 0.003 113 514 37
A5A AHC 0.0454 0.004 0.0454 0.004 146 663 37
A5A AH7 0.0864 0.045 0.0864 0.045 267 1245 53
Rotary Servomotors
01A AH1 0.0715 0.005 0.0705 0.004 95 431 37
01A AHB 0.127 0.060 0.126 0.059 192 895 53
01A AHC 0.117 0.050 0.117 0.050 233 1087 53
LR
01A AH7 0.132 0.065 0.131 0.064 605 2581 75
02A AH1 0.466 0.207 0.460 0.201 152 707 53
Fr
02A AHB 0.452 0.193 0.451 0.192 192 895 53
Fs
02A AHC 0.749 0.490 0.747 0.488 528 2254 75
02A AH7 0.709 0.450 0.708 0.449 605 2581 75
04A AH1 0.649 0.207 0.643 0.201 152 707 53
04A AHB 1.01 0.570 1.00 0.560 435 1856 75
04A AHC 0.932 0.490 0.930 0.488 528 2254 75
04A AH7 1.06 0.620 1.05 0.610 951 4992 128
08A AH1 2.27 0.700 2.23 0.660 343 1465 75
08A AHB 2.17 0.600 2.16 0.590 435 1856 75
08A AHC 4.57 3.00 4.55 2.98 830 4359 128
08A AH7 4.37 2.80 4.36 2.79 951 4992 128
16
With Low-backlash Gears External Dimensions Units: mm
LWithout Holding Brakes(With Holding Brakes)

(1) 50 to 100 W W
T
U
0.06 A
L
Shaft End
LL LR
With Key and Tap
LM L1 L2
0.05 Dia. A
LG L3 0.04
2 17 20 LE Q A LC
QK a.
Di
LA
14
12
LD Dia.
LB Dia.
B Dia.
C Dia.
S Dia.
Rotating Section
(Shaded Section) 4-LZ Dia. Tap Depth
Model Gear Flange Face Dimensions

L LL LM
SGMJV- Ratio LR LE LG B LD LB LC LA LZ
A5A AH1 *1
1/5
(A5A AH1 * C) 150.5 108.5
76.5
A5A AH2 *1 (195.5) (153.5) 0
1/9 42 2.2 5 29 39.5 40 0.025 40 46 3.4
(A5A AH2 * C)
A5A AHC *1 159.5 117.5

1/21 85.5
(A5A AHC* C) (204.5) (162.5)
A5A AH7 *1 191 133 0
1/33 101 58 2.5 8 40 55.5 56 0.030 60 70 5.5
(A5A AH7 * C) (236) (178)
01A AH1 *1 164 122 0
1/5 90 42 2.2 5 29 39.5 40 0.025 40 46 3.4
(01A AH1 * C) (209) (167)
01AAHB *1
1/11
(01A AHB * C) 204.5 146.5 0
114.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
01A AHC *1 (249.5) (191.5)
1/21
(01A AHC * C)
01A AH7 *1 229 149 0

1/33 117 80 7.5 10 59 84 85 0.035 90 105 9
(01A AH7 * C) (274) (194)
Model S Key Dimensions Approx. Mass

L1 L2 L3 Q C Tap Depth
SGMJV- (Shaft) QK U W T kg
A5A AH1 *1
22 20 14
(A5A AH1 * C) 0.6
A5A AH2 *1
0
(0.9)
22 20 14 20 8 0.015 M3 6L 15 1.8 3 3
(A5A AH2 * C)
A5A AHC *1 0.7

22 20 14
(A5A AHC * C) (1.0)
A5A AH7 *1
0 1.3
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
(A5A AH7 * C) (1.6)
01A AH1 *1
0 0.7
22 20 14 20 8 0.015 M3 6L 15 1.8 3 3
(01A AH1 * C) (1.0)
01A AHB *1
28 30 20
(01A AHB * C)
0 1.4
28 20 16 0.018 M4 8L 25 3 5 5
01A AHC *1 (1.7)
28 30 20
(01A AHC * C)
01A AH7 *1
0 2.8
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
(01A AH7 * C) (3.1)
*: The asterisk (*) describes the values of the 8th digit of the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, order a servomotor
with shaft end code 2 (without key and tap) or shaft end code 8 (without key and with tap).
Notes: 1 The models and values in parentheses are for servomotors with holding brakes.
17 2 Please note that gear dimensions are different from those of , , and series.
Servomotors
Rotary Motors
SGMJV
LFlange Output Face

L
0.06
A
0.05
LR
0.02
L3 0.05 Dia.
0.04 Dia.
A
LE 0.04
0.03 LC
A
a.
Di
LA
LD Dia.
LB Dia.
B Dia.
S Dia.
Rotary Servomotors
LJ D
ia.
LK 4-LZ Dia. Tap Depth
Model Gear S Approx. Mass

L LR LJ LK Tap Depth
SGMJV- Ratio (Hole) kg
A5A AH101 123.5 0.6

1/5 15 18 3 3-M4 s 6L
(A5A AH10C) (168.5) (0.9)
A5A AH201 123.5 0.015 0.6

1/9 15 18 3 8 0 3-M4 s 6L
(A5A AH20C) (168.5) (0.9)
A5A AHC01 132.5 0.6

1/21 15 18 3 3-M4 s 6L
(A5A AHC0C) (177.5) (0.9)
A5A AH701 154 0.018 1.2

1/33 21 30 5 16 0 6-M4 s 7L
(A5A AH70C) (199) (1.5)
01A AH101 137 0.015 0.7

1/5 15 18 3 8 0 3-M4 s 6L
(01A AH10C) (182) (1.0)
01A AHB01 167.5 1.3

1/11 21 30 5 3-M4 s 7L
(01A AHB0C) (212.5) (1.6)
0.018
16 0
01A AHC01 167.5 1.3
1/21 21 30 5 3-M4 s 7L
(01A AHC0C) (212.5) (1.6)
01A AH701 176 0.021 2.4

1/33 27 45 5 25 0 6-M6 s 10L
(01A AH70C) (221) (2.7)
2 Dimensions not found in the table above are the same as those in the table on the previous page.
18
(2) 200 to 400 W W
T
U
0.06 A
L
LL LR Shaft End
With Key and Tap
LM L1 L2
0.05 Dia. A
LG L3
1.5 17 21 LE Q 0.04 LC
QK A
a.
Di
LA
14
13
LD Dia.
LB Dia.
C Dia.
B Dia.
S Dia.
Rotating Section 4-LZ Dia. Tap Depth
(Shaded Section)

L LL LM
02A AH1 *1
1/5
(02A AH1 * C) 202 144 0
115 58 2.5 8 40 55.5 56 0.030 60 70 5.5
02A AHB *1 (242) (184)
1/11
(02A AHB * C)
02A AHC *1
1/21
(02A AHC * C) 231 151 0
122 80 7.5 10 59 84 85 0.035 90 105 9
02A AH7 *1 (271) (191)
1/33
(02A AH7 * C)
04A AH1 *1 220.5 162.5 0

1/5 133.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
(04A AH1 * C) (260.5) (202.5)
04A AHB *1
1/11
(04A AHB * C) 249.5 169.5 0
140.5 80 7.5 10 59 84 85 0.035 90 105 9
04A AHC *1 (289.5) (209.5)
1/21
(04A AHC * C)
04A AH7 *1 335.5 202.5 0

1/33 173.5 133 12.5 13 84 114 115 0.035 120 135 11
(04A AH7 * C) (375.5) (242.5)
Model S Key Dimensions Approx. Mass

SGMJV- (Shaft) QK U W T kg
02A AH1 *1 1.9
(02A AH1 * C)
0
(2.5)
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
02A AHB *1 2.0
(02A AHB * C) (2.6)
02A AHC *1
(02A AHC * C)
0 3.8
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
02A AH7 *1 (4.4)
(02A AH7 * C)
04A AH1 *1
0 2.3
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
(04A AH1 * C) (2.9)
04A AHB *1
36 44 26
(04A AHB * C)
0 4.2
42 32 25 0.021 M6 12L 36 4 8 7
04A AHC *1 (4.8)
36 44 26
(04A AHC * C)
04A AH7 *1
0 8.8
48 85 33 82 44 40 0.025 M10 20L 70 5 12 8
(04A AH7 * C) (9.4)
*: The asterisk (*) describes the values of the 8th digit of the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, order a servomotor
with shaft end code 2 (without key and tap) or shaft end code 8 (without key and with tap).
2 Please note that gear dimensions are different from those of , , and series.
19
Servomotors
Rotary Motors
SGMJV
LFlange Output Face

L
0.06 A
LR 0.02
L3 0.05 Dia. A
LE
0.04 LC
A
a.
Di
LA
LB Dia.
LD Dia.
B Dia.
S Dia.
Rotary Servomotors
LJ
Dia
.
5 4-LZ Dia. Tap Depth
Model Gear S Approx. Mass

L LR LJ Tap Depth
SGMJV- Ratio (Hole) kg
02A AH101 1.8

1/5
(02A AH10C) 165 (2.4)
0.018
21 30 16 0 6-M4 s 7L
02A AHB01 (205) 1.9
1/11
(02A AHB0C) (2.5)
02A AHC01
1/21
(02A AHC0C) 178 3.4
0.021
27 45 25 0 6-M6 s 10L
02A AH701 (218) (4.0)
1/33
(02A AH70C)
04A AH101 183.5 0.018 2.2

1/5 21 30 16 0 6-M4 s 7L
(04A AH10C) (223.5) (2.8)
04A AHB01
1/11
(04A AHB0C) 196.5 3.8
0.021
27 45 25 0 6-M6 s 10L
04A AHC01 (236.5) (4.4)
1/21
(04A AHC0C)
04A AH701 237.5 0.025 7.4

1/33 35 60 40 0 6-M8 s 12L
(04A AH70C) (277.5) (8.0)
20
W
(3) 750 W
T
U
0.06 A
L
LL LR
LM L1 L2
0.05 Dia. A Shaft End
LG L3 With Key and Tap
LE Q 0.04 LC
1.5 17 21 QK A
a.
Di
LA
15
14
LD Dia.
LB Dia.
B Dia.
C Dia.
S Dia.
(Shaded Section)

L LL LM
08A AH1 *1
1/5
(08A AH1 * C)
273 193 0
163 80 7.5 10 59 84 85 0.035 90 105 9
08A AHB *1 (318) (238)
1/11
(08A AHB * C)
08A AHC *1
1/21
(08A AHC * C)
352 219 0
189 133 12.5 13 84 114 115 0.035 120 135 11
08A AH7 *1 (397) (264)
1/33
(08A AH7 * C)
Model Key Dimensions Approx. Mass

L1 L2 L3 Q C S (Shaft) Tap Depth
SGMJV- QK U W T kg
08A AH1 *1 5.6
(08A AH1 * C) (6.5)
0
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
08A AHB *1 5.8
(08A AHB * C) (6.7)
08A AHC *1
(08A AHC * C)
10.5
0
48 85 33 82 44 40 0.025 M10 20L 70 5 12 8
08A AH7 *1 (11.4)
(08A AH7 * C)
*: The asterisk (*) describes the values of the 8th digit of the model designation, shaft end code 6 (straight with key and tap). If a key or tap is not necessary, order a servomotor with
shaft end code 2 (without key and tap) or shaft end code 8 (without key and with tap).
21
Servomotors
Rotary Motors
SGMJV
LFlange Output Face

L
0.06 A
LR 0.02
L3 0.05 Dia. A
LE
0.04 LC
A
a.
Di
LA
LB Dia.
LD Dia.
B Dia.
S Dia.
Rotary Servomotors
LJ
Dia
.
Model Gear Approx. Mass

L LR LJ S (Hole) Tap Depth
SGMJV- Ratio kg
08A AH101 5.2

1/5
(A8A AH10C) 220 (6.1)
0.021
27 45 25 0 6-M6 s 10L
08A AHB01 (265) 5.4
1/11
(A8A AHB0C) (6.3)
08A AHC01
1/21
(A8A AHC0C) 254 9.1
0.025
35 60 40 0 6-M8 s 12L
08A AH701 (299) (10.0)
1/33
(A8A AH70C)
22
Rotary Servomotors
SGMAV
Model Designations
LWithout Gears
SGMAV - 01 A D A 2 1
Series 1st+2nd 3rd 4th 5th 6th 7th
Servomotor
SGMAV
1st+2nd digits Rated Output 4th digit Serial Encoder 7th digit Options
A5 50 W 3 20-bit absolute (standard) 1 Without options
01 100 W D 20-bit incremental (standard) With holding brake
C
C2 150 W (24 VDC)
02 200 W With oil seal and holding brake
5th digit Design Revision Order E
04 400 W (24 VDC)
Code Specifications
06 550 W S With oil seal
A Standard
08 750 W
3rd digit Power Supply Voltage 6th digit Shaft End

Code Specifications Code Specifications
A 200 VAC 2 Straight without key (standard)
Straight with key and tap
6
(optional)
Straight without key and with tap

8
(optional)
B With two flat seats (optional)
23
Servomotors
Rotary Motors
SGMAV
LSuper high power rate (Extremely low inertia) LSemiconductor equipment
LInstantaneous peak torque (300% of rated torque) LChip mounters
LMounted high-resolution serial encoder: LPCB drilling stations

20 bits
LRobots
LMaximum speed: 6,000 rpm
LMaterial handling machines
LWide selection: 50 to 750 W capacity, holding brake
and gear options LFood processing equipment
Rotary Servomotors
LWith Gears
SGMAV - 01 A D A H 1 2 1
1st+2nd 3rd 4th 5th 6th 7th 8th 9th
Series
digits digit digit digit digit digit digit digit
Servomotor
SGMAV
1st+2nd digits Rated Output 5th digit Design Revision Order 8th digit Shaft End
A5 50 W A Standard 0 Flange output
01 100 W 2 Straight without key
C2 150 W 6 Straight with key and tap
6th digit Gear Type
02 200 W 8 Straight without key and with tap
04 400 W Code Specifications
06 550 W H HDS planetary low-backlash gear
9th digit Options
08 750 W
Code Specifications
7th digit Gear Ratio 1 Without options
Code Specifications C With holding brake (24 VDC)
Code Specifications
B 1/11 (Not available: 50 W)
A 200 VAC
C 1/21
1 1/5
2 1/9 (Only 50 W)
7 1/33
4th digit Serial Encoder
Code Specifications
3 20-bit absolute (standard)
D 20-bit incremental (standard)
24
Time Rating: Continuous Thermal Class: B

Voltage 200 V
Servomotor Model: SGMAV- A5A 01A C2A 02A 04A 06A 08A
Rated Output *1 W 50 100 150 200 400 550 750
Rated Torque *1, *2 Nm 0.159 0.318 0.477 0.637 1.27 1.75 2.39
Instantaneous Peak Torque*1 Nm 0.477 0.955 1.43 1.91 3.82 5.25 7.16
Rated Current *1 Arms 0.66 0.91 1.3 1.5 2.6 3.8 5.3
Instantaneous Max. Current *1 Arms 2.1 2.8 4.2 5.3 8.5 12.2 16.6
Rated Speed *1 rpm 3000
Max. Speed *1 rpm 6000
Torque Constant Nm/Arms 0.265 0.375 0.381 0.450 0.539 0.496 0.487
0.0242 0.0380 0.0531 0.116 0.190 0.326 0.769
Rotor Moment of Inertia kgm2 10-4
(0.0312) (0.0450) (0.0601) (0.180) (0.254) (0.390) (0.940)
Rated Power Rate *1 kW/s 10.4 26.6 42.8 35.0 84.9 93.9 74.1
Rated Angular Acceleration *1 rad/s2 65800 83800 89900 54900 67000 53700 31000
Applicable SERVOPACK SGDV- R70 R90 1R6 1R6 2R8 5R5 5R5
1
*: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other
values quoted are at 20C.
* 2: Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached.
SGMAV-A5, -01: 200 mms200 mms6 mm
SGMAV-C2, -02, -04, -06, -08: 250 mms250 mms6 mm
Note: The values in parentheses are for servomotors with holding brakes.
SGMAV-A5A SGMAV-01A SGMAV-C2A SGMAV-02A

6000 6000 6000 6000
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
5000 5000 5000 5000

4000 4000 4000 4000
3000 3000 3000 3000
A B A B A B A B
2000 2000 2000 2000
1000 1000 1000 1000
0 0 0 0
0 0.15 0.3 0.45 0.6 0 0.25 0.5 0.75 1 0 0.4 0.8 1.2 1.6 0 0.5 1 1.5 2
Torque () Torque () Torque () Torque ()
SGMAV-04A SGMAV-06A SGMAV-08A

6000 6000 6000
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
5000 5000 5000

4000 4000 4000
3000 3000 3000
A B A B A B
2000 2000 2000
1000 1000 1000
0 0 0
0 1 2 3 4 0 1.5 3 4.5 6 0 2 4 6 8
Torque () Torque () Torque ()
Notes: 1 The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs in the following combinations:
The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK
The dotted line: With a single-phase 200 V SERVOPACK
An SGMAV-A5 servomotor has the same characteristics in combination with three-phase and single-phase SERVOPACKs.
2 The characteristics of the intermittent duty zone differ depending on the supply voltages.
25
Servomotors
Rotary Motors
SGMAV
LDerating Rate for Servomotor Fitted with an Oil Seal

When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model
A5A 01A C2A 02A 04A 06A 08A
SGMAV-
Derating Rate % 80 90 95
Servomotor Holding Brake Specifications

Holding Brake Servomotor
Rotary Servomotors
Rated Output Capacity Holding Coil Resistance Rated Current Brake Release Brake Operation
Rated Voltage Model
W W Torque Nm (at 20C) A(at 20C) Time ms Time ms
SGMAV-A5A 50 6 0.159 96 0.25 60 100
SGMAV-01A 100 6 0.318 96 0.25 60 100
SGMAV-C2A 150 6 0.477 96 0.25 60 100
24 VDC10%
0 SGMAV-02A 200 6.9 0.637 83 0.29 60 100
SGMAV-04A 400 6.9 1.27 83 0.29 60 100
SGMAV-06A 550 8.7 1.75 67 0.36 80 100
SGMAV-08A 750 7.7 2.39 75 0.32 80 100
Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor.
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and
holding brake operation time are correct for your servomotor.
LOverload Characteristics
The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
10000
1000
Detecting time (s)

100
SGMAV-02, 04, 06, 08

10
SGMAV-A5, 01, C2
1
100 200 300
Torque reference
(percent of rated torque)
(%)

Servomotor Allowable Load Moment of Inertia

Servomotor Model
Rated Output (Rotor Moment of Inertia Ratio)
A5A, 01A, C2A, 02A 50 to 200 W 30 times
SGMAV-
04A, 06A, 08A 400 to 750 W 20 times
26

The size of the load moment of inertia (JL) allowable when using a servomotor depends on motor capacity and is limited to
within 5 to 30 times the rotor moment of inertia of each servomotor (JM). This value is provided strictly as a guideline and
results may vary depending on servomotor drive conditions.
moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320).
Take one of the following steps if this occurs.
Reduce the torque limit.
Reduce the deceleration rate.
Reduce the maximum speed.
Install an external regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa representative.
Regenerative resistors are not built into SGDV-2R8 SERVOPACKs for 400 W motors or less. The following figures show the
relationship between the load moment of inertia and motor speed using an example with a load moment of inertia 10 to 30
times the rotor moment of inertia at the motor shaft.
External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-
in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.

Load Moment of Inertia (10-4 kgm2)

SGMAV-A5A SGMAV-01A SGMAV-C2A SGMAV-02A
0.8 1. 2 1.8 4.0
0.7 1.6 3.5
1. 0
0.6 1.4 3.0
0. 8 1.2
0.5 2.5
1.0
0.4 0. 6 2.0
0.8
0.3 1.5
0. 4 0.6
0.2 0.4 1.0
0. 2
0.1 0.2 0.5
0.0 0.0 0.0 0.0
0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000 0 2000 4000 6000 8000
Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1) Motor Speed (min-1)
SGMAV-04A SGMAV-06A SGMAV-08A

4.0 7 18
3.5 6 16
3.0 14
5
12
2.5
4 10
2.0
3 8
1.5
6
1.0 2
4
0.5 1 2
0.0 0 0
0 2000 4000 6000 8000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges
shown in the table.

A5A 68 LR
01A 54 20
78
C2A
Fr
SGMAV- 02A
Fs
04A 245 74 25
06A
08A 392 147 35
27
Servomotors
Rotary Motors
SGMAV

(1) 50 to 150 W
0.04 A
L
LL 25
0.04 Dia. A
20.5 LM 2.5
6.1 2 17 20 5 40
19
QK
14
12
Rotary Servomotors
U
30 -0.021 Dia.
Y
W
46 D
0
ia.
8 -0.009 Dia.
T
Y
0
Cross Section Y-Y
A
Tap Depth 2-4.3 Dia. Shaft End
0.02 With Key and Tap

L LL LM Tap s Depth
SGMAV- QK U W T Mass (kg)
A5A A21
No tap No key
(A5A A2C)
A5A A61 95.5 70.5 0.3
38.5 14 1.8 3 3
(A5A A6C) (140.5) (115.5) (0.6)
M3 s 6L
A5A A81
No key
(A5A A8C)
01A A21
No tap No key
(01A A2C)
01A A61 107.5 82.5 0.4
50.5 14 1.8 3 3
(01A A6C) (152.5) (127.5) (0.7)
M3 s 6L
01A A81
No key
(01A A8C)
C2A A21
No tap No key
(C2A A2C)
C2A A61 119.5 94.5 0.5
62.5 14 1.8 3 3
(C2A A6C) (164.5) (139.5) (0.8)
M3 s 6L
C2A A81
No key
(C2A A8C)

QH 7.5
1.5
Dia.
H1
8 -0.009
0
30 -0.021 Dia.
29.8 Dia.
H2
0
Model Dimensions of Servomotor with Two Flat Seats

SGMAV- QH H1 H2
A5A AB1
(A5A ABC) Oil Seal Cover
01A AB1 Note: The 7th digit of the model designation is S or E.

14 7.5 7.5 The key dimensions are the same as those in the table above.
(01A ABC)
C2A AB1
(C2A ABC)
28
(2) 200 to 750 W

0.04 A
L
0.04 Dia. A
LL LR
20.5 LM LE LC
MD 1.5 17 21 LG MW
MH
14
QK
U
Y
LB Dia.
W
LA
T
S Dia.
Dia
Y
.
Cross Section Y-Y
Shaft End
With Key and Tap
A Tap Depth 4-LZ Dia.
0.02
Model Flange Face Dimensions Tap s Key Dimensions Approx.

L LL LM S MD MW MH
SGMAV- LR LE LG LC LA LB LZ Depth QK U W T Mass (kg)
02A A21
No tap No key
(02A A2C)
02A A61 110 80 0 0 0.9
51 30 3 6 60 70 500.025 5.5 140.011 20 3 5 5 8.5 21 13
(02A A6C) (150) (120) (1.5)
M5 s 8L
02A A81
No key
(02A A8C)
04A A21
No tap No key
(04A A2C)
04A A61 128.5 98.5 0 0 1.2
69.5 30 3 6 60 70 500.025 5.5 140.011 14 3 5 5 8.5 21 13
(04A A6C) (168.5) (138.5) (1.8)
M5 s 8L
04A A81
No key
(04A A8C)
06A A21
No tap No key
(06A A2C)
06A A61 154.5 124.5 0 0 1.7
95.5 30 3 6 60 70 500.025 5.5 140.011 14 3 5 5 8.5 21 13
(06A A6C) (200.5) (170.5) (2.4)
M5 s 8L
06A A81
No key
(06A A8C)
08A A21
No tap No key
(08A A2C)
08A A61 155 115 0 0 2.3
85 40 3 8 80 90 700.030 7 190.013 22 3.5 6 6 13.8 27 15
(08A A6C) (200) (160) (3.2)
M6 s 10L
08A A81
No key
(08A A8C)

QH LS2
LS1
LE
S Dia.
H1
E1 Dia.
E2 Dia.
LB Dia.
H2
Model Dimensions of Servomotor with Two Flat Seats

SGMAV- QH S H1 H2
02A AB1 Oil Seal Cover
(02A ABC)
04A AB1 0 Model Dimensions of Servomotor with an Oil Seal (mm)
14 140.011 13 13
(04A ABC) SGMAV- E1 E2 LS1 LS2
06A AB1
02, 04, 06 36 48 4 10
(06A ABC)
08 49 66 6 11
08A AB1 0
22 190.013 18 18
(08A ABC) Note: The 7th digit of the model designation is S or E.
The key dimensions are the same as those in the table above.
29
Servomotors
Rotary Motors
SGMAV
Selecting Cables
LCables Connections
SGDV (Example)
SERVOPACK
SGDV
SERVOPACK
Relay Encoder Cable
(See page 37.)
Rotary Servomotors
encoder is used.)
Encoder Cable (See page 35.)

w Cable with Connectors, or
r Cable
Battery Case
encoder is used.) Servomotor
Main Circuit Cable q Encoder-end Cable
Servomotor (See page 30.)
Main Circuit Cable
(See page 30.)
SGMAV
SGMAV Servomotor
Servomotor
CAUTION

Contact Yaskawa Controls. Co., Ltd.

50 to 150 W
For SERVOPACK End Servomotor End
10 m JZSP-CSM02-10-E JZSP-CSM22-10-E 50 mm
Servomotor
without 200 to 550 W (1)
Holding
Brakes
M4 Crimped Terminals
750 W
30
(Contd)
Selecting Cables

50 to 150 W
10 m JZSP-CSM12-10-E JZSP-CSM32-10-E SERVOPACK End Servomotor End
For
50 mm L
Servomotor 15 m JZSP-CSM12-15-E JZSP-CSM32-15-E
200 to 550 W (2)
with Holding 20 m JZSP-CSM12-20-E JZSP-CSM32-20-E
Brakes 30 m JZSP-CSM12-30-E JZSP-CSM32-30-E
Wire Markers
40 m JZSP-CSM12-40-E JZSP-CSM32-40-E M4 Crimped Terminal
750 W
50 to 150 W JZSP-CSM9-1-E (3)

Crimping Type
Servomotor-
(A crimp tool is required.)
end Connector 200 to 550 W JZSP-CSM9-2-E (4)
Kit
750 W JZSP-CSM9-3-E (5)
50 to 550 W 20 m JZSP-CSM90-20-E JZSP-CSM80-20-E (6)
Cables
750 W 20 m JZSP-CSM91-20-E JZSP-CSM81-20-E (7)
31
Servomotors
Rotary Motors
SGMAV
Selecting Cables

Green/yellow FG FG 1 Green/yellow FG FG 1
Note: No polarity for connection to a holding brake.
Rotary Servomotors
(3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors
Items Specifications External Dimensions (mm)

JZSP-CSM9-1-E
Order No.
Applicable Servomotors SGMAV-A5, -01, -C2 20 19
12

Outer Diameter of 654 321
Insulating Sheath
1
Tool Applicator APLMK SJIF/M-01-08
Applicable Cable 6
70.3 dia. mm
Outer Diameter
32
Selecting Cables
(4) Servomotor-end Connector Kit Specications: For 200 to 550 W Servomotors

JZSP-CSM9-2-E
Order No.
Applicable Servomotors SGMAV-02, -04, -06
21 21
13
654 321
Outer Diameter of
Insulating Sheath 1
Tool Applicator APLMK SJ2F/M-01-08
6
Applicable Cable
70.3 dia. mm
Outer Diameter
(5) Servomotor-end Connector Kit Specications: For 750 W Servomotors

JZSP-CSM9-3-E
Order No.
Applicable Servomotors SGMAV-08
Receptacle J37-06FMH-8KL-1-CF 27 21
Cable Type Standard
SJ3F-41GF-P1.8 SJ3F-01GF-P1.8
Electrical Contact
(For power terminals) (For holding brake terminals)
15
Applicable Wire Size AWG16 to 20 AWG20 to 24

654321
Outer Diameter of 1.53 dia. to 2.5 dia.
Insulating Sheath mm
1
Hand tool YRF-880 YRF-881
Crimp 6
Tool APLMK APLMK
Applicator
SF3F/M-41-20 SF3F/M-01-20
Mounting Screw M2.5 Pan-head screw
Applicable Cable
80.3 dia. mm
Outer Diameter
33
Servomotors
Rotary Motors
SGMAV
Selecting Cables
(6) Cable Specications: For 50 to 550 W Servomotors

AWG206C AWG226C
Specifications
Rotary Servomotors
Black
Green/
(yellow) White
Lead Color
Blue Red
Black
Yaskawa Standard
(Standard Length)

(7) Cable Specications: For 750 W Servomotors

AWG164C, AWG202C AWG164C, AWG222C
Specifications
Black
Green
(yellow) Red
Lead Color
Blue White
Black
Yaskawa Standard
(Standard Length)

34
Selecting Cables
LEncoder Cables (Length: 20 m or less)

Order No.
Standard Type Flexible Type*
SERVOPACK End L Encoder End
Cable with 5m JZSP-CSP01-05-E JZSP-CSP21-05-E
Connectors
10 m JZSP-CSP01-10-E JZSP-CSP21-10-E (1)
(For Incremental
Encoder) 15 m JZSP-CSP01-15-E JZSP-CSP21-15-E Connector (Crimped) Connector
Cable with SERVOPACK End L Encoder End
Connectors 5m JZSP-CSP05-05-E JZSP-CSP25-05-E
(For Absolute 10 m JZSP-CSP05-10-E JZSP-CSP25-10-E (2)
Battery Case
Encoder, with a 15 m JZSP-CSP05-15-E JZSP-CSP25-15-E (Battery attached)
Connector Connector
Battery Case) (Crimped)(Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
Soldered
SERVOPACK-end
JZSP-CMP9-1-E
Connector Kit
(3)
Crimping Type (A crimp tool is required.)
Encoder-end
JZSP-CSP9-2-E
Connector Kit
Cables 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E (4)
Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders.
(1) Wiring Specications for Cable with Connectors (For incremental encoder)
Standard Type Flexible Type
Shield Shield
Wire Wire
(2) Wiring Specications for Cable with Connectors (For absolute encoder, with a battery case)
Standard Type Flexible Type
4 BAT 8 White/orange 4 BAT () 8 Black/light blue
3 BAT+ 9 Orange 3 BAT (+) 9 Red/light blue
Shield Shield
Battery Case Wire Battery Case Wire

2 BAT 2 BAT ()
1 BAT+ 1 BAT (+)
35
Servomotors
Rotary Motors
SGMAV
Selecting Cables
(3) SERVOPACK-end/Encoder-end Connector Kit Specifications
Items SERVOPACK-end Connector Kit Encoder-end Connector Kit

JZSP-CMP9-1-E JZSP-CSP9-2-E
Order No.
(Cables are not included.) (Cables are not included.)
Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd.
55100-0670 (soldered) 54346-0070 (crimped)*
Mounting screw: M2 pan-head screw (s2)
Outer diameter of applicable cable: 6.3 dia. to 7.7
Specifications dia. mm
Rotary Servomotors
Outer diameter of insulating sheath: 1.05 dia. to 1.4
dia. mm
27
20.5 17
2-M2
Pan-head
Screws
19
11
External 5 6
3 4
Dimensions 1 2
mm 7 1
12 33
5
9
6
*: A crimp tool is required.

The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools.
Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000
Applicator Model No. 57175-3000

AWG222C + AWG242P AWG222C + AWG242P
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
Specifications
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
Light blue Black/

light blue
Internal Configuration Light blue/ Red/

white light blue
and Lead Color Orange Black/
pink
Orange/ Red/
white pink
Yaskawa Standards
Specifications Cable length: 5 m, 10 m, 15 m, 20 m
(Standard Length)

36
Selecting Cables
LRelay Encoder Cables (For extending from 30 to 50 m) Contact Yaskawa Controls Co., Ltd.
Order No.
Name Length Specifications Datails
Standard Type

0.3 m
0.3 m JZSP-UCSP11-E (1)
Plug Connector (Crimped) Connector
30 m JZSP-UCMP00-30-E SERVOPACK End Encoder End

L
40 m JZSP-UCMP00-40-E (2)
50 m JZSP-UCMP00-50-E (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)

0.3 m
0.3 m JZSP-CSP12-E* (3)
4 Cables 40 m JZSP-CMP19-40-E (4)
Shield Shield
Wire Wire
37
Servomotors
Rotary Motors
SGMAV
Selecting Cables
(3) Wiring Specications for Cable with a Battery Case
SERVOPACK End Encoder (Servomotor) End

Pin No. Signal Pin No. Wire Color
6 /PS 6 Light blue/white
5 PS 5 Light blue
4 BAT () 4 White/orange
3 BAT (+) 3 Orange
2 PG 0V 2 Black
1 PG 5V 1 Red
Rotary Servomotors
Shell FG Shell FG
Shield
Battery Case Wire
Pin No. Signal

2 BAT ()
1 BAT (+)
(4) Relay Encoder Cable Specications
Item Standard Type

Order No.* JZSP-CMP19- -E

AWG162C + AWG262P
AWG16 (1.31 mm2)
Specifications
AWG26 (0.13 mm2)
Black
Internal Configuration Orange Light blue
and Lead Colors Orange Light blue

/white /white
Red
Yaskawa Standard
(Standard Length)

38
Gear Mechanism: Planetary gear mechanism Rotation Direction: Counterclockwise (CCW)
Thermal Class: B
Servomotor Gear
Servomotor
Rated Rated Max. Rated Instantaneous Lost Rated Torque / Instantaneous Rated Max.
Model Gear
Output Speed Speed Torque Peak Torque Motion Efficiency*1 Peak Torque Speed Speed
SGMAV- Ratio
W rpm rpm Nm Nm arc-min Nm /% Nm rpm rpm
A5A AH1 1/5 0.557/70 2.10 600 1200
A5A AH2 1/9 1.15/80 3.80 333 667
50 3000 6000 0.159 0.477 3 max.
A5A AHC 1/21 2.67/80 9.00 143 286
A5A AH7 1/33 3.68/70 13.3 91 182
01A AH1 1/5 1.35/85 4.30 600 1200
01A AHB 1/11 2.45/70 9.00 273 545
100 3000 6000 0.318 0.955 3 max.
01A AHC 1/21 5.35/80 17.6 143 286
01A AH7 1/33 7.35/70 27.7 91 182
C2A AH1 1/5 2.03/85 6.50 600 1200
C2A AHB 1/11 4.20/80 13.9 273 545
150 3000 6000 0.477 1.43 3 max.
C2A AHC 1/21 7.02/70 26.2 143 286
C2A AH7 1/33 12.6/80 42.7 91 182
02A AH1 1/5 2.39/75 8.30 600 1200
02A AHB 1/11 5.60/80 18.8 273 545
200 3000 6000 0.637 1.91 3 max.
02A AHC 1/21 10.0/75 35.9 143 286
02A AH7 1/33 16.8/80 57.3 91 182
04A AH1 1/5 5.41/85 17.2 600 1200
04A AHB 1/11 11.2/80 38.2 273 545
400 3000 6000 1.27 3.82 3 max.
04A AHC 1/21 22.7/85 74.2 143 286
04A AH7 1/33 33.6/80 115 91 182
06A AH1 1/5 7.00/80 23.6 600 1200
06A AHB 1/11 16.4/85 53.4 273 545
550 3000 6000 1.75 5.25 3 max.
06A AHC 1/21 29.4/80 100 143 286
06A AHH 1/33 49.1/85 161 91 182
08A AH1 1/5 10.2/85 32.8 600 1200
08A AHB 1/11 23.6/90 73.6 273 545
750 3000 6000 2.39 7.16 3 max.
08A AHC 1/21 42.6/85 138 143 286
08A AH7 1/33 70.9/90 220 91 182
*1: Gear output torque is expressed using the following equation.

1
(Gear output torque)= (Servomotor output torque) (gear ratio) (efficiency)
*2: Peak torque is 300%
Note: The no-load torque for a servomotor with a gear is high immediately after the servomotor starts, and it then decreases and becomes stable a few minutes later.
This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear.
IMPORTANT The SERVOPACK speed control range is 5000:1. When using servomotors at extremely low speeds (0.02 rpm at gear output shaft), or when using
servomotors with 1 pulse feed reference for extended periods etc., the gear bearing lubrication may be insufficient. That may cause deterioration of bearing or
increase the load ratio.
Contact your Yaskawa representative if you are using your servomotor under these conditions.
39
Servomotors
Rotary Motors
SGMAV
LMoment of Inertia and Allowable Radial and Thrust Loads
Moment of Inertia s 10-4 kg-m2 Servomotors with Low-backlash Gears

Servomotor Flange Output
Motor Allowable Allowable LR Reference
Model Motor
+ Gear Radial Load Thrust Load Diagram
SGMAV- + Gear
Gear (Fr) N (Fs) N mm
Gear
A5A AH1 0.0302 0.006 0.0292 0.005 95 431 37
A5A AH2 0.0272 0.003 0.0272 0.003 113 514 37
A5A AHC 0.0282 0.004 0.0282 0.004 146 663 37
A5A AH7 0.0692 0.045 0.0692 0.045 267 1245 53
Rotary Servomotors
01A AH1 0.0430 0.005 0.0420 0.004 95 431 37
01A AHB 0.0980 0.060 0.0970 0.059 192 895 53
01A AHC 0.0880 0.050 0.0880 0.050 233 1087 53
01A AH7 0.1030 0.065 0.1020 0.064 605 2581 75
C2A AH1 0.0581 0.005 0.0571 0.004 95 431 37 LR
C2A AHB 0.1131 0.060 0.1121 0.059 192 895 53

C2A AHC 0.1631 0.110 0.1611 0.108 528 2254 75 Fr
C2A AH7 0.1181 0.065 0.1171 0.064 605 2581 75 Fs
02A AH1 0.323 0.207 0.317 0.201 152 707 53

02A AHB 0.309 0.193 0.308 0.192 192 895 53
02A AHC 0.606 0.490 0.604 0.480 528 2254 75
02A AH7 0.566 0.450 0.565 0.449 605 2581 75
04A AH1 0.397 0.207 0.391 0.201 152 707 53
04A AHB 0.760 0.570 0.750 0.560 435 1856 75
04A AHC 0.680 0.490 0.678 0.488 528 2254 75
04A AH7 0.810 0.620 0.800 0.610 951 4992 128
06A AH1 1.026 0.700 0.986 0.660 343 1465 75
06A AHB 0.896 0.570 0.886 0.560 435 1856 75
06A AHC 1.166 0.840 1.146 0.820 830 4359 128
06A AH7 0.946 0.620 0.936 0.610 951 4992 128
08A AH1 1.469 0.700 1.429 0.660 343 1465 75
08A AHB 1.369 0.600 1.359 0.590 435 1856 75
08A AHC 3.77 3.000 3.75 2.980 830 4359 128
08A AH7 3.57 2.800 3.56 2.790 951 4992 128
40

W
(1) 50 to 150 W
T
U
0.05 A
L
Shaft End
LL LR
With Key and Tap
LM L1 L2
0.04 Dia. A
LG L3 0.03
2 17 20 LE Q A LC
QK
a.
Di
LA
14
12
LD Dia.
LB Dia.
C Dia.
S Dia.
B Dia.
Rotating Section
Shaded Section 4-LZ Dia. Tap Depth

L LL LM
SGMAV- Ratio LR LE LG B LD LB LC LA LZ
A5A AH1 * 1
1/5
(A5A AH1 * C) 152 110
78
A5A AH2 * 1 (197) (155) 0
1/9 42 2.2 5 29 39.5 40 0.025 40 46 3.4
(A5A AH2 * C)
A5A AHC * 1 161 119
1/21 87
(A5A AHC * C) (206) (164)
A5A AH7 * 1 192.5 134.5 0
1/33 102.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
(A5A AH7 * C) (237.5) (179.5)
01A AH1 * 1 164 122 0
1/5 90 42 2.2 5 29 39.5 40 0.025 40 46 3.4
(01A AH1 * C) (209) (167)
01AAHB * 1
1/11
(01A AHB * C) 204.5 146.5 0
114.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
01A AHC * 1 (249.5) (191.5)
1/21
(01A AHC * C)
01A AH7 * 1 229 149 0
1/33 117 80 7.5 10 59 84 85 0.035 90 105 9
(01A AH7 * C) (274) (194)
C2A AH1 *1 176 134 0
1/5 102 42 2.2 5 29 39.5 40 0.025 40 46 3.4
(02A AH1 * C) (225) (179)
C2AAHB *1 216.5 158.5 0
1/11 126.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
(02A AHB * C) (261.5) (203.5)
C2A AHC *1
1/21
(02A AHC * C) 241 161 0
129 80 7.5 10 59 84 85 0.035 90 105 9
C2A AH7 *1 (286) (206)
1/33
(02A AH7 * C)
Model S Key Dimensions Approx.

SGMAV- (Shaft) QK U W T Mass kg
A5A AH1 * 1
(A5A AH1 * C) 0.6
A5A AH2 * 1 0 (0.9)
22 14 20 8 0.015 M3 6L 15 1.8 3 3
(A5A AH2 * C)
A5A AHC * 1 0.7
(A5A AHC * C) (1.0)
A5A AH7 * 1 0 1.3
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
(A5A AH7 * C) (1.6)
01A AH1 *1 0 0.7
22 14 20 8 0.015 M3 6L 15 1.8 3 3
(01A AH1 * C) (1.0)
01AAHB *1
(01A AHB * C)
0 1.4
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
01A AHC * 1 (1.7)
(01A AHC * C)
01A AH7 * 1 0 2.8
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
(01A AH7 * C) (3.1)
C2A AH1 * 1 0 0.8
22 14 20 8 0.015 M3 6L 15 1.8 3 3
(02A AH1 * C) (1.1)
C2AAHB * 1
28 30 20
(02A AHB * C) 0 1.5
28 20 16 0.018 M4 8L 25 3 5 5
C2A AHC * 1 (1.8)
(02A AHC * C)
36 44 26
C2A AH7 * 1 0 2.9
42 32 25 0.021 M6 12L 36 4 8 7
(02A AH7 * C) (3.2)
Servomotors
Rotary Motors
SGMAV
LFlange Output Face
0.05 A
LR 0.02
L3
0.04 Dia. A
LE
0.03 LC
A a.
Di
LA
Rotary Servomotors
LD Dia.
LB Dia.
B Dia.
S Dia.
LJ D
ia.
LK 4-LZ Dia. Tap Depth
Model Gear S Approx.

L LR LJ LK Tap Depth
SGMAV- Ratio (Hole) Mass kg
A5A AH101
1/5
(A5A AH10C)
125
(170)
A5A AH201 0.015 0.6
1/9 15 18 3 8 0 3-M4 s 6L
(A5A AH20C) (0.9)
A5A AHC01 134

1/21
(A5A AHC0C) (179)
A5A AH701 155.5 0.018 1.2

1/33 21 30 5 16 0 6-M4 s 7L
(A5A AH70C) (200.5) (1.5)
01A AH101 137 0.015 0.7

1/5 15 18 3 8 0 3-M4 s 6L
(01A AH10C) (182) (1.0)
01A AHB01
1/11
(01A AHB0C)
167.5 0.018 1.3
21 30 5 16 0 6-M4 s 7L
(212.5) (1.6)
01A AHC01
1/21
(01A AHC0C)
01A AH701 176 0.021 2.4

1/33 27 45 5 25 0 6-M6 s 10L
(01A AH70C) (221) (2.7)
C2A AH101 149 0.015 0.8

1/5 15 18 3 8 0 3-M4 s 6L
(C2A AH10C) (194) (1.1)
C2A AHB01 179.5 0.018 1.4

1/11 21 30 5 16 0 6-M4 s 7L
(C2A AHB0C) (224.5) (1.7)
C2A AHC01
1/21
(C2A AHC0C)
188 0.021 2.5
27 45 5 25 0 6-M6 s 10L
(233) (2.8)
C2A AH701
1/33
(C2A AH70C)
2 The dimensions not given on the table above are the same as those in the table on the previous page.
42
W
(2) 200 to 550 W
T
U
0.06 A
L
LL LR
Shaft End
LM L1 L2 With Key and Tap
LG L3 0.05 Dia. A
1.5 17 21 LE Q 0.04 LC
QK A
a.
Di
LA
14
13
LD Dia.
LB Dia.
C Dia.
S Dia.
B Dia.
Shaded Section

L LL LM
02A AH1 * 1
1/5
(02A AH1 * C) 202 144 0
115 58 2.5 8 40 55.5 56 0.030 60 70 5.5
02A AHB * 1 (242) (184)
1/11
(02A AHB * C)
02A AHC * 1
1/21
(02A AHC * C) 231 151 0
122 80 7.5 10 59 84 85 0.035 90 105 9
02A AH7 * 1 (271) (191)
1/33
(02A AH7 * C)
04A AH1 * 1 220.5 162.5 0
1/5 133.5 58 2.5 8 40 55.5 56 0.030 60 70 5.5
(04A AH1 * C) (260.5) (202.5)
04AAHB * 1
1/11
(04A AHB * C) 249.5 169.5 0
140.5 80 7.5 10 59 84 85 0.035 90 105 9
04A AHC * 1 (289.5) (209.5)
1/21
(04A AHC * C)
04A AH7 * 1 335.5 202.5 0
1/33 173.5 133 12.5 13 84 114 115 0.035 120 135 11
(04A AH7 * C) (375.5) (242.5)
06A AH1 * 1
1/5
(06A AH1 * C) 275.5 195.5 0
166.5 80 7.5 10 59 84 85 0.035 90 105 9
06AAHB * 1 (321.5) (241.5)
1/11
(06A AHB * C)
06A AHC * 1
1/21
(06A AHC * C) 361.5 228.5 0
199.5 133 12.5 13 84 114 115 0.035 120 135 11
06A AH7 * 1 (407.5) (274.5)
1/33
(06A AH7 * C)

L1 L2 L3 Q C S Tap Depth
SGMAV- QK U W T Mass kg
02A AH1 * 1 1.9
(02A AH1 * C) 0 (2.5)
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
02A AHB * 1 2.0
(02A AHB * C) (2.6)
02A AHC * 1
(02A AHC * C) 0 3.8
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
02A AH7 * 1 (4.4)
(02A AH7 * C)
04A AH1 *1 0 2.2
28 30 20 28 20 16 0.018 M4 8L 25 3 5 5
(04A AH1 * C) (2.8)
04AAHB *1
(04A AHB * C)
0 4.1
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
04A AHC * 1 (4.7)
(04A AHC * C)
04A AH7 * 1 0 8.7
48 85 33 82 44 40 0.025 M10 20L 70 5 12 8
(04A AH7 * C) (9.3)
06A AH1 * 1 4.4
(06A AH1 * C) 0 (5.1)
36 44 26 42 32 25 0.021 M6 12L 36 4 8 7
06AAHB * 1 4.6
(06A AHB * C) (5.3)
06A AHC * 1
(06A AHC * C) 0 9.2
48 85 33 82 44 40 0.025 M10 20L 70 5 12 8
06A AH7 * 1 (9.9)
(06A AH7 * C)
Servomotors
Rotary Motors
SGMAV
LFlange Output Face
0.06 A
LR
0.02
L3
0.05 Dia. A
LE
0.04 LC
A
a.
Di
LA
Rotary Servomotors
LD Dia.
LB Dia.
B Dia.
S Dia.
LJ
Dia
.

L LR LJ Tap Depth
02A AH101 1.8

1/5
(02A AH10C) (2.4)
165 0.018
21 30 16 0 6-M4 s 7L
(205)
02A AHB01 1.9
1/11
(02A AHB0C) (2.5)
02A AHC01
1/21
(02A AHC0C)
178 0.021 3.4
27 45 25 0 6-M6 s 10L
(218) (4.0)
02A AH701
1/33
(02A AH70C)
04A AH101 183.5 0.018 2.1

1/5 21 30 16 0 6-M4 s 7L
(04A AH10C) (223.5) (2.7)
04A AHB01
1/11
(04A AHB0C)
196.5 0.021 3.7
27 45 25 0 6-M6 s 10L
(236.5) (4.3)
04A AHC01
1/21
(04A AHC0C)
04A AH701 237.5 0.025 7.3

1/33 35 60 40 0 6-M8 s 12L
(04A AH70C) (277.5) (7.9)
06A AH101 4.0

1/5
(06A AH10C) (4.7)
222.5 0.021
27 45 25 0 6-M6 s 10L
(268.5)
06A AHB01 4.2
1/11
(06A AHB0C) (4.9)
06A AHC01
1/21
(06A AHC0C)
263.5 0.025 7.8
35 60 40 0 6-M8 s 12L
(309.5) (8.5)
06A AH701
1/33
(06A AH70C)
44
(3) 750 W
W
T
U
0.06 A
L
LL LR
LM L1 L2 Shaft End
0.05 Dia. A
LG L3 With Key and Tap
1.5 17 21 LE Q 0.04 LC
QK A
a.
Di
LA
14
13
LD Dia.
LB Dia.
C Dia.
S Dia.
B Dia.
Shaded Section

L LL LM
08A AH1 * 1
1/5
(08A AH1 * C) 273 193
163 80 7.5 10 59 84 85 90 105 9
08A AHB * 1 (318) (238)
1/11
(08A AHB * C)
08A AHC * 1
1/21
(08A AHC * C) 352 219
189 133 12.5 13 84 114 115 120 135 11
08A AH7 * 1 (397) (264)
1/33
(08A AH7 * C)

L1 L2 L3 Q C S Tap Depth
SGMAV- QK U W T Mass kg
08A AH1 * 1 5.2
(08A AH1 * C) (6.1)
36 44 26 42 32 25 M6 12L 36 4 8 7
08A AHB * 1 5.4
(08A AHB * C) (6.3)
08A AHC * 1
(08A AHC * C) 10.1
48 85 33 82 44 40 M10 20L 70 5 12 8
08A AH7 * 1 (11)
(08A AH7 * C)
45
Servomotors
Rotary Motors
SGMAV
LFlange Output Face

L
0.06 A
LR
0.02
L3
0.05 Dia. A
LE
0.04 LC
A
a.
Di
Rotary Servomotors
LA
LD Dia.
LB Dia.
B Dia.
S Dia.
LJ D
ia.

L LR LJ Tap Depth
08A AH101 4.8

1/5
(08A AH10C) (5.7)
220 0.021
27 45 25 0 6-M6 s 10L
(265)
08A AHB01 5.0
1/11
(08A AHB0C) (5.9)
08A AHC01
1/21
(08A AHC0C)
254 0.025 8.7
35 60 40 0 6-M8 s 12L
(299) (9.6)
08A AH701
1/33
(08A AH70C)
46
Rotary Servomotors
SGMGV
Model Designations
LWithout Gears
SGMGV - 03 D 3 A 2 1
1st+2nd 3rd 4th 5th 6th 7th
1st+2nd digits Rated Output 5th digit Design Revision Order 7th digit Options
Code Specifications Code Specifications Code Specifications Code Specifications
03 300 W 20 1.8 kW A Standard 1 Without options
05 450 W 30 2.9 kW With holding brake
B
09 850 W 44 4.4 kW 6th digit Shaft End (90 VDC)
13 1.3 kW With holding brake
Code Specifications C
(24 VDC)
2 Straight without key (standard)
3rd digit Power Supply Voltage With oil seal and holding brake
Straight with key and tap D
6 (90 VDC)
Code Specifications (optional)
With oil seal and holding brake
D 400 VAC E
(24 VDC)
S With oil seal
4th digit Serial Encoder
Code Specifications
D 20-bit incremental (standard)
3 20-bit absolute (standard)
47
SGMJV
LHigh-speed driving of feed shafts for various machines LMachine tools
LWide selection: 300 W to 4.4 kW capacity, holding LTransfer machines
brake option
LMaterial handling machines
LMounted serial encoder: 20 bits, high resolution
LFood processing equipment
LProtective structure: IP67
Rotary Servomotors
Configurations of connectors for the main circuit vary depending on servomotor capacity.
SGMGV-03/-05
The connectors are used only for Yaskawa servomotors. Order the connectors
specified by Yaskawa.
Both protective structure IP67 and European Safety Standards compliant
connectors are available.
Note: Connectors are not provided by Yaskawa.
SGMGV-09 to -44
The connectors for these models are round. The connectors specified by
Yaskawa are required. Note that the connectors vary depending on the
operation environment of servomotors.
Two types of connectors are available.
Standard connectors
Protective structure IP67 and European Safety Standards compliant
connectors
Note: Connectors are not provided by Yaskawa.
48
Time Rating: Continuous Thermal Class: F

Voltage 400 V
Servomotor Model: SGMGV- 03D 05D 09D 13D 20D 30D 44D
Rated Output* kW 0.3 0.45 0.85 1.3 1.8 2.9 4.4
Rated Torque* Nm 1.96 2.86 5.39 8.34 11.5 18.6 28.4
Instantaneous Peak Torque* Nm 5.88 8.92 13.8 23.3 28.7 45.1 71.1
Rated Current* Arms 1.4 1.9 3.5 5.4 8.4 11.9 16.5
Instantaneous Max. Current* Arms 4 5.5 8.5 14 20 28 40.5
Rated Speed* rpm 1500
Max. Speed* rpm 3000
Torque Constant Nm/Arms 1.55 1.71 1.72 1.78 1.50 1.70 1.93
2.48 3.33 13.9 19.9 26 46 67.5
Rotor Moment of Inertia kg-m2 s10-4
(2.69) (3.54) (16) (22) (28.1) (54.5) (76.0)
15.5 24.6 20.9 35.0 50.9 75.2 119
Rated Power Rate* kW/s
(14.3) (23.1) (18.2) (31.6) (47.1) (63.5) (106)
7900 8590 3880 4190 4420 4040 4210
Rated Angular Acceleration* rad/s2
(7290) (8080) (3370) (3790) (4090) (3410) (3740)
Applicable SERVOPACK SGDV- 1R9D 1R9D 3R5D 5R4D 8R4D 120D 170D
*: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C.
Notes: 1 The values in parentheses are for servomotors with holding brakes.
2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors.
SGMGV-03/-05: 250 mm s250 mm s6 mm (aluminum)
SGMGV-09/-13/-20: 400 mm s400 mm s20 mm (iron)
SGMGV-30/-44: 550 mm s550 mm s30 mm (iron)
SGMGV-03D SGMGV-05D SGMGV-09D SGMGV-13D

3500 3500 3500 3500
3000 3000 3000 3000
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
2500 2500 2500 2500

2000 2000 2000 2000
1500 1500 1500 1500

A B A B A B A B
1000 1000 1000 1000
500 500 500 500
0 0 0 0
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 8 9 10 0 2 4 6 8 10 12 14 16 0 5 10 15 20 25
Torque (Nm) Torque (Nm) Torque (Nm) Torque (Nm)
SGMGV-20D SGMGV-30D SGMGV-44D

3500 3500 3500
3000 3000 3000
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
2500 2500 2500

2000 2000 2000
1500 1500 1500
1000 A B 1000 A B 1000 A B
500 500 500
0 0 0
0 5 10 15 20 25 30 35 0 5 10 15 20 25 30 35 40 45 50 0 10 20 30 40 50 60 70 80
49
Servomotors
Rotary Motors
SGMGV
Holding Brake Specifications

Servomotor
Holding Rated Voltage 24 VDC Rated Voltage 90 VDC
Servomotor Model Rated Output
Torque Capacity Rated Current Capacity Rated Current
kW
Nm W A (at 20C) W A (at 20C)
SGMGV-03 0.3 4.5 10 0.42 10 0.11
SGMGV-05 0.45 4.5 10 0.42 10 0.11
SGMGV-09 0.85 12.7 9.8 0.41 10.1 0.11
SGMGV-13 1.3 19.6 9.8 0.41 10.1 0.11
Rotary Servomotors
SGMGV-20 1.8 19.6 9.8 0.41 10.1 0.11
SGMGV-30 2.9 43.1 18.5 0.77 18.5 0.21
SGMGV-44 4.4 43.1 18.5 0.77 18.5 0.21
Note: The holding brake is only used to hold the load and cannot be used to stop the servomotor.

Servomotor Rated Allowable Load Moment of Inertia

Servomotor Model
Output (Rotor Moment of Inertia Ratio)
SGMGV 0.3 to 4.4 kW 5 times

The allowable load moment of inertia (JL) depends on motor capacity and is limited to within 5 to 30 times the rotor moment of
inertia of each servomotor (JM). This value is provided strictly as a guideline and results may vary depending on servomotor drive
conditions.
moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take
one of the following steps if this occurs.
- Reduce the torque limit.
- Reduce the deceleration rate.
- Reduce the maximum speed.
- Install an external regenerative resistor if the alarm cannot be cleared. Contact your Yaskawa representative.

Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the
ranges shown in the table.

03D A21 490 98 37 LR
05D A21 490 98 40
09D A21 490 98 58
Fr
SGMGV- 13D A21 686 343 58
Fs
20D A21 980 392 58
30D A21 1470 490 79
44D A21 1470 490 79
50
LWithout Holding Brakes

(1) 300 W, 450 W
Shaft End
L
LL LR LR
36 LM 0.04 A
10 5 5
0.04 Dia. A1 90 a.
20 Di
Dia 0
. 10
79 Dia.
S Dia.
80 -00.030Dia.
35 Dia.
S Dia.
50
70
R
18 Dia.
1
17 KB1 A
0.02 4-6.6 Dia. Mounting Holes Q
38 KB2
Note: For the specifications of the other
shaft ends, refer to page 55.
Model Shaft End Dimensions Approx. Mass

L LL LM LR KB1 KB2
SGMGV- S Q kg
0
03D A21 163 126 90 37 75 114 14-0.011 25 2.6
0
05D A21 179 139 103 40 88 127 16-0.011 30 3.2
Note: Models with oil seals are of the same configuration.
- Cable Specifications for Encoder-end Connector - Cable Specifications for Servomotor-end

(20-bit Encoder) Connector
Receptacle: CM10-R10P-D PE
3 1 Applicable plug (To be provided by the customer) PE FG (Frame ground)

5
7 4 Plug: CM10-AP10S-*-D (Angle) 5

4
CM10-SP10S-*-D (Straight) 4
3
10 8
(Asterisks(*) indicate a value that varies, depending on cable 3 Phase U
2
size.)
1
2 Phase V
1 Phase W
With an Absolute Encoder With an Incremental Encoder
1 PS 6 BAT () 1 PS 6
2 /PS 7 2 /PS 7
3 8 3 8
4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V
5 BAT ( ) 10 FG (Frame ground) 5 10 FG (Frame ground)
51
Servomotors
Rotary Motors
SGMGV
(2) 850 W to 4.4 kW
L
LL LR
36 LM
0.04 A Shaft End
LG LE
0.04 Dia. A LC
a. LR LR
Di
LA LE LE
LH
Dia
.
S Dia.
79 Dia.
62 Dia.
LB Dia.
45 Dia.
S Dia.
S Dia.
Rotary Servomotors
44 Dia.
28 Dia.
R1
R
50
1
Q Q
KL1
SGMGV-09 to -20 SGMGV-30, -44

A 0.02
Note: For the specifications of the other shaft
KB1 ends, refer to page 55.
4-LZ Dia. Mounting Holes
KB2
Shaft End Approx.

Model Flange Face Dimensions
L LL LM LR KB1 KB2 KL1 Dimensions Mass
SGMGV-
LA LB LC LE LG LH LZ S Q kg
0 0
09D A21 195 137 101 58 83 125 104 145 110-0.035 130 6 12 165 9 19-0.013 40 5.5
0 0
13D A21 211 153 117 58 99 141 104 145 110-0.035 130 6 12 165 9 22-0.013 40 7.1
0 0
20D A21 229 171 135 58 117 159 104 145 110-0.035 130 6 12 165 9 24-0.013 40 8.6
0
30D A21 239 160 124 79 108 148 134 200 114.3-0.025 180 3.2 18 230 13.5 35+0.01
0 76 13.4
0
44D A21 263 184 148 79 132 172 134 200 114.3-0.025 180 3.2 18 230 13.5 35+0.01
0 76 17.5

Receptacle: CM10-R10P-D
3 1 Applicable plug (To be provided by the customer) A Phase U
D A
7 4 Plug: CM10-AP10S-*-D (Angle) B Phase V
10 8
CM10-SP10S-*-D (Straight) C Phase W
C B
(Asterisks (*) indicate a value that varies, depending on D FG (Frame ground)
cable size.)

1 PS 6 BAT () 1 PS 6
2 /PS 7 2 /PS 7
3 8 3 8
4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V
52
LWith Holding Brakes

(1) 300 W, 450 W
Shaft End
L
LL LR
36 LM LR
0.04 A
10 5
0.04 Dia. A 5
120 90 .
Dia Dia
. 100
79 Dia.
S Dia.
80-0.030Dia.
35 Dia.
0
S Dia.
50
70
18 Dia.
R
1
17 KB1 A Q
0.02 4-6.6 Dia. Mounting Holes
38 KB2
Note: For the specifications of the other
shaft ends, refer to page 55.
Model Shaft End Dimensions Approx. Mass

L LL LM LR KB1 KB2
SGMGV- S Q kg
0
03D A2 196 159 123 37 75 147 14-0.011 25 4.5
0
05D A2 212 172 136 40 88 160 16-0.011 30 5.0

Receptacle: CM10-R10P-D PE
3 1 Applicable plug (To be provided by the customer) PE FG (Frame ground)

5
7 4 Plug: CM10-AP10S-*-D (Angle) 5 Brake terminal

4
8 CM10-SP10S-*-D (Straight) 4 Brake terminal

3
10
2
(Asterisks (*) indicate a value that varies, depending on 3 Phase U

1
cable size.) 2 Phase V

1 Phase W
1 PS 6 BAT () 1 PS 6
2 /PS 7 2 /PS 7
3 8 3 8
4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V
53
Servomotors
Rotary Motors
SGMGV
(2) 850 W to 4.4 kW
L
LL LR
36 LM 0.04 A Shaft End
LG LE LR LR
0.04 Dia. A LC
a. LE
Di LE
LH LA
Dia
79 Dia.
S Dia.
62 Dia.
45 Dia.
S Dia.
S Dia.
LB Dia.
44 Dia.
28 Dia.
R1
R
1
50
Q Q
Rotary Servomotors
KL3
KL1
SGMGV-09 to -20 SGMGV-30, -44

A 0.02
Note: For the specifications of the other shaft ends,
KB1 4-LZ Dia. Mounting Holes
KB3 refer to page 55.
KB2
Shaft End Approx.

Model Flange Face Dimensions
L LL LM LR KB1 KB2 KB3 KL1 KL3 Dimensions Mass
SGMGV-
kg
LA LB LC LE LG LH LZ S Q
0 0
09D A2 231 173 137 58 83 161 115 104 80 145 110-0.035 130 6 12 165 9 19-0.013 40 7.5
0 0
13D A2 247 189 153 58 99 177 131 104 80 145 110-0.035 130 6 12 165 9 22-0.013 40 9.0
0 0
20D A2 265 207 171 58 117 195 149 104 80 145 110-0.035 130 6 12 165 9 24-0.013 40 11.0
0
30D A2 287 208 172 79 108 196 148 134 110 200 114.3-0.025 180 3.2 18 230 13.5 35+0.01
0 76 19.5
0
44D A2 311 232 196 79 132 220 172 134 110 200 114.3 -0.025 180 3.2 18 230 13.5 35+0.01
0 76 23.5

Receptacle: CM10-R10P-D A Phase U
3 1 Applicable plug (To be provided by the customer)
D A B Phase V
7 4 Plug: CM10-AP10S-*-D (Angle) C Phase W
10 8 CM10-SP10S-*-D (Straight) C B D FG (Frame ground)
(Asterisks (*) indicate a value that varies, depending
on cable size.)
With an Absolute Encoder With an Incremental Encoder - Cable Specifications for Brake-end
Connector
1 PS 6 BAT () 1 PS 6
2 /PS 7 2 /PS 7 Receptacle: CM10-R2P-D
Applicable plug (To be provided by the customer)
3 8 3 8
Plug: CM10-AP2S-*-D (Angle)
4 PG 5V 9 PG 0V 4 PG 5V 9 PG 0V
CM10-SP2S-*-D (Straight)
(Asterisks (*) indicate a value that varies,
depending on cable size.)
Brake terminal
Brake terminal
Note: No polarity for connection to the brake terminals
54
LShaft End
SGMGV -
Code Specifications Remarks

2 Straight without key Standard
Straight with key and tap for one location
6 Optional
(Key slot is JIS B1301-1996 fastening type)
Model SGMGV-
Code Specifications Shaft End
03 05 09 13 20 30 44
LR
LR 37 40 58 58 58 79 79
Straight Q
2 without Q 25 30 40 40 40 76 76
Key
R1 S 0
14 0.011
0
16 0.011
0
19 0.013
0
22 0.013
0
24 0.013 35
0.01
35
0.01
S Dia. 0 0
LR 37 40 58 58 58 79 79
Q 25 30 40 40 40 76 76
LR
QK 15 20 25 25 25 60 60
Q
0 0 0 0 0 0.01 0.01
Straight QK S 14 0.011 16 0.011 19 0.013 22 0.013 24 0.013 35 0 35 0
6 with Key U P
W 5 5 5 6 8 10 10
S Dia.
and Tap
T 5 5 5 6 7 8 8
W
T U 3 3 3 3.5 4 5 5
R
1
M4 Screw, M5 Screw, M5 Screw, M5 Screw, M5 Screw, M12 Screw, M12 Screw,

P
Depth 10 Depth 12 Depth 12 Depth 12 Depth 12 Depth 25 Depth 25
55
Servomotors
Rotary Motors
SGMGV
Selecting Cables (SGMGV-03 / -05)
LCables Connections
(See page 64.)
(Example)
SGDV SGDV
SERVOPACK SERVOPACK
Relay Encoder Cable
(See page 64.)
Rotary Servomotors
encoder is used.)
Encoder Cable (See page 62.) w Cable with Connectors, or

r Cable
Battery Case
encoder is used.)
q Encoder-end Cable
Servomotor
Main Circuit Cable
SGMGV-03/-05
SGMGV-03/-05 Servomotor
Servomotor
CAUTION


Rated Output Name Length Specifications Details
kW Standard (Flexible) Type*
03 m JZSP-CVM21-03-E
05 m JZSP-CVM21-05-E SERVOPACK End Servomotor End
10 m JZSP-CVM21-10-E 50 mm L
For Servomotor without 15 m JZSP-CVM21-15-E
(1)
Holding Brakes 20 m JZSP-CVM21-20-E
Wire Markers
40 m JZSP-CVM21-40-E M4 Crimped Terminals
0.3 kW
05 m JZSP-CVM41-05-E SERVOPACK End Servomotor End
0.45 kW
10 m JZSP-CVM41-10-E 50 mm L
For Servomotor with Holding 15 m JZSP-CVM41-15-E

(2)
Brakes 20 m JZSP-CVM41-20-E
Wire Markers
M4 Crimped Terminals
Crimping Type
Servomotor-end Connector (A crimp tool is required.)
JZSP-CVM9-1-E (3)
Kit
* These flexible cables are provided as standard equipment. (Contd)
56
Selecting Cables (SGMGV-03 / -05)

Rated Output Name Length Specifications Details
kW Standard (Flexible) Type*
For Servomotor 15 m JZSP-CVM29-15-E
without Holding 20 m JZSP-CVM29-20-E (4)
Brakes (4 wires) 30 m JZSP-CVM29-30-E
0.3 kW 50 m JZSP-CVM29-50-E
Cables
0.45 kW 05 m JZSP-CVM49-05-E
For Servomotor 15 m JZSP-CVM49-15-E
with Holding 20 m JZSP-CVM49-20-E (4)
Brakes (6 wires) 30 m JZSP-CVM49-30-E
*: These flexible cables are provided as standard equipment.
Green/yellow FG FG PE Green/yellow FG FG PE
Note: No polarity for connection to a holding brake
(3) Servomotor-end Connector Kit Specifications (4) Cable Specications (Flexible Type)
Items Specifications Dimensional Drawings mm Items For Servomotor without Holding Brakes (4 wires) For Servomotor with Holding Brakes (6 wires)
JZSP-CVM9-1-E Order No.* JZSP-CVM29- -E JZSP-CVM49- -E
Order No.
(Cables are not included.) Cable Length 50 m max.
Applicable UL2586 UL2586
SGMGV-03/-05
Servomotors (Max. operating temperature: 105C) (Max. operating temperature: 105C)
Japan Aviation Electronics AWG204C AWG206C
Manufacturer For power line: AWG20 For power line: AWG20
Industry, Ltd. 38 39.6
(0.55 mm2) (0.55 mm2)
Plug JNYFX06SJ3 Specifications
Outer diameter of insulating sheath: 1.77 dia. Outer diameter of insulating sheath: 1.77 dia.
Electrical
18
ST-TMH-S-C1B For brake line: AWG20

Contact (0.55 mm2)
Applicable Outer diameter of insulating sheath: 1.77 dia.
AWG18 to 22
1
Wire Size
2
3
4
Outer Diameter of 1.3 dia. to Finished Dimensions 7.3p0.3 dia. 7.4p0.3 dia.
5
PE
Insulating Sheath 2.6 dia.

Crimp Hand tool CT160-3-TMH5B
Tool Applicator 350-TMH5B-2B Red Black
Internal Green/
yellow Black
Mounting M3 Pan head Configuration Green/
yellow White
Screw screw and Lead
Blue Red
Color Blue
Applicable Cable 6.9 dia. to White
Outer Diameter 8.3 dia.
Yaskawa Standard
Cable length:
Specifications
5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
(Standard Length)

57 Example: JZSP-CVM -05-E (5 m)
Servomotors
Rotary Motors
SGMGV
Selecting Cables (SGMGV-09 to -44)
LCables Connections
(See page 64.)
SGDV (Example)
SERVOPACK
SGDV
SERVOPACK
Relay Encoder Cable
(See page 64.)
Rotary Servomotors
encoder is used.)
Encoder Cable (See page 62.) w Cable with Connectors, or

r Cable
Battery Case
encoder is used.)
q Encoder-end Cable
Servomotor
Main Circuit Cable SGMGV-09 to -44
Servomotor
SGMGV-09 to -44
Servomotor
CAUTION
LServomotor Main Circuit Cables

Customers must assemble the servomotors main circuit cables and attach connectors to connect the SERVOPACKs and the
SGMGV servomotors.
Use the connectors specied by Yaskawa when assembling the cable. Select the appropriate type of connector in accordance
with the motor application. The following two types of connectors are available for SGMGV servomotors.
- Standard Environment Connectors (Standard)
- Protective Structure IP67/European Safety Standards Compliant Connectors
Yaskawa does not specify which cables to use. Use appropriate cables for the connectors.
58
LStandard Connectors
LConnector Configuration
Servomotor-end Connector
(Receptacle)
Straight
Plug
Cable Cable
Clamp
SGMGV
Servomotor
L-shaped Plug
(1) Without Holding Brakes
For 0.85 to 4.4 kW
Servomotor-end
Capacity Cable-end Connector (Not provided by Yaskawa)
Connector
kW
(Receptacle) Straight Plug L-shaped Plug Cable Clamp
0.85
1.3 MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A
1.8
2.9
MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A
4.4
Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for
RoHS-compliant cable-end connectors (not provided by Yaskawa).
(2) With Holding Brakes

5.5 to 7.5 kW servomotors require servomotor-end connector and brake power supply connector.
The servomotor-end connector is the same as is used for servomotors without holding brakes.
Brake Power Supply Connector

0.85 to 4.4 kW
Servomotor-end Cable-end Connector

Capacity
Connector (Not provided by Yaskawa)
kW
(Receptacle) Straight Plug L-shaped Plug
Servomotor-end Connector CM10-SP2S-S-D CM10-AP2S-S-D

Applicable Cable: Applicable Cable:
4.0 dia. to 6.0 dia. 4.0 dia. to 6.0 dia.
0.85 CM10-SP2S-M-D CM10-AP2S-M-D
to CM10-R2P-D Applicable Cable: Applicable Cable:
4.4 6.0 dia. to 9.0 dia. 6.0 dia. to 9.0 dia.
CM10-SP2S-L-D CM10-AP2S-L-D
Applicable Cable: 9.0 Applicable Cable: 9.0
dia. to 11.6 dia. dia. to 11.6 dia.
59
Servomotors
Rotary Motors
SGMGV
Selecting Cables (SGMGV-09 to -44) mm
LDimensional Drawings
(1) MS3106B - S : Straight Plug
L Length of Outer Effective

Overall Cable Clamp Maximum
J W Shell Joint Screw Joint Diameter of Screw
Length Set Screw Width
Size A Portion Joint Nut Length
L max. 0 V Y max.
A Jp0.12 Q 0.38 W min.
Q
18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42
Rotary Servomotors
22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50
V 32 2-18UNS 18.26 61.92 56.33 1-3/4-18UNS 11.13 66
(2) MS3108B - S : L-shaped Plug
Length of Outer Effective

L Overall Cable Clamp
Shell Joint Screw Joint Diameter of R U Screw
J Length Set Screw
Size A Portion Joint Nut p0.5 p0.5 Length
L max. 0 V
Jp0.12 Q 0.38 W min.
R
A
Q
18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53

W
U
22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53

V
32 2-18UNS 18.26 95.25 56.33 32.8 44.4 1-3/4-18UNS 11.13
(3) MS3057- A : Cable Clamp with Rubber Bushing
C
J Dia. (Inner Diameter of Bushing)
1.6
V E Dia.
Q Dia.
(Inner Diameter
G
of Cable Clamp)
H (Slide Range)
Effective Outer
Applicable Overall
Cable Clamp Screw E J Set Screw Diameter Attached
Connector Length Gp0.7 H
Type Length Diameter Diameter V Qp0.7 Bushing
Shell Size Ap0.7
C Dia.
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
MS3057-12A 20 22 23.8 10.3 19 37.3 4 15.9 1-3/16-18UNEF 35.0 AN3420-12
MS3057-20A 32 27.8 11.9 31.7 51.6 6.3 23.8 1-3/4-18UNS 51.6 AN3420-20
60
LProtective Structure IP67/European Safety Standards Compliant Connector

LConnector Configuration
(Receptacle)
Plug Conduit Cable
Waterproof Straight Plug
SGMGV Servomotor
Waterproof Cable
Cable Clamp
Note: For the conduit grounding, contact the manufacturer of the conduit being
Waterproof L-shaped Plug used.
(1) Without Holding Brakes

For 0.85 to 4.4kW
Cable-end Connector (Not Provided by Yaskawa)

Servomotor-
Capacity Applicable Cable
end Connector
kW Straight Plug L-shaped Plug Cable Clamp Diameter Manufacturer
(Receptacle)
(For Reference)
0.85 CE3057-10A-1-D 10.5 dia. to 14.1 dia.
CE05-2A18- CE05-6A18- CE05-8A18-
1.3 CE3057-10A-2-D 8.5 dia. to 11.0 dia.
10PD-D 10SD-D-BSS 10SD-D-BAS
1.8 CE3057-10A-3-D 6.5 dia. to 8.7 dia.
CE3057-12A-1-D 12.5 dia. to 16.0 dia. DDK Ltd.
2.9 CE05-2A22- CE05-6A22- CE05-8A22- CE3057-12A-2-D 9.5 dia. to 13.0 dia.
4.4 22PD-D 22SD-D-BSS 22SD-D-BAS CE3057-12A-3-D 6.8 dia. to 10.0 dia.
CE3057-12A-7-D 14.5 dia. to 17.0 dia.
(2) With Holding Brakes

0.85 to 4.4 kW servomotors require servomotor-end connector and brake power supply connector.
The servomotor-end connector is the same as is used for servomotors without holding brakes.

0.85 to 4.4 kW
Servomotor-end Cable-end Connector

Capacity
Connector (Not provided by Yaskawa)
kW
(Receptacle) Straight Plug L-shaped Plug
CM10-SP2S-S-D CM10-AP2S-S-D
0.85 Applicable Cable: Applicable Cable:
4.0 dia. to 6.0 dia. 4.0 dia. to 6.0 dia.
(The same as is used for
servomotors without holding CM10-SP2S-M-D CM10-AP2S-M-D
brakes.)
to CM10-R2P-D Applicable Cable: Applicable Cable:
Brake Power Supply Connector 6.0 dia. to 9.0 dia. 6.0 dia. to 9.0 dia.
CM10-SP2S-L-D CM10-AP2S-L-D
4.4 Applicable Cable: 9.0 Applicable Cable: 9.0
dia. to 11.6 dia. dia. to 11.6 dia.
61
Servomotors
Rotary Motors
SGMGV
Selecting Cables
LEncoder Cables (Max. length: 20 m)

Length Order No.
Name Specifications Details
(L) Standard Type Flexible Type*
3m JZSP-CVP01-03-E JZSP-CVP11-03-E
L
10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
molex
15 m JZSP-CVP01-15-E JZSP-CVP11-15-E Connector (Crimped)
Encoder Cable with
(Molex Japan Co., Ltd.)
CM10-SP10S- -D
(DDK Ltd.)
*
Connectors 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
(1)
(For Incremental 3m JZSP-CVP02-03-E JZSP-CVP12-03-E
Encoder) 5m JZSP-CVP02-05-E JZSP-CVP12-05-E L
Rotary Servomotors
molex
15 m JZSP-CVP02-15-E JZSP-CVP12-15-E Connector (Crimped)
CM10-AP10S- -D
(DDK Ltd.)
*
3m JZSP-CVP06-03-E JZSP-CVP26-03-E SERVOPACK End Encoder End
L
molex
Battery Case
Encoder Cable with 15 m JZSP-CVP06-15-E JZSP-CVP26-15-E (Battery Attached)
Connector CM10-SP10S- -D
(Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.)
*
Connectors
(2)
(For Absolute Encoder, 3m JZSP-CVP07-03-E JZSP-CVP27-03-E SERVOPACK End Encoder End
L
with a Battery Case) 5m JZSP-CVP07-05-E JZSP-CVP27-05-E
molex
Battery Case
15 m JZSP-CVP07-15-E JZSP-CVP27-15-E (Battery Attached)
Connector CM10-AP10S- -D
(Crimped)(Molex Japan Co., Ltd.) (DDK Ltd.)
*
Soldered
SERVOPACK-end
molex
JZSP-CMP9-1-E (3)
Connector Kit
CM10-SP10S-S-D Straight plug

Applicable Cable Diameter 4.0 dia. to 6.0 dia.
CM10-SP10S-M-D
Encoder-end Connectors for CM10-SP10S-L-D

Protective Structure IP67 Applicable Cable Diameter 9.0 dia. to 11.6 dia.

(Connector on Servomotor: CM10-AP10S-S-D L-shaped plug
CM10-R10P-D) Applicable Cable Diameter 4.0 dia. to 6.0 dia.
CM10-AP10S-M-D
CM10-AP10S-L-D
3m JZSP-CMP09-03-E JZSP-CMP39-03-E
Cables 10 m JZSP-CMP09-10-E JZSP-CMP39-10-E (4)
15 m JZSP-CMP09-15-E JZSP-CMP39-15-E
62
Selecting Cables
(1) Wiring Specifications for Cable with Connectors (2) Wiring Specifications for Cable with Connectors
(For incremental encoder) (For absolute encoder, with a battery case)
SERVOPACK End Encoder (Servomotor) End SERVOPAKC End Encoder (Servomotor) End
Shell FG 10 FG Shield Wire Shell FG 10 FG Shield Wire
Shield Wire Shield
Battery Case
Wire
Note: The signals BAT() and BAT() are used when using Pin No. Signal
an absolute encoder. 2 BAT ()
1 BAT (+)
(3) SERVOPACK-end Connector Kit Specications
Items Specifications
Order No. JZSP-CMP9-1-E
Manufacturer Molex Japan Co., Ltd.
Connector Model 55100-0600 (soldered) or
(For standard) 55102-0600 (crimped)*
Note: The mating connector model on SERVOPACK: 54280-800

External
(19)

The mating connector model on servomotor: 55102-0600
Dimensions
*: A crimp tool is required. The following crimp tools are applicable for the cables provided by
(Units: mm) Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools.
(12) (33) Applicable crimp tool for Yaskawas wire size: Hand Tool Model 57175-5000
Applicator Model 57175-3000

AWG22 (0.33 mm2) AWG22 (0.33 mm2)
Specifications
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
Finished Dimensions 6.5 dia. 6.8 dia.
Blue Blue/ Black/ Red/

white light blue light blue
Internal Configuration
and Lead Color
Orange Orange/ Black/ Red/
white pink pink
Yaskawa Standards Specifications

Cable length: 5 m, 10 m, 15 m, 20 m
(Standard Length)

63
Servomotors
Rotary Motors
SGMGV
Selecting Cables
LEncoder Cables (For extending from 30 to 50 m) Contact Yaskawa Controls Co., Ltd.
Name Length Order No. Specifications Datails

0.3 m
molex
JZSP-CVP01-E
Plug Connector (Crimped)
CM10-SP10S- -D
(DDK Ltd.)
*
(For incremental and absolute 0.3 m (1)
encoder) SERVOPACK End Encoder End
0.3 m
molex
JZSP-CVP02-E
Rotary Servomotors
Plug Connector (Crimped)
CM10-AP10S- -D
(DDK Ltd.)
*
30 m JZSP-UCMP00-30-E
0.3 m
(For incremental and absolute 40 m JZSP-UCMP00-40-E (2)
molex
molex
encoder) Connector (Crimped) Socket Connector (Soldered)
50 m JZSP-UCMP00-50-E

0.3 m
molex
molex
0.3 m JZSP-CMP12-E* (3)
(For absolute encoder) Battery Case
(Battery attachesl)
Connector (Crimped) Socket Connector (Soldered)
4 Relay Cables 40 m JZSP-CMP19-40-E (4)
64
Selecting Cables
(For incremental and absolute encoder) (For incremental and absolute encoder)
5 PS 1 Light blue 6 /PS 6 Light blue/white
6 /PS 2 Light blue/white 5 PS 5 Light blue
2 PG 0V 9 Black 4 BAT () 4 White/orange
1 PG 5V 4 Red 3 BAT (+) 3 Orange
4 BAT () 5 White/orange 2 PG 0V 2 Black
3 BAT (+) 6 Orange 1 PG 5V 1 Red
Shell FG 10 FG Shield wire Shell FG Shell FG
Shield Shield
Wire Wire
Note: The signals BAT() and BAT( ) are used when using an absolute
encoder.
(3) Wiring Specications for Cable with a Battery Case

SERVOPACK End Encoder (Servomotor) End

Pin No. Signal Pin No. Wire Color
6 /PS 6 Lignt blue/white
5 PS 5 Light blue
4 BAT () 4 White/orange
3 BAT (+) 3 Orange
2 PG 0V 2 Black
1 PG 5V 1 Red
Shell FG Shell FG
Shield
Battery Case
Wire
Pin No. Signal
2 BAT ()
1 BAT (+)
(4) Relay Encoder Cable Specications
Item Standard Type

AWG162C + AWG262P
AWG16 (1.31 mm2)
Specifications
AWG26 (0.13 mm2)
Finished Dimensions 6.8 dia.
Black
Internal Configuration Orange Light Blue
and Lead Colors Orange Light Blue
/white /white
Red
Yaskawa Standard
(Standard Length)

65
Servomotors
Rotary Motors
SGMGV
Rotary Servomotors
66
Rotary Servomotor General Instructions
Precautions on Servomotor Installation

Servomotors can be installed either horizontally or vertically.
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or
in an inappropriate location. Always observe the following installation instructions.
CAUTION
Do not connect the servomotor directly to a commercial

power line. This will damage the servomotor.
The servomotor cannot operate without the proper
SERVOPACK.
(1) Installation Environment

Items Condition
Ambient Temperature 0 to 40C (no freezing)
Ambient Humidity 20% to 80%RH (no condensation)
Free of corrosive or explosive gases.
Well-ventilated and free of dust and moisture.
Installation Site Facilitates inspection and cleaning.
Elevation :1,000 m max.
Free of high magnetic field
Store the servomotor in the following environment if it is stored with the power cable disconnected.
Storage Environment Ambient temperature during storage: -20 to 60C (no freezing)
Ambient humidity during storage: 20% to 80%RH (no condensation)
(2) Protective Structure

The servomotor protective structure* is described table as follows.
Flange
Model Without Gears With Gears
Through shaft section
SGMAV, SGMJV IP65 IP55
This refers to the gap where
SGMGV IP67 the shaft protrudes from
the end of the motor.
*: Except through shaft section. The protective structure specifications can be satisfied
only when using a specified cable.
Shaft
LDo not use servomotors in a location that is subject to oil. If the servomotor is used in a location that is subject to water or oil
mist, order a servomotor with an oil seal to seal the through shaft section.
Precautions on Using Servomotor with Oil Seal:

LPut the oil surface under the oil seal lip.
LUse an oil seal in favorably lubricated condition.
LWhen using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips.
(3) Orientation
LServomotors can be installed either horizontally or vertically.
Horizontal Vertical
When installing servomotors vertically, make cable traps to keep
out water. When mounting servomotors with the shaft up, take
measures with the connected machine to prevent oil from getting
into the servomotors through gear boxes etc.
Cable
67 Trap
Servomotors
Rotary Motors
General Instructions
(4) Alignment
Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts.
IMPORTANT 1. Install the servomotor so that alignment accuracy falls within the following range.
Vibration that will damage the bearings and encorders if the shafts are not properly aligned.
* *: Measure
Alignment Accuracy
this distance at
four different positions on
Coupling the circumference. The
difference between the
maximum and minimum
measurements must be
0.03 mm or less.

* Note: Turn together with coupling.
2. Do not allow any direct impact to the shafts when installing the couplings. Do not hit the area near encoders with a
hammer etc., as impacts may damage the encoders.
3. Before installation, thoroughly remove the anticorrosive paint from the end of the motor shaft. Only after removing the
paint can servomotors be installed on the machines.
Anticorrosive
paint is
coated here.
(5) Cable Stress

LMake sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets.
Be especially careful to wire encoder cables so that they are not subject to stress because the core wires of encoder cables and
main circuit cables are very thin at only 0.2 to 0.3 mm.
(6) Connectors
Observe the following precautions:
LWhen the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting the
encoder cables end.
If the encoder cables end is connected, the encoder may break because of the voltage differences between FG.
LMake sure there is no foreign matters such as dust and metal chips in the connector before connecting.
LDo not apply shock to resin connectors. Otherwise, they may be damaged.
LMake sure of the pin arrangement.
LBe sure not to apply stress on the connector, when using flexible cables. The connector may be damaged by stress.
LWhen handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged.
L Fix the cable connector to SGMJV, SGMAV or SGMGV-03/-05 servomortors with screws. Refer to Cable connections to
SGMJV and SGMAV servomotors or Cable connections to SGMGV-03/-05 servomortors.Make sure that the connector is
securely fixed with screws.
Lf connectors are not connected properly, the protective structure specifications may not be satisfied.
68
Cable Connections to SGMJV and SGMAV Servomotors
Connect the main circuit cable and encoder cable to SGMJV or SGMAV servomotor in the following manner.
CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the
encoder may be damaged by static electricity, etc.
STEP1 Remove the protective tape and cap from the servomotor connector.
Cap
Protective Tape
STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
Encoder Cable
For all models
2-M2 pan-head screw
Tightening torque: 0.15 Nm
Rubber Packing V
W
Servomotor Main Circuit Cable
2 M2 Tapped Holes G
For 550 W or less servomotors
2 M2 pan-head screw
2 M2 Tapped Holes Tightening torque: 0.15 Nm
For 750 W or more servomotors
2-M2.5 pan-head screw
IMPORTANT LFirst, connect the servomotor to the servomotor main circuit cable end.
LDo not remove the rubber packing. Mount the connector so that the rubber packing is seated
properly. If the rubber packing is not seated properly, the requirements for the protective
structure specifications may not be met.
69
Servomotors
Rotary Motors
Cable Connections to SGMGV-03/-05 Servomotors
Connect the main circuit cable and encoder cable to SGMGV-03/-05 servomotor in the following manner.
CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the
encoder may be damaged by static electricity, etc.
STEP1 Remove the protective cap from the servomotor connector.

Protective Cap
STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
Encoder Cable
All models
molex
U O-ring
V
Servomotor Main Circuit Cable

SGMGV-03/-05
4-M3 pan-head screw
Lead on Non-load Side
Lead on Load Side
IMPORTANT LFirst, connect the servomotor to the servomotor main circuit cable end.
LDo not remove the O-ring. Mount the connector so that the O-ring is seated properly.
If the O-ring is not seated properly, the requirements for the protective structure specifications
may not be met.
70
Mechanical Specifications
LMechanical Tolerance T.I.R. (Total lndicator Reading)

The following figure shows tolerances for the servomotors output shaft and installation area. For more details on tolerances, refer
to the external dimensions of the individual servomotor.
Perpendicularity between the flange face and output shaft

0.04 A
Run-out at the end of the shaft
0.02
A
Mating concentricity
of the flange O.D.
0.04 Dia. A
LDirection of Servomotor Rotation

Positive rotation of the servomotor without a gear is counterclockwise when viewed from the load.
Refer to Ratings and Specifications for each series regarding positive rotation of the
servomotor with a gear. The direction of rotation can be reversed by changing the SERVOPACK
parameters.
Counterclockiwise
LImpact Resistance
Vertical
Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
LImpact Acceleration: 490 m/s2
LImpact occurrences: 2
Impact Applied to the Servomotor
LVibration Resistance
Front to Back Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration
Vertical acceleration in three directions: Vertical, side to side, and front to back.
Side to
Side
Servomotor Model Vibration Acceleration at Flange
Horizontal SGMJV, SGMAV 49 m/s2
Shaft SGMGV 49 m/s2 Front to back direction: 24.5 m/s2
Impact Applied to the Servomotor
IMPORTANT
The amount of vibration the servomotor endures will vary depending on the application. Check the vibration
acceleration being applied to your servomotor for each application.
LVibration Class
The vibration class for the SGM V servomotors at rated motor speed is as follows:
Vibration Class: V15
(A vibration class of V15 indicates a total vibration amplitude of 15 M m maximum on the servomotor during rated rotation.)
Rotor Moment of Inertia
Small-capacity servomotors come in a medium inertia series SGMJV servomotor and low inertia series SGMAV servomotor. The rotor moment of inertia
of SGMJV servomotor is twice as large as that of SGMAV. Select servomotors based on the specifications of your devices, such as load moment of inertia
or machine rigidity.
LWhen the rotor moment of inertia is large:
Servomotors are capable of corresponding load changes. This has the benefit of reducing settling time and speed ripple. This should also improve
control stability of machines with low rigidity.
LWhen mounting the servomotor with low rotor moment of inertia to devices with load moment of inertia:
Acceleration/deceleration torque increases and effective load ratio increases. Check the effective load ratio when you select motor capacity.
71
Servomotors
Rotary Motors
Servomotor Heating Conditions
The motor rated specifications are continuous allowable values at an ambient temperature of 40C when servomotors are installed with heat sinks.
When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the
surface. See the following graph for the relation between heat sink size and derating (derating ratio).
IMPORTANT The actual temperature rise depends on how the heat sink (servomotor mounting section) is fixed on the installation
surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor
temperature.

SGMJV-A5/-01 SGMJV-02 SGMJV-08
100% 100% 100%
80% 80% 80%

Derating
Derating
Derating
SGMJV-04
60% 60% 60%
40% 40% 40%
20% 20% 20%

0 50 100 150 200 250 0 50 100 150 200 250 100 150 200 250 300
Heat Sink [mm] Heat Sink [mm] Heat Sink [mm]
SGMAV-A5/-01 SGMAV-02/-04/-06 SGMAV-08

100% 100% 100%
80% 80% 80%

Derating
Derating
Derating
SGMAV-C2
SGMAV-10
60% 60% 60%
40% 40% 40%
20% 20% 20%

0 50 100 150 200 250 0 50 100 150 200 250 50 100 150 200 250 300
Heat Sink [mm] Heat Sink [mm] Heat Sink [mm]
Holding Brake Delay Time
Holding brakes have motion delay time that varies depending on when the brake is open and when the brake is operating. The
following table shows the brake delay time of each servomotor.
IMPORTANT
Make sure the holding brake delay time is correct for your servomotor.
LExample, switching the holding brakes on the DC side

Brake Open Time Brake Operation Time
Model Voltage
ms ms
SGMAV-A5 to 04 60 100
24 V
SGMAV-06 to 10 80 100
SGMJV-A5 to 04 60 100
24 V
SGMJV-08 80 100
SGMGV-03, 05 100 80
SGMGV-09, 13, 20 24 V, 90 V 100 80
SGMGV-30, 44 170 100 (24 V), 80 (90 V)
72
Cables
LStandard Cables
Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is
needed, as when the cables themselves move or are twisted or turned.
R15 min. is recommended for the bending radius of standard cables. Use flexible cables for flexible applications.
LFlexible Cables
(1) Life of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R = 90 mm
under the following test conditions.
LConditions
1 Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in the following
figure.
2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected.
Note that one reciprocation is counted as one test.
Shifting Distance 320 mm
Shifting End
Bending
Radius Fixed End
R=90 mm
Notes: 1 The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting to the cable, and fixing methods.
The life of flexible cable is limited under the specified conditions.
2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the
performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
(2) Wiring Precautions

Even if the recommended bending radius R is followed in the mechanical design, incorrect wiring may cause the early
disconnection. Observe the following precautions when wiring.
(a) Cable twisting
Straighten the flexible cables wiring.
Twisted cables cause the early disconnection. Check the indication on the cable surface to make sure that the cable is not
twisted.
(b) Fixing method
Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnection. Fix the cable
at the minimum number of points. Do not put stress on the servomotor-end and SERVOPACK-end connectors.
(c) Cable length
If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive tension on the fixed
points will cause the early disconnection. Use a flexible cable with the optimum length.
(d) Interference between cables
Avoid interference between cables.
Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables,
or provide a partition when wiring.
73
74
Direct Drive Servomotors
SGMCS
Model Designations
SGMCS - 02 B 3 C 1 1
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th
Servomotor
SGMCS
1st+2nd 3th digit Motor Outer Diameter 5th digit Design Revision Order
Rated Torque
digits
Code Motor Outer Diameter Code Specifications
Code Rated Torque B 135 mm B Model of servomotor outer diameter code E
02 2.0 Nm C 175 mm C Model of servomotor outer diameter code B, C, D
04 4.0 Nm D 230 mm
05 5.0 Nm E 290 mm 6th digit Flange Specifications
07 7.0 Nm
08 8.0 Nm Motor Outer Diameter Code
4th digit Encoder Specifications Flange Specifications
10 10 Nm Code (3rd digit)
14 14 Nm Code Specifications Specifications Mounted Side B C D E

16 16 Nm 20-bit absolute 1 C-face Non-load side
17 17 Nm 3 (without multiturn data) Non-load side

(standard) 4 C-face (with cable on
25 25 Nm
35 35 Nm 20-bit incremental side)
D
(option) : Applicable Model
7th digit Brake Specifications

Code Brake Specifications
1 Without brake
75
SGMCS
LDirectly coupled to a load without a mechanical LSemiconductor equipment
transmission such as a gear.
LLCD manufacturing equipment
LPowerful and smooth operation throughout the speed
range from low to high. LUnits for inspection and testing
(Instantaneous peak torque: 6 to 600 Nm
LElectronic parts assembling
maximum speed: 250 to 500 rpm)
machines
LHigh-resolution, 20-bit encoder for highly precise LIC handlers
indexing.
LInspection units for integrated
LEasy wiring and piping with the hollow structure. circuits
LAutomated machines
LRobots
Rated Torque / Peak Torque

Outer Diameter 135 mm, Inner Diameter 20 mm
SGMCS-02B Rated Torque 2.0 / Peak Torque 6.0 Nm

Rated Torque Peak Torque
SGMCS-05B 5.0/15.0
SGMCS-07B 7.0/21.0
20 40 60 80 Nm
SGMCS-04C 4.0/12.0
SGMCS-10C 10.0/30.0
SGMCS-14C 14.0/42.0
20 40 60 80 Nm
SGMCS-08D 8.0/24.0
SGMCS-17D 17.0/51.0
SGMCS-25D 25.0/75.0
20 40 60 80 Nm
SGMCS-16E 16.0/48.0
SGMCS-35E
35.0/105.0
20 40 60 80 100 Nm
76
Time Rating: Continuous Thermal Class: A

Insulation Resistance: 500 VDC, 10 M7 min. Enclosure: Totally enclosed, self-cooled, IP42 (except for gaps on the
Ambient Temperature: 0 to 40C rotating section of the shaft)
Voltage 200 V
Servomotor Model SGMCS- 02B C 05B C 07B C 04C C 10C C 14C C 08D C 17D C 25D C 16E C 35E C
Rated Output *1 W 42 105 147 84 209 293 168 356 393 335 550
Rated Torque *1, *2 Nm 2.0 5.0 7.0 4.0 10.0 14.0 8.0 17.0 25.0 16.0 35.0
Instantaneous Peak Torque *1 Nm 6.0 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Stall Torque *1 Nm 2.05 5.15 7.32 4.09 10.1 14.2 8.64 19.2 27.2 17.6 38.3
Rated Current *1 Arms 1.8 1.7 1.4 2.2 2.2 2.8 1.9 2.3 2.4 3.3 3.5
Instantaneous Max. Current *1 Arms 5.4 5.1 4.1 7.0 7.0 8.3 5.6 6.9 7.2 9.4 10.0
Rated Speed *1 rpm 200 200 200 150 200 150
Max. Speed *1 rpm 500 500 400 300 500 350 250 500 250
Torque Constant Nm/Arms 1.18 3.17 5.44 2.04 5.05 5.39 5.1 8.48 12.1 5.58 11.1
Rotor Moment of Inertia kg-m210-4 28 51 77 77 140 220 285 510 750 930 1430
Rated Power Rate *1 kW/s 1.4 4.9 6.4 2.1 7.1 8.9 2.2 5.7 8.3 2.75 8.57
Rated Angular Acceleration *1 rad/s2 710 980 910 520 710 640 280 330 330 170 240
Absolute Accuracy second 15 15 15 15
Repeatability second 1.3 1.3 1.3 1.3
Applicable SERVOPACK SGDV- 2R8A 2R8A 2R8A 5R5A
* 1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values
quoted at 20C.
* 2: Rated torques are continuous allowable torque values at 40C with a steel heat sink attached.
Heat sink: SGMCS- B : 350 mm s 350 mm s 12 mm SGMCS- C : 450 mm s 450 mm s 12 mm
SGMCS- D : 550 mm s 550 mm s 12 mm SGMCS- E : 650 mm s 650 mm s 12 mm
Notes: 1 SGMCS servomotor with holding brake is not available.
2 For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.
SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C

Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
500 500 500 500

400 400 400 400
300 300 300 300
200 A B 200 A B 200 A B 200 A B
100 100 100 100
0 0 0 0
0 1.5 3.0 4.5 6.0 7.5 0 3 6 9 12 15 0 5 10 15 20 25 0 3 6 9 12 15
SGMCS-10C SGMCS-14C SGMCS-08D SGMCS-17D

Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
500 500 500 500

400 400 400 400
300 300 300 300
200 A B 200 A B 200 A B 200 A B
100 100 100 100
0 0 0 0
0 6 12 18 24 30 0 10 20 30 40 50 0 6 12 18 24 30 0 12 24 36 48 60
SGMCS-25D SGMCS-16E SGMCS-35E

Motor Speed (min-1)
Motor Speed (min-1)
Motor Speed (min-1)
500 500 500

400 400 400
300 300 300
200 200 A B 200
100 A B 100 100 A B
0 0 0
0 15 30 45 60 75 0 9 18 27 36 45 0 20 40 60 80 100
77
Rotary Motors
SGMCS

SGMCS-02B (42 W) SGMCS-05B (105 W) SGMCS-07B (147 W)
Load Moment of Inertia

250 min-1
610
(10-4kgm2)
(10-4kgm2)
(10-4kgm2)
400 min-1 200 min-1
250 990
183.5
147.5
109.5
0 0 0
0 200 400 600 0 200 400 600 0 200 400 600
SGMCS-04C (84 W) SGMCS-10C (209 W) SGMCS-14C (293 W)

200 min-1 200 min-1
835
798
250 min-1

670
(10-4kgm2)
(10-4kgm2)
(10-4kgm2)

351.7
155.4 180.5
0 0 0
0 200 400 600 0 200 400 600 0 100 200 300 400
SGMCS-08D (168 W) SGMCS-17D (356 W) SGMCS-25D (393 W)

100 min-1 100 min-1
2727
1863

(10-4kgm2)
(10-4kgm2)
(10-4kgm2)
200 min-1
1014
0 0 0
0 200 400 600 0 100 200 300 400 0 100 200 300 400
SGMCS-16E (335 W) SGMCS-35E (550 W)

100 min-1
4470

(10-4kgm2)
(10-4kgm2)
100 min-1
3240
0 0
0 100 200 300 400 0 100 200 300 400
Motor Speed (min-1) Motor Speed (min-1)
Servomotor Rated Torque Allowable Load Moment of Inertia

Model Nm (Rotor Moment of Inertia Ratio)
2.0, 4.0, 5.0, 7.0 10 times
SGMCS 10.0 5 times
8.0, 14.0, 16.0, 17.0, 25.0, 35.0 3 times 78
Mechanical Specifications
LAllowable Loads
The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the
thrust load and moment load will not exceed the values in the table.
F L F
F
L
A (See the table below

Where F is external force, for the dimension A of
Thrust load: Fa=F+Load mass each servomotor model.)
Where F is external force,
Moment load: M=0 Thrust load: Fa=F+Load mass
Where F is external force,
Thrust load: Fa=Load mass
Moment load: M=FL
Moment load: M=F(L+A)
Servomotor Model
02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
SGMCS-
Dimension A mm 0 0 0 0
Allowable Thrust Load (Fa) N 1500 3300 4000 11000
Allowable Moment Load (M) Nm 40 50 64 70 75 90 93 103 135 250 320
Note: SGMCS-02B to -35E servomotors, set dimensions A to 0 (zero).
LMechanical Tolerance
The following table shows tolerances for the servomotors output shaft and installation area.
See the dimensional drawing of the individual servomotor for more details on tolerances.
Dia. Tolerance T.I.R. Servomotor Model SGMCS-

A B
(Total Indicator Reading) Units: mm 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Drive End
Run-out of the Surface of the Shaft 0.02 0.02 0.02 0.02
Run-out at the End of the Shaft 0.04 0.04 0.04 0.04
Opposite Perpendicularity between the Flange Face and Output Shaft 0.07 0.07 0.08 0.08
Drive End
A
Dia. B Coaxiality of Output Axis and Mounting Socket Joint 0.07 0.07 0.08 0.08
LDirection of Rotation LImpact Resistance

Positive rotation of the Mount the servomotor with the axis Vertical
servomotor is horizontal. The servomotor will with-
counterclockwise when stand the following vertical impacts:
viewed from the load. Impact Acceleration: 490 m/s2
Number of Impacts: 2 Impact applied
to the servomotor
LVibration Resistance LVibration Class

Mount the servomotor with the axis horizontal. The ser- The vibration class at rated motor speed is 15 Mm or below.
vomotor will withstand the following vibration accelera- (A vibration class of 15 Mm or below indicates a total vibra-
tion in three directions: Vertical, side to side, and front to tion amplitude of 15 Mm maximum on the servomotor during
back. rated rotation.)
LEnclosure
Vibration Acceleration at Front to back
Vertical Enclosure
Flange
49 m/s2 IP42 (gaps on the rotating section of the shaft)
Horizontal
Side to Side Shaft
Vibration applied to
the servomotor
79
Rotary Motors
SGMCS
(1) Rated Torque 2.0 to 7.0 Nm (Outer Diameter 135 mm, Inner Diameter 20 mm)
Applicable Flange : 1
6 M4 Tapped Holes, Depth 8 0.07 B

L
B 6 M4 Tapped Holes, Depth 8
4 LL 40.9 0.02
(Divided into six (Divided into six
0.07 Dia. A
.
Dia
equal sections of equal sections of
sixty degrees)
90
sixty degrees)
120 - 00.035 Dia.
100 - 00.035 Dia.

0 Dia.
135 Dia.
(70 Dia.)
90 D
20+0.4
ia.
(0.5: Bolt Section)
R26
R4 (1 )
0
Con .5 MA (9)
nec X.
tor
Are
.4
23
a
25
.4
Na
me
pla
te Nameplate A
90
0.04
Model Approx. Mass

L LL
SGMCS- kg
02B C11 59 51 4.8

05B C11 88 80 5.8
07B C11 128 120 8.2
30050
(35)
50
30 L
0.07 B B
4 LL 40.9
0.02
6 M4 Tapped Holes, Depth 8
10 (22)
6 M4 Tapped Holes, (Divided into six

a.
0.07 Dia. A 20
equal sections of
Di
Depth 8
90
(Divided into six sixty degrees)

equal sections of
120 - 0.035 Dia.
sixty degrees)
100 - 00.035 Dia.
135 Dia.
0 Dia.
90
0
(70 Dia.)
Dia
(80 Dia.)
.
20+0.4
(0.5:Bolt Section)
0.1
(1)
A
Nameplate Nameplate 0.04
Model Approx. Mass

L LL
SGMCS- kg
02B C41 59 51 4.8
05B C41 88 80 5.8
07B C41 128 120 8.2
LConnectors on Servomotor
Servomotor-end Connector Specifications Encoder-end Connector Specifications
1 Model: JN1AS04MK2 1 3 Model: JN1AS10ML1
3
Manufacturer: Japan Aviation Manufacturer: Japan Aviation
Electronics Industry, Ltd. Electronics Industry, Ltd.
2
Applicable plug: JN1DS04FK1 4 7 Applicable plug: JN1DS10SL1
4 (Provided by the customer.) (Provided by the customer.)
8 10
1 Phase U Red 1 PS Light blue 6
2 Phase V White 2 /PS Light blue/ white 7 FG (Frame ground) Shield
3 Phase W Blue 3 8
FG Green 4 PG5V Red 9 PG0V Black

4
(Frame ground) (yellow) 5 10
80
Applicable Flange: 1
L 6 M5 Tapped Holes, Depth 8
0.07 B B
0.02 (Divided into six
5 LL 50.9
ia.
0.07 Dia. A equal sections of
0D
2 M5 Tapped Holes,
12
equal sections of Depth 8
sixty degrees) (Only for use
by Yaskawa)
160 -0.040 Dia.
0 Dia.
175 Dia.
(100 Dia.)
130 -0.040 Dia.

130 Dia
35 +0.4
0
.
0
(1: Bolt Section)
6.5
R3
R5
1 (1)
Co MAX (9)
nne
cto .
rA
25 .4 rea
.4 23
Nameplate Nameplate A
60 2 M5 Tapped Holes, Depth 8
0.04 (Only for use by Yaskawa)
Model Approx. Mass

L LL
SGMCS- kg
04C C11 69 59 7.2
10C C11 90 80 10.2
14C C11 130 120 14.2
Applicable Flange : 4 30050
(35)
50
30
0.07 B L B 6 M5 Tapped Holes, Depth 8
6 M5 Tapped Holes, 5 LL 50.9
0.02 (Divided into six
10 (22)
Depth 8
ia.
0.07 Dia. A 20 equal sections of
0D
12
equal sections of 2M5 Tapped
sixty degrees) Holes, Depth 8
160 -00.040 Dia.
(Only for use by Yaskawa)

13
0 Dia.
0D
175 Dia.
(100 Dia.)
(100 Dia.)
130 -00.040 Dia.
ia.
35 +0.4
(1: Bolt Section)
0.1
(1)
A
Model Approx. Mass

L LL
SGMCS- kg
04C C41 69 59 7.2
10C C41 90 80 10.2
14C C41 130 120 14.2
LConnectors on Servomotor (Applicable Flange : 4)

Servomotor-end Connector Specications Encoder-end Connector Specications
Model
Plug : 350779-1 1 PG5V Red
Pin : 350561-3 or 350690-3 (No.1 to 3) Model
: 55102-0600
Ground pin : 350654-1or 350669-1 (No.4) 2 PG0V Black
Manufacturer
: Molex Japan
1 Manufacturer: Tyco Electronics AMP K.K. Co., Ltd 3
Applicable plug 5 6
Applicable plug : 54280-0600 4
2 Cap : 350780-1
Socket : 350570-3 or 350689-3 5 PS Light blue
3 3 4
1 Phase U Red Light blue/
6 /PS
4 white
2 Phase V White 1 2
3 Phase W Blue Connector FG
Shield
Case (Frame ground)
FG Green
4
(Frame ground) (yellow)
81
Rotary Motors
SGMCS
L
6 M6 Tapped Holes, Depth 10 0.08 B B (Divided into six equal sections of
(Divided into six equal sections of 5 LL 50.9 0.02 sixty degrees)
ia.
0 .08 Dia. A
0D
sixty degrees)
16
200 -0.046 Dia.
170 -00.040 Dia.

230 Dia.
(140 Dia.)
0 Dia.
160 D
0
ia.
60 +0.4
(0.5: Bolt Section)
R53
4 R6
25
.4 23. 7
Co .5 M (1)
nne AX (9)
cto .
rA
rea
60 A
0.04 2 M6 Tapped Holes, Depth 10
Nameplate Nameplate (Only for use by Yaskawa)
Model Approx. Mass

L LL
SGMCS- kg
08D C11 74 64 14.0
17D C11 110 100 22.0
25D C11 160 150 29.7
Applicable Flange : 4 30050
(35)
50
74 (Divided into six equal sections of
6 M6 Tapped Holes, 0.08 B B sixty degrees)
6 M6 Tapped
10 (22)
5 (64) 50.9 0.02

Depth 10
.
Holes, Depth 10 0.08 Dia. A 20 Dia
(Divided into six
160

equal sections of
sixty degrees)
2 M6 Tapped
200 -00.046 Dia.
170 -0.040Dia.
16 Holes, Depth 10
0D
0 Dia.
230 Dia.
ia.
(140 Dia.)
(140 Dia.)
(Only for use

0
by Yaskawa)
60 +0.4
(0.5: Bolt Section)
0.1
(1)
A
Model Approx. Mass

L LL
SGMCS- kg
08D C41 74 64 14.0
17D C41 110 100 22.0
25D C41 160 150 29.7
82
6 M8 Tapped Holes, Depth 14 L
B
(Divided into six equal sections of
0.08 B
(Divided into six equal sections of 6 LL 61.6 sixty degrees)
ia.
0.08 Dia. A 0.02
sixty degrees)
0D
a. )
Di
20
2 M8 Tapped Holes,
80
(2
Depth 14
260 -0.052 Dia.
220 -0.046 Dia.

0 Dia.
290 Dia.
(180 Dia.)
200 Dia
0
.
75+0.4
5
R6
25. 4
4 23. R8 (9) (1)
Co 0 M
nn AX
ec .
tor
Ar
ea
Nam
epla
te Nameplate (4) A
0.04 (Only for use by Yaskawa)
Model Approx. Mass
L LL
SGMCS- kg
16E B11 88 76 26.0
35E B11 112 100 34.0
30050
(35)

6 M8 Tapped Holes, 50 (Divided into six equal sections of
30 2 M8 Tapped
(22)
Depth 14 88 sixty degrees)

Holes, Depth 14 0.08 B B
6 (76) 61.6
ia.
(Divided into six (Only for use 0.02
0.08 Dia. A 20
0D
a. )
equal sections of
Di
by Yaskawa)
20
10
sixty degrees)
8 0
(2
2 M8 Tapped
260-00.052 Dia.
220 -00.046 Dia.

180 Dia.
Holes, Depth 14
0 Dia.
290 Dia.
200
(160 Dia.)
(Only for use

Dia
75+0.4
.
by Yaskawa)
0.1
(1)
(4) A
Nameplate Nameplate
0.04
Model Approx. Mass

L LL
SGMCS- kg
16E B41 88 76 26.0
35E B41 112 100 34.0
83
Rotary Motors
SGMCS
Selecting Cables
LCables Connections
SGDV
SERVOPACK
Encoder Cable
See page 88 for encoder cable
extension from 30 to 50 m.
SGMCS Servomotor Main

Encoder Cable
Servomotor Circuit Cable

Servomotor Main
Circuit Cable
(See page 84)
View A
LServomotor Main Circuit Cables Contact Yaskawa Contorols Co., Ltd.
Length Order No.

Name Specications Details
(L) Standard Type Flexible Type*1
3
3m JZSP-CMM60-03-E JZSP-CSM60-03-E Applicable Flange* : 1
SERVOPACK End Encoder
5m JZSP-CMM60-05-E JZSP-CSM60-05-E 50 mm L (Servomotor) End
10 m JZSP-CMM60-10-E JZSP-CSM60-10-E
15 m JZSP-CMM60-15-E JZSP-CSM60-15-E
20 m JZSP-CMM60-20-E JZSP-CSM60-20-E M4 Crimped Terminals
Applicable Flange*3 : 4
3m JZSP-CMM00-03-E JZSP-CMM01-03-E SERVOPACK End Encoder
8.50.5 (Servomotor) End
Cable with Loose Wire at (Exposed core wire) 50 L (1)
SERVOPACK End 5m JZSP-CMM00-05-E JZSP-CMM01-05-E 35
(6.5)
Sheath to Bind
Core Wires

10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
Heat-shrinkable Tube
15 m JZSP-CMM00-15-E JZSP-CMM01-15-E M4 Crimped Terminals
Cable: UL2517 (AWG204C)
Cap 350780-1(4-pole)
20 m JZSP-CMM00-20-E JZSP-CMM01-20-E Socket 350536-6(Chained)
Soldered
Servomotor-end Connector JN1DS04FK1*2 (2)
Cables (3)
1
* : Use flexible cables for movable sections such as robot arms.
*2: Contact Japan Aviation Electronics Industry, Ltd. for details.
*3: For applicable flanges, see model designations on page 75.
Note: SGMCS servomotors with holding brakes are not available.
84
Selecting Cables
(1) Wiring Specifications for Cables

Applicable Flange : 1 Applicable Flange : 4
SERVOPACK End Servomotor End SERVOPACK End Servomotor End

Green/(yellow) FG FG 4 Green/(yellow) FG FG 4
(2) Servomotor-end Connector Specifications
Items Specications
Manufacturer Japan Aviation Electronics Industry, Ltd.
Order No. JNDS04FK1 (Soldered)
Outer Diameter of Applicable Cable 5.7 dia. to 7.3 dia. mm
51.5 max.
No. 1 No. 2
External Dimensions mm
15.5
18.8
19
No. 3 Ground
(3) Cable Specifications

AWG206C AWG226C
Specications
For brake line: AWG20 (0.52 mm2) For brake line: AWG22 (0.33 mm2)
Outer diameter of insulating sheath: 1.53 dia.mm Outer diameter of insulating sheath: 1.37 dia. mm
Finished Dimensions 7 p 0.3 mm
Black
Green/ White
(yellow)
Internal Conguration and
Lead Color
Blue Red
Black
Yaskawa Standard Specica-

Cable length 5 m, 10 m, 15 m, 20 m
tions (Standard Length)
*: Specify the cable length of order no.

Example JZSP-CSM90-15-E (15 m)
85
Rotary Motors
SGMCS
Selecting Cables
LEncoder Cables and Connectors (For Standard Wiring) Contact Yaskawa Controls Co., Ltd.
Length Order No.

Name Specifications Details
(L) Standard Type Flexible Type*1
3m JZSP-CMP60-03-E JZSP-CSP60-03-E Applicable Flange*3: 1, 3 Encoder
SERVOPACK End (Servomotor) End
5m JZSP-CMP60-05-E JZSP-CSP60-05-E L
10 m JZSP-CMP60-10-E JZSP-CSP60-10-E (1)

15 m JZSP-CMP60-15-E JZSP-CSP60-15-E Connector (Crimped) Straight Plug (Crimped)
Cable with Connectors (For (Molex Japan Co., Ltd.) (Japan Aviation Electronics
20 m JZSP-CMP60-20-E JZSP-CSP60-20-E Industry, Ltd.)
Incremental and Absolute
Encoder) 3m JZSP-CMP00-03-E JZSP-CMP10-03-E Applicable Flange*3 : 4
SERVOPACK End L
Encoder End
10 m JZSP-CMP00-10-E JZSP-CMP10-10-E (2)
Connector Socket Connector
20 m JZSP-CMP00-20-E JZSP-CMP10-20-E (Molex Japan Co., Ltd.) (Molex Japan Co., Ltd.)
3m JZSP-CMP03-03-E JZSP-CMP13-03-E SERVOPACK End Encoder End
Cable with Loose Wire at L 60 mm
5m JZSP-CMP03-05-E JZSP-CMP13-05-E 1
Encoder End (For 2
10 m JZSP-CMP03-10-E JZSP-CMP13-10-E 3 (3)
Incremental and Absolute 4
15 m JZSP-CMP03-15-E JZSP-CMP13-15-E 5
Encoder) Connector (Crimped) 6

20 m JZSP-CMP03-20-E JZSP-CMP13-20-E Wire Markers
Soldered
SERVOPACK-end Connector Kit JZSP-CMP9-1-E
Encoder-end Connector Crimping Type (A crimp tool is required.) (4)

JN1DS10SL1*2
(Straight Plug)
Encoder-end Connector
JN1-22-22S-PKG100*2
(Socket Contact)
Cables (5)
*1: Use flexible cables for movable sections such as robot arms.
*2: Contact Japan Aviation Electronics Industry, Ltd. for details.
*3: For applicable flanges, see model designations on page 75.
(1) Wiring Specifications for Cable with Connectors

Applicable Flange: 1,3
L(Standard type) L(Flexible type)
SERVOPACK End Encoder (Servomotor) End SERVOPACK End Encoder End

1 PG5V 4 Red 1 PG5V 4 Orange
2 PG0V 9 Black 2 PG0V 9 Green
5 PS 1 Light blue 5 PS 1 Black/light blue
6 /PS 2 Light blue/white 6 /PS 2 Red/light blue
Shell FG 7 FG Shield wire Shell FG 7 Shield
Shield Wire Shield Wire
Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).
(2) Wiring Specifications for Cable with Connectors

Applicable Flange: 4
SERVOPACK End Encoder (Servomotor) End SERVOPACK End Encoder End

1 PG5V 1 Red 1 PG5V 1 Orange
2 PG0V 2 Black 2 PG0V 2 Green
5 PS 5 Light blue 5 PS 5 Red/light blue
6 /PS 6 Light blue/white 6 /PS 6 Black/light blue
Shell FG Shell FG Shield wire Shell FG 7 Shield
Shield Wire Shield Wire
Note: Be sure to connect the shield wire of encoder cable to the connector case (shell). 86
Selecting Cables
(3) Wiring Specifications for Cable with Loose Wire at Encoder End
Pin No. Signal Wire Color Marker Pin No. Signal Wire Color Marker
6 /PS Light blue/white 6 1 PG5V Orange 1
5 PS Light blue 5 2 PG0V Green 2
4 BAT(-) White/orange 4 3 BAT(+) BAT(+) 3
3 BAT(+) Orange 3 4 BAT(-) BAT(-) 4
2 PG0V Black 2 5 PS Red/light blue 5
1 PG5V Red 1 6 /PS Black/light blue 6
Shell FG Shell FG
Shield Wire
Shield Wire
Notes: 1 The signals BAT (+) and BAT () are used when using an absolute encoder.
2 Be sure to connect the shield wire of encoder cable to the connector case (shell).
(4) SERVOPACK-end Connector Specifications

Items SERVOPACK End Encoder End
Order No. JZSP-CMP9-1-E Order from Yaskawa Controls Co., Ltd. Tools are not included.
Manufacturer Molex Japan Co., Ltd. Japan Aviation Electronics Industry, Ltd.
Straight plug:
55100-0670 (soldered)
JN1DS10SL1 (crimped)
Socket contact type:
JN1-22-22S-PKG100
Connector
Outer diameter of applicable cable : 5.7 dia. to 7.3 dia. mm
Note: 55100-0670 (soldered) when using a connector kit
Outer diameter of insulating sheath: 0.8 dia. to 1.5 dia. mm
Crimp tool (hand tool) model: CT150-2-JN
51.5 max.
External 5 6 3 1
(19)
3 4 18.8 Dia. 7 4
Dimensions 1 2
(Units: mm) (10) (36) 10 8
(5) Cable Specifications

AWG22 (0.33 mm2) AWG22 (0.33 mm2)
Specifications
AWG24 (0.20 mm2) AWG24 (0.20 mm2)

Blue/ Red/
white Black/ light blue
Blue light blue
Internal Configuration Orange Green
Red Black
and Lead Colors
Orange/ Red/
white Black/ pink
Orange pink
Yaskawa Standard
Specifications (Standard Cable length: 5 m, 10 m, 15 m, 20 m
Length)
* Specify the cable length in of order no.

87
Rotary Motors
SGMCS
Selecting Cables
LEncoder Cables (For Extending from 30 to 50 m)

To extend the wiring distance up to 50 m, the following cables and connectors are available from Yaskawa Controls Co., Ltd.
Cable Specifications
Items Standard
AWG162C + AWG262P
AWG16 (1.31 mm2)
Specifications
Outer diameter of insulating sheath: 2.0 dia.mm
AWG26 (0.13 mm2)
Black
Internal Configuration and Lead Orange Light blue
Colors Orange/white Light blue/white

Red
Yaskawa Standard Specifications

Cable length: 30 m, 40 m, 50 m
(Standard Length)
* Specify the cable length in of order no.

SERVOPACK-end Connector Specifications
Items SERVOPACK End Servomotor End

Order form Yaskawa Controls Co., Ltd. Tools are not
Order No. JZSP-CMP9-1-E
included.
Manufacturer Molex Japan Co., Ltd. Japan Aviation Electronics Industry, Ltd.
Straight plug: JN1DS10SL1 (crimped)

55100-0670 (soldered)
Socket contact : JN1-22-22S-PKG100
Outer diameter of applicable cable :
5.7 dia. to 7.3 dia. (mm)
Connector Applicable wire size: AWG21 to 25
Outer diameter of insulating sheath:
Note: 55100-0670 (soldered) when
0.8 dia. to 1.5 dia. (mm)
using a connector kit
Crimp tool (hand tool) model:
CT150-2-JN
51.5 max.
External 5 6 3 1
(19)
3 4 7 4
18.8 Dia.
Dimensions 1 2
(Units: mm)
(10) (36) 10 8
88
Linear Servomotors
SGLGW
(Coreless Type)
Model Designations
LCoil Assembly
SGL G W - 30 A 050 C P
Linear Series Connector for Main Circuit Cable
Linear Servomotor Code Specifications Applicable Model
Servomotor Type
Connector by Tyco
Code Specifications Blank Electronics AMP K.K. All models
G Coreless (standard)
W : Coil Assembly
Magnet Height Hall Sensor/Cooling Method
Voltage Code Specifications Applicable Model
A: 200 VAC P With hall sensor (standard) All models

C Forced cooling SGLGW-40A,
Length of Coil Assembly
H With hall sensor and forced cooling -60A
Blank Without hall sensor All models
Design Revision Order

A, B, C...
89
SGLGW( )

LDirect-feedmechanism for high-speed and high- LFeeders and loaders
precision positioning.
LSemiconductor equipment
LLack of magnetic attraction force helps extend the life
LLCD manufacturing equipment
of linear motion guides and minimizes noise.
LZero cogging for minimal force ripple.
LMagnetic Way
Linear Servomotors
SGL G M - 30 108 A
Linear Series Options
Servomotor Type Blank (standard) All models

-M High force SGLGM-40 -60
Code Specifications
G Coreless Design Revision Order
A, B, C*...
M: Magnetic Way *: The coreless linear servomotor has revision CT.
C = without mounting holes on the bottom
Magnet Height CT = with mounting holes on the bottom
Length of Magnetic Way
90
Insulation Resistance: 500 VDC, 10 M7 min. Enclosure: Self-cooled, air-cooling
Ambient Temperature: 0 to 40C Ambient Humidity: 20% to 80% (no condensation)
Excitation: Permanent magnet Allowable Winding Temperature: 130C
(Thermal class B)
LWith Standard-force Magnetic Ways

Linear Servomotor
30A050C 30A080C 40A140C 40A253C 40A365C 60A140C 60A253C 60A365C
Model SGLGW-
Rated Speed* m/s 1.5 1.5 2 2 2 2.3 2.3 2.3
Peak Speed* m/s 5 5 5 5 5 4.8 4.8 4.8
Rated Force* N 12.5 25 47 93 140 70 140 210
Rated Current* Arms 0.51 0.79 0.8 1.6 2.4 1.2 2.2 3.3
Peak Force* N 40 80 140 280 420 220 440 660
Peak Current* Arms 1.62 2.53 2.4 4.9 7.3 3.5 7.0 10.5
Coil Assembly Mass kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.10
Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6
BEMF Constant V/(m/s) 8.8 11.3 20.5 20.5 20.5 22.2 22.2 22.2
Motor Constant N/ eW 3.7 5.6 7.8 11.0 13.5 11.1 15.7 19.2
Electrical Time Constant ms 0.2 0.4 0.4 0.4 0.4 0.5 0.5 0.5
Mechanical Time Constant ms 7.30 4.78 5.59 4.96 4.77 3.41 3.08 2.98
Thermal Resistance
K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51
(With heat sink)
Thermal Resistance
K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15
(Without heat sink)
Magnetic Attraction N 0 0 0 0 0 0 0 0
Applicable SERVOPACK SGDV R70A R90A R90A 1R6A 2R8A 1R6A 2R8A 5R5A
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table below) are the values at a motor winding temperature of 100C during operation in
combination with a SERVOPACK. The others are at 20C.
2 The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the coil assembly.
Heat Sink Size 200 mm s 300 mm s 12 mm : SGLGW-30A050C, -30A080C, -40A140C, -60A140C
300 mm s 400 mm s 12 mm : SGLGW-40A253C, -60A253C
LForce and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGLGW-30A050C SGLGW-30A080C SGLGW-40A140C SGLGW-40A253C

6.0 6.0 6.0 6.0
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
5.0 5.0 5.0 5.0

4.0 4.0 4.0 4.0
A B A B A A
3.0 3.0 3.0 3.0
2.0 2.0 2.0 2.0
B B
1.0 1.0 1.0 1.0
0 0 0 0
0 10 20 30 40 50 0 20 40 60 80 100 0 50 100 150 0 100 200 300
Force (N) Force (N) Force (N) Force (N)
SGLGW-40A365C SGLGW-60A140C SGLGW-60A253C SGLGW-60A365C

6.0 4.5 4.5 4.5
4 4 4
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
5.0 3.5 3.5 3.5

4.0 3 A 3 A 3 A
A 2.5 2.5 2.5
3.0
2 2 2
2.0 1.5 B 1.5 B 1.5 B
B 1 1 1
1.0 0.5 0.5 0.5
0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 100 200 300 400 500 0 200 400 600 800
91
Linear Servomotors
Linear
SGLGW (Coreless Type)
LWith High-force Magnetic Ways

Linear Servomotor Model
40A140C 40A253C 40A365C 60A140C 60A253C
SGLGW-
Rated Speed* m/s 1.0 1.0 1.0 1.0 1.0
Peak Speed* m/s 4.2 4.2 4.2 4.2 4.2
Rated Force* N 57 114 171 85 170
Rated Current* Arms 0.8 1.6 2.4 1.2 2.2
Peak Force* N 230 460 690 360 720
Peak Current* Arms 3.2 6.5 9.7 5.0 10.0
Coil Assembly Mass kg 0.34 0.60 0.87 0.42 0.76
Force Constant N/Arms 76.0 76.0 76.0 77.4 77.4
BEMF Constant V/m/s 25.3 25.3 25.3 25.8 25.8
Motor Constant N/eW 9.6 13.6 16.7 12.9 18.2
Electrical Time Constant ms 0.4 0.4 0.4 0.5 0.5
Mechanical Time Constant ms 3.69 3.24 3.12 2.52 2.29
Thermal Resistance
K/W 1.67 0.87 0.58 1.56 0.77
(With heat sink)
Thermal Resistance
K/W 3.02 1.80 1.23 2.59 1.48
(Without heat sink)
Magnetic Attraction N 0 0 0 0 0
Applicable SERVOPACK SGDV 1R6A 2R8A 3R8A 1R6A 3R8A
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table below) are the values at a motor winding temperature of 100C during operation in combination
Linear Servomotors
with a SERVOPACK. The others are at 20C.
2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the coil assembly.
Heat Sink Size 200 mm s 300 mm s 12 mm : SGLGW-40A140C, -60A140C
400 mm s 500 mm s 12 mm : SGLGW-40A365C
SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C

5 5 5
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
4 4 4
3 A 3 A 3 A
2 2 2
1 1 1
B B B
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 200 400 600 750
Force (N) Force (N) Force (N)
SGLGW-60A140C SGLGW-60A253C
5
Motor Speed (m/s)
Motor Speed (m/s)
4
4
3 A
3 A
2
2
1 B
1 B
0 0
0 100 200 300 400 0 200 400 600 800
Force (N) Force (N)
LMechanical Specifications
1 Impact Resistance
Impact acceleration: 196 m/s2
Impact occurrences: twice
2 Vibration Resistance
The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to
back.
Vibration acceleration: 49 m/s2
92
(1) SGLGW-30A
LCoil Assembly: SGLGW-30A B (With a connector by Tyco Electronics AMP K.K.)
4-M4 Mounting Screws, Depth 5
17
2-Screws
#4-40 UNC
L5 L4
50050
Cable The coil assembly moves in the direction indicated by the arrow
UL20276, Cable
when current flows in the order of phase U, V, and W.
AWG26 UL2517, AWG25
2 2-M4
50050
Nameplate
L1 Mounting Screws, Depth 5 on Both Sides
(5.3 Dia.) 15 L3
22
(5 Dia.)
12
48.5 3
1
L2
(57)
44
(1)
G (Gap) G (Gap)
24
Hall Sensor Output Signals
Hall Sensor Linear Servomotor When the coil assembly moves in
Pin No. Signal the direction indicated by the arrow
Connector Specifications Connector Specifications
6 1 5V (Power supply) Pin No. Signal Wire Color in the figure, the relationship
9 between the hall sensor output
2 Phase U 1 Phase U Red
signals Su, Sv, Sw and the inverse
5 3 Phase V Plug : 350779-1 2 Phase V White power of each motor phase Vu, Vv,
1
4 Phase W Pin : 350924-1 or 3 Phase W Blue Vw becomes as shown in the figure
Pin Connector: 770672-1 below.
5 0V (Power supply) by Tyco Electronics AMP K.K. 4 FG Green
17JE-23090-02 (D8C)
by DDK Ltd. 6 Not used
The Mating Connector Vu
7 Not used Su
The Mating Connector
Cap : 350780-1
Socket Connector 8 Not used Socket : 350925-1 or Inverse
: 17JE-13090-02 (D8C)
9 Not used 770673-1 Power Vv Sv
Stud : 17L-002C or (V)
17L-002C1
Vw
Sw
Coil Assembly Model Approx. Mass* 0 180 360 540
L1 L2 L3 L4 L5 G Gap
SGLGW- kg Electrical Angle ( )
30A050B 50 48 30 20 20 0.85 0.14

30A080B 80 72 50 30 25 0.95 0.19
*: The values indicate the mass of coil assembly with a hall sensor unit.
LMagnetic Way: SGLGM-30 A

7.6
Nameplate Warning Label
44
Pitch 45
4.5
N-4.5 Dia. Mounting Holes (Per unit) (18)

24
36 8 Dia. Counter Boring, Depth 5L on Both Sides.
L2
L1 --00..13 (Unit)
Magnetic Way Approx.

Model L1 L2 N Mass
SGLGM- kg
N-M4 Mounting Screws, Depth6 30108A 108 54 2 0.6
Pitch 54 30216A 216 162 4 1.1
27 L2 (27)
30432A 432 378 8 2.3
93
Linear Servomotors
Linear
(2) SGLGW-40A
LCoil Assembly: SGLGW-40A C (With a connector by Tyco Electronics AMP K.K.)
L5 L6
2-Screws 45 Nameplate
#4-40 UNC Mounting Holes
N2-M4 Tapped Holes, Depth 6
17
50050
The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
50050
25.4
7.2 (5.3 Dia.) L1
6.5
4.8 (7 Dia.) 16 L4 L3
45 Mounting Holes on Both Sides
0.5
15
4
14
15
30
1
63
78
(7.5)
7
Gap 0.8 Gap 0.8
Hall Sensor Linear Servomotor

Connector Specifications Hall Sensor Output Signals
Connector Specifications When the coil assembly moves in the direc-
9 6
Pin No. Signal tion indicated by the arrow in the figure, the
Pin No. Signal Wire Color
relationship between the hall sensor output
Linear Servomotors
1 5V (Power supply) 1 Phase U Red signals Su, Sv, Sw and the inverse power of
5 1
2 Phase U 2 Phase V White each motor phase Vu, Vv, Vw becomes as
Plug : 350779-1
shown in the figure below.
Pin Connector : 3 Phase V Pin : 350561-3 or 3 Phase W Blue
17JE-23090-02 (D8C) 350690-3 (No.1 to 3)
4 Phase W 350654-1 4 FG Green
by DDK Ltd.
350669-1 (No.4) Vu Su
5 0V (Power supply)
The Mating Connector by Tyco Electronics AMP K.K.
6 Not used
Socket Connector : The Mating Connector
17JE-13090-02 (D8C) 7 Not used Inverse Vv
Cap : 350780-1 Sv
Stud : 17L-002C or 8 Not used Power
Socket : 350570-3 or (V)
17L-002C1
9 Not used 350689-3
Vw Sw
0 180 360 540

Electrical Angle ()
Coil Assembly Model Approx. Mass*

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- kg
40A140C 140 125 90 30 52.5 45 3 4 0.40
40A253C 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365C 365 350 315 30 52.5 270 8 14 0.93
94
LMagnetic Way : SGLGM-40 C (Without mounting holes on the bottom)

SGLGM-40 CT (With mounting holes on the bottom)
25.4 25.4
L1 -0.1
-0.3 (1 Unit) 90.2 90.2
7.40.2 7.40.2
4-C1 4-C1
62
62
X
7
X Pitch 45 12.7
22.5 L2 (22.5)
5.5 Dia.
10 Dia.
10 Dia.
5.5 Dia.
(13)
N-5.5 Dia. Mounting Holes (Per unit)
22.5 L2 (22.5)
Pitch 45
X
5.4 5.4
X-X X-X
N-M5 Mounting Screws, Depth 13 (Per unit) SGLGM- SGLGM-

X 40C 40CT
(Only for SGLGM- CT)
Standard-force Magnetic Way

Type L1 L2 N Approx. Mass kg
Model SGLGM-
40090C or 40090CT 90 45 2 0.8
40225C or 40225CT 225 180 5 2.0
Standard
40360C or 40360CT 360 315 8 3.1
Force
40405C or 40405CT 405 360 9 3.5
40450C or 40450CT 450 405 10 3.9
LHigh-force Magnetic Way : SGLGM-40 C-M (Without mounting holes on the bottom)
SGLGM-40 CT-M (With mounting holes on the bottom)
L1 --00..13 (1 Unit) 31.8 31.8
7.40.2 12.2 7.40.2 12.2
0.2 0.2
Nameplate Warning Label 4-C1 4-C1
62
62
X
7
X Pitch 45 15.9
5.5 Dia.
5.5 Dia.
10 Dia.
10 Dia.
22.5 L2 (22.5)
22.5 L2 (22.5)
(13)
5.4 5.4
Pitch 45
X
X-X X-X
SGLGM- SGLGM-
40C-M 40CT-M
X N-M5 Mounting Screws, Depth 13 (Per unit)
(Only for SGLGM- CT-M)
High-force Magnetic Way

Type L1 L2 N Approx. Mass kg
Model SGLGM-
40090C-M or 40090CT-M 90 45 2 1.0
40225C-M or 40225CT-M 225 180 5 2.6
High
40360C-M or 40360CT-M 360 315 8 4.1
Force
40405C-M or 40405CT-M 405 360 9 4.6
95 40450C-M or 40450CT-M 450 405 10 5.1

Linear Servomotors
Linear
(3) SGLGW-60A
LCoil Assembly: SGLGW-60A C
(With a connector by Tyco Electronics AMP K.K.)
L5 L6
2-Screws 45 Nameplate
4-40 UNC
Mounting Holes
17
50050
25.4 The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
6.5 7.2 (5.3 Dia.) L1
50050
4.8 (7 Dia.) 16 L4 L3
45 Mounting Holes on Both Sides
14 0.5
15
4
1 15
30
(7.5)
83
L2
98
7
Gap 0.8 Gap 0.8
Hall Sensor Output Signals
Linear Servomotors
Connector Specifications Connector Specifications When the coil assembly moves in the
9 6 Pin No. Signal Wire Color direction indicated by the arrow in the
Pin No. Signal
figure, the relationship between the hall
1 5V (Power supply) 1 Phase U Red sensor output signals Su, Sv, Sw and the
5 1 2 Phase U 2 Phase V White inverse power of each motor phase Vu, Vv,
Plug : 350779-1 Vw becomes as shown in the figure below.
3 Phase V Pin : 350561-3 or 3 Phase W Blue
Pin Connector :
17JE-23090-02 (D8C) 4 Phase W 350690-3 (No.1 to 3) 4 FG Green
by DDK Ltd. 350654-1
5 0V (Power supply) 350669-1 (No.4) Vu Su
The Mating Connector 6 Not used by Tyco Electronics AMP K.K.
Socket Connector : 7 Not used The Mating Connector
17JE-13090-02 (D8C) Inverse Vv
8 Not used Cap : 350780-1 Sv
Stud : 17L-002C or Power
Socket : 350570-3 or
17L-002C1 9 Not used (V)
350689-3
Vw
Sw
0 180 360 540

Electrical Angle
Coil Assembly Approx. Mass*

L1 L2 L3 L4 L5 L6 N1 N2
Model SGLGW- kg
60A140C 140 125 90 30 52.5 45 3 4 0.48
60A253C 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365C 365 350 315 30 52.5 270 8 14 1.16
96
LMagnetic Way : SGLGM-60 C (Without mounting holes on the bottom)

SGLGM-60 CT (With mounting holes on the bottom)
25.4 25.4
-0.1
L1 -0.3 (1 Unit) 90.2 90.2
7.40.2 7.40.2
4-C1 4-C1
82
82
X
7
X Pitch 45
(22.5) 12.7
22.5 L2
5.5 Dia.
5.5 Dia.
10 Dia.
10 Dia.
(13)
22.5 L2 (22.5)
Pitch 45
X
5.4 5.4
X-X X-X
N-M5 Mounting Screws, Depth 13 (Per unit)
X SGLGM- SGLGM-
(Only for SGLGM- CT) 60C 60CT
Standard-force Magnetic Way Approx. Mass

Type L1 L2 N
Model SGLGM- (kg)
60090C or 60090CT 90 45 2 1.1
60225C or 60225CT 225 180 5 2.6
Standard
60360C or 60360CT 360 315 8 4.1
Force
60405C or 60405CT 405 360 9 4.6
60450C or 60450CT 450 405 10 5.1
LHigh-force Magnetic Way : SGLGM-60 C-M (Without mounting holes on the bottom)
SGLGM-60 CT-M (With mounting holes on the bottom)
L1 --00..13 (1 Unit) 31.8 31.8

7.40.2 12.2 7.40.2 12.2
Nameplate Warning Label 0.2 4-C1 0.2
4-C1
82
82
X
7
X Pitch 45 15.9
5.5 Dia.
5.5 Dia.
10 Dia.
10 Dia.
22.5 L2 (22.5)
22.5 L2 (22.5)
Pitch 45
X
(13)
5.4 5.4
X-X X-X
SGLGM- SGLGM-
60C-M 60CT-M
X N-M5 Mounting Screws, Depth 13 (Per unit)
(Only for SGLGM- CT-M)
High-force Magnetic Way Approx. Mass

Type L1 L2 N
Model SGLGM- (kg)
60090C-M or 60090CT-M 90 45 2 1.3
60225C-M or 60225CT-M 225 180 5 3.3
High
60360C-M or 60360CT-M 360 315 8 5.2
Force
60405C-M or 60405CT-M 405 360 9 5.9
97 60450C-M or 60450CT-M 450 405 10 6.6
Linear Servomotors
Linear
Selecting Cables
LCables Connections
SGDV
SERVOPACK
eCable for Connecting Serial Converter Unit

(Between SERVOPACK connector CN2 and serial converter unit)
qLinear Servomotor Main Circuit Cable
Serial
Converter Unit
Note: Connector for the linear servomotor
main-circuit cables:
Connectors by Tyco Electronics AMP K.K.
wEncoder Cable
Linear Scale rCable for Connecting Hall Sensor

(To be provided (Between serial converter unit and hall sensor unit)
by users)
Linear Servomotors
Hall Sensor Unit
Linear Servomotor
LCables
Applicable Linear
Name Length Order No. Specifications Details
Servomotor Model
1m JZSP-CLN11-01-E
3m JZSP-CLN11-03-E
1 SERVOPACK End Linear Servomotor End
5m JZSP-CLN11-05-E
Linear Servomotor All models (1)
10 m JZSP-CLN11-10-E
Main Circuit Cables
1m JZSP-CLL00-01-E
3m JZSP-CLL00-03-E Serial Converter Linear Scale End
2 Unit End
All models 5m JZSP-CLL00-05-E (2)
Encoder Cables
10 m JZSP-CLL00-10-E
1m JZSP-CLP70-01-E
3m JZSP-CLP70-03-E Serial Converter
3 SERVOPACK End
5m JZSP-CLP70-05-E Unit End
Cables for Connecting Serial All models (3)
10 m JZSP-CLP70-10-E
Converter Units
1m JZSP-CLL10-01-E
4 3m JZSP-CLL10-03-E Serial Converter Hall Sensor
Unit End Unit End
Cables for Connecting Hall All models 5m JZSP-CLL10-05-E (4)
Sensors 10 m JZSP-CLL10-10-E
98
Selecting Cables
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN11- -E Wiring Specications
SERVOPACK End Linear Servomotor End SERVOPACK-end Leads Linear Servomotor-end

8.5 mm 50 mm L 35 mm Connector
Heat-shrinkable Wire Color Signal Signal Pin. No.
Tube
Red Phase U Phase U 1
Finished Diameter 4
U 6.8 Dia. White Phase V Phase V 2
M4 Crimped
27.7
Terminal V
Blue Phase W Phase W 3
W
Cable (UL2464) 1
G Green/yellow FG FG 4
AWG18/4C 7.6
Wire Markers Cap: 350780-1 (4-pole) 14.7
Socket: 350536-3 (Chained)
by Tyco Electronics AMP. K.K.
(2) Encoder Cables: JZSP-CLL00- -E
Serial Converter Unit End Linear Scale End

L
9 1 1 9
Connector Connector
Finished Diameter 9.5 Dia. 17JE-13150-02 (D8C)
17JE-23150-02 (D8C)
(15-pinsoldered) (With stud)
by DDK Ltd. (15-pinsoldered)
15 8 8 15 by DDK Ltd.
Cable
(AWG22 3C + AWG25 6P)
LWiring Specications

1 /Cos (V1) 1 /CosV1

2 /Sin (V2) 2 /SinV2
3 Ref (V0+) 3 RefV0+

4 +5V 4 +5V
5 5Vs 5 5Vs
6 BID 6 BID
7 Vx 7 Vx
8 Vq 8 Vq
9 Cos (V1+) 9 CosV1+
10 Sin (V2+) 10 SinV2+
11 /Ref (V0+) 11 /RefV0
12 0V 12 0V
13 0Vs 13 0Vs
14 DIR 14 DIR
15 Inner 15 Inner
Case Shield Case Shield
99
Linear Servomotors
Linear
Selecting Cables
(3) Cables for Connecting Serial Converter Units: JZSP-CLP70- -E
SERVOPACK End Serial Converter Unit End

L
Finished Diameter 6.8 Dia.

Connector: Connector:
55100-0600 17JE-23090-02 (D8C)
(6-pin, soldered) (9-pin, soldered)
Cable (UL20276) by DDK Ltd.
by Molex Japan Co., Ltd. (AWG222C+AWG242P)
Wiring Specications

Pin No. Signal Wire Color Pin No. Signal Wire Color
1 PG5V Red 1 +5V Red
2 PG0V Black 5 0V Black
3 3
4 4
5 PS Light blue 2 Phase S output Light blue
6 /PS Light blue/white 6 Phase /S output Light blue/white
Shell Shield Case Shield
7
8
Linear Servomotors
9
(4) Cables for Connecting Hall Sensors: JZSP-CLL10- -E
Serial Converter Unit End Hall Sensor End

L
Connector: 6 1 1 6 Connector:
Finished Diameter 6.8 Dia. 17JE-13090-02 (D8C)
17JE-23090-02 (D8C)
(9-pin, soldered) (With stud)
9 5 5 9 (9-pin, soldered)
by DDK Ltd. Cable
(AWG222C+AWG242P) by DDK Ltd.
LWiring Specications

1 +5V 1 +5 V
2 Phase U input 2 Phase U input
3 Phase V input 3 Phase V input
4 Phase W input 4 Phase W input
5 0V 5 0V
6 6
7 7
8 8
9 9
100
Linear Servomotors
SGLFW
(With F-type iron core)
Model Designations
LCoil Assembly
SGL F W - 20 A 090 A P
Linear Servomotor Code Specifications
Servomotor Type Connector

Blank by Tyco Electronics
Code Specifications AMP K.K. (standard)
F F-type iron core
Hall Sensor
W: Coil Assembly
Code Specifications
P With hall sensor (standard)
Magnet Height Blank Without hall sensor
Voltage
A: 200 VAC
A, B, ...
101
LDirect-feedmechanism for high-speed and high- LFeeders and loaders

LSemiconductor equipment
LThe magnetic attraction force between the moving and
stationary members can be used effectively to increase LLCD manufacturing equipment
the rigidity of the linear guidance by preloading the
linear motion bearings.
LThe magnetic preloading on certain types of compliant
linear motion bearings can help increase the systems
frequency response, improving its deceleration and
settling performances.
LMagnetic Way
Linear Servomotors
SGL F M - 20 324 A
Servomotor Type Blank Standard

C With magnet cover
Code Specifications
F F-type iron core Design Revision Order
A, B, ...
M: Magnetic Way
Magnet Height
102
Insulation Resistance: 500 VDC, 10 M7 min. Enclosure: Self-cooled
(Thermal class B)
Linear Servomotor Model SGLFW- 20A090A 20A120A 35A120A 35A230A 50A200B
Rated Speed* m/s 5.0 3.5 2.5 3.0 1.5

Peak Speed* m/s 5.0 5.0 5.0 5.0 5.0
Rated Force* N 25 40 80 160 280
Rated Current* Arms 0.70 0.80 1.4 2.8 5.0
Peak Force* N 86 125 220 440 600
Peak Current* Arms 3.0 2.9 4.4 8.8 12.4
Coil Assembly Mass kg 0.7 0.9 1.3 2.3 3.5
Force Constant N/Arms 36.0 54.0 62.4 62.4 60.2
BEMF Constant V/m/s 12.0 18.0 20.8 20.8 20.1
Motor Constant N/eW 7.9 9.8 14.4 20.4 34.3
Electrical Time Constant ms 3.2 3.29 3.63 3.6 15.9
Mechanical Time Constant ms 11.0 9.31 6.23 5.51 3.0
Thermal Resistance (With Heat Sink) K/W 4.35 3.19 1.57 0.96 0.56
Thermal Resistance (Without Heat Sink) K/W 7.69 5.02 4.10 1.94 1.65
Magnetic Attraction N 314 462 809 1590 1650
Applicable SERVOPACK SGDV- 1R6 1R6 1R6 3R8 5R5
Notes: 1 The items marked with an* and Force and Speed Characteristics(the table below) are the values at a motor winding temperature of 100C during operation in
combination with a SERVOPACK. The others are at 20C.
Heat Sink Size :125 mm s 125 mm s 13 mm: SGLFW-20A090A, -20A120A
254 mm s 254 mm s 25 mm: SGLFW-35A120A, -35A230A
400 mm s 500 mm s 40 mm: SGLFW-50A200B
SGLFW-20A090A SGLFW-20A120A
6.0 6.0
Motor Speed (m/s)
Motor Speed (m/s)
5.0 5.0
4.0
A B
4.0
A
3.0 3.0 B
(1) Impact Resistance
2.0 2.0
1.0 1.0
0 0
0 20 40 60 80 100 0 20 40 60 80 100 120 140
Force (N) Force (N) (2) Vibration Resistance
The linear servomotors will withstand the following
SGLFW-35A120A SGLFW-35A230A vibration acceleration in three directions: Vertical,
6.0 6.0
side to side, and front to back.
5.0 5.0
Motor Speed (m/s)
Motor Speed (m/s)

4.0 4.0
A A
3.0 3.0
B B
2.0 2.0
1.0 1.0
0 0
0 50 100 150 200 250 0 100 200 300 400 500
Force (N) Force (N)
SGLFW-50A200B
6.0
Motor Speed (m/s)
5.0
4.0
A
3.0
B
2.0
1.0
0
0 200 400 600 800
103 Force (N)
Linear Servomotors
Linear
SGLFW (With F-type iron core)
LSGLFW-20A
LCoil Assembly: SGLFW-20A A
50 Min. L1
30 30 L2 (25)
Hall Sensor 36
(32) 2 Magnetic Way
(7.5)
17.5
(12)
5.5
(22) (22)
(44)
(20)
20
22
40
A A
(10)
(12.5)
12.5
22.5
0.5
(6) 0
5 The coil assembly moves in the direction
34 (4.2: With Magnet Cover) 2-Screws 0 indicated by the arrow when current flows
(4 : Without Magnet Cover) #4-40 UNC 50 See the figures1
and 2 below. in the order of phase U, V, and W.
(10.2: With Magnet Cover) (Gap 0.8: With Magnet Cover)
(10: Without Magnet Cover) L3 7
450.1
(Gap 1: Without Magnet Cover) 50
0
( 4.2
30 Min. 12
2.5
50
8
( 6.
Dia
.)
1D
ia.
5.5
)
Nameplate AA
2-M4 Tapped Holes, Depth 5.5 3-M4 Tapped Holes, Depth 5.5
Linear Servomotors
20
20
22.5
22.5
12.5
12.5
30 36 30 36
72
Hall Sensor Hall Sensor Output Signals

Linear Servomotor
Connector Specifications
Pin No. Signal Connector Specifications Pin No. Signal Wire When the coil assembly moves in the
9 6 Color
direction indicated by the arrow in the
1 5V (Power supply) 1 Phase U Red figure, the relationship between the hall
5 1
2 Phase U 2 Phase V White sensor output signals Su, Sv, Sw and the
3 Phase V Plug:350779-1 inverse power of each motor phase Vu,
Pin Connector : 3 Phase W Black
Pin :350218-3 or Vv, Vw becomes as shown in the figure
17JE-13090-02 (D8C) 4 Phase W 4 FG Green below.
350547-3(No.1 to 3)
by DDK Ltd. 5 0V (Power supply) 350654-1
The Mating Connector 6 Not used 350669-1(No.4)
by Tyco Electronics AMP K.K.
Socket Connector: 7 Not used Vu
17JE-13090-02 (D8C) The Mating Connector Su
Stud: 17L-002C or 8 Not used
17L-002C1 Cap : 350780-1
9 Not used Socket: 350536-3 or Inverse
350550-3 Power Vv
(V) Sv
Vw
Sw
0 180 360 540

Coil Assembly Approx. Mass Electrical Angle()
L1 L2 L3
Model SGLFW- kg
20A090A 91 36 72 0.7
20A120A 127 72 108 0.9
104
LMagnetic Way: SGLFM-20 A
(L3)
Coil Assembly 9.9
2 N-4.8 Dia.
(4.5)
(17.5)
Mounting Holes
22 (22)
NSNS
(40)
NSNS
44
35
O/N O/N
YASKAWA S/N YASKAWA S/N
TYPE: MADE IN JAPAN TYPE: MADE
(22.5)
4.5
6 4 (Reference Mark)
Reference Mark Nameplate Reference Mark
10 (34) (Two 4 dia. marks are engraved.) 54 (54)
0
(Gap1) 30.8 -0.2 L2 (30.8)
450.1 01
L1 --0..3
The Height of Screw Head: 4.2 Max.

Assembly Dimensions
Notes: 1 Multiple SGLFM-20 A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in
the figure.
2 The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
Magnetic Way Approx. Mass

L1-0.1
-0.3 L2 L3 N
Model SGLFM- kg
20324A 324 270 x 54 x 5 331.6 6 0.9
20540A 540 486 x 54 x 9 547.6 10 1.4
20756A 756 702 x 54 x 13 763.6 14 2
105
Linear Servomotors
Linear
LSGLFW-35A
LCoil Assembly: SGLFW-35A A
50 Min. L1
30 30 L2 25
36
(10.5)
(32) 2 Hall Sensor
(7.5)
Magnetic Way
5.5
(30) (30)
30 25
(60)
(35)
A A
35
37
18
55
(12.5)
12.5
(8.5)
0.5
(6)
50
(4.2With Magnet Cover)
2-Screws
0 See the figures1 and 2 below.
34
(4Without Magnet Cover)
#4-40 UNC 50 L3 7
(10.2With Magnet Cover) (Gap 0.8With Magnet Cover) 30 Min. 12
2.5
(10Without Magnet Cover) 50
450.1 (Gap1Without Magnet Cover) 0
8
The coil assembly moves in the direction
(4.2 50 indicated by the arrow when current flows
Dia
( 6.
.) in the order of phase U, V, and W.
5.5
1D
AA
ia.
)
Nameplate
6-M4 Tapped Holes, Depth 5.5 12-M4 Tapped Holes, Depth 5.5
Linear Servomotors
35
35
18
18
30
30
12.5
12.5
8.5
8.5
30 36 30 36
72 180(36 5)
Hall Sensor Linear Servomotor Hall Sensor Output Signals

Pin No. Signal Pin No. Signal Wire When the coil assembly moves in the
9 6 Color
5 1
Plug: 350779-1 inverse power of each motor phase Vu,
3 Phase V 3 Phase W Black
Pin Connector Pin : 350218-3 or Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 4 Phase W 350547-3 (No.1 to 3) 4 FG Green below.
350669-1 (No.4)
Socket Connector: 7 Not used
17JE-13090-02(D8C) Vu Su
8 Not used The Mating Connector
Stud:17L-002C or
17L-002C1 9 Not used Cap : 350780-1 Inverse
Socket: 350536-3 or
Power Vv
350550-3 Sv
(V)
Vw
Sw
0 180 360 540

Coil Assembly Approx. Mass Electrical Angle()
L1 L2 L3
Model SGLFW- kg
35A090A 127 72 108 1.3
35A120A 235 180 216 2.3
106
(L3)
9.9
2 N-4.8 Dia. Mounting Holes
Coil Assembly
(4.5)
(30)
(25)
(55)
60
51
N S N S N S N S
(30)
30
O/N YASKAWA O/N
YASKAWA S/N S/N
TYPE: MADE IN JAPAN DATE TYPE: MADE
4.5
6 4
Reference Mark Nameplate Reference Mark (Reference Mark)
10 (34) (Two 4 dia. marks are engraved.) 54 (54)
(Gap1) 32.2 -00.2 L2 (32.2)

450.1
L1 --00..31

Assembly Dimensions
the figure.

L1-0.1
-0.3 L2 L3 N
Model SGLFM- kg
35324A 324 270 x 54 x 5 334.4 6 1.2
35540A 540 486 x 54 x 9 550.4 10 2
35756A 756 702 x 54 x 13 766.4 14 2.9
107
Linear Servomotors
Linear
LSGLFW-50A
LCoil Assembly: SGLFW-50A B
50 Min. L1
30 55 L2 (40)
(40) 3 60
Magnetic Way Hall Sensor
(15)
7
(37.5) (37.5)
37.75 33.75
71.5
23.5
(75)
(64.5)
(48)
0
0
5
50 The coil assembly moves in the direction
0.5 2-Screws
(9) (5.2) indicated by the arrow when current flows in the order
#4-40UNC of phase U, V, and W.
430.05 P 50 Min. 25 L3 10
( 4.2
(Gap 0.8With Magnet Cover)

(Gap 1Without Magnet Cover)
Dia
580.1 50
0
.)
50
( 7.
4D

ia.
)

Nameplate
6-M5 Tapped Holes, Depth 7
Linear Servomotors
47.5
23.5
14
12
30 60
120

Pin No. Signal Pin No. Signal Wire When the coil assembly moves in the
9 6 Color
5 1
Plug: 350779-1 inverse power of each motor phase Vu,
3 Phase V 3 Phase W Black
Pin Connector Pin : 350218-3 or Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 4 Phase W 350547-3 (No.1 to 3) 4 FG Green below.
350669-1 (No.4)
Socket Connector: 7 Not used Vu
17JE-13090-02(D8C) Su
8 Not used The Mating Connector
Stud:17L-002C or
17L-002C1 9 Not used Cap : 350780-1 Inverse
Socket: 350536-3 or Power Vv
350550-3 (V) Sv
Vw
Sw
0 180 360 540

Coil Assembly Flatness Approx. Mass Electrical Angle()
L1 L2 L3
Model SGLFW- P kg
50A200B 215 120 180 0.2 3.5
108
(L3)
8.6
2 N-5.8 Dia. Mounting Holes
(5)
Coil Assembly
(37.75) (33.75)
37.5 (37.5)
(71.5)
75
65 N S N S N S N S
O/N
YASKAWA S/N
YASKAWA
TYPE: TYPE:
MADE IN JAPAN DATE
5
Reference Mark
9 5 (Two 4 dia. marks are engraved.)
14 (43) 67.5 Nameplate Reference Mark (67.5) (Reference Mark)
(Gap1) 39.4-00.2 L2 (39.4)
580.1 L1--00..13

Assembly Dimensions
the figure.

L1-0.1
-0.3 L2 L3 N
Model SGLFM- kg
50405A 405 337.5 x 67.5 x 5 416.3 6 2.8
50675A 675 607.5 x 67.5 x 9 686.3 10 4.6
50945A 945 877.5 x 67.5 x 13 956.3 14 6.5
109
Linear Servomotors
Linear
Selecting Cables
LCables Connections
SGDV
SERVOPACK
Cable for Connecting Serial Converter Unit

Linear Servomotor Main Circuit Cable

Serial Converter Unit
Note: Connectors for the linear servomotor
main circuit cables:
Connectors by Tyco Electronics
AMP K.K.
Encoder Cable
Cable For Connecting Hall Sensor

Linear Scale (Between serial converter unit and hall sensor unit)
(To be provided
by users)
Linear Servomotors
Hall Sensor Unit
Linear Servomotor
110
Selecting Cables
LCables
Name Applicable Linear Servomotor Model Length Order No. Specifications Details
01m JZSP-CLN11-01-E
03m JZSP-CLN11-03-E
SERVOPACK End Linear Servomotor End
SGLFW-20, 05m JZSP-CLN11-05-E
(1)
SGLFW-35 10m JZSP-CLN11-10-E
15m JZSP-CLN11-15-E
Linear Servomotor
20m JZSP-CLN11-20-E
Main Circuit
01m JZSP-CLN21-01-E
Cables
03m JZSP-CLN21-03-E
05m JZSP-CLN21-05-E
SGLFW-50 (2)
10m JZSP-CLN21-10-E
15m JZSP-CLN21-15-E
20m JZSP-CLN21-20-E
01m JZSP-CLL00-01-E
03m JZSP-CLL00-03-E Serial Converter
Unit End Linear Scale End
Encoder Cables All models 05m JZSP-CLL00-05-E (3)
10m JZSP-CLL00-10-E
15m JZSP-CLL00-15-E
01m JZSP-CLP70-01-E
03m JZSP-CLP70-03-E
Serial Converter
Cables for Connecting 05m JZSP-CLP70-05-E SERVOPACK End Unit End
All models (4)
Serial Converter Units 10m JZSP-CLP70-10-E
15m JZSP-CLP70-15-E
20m JZSP-CLP70-20-E
01m JZSP-CLL10-01-E
03m JZSP-CLL10-03-E Serial Converter Hall Sensor
Cables for Connecting Unit End Unit End
Hall Sensors
10m JZSP-CLL10-10-E
15m JZSP-CLL10-15-E
111
Linear Servomotors
Linear
Selecting Cables
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN11- -E
LWiring Specifications
8.5 mm 50 mm L 35 mm SERVOPACK-end Leads Linear Servomotor-end
Heat-shrinkable Connector
Tube Wire Color Signal Signal Pin No.
Finished Diameter 4 Red Phase U Phase U 1
U 6.8 Dia.
M4 Crimped
27.7
White Phase V Phase V 2
Terminal V
W
Cable (UL2464) 1 Green/yellow FG FG 4
G 7.6
AWG18/4C
(2) Linear Servomotor Main Circuit Cables: JZSP-CLN21- -E


Connector
8.5 mm 50 mm L 35 mm
Wire Color Signal Signal Pin No.
Heat-shrinkable
Tube Red Phase U Phase U 1
Finished Diameter 4 White Phase V Phase V 2
U 6.8 Dia.
3
27.7
Blue Phase W Phase W
V
Green/yellow FG FG 4
W
M4 Crimped Cable (UL2464) 1
G 7.6
Terminal AWG18/4C
Linear Servomotors
(3) Encoder Cable:JZSP-CLL00- -E

L
9 1 1 9
15 8 8 15
Cable
(AWG223C+AWG256P)
Connector 17JE-23150-02 (D8C) Connector 17JE-13150-02 (D8C)
(15-pin, soldered ) (With stud)(15-pin, soldered)
by DDK Ltd. by DDK Ltd.
1 /CosV1 1 /CosV1
2 /SinV2 2 /SinV2
3 RefV0+ 3 RefV0+
4 + 5V 4 +5V
5 5Vs 5 5Vs
6 BID 6 BID
7 Vx 7 Vx
8 Vq 8 Vq
9 CosV1+ 9 CosV1+
10 SinV2+ 10 SinV2+
11 /RefV0+ 11 /RefV0
12 0V 12 0V
13 0Vs 13 0Vs
14 DIR 14 DIR
15 Inner 15 Inner
112
Selecting Cables

L
Connector: Cable (UL20276)

55100-0670 AWG222C+AWG242P
(6-pin, soldered) Connector17JE-23090-02D8C
by Molex Japan Co., Ltd. (9-pin, soldered)
by DDK Ltd.
1 PG5V Red 1 + 5V Red

3 3
4 4
7
8
9

L
6 1 1 6
9 5 Cable 5 9
AWG222C+AWG242P
Connector :17JE-23090-02 Connector :17JE-13090-02 (D8C)

(D8C)(9-pin, soldered) (With stud)(9-pin, soldered)
by DDK Ltd. by DDK Ltd.
1 +5V 1 +5V
5 0V 5 0V
6 6
7 7
8 8
9 9
113
Linear Servomotors
Linear
Linear Servomotors
114
Linear Servomotors
SGLTW
(With T-type iron core)
Model Designations
LCoil Assembly
SGL T W - 20 A 170 A P
Servomotor Type MS connector or connector

manufactured
Code Specifications Blank
by Tyco Electronics AMP
T T-type iron core K.K. (standard)
W: Coil Assembly
Hall Sensor
Code Specifications
Magnet Height
P With hall sensor (standard)
Voltage Blank Without hall sensor
A: 200 VAC
A, B, ...
H: High-efficiency Type
115
SGLGW
LDirect-feed mechanism for high-speed and high- LFeeders and loaders
LMounters
LYaskawa's unique construction principles of the TW
linear motors negate the effects of the magnetic LMachine tools
attraction force between the relative motor members.
LLack of magnetic attraction helps to extend the life of
the linear motion guides and to minimize operation
noise.
LVery little cogging.
LMagnetic Way
Linear Servomotors
SGL T M - 20324 A
Servomotor Type Blank Standard All models

C With magnet cover Models with core
Code Specifications
Y With base and magnet cover SGLTM-20, -35, -40 (Note)
T T-type iron core
Note: Not available for these models: the SGLTM-35 H
M: Magnetic Way and the SGLTM-50 H.

Magnet Height A, B, ...
116
(Thermal class B)
Linear Servomotor Model Standard Type High-efficiency Type

SGLTW- 20A170A 35A170A 35A170H 50A170H
Rated Speed m/s 3.0 2.5 2.5 2.0
Peak Speed m/s 5.0 5.0 4.8 3.2
Rated Force* N 130 220 300 450
Rated Current* Arms 2.3 3.5 5.1 4.9
Peak Force* N 380 660 600 900
Peak Current* Arms 7.7 12.1 11.9 11.5
Coil Assembly Mass kg 2.5 3.7 4.9 6
Force Constant N/Arms 61 67.5 64 98.5
BEMF Constant V/(m/s) 20.3 22.5 21.3 32.8
Motor Constant N/eW 18.7 26.7 37.4 50.3
Electrical Time Constant ms 5.9 6.94 15.1 16.5
Mechanical Time Constant ms 7.5 5.21 3.3 2.8
Thermal Resistance (With Heat Sink) K/W 1.01 0.76 0.76 0.61
Thermal Resistance (Without Heat Sink) K/W 1.82 1.26 1.26 0.97
Magnetic Attraction*1 N 0 0 0 0
Magnetic Attraction(on one side)*2 N 802 1400 1400 2000
Applicable SERVOPACK SGDV- 3R8A 5R5A 5R5A 5R5A
1
* : The unbalanced magnetic gap resulted from the coil assembly installation condition causes a magnetic attraction on the coil assembly.
*2 : The value indicates the magnetic attraction generated on one side of the magnetic way.
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table below) are the values at a motor winding temperature of 100C during operation in combination with
a SERVOPACK. The others are at 20C.
Heat Sink Size 254 mms254 mms25 mm : SGLTW-20A170A, -35A170A
400 mms500 mms40 mm : SGLTW-35A170H, -50A170H
LForce and Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGLTW-20A170A SGLTW-35A170A SGLTW-35A170H SGLTW-50A170H

6 6 6 4
5 5 5
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)

Motor Speed (m/s)
3
4 4 4
3 3 3 2
2 A B 2 A B 2 A B
1 A B
1 1 1
0 0 0 0
0 100 200 300 400 0 200 400 600700 0 200 400 600 0 300 600 900
(2) Vibration Resistance

back.
117
Linear Servomotors
Linear
SGLTW (With T-type iron core)
LStandard Type: SGLTW-20A A

LCoil Assembly: SGLTW-20A A
(55) N-M6 Tapped Holes, Depth 12

51 50 L1
47.5 10 L2 (L3)
Magnetic Way
(15)
12 48
1
20 28
100
80
60
60
(70)
2-Screws
#4-40 UNC
(15)

(Gap 1Without Magnet Cover)
Hall Sensor
(Gap 0.8With Magnet Cover)
indicated by the arrow when current flows

50050
in the order of phase U, V, and W.

(4.2 Dia.)
(7.4 Dia.)
63 Min.
Nameplate
50050
90 Min.
Linear Servomotors
Connector Specifications Connector Specifications Hall Sensor Output Signals
9 6 Pin No. Signal
When the coil assembly moves in the
1 5VDC Pin No. Signal Wire
Color direction indicated by the arrow in the
5 1 2 Phase U 1 Phase U Red figure, the relationship between the hall
Plug: 350779-1 sensor output signals Su, Sv, Sw and the
3 Phase V Pin : 350218-3 or 2 Phase V White
Pin Connector: inverse power of each motor phase Vu,
4 Phase W 350547-3 (No.1 to 3) Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 3 Phase W Black
350654-1 below.
by DDK Ltd. 5 0V 350669-1 (No.4) 4 Ground Green
Socket Connector: 7 Not used The Mating Connector
17JE-13090-02 (D8C) Vu Su
8 Not used Cap : 350780-1
Stud: 17L-002C or Socket: 350536-3 or
17L-002C1 9 Not used 350550-3 Inverse
Power Vv Sv
(V)
Vw
Sw
0 180 360 540

Coil Assembly Approx. Mass Electrical Angle ( )
L1 L2 (L3) N
Model SGLTW- kg
20A170A 170 144 (48s3) (16) 8 2.5
118
LMagnetic Way : SGLTM-20 A
L1 --00..13
0
13.7 -0.2 L2 (54)
54
27
9.
9
(55) 31.7-00.2 L2 (29.3)
103 Max.(Preshipment)
40 Coil Assembly 54 (54)

15
71.51(Preshipment)
(1)
*700.3
(100)
87
*2.40.3 6
R Nameplate
C
1
YASKAWA O/N
S/N DATE
TYPE: MADE IN JAPAN
Gap10.3
2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)
1
15
19
(8) (29.3)
C
32
Spacers: Do not remove them until the coil assembly

is mounted on the machine.
2 N-M6 Screws, Depth 8
R0
8
.5
Ma .
x. M ax 9.9
R1
27
3
*2.40.3
54
Mount the magnetic 62 +00.6 Mount the magnetic 40.3 -00.2 L2 (54)
way so that its way so that its
corner surfaces are
*700.3 corner surfaces are (9.4) L1 --00..13
flush with the inner flush with the inner
step. step.
Assembly Dimensions
Notes: 1 Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the
coil assembly is mounted on a machine.
3 Two magnetic ways in a set can be connected to each other.
4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways
as shown in Assembly Dimensions. The values with a R are the dimensions at preshipment.
5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.

L1-0.1
-0.3 L2 N
Model SGLTM- kg
20324A 324 270 (54s5) 6 3.4
20540A 540 486 (54s9) 10 5.7
20756A 756 702 (54s13) 14 7.9
119
Linear Servomotors
Linear
LMagnetic Way with Base: SGLTM-20 AY
11.7 20 L2 54
54
70
15 55
27
9.
9
Base 40
15
DATE MADE IN JAPAN TYPE:

S/N
O/N
YASKAWA
0.8
100
700.3
132
116
87
60
1 2.40.3
O/N
YASKAWA S/N
TYPE: MADE IN JAPAN DATE
0.80.3
19.2
15
L5 74 14
Coil Assembly
74 L4 162
2 N2-10 Dia. Mounting Holes
(See the sectional view for the depth.)
Gap
Includes a 0.2 thick magnet cover.
2 N1-M6 Screws, Depth 8
9.9
2.40.3
15 27
2 N1 - M6 54
Linear Servomotors
20 L2 54
Bolts, Depth 16
2.3 L3 11.7
L1 --00..13
Notes: 1 The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-20 A).

L1 L2 L3 L4 L5 N1 N2
Model SGLTM- kg
20324AY 324 270 310 162 162 6 2 5.1
20540AY 540 486 526 378 189 10 3 8.5
20756AY 756 702 742 594 198 14 4 12
120
LStandard Type SGLTW-35A A

LCoil Assembly: SGLTW-35A A
(70) N-M6 Tapped Holes, Depth 12

66 50 L1
55 10 L2 (L3)
Magnetic Way
(15)
12 48
1
20 28
(70)
100
60
80
60
2-Screws
#4-40 UNC
(Gap 0.8 With Magnet Cover)
(Gap 1 Without Magnet Cover)
(15)

(19 Without Magnet Cover)
Hall Sensor
(19.2 With Magnet Cover)
50050 indicated by the arrow when current flows

in the order of phase U, V, and W.
(4.2 Dia.)
(8.4 Dia.)
63 Min.
Nameplate
50050
100 Min.

Connector Specifications Connector Specifications Hall Sensor Output Signals
9 6 Pin No. Signal
1 5VDC Wire When the coil assembly moves in the
Pin No. Signal Color direction indicated by the arrow in the
5 1 2 Phase U 1 Phase U Red figure, the relationship between the hall
Plug: 350779-1 sensor output signals Su, Sv, Sw and the
3 Phase V 2 Phase V White
Pin : 350218-3 or inverse power of each motor phase Vu,
Pin Connector: 4 Phase W 350547-3 (No.1 to 3) 3 Phase W Black Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C)
5 0V 350654-1 below.
by DDK Ltd. 4 Ground Green
350669-1 (No.4)
Socket Connector: 7 Not used The Mating Connector
17JE-13090-02 (D8C) Vu Su
8 Not used Cap : 350780-1
Stud: 17L-002C or Socket: 350536-3 or
17L-002C1 9 Not used Inverse
350550-3
Power Vv
Sv
(V)
Vw
Sw
0 180 360 540

Coil Assembly Approx. Mass
L1 L2 (L3) N Electrical Angle ( )
Model SGLTW- kg
35A170A 170 144 (48s3) (16) 8 3.7
121
Linear Servomotors
Linear
LMagnetic Way: SGLTM-35 A
L1 --00..31
15 -00.2 L2 (54)
54
34.5
9.
9
(70) 33 -00.2 L2 (30.6)
55 Coil Assembly 54 (54)
103 Max. (Preshipment)
15
71.50.1(Preshipment)
*700.3
(1)
(100)
87
*2.40.3 6 Nameplate
C
R
1
YASKAWA O/N
S/N
2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)
Gap10.3
(30.6)
19
1
15
47 (8)
C
Spacers: Do not remove them until the coil

assembly is mounted on the machine.
2 N-M6 Screws, Depth 8
4
R0 9.9
.5
Ma x .
Ma *2.40.3
34.5
x.
R1
3
Linear Servomotors
54
Mount the magnetic Mount the magnetic 39-00.2 L2 (54)
62 +00.6
way so that its corner way so that its corner (12)
surfaces are flush with *700.3 surfaces are flush with L1 --00..13
the inner step. the inner step.
Assembly Dimensions

L1-0.1
-0.3 L2 N
Model SGLTM- kg
35324A 324 270 (54s5) 6 4.8
35540A 540 486 (54s9) 10 8
35756A 756 702 (54s13) 14 11
122
LMagnetic Way with Base: SGLTM-35 AY
13 20 L2 (54)
54
34.5
(85) 9.
9
15 (70)
Base 55
15
DATE MADE IN JAPAN TYPE:

S/N
O/N
YASKAWA
0.8
700.3
(100)
132
116
87
60
1 2.40.3
YASKAWA O/N
S/N
0.80.3
19.2
15
L5 74 14
Coil Assembly
74 L4 162
Gap 2 N2-10 Dia.

Mounting Holes (See the sectional view for the depth.)
2 N1-M6 Screws, Depth 8

9.9

2.40.3
15 34.5
2 N1 - M6 54
Bolts, Depth 16 20 L2 (54)
1 L3 13
-0.1
L1-0.3
Notes: 1 The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way.
3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-35 A).

L1 L2 L3 L4 L5 N1 N2
Model SGLTM- kg
35324AY 324 270 310 162 162 6 2 6.4
35540AY 540 486 526 378 189 10 3 11
35756AY 756 702 742 594 198 14 4 15
123
Linear Servomotors
Linear
LHigh-efficiency Type SGLTW-35A H

LCoil Assembly: SGLTW-35A H
N-M6 Screws, Depth 12

0.15 X (70)
P 30 L1
66
10 L2 (L3)
200.1
62.5 X Magnetic Way

480.15
(15)
12 20
1
1200.1
1000.15
800.05
28
Linear SERVO MOTOR

TYPE
S/N
O/N
YASKAWA ELECTRIC MADE IN JAPAN
W
A
60
(90)
N
V
DATE
30
30
ins.
m/s
Nameplate Hall Sensor

(19.2 :With Magnet Cover)
(19 :Without Magnet Cover)
(Gap0.8 :With Magnet Cover)
(Gap1.0 :Without Magnet Cover)
(15)
Protective Tube The coil assembly moves in the direction

(4.2 Dia.)
2-Screws indicated by the arrow when current flows

#4-40 UNC 50050 in the order of phase U, V, and W.
50050
Cable
UL20276, AWG28
35
43
63 Min.
Linear Servomotors
Hall Sensor Lead Specifications of Coil Assembly Hall Sensor Output Signals
Pin No. Signal If this cable is bent repetitively, the cable
9 6 When the coil assembly moves in the
1 +5VDC will disconnect.
2 Phase U Phase V Phase U figure, the relationship between the hall
5 1 sensor output signals Su, Sv, Sw and the
3 Phase V
inverse power of each motor phase Vu,
Pin Connector: 4 Phase W Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) Phase W Ground below.
5 0V
by DDK Ltd.
6 Not used (View from Top of Coil Assembly)
The Mating Connector
Socket Connector: 7 Not used
Wire Vu Su
Name Color Code
17JE-13090-02 (D8C) 8 Not used Size
Stud: 17L-002C or Phase U U
9 Not used Inverse
17L-002C1
Phase V Black V 2 mm2 Power Vv
Sv
Phase W W (V)
Ground Green 2 mm2
Vw
Sw
0 180 360 540

Electrical Angle ( )
L1 L2 (L3) N
Model SGLTW- kg
35A170H 170 144 (48s3) (16) 8 4.7
124
LMagnetic Way: SGLTM-35 H
-0.1
L1 -0.3
0
15 -0.2 L2 (54)
54
34.5
9.
9
(70)
150.1
33-00.2 L2 30.6
(0.8)
P Y 55 Coil Assembly 54
54
DATE MADE IN JAPAN

91.51(Preshipment)
TYPE:
S/N
O/N YASKAWA
0.2 Y
*900.3
(120)
107 *2.40.3 Model

0.2 X C1 Nameplate
R6
YASKAWA O/N
S/N
C1
4.20.1
0.80.3
150.1
(30.6) 2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)
P X 47 (8)
Gap
Spacer: Do not remove them until the coil
2 N-M6 Screws, Depth 8 assembly is mounted on the machine.
(4)
9.
9
*2.40.3
34.5
R0
.5
.
ax
Ma
M
x. 54
R1
39 -00.2 (54)
3
L2
(12) L1 --00..13
Mount the magnetic 82 +00.6 Mount the magnetic
way so that its corner *900.3 way so that its corner
surfaces are flush with surfaces are flush with
Assembly Dimensions

L1-0.1
-0.3 L2 N
Model SGLTM- kg
35324H 324 270 (54s5) 6 4.8
35540H 540 486 (54s9) 10 8
35756H 756 702 (54s13) 14 11
125
Linear Servomotors
Linear
LHigh-efficiency Type SGLTW-50A H

LCoil Assembly: SGLTW-50A H
N-M6 Screws, Depth 12

0.2 X (85)
81 P 30 L1
(19.1)
(L3)
200.1
62.5 X Magnetic Way 10 L2
(4.1)
12 20 480.15
1000.15
1200.1
800.05
28
Linear SERVO MOTOR

TYPE
S/N
O/N
(90)
YASKAWA ELECTRIC MADE IN JAPAN
W
A
60
N
V
DATE
30
ins.
m/s
Nameplate Hall Sensor

(23.1 : Without Magnet Cover)
(Gap1.0 : Without Magnet Cover)

(19.1)
Protective Tube
(23.3 : With Magnet Cover)
(4.2 Dia.)

(Gap0.8 : With Magnet Cover)
2-Screws 50050 indicated by the arrow when current flows

#4-40 UNC in the order of phase U, V, and W.
50050
Hall Sensor
End Connector
Cable
UL20276, AWG28
35
43
Linear Servomotors
63 Min.
Hall Sensor Lead Specifications of Coil Assembly Hall Sensor Output Signals
If this cable is bent repetitively, the cable
9 6 Pin No. Signal will disconnect. When the coil assembly moves in the
1 +5VDC figure, the relationship between the hall
5 1 2 Phase U Phase V Phase U sensor output signals Su, Sv, Sw and the
3 Phase V
Pin Connector: Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 4 Phase W below.
Phase W Ground
by DDK Ltd. 5 0V
The Mating Connector 6 Not used (View from Top of Coil Assembly)
Socket Connector: 7 Not used Vu Su
17JE-13090-02 (D8C) Wire
Name Color Code Size
Stud: 17L-002C or 8 Not used
Phase U U Inverse
17L-002C1 9 Not used
Phase V Black V 2 mm2
Power Vv
Sv
(V)
Phase W W
Ground Green 2 mm2 Vw
Sw
0 180 360 540

L1 L2 (L3) N
Model SGLTW- kg
50A170H 170 144 (48s3) (16) 8 6
126
LMagnetic Way: SGLTM-50 H
L1 --00..13
9 -00.2 L2 (54)
54
42
19.10.1
(85)
27 -00.2 L2 (27)
(4.1)
P 70
(0.8)
Y 54 (54)
91.51(Preshipment)
DATE MADE IN JAPAN

TYPE:
S/N
O/N YASKAWA
*900.3
0.2 Y
(120)
112 a. Model
0.2 X C1 Di Nameplate
12
YASKAWA O/N
S/N
4.20.1
0.80.3
C1
19.10.1
Coil Assembly 2 N-7 Dia. Mounting Holes

P X 62 (8) (See the sectional view for the depth.)
Gap
Spacers: Do not remove them until the coil
assembly is mounted on the machine.
(4)
R0
42
.5
.
ax
Ma
M
x.
R1
2 N-M6 Screws, Depth 8 0

54
45 -0.2 L2 (54)
-0.1
Mount the magnetic 82 +00.6 Mount the magnetic L1 -0.3
way so that its corner *900.3 way so that its corner
surfaces are flush with surfaces are flush with
Assembly Dimensions

L1-0.1
-0.3 L2 N
Model SGLTM- kg
50324HC 324 270 (54s5) 6 8
50540HC 540 486 (54s9) 10 13
50756HC 756 702 (54s13) 14 18
127
Linear Servomotors
Linear
Selecting Cables
LCables Connections
SGDV
SERVOPACK

qLinear Servomotor Main Circuit Cable

Serial
Converter Unit
wEncoder Cable
rCable for Connecting Hall Sensor

Linear Scale (Between serial converter unit and hall sensor unit)
(To be provided
by users)
Linear Servomotors
Hall Sensor Unit
Linear Servomotor
LCables
Applicable Linear
Servomotor Model
1 Linear Servomotor 05 m JZSP-CLN21-05-E
All models (1)
Main Circuit Cables 10 m JZSP-CLN21-10-E
03 m JZSP-CLL00-03-E Serial Converter
Unit End Linear Scale End
2 Encoder Cables All models 05 m JZSP-CLL00-05-E (2)
03 m JZSP-CLP70-03-E Serial Converter
SERVOPACK End Unit End
3 Cables for Connecting Serial 05 m JZSP-CLP70-05-E
All models (3)
Converter Units 10 m JZSP-CLP70-10-E
03 m JZSP-CLL10-03-E Serial Converter Hall Sensor
4 Cables for Connecting Unit End Unit End
All models 05 m JZSP-CLL10-05-E (4)
Hall Sensors
128
Selecting Cables
(1) Linear Servomotor Main Circuit Cables: JZSP-CLN21- -E Wiring Specications

Connector
8.5 mm 50 mm L 35 mm
Heat-shrinkable Wire Color Signal Signal Pin No.
Tube
Finished Diameter Red Phase U Phase U 1
11.9 Dia. 4
U White Phase V Phase V 2
27.7
V
W
M4 Crimped 1 Green/yellow FG FG 4
G Cable (UL2570)
Terminal 7.6
AWG14/4C
(2) Encoder Cables: JZSP-CLL00- -E

Serial Converter unit End Linear Scale End
L
9 1 1 9 Connector
Connector Finished Diameter 9.5 Dia. 17JE-13150-02 (D8C)
17JE-23150-02 (D8C) (With stud)
(15-pinsoldered) (15-pinsoldered)
by DDK Ltd. 15 8 8 15 by DDK Ltd.
Cable
(AWG22 3C + AWG25 6P)
Wiring Specications

1 /CosV1- 1 /CosV1-
2 /SinV2- 2 /SinV2-
3 RefV0+ 3 RefV0+
4 +5V 4 +5V
5 5Vs 5 5Vs
6 BID 6 BID
7 Vx 7 Vx
8 Vq 8 Vq
9 CosV1+ 9 CosV1+
10 SinV2+ 10 SinV2+
11 /RefV0+ 11 /RefV0-
12 0V 12 0V
13 0Vs 13 0Vs
14 DIR 14 DIR
15 Inner 15 Inner
129
Linear Servomotors
Linear
Selecting Cables

L

Connector: Connector:
55100-0600 17JE-23090-02 (D8C)
(6-pin, soldered) (9-pin, soldered)
by Molex Japan Co., Ltd. Cable (UL20276) by DDK Ltd.
(AWG222C+AWG242P)
Wiring Specications

1 PG5V Red 1 +5V Red
3 3
4 4
7
8
9
Linear Servomotors
L
6 1 1 6 Connector:
Connector: Finished Diameter 6.8 Dia.
17JE-23090-02 (D8C) 17JE-13090-02 (D8C)
(With stud)
(9-pin, soldered)
9 5 Cable 5 9 (9-pin, soldered)
by DDK Ltd.
(AWG222C+AWG242P) by DDK Ltd.
Wiring Specications

1 +5V 1 +5V
5 0V 5 0V
6 6
7 7
8 8
9 9
130
Linear Servomotors
SGLCW
(Cylinder Type)
Model Designations
LCoil Assembly
SGL C W - D16 A 085 A P

Linear Series Hall Sensor
Linear Servomotor P : With hall sensor (all models)
Servomotor Model Design Revision Order

A, B
Code Specifications
C Cylinder type Length of Coil Assembly
Outer Diameter of Length of Coil Length of Coil Outer Diameter of Length of Coil Length of Coil
W : Coil assembly
Magnetic Way Code Assembly Code Assembly mm Magnetic Way Code Assembly Code Assembly mm
Outer Diameter of Magnetic Way 085 85 125 125
D16 : 16 mm D20 : 20 mm D16 115 115 D25 170 170
D25 : 25 mm D32 : 32 mm 145 145 215 215
100 100 165 165
Voltage
D20 135 135 D32 225 225
A : 200 VAC
170 170 285 285
LMagnetic Way
SGL C M - D16 300 A

Linear Series Design Revision Order
Linear Servomotor A, B
Servomotor Model Length of Magnetic Way

(See the next page)
Code Specifications
C Cylinder type Outer Diameter of Magnetic Way
D16 : 16 mm D20 : 20 mm
M : Magnetic way
D25 : 25 mm D32 : 32 mm
131
SGLGW( )

LBoth coil assemblies supported, easy switching from LSemiconductor equipment
ball screws.
LElectronic parts assembly
LCompared to ball screw systems, high-speed and
high-precision positioning greatly reduces tact time. LFood packaging machines
LUnlike ball screws, no contact with machines, no LMetal processing machines

lubrication oil, easy maintenance.
LGeneral handling machines
Magnetic Way Lengths

Manufacturing Coil Assembly Dimensions mm
Coil Assembly Standard Specifications Manufacturing Coil Assembly-Available Length (on request)
Model Code=1Length of Magnetic Way mm Length of Magnetic Way mm
SGLCW- 2Length of 3Position of 4Range Outside the 5Effective
Min. Length to Max. Length
Coil Assembly Support Section Guaranteed Force Strokes
Linear Servomotors
85 140
240 to 420
300 115 30 37.5 110
(30 mm increments)
145 80
085AP 85 320
D16A 115AP 510 115 290
145AP 145 260 480 to 750
45 52.5
85 560 (30 mm increments)
Range Within
750 115 530 the Guaranteed Force
145 500 Range Outside Range Outside
the Guaranteed tEffective the Guaranteed
100 160 Force Strokes Force
280 to 490
350 135 35 45 125
(35 mm increments)
170 90
100AP 100 370
D20A 135AP 590 135 335 ePosition of wLength of Coil ePosition of
Support Section Assembly Support Section
170AP 170 300 555 to 870
50 60
100 650 (35 mm increments) Length of Magnetic Way
870 135 615
Note: Range outside the guaranteed force:
170 580
If any part of the coil assembly is located
125 210 within this range, characteristics indicated in
360 to 630 Force and Speed Characteristicson page
450 170 45 57.5 165 134 cannot be satisfied.
(45 mm increments)
215 120
125AP 125 480
D25A 170AP 750 170 435 < Calculating Length of Coil Assembly >
215AP 215 390 705 to 1110
60 72.5 wLength of Coil Assembly (mm)
125 840 (45 mm increments)
rRange Outside the
1110 170 795
Guaranteed Force (mm)
215 750
tEffective Strokes (mm)
165 285
480 to 840
600 225 60 75 225
(60 mm increments)
285 165 Formula
165AP 165 645
D32A 225AP 1020 225 585
285AP
285 525 960 to 1500
165
90 105
1125 (60 mm increments) + 2 + (mm)
1500 225 1065

285 1005
132
(Thermal class B)
Linear Servomotor Model D16A D20A D25A D32A

SGLCW- 085A 115A 145A 100A 135A 170A 125A 170A 215A 165A 225A 285A
Peak Speed*3 m/s 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0
Rated Force*1 N 17 25 34 30 45 60 70 105 140 90 135 180
Rated Current*1 Arms 0.59 0.58 0.71 0.98 0.98 1.19 1.42 1.75 3.49 1.57 2.79 2.79
Instantaneous Peak
N 60 90 120 150 225 300 280 420 560 420 630 840
Force*1
Instantaneous Peak
Arms 2.07 2.07 2.52 4.90 4.90 5.95 5.68 6.48 13.97 7.32 13.01 13.01
Current*1
Coil Assembly Mass kg 0.3 0.4 0.5 0.6 0.8 1.0 1.0 1.4 1.8 1.8 2.5 3.2
Force Constant N / Arms 31.2 46.8 51.3 33.0 49.5 54.3 53.1 64.8 43.2 61.8 52.2 69.6
BEMF Constant V / (m/s) 10.4 15.6 17.1 11.0 16.5 18.1 17.7 21.6 14.4 20.6 17.4 23.2
Motor Constant N/eW 4.8 5.9 6.7 7.5 9.2 10.4 10.0 12.4 15.4 16.2 20.0 23.0
Electrical Time
ms 0.24 0.18 0.26 0.22 0.32 0.41 0.18 0.59 2.32 0.76 1.18 1.58
Constant
Mechanical Time
ms 13.1 11.7 11.3 10.70 9.50 9.30 10.1 9.2 7.6 6.9 6.3 6.0
Constant
Thermal Resistance With
K/W 3.35 2.9 1.64 1.66 1.45 1.29 1.00 0.68 0.61 0.77 0.53 0.48
Heat Sink
Thermal Resistance
K/W 6.79 5.24 4.26 4.35 3.38 2.76 2.99 2.29 1.81 1.87 1.43 1.16
Without Heat Sink
Magnetic Attraction*2 N 0 0 0 0 0 0 0 0 0 0 0 0
Applicable SERVOPACK SGDV- R70A R70A R90A 1R6A 1R6A 1R6A 1R6A 2R8A 5R5A 2R8A 5R5A 5R5A
*1: These items and Force and Speed Characteristics are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK. The others
are at 20C.
2:
* Logical magnetic attraction acting between the coil assembly and the magnetic way. Because of the gap imbalance created after installing the coil assembly and the magnetic
way, a magnetic attraction is generated.
3
* : If an SGLCW linear servomotor is used, the rated speed during operation by speed control with an analog voltage reference must be set to 1.5 m/s.
Note: These specifications show the values under the cooling conditions when a heat sink (aluminum board) listed in the following table is mounted on the coil assembly.
Linear Servomotor Model Heat Sink Size

SGLCW- mm
D16A085A
100s200s12
D16A115A
D16A145A
D20A100A
200s300s12
D20A135A
D20A170A
D25A125A
300s400s12
D32A165A
D25A170A
D25A215A
400s500s12
D32A225A
D32A285A
133
Linear Servomotors
Linear
SGLCW (Cylinder Type)
SGLCW-D16A085AP SGLCW-D16A115AP SGLCW-D16A145AP

5.0 5.0 5.0
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)

4.0 4.0 4.0
3.0 3.0 3.0
B B B
2.0 2.0 2.0
1.0 1.0 1.0
0.0 A 0.0 A A
0.0
0 20 40 60 80 0 25 50 75 100 0 50 100 150

5.0 5.0 5.0
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)

4.0 4.0 4.0
3.0 3.0 3.0
B B B
2.0 2.0 2.0
1.0 1.0 1.0
0.0 A 0.0 A 0.0

A
0 50 100 150 200 0 100 200 300 0 100 200 300 400

5 .0 5.0 5.0
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
4 .0 4.0 4.0
Linear Servomotors
3 .0 3.0 3.0
B B
2 .0 2.0 2.0
B
1 .0 1.0 1.0
0 .0 A 0.0 A A
0.0
0 100 200 300 0 100 200 300 400 500 0 200 400 600

5 .0 5.0 5.0
Motor Speed (m/s)
Motor Speed (m/s)
Motor Speed (m/s)
4 .0 4.0 4.0
3 .0 3.0 3.0
B B
2 .0 2.0 2.0
B
1 .0 1.0 1.0
0 .0 A 0.0 A 0.0 A
0 100 200 300 400 500 0 200 400 600 800 0 250 500 750 1000
LMechanical Specifications of Linear Servomotors

(2) Vibration Resistance

back.
Vibration acceleration: 24.5 m/s2 (coil assembly), 4.9 m/s2 (magnetic way)
134
LSGLCW-D16
(1) Coil Assembly: SGLCW-D16A AP
Servomotor-end
Hall Sensor-end Connector
4-M3 Mounting Screw,
Connector Depth 5 (Outer Frame Material: Aluminum Alloy)
220.2
2-Screw
#4-40 UNC
5
Cable
UL20276, AWG28 Coil Assembly 5 L20.2
5.3 Dia. Nameplate
L10.3
(16 Dia.: Outer Diameter

50050
50050
12 The coil assembly moves in the direction indicated by the arrow
of Magnetic Way)
320.3 when current flows in the order of phases U, V, and W.
10
Reco
Radiu mmende
(18)
s: R1 d Ben
5 ding
340.3
26
Re
Ra comm
diu en
s: R de
5 Dia.
Cable 18 d B
end 9
18 llow D
UL2517, AWG25 ing

(Ho
0
.1 iame
D ia
ter
)

Connector Specifications Pin No. Name Connector Specifications
Wire
1 +5V (Power supply) Pin No. Name direction indicated by the arrow in the
Color figure, the relationship between the hall
2 Phase U
5 1 1 Phase U Red sensor output signals Su, Sv, Sw and the
3 Phase V Plug: 350779-1
Pin Connector: Pin : 350561-3 or 2 Phase V White
4 Phase W Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 350690-3 (No.1 to 3)
3 Phase W Blue below.
by DDK Ltd. 5 0V (Power supply) 770210-1 (No.4)
by Tyco 4 FG Green
6 Not used
The Mating Connector Electronics AMP K.K.
Socket Connector:
7 Not used The Mating Connector Vu Su
17JE-13090-02 (D8C) 8 Not used
Cap: 350780-1
Stud: 17L-002C or
9 Not used Socket: 350925-1 or
17L-002C1 Inverse
770673-1 Power Vv Sv
(V)
Vw
Sw
0 180 360 540


L1 L2
Model SGLCW- kg
D16A085AP 85 75 0.3
D16A115AP 115 105 0.4
D16A145AP 145 135 0.5
135
Linear Servomotors
Linear
(2) Magnetic Way: SGLCM-D16 A
Warning Label
Reference Side Magnetic Way Thickness: 0.1
(Mounting Side) Nameplate
(32) L5 Thickness: 0.1 L6 (L7)
(Force Assurance Range) Coil
160.1 Dia.
Coil Assembly
Assembly
(18)
(34)
L4 L4
(1: Gap)
(Length of (Length of
5 Support Section) (5)
( 18 D
Support Section)
(Length (Length
L2 L3 (L2)
ia.)
of Weld) of Weld)
(Position of Support Section) (Section where coil assembly can drive) (Position of Support Section)
L1
Notes: 1 The magnetic way will become deformed if a magnetic attraction with the coil assembly is generated.
Take measures over the entire driving range to prevent any interference between the magnetic way and the coil assembly after installation.
Magnetic Way Model Approx. Mass

L1 L2 L3 L4 L5 L6 L7 Remarks
SGLCM- kg
Linear Servomotors
D16240A 240p1.6 30 180 25 37.5p0.3 165p1.2 37.5 0.38
D16270A 270p1.6 30 210 25 37.5p0.3 195p1.2 37.5 0.43
D16300A 300p1.6 30 240 25 37.5p0.3 225p1.2 37.5 0.48 Standard
D16330A 330p1.6 30 270 25 37.5p0.3 255p1.2 37.5 0.53
D16360A 360p1.6 30 300 25 37.5p0.3 285p1.2 37.5 0.58
D16390A 390p1.6 30 330 25 37.5p0.3 315p1.2 37.5 0.63
D16420A 420p1.6 30 360 25 37.5p0.3 345p1.2 37.5 0.68
D16480A 480p2.5 45 390 40 52.5p0.3 375p2.1 52.5 0.75
D16510A 510p2.5 45 420 40 52.5p0.3 405p2.1 52.5 0.80 Standard
D16540A 540p2.5 45 450 40 52.5p0.3 435p2.1 52.5 0.85
D16570A 570p2.5 45 480 40 52.5p0.3 465p2.1 52.5 0.90
D16600A 600p2.5 45 510 40 52.5p0.3 495p2.1 52.5 0.95
D16630A 630p2.5 45 540 40 52.5p0.3 525p2.1 52.5 1.00
D16660A 660p2.5 45 570 40 52.5p0.3 555p2.1 52.5 1.05
D16690A 690p2.5 45 600 40 52.5p0.3 585p2.1 52.5 1.10
D16720A 720p2.5 45 630 40 52.5p0.3 615p2.1 52.5 1.15
D16750A 750p3.0 45 660 40 52.5p0.3 645p2.5 52.5 1.20 Standard
136
LSGLCW-D20
Hall Sensor-end 4-M4 Mounting Screw,

Connector Servomotor-end Depth 7 (Outer Frame Material: Aluminum Alloy)
Connector
300.2
2-Screw
#4-40 UNC
6
Cable
UL20276, AWG28 Coil Assembly 5 L20.2
5.3 Dia.
Nameplate
50050
L10.3
50050
of Magnetic Way)
Rec
12
Bend omme
(23)
ing R nde
adiu d
440.3
s: R1
5 34
Re
Ra comm
diu en
s: R de
5 Dia.
Cable 18 d B
end 11
22 llow
ing
(Ho
UL2517, AWG25
.5 Di
0.1 am
Dia eter
. )

Wire
2 Phase U
5 1 1 Phase U Red sensor output signals Su, Sv, Sw and the
3 Phase V Plug: 350779-1
Pin Connector: Pin : 350561-3 or 2 Phase V White
4 Phase W Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 350690-3 (No.1 to 3)
3 Phase W Blue below.
by DDK Ltd. 5 0V (Power supply) 770210-1 (No.4)
by Tyco 4 FG Green
6 Not used
The Mating Connector Electronics AMP K.K.
Socket Connector:
7 Not used The Mating Connector Vu Su
17JE-13090-02 (D8C) 8 Not used
Cap: 350780-1
Stud: 17L-002C or
9 Not used Socket: 350925-1 or
17L-002C1 Inverse
(V)
Vw
Sw
0 180 360 540


L1 L2
Model SGLCW- kg
D20A100AP 100 90 0.6
D20A135AP 135 125 0.8
D20A170AP 170 160 1.0
137
Linear Servomotors
Linear
Warning Label
(42) Coil L5 Thickness: 0.1 L6 (L7)
Assembly (Force Assurance Range) Coil
200.1 Dia.
Assembly
(23)
(44)
(1.25: Gap)
L4 L4
(Length of
( 22.
(Length of
5 Support Section) (5)
Support Section)
5D
(Length (Length
L2 L3 (L2)
ia.
of Weld) (Position of Support Section) (Section where coil assembly can drive) (Position of of Weld)
)
L1 Support Section)

Linear Servomotors
SGLCM- kg
D20280A 280p1.6 35 210 30 45p0.3 190p1.2 45 0.68
D20315A 315p1.6 35 245 30 45p0.3 225p1.2 45 0.77
D20350A 350p1.6 35 280 30 45p0.3 260p1.2 45 0.86 Standard
D20385A 385p1.6 35 315 30 45p0.3 295p1.2 45 0.95
D20420A 420p1.6 35 350 30 45p0.3 330p1.2 45 1.00
D20455A 455p1.6 35 385 30 45p0.3 365p1.2 45 1.10
D20490A 490p1.6 35 420 30 45p0.3 400p1.2 45 1.20
D20555A 555p2.5 50 455 45 60p0.3 435p2.1 60 1.35
D20590A 590p2.5 50 490 45 60p0.3 470p2.1 60 1.45 Standard
D20625A 625p2.5 50 525 45 60p0.3 505p2.1 60 1.55
D20660A 660p2.5 50 560 45 60p0.3 540p2.1 60 1.60
D20695A 695p2.5 50 595 45 60p0.3 575p2.1 60 1.70
D20730A 730p2.5 50 630 45 60p0.3 610p2.1 60 1.80
D20765A 765p2.5 50 665 45 60p0.3 645p2.1 60 1.90
D20800A 800p2.5 50 700 45 60p0.3 680p2.1 60 2.00
D20835A 835p2.5 50 735 45 60p0.3 715p2.1 60 2.10
D20870A 870p3.0 50 770 45 60p0.3 750p2.5 60 2.20 Standard
138
LSGLCW-D25
4-M5 Mounting Screw,

Depth 9 (Outer Frame Material: Aluminum Alloy)
Servomotor-end
380.2
Connector
2-Screw

of Magnetic Way)
#4-40 UNC
6
Coil 7.5 L20.2
Cable Assembly
UL20276, AWG28 Nameplate L10.3
50050
5.3 Dia.
50050
15
Rec
(29)
Rad ommen
ius: ded
540.3
R15 Ben
ding
Rec 43
Rad ommen
ius: ded
R20 Ben
6.1 Dia.
Cable ding
12
28 llow
UL2517, AWG19
(Ho
0
.1 Diam
D ia.
ete
r)

1 +5V (Power supply) Wire direction indicated by the arrow in the
Pin No. Name figure, the relationship between the hall
2 Phase U Color
5 1 sensor output signals Su, Sv, Sw and the
3 Phase V Plug: 350779-1 1 Phase U Red inverse power of each motor phase Vu,
Pin Connector: 4 Phase W Pin: 2 Phase V White Vv, Vw becomes as shown in the figure
17JE-23090-02 (D8C) 350561-3 or 350690-3 below.
5 0V (Power supply) (No. 1 to 3)
3 Phase W Blue
by DDK Ltd.
6 Not used 350654-1 or 350669-1 (No. 4) 4 FG Green
The Mating Connector by Tyco Electronics AMP K.K.
7 Not used
Socket connector: The Mating Connector Vu
17JE-13090-02 (D8C) 8 Not used Su
Stud: 17L-002C or 9 Not used Cap : 350780-1
17L-002C1 Socket: 350925-1 or Inverse
770673-1 Power Vv
Sv
(V)
Vw
Sw
0 180 360 540


L1 L2
Model SGLCW- kg
D25A125AP 125 110 1.0
D25A170AP 170 153 1.4
D25A215AP 215 200 1.8
139
Linear Servomotors
Linear
Warning Label
250.1 Dia.
Coil (Force Assurance Range) Coil
Assembly Assembly
(29)
(54)
(1.5: Gap)
L4 L4
( 28
8 Support Section) Support Section) (8)
Dia
(Length (Length
.)
L2 L3 (L2)
of Weld) of Weld)
(Position of Support Section) (Section where coil assembly can drive) (Position of
L1 Support Section)
Linear Servomotors
SGLCM- kg
D25360A 360p1.6 45 270 37 57.5p0.3 245p1.2 57.5 1.50
D25405A 405p1.6 45 315 37 57.5p0.3 290p1.2 57.5 1.65
D25450A 450p1.6 45 360 37 57.5p0.3 335p1.2 57.5 1.80 Standard
D25495A 495p1.6 45 405 37 57.5p0.3 380p1.2 57.5 1.95
D25540A 540p1.6 45 450 37 57.5p0.3 425p1.2 57.5 2.10
D25585A 585p1.6 45 495 37 57.5p0.3 470p1.2 57.5 2.25
D25630A 630p1.6 45 540 37 57.5p0.3 515p1.2 57.5 2.40
D25705A 705p2.5 60 585 52 72.5p0.3 560p2.1 72.5 2.85
D25750A 750p2.5 60 630 52 72.5p0.3 605p2.1 72.5 3.00 Standard
D25795A 795p2.5 60 675 52 72.5p0.3 650p2.1 72.5 3.15
D25840A 840p2.5 60 720 52 72.5p0.3 695p2.1 72.5 3.30
D25885A 885p2.5 60 765 52 72.5p0.3 740p2.1 72.5 3.45
D25930A 930p2.5 60 810 52 72.5p0.3 785p2.1 72.5 3.60
D25975A 975p2.5 60 855 52 72.5p0.3 830p2.1 72.5 3.75
D251020A 1020p2.5 60 900 52 72.5p0.3 875p2.1 72.5 3.90
D251065A 1065p2.5 60 945 52 72.5p0.3 920p2.1 72.5 4.05
D251110A 1110p3.0 60 990 52 72.5p0.3 965p2.5 72.5 4.20 Standard
140
LSGLCW-D32
N-M6 Mounting Screw, Added only to Model SGLCW-D32A285AP

Depth 10 (Outer Frame Material: Aluminum Alloy)
Servomotor-end
450.2
Connector
2-Screw
#4-40 UNC
Coil
10 L20.2
7.5
Cable Assembly
UL20276, AWG28 Nameplate L10.3
50050
5.3 Dia.

50050
51 of Magnetic Way)
15
Rec
Ben omm
(34)
R15 ding R ended

640.3
adiu
s:
Re
Ra comm
diu en
s: R de
6.1 Dia.
20 d Be
ndi 15
35 ollow
ng
(H
Cable
.5
0.1 Diam
UL2517, AWG19
Dia ete
. r)

When the coil assembly moves in the
9 6 Wire
2 Phase U
1 Phase U Red sensor output signals Su, Sv, Sw and the
5 1 3 Phase V inverse power of each motor phase Vu,
Plug: 350779-1
2 Phase V White Vv, Vw becomes as shown in the figure
Pin Connector: 4 Phase W Pin:
350561-3 or 350690-3 3 Phase W Blue below.
17JE-23090-02 (D8C) 5 0V (Power supply) (No. 1 to 3)
by DDK Ltd. 4 FG Green
6 Not used 350654-1 or 350669-1 (No. 4)
Socket connector: The Mating Connector Vu Su
8 Not used
17JE-13090-02 (D8C)
9 Not used Cap: 350780-1
Stud: 17L-002C or
Socket: 350925-1 or Inverse
17L-002C1
(V)
Vw
Sw
0 180 360 540


L1 L2 N
Model SGLCW- kg
D32A165AP 165 145 4 1.8
D32A225AP 225 205 4 2.5
D32A285AP 285 265 6 3.2
141
Linear Servomotors
Linear
Warning Label
Coil (Force Assurance Range) Coil
Assembly Assembly
(34)
(1.75: Gap) 320.1 Dia.

(64)
ia .
32 D
L4 L4
( 35.5
8 Support Section) Support Section) (8)
(Length
Dia.
(Length L2 L3 (L2)
of Weld) (Position of Support Section) of Weld)
)
(Section where coil assembly can drive) (Position of

L1 Support Section)
Linear Servomotors
SGLCM- kg
D32480A 480p1.6 60 360 52 75p0.3 330p1.2 75 3.0
D32540A 540p1.6 60 420 52 75p0.3 390p1.2 75 3.4
D32600A 600p1.6 60 480 52 75p0.3 450p1.2 75 3.8 Standard
D32660A 660p1.6 60 540 52 75p0.3 510p1.2 75 4.2
D32720A 720p1.6 60 600 52 75p0.3 570p1.2 75 4.6
D32780A 780p1.6 60 660 52 75p0.3 630p1.2 75 5.0
D32840A 840p1.6 60 720 52 75p0.3 690p1.2 75 5.4
D32960A 960p2.5 90 780 82 105p0.3 750p2.1 105 5.9
D321020A 1020p2.5 90 840 82 105p0.3 810p2.1 105 6.3 Standard
D321080A 1080p2.5 90 900 82 105p0.3 870p2.1 105 6.7
D321140A 1140p2.5 90 960 82 105p0.3 930p2.1 105 7.1
D321200A 1200p2.5 90 1020 82 105p0.3 990p2.1 105 7.5
D321260A 1260p2.5 90 1080 82 105p0.3 1050p2.1 105 7.9
D321320A 1320p2.5 90 1140 82 105p0.3 1110p2.1 105 8.3
D321380A 1380p2.5 90 1200 82 105p0.3 1170p2.1 105 8.7
D321440A 1440p2.5 90 1260 82 105p0.3 1230p2.1 105 9.1
D321500A 1500p3.0 90 1320 82 105p0.3 1290p2.5 105 9.5 Standard
142
Selecting Cables
LCables Connections
SGDV
SERVOPACK
Serial Converter qLinear Servomotor Main Circuit Cable

Unit
wCable for Connecting Linear Scale
rCable for Connecting Hall Sensor
Linear Scale
(To be provided by users.)
Cylinder-type Linear Servomotor
LCables Contact Yaskawa Controls Co., Ltd.
Applicable Linear
Servomotor Model
1m JZSP-CLN11-01-E
3m JZSP-CLN11-03-E SERVOPACK End Linear Servomotor End
1 Linear Servomotor
All models 5m JZSP-CLN11-05-E (1)
Main Circuit Cables
1m JZSP-CLL00-01-E
Serial Converter
3m JZSP-CLL00-03-E Linear Scale End
2 Cables for Connecting Unit End
Linear Scales
1m JZSP-CLP70-01-E
3m JZSP-CLP70-03-E Serial Converter
3 Cables for Connecting 5m JZSP-CLP70-05-E SERVOPACK End Unit End
All models (3)
Serial Converter Units 10 m JZSP-CLP70-10-E
1m JZSP-CLL10-01-E
3m JZSP-CLL10-03-E Serial Converter Hall Sensor
4 Cables for Connecting Unit End Unit End
Hall Sensors
143
Linear Servomotors
Linear
Selecting Cables Units: mm
(1) Linear Servomotor Main Circuit Cables: (2) Cables for Connecting Linear Scales:
JZSP-CLN11- -E JZSP-CLL00- -E
SERVOPACK End Linear Servomotor End Serial Converter Unit End Linear Scale End
35 mm L
8.5 mm 50 mm L 9 1 1 9
Heat-shrinkable Finished Diameter 9.5 Dia.
Tube
Finished Diameter 4
U 6.8 Dia. 15 8 8 15
M4 Crimped
27.7
Terminal V Cable
W (AWG223C+AWG256P)
Cable (UL2464) 1 Connector : Connector :
G 7. 6
AWG18/4C 17JE-23150-02 (D8C) 17JE-13150-02 (D8C)
Wire Markers Cap: 350780-1 (4-pole) 14.7 (15-pin, soldered) (With stud)
Socket: 350536-3 (Chained) by DDK Ltd. (15-pin, soldered)
by Tyco Electronics AMP. K.K. by DDK Ltd.
Wiring Specifications Wiring Specifications

SERVOPACK-end Leads Linear Servomotor-end Serial Converter Unit End Linear Scale End
Connector Pin No. Signal Pin No. Signal
Wire Color Signal Signal Pin. No. 1 /Cos(V1) 1 /Cos(V1)
2 /Sin(V2) 2 /Sin(V2)
Red Phase U Phase U 1
3 Ref(V0+) 3 Ref(V0+)
White Phase V Phase V 2 4 +5V 4 +5V
Blue Phase W Phase W 3 5 5Vs 5 5Vs
6 BID 6 BID
Green/yellow FG FG 4
7 Vx 7 Vx
8 Vq 8 Vq
9 Cos(V1+) 9 Cos(V1+)
10 Sin(V2+) 10 Sin(V2+)
/Ref(V0+) /Ref(V0)
Linear Servomotors
11 11
12 0V 12 0V
13 0Vs 13 0Vs
14 DIR 14 DIR
15 Inner 15 Inner
(3) Cables for Connecting Serial Converter Units: (4) Cables for Connecting Hall Sensors
JZSP-CLP70- -E JZSP-CLL10- -E
SERVOPACK End Serial Converter Unit End Serial Converter Unit End Hall Sensor End
L L
6 1 1 6
9 5 Cable 5 9
(AWG222C+AWG242P)
Connector : Connector :
Cable (UL20276) 17JE-23090-02 (D8C) 17JE-13090-02 (D8C)
Connector : (AWG222C+AWG242P) Connector : (9-pin, soldered) (With stud)
55100-0600 17JE-23090-02 (D8C) (9-pin, soldered)
(6-pin, soldered) (9-pin, soldered) by DDK Ltd.
by DDK Ltd.
by Molex Japan Co., Ltd. by DDK Ltd.
Wiring Specifications Wiring Specifications

SERVOPACK End Serial Converter Unit End Serial Converter Unit End Hall Sensor End
Pin No. Signal Wire Color Pin No. Signal Wire Color Pin No. Signal Pin No. Signal
1 PG5V Red 1 +5V Red 1 +5V 1 +5V
2 PG0V Black 5 0V Black 2 Phase U input 2 Phase U input
3 - - 3 - - 3 Phase V input 3 Phase V input
4 - - 4 - - 4 Phase W input 4 Phase W input
5 PS Light blue 2 Phase S output Light blue 5 0V 5 0V
6 /PS Light blue/white 6 Phase /S output Light blue/white 6 - 6 -
Shell Shield - Case Shield - 7 - 7 -
7 - - 8 - 8 -
8 - - 9 - 9 -
9 - - Case Shield Case Shield
144
Linear Servomotor General Instructions
Serial Converter Unit (Model: JZDP-D00 - -E)
LCharacteristics and Specifications

Power Supply Voltage 5.0V p 5%, ripple content 5% max.
Current Consumption*1 120 mA Typ. 350 mA max.
Signal Resolution Input two-phase sine wave: 1/256 pitch
Max. Response Frequency 250 kHz
Electrical Characteristics
Analog lnput Signals*2 Differential input amplitude: 0.4 to 1.2 V

(cos, sin, Ref) Input signal level: 1.5 to 3.5 V
Hall Sensor lnput Signal CMOS level
Output Signals*3 Position data, hall sensor information, and alarms
Serial data transmission [HDLC (High-level Data Link
Output Method
Control) protocol format with Manchester codes]
Transmission Cycle 62.5 M s
Balanced transceiver (SN75LBC176 or the equivalent)
Output Circuit
Internal terminal resistance: 120 7
*1: The current consumption of the linear scale and hall sensor is not
Approx. Mass 150 g included in this value.
Characteristics
Mechanical
The current consumption of linear scale and hall sensor must be

Vibration Resistance 98 m/s2 max. (10 to 2500 Hz) in three directions
taken into consideration for the current capacity of host controller
that supplies the power. The current consumption of hall sensor:
Impact Resistance 980 m/s2, (11 ms) two times in three directions Approx. 40 mA.
*2: Input a value within the specified range. Otherwise, incorrect
Operating Temperature 0 to 55C
Environmental
position information is output, and the device may be damaged.

Conditions
*3: The power is turned on, and the transmission is enabled after 100
Storage Temperature 20 to 80C
ms to 300 ms.
Humidity 20% to 90% RH (no condensation)
LModel Designations
JZDP - D003 - 001 - E
Serial Converter Unit Model Applicable Linear Servomotor

Applicable Linear Servomotor Model Code Servomotor Model Code
Code Appearance Hall Sensor
Scale 30A050C 250 20A170A 011
30A080C 251 35A170A 014
SGLTW-
Manufactured by 40A140C 252 35A170H 105
D003 None SGLGW-
HEIDENHAIN 40A253C 253 50A170 108
(Standard
40A365C 254 D16A085AP 354
Type)
60A140C 258 D16A115AP 373
Manufactured by 60A253C 259 D16A145AP 356
D005 None
RENISHAW 60A365C 260 D20A100AP 357
40A140C 255 D20A135AP 358
SGLGW- 40A253C 256 D20A170AP 359
SGLCW-
Manufactured by (High-force 40A365C 257 D25A125AP 360
D006 Provided
HEIDENHAIN Type) 60A140C 261 D25A170AP 374
60A253C 262 D25A215AP 362
20A090A 017 D32A165AP 363
Manufactured by 20A120A 018 D32A225AP 364
D008 Provided
RENISHAW SGLFW- 35A120A 019 D32A285AP 365
35A230A 020
50A200B 181
145
Linear Servomotors
Linear
Serial Converter Unit (Model: JZDP-D00 - -E)

LAnalog Signal Input Timing
The following figure shows the input timing of the analog signals.
When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals.
The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.
Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the
converter. When they are crossed, the output data will be counted up.
100%
0.2 to 0.6 V
*
cos
(A+)
45
/cos
cos/cossin/sin (A)
Input Voltage Range:
1.5 to 3.5 V
sin
(B+)

/sin
(B)
0.2 V Min.
0.2 V Min.
/Ref
Ref/Ref
(R)
Ref
1.5 to 3.5 V (R+)
5% to 75% 5% to75%
Zero Point
Count Up Direction
*:If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial converter outputs an alarm.
IMPORTANT
Precautions
1 Never perform insulation resistance and withstand voltage tests.
2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects
the units ability to output correct position information. The analog cable must be as short as possible and
shielded.
3 Use the serial converter unit without gases such as H2S.
4 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
5 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
146
Serial Converter Unit (Model: JZDP-D00 - -E) Units: mm
LWithout Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation)
Serial Converter Unit Model: JZDP-D003- -E
(1) Connection Example
SERVOPACK Serial Converter Unit

SGDV- JZDP-D003--E
CN2 CN1 CN2
JZSP-CLP70--E JZSP-CLL00--E Connection Cable

by HEIDENHAIN Corp. Linear Scale
by HEIDENHAIN Corp.
(2) External Dimensions
Linear Scale End

4-4.2 Dia. Holes
Analog Signal Input Connector (CN2)
2-#4-40 UNC Tapped Holes Nameplate
2-4.2 Dia. Holes
SERVOPACK End
Serial Data Output Connector (CN1)
33.320.4
24.990.3
520.3
10
60
1.5 650.3
72 2-#4-40 UNC Tapped Holes
3
820.3
14.350.3 90
22.5
Pin No. Signal CN1 Pin No. Signal CN2

1 5V SERVOPACK End 1 cos input (A) Linear Scale End
Serial Data Output Analog Signal Input
2 Phase S output 2 0V 1
9 5 9
3 Not used 3 sin input (B)
4 Not used
6
4 5V
1
5 0V 5 Not used 8 15
6 Phase /S output 17-series Connector: 6 Not used
17LE-13090-27 17-series Connector:
7 Not used (Socket) by DDK Ltd.
7 /Ref input (R ) 17LE-13150-27
8 Not used 8 Not used (Socket) by DDK Ltd.
9 Not used 9 /cos input (A )
Case Shield 10 0V sensor
11 /sin input (B )
12 5V sensor
13 Not used
14 Ref input (R)
15 Not used
Case Shield
Notes: 1 Do not use the unused pins.

2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation.
3 Use the same terminal for 5-V sensor and phase-W input.
4 Phase U, V, and W input are internally pulled up at 10 k7.
147
Linear Servomotors
Linear
LWithout Cable for Hall Sensor (For Linear Scale by Renishaw plc.)
SERVOPACK Serial Converter Unit

JZDP-D005--E
SGDV-
CN2 CN1 CN2
JZSP-CLP70--E JZSP-CLL00--E Connection Cable

by Renishaw plc. Linear Scale
by Renishaw plc.
2-#4-40 UNC Tapped Holes

2-4.2 Dia.Holes 4-4.2 Dia.Holes Nameplate Linear Scale End
SERVOPACK End
24.99 0.4
52 0.3
10
60
300 30
1.5 65 0.3
72
3
82 0.3
14.35 0.4 90
22.5


1 5V SERVOPACK End 1 cos input (V1 ) Linear Scale End
Serial Data Output Analog Signal Input
2 Phase S output 5 2 sin input (V2 ) 1 9
9
3 Not used 3 Ref input (V0)
4 Not used 6 1
4 5V
5 0V 5 5Vs 8 15
6 Phase /S output 17-series Connector: 6 Not used
7 Not used (Socket) by DDK Ltd. 7 Not used 17JE-13150-02 (D8C)
8 Not used 8 Not used (Socket) by DDK Ltd.
9 Not used 9 cos input (V1)

Case Shield 10 sin input (V2)
SERVOPACK does not have the function 11 /Ref input (V0 )

to process Vq signals. 12 0V
13 0Vs
14 Not used
15 inner (0V)
Case Shield

2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc.
However, the BID and DIR signals are not connected.
3 Use the linear scale-end connector to change the zero point specifications of the linear scale.
148
LWith Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation)

JZDP-D006--E
Hall sensor
SERVOPACK CN3 JZSP-CLL10--E
SGDV-
CN2 CN1
JZSP-CLP70--E CN2 JZSP-CLL00--E Connection Cable

by HEIDENHAIN Corp. Linear Scale
by HEIDENHAIN Corp.
Linear Scale End

Hall Sensor Signal Input Connector
(CN3)
2-#4-40 UNC Tapped Holes 2-4.2 Dia. 4-4.2 Dia.

Holes Holes Nameplate
SERVOPACK End
Serial Data Output Connector
(CN1)
24.99 0.4
520.3
60
10
300 30
1.5 65 0.3
72 Linear Scale End
3
82 0.3 Analog Signal Input Connector
14.35 0.4 90 (CN2)
22.5
CN1 CN2 CN3

SERVOPACK End Linear Scale End Linear Scale End
Serial Data Output Analog Signal Input Hall Sensor Signal Input
1 9
9 5 1 6
6 1 5 9
8 15 Pin No. Signal
1 cos input (A)
17-series Connector: 17-series Connector: 17-series Connector:
17JE-13090-27 17JE-13150-02 (D8C) 2 0V 17JE-13090
(Socket) by DDK Ltd. (Socket) by DDK Ltd. 3 sin input (B) by DDK Ltd.
4 5V
5 Not used
6 Not used
1 5V 7 /Ref input (R )
1 5V
2 Phase S output 2 Phase U input
8 Not used
3 Not used 3 Phase V input
9 /cos input (A )
4 Not used 4 Phase W input
10 0V sensor
5 0V 5 0V
11 /sin input (B )
6 Phase /S output 6 Not used
12 5V sensor
7 Not used 7 Not used
13 Not used
14 Ref input (R)
15 Not used
Case Shield

2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation.
3 Phase U, V, and W input are internally pulled up at 10 k7.
149
Linear Servomotors
Linear
LWith Cable for Hall Sensor (For Linear Scale by Renishaw plc.)

JZDP-D008--E
Hall Sensor
SERVOPACK CN3 JZSP-CLL10--E
SGDV-
CN2 CN1
JZSP-CLP70--E CN2 JZSP-CLL00--E Connection Cable

by Renishaw plc. Linear Scale
by Renishaw plc.
Linear Scale End

Hall Sensor Signal Input Connector
(CN3)
2-#4-40 UNC Tapped Holes 2-4.2 Dia. 4-4.2 Dia.

Holes Holes Nameplate
SERVOPACK End
Serial Data Output Connector
(CN1)
24.99 0.4
52 0.3
60
10
300 30

1.5 65 0.3
72 Linear Scale End
3
82 0.3 Analog Signal Input Connector
14.35 0.4 90 (CN2)
22.5
CN1 CN2 CN3

SERVOPACK End Linear Scale End Linear Scale End
1 9
5 1 6
9
6 1 5 9
8 15 Pin No. Signal
1 /cos input (V1 )
17-series Connector: 17-series Connector: 17-series Connector:
17JE-13090-27 17JE-13150-02 (D8C) 2 /sin input (V2 ) 17JE-13090
(Socket) by DDK Ltd. (Socket) by DDK Ltd. 3 Ref input (V0) by DDK Ltd.
4 5V
5 5Vs
6 Not used
1 5V 7 Not used
1 5V
2 Phase S output 2 Phase U input
8 Not used
3 Not used 3 Phase V input
9 cos input (V1)
4 Not used 4 Phase W input
10 sin input (V2)
5 0V 5 0V
11 /Ref input (V0 )
12 0V
13 0 Vs
14 Not used
15 Inner
Case Shield

2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc.
However, the BID and DIR signals are not connected.
3 Use the linear scale-end connector to change the zero point specifications of the linear scale.
4 Phase U, V, and W input are internally pulled up at 10 k7. 150
Flexible Cables
LLife of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R.
The following table shows the recommended bending radius R of each cable.
Recommended Bending
Cable Type Model
Radius (mm)
JZSP-CLN11- -E 35
JZSP-CLN21- -E 38
Linear Servomotor Main Circuit Cables
JZSP-CLN39- -E 50
JZSP-CLN14- -E 35
Cables for Connecting Linear Scales JZSP-CLL00- -E 57
Cables for Connecting Hall Sensors JZSP-CLL10- -E 60
Cables for Connecting Serial Converter Units JZSP-CLP70- -E 46
LConditions
1 Repeat moving one end of the cable forward and backward for 320 mm with using the test equipment shown in the following
figure.
2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note
that one reciprocating is counted as one test.
Shifting Distance 320 mm
Shifting End
Bending
Radius Fixed End
R
Notes: 1 The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting to the cable, and fixing methods.
The life of flexible cable is limited under the specified conditions.
2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the
performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
151
Linear Servomotors
Linear
Flexible Cables
LWiring Precautions
Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early
disconnection. Observe the following precautions when wiring.
(1) Cable twisting
Straighten the flexible cables before wiring.
Twisted cables cause early disconnection. Check the indication on the cable surface to make sure that the
cable is not twisted.
(2) Fixing method
Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection.
Fix the cable at the minimum number of points.
(3) Cable length
If the cable length is too long, it may cause the cables sagging. Besides the cable length is too short, it may
cause the excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with
the optimum length.
(4) Interference between cables
Avoid interference between cables.
Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance
between cables, or provide a partition when wiring.
152
Linear Sliders
-Trac
Model Designations
SGT 1 F3 1 - 030 A H 20 - 0
-Trac Series Surface Treatment
Linear Slider 0 : Aluminum base; Clear anodized
aluminum coating
Linear Slider Type
Steel or iron base; Black paint
1 : Standard
1 : Aluminum base; Black anodized
(Aluminum base)
aluminum coating
2 : High-rigidity
Steel or iron base; Electroless nickel
(Steel or iron base)
plating or Raydent
Mounted Linear processing
Servomotor
Linear Scale Resolution

Moving Coil Model Code 20 : 20 M m
SGLFW-35A120A F3
04 : 4 M m
SGLFW-35A230A F4 Linear Scale Manufacturer
SGLFW-50A200B F9 H : HEIDENHAIN Corporation
SGLGW-40A140C GD R : Renishaw plc.
SGLGW-40A253C GE
Linear Scale Output Form
SGLGW-40A365C GF
A : Analog output 1 Vp-p
SGLGW-60A140C GG
SGLGW-60A253C GH Stroke Length
SGLGW-60A365C GI 007 : 70 mm
to
Number of Tables (per Axis) 200 : 2000 mm
1 : 1 table
2 : 2 tables
to
n : n tables
153
SGLGW( )
Features
LFor long strokes and high-speed, high-accuracy positioning
(repetitive positioning accuracy less than p1.0 m).
LSeveral tables can be mounted on one magnetic way, and each table can be driven independently.
LStandard and high-precision models are available.
Model Classification
LForce
SERVOPACK Model SGDV- -Trac Series Linear Sliders
Three-phase 200 VAC Model Force 200 N 400 N 600 N 800 N 1000 N 1200 N
1R6 SGT F3 -
3R8 SGT F4 - Continuous Peak
5R5 SGT F9 - force force
R90 SGT GD -
1R6 SGT GE -
2R8 SGT GF -
1R6 SGT GG -
2R8 SGT GH -
Linear Sliders
5A5 SGT GI -
LStroke Length
Model Stroke Length 500 mm 1000 mm 1500 mm 2000 mm
SGT F3 - 80 mm 1950 mm
SGT F4 - 180 mm 1830 mm
SGT F9 - 70 mm 1830 mm
SGT GD - 90 mm 1300 mm
Contact your
SGT GE - 120 mm 1200 mm Yaskawa
SGT GF - 140 mm 1080 mm representative for
SGT GG - 90 mm 1300 mm information on
SGT GH - 120 mm 1200 mm strokes other than
those listed.
SGT GI - 140 mm 1080 mm
154
SGT1F3 and SGT1F4 Linear Sliders
LRatings and Specifications

Insulation Resistance: 500 VDC, 10 M min. Enclosure: Self-cooled
(Thermal class B)
Linear Slider Model*1 SGT1F3 - AH20-0 SGT1F4 - AH20-0

Mounted Linear Servomotor Model SGLFW- 35A120AP 35A230AP
Applicable SERVOPACK Model SGDV- 1R6 3R8
Applicable Serial Converter Unit Model JZDP- D006-019 D006-020
Rated Force N 80 160
Peak Force N 220 440
Force Constant N / Arms 62.4 62.4
Motor Constant N/eW 14.4 20.4
Maximum Payload*2*3 kg 30 70
Movable Member Mass kg 3.1 5.3
Total Mass kg See Table 1 See Table 2
Effective Stroke mm on the next page. on the next page.
Resolution Mm 0.078 (20M m / 256)
Repeatability*4 Mm p1.0 p1.0
1
* : Squares ( ) are used to indicate the stroke length code shown in Tables 1 and 2.
*2: Values obtained when the acceleration is 4.9 m/s2.
*3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table.
*4: Values obtained when the ambient temperature is constant.
LPerformance Curves
Force - Speed Effective Force - Ambient Temperature Load Mass - Acceleration
A : Continuous Duty Zone B : Intermittent Duty Zone When the sensor temperature is 50C or less
Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/
cycle time (s)
6 45 80
Operation Ambient Temperature (C)
(1) SGT1F3
40
Acceleration (m/s2)
5 70
35 60
Speed (m/s)
4 30 50
25
3 40
A B 20
2 15 30
10 20
1 10
5
0 0 0
0 50 100 150 200 250 0 20 40 60 80 100 0 10 20 30
Force (N) Effective Force [Load Ratio] (%) Load Mass (kg)
(2) SGT1F4 6 45 100

40
Acceleration (m/s2)
5 80
35
Speed (m/s)
4 30
25 60
3
A B 20 40
2 15
10 20
1
5
0 0 0
0 100 200 300 400 500 0 20 40 60 80 100 0 10 20 30 40 50 60 70
155
Linear Sliders
Linear
-Trac
SGT1F3 and SGT1F4 Linear Sliders Units: mm
LExternal Dimensions
(1) SGT1F31
Table 1
500 Stroke
(From the cable inlet on the motor) L1 L2 L3 L4 L5 Total
X N Mass
Code Length mm mm mm mm mm
X kg
Y 008 80 360 295 270 45 90 4 9.1
500 Y 030 300 580 515 440 5 13.0
(From the hall sensor unit) Z
041 410 690 625 550 6 14.9
32.5 Note 1 500 Z
2.5 (From the cable inlet on the encoder head) 052 520 800 735 660 7 16.8
063 630 910 845 770 8 18.6
074 740 1020 955 880 9 20.5
085 850 1130 1065 990 10 22.5
170
148
100
165
096 960 1240 1175 1100 11 24.5

107 1070 1350 1285 1210 70 110 12 26.3
118 1180 1460 1395 1320 13 28.3
(L4) 129 1290 1570 1505 1430 14 30.1
50 50 29 2N-7 Dia. L5 L4
32.5
29
11
2.5
(Pitch) 140 1400 1680 1615 1540 15 32.0

158 22 Mounting Holes 151 1510 1790 1725 1650 16 34.0
(180) 14 Dia. Counter 162 1620 1900 1835 1760 17 35.9
6-M6 Tapped Holes, Depth 12 Boring 0.5
173 1730 2010 1945 1870 18 37.8
L3
184 1840 2120 2055 1980 19 39.7
195 1950 2230 2165 2090 20 41.5
(L2) (1) (165)

32.5 32.5
15
100.5 10.5
78
Stopper Stopper
9
35 43
77.5
12
78
Note 2
6.3
3.5
Encoder Scale Encoder Head 29.5 A 111 A
L1
10
170 Section A
(2) SGT1F41 Table 2

Stroke L1 L2 L3 L4 L5 Total
See the section enclosed with dotted lines in N Mass
mm mm mm mm mm
32.5
the drawing of the SGT1F31 for cables. Code Length kg

2.5
Note 1
018 180 580 515 440 5 15.1
029 290 690 625 550 6 17.0
040 400 800 735 660 7 18.9
170
148
051 510 910 845 770 8 20.7

165
100
062 620 1020 955 880 9 22.7

073 730 1130 1065 990 10 24.6
084 840 1240 1175 1100 11 27.1
(L4) 50
32.5
L5 L4
11
10-M6 Tapped
2.5
095 950 1350 1285 1210 70 110 12 28.5
Linear Sliders
(Pitch)
30 Pitch 50 4=200 33 22 Holes, Depth 12 106 1060 1460 1395 1320 13 30.4
263 2N-7 Dia. 117 1170 1570 1505 1430 14 32.2
(285) Mounting Holes 128 1280 1680 1615 1540 15 34.2
L3 14 Dia. Counter Boring 0.5
139 1390 1790 1725 1650 16 36.1
150 1500 1900 1835 1760 17 38.1
161 1610 2010 1945 1870 18 39.9
172 1720 2120 2055 1980 19 41.9
183 1830 2230 2165 2090 20 42.6
(L2) (1) (165)

32.5 32.5
15
100.5 10.5
78
Stopper Stopper
9
35 43
77.5
12
78
Note 2
6.3
3.5
29.5 A 111 A
L1
10
Linear Scale 170 Section A

LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal, one zero-point singal at the scale center
Notes: 1 The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
2 When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value).
Connector Specifications for the -Trac Series Linear Sliders (All Models)
For Encoder Cable
Pin Signal Pin Signal
No. No.
View X-X View Y-Y View Z-Z
For Hall Sensor Cable 1 Cos output (A+) 9 /Cos output (A)
For Motor Cable 1
6 1 9 2 0V 10 0 V sensor
Pin Pin Pin
No. Signal No. Signal No. Signal Connector 3 Sin output (B+) 11 /Sin output (B)
Plug : 350779-1 Connector (Socket):
4
(by Tyco Electronics 1 Phase-U output 17JE-23090-02 (D8C) 1 +5V (power supply) 6 Not used Plug: 4 +5 V 12 5 V sensor
3 2 Phase-U output 7 Not used 205206-3 (by Tyco 5 Not used 13 Not used
AMP K.K.) 2 Phase-V output (by DDK Ltd.)
2
3 Phase-V output 8 Not used Electronics AMP K.K.) 6 Not used 14 /Ref (R+)
1 Pins : 350924-1 or 770672-1 3 Phase-W output Housing:
(by Tyco Electronics 4 FG 9 5 4 Phase-W output 9 Not used 15 7 /Ref (R) 15 Not used
8 745172-3 (by Tyco
AMP K.K.) 5 0V (power supply) Case Shield 8 Not used Case Shield
Electronics AMP K.K.)
156
SGT1F9 Linear Sliders

Insulation Resistance: 500 VDC, 10 M min. Enclosure: Self-cooled
(Thermal class B)
Linear Slider Model*1 SGT1F9 - AH20-0

Mounted Linear Servomotor Model SGLFW- 50A200BP
Applicable SERVOPACK Model SGDV- 5R5
Applicable Serial Converter Unit Model JZDP- D006-181
Rated Force N 200
Peak Force N 600
Force Constant N / Arms 67.9
Motor Constant N/eW 29.3
Maximum Payload*2*3 kg 100
Movable Member Mass kg 7.2
Total Mass kg See Table 1
Effective Stroke mm on the next page.
Resolution Mm 0.078 (20 M m / 256)
Repeatability*4 Mm p1.0
*1: Squares ( ) are used to indicate the stroke length code shown in Tables 1.
LPerformance Curves
cycle time (s)
(1) SGT1F9 6 45 100
40
Acceleration (m/s2)
5 80
35
Speed (m/s)
4 30
25 60
3
A B 20 40
2 15
10 20
1
5
0 0 0
0 200 400 600 700 0 20 40 60 80 100 0 20 40 60 80 100
157
Linear Sliders
Linear
-Trac
SGT1F9 Linear Sliders Units: mm
(1) SGT1F91 See page 163 for details on 500 Table 1
each connector specifications. (From the cable inlet on the motor) X Stroke Total
X L1 L2 L3 L4 L5 N Mass
Y Code Length kg
500 Y 007 70 440 375 300 70 100 4 15.9
(From the hall sensor unit) Z
33.5 (Note 1) 035 350 720 655 540 90 5 21.3
500
2.5
Z
(From the cable inlet on the encoder head) 048 480 850 785 675 87.5 6 24.1
062 620 990 925 810 90 7 26.9
075 750 1120 1055 945 87.5 8 29.5
089 890 1260 1195 1080 90 9 32.2
192
187
120
168
102 1020 1390 1325 1215 87.5 10 35.0

135
116 1160 1530 1465 1350 90 11 37.7
129 1290 1660 1595 1485 87.5 12 40.3
143 1430 1800 1735 1620 90 13 43.0
60 L5 L4
33.5
156 1560 1930 1865 1755 87.5 14 45.8

2.5
12
33 180 30 (Pitch)
243 22 2N-9 Dia. Mounting Holes 170 1700 2070 2005 1890 90 15 48.5
(265) 183 1830 2200 2135 2025 87.5 16 51.2
18 Dia. Counter Boring 0.5
L4 8-M8 Tapped Holes, Depth 12 L3
2.5 187 2.5

32.5 L2 32.5 117
20
Stopper Stopper 10.5
21.5
45.5 48
9
93.5
(Note 2)
6.3
3.5
A A
11
Encoder Scale Encoder Head 128
L1
192 Section A
Table 1
Stroke Total
L1 L2 L3 L4 L5
N Mass
Code Length mm mm mm mm mm
kg
007 70 440 375 300 70 100 4 15.9
035 350 720 655 540 90 5 21.3
048 480 850 785 675 87.5 6 24.1
062 620 990 925 810 90 7 26.9
075 750 1120 1055 945 87.5 8 29.5
Linear Sliders
089 890 1260 1195 1080 90 9 32.2
102 1020 1390 1325 1215 87.5 10 35.0
135
116 1160 1530 1465 1350 90 11 37.7
129 1290 1660 1595 1485 87.5 12 40.3
143 1430 1800 1735 1620 90 13 43.0
156 1560 1930 1865 1755 87.5 14 45.8
170 1700 2070 2005 1890 90 15 48.5
183 1830 2200 2135 2025 87.5 16 51.2
158
SGT1GD , SGT1GE , and SGT1GF Linear Sliders

Insulation Resistance: 500 VDC, 10 M min. Enclosure: Self-cooled, fan-cooled
(Thermal class B)
Linear Slider Model*1 SGT1GD - AH20-0 SGT1GE - AH20-0 SGT1GF - AH20-0

Mounted Linear Servomotor Model SGLGW- 40A140CP 40A253CP 40A365CP
Applicable SERVOPACK Model SGDV- R90 1R6 2R8
Applicable Serial Converter Unit Model JZDP- D006-252 D006-253 D006-254
Rated Force N 47 93 140
Peak Force N 140 280 420
Force Constant N / Arms 61.5 61.5 61.5
Motor Constant N/eW 7.8 11 13.5
Maximum Payload*2*3 kg 25 50 80
Movable Member Mass kg 2.8 3.7 5.5
Total Mass kg
See Table 1 on the next page.
Effective Stroke mm
Resolution m 0.078 (20 m / 256)
Repeatability*4 m p1.0 p1.0 p1.0
*1: Squares ( ) are used to indicate the stroke length code shown in Table 1.
LPerformance Curves
cycle time (s)
(1) SGT1GD 6.0 45 60
40
Acceleration (m/s2)
5.0 50
35
Speed (m/s)
4.0 30 40
A 25
3.0 30
20
2.0 15 20
B 10
1.0 10
5
0 0 0
0 50 100 150 200 0 20 40 60 80 100 0 5 10 15 20 25
(2) SGT1GE 6.0 45 80

40
Acceleration (m/s2)
5.0 70
35 60
Speed (m/s)
4.0 30 50
A 25
3.0 40
20
2.0 15 30
B 10 20
1.0 10
5
0 0 0
0 100 200 300 400 0 20 40 60 80 100 0 10 20 30 40 50
(3) SGT1GF 6.0 45 100

40
Acceleration (m/s2)
5.0 80
35
Speed (m/s)
4.0 30
A 25 60
3.0
20 40
2.0 15
B 10 20
1.0
5
0 0 0
0 150 300 450 600 0 20 40 60 80 100 0 20 40 60 80
159
Linear Sliders
Linear
-Trac
SGT1GD , SGT1GE , and SGT1GF Linear Sliders Units: mm
<Table Side View>
LSGT1GD1 LSGT1GE1 LSGT1GF1
3-M4 Mounting Screws, Length 8 (by Yaskawa) 3-M4 Mounting Screws, Length 8 (by Yaskawa) 3-M4 Mounting Screws, Length 8 (by Yaskawa)
5
10
5
15
10
15
5
15
10
5
65 40 60 170 40 60 285 40 60
See page 163 for details on

500
each connector specifications. (From the cable inlet on the motor) X
X
Y
(L1) 500 Y
65 35 (L4) (From the hall sensor unit) Z
61 (L5) 90 90 2N-7 Dia. Mounting Holes (Pitch: 90) Note 1 500 Z
31
9
11 Dia. Counter Boring (From the cable inlent on the encoder head)
22 M8 Tapped Holes
28
9
60 60
(190)
164
162
108
182
182
138
108
164
80
80
7.5
28
15 L7 15
31
15 26
22
(L5) L6 L8 L6
(8)
90
L9 25 65
N2-M5 Tapped Holes, Depth 10 L10
Stopper
65
35 (L3) 35
61
(1)
15 (L2)
Linear Scale
LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal,
Table 1 one zero-point signal at the scale center
Stroke Dimensions mm Total

Linear Slider Model
N N2 Mass
(Mounted Linear Servomotor Model) Code Length L1 L2 L3 L4 L5 L6 L7 L8 L9 L10 kg
009 90 410 380 340 140 25 5 12.3
022 220 545 515 475 275 47.5 6 15.3
Linear Sliders
036 360 680 650 610 410 25 8 18.4
049 490 815 785 745 545 47.5 9 21.5
SGT1GD1- *AH20-0 063 630 950 920 880 680 25 11 24.5
32.5 55 110 175 200 9
(SGLGW-40A140CP) 076 760 1085 1055 1015 815 47.5 12 27.6
090 900 1220 1190 1150 950 25 14 30.6
103 1030 1355 1325 1285 1085 47.5 15 33.7
117 1170 1490 1460 1420 1220 25 17 36.8
130 1300 1625 1595 1555 1355 47.5 18 39.8
012 120 545 515 475 170 47.5 6 16.8
025 250 680 650 610 305 25 8 19.9
039 390 815 785 745 440 47.5 9 22.9
052 520 950 920 880 575 25 11 26.0
SGT1GE1- *AH20-0 066 660 1085 1055 1015 710 47.5 12 29.0
50 60 180 280 305 12
(SGLGW-40A253CP) 079 790 1220 1190 1150 845 25 14 32.1
093 930 1355 1325 1285 980 47.5 15 35.2
106 1060 1490 1460 1420 1115 25 17 38.2
110 1100 1535 1505 1465 1160 47.5 17 39.3
120 1200 1625 1595 1555 1250 47.5 18 41.3
014 140 680 650 610 190 25 8 21.1
027 270 815 785 745 325 47.5 9 24.2
041 410 950 920 880 460 25 11 27.3
SGT1GF1- *AH20-0 054 540 1085 1055 1015 595 47.5 12 30.3
47.5 60 300 395 420 18
(SGLGW-40A365CP) 068 680 1220 1190 1150 730 25 14 33.4
081 810 1355 1325 1285 865 47.5 15 36.4
095 950 1490 1460 1420 1000 25 17 39.5
108 1080 1625 1595 1555 1135 47.5 18 42.6
*: Squares ( ) are used to indicate the stroke length code shown in Table 1.
2 When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value). 160
SGT1GG , SGT1GH , and SGT1GI Linear Sliders

Insulation Resistance: 500 VDC, 10 M min. Enclosure: Self-cooled, fan-cooled
(Thermal class B)
Linear Slider Model*1 SGT1GG - AH20-0 SGT1GH - AH20-0 SGT1GI - AH20-0

Mounted Linear Servomotor Model SGLGW- 60A140CP 60A253CP 60A365CP
Applicable SERVOPACK Model SGDV- 1R6 2R8 5R5
Applicable Serial Converter Unit Model JZDP- D006-258 D006-259 D006-260
Rated Force N 70 140 210
Peak Force N 220 440 660
Force Constant N / Arms 66.6 66.6 66.6
Motor Constant N/eW 11.1 15.7 19.2
Maximum Payload*2*3 kg 40 80 110
Movable Member Mass kg 2.9 3.9 5.7
Total Mass kg
See Table 1 on the next page.
Effective Stroke mm
Resolution m 0.078 (20 m / 256)
Repeatability*4 m p1.0 p1.0 p1.0
*1: Squares ( ) are used to indicate the stroke length code shown in Table 1.
LPerformance Curves
cycle time (s)
(1) SGT1GG 6.0 45 80
40
Acceleration (m/s2)
5.0 70
35 60
Speed (m/s)
4.0 30 50
A 25
3.0 40
20
2.0 15 30
B 10 20
1.0 10
5
0 0 0
0 100 200 300 0 20 40 60 80 100 0 10 20 30 40
(2) SGT1GH 6.0 45 120

40
Acceleration (m/s2)
5.0 100
35
Speed (m/s)
4.0 30 80
A 25
3.0 60
20
2.0 15 40
B 10
1.0 20
5
0 0 0
0 200 400 600 0 20 40 60 80 100 0 20 40 60 80
(3) SGT1GI 6.0 45 140

40
Acceleration (m/s2)
5.0 120
35
Speed (m/s)
4.0 30 100
A 25 80
3.0
20 60
2.0 15 40
B 10
1.0 20
5
0 0 0
0 300 600 900 0 20 40 60 80 100 0 20 40 60 80 100
161
Linear Sliders
Linear
-Trac
SGT1GG , SGT1GH , and SGT1GI Linear Sliders Units: mm
<Table Side View>
LSGT1GG1 LSGT1GH1 LSGT1GI1
3-M4 Mounting Screws, Length 8 (by Yaskawa) 3-M4 Mounting Screws, Length 8 (by Yaskawa) 6-M4 Mounting Screws, Length 8 (by Yaskawa)
(Used for connector box etc.)
5
10
15
5
15
10
5
15
10
65 40 60 170 40 60 285 40 60
See page 163 for details on 500

each connector specifications. (From the cable inlet on the motor) X
X
Y
(L1) 500 Y
65 35 (L4) (From the hall sensor unit) Z
61 (L5) 90 90 2N-7 Dia. Mounting Holes (Pitch: 90) (Note 1) 500 Z
31
9
11 Dia. Counter Boring (From the cable inlet on the encoder head)
28
9
60 60
(190)
164
162
108
182
182
138
108
164
80
80
7.5
28
15 L7 15
31
22
L6 L8 L6 15 26
(L5)
( 8)
90
L9 25 65
N2-M5 Tapped Holes, Depth 10 L10
Stopper
65
35 (L3) 35
61
(1)
15 (L2)
Linear Scale
LIDA487 (by HEIDENHAIN Corporation): 1 Vp-p signal,
Table 1 one zero-point signal at the scale center
Stroke Dimensions mm Total

Linear Slider Model
N N2 Mass
(Mounted Linear Servomotor Model) Code Length L1 L2 L3 L4 L5 L6 L7 L8 L9 L10 kg
009 90 410 380 340 140 25 5 12.3
022 220 545 515 475 275 47.5 6 15.4
036 360 680 650 610 410 25 8 18.5
Linear Sliders
049 490 815 785 745 545 47.5 9 21.5
SGT1GG1- *AH20-0 063 630 950 920 880 680 25 11 24.6
32.5 55 110 175 200 9
SGLGW-60A140CP 076 760 1085 1055 1015 815 47.5 12 27.7
090 900 1220 1190 1150 950 25 14 30.7
103 1030 1355 1325 1285 1085 47.5 15 33.8
117 1170 1490 1460 1420 1220 25 17 36.9
130 1300 1625 1595 1555 1355 47.5 18 39.9
012 120 545 515 475 170 47.5 6 17.0
025 250 680 650 610 305 25 8 20.0
039 390 815 785 745 440 47.5 9 23.1
052 520 950 920 880 575 25 11 26.1
SGT1GH1- *AH20-0 066 660 1085 1055 1015 710 47.5 12 29.2
50 60 180 280 305 12
SGLGW-60A253CP 079 790 1220 1190 1150 845 25 14 32.3
093 930 1355 1325 1285 980 47.5 15 35.3
106 1060 1490 1460 1420 1115 25 17 38.4
110 1100 1535 1505 1465 1160 47.5 17 39.4
120 1200 1625 1595 1555 1250 47.5 18 41.5
014 140 680 650 610 190 25 8 21.4
027 270 815 785 745 325 47.5 9 24.4
041 410 950 920 880 460 25 11 27.5
SGT1GI1- *AH20-0 054 540 1085 1055 1015 595 47.5 12 30.5
47.5 60 300 395 420 18
SGLGW-60A365CP 068 680 1220 1190 1150 730 25 14 33.6
081 810 1355 1325 1285 865 47.5 15 36.7
095 950 1490 1460 1420 1000 25 17 39.7
108 1080 1625 1595 1555 1135 47.5 18 42.8
*: Squares ( ) are used to indicate the stroke length code shown in Table 1.
2 When installing the linear slider, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value).
162
Selecting Cables and Connectors
LConnection diagrams
Reference Input Form from Host Controller

For Pulse Train Reference or Analog For MECHATROLINK-2 Communications
To CN5
Voltage Reference
Analog Monitor CN6
Cable To Other Stations Using
Digital Operator
JUSP-OP05A-1-E MECHATROLINK/
MECHATROLINK- .
Power Supply With Front Cover Open MECHATROLINK
(SERVOPACK for Pulse Train/ Personal Computer
Communications Cable
Analog Voltage Reference)
CN3
CN3
Molded-case
Circuit Breaker CN5
Personal Computer
Cable Digital Operator Cable
Host Controller Digital
With Front Cover Open Operator
Noise Filter (SERVOPACK for MECHATROLINK CN1
CN1 To External
Communications) Devices such as
I/O Signal Cable LED Indicators
DF0300413 PC
S/N D0024B958810004
I/O Signal Cable
ON
1
CN5
POWER
COM
Magnetic Linear Scale

Contactor
Incremental
To CN2
Serial Cable
CN3 UVW Serial Converter

Unit
CN1 Power
Encoder Cable
Cable
Hall Sensor
Regenerative Cable
CN2
Resistor
Connect an external
regenerative resistor to
terminals B1 and B2 if UVW
the regenerative
capacity is insufficient.
LApplicable Cables and Connectors Contact Yaskawa Controls Co., Ltd.

Servodrive Motor Cable Linear Scale Connection Cables
Motor Type
Linear Scale Type
SERVOPACK Model SGDV- SERVOPACK Motor Serial [CN2] Serial Converter Unit Serial Converter Unit Linear Encoder
3-Trac Series Model Three-phase Power Cable Converter Serial Cable Encoder Cable
200 V (Flexible Type) Unit Model (Flexible Type) (Flexible Type)
SGT F3 - AH20-0 1R6 JZSP-CLN11- -E D006-019
JZSP-CLP70- -E JZSP-CLL00- -E
SGT F4 - AH20-0 3R8 JZSP-CLN11- -E D006-020
SGT F9 - AH20-0 5R5 JZSP-CLN21- -E D006-181 01 1 m 01 1 m
Moving Coil (MC)
03 3 m 03 3 m
Incremental
SGT GD - AH20-0 R90 JZSP-CLN11- -E D006-252

05 5 m 05 5 m
SGT GE - AH20-0 1R6 JZSP-CLN11- -E D006-253 10 10 m 10 10 m
SGT GF - AH20-0 2R8 JZSP-CLN11- -E D006-254 15 15 m 15 15 m
20 20 m
SGT GG - AH20-0 1R6 JZSP-CLN11- -E D006-258
SGT GH - AH20-0 2R8 JZSP-CLN11- -E D006-259
SGT GI - AH20-0 5A5 JZSP-CLN11- -E D006-260
163
Linear Sliders
Linear
-Trac
Selecting Cables and Connectors
LDetail Drawings: Serial Converter Units for Linear Scales

by HEIDENHAIN Corporation
LJZDP-D006- -E LJZDP-D003- -E
(With Hall Sensor Cable) (Without Hall Sensor Cable)
2-#4-40 4-4.2 Dia. Holes 2-#4-40 4-4.2 Dia. Holes

UNC Tapped Holes 2-4.2 Dia. Holes Nameplate UNC Tapped Holes 2-4.2 Dia. Holes Nameplate
24.99 0.3
24.99 0.4
33.32 0.4
52 0.3
52 0.3
10
60
60
10
300 30
1.5 65 0.3 1.5 65 0.3
3 72 3 72 2-#4-40
14.35 0.4 82 0.3 14.35 0.3 82 0.3 UNC Tapped Holes
90 90
22.5
22.5
4-M5 Tapped Holes, 4-M5 Tapped Holes,
Depth 10 Depth 10
52 0.3
52 0.3
65 0.3 65 0.3
LDetails on Connectors
CN1 CN2 CN3

5 1 6
SERVOPACK End 9 Linear Scale End
1 9 Linear Scale End
6 1 5 9
8 15
1717-series Connector : 17-series Connector :
17JE-13090-27 (Socket) 1717-series Connector : 17JE-13090
by DDK Ltd. 17JE-13150-02 (D8C) by DDK Ltd.
(Socket) by DDK Ltd.
Pin Pin Pin Pin Pin Pin

Signal Signal Signal Signal Signal Signal
No. No. No. No. No. No.
Phase- 1 cos input (A+) 9 /cos input (A-) 1 5V 6 Not used

1 5V 6
/S output 2 0V 10 0V sensor Phase-U
Linear Sliders
2 7 Not used
Phase- 3 sin input (B+) 11 /sin input (B-) intput
2 7 Not used
/S output 4 5V 12 5V sensor Phase-V
3 8 Not used
3 Not used 8 Not used 5 Not used 13 Not used intput
4 Not used 9 Not used 6 Not used 14 Ref input (R+) Phase-W
4 9 Not used
5 0V Case Shield 7 /Ref input (R-) 15 Not used intput
8 0V Case Shield 5 0V Case Shield
Pulse-train or Analog Voltage Reference MECHATROLINK Communications Cables for Setting Devices/Monitors
Serial Converter Unit Hall Sensor I/O Signal Connector CN1 I/O Signal Connector CN1 MECHATROLINK [CN3] Setting Devices [CN5]
Hall Sensor Cable Connector Terminal Cable with Loose Connector Kit Connector Terminal Block Connector Communications Connector Personal Analog Monitor
(Flexible Type) Block Converter Unit Wires at One End (CN1) Converter Cable Kit (CN1) CN6A or CN6B Computer Cable Cable
JUSP-TA50P-E JZSP- JZSP- MECHATROLINK
JZSP-CLL10- -E
CSI01- -E TA26P- -E communications cable:
None 0.5 m JEPMC-W6002- -E
01 1 m
11m 11m None 0.5 m A5 0.5 m
03 3 m
22m 22m 11m 01 1 m
05 5 m JZDP- JZSP-
33m JZSP- 22m JZSP- To specify the desired cable
10 10 m length, add the length to the CMS02-E CA01-E
CSI9-1-E CSI9-2-E
15 15 m end of the model number, as (2 m) (1 m)
indicated here by the squares
( ), when ordering.
Note: Required only if MECHATROLINK
using a JZDP-D006 terminator:
serial converter. JEPMC-W6022-E
164
Analog Voltage/Pulse Train Reference Type SERVOPACKs
SGDV- 01
(For Rotary Servomotors)
SGDV- 05
(For Linear Servomotors)
Model Designations
SGDV - R70 A 01 A
v
Series
SGDV SERVOPACK
Options
Code Specifications
Base-mounted
Blank
(standard)
Rack-mounted
001000
(optional)

Current A, B
Applicable Servomotor
Voltage Code Max. Capacity
Interface
kW
Code Specifications
R70 0.05
Analog voltage/pulse train reference type
R90 0.1 01
(for rotary servomotors)
1R6 0.2
200 V Analog voltage/pulse train reference type
2R8 0.4 05
(for linear servomotors)
3R8 0.5
5R5 0.75
1R9 0.5
3R5 1.0 Voltage
5R4 1.5
400 V Code Specifications
8R4 2.0
A 200 VAC
120 3.0
D 400 VAC
170 5.0
165
SGLGW
Features
LUnprecedented ease-of-use through cutting-edge technology
New tuning-less function means no adjustment needed.
Impressive load regulation with strengthened vibration suppression function.
LSlashed setup time

Setup wizard function and wiring conformation function of engineering tool
SigmaWin+ allows easy setup just by watching the monitor.
LHigh response characteristics at 1 kHz min.

New advanced autotuning.
Reduced positioning time through model following control, and smooth machine
control enabled by vibration suppression function.
Ratings
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 1R9D 3R5D 5R4D 8R4D 120D 170D
Main Circuit Three-phase 200 to 230 VAC10% to 15% 50/60 Hz Three-phase 380 to 480 VAC10% to 15% 50/60 Hz
Control Circuit Single-phase 200 to 230 VAC10% to 15% 50/60 Hz 24 VDC p 15%
Applicable Servomotor kW 0.05 0.1 0.2 0.4 0.5 0.75 0.5 1 1.5 2 3 5
Max. Capacity
Continuous Output Arms 0.66 0.91 1.6 2.8 3.8 5.5 1.9 3.5 5.4 8.4 11.9 16.5
Current
Max. Output Current Arms 2.1 2.9 6.5 9.3 11 16.9 5.5 8.5 14 20 28 42
Analog/Pulse Type SERVOPACKs
166
Specifications
200 V Three-phase 200 to 230 VAC 10% to 15% 50/60 Hz
Main Circuit
400 V *1 Three-phase 380 to 480 VAC 10% to 15% 50/60 Hz
Input Power Supply
200 V Single-phase 200 to 230 VAC 10% to 15% 50/60 Hz
Control Circuit
400 V *1 24 VDC p 15%
For 200 V, for 400 V, three-phase full-wave rectification
Control Method
IGBT PWM control, sine-wave driven
Serial encoder: 13-bit (incremental encoder)
Rotary Servomotors Serial encoder: 20-bit (incremental/absolute encoder)
Feedback 4 Mb/s communications
Serial Converter
Linear Servomotors
4 Mb/s communications
Ambient/Storage Temperature Ambient temperature: 0 to 55C, storage temperature: 20 to 85C
Ambient/Storage Humidity 90%RH or less (no condensation)
Vibration/Impact Resistance Vibration resistance: 4.9 m/s2, impact resistance: 19.6 m/s2
Protection class: IP 1X, pollution degree: 2

Do not use SERVOPACKs in the following locations:
Operating Conditions Protection class/Pollution degree Locations subject to corrosive or flammable gases
Locations subject to exposure to water, oil, or chemicals
Locations subject to dust, including iron dust, and salts

Others
Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity
Elevation 1000 m or less
UL 508C
Compliant Standards
EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1
Configuration Base-mounted (Rack mounting available as an option for some models.)
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% load: p 0.01% max. (at rated speed)
Speed Regulation*2 Voltage Regulation Rated voltage : p 10% : 0% (at rated speed)
Performance
Temperature Regulation 25 p 25C : p 0.1% max. (at rated speed)
Torque Control Tolerance (Repeatability) p 1%
Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Phase A, phase B, phase C: line driver output
I/O Signals Encoder Output Pulses
The number of dividing pulse: Any setting ratio is available.
Interface Digital operator, RS-422A port of personal computers etc.
1:N communications RS-422A port: N 15 max. available
RS-422A Communications
Axis address setting Set by parameters
Communications Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions
Interface Personal computers (application: SigmaWin )
USB Communications 1:N communications Compliant with USB1.1 standard
Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions, waveform trace
CHARGE for main circuit power supply input confirmation
Display Power Charge
LED (Red) 1 ch
Analog monitor connector built in for monitoring speed, torque and other reference signals.
Analog Monitor
Number of channels: 2 ch
Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error
200 VAC SGDV-R70A, -R90A, -R6A, -2R8A: External regenerative resistor (optional)
Regenerative Processing 200 VAC SGDV-3R8A, -5R5A: Built-in regenerative resistor
400 VAC model: Built-in regenerative resistor
Utility Functions Alarm trace back, JOG operation, origin search, etc.
Input /HWBB1, /HWBB2: Hard wire base block signal
Safety Functions
Output EDM1: Status monitor (fixed output) of built-in safety circuit
Option Card Function Feedback Serial encoder communications input for fully-closed loop control
*1: SGDV- 05 SERVOPACK has no 400 V model.

*2: Speed regulation is defined as follows:
No-load motor speed Total load motor speed
Speed regulation s 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation. The ratio of speed changes to the rated
speed represent speed regulation due to voltage and temperature variations.
167
SGDV- 01/05
Specifications
LRotary Servomotors
Number of Channels 7 ch
Signal allocations and positive/negative logics can be modified.

Servo ON (/SVON), P control (/P-CON), alarm reset (/ALM-RST), forward run
Sequence Input prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL),
Function
reverse torque limit (/N-CL), internal speed setting switching, control mode switching
(/C-SEL), zero clamp (/ZCLAMP), reference pulse inhibit (/INHIBIT), gain
I/O Signal
changeover
Signal allocations and positive/negative logics can be modified. Positioning completion (/
Sequence Output COIN), speed coincidence detection (/V-CMP), servomotor rotation detection (/TGON),
Function
servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake
interlock (/BK), warning (/WARN), NEAR (/NEAR)
Display 7-segment 5-digit LED (Red)
Panel Operator
Switch Push switch: 4 ch
p 3 VDC (Variable setting range: p 1 to 10 VDC) at rated torque,
Reference Voltage
max. input voltage: p 12 V
Torque Control Analog Input Input Impedance About 14 k min.
Circuit Time Constant 30 M s
p 6 VDC (variable setting range: p 2 to 10 VDC) at rated speed,

Reference Voltage
Analog Input Input Impedance About 14 k min.
Speed Control Circuit Time Constant 30 M s
Rotation Direction Selection Switches the direction by /P-CON

Set Speed Reference
Speed Selection Speed 1 to 3 selection
Function Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Type Sign pulse train, 90phase difference 2-phase pulse (phase A phase B), or CCW CW pulse train
Form Non-insulated line driver ( 5 V level), open collector
s1 multiplier: 4 Mpps s2 multiplier: 2 Mpps
Reference Pulse
s4 multiplier: 1 Mpps
Position Control Frequency*
Open collector: 200 kpps
Frequencies drop when the duties have errors.

Function Clears error pulse by external signals.
Clear Signal
Form Applicable to line driver, open collector
Alarm Code Output 3-bit, open collector output (non-insulated)
Others
SEN signal Included
*: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield. Connect the shield at the SERVOPACK to the connector
shell.
168
Specifications
LLinear Servomotors

Servo ON (/SVON), P control (/P-CON), alarm reset (/ALM-RST), forward run
Sequence Input
Function prohibited (P-OT), reverse run prohibited (N-OT), forward force limit (/P-CL), reverse
force limit (/N-CL), internal speed setting switching, control mode switching (/C-SEL),
zero clamp (/ZCLAMP), reference pulse inhibit (/INHIBIT), gain changeover
I/O Signal
Signal allocations and positive/negative logics can be modified. Positioning completion

Sequence Output (/COIN), speed coincidence detection (/V-CMP), servomotor movement detection (/
Function
TGON), servo ready (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT),
brake interlock (/BK), warning (/WARN), NEAR (/NEAR)
Display 7-segment 5-digit LED (Red)

Panel Operator
Switch Push switch: 4 ch
Reference Voltage p 3 VDC (variable setting range: p 1 to 10 VDC), max. input voltage: p 12 V
Input Impedance About 14 k min.
Force Control Analog Input
Circuit Time Constant 30 M s
p 6 VDC (variable setting range: p 2 to 10 VDC) at rated speed,

Reference Voltage
Analog Input Input Impedance About 14 k min.
Speed Control Circuit Time Constant 30 M s
Movement Direction Selection /P-CON signal

Set Speed Reference
Speed Selection Speed 1 to 3 selection
Function Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Type Sign pulse train, 90phase difference 2-phase pulse (phase A phase B), or CCW CW pulse train
Form Non-insulated line driver ( 5 V level), open collector
Reference Pulse s 1 multiplier: 4 Mpps s 2 multiplier: 2 Mpps

Position Control Frequency
s 4 multiplier: 1 Mpps
Open collector: 200 kpps
Frequencies drop when the duty changes.
Function Clears error pulse by external signals.

Clear Signal
Form Applicable to line driver, open collector
Alarm Code Output 3-bit, open collector output (non-insulated)
Others
SEN signal Included
169
SGDV- 01/05
Power Supply Capacities and Power Losses
The following table shows SERVOPACK's power supply capacities and power losses at the rated output.
Applicable
Regenerative
Main Circuit Servomotor Power Supply Main Circuit Control Circuit Total Power
SERVOPACK Output Current Resistor
Power Max. Capacity Power Loss Power Loss Loss
Model SGDV- kVA A Power Loss
Supply Capacity W W W
W
kW
0.05 R70A 0.2 0.66 5.1 22.1

0.1 R90A 0.3 0.91 7.3 24.3

Three-phase 0.2 1R6A 0.6 1.6 13.5 30.5
17
200 V 0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1 45.1
8
0.75 5R5A 1.6 5.5 43.8 68.8
0.5 1R9D 1.1 1.9 24.6 59.6
1.0 3R5D 2.3 3.5 46.1 14 21 81.1
Three-phase 1.5 5R4D 3.5 5.4 71.3 106.3
400 V 2.0 8R4D 4.5 8.4 77.9 130.9
28 25
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
Notes: 1 SGDV-R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external
regenerative resistor.
2 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
Remove the lead from the internal regenerative resistor in the SERVOPACK. (SGDV-3R8A, -5R5A, and 400-V SERVOPACKs)
Install an external regenerative resistor.
3 External regenerative resistors are options.
170
LBase-mounted SERVOPACKs
(1) Three-phase 200 VAC, Model: SGDV-R70A0 A, -R90A0 A, and -1R6A0 A
(17)
Air Flow
2-M4 Screw Holes
(20)
Input Voltage Cooling Fan
5
Model
(1
Nameplate
20
1500.5(Mounting Pitch)
CN3
)
CN7 SERVOPACK
Rear View
CN1
160
160
Two Terminals
CN8
CN2
Ground Terminal
2-M4 Screws Air Flow
(25) 23 (4) 35
40 (75) 140
40
Mounting Hole Diagram

Approx. Mass: 0.9 kg
(2) Three-phase 200 VAC, Model: SGDV-2R8A0 A

(17)
Air Flow 2-M4 Screw Holes
(20)
5
Model (1
Nameplate 2 0 )
CN3
CN7
SERVOPACK
Rear View
CN1
160
160
Two Terminals CN8

CN2
Ground Terminal
Air Flow
2-M4 Screws (25) 23 (4 ) 5 300.5
(75) (Mounting Pitch)
40 170
40

(3) Three-phase 200 VAC, Model: SGDV-3R8A0 A and -5R5A0 A
Air Flow (17)

(4) 3-M4 Screw Holes
(20)
Model (1
Nameplate 2 0)
CN3
CN7 SERVOPACK
Rear View
CN1
160
Air Flow
160
Two Terminals CN8

CN2
Ground Terminal Air Flow

2-M4 Screws 6 580.5
(25) 23 (Mounting Pitch)
70 (75) 180 70

171 Approx. Mass: 1.5 kg
SGDV- 01/05
(4) Three-phase 400 VAC, Model: SGDV-1R9D0 A, -3R5D0 A, and -5R4D0 A
(20)
(17)
5.5
Air Flow Input Voltage 4-M4 Screw Holes
Model (1
Nameplate 2 0)
CN3
(Mounting Pitch)
CN7 SERVOPACK
149.50.5
Two Terminals Rear View
CN1
160
160
CN8
CN2
Ground Terminal 5 1000.5

2-M4 Screws (25) 23 (4) (Mounting Pitch)
110 (75) 180 110
Air Flow
Cooling Fan Approx. Mass: 2.7 kg
(5) Three-phase 400 VAC, Model: SGDV-8R4D0 A and -120D0 A

)
Input Voltage (17) 4-M5 Screw Holes

(20)
(120
Air Flow Model

6
Nameplate CN3
CN7
238.50.5(Mounting Pitch)
SERVOPACK
CN1 Rear View
CN8
250
CN2
250

Air Flow
2-M4 Screws 22 (4) (Mounting Pitch)
110 (75) 180 110

( 10
0)
(40) Cooling Fan
Terminal Approx. Mass: 3.7 kg

14-M4 Screws
Terminal Details
172
(6) Three-phase 400 VAC, Model: SGDV-170D0 A
(20)
(17)
Cooling Fan Nameplate Input Voltage
Air Flow
Model
( 12
CN3
0
)
CN7
Air Flow CN1
CN8
250
CN2
22
135 (75) 230
4-M5 Screw Holes Terminal

6-M5 Screws (1.6)
6
238.50.5(Mounting Pitch)
( 10
SERVOPACK
0
Rear View
)
250
Terminal (83) (3.2)

5-M4 Screws
Terminal
3-M5 Screws
Ground Terminal
5 1250.5 2-M5 Screws
(Mounting Pitch)
135 Terminal Details
Connectors for Base-mounted SERVOPACKs

Port Model Pin Manufacturer
CN1 10250-52A2PL 50 Sumitomo 3M Ltd.
CN2 53984-0671 6 Molex Japan Co., Ltd.
CN3 HDR-EC14LFDTN-SLE-PLUS 14 Honda Tsushin Kogyo Co., Ltd.
CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC.
CN8 1981080-1 8 Tyco Electronics AMP K.K.
Note: The connectors above or their equivalents are used for SERVOPACKs.
173
SGDV- 01/05
LRack-mounted SERVOPACKs
(1) Three-phase 200 VAC, Model: SGDV-R70A0 A001, -R90A0 A001, and -1R6A0 A001
Air Flow
(17)
17.5
2 36
7.5
2-M4 Screw Holes
7
(20)
Model
(1
20
CN3
)
Nameplate
CN7
SERVOPACK
166 Min.
Rear View
CN1
195
195
160
Two Terminals CN8

CN2
(2)
Ground Terminal (25) 23 24.5
40 (75) 140 20
40

(2) Three-phase 200 VAC, Model: SGDV-2R8A0 A001
Air Flow
2 36 (17)
7.5
2-M4 Screw Holes
17.5
7
(20)
Model (1
2
0 )
CN3
Nameplate
CN7
SERVOPACK
166 Min.
Rear View
CN1
195
195
160
Two Terminals CN8

CN2
Ground Terminal (2)

2-M4 Screws Air Flow (25) 23 24.5 20
40 (75) 170
40


(3) Three-phase 200 VAC, Model: SGDV-3R8A0 A001 and -5R5A0 A001
Air Flow
18.5 36 (17)
17.5
7.5
2-M4 Screw Holes

7
Cooling Fan
(20)
Input Voltage
Model (1
2 0)
Nameplate CN3
CN7 SERVOPACK
Rear View
166 Min.
CN1
160
195
Air Flow
195
Two Terminals CN8

CN2
Air Flow (2)

2-M4 Screws 36.5
70 (75) 180
70

174
(4) Three-phase 400 VAC, Model: SGDV-1R9D0 A001, -3R5D0 A001, and -5R4D0 A001
Air Flow
(20)
37 72 (17)
7.5
17.5
4-M4 Screw Holes
7
Input Voltage
Model (1
2 0 )
Nameplate CN3
SERVOPACK
CN7
Two Terminals Rear View
166 Min.
CN1
195
195
160
CN8
CN2
(2)
Ground Terminal Air Flow 48 500.5
2-M4 Screws (25) 23 24.5 (Mounting Pitch)
110 (75) 180 110
Cooling Fan Approx. Mass: 2.7 kg
(5) Three-phase 400 VAC, Model: SGDV-8R4D0 A001 and -120D0 A001

)
15 80 Input Voltage (17)

7.5
17.5
(120
(20)
6
Model
CN3
CN7 SERVOPACK
Nameplate Rear View
CN1
CN8
258 Min.
CN2
250
285
285
Ground Terminal (2)

Air Flow 22 24.5
2-M4 Screws 30 500.5
110 (75) 180 (Mounting Pitch)
110

( 10
0)
(40) Cooling Fan
Terminal
14-M4 Screws
Terminal Details
175
SGDV- 01/05
(6) Three-phase 400 VAC, Model: SGDV-170D0 A001
(20)
Air Flow
20 80
17.5
Cooling Fan Nameplate (17)
Input Voltage
Model
( 12
CN3
0
CN7
)
CN1
Air Flow
CN8
285
250
CN2
22 (2)
24.5
135 (75) 230

7.5
6-M5 Screws
6
258 Min.
10
(
SERVOPACK 0
285
Rear View
Terminal )
5-M4 Screws
(83)
Terminal
3-M5 Screws
Ground Terminal
2-M5 Screws
Terminal Details Approx. Mass: 5.7 kg
35 500.5
(Mounting Pitch)
135

Connectors for Rack-mounted SERVOPACKs
176
Selecting Cables
LCables for CN1 CN3 CN5 CN7 CN8 (Analog Voltage/Pulse Train Reference Type SERVOPACKs)
Cable for Analog Monitor

CN5
Digital Operator
Converter Cable Digital Operator
CN3
REF

CN7 Connection Cable YASKAWA
ALARM
for Personal Computer

SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR
Cable for I/O Signals Host Controller

CN1
CN8
Safety Cable

Terminal Block and 0.5 m Connection Cable
Connector Terminal Converter

JUSP-TA50PG-E (1)
Unit
CN1
Cables for I/O Signals 1m JZSP-CSI01-1-E Cable with Loose Wires at Peripheral Devices
Cables with Loose
2m JZSP-CSI01-2-E (2)
Wires at One End
3m JZSP-CSI01-3-E
With Connection Cable (1 m)

REF

Digital Operator JUSP-OP05A-1-E ALARM

YASKAWA

(3)
SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR
CN3
Cable with Connectors at Both Ends (0.3 m)
Digital Operator
JUSP-CVS05-A3-E (4)
10314
Converter Cable*1
3
JZSP-CVS05-A3-E
CN7 Connection Cables for Personal Computer JZSP-CVS06-02-E
SERVOPACK End
CN5
1m JZSP-CA01-E (5)
Cables for Analog Monitor
CN8
Cables with Loose Wires at One
Cables for Safety JZSP-CVH03-03-E
End*2
Functions
*1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs.
*2 : When using the safety function, connect this cable to the safety devices.
Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected.
177
SGDV- 01/05
Selecting Cables
(1) Connector Terminal Converter Unit for CN1

Configurations
SERVOPACK Model Cable Length (L)
JUSP-TA50PG-E 0.5 m
CN1 Cable Length500 +-50 JUSP-TA50PG-1-E 1m
0 mm
JUSP-TA50PG-2-E 2m
ModelJUSP-TA50PG-E
1 16
1 19 32
33 50
1 49
2 50
Dimensional Drawings of Terminal Block (Units: mm) Dimensional Drawings of Cable
Terminal Block (50P) Connector Plug (50P)

7 M3.5 Screw MR-50RMD2G+ SERVOPACK End Connector (50P) Terminal Converter Unit-end Connector (50P)
15.5
7
10150-6000EL (Sumitomo 3M Ltd.) MRP-50F01(Honda Tsushin Kogyo Co., Ltd.)
1 16 Shell Case
29.5
1
MR-50L+ (Honda Tsushin Kogyo Co., Ltd.)
19 32
33 50 10350-52AO-008 (Sumitomo 3M Ltd.)
45
1 49
Cable (Black)
2 50 AWG#28, 25P
2-3.5 Dia. UL20276 VW-1SC
3.5 247.5 3.5
With Terminal Block
Cover Open
L
(62)
43.5
2
20.5
Can be fixed on DIN rail
(2) Cable with Loose Wires at One End for CN1

Dimensional Drawings of Cable
SERVOPACK End
Connector 10150-6000EL (50P)* Sleeve F2 (Black)
Case 10350-52Z0-008*
Cable (Black)
SSRFPVV-SBAWG#28 25P
UL20276VW1SC Wire Markers

L 100 +-10
0 mm
* : Manufactured by Sumitomo 3M Ltd.
Note : See the next page for the connection diagram.
Model Cable Length (L)

JZSP-CSl01-1-E 1m
JZSP-CSl01-2-E 2m
JZSP-CSl01-3-E 3m
178
LCable with Loose Wires at One End for CN1 LConnector Kit for CN1
Connection Diagram of JZSP-CSI01- -E Cable Use the following connector and cable to assemble the
cable. The CN1 connector kit includes one case and one
SERVOPACK End Host Controller End
connector.
Wire Marking Lead
Pin No. Signal Marker
Color Color Dots
SG Connector Kit Case Connector
1 Orange Red 1 1
3 - Orange Black 1 3 Model Model Qty Model Qty
2 SG Gray Red 1 2 10350- 10150-3000PE*
4 SEN Gray Black 1 4 JZSP-CSI9-1-E 1 set 1
V-REF 52Z0-008* (Soldered)
5 White Red 1 5
6 SG White Black 1 6 * : Manufactured by Sumitomo 3M Ltd.
7 PULS Yellow Red 1 7
8 /PULS Yellow Black 1 8
9 T-REF Pink Red 1
Dimensional Drawings of Case
9
10 SG Pink Black 1 10
SIGN 17.0
11 Orange Red 2 11
8.5
12 /SIGN Orange Black 2 12
13 Gray Red 2 13
14 /CLR White Red 2 14 41.1 14.0
15 CLR White Black 2 15 46.5
16 Gray Black 2 16
17 Yellow Red 2 17
39.0
18 Yellow Black 2 18
23.8
19 PCO Pink Red 2 19
20 /PCO Pink Black 2 20
21 BAT+ Orange Red 3 21 5.2
52.4 12.7
22 BAT Orange Black 3 22
23 Gray Red 3 23
24 Gray Black 3 24
25 /V-CMP+ White Red 3 25 Dimensional Drawings of Connector
26 /V-CMP White Black 3 26
/TGON+ Red 3 27 2.54
27 Yellow
28 /TGON Yellow Black 3 28 1.27
/S-RDY+
2.3
29 Pink Red 3 29
30 /S-RDY Pink Black 3 30
5.1
31 ALM+ Orange Red 4 31
32 ALM Orange Black 4 32
33 PAO Gray Red 4 33
34 /PAO Gray Black 4 34
35 PBO White Red 4 35
36 /PBO White Black 4 36
2.9
6.6
37 ALO1 Yellow Red 4 37
19.3

38 ALO2 Yellow Black 4 38

12.7
39 ALO3 Pink Red 4 39

40 /S-ON Pink Black 4 40
41 /P-CON Orange Red 5 41
42 P-OT Orange Black 5 42 41.1
43 N-OT Gray Red 5 43
Pin No.1
44 /ALM-RST Gray Black 5 44
45 /P-CL White Red 5 45
46 /N-CL White Black 5 46
9.1
7.5
47 +24V-IN Yellow Red 5 47

48 Pink Red 5 48
49 Pink Black 5 49
1.27 15
50 Yellow Black 5 50 Pin No.26
30.48
Case Shield Represents 36.7
twisted-pair
wires.
Cable Size
Item Specifications
Use twisted-pair or twisted-pair shielded
Cable
wire.
Applicable Wires AWG24, 26, 28, 30
Cable Finished
16 dia. max.
Diameter
179
SGDV- 01/05
(3) Digital Operator (Model: JUSP-OP05A-1-E) Screws, Depth 5 (For mounting

digital operator)
70
REF

YASKAWA
120
Nameplate
111
ALARM

SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR
Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.)

Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) 17.8 57
1000 +030
(4) Digital Operator Converter Cable for CN3

(Model: JZSP-CVS05-A3-E)
A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs.
Dimensional Drawings
(39) 300 +30
0
(35)
(12.7) (8)
(29.5)
10314
(21)
3
JZSP-CVS05-A3-E
Connector (14-pole)10214-6202PL(Sumitomo 3M Ltd.) Connector (14-pole)HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.)

Cover FA458036(Yasco Components Co., Ltd.) CoverHDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)
(5) Cable for Analog Monitor for CN5

Dimensional Drawings Specifications
Socket DF11-4DS-2C* Black Pin No. Cable Color Signal Standard Settings
ContactDF11-2428SCF* Black
1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1
3 4
1 2 Torque reference : 1V/100%
+20 2 White Analog Monitor 1
1000 -0 mm rated torque
White
* : Manufactured by Hirose Electric Red Black
3, 4 GND(0V)
Corporation. (2 cables)
View from Cable End
Note : The specifications above are factory settings. Monitor specifications can be changed by
changing parameters Pn006 and Pn007.
180
Serial Converter Units for Fully-closed Loop Control
LSystem Configuration for Fully-closed Loop Control
A fully-closed option card is re- SGDV-01

SERVOPACK
quired for fully-closed loop control
of rotary servomotors. Contact
your Yaskawa representatives for
more details.
Fully-closed Option Card

(Model: SGDV-OFA01A )
Servomotor
Main Circuit Cable
Cable with Connectors

Model: JZDP-D00 -0
Encoder Cable
External Encorder
(Provided by users.)
LModel Designations
D00 - 000 - E
JZDP -
Serial Converter Unit Model
Applicable
Code Appearance External Encoder Hall Sensor
Manufactured by
D003 HEIDENHAIN None
Corporation
Manufactured by
D005 Renishaw None
plc.
Note: Using the serial converter unit JZDP-A with SGDV SERVOPACK will
181 void our guarantee.
SGDV- 01/05

Power Supply Voltage +5.0 V5%, ripple content 5% max.
Current Consumption*1 120 mA typ. 350 mA max.
Electrical (cos, sin, Ref) Input signal level: 1.5 to 3.5 V
Characteristics Output Signal*3 Position data, alarms
Serial data communications
Output Method
[HDLC (High-level Data Link Control) protocol format with Manchester codes]
Balanced type transceiver (SN75LBC176 or the equivalent), internal terminating resistor:
Output Circuit
120
Approx. Mass 150 g
Mechanical Vibration Resistance 98 m/s2 max. (10 to 2500 Hz) in three directions
Characteristics
Impact Resistance 980 m/s2, (11 ms) two times in three directions

Environmental
Conditions
Humidity 20% to 90%RH (no condensation)
*1: The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power.
*2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged.
3
* : The transmission is enabled 100 to 300 ms after the power turns on.

Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When
they are crossed, the output data will be counted up.
100%
0.2 to 0.6 V
cos
(A+)
45
/cos
cos, /cos, sin, /sin (A)
1.5 to 3.5 V

sin
(B+)
/sin
(B)
0.2 V Min.
0.2 V Min.
/Ref
Ref, /Ref (R)
Input Voltage Range: Ref
1.5 to 3.5 V (R+)
5% to 75% 5% to 75%
Zero Point
Count up Direction
IMPORTANT
Precautions
2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the units
ability to output correct position information. The analog cable must be as short as possible and shielded.
182
Serial Converter Units for Fully-closed Loop Control Units: mm
(1) Model: JZDP-D003- -E
External Encoder End
4-4.2 Dia. Holes Analog Signal Input Connector (CN2)
2-4.2 Dia. Holes Nameplate
SERVOPACK End
33.320.4
24.990.3
520.3
10
60
1.5 650.3
3
820.3
14.350.3 90
22.5
4-M5 Tapped Holes, Depth10

2-#4-40 UNC Tapped Holes External Encoder End
2-4.2 Dia. Holes 4-4.2 Dia. Holes Nameplate
SERVOPACK End
24.990.4
520.3
10
60
30030
1.5 650.3
3 72
820.3
14.350.4 90
22.5
LConnection Cables
Recommended Cables
Name Application Model Length

JZSP-CLP70-03-E 3m
Cables with Connection between SERVOPACK JZSP-CLP70-05-E 5m
Connectors at (Fully-closed option card) connector JZSP-CLP70-10-E 10 m
Both Ends CN31 and serial converter unit JZSP-CLP70-15-E 15 m
JZSP-CLP70-20-E 20 m
Dimensional Drawing

(Fully-closed option card end)
L
6.8
17-series Connector:
Plug Connector: 55100-0670 Connector: 17JE-23090-02 (D8C)-CG
183
SGDV- 01/05
LConnection Examples
(1) Connection Example with External Encoder by HEIDENHAIN Corporation
Model: JZDP-D003- -E
Fully-closed
SERVOPACK Option Card Serial Converter Unit
External Encoder
JZDP-D003--E
SGDV- SGDV-OFA01A CN31 CN1 CN2
JZSP-CLP70--E Connection Cable by

HEIDENHAIN Corporation

1 +5V SERVOPACK End 1 cos input (A+) External Encoder End
2 Serial Data Output 2 0V Analog Signal Input
Phase S output
3 Not used 5 3 sin input (B+) 1 9
9
4 Not used 4 +5V
5 0V 5 Not used
6 Phase /S output 6 1 6 Not used
7 Not used 7 /Ref input (R) 15
8
9 Not used 17-series Connector: 9 /cos input (A)
Case Shield (Socket) by DDK Ltd. 10 0V sensor 17LE-13150-27
11 /sin input (B) (Socket) by DDK Ltd.
12 5V sensor
13 Not used
14 Ref input (R+)
15 Not used
Case Shield
2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by HEIDENHAIN Corporation can be directly connected.
(2) Connection Example with External Encoder by Renishaw plc.

Model : JZDP-D005- -E
Fully-closed
JZDP-D005--E External Encoder by
Renishaw plc.
JZSP-CLP70--E

15-pin Connector

1 +5V SERVOPACK End 1 /cos input (V1) External Encoder End
Serial Data Output 2 /sin input (V2) Analog Signal Input
2 Phase S output
3 Not used 3 Ref input (V0+) 1 9
9 5
4 Not used 4 +5V
5 0V 5 5Vs
6 1
15
8
9 Not used 17-series Connector: 9 cos input (V1+)
Case Shield
17LE-13090-27 10 sin input (V2+) 17JE-13150-02 (D8C)
11 /Ref input (V0) (Socket) by DDK Ltd.
SERVOPACK does not have
the function to process Vq 12 0V
signals. 13 0Vs
14 Not used
15 Inner (0V)
Case Shield

2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by Renishaw plc. can be directly connected. However, the BID and DIR signals are not connected.
3 Use the external encoder-end connector to change the home position specifications of the external encoder.
184
(3) Connection Example with External Encoder by Mitutoyo Corporation (Model: ABS ST78 A)
When using this external encoders, serial converter units are not required.
Fully-closed
SERVOPACK Option Card
External Encoder by Mitutoyo
Corporation (ABS ST78A)
SGDV- SGDV-OFA01A CN31
JZSP-CLP70--E Connection Cable

by Mitutoyo Corporation
185
SGDV- 01/05
186
MECHATROLINK-2 Communications
Reference Type SERVOPACKs
SGDV- 11
(For Rotary Servomotors)
SGDV- 15
(For Linear Servomotors)
Model Designations
SGDV - R70 A 11 A
v Series Options
SGDV SERVOPACK
Code Specifications
Current
Base-mounted
Blank
(standard)
Voltage Code Max. Capacity Rack-mounted
001000
kW (optional)
R70 0.05
R90 0.1
A, B
1R6 0.2
200 V
2R8 0.4 Interface
3R8 0.5
Code Specifications
5R5 0.75
MECHATROLINK-2 communications Reference Type
1R9 0.5 11
(for rotary servomotors)
3R5 1.0
MECHATROLINK-2 communications Reference Type
5R4 1.5 15
400 V (for linear servomotors)
8R4 2.0
120 3.0 Voltage
170 5.0
Code Specifications
A 200 VAC
D 400 VAC
187
M-2 Type SERVOPACKs
SGDV- 11/15
Features
LReal-time communications
MECHATROLINK-2 communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps
in a transmission cycle from 250 s to 4 ms (user setting). Such a high transmission speed allows real-time transmission of
various data required for control.
LCost savings
Thirty stations can be connected to a single MECHATROLINK-2 transmission line, so wiring costs and time are greatly
reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for
conversion from digital to analog for speed/torque references and for a pulse generator to generate position references.
LHigh-precision motion control

The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-2 network provides not only torque,
position, and speed control but also synchronized phase control that requires advanced control technology. The control mode
can be changed online so that the machine can move smoothly in complex motions with great efficiency.
Ratings
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 1R9D 3R5D 5R4D 8R4D 120D 170D
Main Circuit Three-phase 200 to 230 VAC10% to 15% 50/60 Hz Three-phase 380 to 480 VAC10% to 15% 50/60 Hz
Control Circuit Single-phase 200 to 230 VAC10% to 15% 50/60 Hz 24 VDC p 15%
kW 0.05 0.1 0.2 0.4 0.5 0.75 0.5 1 1.5 2 3 5
Max. Capacity
Continuous Output
Arms 0.66 0.91 1.6 2.8 3.8 5.5 1.9 3.5 5.4 8.4 11.9 16.5
Current
Max. Output Current Arms 2.1 2.9 6.5 9.3 11 16.9 5.5 8.5 14 20 28 42
M-2 Type SERVOPACKs
188
Specifications
200 V Three-phase 200 to 230 VAC 10% to 15% 50/60 Hz
Main Circuit
400 V *1 Three-phase 380 to 480 VAC 10% to 15% 50/60 Hz
Input Power Supply
200 V Single-phase 200 to 230 VAC 10% to 15% 50/60 Hz
Control Circuit
400 V *1 24 VDC p 15%
For 200 V, for 400 V, three-phase full-wave rectification
Control Method
IGBT PWM control, sine-wave driven
Serial encoder: 13-bit (incremental encoder)
Feedback Serial encoder: 20-bit (incremental/absolute encoder)
4 Mb/s communications, 8 Mb/s communications
Ambient/Storage Temperature Ambient temperature: 0 to 55C, storage temperature: 20 to 85C
Ambient/Storage Humidity 90%RH or less (no condensation)
Vibration/Impact Resistance Vibration resistance: 4.9 m/s2, impact resistance: 19.8 m/s2
Protection class: IP 1X, pollution degree: 2

Operating Conditions Protection class/Pollution degree Locations subject to corrosive or flammable gases
Locations subject to exposure to water, oil, or chemicals
Locations subject to dust, including iron dust, and salts

Others
Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity
Elevation 1000 m or less
UL 508C
Compliant Standards
EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1
Configuration Base-mounted (Rack mounting available as an option for some models.)
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% load: p 0.01% max. (at rated speed)
Speed Regulation*2 Voltage Regulation Rated voltage : p 10% : 0% (at rated speed)
Performance
Temperature Regulation 25 p 25C : p 0.1% max. (at rated speed)
Torque Control Tolerance (Repeatability) p 1%
Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Phase A, phase B, phase C: line driver output
I/O Signals Encoder Output Pulses
The number of dividing pulse: Any setting ratio is available.
Interface Digital operator, RS-422A port of personal computers etc.
1:N communications RS-422A port: N 15 max. available
RS-422A Communications
Axis address setting Set by parameters
Communications Function Status display, parameter settings, adjustment functions, utility functions
Interface Personal computers (application: SigmaWin )
USB Communications 1:N communications Compliant with USB1.1 standard
Function Status display, parameter settings, adjustment functions, utility functions
CHARGE for main circuit power supply input confirmation
Display Power Charge
LED (red) 1 ch
Analog monitor connector built in for monitoring speed, torque and other reference signals.
Analog Monitor
Number of channels: 2 ch
Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error
Utility Functions Alarm trace back, JOG operation, origin search, etc.
200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional)
Regenerative Processing 200 VAC SGDV-3R8A, -5R5A: Built-in regenerative resistor
400 VAC model: Built-in regenerative resistor
Input /HWBB1, /HWBB2: Hard wire base block signal
Safety Functions
Output EDM1: Status monitor (fixed output) of built-in safety circuit
Option Card Function Feedback Serial encoder communications input for fully-closed loop control
1
* : SGDV- 15 SERVOPACK has no 400 V model.
*2: Speed regulation is defined as follows:
No-load motor speed Total load motor speed
Speed regulation s 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation. The ratio of speed changes to the rated
speed represent speed regulation due to voltage and temperature variations.
189
M-2 Type SERVOPACKs
SGDV- 11/15
Specifications
LRotary Servomotors
Sequence Input Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward
Function
run prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL),
reverse torque limit (/N-CL)
I/O Signal
Signal allocations and positive/negative logics can be modified. Positioning completion (/
Sequence Output COIN), speed coincidence detection (/V-CMP), servomotor rotation detection (/TGON), servo
Function
ready (/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT), brake interlock (/
BK), warning (/WARN), NEAR (/NEAR)
Display 7-segment 1-digit LED (red)
Panel Operator
Switch Rotary switch: 16 ch, DIP switch: 4 ch
Communications
MECHATROLINK-2
Protocol
Station Address 41H to 5FH (max. number of slaves: 30)
MECHATROLINK
Transmission Speed 10 Mbps, 4 Mbps
Communications
Transmission Cycle 250 M s, 0.5 to 4.0 ms (multiple of 0.5 ms)
Number of Words for Can be switched between 17-bytes /
Link Transmission station and 32-bytes / station by the setting of the DIP switch.
Position control, speed control, and torque control through
Performance
MECHATROLINK-2 communications
Command Method MECHATROLINK commands and MECHATROLINK-2 commands
Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other
commands.)
LLinear Servomotors

Sequence Input Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward
Function
run prohibited (P-OT), reverse run prohibited (N-OT), forward force limit (/P-CL),
reverse force limit (/N-CL)
I/O Signal Number of Channels 4 ch
M-2 Type SERVOPACKs

Signal allocations and positive/negative logics can be modified. Positioning completion
Sequence Output (/COIN), speed coincidence detection (/V-CMP), servomotor movement detection (/
Function
TGON), servo ready (/S-RDY), force limit detection (/CLT), speed limit detection (/VLT),
brake interlock (/BK), warning (/WARN), NEAR (/NEAR)
Display 7-segment 1-digit LED (red)

Panel Operator
Switch Rotary switch: 16 ch, piano switch: 4 ch
Communications
MECHATROLINK-2
Protocol
Station Address 41H to 5FH (max. number of slaves: 30)
MECHATROLINK
Transmission Speed 10 Mbps, 4 Mbps
Communications
Transmission Cycle 250 M s, 0.5 to 4.0 ms (multiple of 0.5 ms)
Number of Words for Can be switched between 17-bytes /
Link Transmission station and 32-bytes / station by the setting of the DIP switch.
Position control, speed control, and force control through
Performance
MECHATROLINK-2 communications
Command Method MECHATROLINK commands and MECHATROLINK-2 commands
Command Input (for sequence, motion, data setting/reference, monitor, adjustment, and other
commands.)
190
Power Supply Capacities and Power Losses
The following table shows SERVOPACKs power supply capacities and power losses at the rated output.
Applicable
Regenerative
Main Circuit Servomotor Power Supply Main Circuit Control Circuit Total Power
SERVOPACK Output Current Resistor
Power Max. Capacity Power Loss Power Loss Loss
Model SGDV- kVA A Power Loss
Supply Capacity W W W
W
kW
0.05 R70A 0.2 0.66 5.1 22.1

0.1 R90A 0.3 0.91 7.3 24.3

Three-phase 0.2 1R6A 0.6 1.6 13.5 30.5
17
200 V 0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1 45.1
8
0.75 5R5A 1.6 5.5 43.8 68.8
0.5 1R9D 1.1 1.9 24.6 59.6
1.0 3R5D 2.3 3.5 46.1 14 21 81.1
Three-phase 1.5 5R4D 3.5 5.4 71.3 106.3
400 V 2.0 8R4D 4.5 8.4 77.9 130.9
28 25
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
Notes: 1 SGDV-R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an
external regenerative resistor.
2 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
Remove the lead from the internal regenerative resistor in the SERVOPACK (SGDV-3R8A, -5R5A, and 400-V SERVOPACKs).
Install an external regenerative resistor.
3 External regenerative resistors are options.
191
M-2 Type SERVOPACKs
SGDV- 11/15
LBase-mounted SERVOPACKs
(1) Three-phase 200 VAC, model: SGDV-R70A1 A, -R90A1 A, and -1R6A1 A
(7) Cooling Fan
(15)
Air Flow
2-M4 Screw Holes
Input Voltage
5
Model
(1
CN6 2 0)
Nameplate CN3
CN7
SERVOPACK Rear View
160
160
CN1
Two Terminals CN8
CN2
Ground Terminal
2-M4 Screws Air Flow (25) 23 ( 4) 35
40 (75) 140 40

(2) Three-phase 200 VAC, model: SGDV-2R8A1 A
(7) Cooling Fan

(15)

Input Voltage
5
Model (1
CN6 20)
Nameplate
CN3
CN7 SERVOPACK Rear View
160
160
CN1
Two Terminals
CN8
CN2
Ground Terminal
2-M4 Screws Air Flow (25) 23 (4) 5 300.5
(75) (Mounting Pitch)
40 170 40

(3) Three-phase 200 VAC, model: SGDV-3R8A1 A and -5R5A1 A
M-2 Type SERVOPACKs

Air Flow (7)
(15)
Cooling Fan (4) 3-M4 Screw Holes

Input Voltage
5
Model (1
CN6 2 0)
CN3
Nameplate
CN1 Air Flow
160
160
Two Terminals CN8

CN2
Ground Terminal
Air Flow
2-M4 Screws 6 580.5
(25) 23 (Mounting Pitch)
70 (75) 180 70

192
(4) Three-phase 400 VAC, model: SGDV-1R9D1 A, -3R5D1 A, and -5R4D1 A
(15)
(7 )
Input Voltage
5.5
Model
(1
CN6 2 0)
Nameplate
CN3
(Mounting Pitch)
Two Terminals CN7
149.50.5
SERVOPACK Rear View
160
160
CN1
CN8
CN2

2-M4 Screws Air Flow (25) 23 (4) (Mounting Pitch)
110 (75) 180 110

Cooling Fan
(5) Three-phase 400 VAC, model: SGDV-8R4D1 A and -120D1 A
(7 ) 4-M5 Screw Holes

)
(15)
(120
Input Voltage
Air Flow
6
Model
CN6
CN3 238.50.5(Mounting Pitch)
Nameplate CN7
CN8
250
CN2
250
Ground Terminal Air Flow 5 1000.5

2-M4 Screws 22 (4) (Mounting Pitch)
110 (75) 180 110
( 10
0
)

(40) Cooling Fan
Terminal
14-M4 Screws
Terminal Details
193
M-2 Type SERVOPACKs
SGDV- 11/15
(6) Three-phase 400 VAC, model: SGDV-170D1 A
15
Cooling Fan Nameplate 7
Input Voltage
12
Air Flow
Model
CN6
0
CN3
CN7
Air Flow CN1
CN8
CN2
250
22
135 75 230
6-M5 Screws 1.6
6
SERVOPACK Rear View

238.50.5Mounting Pitch

10
0

250
Terminal 83 3.2
5-M4 Screws
Terminal
3-M5 Screws
Ground Terminal
5 1250.5 Terminal Details Approx. Mass: 5.6 kg
2-M5 Screws
Mounting Pitch
135
Connectors for Base-mounted SERVOPACKs

M-2 Type SERVOPACKs

194
LRack-mounted SERVOPACKs
(1) Three-phase 200 VAC, model: SGDV-R70A1 A001, -R90A1 A001, and -1R6A1 A001
Air Flow
(7)
(15)
Cooling Fan
17.5
2 36
2-M4 Screw Holes
7.5
7
Input Voltage
Model (1
CN6 2 0)
Nameplate
CN3
CN7
166 Min.
195
160
SERVOPACK Rear View

CN1
195
Two Terminals CN8
CN2
(2)
40 (75) 140 20
40
(2) Three-phase 200 VAC, model: SGDV-2R8A1 A001
Air Flow
17.5
2 36 (7) Cooling Fan

(15)
2-M4 Screw Holes
7.5
Input Voltage
7
Model (1
CN6 2 0)
Nameplate
CN3
CN7
166 Min.
SERVOPACK Rear View
160
195
CN1
195
Two Terminals CN8

CN2
Ground Terminal (2)

2-M4 Screws Air Flow (25) 23 24.5 20
40 (75) 170 40

(3) Three-phase 200 VAC, model: SGDV-3R8A1 A001 and -5R5A1 A001
Air Flow
18.5 36
17.5
(7)
7.5
2-M4 Screw Holes

(15)

Model (1
CN6 2 0 )
Nameplate CN3
166 Min.
CN1 Air Flow

160
195
195
Two Terminals CN8

CN2
(2)
Ground Terminal Air Flow
(25) 23 24.5
2-M4 Screws 36.5
70 (75) 180
70

195
M-2 Type SERVOPACKs
SGDV- 11/15
(4) Three-phase 400 VAC, model: SGDV-1R9D1 A001, -3R5D1 A001, and -5R4D1 A001
Air Flow
17.5
37 72 (7)
7.5
4-M4 Screw Holes
(15)
Input Voltage
7
Model
(1
Nameplate CN6 2 0)
CN3
Two Terminals CN7 SERVOPACK Rear View
166 Min.
160
195
195
CN1
CN8
CN2
(2 )
2-M4 Screws Air Flow (25) 23 24.5 (Mounting Pitch)
110 (75) 180 110

Cooling Fan
(5) Three-phase 400 VAC, model: SGDV-8R4D1 A001 and -120D1 A001

(7)
7.5
0)
15 80
17.5
(15)
Input Voltage
6
(12
Model
CN6
Nameplate CN3

CN1
CN8
258 Min.
250
285
CN2
285
M-2 Type SERVOPACKs

Ground Terminal (2)
2-M4 Screws Air Flow 22 24.5 30 500.5
110 (75) 180 (Mounting Pitch)
110

( 100
)
(40) Cooling Fan

Terminal
14-M4 Screws
Terminal Details
196
(6) Three-phase 400 VAC, model: SGDV-170D1 A001
(15)
Air Flow
20 80
17.5
Cooling Fan Nameplate (7)
Input Voltage
( 12
Model
CN6
0
)
CN3
Air Flow CN7
CN1
CN8
CN2
250
285
22 (2)
24.5
135 (75) 230
4-M5 Screw Holes
7.5
Terminal
6
6-M5 Screws
SERVOPACK Rear View

(1
00
)
258 Min.
285
(83)
Terminal
5-M4 Screws
Terminal
3-M5 Screws
Ground Terminal
2-M5 Screws
35 500.5 Terminal Details
(Mounting Pitch)
135
Connectors for Rack-mounted SERVOPACKs

197
M-2 Type SERVOPACKs
SGDV- 11/15
Selecting Cables
LCables for CN1 CN3 CN5 CN6 CN7 CN8 (MECHATROLINK-2 Communications Reference Type SERVOPACKs)

CN5
MECHATROLINK-2
Communication Cable
CN6
Connect to the
MECHATROLINK-2
Digital Operator Digital Operator
Converter Cable
CN3

REF
YASKAWA
CN7 ALARM

Connection Cable
SVON

for Personal Computer

READ WRITE
SERVO SERVO
DIGITAL OPERATOR
Cable for I/O Signals

CN1 LED Indicator for
External Device
CN8
Safety Cable

Connector Kit JZSP-CSI9-2-E Soldered
Connector:
CN1 10126-3000PE
(1)
Cables for I/O Signals Connector Case:
10326-52A0-008
(Sumitomo 3M Ltd.)
With Connection Cable (1 m)

REF

YASKAWA
Digital Operator JUSP-OP05A-1-E (2)

ALARM

SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR
CN3
Cable with Connectors at Both Ends (0.3 m)
Digital Operator
JZSP-CVS05-A3-E (3)
M-2 Type SERVOPACKs

10314
Converter Cable*1
3
JZSP-CVS05-A3-E
CN7 Connection Cables for Personal Computer JZSP-CVS06-02-E
0.5 m JEPMC-W6002-A5-E
Cables with Connectors at
1m JEPMC-W6002-01-E (5)
Both Ends
CN6A CN6B JEPMC-W6002- -E
MECHATROLINK-II
Communication Cable
Terminator JEPMC-W6022-E (6)
SERVOPACK End
CN5
1m JZSP-CA01-E (4)
Cables for Analog Monitor
CN8
Cables with Loose Wires at One
Cables for Safety JZSP-CVH03-03-E
End*2
Functions
*1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs.
*2 : When using the safety function, connect this cable to the safety devices.
Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected.
198
(1) Connector Kit for CN1

Use the following connector and cable to assemble the cable. The
CN1 connector kit includes one case and one connector. Dimensional Drawings of Case
12.0
10.0
Connector Kit Case Connector
Model Model Qty Model Qty
25.8 14.0
10126-3000PE*
JZSP-CSI9-2-E 10326-52A0-008* 1 set 1 31.3
(Soldered)
39.0
23.8
* : Manufactured by Sumitomo 3M Ltd.
Cable Size
5.2
37.2 12.7
Item Specifications
Use twisted-pair or twisted-pair shielded
Cable
wire.
Applicable Wires AWG24, 26, 28, 30
Cable Finished Diameter 16 dia. max.
(2) Digital Operator (Model: JUSP-OP05A-1-E)

2-M3 Screws, Depth 5
(For mounting digital operator)
70
REF

YASKAWA
120
Nameplate
111
ALARM

SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR
Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.)

Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) 17.8 57
1000 +030
(3) Digital Operator Converter Cable for CN3

(Model: JZSP-CVS05-A3-E)
A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs.
(39) 300 +30
0
(35)
(12.7) (8)
(29.5)
10314
(21)
3
JZSP-CVS05-A3-E
Connector (14-pole)10214-6202PL(Sumitomo 3M Ltd.) Connector (14-pole)HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.)

Cover FA458036(Yasco Components Co., Ltd.) CoverHDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)
199
M-2 Type SERVOPACKs
SGDV- 11/15
(4) Cable for Analog Monitor for CN5

SocketDF11-4DS-2C* Black
Contact DF11-2428SCF* Black
3 4
+20
1 2
1000 -0 mm
White
* : Manufactured by Hirose Electric Corporation. Red
View from Cable End
Specifications
Pin No. Cable Color Signal Standard Settings

1 Red Analog Monitor 2 Motor speed : 1V/1000 rpm
Torque reference : 1V/100 rated
2 White Analog Monitor 1
torque
Black
3, 4 GND(0V)
(2 cables)
Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.
(5) MECHATROLINK-2 Communication Cable for CN6

Model Cable Length (L)

JZPMC-W6002-A5-E 0.5 m
JZPMC-W6002-01-E 1.0 m
JZPMC-W6002- -E is the ordered length [m]
(6) MECHATROLINK-2 Communication Cable Terminator for CN6

(Model : JEPMC-W6022-E)
(8)
M-2 Type SERVOPACKs

21
46
200
LSystem Configuration for Fully-closed Loop Control
A fully-closed option card is re- SGDV-11

SERVOPACK
quired for fully-closed loop control
of rotary servomotors. Contact
your Yaskawa representatives for
more details.
Fully-closed Option Card

(Model: SGDV-OFA01A )
Servomotor
Main Circuit Cable
Cable with Connectors

Model: JZDP-D00 -000-E
Encoder Cable
External Encorder
(Provided by users.)
LModel Designations
D00 - 000 - E
JZDP -
Serial Converter Unit Model
Applicable
Code Appearance External Encoder Hall Sensor
Manufactured by
D003 HEIDENHAIN None
Corporation
Manufactured by
D005 Renishaw None
plc.
Note: Using the serial converter unit JZDP-A with SGDV SERVOPACK will
201 void our guarantee.
M-2 Type SERVOPACKs
SGDV- 11/15

Power Supply Voltage 5.0 V p 5%, ripple content 5% max.
Current Consumption*1 120 mA typ. 350 mA max.
Electrical (cos, sin, Ref) Input signal level: 1.5 to 3.5 V
Characteristics Output Signal*3 Position data, alarms
Serial data communications
Output Method
[HDLC (High-level Data Link Control) protocol format with Manchester codes]
Balanced type transceiver (SN75LBC176 or the equivalent), internal terminating resistor:
Output Circuit
120
Approx. Mass 150 g
Mechanical Vibration Resistance 98 m/s2 max. (10 to 2500 Hz) in three directions
Characteristics
Impact Resistance 980 m/s2, (11 ms) two times in three directions

Environmental
Conditions
Humidity 20% to 90%RH (no condensation)
*1: The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power.
*2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged.
3
* : The transmission is enabled 100 to 300 ms after the power turns on.

Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When
they are crossed, the output data will be counted up.
100%
0.2 to 0.6 V
cos
A+
45
/cos
cos/cossin/sin A
1.5 to 3.5 V
M-2 Type SERVOPACKs

sin
B+
/sin
B
0.2 V Min.
0.2 V Min.
/Ref
Ref/Ref R
Input Voltage Range: Ref
1.5 to 3.5 V R+
5% to 75% 5% to 75%
Zero Point
Count up Direction
IMPORTANT
Precautions
2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the units
ability to output correct position information. The analog cable must be as short as possible and shielded.
202
LExternal Dimensions (Units: mm)

External Encoder End
4-4.2 Dia. Holes Analog Signal Input Connector (CN2)
2-4.2 Dia. Holes Nameplate
SERVOPACK End
33.320.4
24.990.3
520.3
10
60
1.5 650.3
3
820.3
14.350.3 90
22.5
4-M5 Tapped Holes, Depth10

2-#4-40 UNC Tapped Holes External Encoder End
2-4.2 Dia. Holes 4-4.2 Dia. Holes Nameplate
SERVOPACK End
24.990.4
520.3
10
60
30030
1.5 650.3
3 72
820.3
14.350.4 90
22.5
LConnection Cables
Recommended Cables
Name Application Model Length
JZSP-CLP70-03-E 3m
Cables with Connection between SERVOPACK JZSP-CLP70-05-E 5m
Connectors at (Fully-closed option card) connector JZSP-CLP70-10-E 10 m
Both Ends CN31 and serial converter unit JZSP-CLP70-15-E 15 m
JZSP-CLP70-20-E 20 m
Dimensional Drawing

(Fully-closed option card end)
L
6.8
Plug Connector: 55100-0670 Connector: 17JE-23090-02 (D8C)-CG
203
M-2 Type SERVOPACKs
SGDV- 11/15
LConnection Examples
(1) Connection Example with External Encoder by HEIDENHAIN Corporation
Model: JZDP-D003- -E
Fully-closed
External Encoder
JZDP-D003--E
JZSP-CLP70--E Connection Cable by

HEIDENHAIN Corporation

1 +5V SERVOPACK End 1 cos input (A+) External Encoder End
2 Serial Data Output 2 0V Analog Signal Input
Phase S output
3 Not used 5 3 sin input (B+) 1 9
9
4 Not used 4 +5V
5 0V 5 Not used
6 Phase /S output 6 1 6 Not used
7 Not used 7 /Ref input (R) 15
8
9 Not used 17-series Connector: 9 /cos input (A)
Case Shield (Socket) by DDK Ltd. 10 0V sensor 17LE-13150-27
11 /sin input (B) (Socket) by DDK Ltd.
12 5V sensor
13 Not used
14 Ref input (R+)
15 Not used
Case Shield
2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by HEIDENHAIN Corporation can be directly connected.
(2) Connection Example with External Encoder by Renishaw plc.

Model : JZDP-D005- -E
Fully-closed
JZDP-D005--E External Encoder by
Renishaw plc.
JZSP-CLP70--E
M-2 Type SERVOPACKs

15-pin Connector

1 +5V SERVOPACK End 1 /cos input (V1) External Encoder End
Serial Data Output 2 /sin input (V2) Analog Signal Input
2 Phase S output
3 Not used 5 3 Ref input (V0+) 1 9
9
4 Not used 4 +5V
5 0V 5 5Vs
6 Phase /S output 6 6 Not used
1
15
8
9 Not used 17-series Connector: 9 cos input (V1+)
Case Shield 10 sin input (V2+) 17JE-13150-02 (D8C)
11 /Ref input (V0) (Socket) by DDK Ltd.
SERVOPACK does not have
the function to process Vq 12 0V
signals. 13 0Vs
14 Not used
15 Inner (0V)
Case Shield

2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by Renishaw plc. can be directly connected. However, the BID and DIR signals are not connected.
3 Use the external encoder-end connector to change the home position specifications of the external encoder.
204
(3) Connection Example with External Encoder by Mitutoyo Corporation (Model: ABS ST78 A)
When using this external encoders, serial converter units are not required.
Fully-closed
SERVOPACK Option Card
External Encoder by Mitutoyo
Corporation (ABS ST78A)
SGDV- SGDV-OFA01A CN31
JZSP-CLP70--E Connection Cable

by Mitutoyo Corporation
205
206
M-2 Type SERVOPACKs
Wiring Main Circuit and Peripheral Devices
Wiring Main Circuit
LTypical Main Circuit Wiring Examples

This section describes the typical main circuit wiring examples.
WARNING
Do not touch the power terminals for ve minutes after turning OFF the power. High voltage may still remain in the
SERVOPACK. When the voltage is discharged, the charge indicator will turn OFF. Make sure the charge indicator
is OFF before starting wiring or inspections.
LThree-phase 200 V
R S T
1QF SERVOPACK
SGDV-A
1PRT
U
FIL V M
W
L1C
L2C
1KM ENC
L1
L2
L3
(For servo alarm display) +24V
B2 CN1 1Ry
1Ry
B3 ALM+ 31
1PL 1
Main power Main power
supply OFF supply ON 2 1D
1Ry 1KM ALM 32 024V
1KM 1SUP 1Ry : Relay

1QF : Molded-case circuit breaker 1PL : Indicator lamp
FIL : Noise filter 1SUP : Surge suppressor
1KM : Magnetic contactor 1D : Flywheel diode
1PRT : Surge protector
LThree-phase 400 V
R S T
1QF
SERVOPACK
SGDV-D
DC power supply
1PRT (24VDC)
+ U
FIL V M
W
24V
0V
1KM ENC
L1
L2
L3
(For servo alarm display) +24V
B2 CN1 1Ry
1Ry
B3 ALM+ 31
Main Main 1PL 1
power supply power supply
OFF ON 2 1D
1Ry 1KM ALM 32 024V
1KM 1SUP 1Ry : Relay

1QF : Molded-case circuit breaker 1PL : Indicator lamp
FIL : Noise filter 1SUP : Surge suppressor
1KM : Magnetic contactor 1D : Flywheel diode
1PRT : Surge protector
207
SERVOPACKs
Wiring Main Circuit
LGeneral Precautions for Wiring
Use a molded-case circuit breaker (QF) or fuse to protect the Main Circuit.
IMPORTANT The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other
device. Always use a molded-case circuit breaker (QF) or fuse to protect the servo system from accidents involving
different power system voltages or other accidents. The SERVOPACK does not have a built-in protective circuit for
grounding.
To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground
fault detector combined with a molded-case circuit breaker. Do not turn power ON and OFF frequently. Do not turn
power ON and OFF more than once per minute.
The power supply in the SERVOPACK contains a capacitor, which causes a high charging current to flow when
power is turned ON. Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK
to deteriorate.
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Observe the following precautions when wiring the main circuit.
Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines.
The maximum wiring length is 3 m for signal lines and 50 m for encoder lines.
Observe the following precautions when wiring the ground.
Use a cable as thick as possible (at least 2.0 mm2)
Grounding to a resistance of 100 7 or less is recommended.
Be sure to ground at only one point.
Ground the servomotor directly if the servomotor is insulated from the machine.
The signal cable conductors are as thin as 0.2 mm or 0.3 mm. Do not impose excessive bending force or tension.
LPrecautions When Using the SERVOPACK with a DC Power Input

When using the SERVOPACK with a DC power input, set parameter Pn001.2 to 1, and pay attention to the following
items.
WARNING
Either AC or DC power can be input to the 200 V, 400 V SERVOPACKs.

Always set Pn001.2 to 1 to specify a DC power input before inputting DC power.
If DC power is input without changing the parameter setting, the SERVOPACK's internal elements will burn
and may cause re or equipment damage.
With a DC power input, time is required to discharge electricity after the main power supply is turned OFF. A
high residual voltage may remain in the SERVOPACK after the power supply is turned OFF. Be careful not to
get an electric shock.
Install fuses on the wires if DC power is used.
208
Wiring Main Circuit
LDC Power Supply Input Terminals for the Main and Control Circuits
200 V
Terminal Name and Description

Control Power Supply Input
Main Circuit Plus Terminal Main Circuit Minus Terminal
SERVOPACK Model Terminal
SGDV- 270 V to 320 VDC
270 V to 320 VDC 0 VDC (No polarity)
200 V to 230 VAC
R70D, R90A, 1R6A

B1/ + 2 24 V, 0 V
2R8A, 3R8A, 5R5A
400 V
Terminal Name and Description

SERVOPACK Model Control Power Supply Input
Main Circuit Plus Terminal Main Circuit Minus Terminal
SGDV- Terminal
513 V to 648 VDC 0 VDC 24 VDC ( p 15%)
1R9D, 3R5D, 5R4D
B1 2 24 V, 0 V
8R4D, 120D
170D B1/ + 2 24 V, 0 V
LWiring Example with DC Power Supply Input
SGDV-
P
Fuse *
B1/ +
V
W
M
N 2
ENC
Pr L1C
Nt L2C
+24V
1Ry 1 CN1 1Ry
ALM+ 31
B2
B3
1Ry 1KM ALM 32 024V
1KM 1SUP
1KM Magnetic Contactor

1Ry Relay
*Refer
Terminal names differ from model of SERVOPACK.
toDC Power Supply Input Terminals for the
1SUP Surge Suppressor Main and Control Circuits.
Notes: 1 The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy. Provide
measures to process the regenerated energy on the power supply.
2 Set a fuse to DC power supply cables.
LParameter Setting
When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting
DC power.
Turn OFF the power, and then turn it ON again to make the setting valid.
Parameter Meaning
n. 0 AC power input supported
Pn001
n. 1 DC power input supported
209
SERVOPACKs
Wiring Main Circuit
LPrecautions When Using More Than One SERVOPACK

This section shows an example of the wiring when more than one SERVOPACK is used and the precautions.
LWiring Example
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Power supply
R S T
Power Power
QF OFF ON
1RY 1KM
1PRT
1KM
Noise
filter SUP
1KM
L1 Servomotor
L2 SERVOPACK
L3
Relay
Relay terminal M
terminal L1C
L2C
+24V CN1
1RY
31ALM+
32 ALM-
L1
L2 SERVOPACK Servomotor
L3
Relay
Relay terminal M
terminal L1C
L2C
CN1
31ALM+
32 ALM-
L1
L2 SERVOPACK Servomotor
L3
M
L1C
L2C
CN1
31ALM+
32ALM-
0V
LPrecautions
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise
filter that has enough capacity for the total power capacity (load conditions) of those servos.
210
SERVOPACK Main Circuit Wire
LThree-phase, 200 V
SERVOPACK Model SGDV-
Cables Terminal Symbol
R70A R90A 1R6A 2R8A 3R8A 5R5A
Main Circuit Power Cable L1, L2, L3 HIV1.25 HIV2.0
Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0
Control Power Cable L1C, L2C HIV1.25
External Regenerative Resistor Cable B1, B2 HIV1.25
Ground Cable HIV2.0 min.
LThree-phase, 400 V
SERVOPACK Model SGDV-
Cables Terminal Symbol
1R9D 3R5D 5R4D 8R4D 120D 170D
Main Circuit Power Cable L1, L2, L3 HIV1.25 HIV2.0 HIV3.5
Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0 HIV3.5
Control Power Cable 24V, 0V HIV1.25
External Regenerative Resistor Cable B1, B2 HIV1.25 HIV1.25 HIV2.0
Ground Cable HIV2.0 min.
LCable Type
Cable Type Allowable Conductor Temperature
Code Name C
PVC Normal vinyl cable
IV 600-V vinyl cable 60
HIV Temperature-resistant vinyl cable 75
The following table shows the size and allowable currents for the cables. Use a cable whose specifications meet or are less than the
values in the table.
L600 V Heat-resistant Vinyl Cable (HIV)

Nominal Cross Section Allowable Current at Ambient Temperatures A
Diameter AWG size
mm2 30C 40C 50C
0.5 20 6.6 5.6 4.5

0.75 8.8 7.0 5.5
0.9 18 9.0 7.7 6.0
1.25 16 12.0 11.0 8.5
2.0 14 23 20 16
3.5 12 33 29 24
5.5 10 43 38 31
8.0 8 55 49 40
14.0 6 79 70 57
22.0 4 91 81 66
Note: The values in the table are only for reference.
IMPORTANT 1 Wire sizes are selected for three cables per bundle at 40C ambient temperature with the rated current.
2 Use a cable with a minimum withstand voltage of 600 V for the main circuit.
3 If cables are bundled in PVC or metal ducts, take into account the reduction of the allowable current.
4 Use a heat-resistant cable under high ambient or panel temperatures, where normal vinyl cables will rapidly
deteriorate.
211
SERVOPACKs
Molded-case Circuit Breaker and Fuse Capacity
Applicable Servomotor SERVOPACK Power Supply Capacity Current Capacity Inrush Current
Main Circuit
Max. Capacity Model per SERVOPACK Main Circuit Control Circuit Main Circuit Control Circuit
Power Supply
kW SGDV- kVA Arms Arms A0-p A0-p
0.05 R70A 0.2 1.0
0.1 R90A 0.3 1.0
33 70
Three-phase 0.2 1R6A 0.6 2.0
0.2
200 V 0.4 2R8A 1 3.0
0.5 3R8A 1.4 3.0
33 33
0.75 5R5A 1.6 6.0
0.5 1R9D 1.1 1.4
1.0 3R5D 2.3 2.9 1.2 17
Three-phase 1.5 5R4D 3.5 4.3

400 V 2.0 8R4D 4.5 5.8
1.4 34
3.0 120D 7.1 8.6
5.0 170D 11.7 14.5 1.4 57
Note: To comply with the low voltage directive, connect a fuse or molded-case circuit breaker to the input side. Select the fuse or molded-
case circuit breaker for the input side from among models that are compliant with UL standards.
212
Noise Filters
LNoise Filter Selection

Recommended noise filters are available from Yaskawa Controls Co., Ltd.
Main Circuit Recommended Noise Filter Main Circuit Recommended Noise Filter
SERVOPACK Model SERVOPACK Model
Power Power
SGDV- Model Specifications SGDV- Model Specifications
Supply Supply
R70A 1R9D
Three-phase
R90A 3R5D FN258L-7/07
Three-phase 480V 7A
1R6A FN258L-7/07 Three- 5R4D
Three-phase 480V 7A
2R8A phase 8R4D Three-phase
200 V FN258L-16/07
3R8A 400 V 120D 480V 16A
Three-phase Three-phase
5R5A FN258L-16/07 170D FMAC-0934-5010
480V 16A 480V 50A
Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model.

(1) FN Type (by SCHAFFNER)
Model FN258L-7/07 FN258L-16/07
Side View Front and Side View

D H C
P L
F
B
G
E O
A
J
Code Dimensions
A 225 p 1 305 p 1
B 126 p 0.8 142 p 0.8
C 50 p 0.6 55 p 0.6
D 225 p 0.8 275 p 0.8
E 240 p 0.5 290 p 0.5
External
F 25 p 0.3 30 p 0.3
Dimensions
G 6.5 p 0.2
H 300 p 10
J 1 p 0.1
L 9p1
O M5
P AWG16 AWG14
213
SERVOPACKs
Noise Filters
(2) FMAC Type [by SCHURTER (formerly TIMONTA)]
Model FMAC-0934-5010
A H
B (J)
LOAD
LINE
C
I
(K)
(L)
G
E
Code Dimensions
A 251
B 201
C 151
D 135 01
External E 6.5 p 0.3
Dimensions F 115 p 0.3
mm G M6
H 66
I 121
J (10)
K (41)
L (17)
214
Surge Protector
LSurge Protector Selection

The surge protector absorbs lightning surge and prevents faulty operation in or damage to electronic circuits.
Recommended surge protectors are listed below.
Main Circuit Main Circuit

SERVOPACK Model SERVOPACK Model
Power Surge Protector Power Surge Protector
SGDV- SGDV-
Supply Supply
R70A 1R9D
R90A 3R5D
Three- Three-
1R6A 5R4D
phase R C M-601BQZ-4 phase Built-in
2R8A 8R4D
200 V 400 V
3R8A 120D
5R5A 170D
Notes: 1 Contact Okaya Electric Industries Co., Ltd.

2 RoHS-compliant models are not available. Contact the manufacturers when in need of an RoHS-compliant model.

Model: R C M-601BQZ-4
External Dimensions Internal Connection Diagram
1 2 3
4.2 Dia. 0.5

28.5 1.0 11 1
5.5 1.0
Connection
200 +30
0
Cables
4.5 0.5
1 2 3
28 1
Case
41 1
215
SERVOPACKs
Magnetic Contactors
LMagnetic Contactor Selection

A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge
suppressor (surge absorber unit etc.) to the excitation coil of the magnetic contactor.

SERVOPACK Model Magnetic Contactor SERVOPACK Model Magnetic Contactor*
Power Power
SGDV- SGDV-
Supply Model Specifications Supply Model Specifications
R70A 1R9D
R90A 3R5D SC-4-1/G Coil 24 VDC (RoHS)
Three- 1R6A SC-03 (RoHS) Three- 5R4D

phase 2R8A phase 8R4D
SC-5-1/G Coil 24 VDC (RoHS)
200 V 3R8A 400 V 120D
5R5A SC-4-1 (RoHS) 170D SC-N2S/G Coil 24 VDC (RoHS)
* : Contact Fuji Electric FA Components & Systems Co., Ltd.

SC-03
Mounting Hole Dimensions
90 (Mounting Rail Height: 15) 43
80 (28) 34
Coil Terminal Aux. Terminal
20.5)
61 Main Terminal M3.5 M3.5 30
8.5 M3.5
18.5 (
14.5
20.5
23

48 Mounting is available.
81

48
52
43
60

For front mounting, aux.

contact blocks are attached. 7.7 10 35
Mounting methods : The following methods 1, 2, 3 are available.
134 s(48 to) 52

Aux. Contact Structure 230 s48
1a
1/L1 3/L2 5/L3 13
A1 A2
335 s60
Mounting screw : 2-M4
2/T1 4/T2 6/T3 14
Use the two mounting holes on the diagonal line to mount a contactor.
1/L1 3/L2 5/L3 21
1b A1 A2
Approx. Mass : 0.32 kg

2/T1 4/T2 6/T3 22
SC-4-1
91 (Mounting Rail Height : 15)

53 Aux.
81 (28)
Main Terminal Coil Terminal Terminal
61 M4 M3.5 M3.5 34
8 .5
14.5
48 Mounting Hole Dimensions (20.5)
18.5
20
23

81
49
60
52
43

For front mounting, aux.

contact blocks are attached. 9. 7 7.7 35
8 13 13
Mounting methods : The following methods 1, 2 are available.

Aux. Contact Structure
1/L1 3/L2 5/L3 13 134 s(48 to) 52
1a A1 A2
230 s60
2/T1 4/T2 6/T3 14 Use the two mounting holes on the diagonal line to mount a contactor.
1/L1 3/L2 5/L3 21
1b A1 A2
2/T1 4/T2 6/T3 22 Approx. Mass : 0.36 kg
216
Magnetic Contactor
SC-4-1/G
118 (Mounting Rail Height : 15) 53 Aux.
108 (28) Main Terminal Coil Terminal Terminal 34
88 M4 M3.5 M3.5
8.5
14.5
48 Maunting is available. (20.5)
18.5
20
23

60
52
81
43
49

For front mounting, aux. 9.7 35

contact blocks are attached. 7.7
8 13 13

1/L1 3/L2 5/L3 13 134 s(48 to) 52
1a A1 A2
235 s60
2/T1 4/T2 6/T3 14
1/L1 3/L2 5/L3 21
1b A1 A2
2/T1 4/T2 6/T3 22 Approx. Mass : 0.6 kg
SC-5-1/G
Aux. Terminal 64
118 (Mounting Rail Height : 15) M3.5
Main Coil
(28) Aux. Terminal
108 Terminal Terminal M3.5
88 M4 M3.5 54
8.5
14.5
(56 Mounting is available.) (16.5)
14.5
20
23

60
49
60
43
81
For front mounting, aux. 9.7 (35)

7.7
contact blocks are attached. 50
13 13

13 1/L1 3/L2 5/L3 23 154 s (56 to) 60
A1 A2
2a 250 s60
14 2/T1 4/T2 6/T3 24 Mounting screw : 2-M4
13 1/L1 3/L2 5/L3 21 Use the two mounting holes on the diagonal line to mount a contactor.
1a1b A1 A2
14 2/T1 4/T2 6/T3 22

11 1/L1 3/L2 5/L3 21
2b A1 A2
12 2/T1 4/T2 6/T3 22 Approx. Mass : 0.62 kg
SC-N2S/G
140 (Mounting Rail Height : 15) Main (112)
130 (28) Terminal 88
* Coil Terminal 70
91.5 M6 M3.5
10.5
16.5
10.5 Aux. Terminal

M3.5
18
78
110
75
90
*
For front mounting, aux. 20.5
contact blocks are attached. 16.8 (55 to) 60
*: For two side mounting, aux. contact blocks attached.

Structure
170 s 75
(31) (23)(41) 2(55 to) 65 s90
53 61 13 21 1/L1 3/L2 5/L3 43 31 83 71 Mounting screw : 2-M4
A1 A2
54 62 14 22 2/T1 4/T2 6/T3 44 32 84 72
(32) (24)(42)
Approx. Mass : 1.4 kg
217
SERVOPACKs
DC Reactors
LSelection
Contact Yaskawa Controls Co., Ltd. If the power supply harmonic suppression is needed, connect a DC reactor between the
SERVOPACK main circuit terminals 1 and 2.
Select a reactor that matches the ratings of the SERVOPACK.

SERVOPACK SERVOPACK
Power DC Reactor Model Power DC Reactor Model
SGDV- SGDV-
Supply Supply
R70A 1R9D X5074

R90A 3R5D
Three- Three- X5075
1R6A 5R4D
phase X5061 phase
2R8A 8R4D
200 V 400 V X5076
3R8A 120D
5R5A 170D X5077
Notes: RoHS-compliant models are not available. The last digit of an RoHS-compliant model number is R. Contact the manufacturers when selecting an RoHS compliant model.
B I Dia. G DC Reactor External Dimensions Approx. Mass

Model A B C D E F G H Dia. I Dia. kg
X5061 35 52 80 95 35 45 50 4 4.3 0.5
X5074 30 47 70 85 28 38 45 4 4.3 0.3
1 2
Nameplate X5075 40 59 100 120 40 50 55 4 4.3 0.9
D
C
X5076 50 74 125 140 35 45 60 5 4.3 1.1

X5077 50 74 125 155 53 66 75 5 5.3 1.9
A E
4-H Dia.
F
Notch
218
Regenerative Resistors
LRegenerative Resistor Selection

When regenerative energy is so large that a SERVOPACK cannot process, install externally a regenerative resistor. The
regenerative resistor is provided by customers. Refer to the table below for selecting the regenerative resistor.
SERVOPACK Model Built-in Regenerative Necessity of External

Voltage Necessity of External Regenerative Resistors
SGDV- Resistor Regenerative Resistors
No built-in regenerative resistor is provided, however, normally an external

R70A, R90A, Basically regenerative resistor is not required.
None
1R6A, 2R8A Not Required Install external regenerative resistors when the smoothing capacitor in
200 VAC SERVOPACK cannot process all the regenerative power.
Standard Basically
3R8A, 5R5A A built-in regenerative resistor is provided as standard. Install external
Equipment Not Required
regenerative resistors when the built-in regenerative resistor cannot
Standard Basically process all the regenerative power.
400 VAC D
Equipment Not Required
LReferences for External Resistor LSpecifications

(by Iwaki Musen Kenkyusho Co., Ltd.)
Resistance Tolerance K: p 10%, J : p 5%, H : p 3%
Model Specifications Temperature Resistance p 400PPM / C (20 max.), p 260PPM / C
RH120 70 W, 1 to 100 Characteristics (20/min.)
RH150 90 W, 1 to 100 Withstand Voltage 2000 VAC / min. R: p (0.1% 0.05)
RH220 120 W, 1 to 100 Insulation Resistance 500 VDC, 20 M/min.
RH300C 200 W, 1 to 10 k When 10 times of rated power is applied for five
Short-time Overload
RH500 300 W, 1 to 30 seconds, R: p (2% 0.05)
Note: Contact the manufacturers when in need of an RoHS-compliant model. 1000 hours of repeating the operation ON for 90
Life minutes and OFF for 30 minutes, R: p
RH120(N) 10 K (5% 0.05)
Not ignite after having applied 10 times of rated

Model Tolerance Heat Resistance
power for one minute
N Non-inductive Winding Code Tolerance
K 10% Operating temperature 25 to 150C
Resistance
J 5%
H 3%
RH120, 150, 220 RH220B

3.5
G
D B D 138
A
30
4. 5
C
3.0
170
154
F
E
54
60
40
4.5 Dia.
Lead wire length L = 300 4-4.5 Dia.
Model Rated Power Resistance Dimensions A B C D E F G Lead wire lengthL = 500
RH120 70 W 1 to 100 RH120 182 150 172 16 42 22 20 Rated power120 W
RH150 90 W 1 to 100 RH150 212 180 202 16 44 24 30 Resistance1 to 100
RH220 120 W 1 to 100 RH220 230 200 220 15 60 24 20
RH300C RH500
32
250
37
234
312 2 M3
60
80
4.5
270 3
2-4.5 Dia.
62
5.3
47
218
33
40
4.7 300
Lead wire lengthL = 300 Lead wire lengthL =450
Rated power200 W Rated power300 W
Resistance1 to 10 k Resistance1 to 30
219
SERVOPACKs
Holding Brake Power Supply Unit
LHolding Brake Power Supply Unit
IMPORTANT We recommend opening or closing the circuit for the holding brakes power supply so that switching will occur
on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to
switching on the DC side.
When switching on the DC side, install an extra surge protector apart from the surge protector built in the brake
circuit near the brake coil, in order to prevent damage to the brake coil from surge voltage.
Holding brake power supply units for 24 VDC are not provided by Yaskawa. Please obtain these from other
manufacturers. Do not connect holding brake power supply units for different output voltages to SERVOPACKs.
Overcurrent may result in burning.
LModel
200 V input: LPSE-2H01-E
100 V input: LPDE-1H01-E
LSpecifications LExternal Dimensions (Units: mm)

Rated output voltage: 90 VDC
Maximum output current: DC 1.0 A 50
Lead wire length: 500 mm each
Maximum ambient temperature: 60C 30
Lead wires: Color coded (refer to the table below)
AC input
Brake end
100 V 200 V 25
Mounting Holes 2-3 Dia.
Blue/white Yellow/white Red/blue (5.5 Counter Boring, Depth 4)
20
Nameplate
11
Lead wire
LInternal Circuits
We recommend opening or closing the circuit for the holding brakes power supply so that switching will occur on the AC side of the holding brake power
supply unit. This will reduce brake operation time compared to switching on the DC side.
When switching on the DC side, install an extra surge protector apart from the surge protector built in the brake circuit near the brake coil, in order to prevent
damage to the brake coil from surge voltage.
Brake Power Supply for 200 VAC

Internal Circuit for Model: LPSE-2H01-E
Yellow Red
AC side Surge DC (Brake) side

Diode
180 to 230 V protector No polarity
White Black
Brake Power Supply for 100 VAC

Internal Circuit for Model: LPDE-1H01-E
Diode bridge
Blue Red
AC side Surge Surge DC (Brake) side

90 to 120 V protector protector No polarity
White Black
220
Connection to Host Controller
Example of Connection to Machine Controller MP2
I/O Power supply

+24V + +24V
- 024
Machine controller
MP2
SGDV SERVOPACK
L1C
Control power supply
L2C
Other SERVOPACK L1
or terminator CN6A/B L2
Main circuit power supply
L3
M-/ CN6A/B
Servomotor
A (1)
U
B (2) M
+24V-IN 47 V
C ( 3)
/S-ON 40 W
P-OT 42 D (4 )
N-OT 43
/ALM-RST 44
ALM 32 CN2 PG
1Ry * ALM+ 31
*: The ALM signal is output for about five seconds when the power is turned ON. Take this into consideration when designing
the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to
the SERVOPACK.
221
SERVOPACKs
Example of Connection to MP2200 / MP2300 Motion Module SVA-01

(Model: JZSP-CA01) SGDV
CN5
Analog Input Ground Black
1 GND
Black
2 GND
Standard analog input White
3 Analog monitor 1 (Torque reference monitor)
Standard analog input Red
4 Analog monitor 2 (Speed monitor)
MP2200/MP2300 Series
SVA-01 SGDV SERVOPACK
CN1/CN2 CN1
SG 1 2 SG
AO_0 (NREF) 2 5 V-REF
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
AI_0 (VTG) 8
AO_1 (TREF) 9 9 T-REF
0V (for 24V) 10 32 ALM
0V (for 24V) 11
DO_2 (PCON) 12 41 /C-SEL (Switches the control mode.)
DO_4 13 45 /P-CL (Depends on the user settings.)
DO_3 14 46 /N-CL (Depends on the user settings.)
DI_3 (P-OT) 15 42 P-OT
+24V 16 47 +24V IN
DI_0 (SVALM) 17 31 ALM+
DI_2 (ZERO / HOME LS)18
SG 19 10 SG
SEN (5V) 20 4 SEN
AI_1 (TMON) 21
22
PB 23 35 PB
PBL 24 36 /PB
SG 25 28 TGON (/BRK)
AI-GND 26 27 TGON+ (/BRK+)
AO-GND 27 1 SG
0V (for 24V) 28 30 /S-RDY
0V (for 24V) 29
DO_1 (ALMRST) 30 44 /ALM RST
DO_0 (SV ON) 31 40 /S-ON
DO_5 (SEN for VS866) 32
DI_4 (N-OT) 33 43 N-OT
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+
DI_5 (EXT/DEC)
36 22 BAT
21 BAT+
Hood FG FG Hood
EXT/DEC input ABS encoder battery (3.6 V)

ZERO/HOME LS input ABS encoder battery (0 V)
P-OT input
Holding brake interlock output (+)
N-OT input
Holding brake interlock output ()
*: Connection cables (model: JEPMC-W 2040- ) to connect the SERVOPACK to the MP2200/MP2300 are provided by Yaskawa. For details, see
Machine Controller MP2200/MP2300 Motion Module Users Manual (manual no. SIEPC88070016).
222
Example of Connection to MP920 4-axes Analog Module SVA-01
MP920 Series
SVA-01 SGDV SERVOPACK
CN1 CN4 CN1

2 NREF
* V-REF 5 L1C
1 SG SG 2 Control power supply
L2C
3 PA PAO 33 L1
4 PAL /PAO 34 L2
23 PB PBO 35 Main circuit power supply
L3
24 PBL /PBO 36
5 PC PCO 19
6 PCL /PCO 20 Servomotor
7 SG SG 6
A (1)
U
16 +24V OUT +24V-IN 47 B (2 )
V M
34 C ( 3)
W
/S-ON 40 D (4)
31 SVON
30 ALMRST /ALM-RST 44
12 PCON /P-CON 41 CN2 PG
13 OTR N-OT 43
14 OTF P-OT 42
32 DOSEN
11 0V
20 SEN SEN 4
19 SG SG 10
28 0V /S-RDY 30
29 0V
17 SVALM ALM+ 31
10 0V ALM 32
35 SVRDY /S-RDY+ 29
18 BRK /TGON+ 27
22 BAT BAT(+) 21
21 0BAT BAT() 22
FG
*: represents twisted-pair wires.
Notes: 1 Connection cables (model: JEPMC-W6050- to connect the SERVOPACK to the MP920 are provided by Yaskawa.
For details, see Machine Controller MP920 Users Manual Design and Maintenance (manual no. SIEZ-C887-2.1).
2 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion.
But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs
with the Safe Japan Connector connected.
223
SERVOPACKs
Example of Connection to OMRON's Motion Control Unit
MC unit manufactured
by OMRON Corporation
C200H-MC221
(CS1W-MC221 / MC421)
(CV500-MC221 / MC421)
SGDV SERVOPACK
DRV connector
24VDC
24V input 1 L1C
24V input ground 2 CN1 Control power supply
L2C
X-axis alarm input 3 ALM+ 31 L1
X-axis run reference output 4 /S-ON 40 L2
X-axis alarm reset output 5 /ALM-RST 44 Main circuit power supply
L3
X-axis SEN signal ground 8 *2 SG*1 2
X-axis SEN signal output 9 SEN*1 4
X-axis feedback ground 10 SG 1 Servomotor
X-axis phase A input 11 PAO 33
A (1)
X-axis phase /A input 12 /PAO 34 U
X-axis phase B input 13 /PBO 36 B (2) M
V
X-axis phase /B input 14 PBO 35 C (3)
W
X-axis phase Z input 15 PCO 19 D(4)
X-axis phase /Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5
Axis speed reference ground 18 SG 6 PG
CN2
FG Shell
24V output 19 +24V-IN 47
24V output ground 20 ALM 32
I/O connector
24VDC
24V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6 Battery*1
X-axis origin proximity input 10 BAT+*1 21
24V input ground 14 BAT*1 22
2.8 V to 4.5 VDC
*1: Use a battery when using an absolute encoder.

No battery is needed for CN1 (between 21, 22) when using an encoder cable with a battery.
Battery for CN1 : ER6VC3N (3.6 V, 2000 mA)
Battery for battery unit : JUSP-BA01 (3.6 V, 1000 mA)
* 2: represents twisted-pair wires.
Notes: 1 Only signals applicable to OMRON's MC unit and Yaskawa's SGDV SERVOPACK are shown in the diagram.
2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
3 Note that incorrect connection will cause damage to the MC unit and SERVOPACK.
Take particular care to wire correctly.
4 Open the signal lines not to be used.
5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in
the same way.
6 The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at
the connector.
7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in
order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the
Safe Japan Connector connected.
224
Example of Connection to OMRON's Position Control Unit
Position control unit I/O power supply

CS1W-NC133 / 233 / 433 +24V + +24V
-
manufactured by OMRON Corporation 024
5V power supply for pulse output A4 +5V SGDV SERVOPACK

5V GND for pulse output A3 *2
*4 CN1
CW(+) output A5 PULS 7 L1C
CW() output A6 /PULS 8 L2C
CCW(+) output A7 SIGN 11 L1
CCW() output A8 /SIGN 12 L2
CLR 15 Main circuit power supply
L3
Error counter reset output A11 /CLR 14
Origin input signal A16 PCO 19
Origin input common A14 /PCO 20
Servomotor
COIN+ 25
24V power supply for output A1 /COIN 26 U
A (1)
24V GND for output A2 B (2) M
+24V-IN 47 V
C (3 )
/S-ON 40 W
P-OT 42 D (4 )
Input common A24 N-OT 43
/ALM-RST 44
ALM 32 CN2 PG
1Ry *1
ALM+ 31
X-axis external interrupt input A19
X-axis origin proximity input A21
X-axis CCW limit input A23
Connector
X-axis CW limit input A22 *3
shell
X-axis immediate stop input A20
FG
*1: The ALM signal is output for about five seconds after the power is turned ON. Take this into consideration when designing the power ON
sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.
*2: Set parameter Pn200.0 = 1.
3
* : Connect the shield wire to the connector shell.
*4: represents twisted-pair wires.
Notes: 1 Only signals applicable to OMRON's MC unit and Yaskawa's SGDV SERVOPACK are shown in the diagram.
2 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in
order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the
Safe Japan Connector connected.
225
SERVOPACKs
Example of Connection to Mitsubishi's AD72 Positioning Unit (SERVOPACK in Speed Control)
SGDV SERVOPACK
I/O power supply
+24V + +24 V
Positioning unit

AD72 manufactured 0 24 V L1C
by Mitsubishi L2C
Electric Corporation *2 L1
CONT ON when L2
Main circuit power supply
1 positioning L3
STOP is cancelled.
2
ON when
3 DOG proximity
CN1 Servomotor
is detected.
SERVO +24V-IN 47 A (1)
1 /S-ON 40 U
B (2)
2 SV-ON V M
1Ry *1 C (3)
3 ALM+ 31 W
D (4)
READY 1Ry
4 ALM 32
5 V-REF (T-REF) 5 (9)
6 Speed reference SG 6 (10) CN2 PG
ENCO
*4
4 PBO 35
5 PULSE A /PBO 36
7 PAO 33
8 PULSE B /PAO 34 CN1
10 PCO 19 42 P-OT
11 PULSE C /PCO 20
3 0V SG 1 43 N-OT
024 V
6 0V
9 0V
Connector
shell *3
*1: The ALM signal is output for about five seconds after the power is turned ON. Take this into consideration when designing the power ON
*2: Pin numbers are the same both for X-axis and Y-axis.
*3: Connect the connector wire to the connector shell.
* 4: represents twisted-pair wires.
Notes: 1 Only signals applicable to Mitsubishi's AD72 positioning unit and Yaskawa's SGDV SERVOPACK are shown in the diagram.
2 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order
to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safe Japan
Connector connected.
226
Example of Connection to Mitsubishi's AD75 Positioning Unit (SERVOPACK in Position Control)
I/O power supply SGDV SERVOPACK

Positioning unit +24V 24 V
AD72 manufactured +

by Mitsubishi, 0 24 V
Electric Corporation L1C
L2C
X-axis(Y-axis)
L1
26 L2
1Ry Main circuit power supply
7 READY L3
ON when
14 STOP positioning
is cancelled. Servomotor
11 DOG ON when
proximity CN1 A (1)
is detected. U
24 PCO 19 B (2) M
V
C(3)
25 PGO /PCO 20 W
D(4)
1Ry * PG
ALM 31 CN2
ALM 32
3 PULS 7
21 PULSE /PULS 8 CN1
47 24 V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2k CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24 V
23 CLEAR
Connector shell
FG
*: The ALM signal is output for about five seconds when the power is turned ON. Take this into consideration when designing the power ON
Notes: 1 Only signals applicable to Mitsubishi's AD75 positioning unit and Yaskawa's SGDV SERVOPACK are shown in the diagram.
2 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order
to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safe Japan
Connector connected.
227
SERIES PRODUCT CATALOG
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000
Phone 55-11-5071-2552 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-312
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant LITERATURE NO. KAEP S800000 42A
documentation according to any and all rules, regulations and laws that may apply.
Printed in U.S.A. June 2007 07-6
Specifications are subject to change without notice 05-7
for ongoing product modifications and improvements.
2007 YASKAWA ELECTRIC CORPORATION. All rights reserved.

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AC SERVO DRIVES

QUALITY SYSTEM ENVIRONMENTAL

You want maximum effect quickly and easily,

And if you want more performance than ever before,

Advanced technology makes possible a host of safety

compliance with key international standards, a diverse motor

In-house comparison: 1/12th

Contributing to machine performance in conjunction with a medium-inertia motor

Small Capacity Medium Capacity

Installation and Basic Parameter

Faster setup SigmaWin+

Wiring Check Function

Full of handy functions for start-up and more effective operation!

Optimal selection for

Let the series v

Gain and Filter Operation

Simple Tuning New Advanced

The reference filter and feedback gain adjustment

Fine-tuning can tweak machine performance to

Extensive variety of motors to match any machine

Selection of servo actuators

Standard support for analog voltage/pulse train reference series

Wide selection of option

Compliant with applicable

Motor line-up to handle a wide range of markets and applications

Semiconductors Machine tools,

Moment of Inertia Ratio

Analog Voltage/Pulse Train Reference

MECHATROLINK-2 Communications Reference

Linear Cylinder Type Linear Sliders

Medium Inertia, SGMJV-01A SGDV-R90A

Low Inertia, SGMAV-C2A

Medium Inertia, SGMGV-09D SGDV-3R5D

Linear Sliders SGT-G6

Direct Drive Servomotors 75

Linear Sliders 153

*: Compatible with fully-closed loop control

Wiring Main Circuit and Peripheral Devices 207

Connection to Host Controller 221

Straight without key and with tap

LMaximum speed: 6,000 rpm LMaterial handling machines

LWide Selection: 50 to 750 W capacity, holding brake LFood processing equipment

Time Rating: Continuous Thermal Class: B

LTorque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone

SGMJV-A5A SGMJV-01A SGMJV-02A

Motor Speed (min-1)

Motor Speed (min-1)

5000 5000 5000

4000 4000 4000

3000 3000 3000

1000 1000 1000

Ratings and Specifications

LDerating Rate for Servomotor Fitted with an Oil Seal

LHolding Brake Electrical Specifications

Servomotor Holding Brake Specifications

Detecting time (s)

LAllowable Load Moment of Inertia at the Motor Shaft

Servomotor Rated Allowable Load Moment of Inertia

LLoad Moment of Inertia

LReduce the deceleration rate.

Regenerative resistors are not built into 400 W SGDV-2R8 SERVOPACKs.

LLoad Moment of Inertia and Motor Speed

SGMJV-A5A SGMJV-01A SGMJV-02A

Load Moment of Inertia (104kgm2)