SGD7S-180A00A

SIGMA-7
AC Servo Drives and Motors Technical Supplement
yaskawa.com
Product Lineup
Servomotors
Rotary Servomotors
SGMMV (Low inertia, ultra-small capacity) SGM7J (Medium inertia, high speed) SGM7A (Low inertia, high speed)
10 W to 30 W 50 W to 1.5 kW 50 W to 7 kW
SGM7P (Medium inertia, flat type) SGM7G (Medium inertia, large torque)
100 W to 1.5 kW 300 W to 15 kW
Direct Drive Servomotors
Small capacity, with core, inner rotor (SGM7F) Small and medium capacity, with core, Small capacity, coreless (SGMCS)
2 Nm to 35 Nm inner rotor (SGM7D), 1.3 Nm to 240 Nm 2 Nm to 35 Nm
Medium capacity, with core (SGMCS)
45 Nm to 200 Nm
Linear Servomotors
SGLG (Coreless model) SGLFW2 (Model with F-type iron core) SGLT (Model with T-type iron core)
12.5 N to 750 N 45 N to 2520 N 130 N to 900 N
2
SERVOPACKs
Single-axis MECHATROLINK-III Two-axis MECHATROLINK-III Single-axis Analog Voltage/Pulse

Communications Reference Communications Reference Train Reference
SGD7S- 30A SGD7W- 30A SGD7S- 00A
Single-axis EtherCAT Two-axis EtherCAT

Communications Reference Communications Reference
SGD7S- A0A SGD7W- DA0A (400V only)
Additional Options
Fully-Closed Module Advanced Safety Module Single-Axis Control Option

(Sigma-7Siec)
+ +
SGDV-OFA01A SGDV-OSA01A SGD7S AM0A000F50
1.5 Axis Control Option Network Indexer Option Special Purpose Options
(MP2600iec) (SigmaLogic7 Compact) (FT Options)
+ +
SGD7S AE0A000300 SGD7S- AQ0A000F51 SGD7S- A 0A000F

• FT19: Less Deviation Control
• FT79: Built-in Indexer
• FT81: Harmonic Drive SHA Actuators
• FT82/83: for SGM7D Direct Drive Motor
3
System Configuration Example
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)
For MECHATROLINK-III Communications

1
Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the circuit
OFF when overcurrent is
detected.
Noise Filter
Single-axis
Used to eliminate Magnetic
external noise from
Contactor
MECHATROLINK-III
the power line.
Turns the servo
Communications Reference
ON and OFF. SERVOPACK
Install a surge
absorber.
MECHATROLINK Communications Cable

CN6
To next
MECHATROLINK-III station
CN7
Computer Cable
I/O Signal Cable

CN1
External devices such as
External LED indicators
Regenerative
Resistor
CN8 Safety Function Note: When not using the safety function, leave
Connect an external
Devices Cable the safety jumper connector connected to
regenerative resistor to
terminals B1 and B2 if the the SERVOPACK.
regenerative capacity is
insufficient.
Magnetic To CN2
Contactor
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Encoder Cable
Holding Brake Battery Case
Power Supply Unit (Required when an
absolute encoder is
Used for a
servomotor used.)
with a brake.
Encoder Cable Servomotor Main
Circuit Cable
(Wiring required for the brake)

Servomotor Main
Circuit Cable
Rotary Servomotor
Direct Drive Servomotor
4
Combination of SERVOPACK and Linear Servomotor (200V Power)

1
Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
detected.
Noise Filter
Used to eliminate Single-axis
external noise from
the power line.
Magnetic MECHATROLINK-III
Contactor Communications Reference
Turns the servo
ON and OFF. SERVOPACK
Install a surge
absorber.

CN6
To next
CN7
Computer Cable
I/O Signal Cable

LED indicators
External
Regenerative
Resistor
CN8 Safety Function Note: When not using the safety function, leave
Connect an external Devices Cable the safety jumper connector connected to
regenerative resistor to
terminals B1 and B2 if the the SERVOPACK.
insufficient.
Serial Converter Unit Cable
Serial Converter Unit
Linear Servomotor
Main Circuit Cable Linear
Encoder Sensor Cable
Cable
Linear encoder
(Not provided by Yaskawa.)
Linear Servomotor
5
Combination of SERVOPACK and Rotary Servomotor/Direct Drive Servomotor (200V Power)

1
Three-phase 200 VAC
Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
detected.
Noise Filter Magnetic Two-axis

Used to eliminate Contactor
external noise from
Turns the servo
MECHATROLINK-III
the power line.
ON and OFF. Communications Reference
Install a surge
absorber.
SERVOPACK

CN6
To next
CN7
Computer Cable
I/O Signal Cable

CN1
External LED indicators
Regenerative
Resistor
Connect an external
regenerative resistor to CN2
terminals B1 and B2 if the
insufficient.
Magnetic
Contactor
Turns the brake
power supply
ON and OFF.
Install a surge
absorber.
Encoder Cable
Battery Case
Holding Brake
(Required when an
Power Supply Unit
absolute encoder is
Used for a
servomotor
used.)
with a brake.
Encoder Cable Servomotor Main
Circuit Cable
(Wiring required for the brake)

Servomotor Main
Circuit Cable
Rotary Servomotor
Direct Drive Servomotor
6
Combination of SERVOPACK and Rotary Servomotor (400V Power)

1
Three-phase 400 VAC
Communications Cable
Host controller
Three-phase, 400 VAC
L1 L2 L3 CN1 I/O Connector
Noise Filter Safety Function Device Cable
Computer
SERVOPACK
Support
main circuit wires
Software
Control Power Supply

Cable 24 VDC
Computer Cable
Analog Monitor Cable
Digital
Operator cable
Motor Connection
Shielding Clamp
Bottom of SERVOPACK
7
Combination of SERVOPACK and Linear Servomotor (400V Power)

1
Three-phase 400 VAC
Power supply Communications Cable

L1 L2 L3
Host controller
CN1 I/O Connector

Noise Filter
Safety Function Device Cable

SERVOPACK Computer
main circuit wires Support
Software

Cable 24 VDC
Computer Cable
Digital Motor Connection

Digital Operator cable Shielding Clamp
Operator
Serial Converter Unit Bottom of SERVOPACK

Cable
Linear Encoder Cable

Sensor Cable
(between Serial
Converter Unit and
Linear Encoder polarity sensor)
Polarity sensor
Linear Servomotor
8
Combination of SERVOPACK and Rotary Servomotors (400V Power)

1
Three-phase 400 VAC
Power supply
Host controller
Computer
SERVOPACK
Support
main circuit wires
Software

Cable 24 VDC
Computer Cable
Digital
Digital Operator cable
Operator
Motor Connection
Shielding Clamps
Bottom of SERVOPACK
9
Stock Status Definitions
The product selection tables in this catalog contain stock status codes, which are
subject to change. The codes are defined below:
S Stock Item
Normally 3 to 5 days leadtime for most order quantities. 3 to 5 weeks maximum
if temporary outages occur. For critical lead time or large quantity shipments,
check with your Yaskawa sales representative.
LS Limited Stock Item

Typically small quantites are available from stock. Items may become stock
items as demand increases.
NS Non-Stock Item
Non-stock items typically carry a 12 - 16 week delivery time.
10
Series Combination
Combination of Rotary Servomotors and SERVOPACKs
1
Sigma-7 SERVOPACK Model
Rated
Rotary Servomotor Model 100V/200V 200V 400V
Output
SGD7S- SGD7W- SGD7S- SGD7W-
SGMMV SGMMV-A1A 10 W
R90A, R90F
(Low inertia, ultra- SGMMV-A2A 20 W
2R9E
small capacity)
SGMMV-A3A 30 W 1R6A, 2R1F
6000 RPM −
1R6A*1, 2R8A*1
SGM7J-A5A 50 W R70A, R70F
SGM7J-01A 100 W R90A, R90F −
SGM7J SGM7J-C2A 150 W
1R6A, 2R1F
(Medium inertia, high SGM7J-02 200 W 2R6D*
1R9D
speed) SGM7J-04 400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1 2R6D* or 5R4D*
3000 RPM SGM7J-06A 600 W − −
5R5A 5R5A, 7R6A
SGM7J-08 750 W 3R5D 2R6D or 5R4D*
SGM7J-15D 750 W N/A N/A 5R4D 5R4D
SGM7A-A5A 50 W R70A, R70F *1 *1
1R6A , 2R8A
SGM7A-01A 100 W R90A, R90R − −
SGM7A-C2A 150 W *1
1R6A, 2R1F 1R6A, 2R8A
SGM7A-02 200 W 2R6D*
1R9D
SGM7A-04 400 W 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1 2R6D* or 5R4D*
SGM7A-06A 600 W − −
SGM7A 5R5A 5R5A, 7R6A
SGM7A-08 750 W 3R5D 2R6D or 5R4D*
(Low inertia, high
SGM7A-10 1.0 kW 5R4D 5R4D*
speed) 120A
SGM7A-15A 1.5 kW 5R4D 5R4D
3000 RPM
SGM7A-20A 2.0 kW 180A 8R4D
SGM7A-25A 2.5 kW 120D
200A −
SGM7A-30A 3.0 kW 120D
−
SGM7A-40A 4.0 kW 170D
330A
SGM7A-50A 5.0 kW 170D
SGM7A-70A 7.0 kW 550A −
SGM7P-01A 100 W R90A, R90F 1R6A*1, 2R8A*1
SGM7P
SGM7P-02A 200 W
(Medium inertia, flat 2R8A, 2R8F 2R8A, 5R5A*1, 7R6A*1
SGM7P-04A 400 W − −
type)
SGM7P-08A 750 W 5R5A 5R5A, 7R6A
3000 RPM
SGM7P-15A 1.5 kW 120A −
SGM7G-03A 300 W − −
3R8A 5R5A , 7R6A*1
*1
SGM7G-05A 450 W 1R9D 2R6D or 5R4D*

SGM7G-09A 850 W 7R6A 7R6A 3R5D 5R4D*
SGM7G-13A 1.3 kW 120A 5R4D 5R4D
SGM7G
SGM7G-20A 1.8 kW 180A 8R4D
(Medium inertia,
SGM7G-30A 2.9 kW*2 120D
large torque) 330A
SGM7G-44A 4.4 kW 170D
1500 min-1 −
SGM7G-55A 5.5 kW 470A 210D −
SGM7G-75A 7.5 kW 550A 260D
SGM7G-1AA 11 kW 590A 280D
SGM7G-1EA 15 kW 780A 370D
*1. If you use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with using a SERVOPACK.
*2. The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
11
Series Combination
Combination of Direct Drive Servomotors and SERVOPACKs
1
Instantaneous SERVOPACK Model

Rated Torque
Direct Drive Servomotor Model Max. Torque
Nm SGD7S- SGD7W-
Nm
SGM7D-30F 30.0 50.0
SGM7D-58F 58.0 100
120A*1
SGM7D-90F 90.0 150
SGM7D-1AF 110 200
SGM7D-01G 1.30 4.00
2R8A*1, 2R8F*1
SGM7D-05G 5.00 6.00
SGM7D-08G 8.00 15.0
SGM7D-18G 18.0 30.0
SGM7D-24G 24.0 45.0 120A*1
SGM7D-34G 34.0 60.0
SGM7D-45G 45.0 75.0
SGM7D-03H 3.00 4.00 2R8A*1, 2R8F*1
SGM7D-28I 28.0 50.0
SGM7D-70I 70.0 100
SGM7D
SGM7D-1ZI 100 150 −
(With core, outer rotor)
SGM7D-1CI 130 200
SGM7D-2BI 220 300
SGM7D-2DI 240 400 120A*1
SGM7D-06J 6.00 8.00
SGM7D-09J 9.00 15.0
SGM7D-18J 18.0 30.0
SGM7D-20J 20.0 45.0
SGM7D-38J 38.0 60.0
SGM7D-02K 2.06 5.00
SGM7D-06K 6.00 10.0
SGM7D-08K 8.00 15.0 2R8A*1, 2R8F*1
SGM7D-06L 6.00 10.0
SGM7D-12L 12.0 20.0
SGM7D-30L 30.0 40.0 120A*1
SGM7F-02A 2 6
2R8A, 2R1F
SGM7F-05A 5 15
SGM7F-07A 7 21 2R8A
SGM7F-04B 4 12 2R8A, 2R8F
SGM7F-10B 10 30
SGM7F
SGM7F-14B 14 42 5R5A
(With core, inner rotor)
SGM7F-08C 8 24 2R8A, 2R8F 2R8A
SGM7F-17C 17 51 5R5A
SGM7F-25C 25 75 7R6A
SGM7F-16D 16 48 5R5A
SGM7F-35D 35 105 7R6A, 120A 7R6A
SGMCS-02B 2 6
SGMCS-05B 5 15
SGMCS-07B 7 21
SGMCS-04C 4 12
SGMCS-10C 10 30 2R8A
Small capacity, coreless
SGMCS-14C 14 42
(SGMCS)
SGMCS-08D 8 24
SGMCS-17D 17 51
SGMCS-25D 25 75
SGMCS-16E 16 48
5R5A
SGMCS-35E 35 105
SGMCS-45M 45 135 7R6A
SGMCS-80M 80 240
120A
Medium capacity, with core SGMCS-80N 80 240
(SGMCS) SGMCS-1AM 110 330 180A −
SGMCS-1EN 150 450
200A
SGMCS-2ZN 200 600
12
Series Combination
Combination of Linear Servomotors and SERVOPACKs
1
SERVOPACK Model
Rated Force Max. Force
Linear Servomotor Model SGD7W-
N N SGD7S-
SGD7C-
SGLGW-30A050C 12.5 40 R70A，R70F
SGLGW-30A080C 25 80
R90A，R90F 1R6A
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280 1R6A，2R1F
SGLG SGLGW-40A365C 140 420 2R8A，2R8F 2R8A
(Coreless model, with SGLGW-60A140C 70 220 1R6A，2R1F 1R6A
standard magnetic way) SGLGW-60A253C 140 440 2R8A，2R8F 2R8A
SGLGW-60A365C 210 660 5R5A
SGLGW-90A200C 325 1300 120A
SGLGW-90A370C 550 2200 180A −
SGLGW-90A535C 750 3000 200A
SGLGW-40A140C 57 230 1R6A，2R1F 1R6A
SGLGW-40A253C 114 460 2R8A，2R8F 2R8A
SGLG
SGLGW-40A365C 171 690 3R8A 5R5A
(Coreless model, with high-
SGLGW-60A140C 85 360 1R6A，2R1F 1R6A
force magnetic way)
SGLGW-60A253C 170 720 3R8A 5R5A
SGLGW-60A365C 255 1080 7R6A
SGLFW2-30A070A 45 135
1R6A，2R1F 1R6A
SGLFW2-30A120A 90 270
180 540 3R8A −
SGLFW2-30A230A
170 500 2R8A，2R8F 2R8A
SGLFW2-45A200A 280 840 5R5A
1680 180A
SGLFW2* SGLFW2-45A380A 560
(Model with F-type iron core)
1500
120A
SGLFW2-90A200A 560 1680
SGLFW2-90A380A 1120 3360 200A −
SGLFW2-90A560A 1680 5040 330A
SGLF
SGLFW2-1DA380A 1680 5040 200A

SGLFW2-1DA560A 2520 7560 330A
SGLFW-20A090A 25 86
SGLFW-20A120A 40 125 1R6A，2R1F 1R6A
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440 3R8A 5R5A
SGLFW*
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B
560 1200 120A
SGLFW-1ZA200B −
SGLFW-1ZA380B 1120 2400 200A
SGLTW-20A170A 130 380 3R8A 5R5A
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140 120A −
SGLTW-35A170A 220 660
5R5A
SGLTW-35A170H 300 600
SGLTW-35A320A 440 1320
120A
SGLT SGLTW-35A320H 600 1200
(Model with T-type iron core) SGLTW-35A460A 670 2000 −
180A
SGLTW-40A400B 670 2600
SGLTW-40A600B 1000 4000 330A
SGLTW-50A170H 450 900 5R5A
SGLTW-50A320H 900 1800 120A
SGLTW-80A400B 1300 5000 330A −
SGLTW-80A600B 2000 7500 550A
*: The SGLFW model is an earlier product. Select the SGLFW2 model when newly installing a linear servomotor to a machine.
13
Recommended Encoders
Incremental Linear Encoders
1 : Possible
Model Linear Support for

Linear Resolution Maximum Application Application to
Encoder Polarity
Output Signal Manufacturer Encoder Sensor Interpolator (Serial Speed*3 to Linear Fully-Closed
Scale Pitch Sensor
Type Head Converter Unit) Motors Loop Control
μm nm m/s Input
JZDP-H003/-H006*5 78.1 5
LIDA48 20
Heidenhain JZDP-J003/-J 006*5 4.9 2 *8
Exposed
1 Vp-p Analog Corporation JZDP-H003/-H006 *5
15.6 1
LIF48 4
Voltage*1 JZDP-J003/-J 006*5 1.0 0.4 *8 *8
*5
JZDP-H005/-H008 78.1 5
Renishaw plc*4 Exposed RGS20 RGH22B 20
JZDP-J005/-J 008*5 4.9 2 *8
PL101-RY*6 −
SL7 0 800 97.7 10
PL101 MJ620-T13*7 *8
MQ10-FLA −
SQ10 PQ10 400 48.83 3
MQ10-GLA −
BD96-Y1051LC 0.4 0.78 0.8 −
BD96-Y1025LC 0.4 1.56 1.0 −
Exposed
Encoder for *8
BD96-Y2051LC 0.4 0.78 0.8 −
BL57- RED
Yaskawa’s Serial Magnescale BD96-Y2025LC 0.4 1.56 1.0 −
Interface*2 Co., Ltd. BD96-YJ051LC 0.4 0.78 0.8 −
( -LINK) BD96-YJ025LC 0.4 1.56 1.0 −
*8
BF1- RY F 0.25 0.49 1.77
*8
BF1- RY F 0.25 0.98 1.8
SR75- LF − 80 9.8 3.33 −
SR75- MF − 80 78.1 3.33 −
Sealed
SR85- LF − 80 9.8 3.33 −
SR85- MF − 80 78.1 3.33 −
*1: You must also use a Yaskawa Serial Converter Unit. The output signal will be *4: If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may
multiplied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter sometimes be falsely detected. If that occurs, use the BID/DIR signal to output the
Unit. origin signal only in one direction.
*2: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must *5: U se this model number to purchase the Serial Converter Unit.
write the motor constant file to the Linear Encoder in advance. *6: U se this model number to purchase the Sensor Head with Interpolator.
*3: The maximum speeds given in the above table are the maximum applicable speeds *7: U se this model number to purchase the Interpolator.
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed *8: C ontact your Yaskawa representative.
will be restricted by either the maximum speed of the Linear Servomotor or the Note: 1. C onfirm detailed specifications, such as the tolerances, dimensions, and
maximum speed of the Linear Encoder (given above). operating environment, with the manufacturer of the Encoder before you use it.
2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.
Absolute Rotary Encoder

1
The following Absolute Rotary Encoders are for fully-closed control. Can not use it to control the motor.
Rotary Encoder Model Relay Device between Fully-Closed Resolution Maximum Speed*1
Output Signal Manufacturer
Type Scale Sensor Head Module and Rotary Encoder Bits min-1
Magnescale RU77-4096ADF*2 − 20 2000
Sealed
Co., Ltd. RU77-4096AFFT01*2 − 22 2000
27 1600
Exposed ECA4412*2 28 800
29 400
Encoder for Yaskawa’s Heidenhain RCN2 10*2 26 3000
EIB3391Y
Serial Interface Corporation RCN5 10*2 28 800
( -LINK) Sealed RCN8 10*2 29 400
ROC2310*2 26 3000
ROC7310*2 28 800
*2
RA23Y- − 23 14600
*2
Renishaw plc Exposed RA26Y- − 26 3250
*2
RA30Y- − 30 200
*1: The maximum speeds given in the above table are the maximum applicable speeds Note: 1. C
onfirm detailed specifications, such as the tolerances, dimensions, and
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed operating environment, with the manufacturer of the Encoder before you use it.
will be restricted by either the maximum speed of the Linear Servomotor or the 2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.
maximum speed of the Linear Encoder (given above).
*2: This is a single-turn absolute encoder.
14
Absolute Linear Encoder
1 : Possible
Model Linear Support for

Linear Resolution Maximum Application Application to
Encoder Polarity
Output Signal Manufacturer Encoder Sensor Interpolator (Serial Speed*3 to Linear Fully-Closed
Scale Pitch*2 Sensor
Type Head Converter Unit) Motors Loop Control
μm nm m/s Input
SQ47- S F
− 20.48 5 3.33 −
SQ47- T F
SQ47- A F
− 40.96 10 3.33 −
SQ47- F F
Exposed
SQ57- S F
− 20.48 5 3.33 −
Magnescale SQ57- T F
Co., Ltd. SQ57- A F
− 40.96 10 3.33 −
SQ57- F F
SR77- LF − 80 9.8 3.33 −
SR77- MF − 80 78.1 3.33 −
Sealed
SR87- LF − 80 9.8 3.33 −
SR87- MF − 80 78.1 3.33 −
ST781A − 256 500 5 −
Encoder for ST782A − 256 500 5 −
Yaskawa’s Serial ST783A − 51.2 100 5 −
Interface*1 Mitutoyo ST784A − 51.2 100 5 −
Exposed
( -LINK) Corporation ST788A − 51.2 100 5 −
ST789A*4 − 25.6 50 5 −
ST1381 − 5.12 10 8 −
ST1382 − 0.512 1 3.6*6 −
LIC4100 Series 20.48 5 10 −
Exposed 204.8 50 10 −
Heidenhain LIC2100 Series
EIB3391Y*5 409.6 100 10 −
Corporation
LC115 40.96 10 3 −
Sealed
LC415 40.96 10 3 −
EL36Y- 050F − 12.8 50 100 −
EL36Y- 1 00F − 25.6 100 100 −
Renishaw plc Exposed EL36Y- 5 00F − 128 500 100 −
RL36Y- 050 − 12.8 50 100 −
RL36Y- 001 − 0.256 1 3.6 −
*1: The multiplier (number of divisions) depends on the Linear Encoder. Also, you must *5: U se this model number to purchase the Interpolator.
write the motor constant file to the Linear Encoder in advance. *6: The speed is restricted for some SERVOPACKs.
*2: These are reference values for setting SERVOPACK parameters. Contact the Note: 1. C onfirm detailed specifications, such as the tolerances, dimensions, and
manufacturer for actual linear encoder scale pitches. operating environment, with the manufacturer of the Encoder before you use it.
*3: The maximum speeds given in the above table are the maximum applicable speeds 2. -LINK is a registered trademark of YASKAWA ELECTRIC CORPORATION.
of the encoders when combined with a Yaskawa SERVOPACK. The actual speed
will be restricted by either the maximum speed of the Linear Servomotor or the
maximum speed of the Linear Encoder (given above).
*4: Contact Mitutoyo Corporation for details on the Linear Encoders.
15
Related Documents
The documents that are related to the MP3300 Machine Controllers and series AC Servo Drives are
shown in the following table. Refer to these documents as required.
Brochure/Catalog Name Manual Name

Description of Document
(Document No.) (Manual No.)
This brochure presents an introduction to

Yaskawa Motion Product Brochure:
Yaskawa America Motion Products and
Confident, Consistent, Capable −
services, with an emphasis on AC Servo,
(BL.MTN.01)
Machine Controller, and IO products.
MP3300iec Machine Controller Provides detailed information on selection

Hardware Manual and installation MP3300iec machine
(YAI-SIA-IEC-7) controller components/accessories.
SERVOPACK with
MECHATROLINK-3 Communications References
Product Manual
(SIEPS80000128)
SERVOPACK with Analog

Voltage/Pulse Train References Provides detailed information on
Product Manual selecting -Series SERVOPACKs
(SIEPS80000126) and information on installing,
SERVOPACK with EtherCAT (CoE) connecting, setting, performing
Communication References trial operation for, tuning, and monitoring the
Product Manual Servo Drives.
(SIEPS80000155)
SERVOPACK with
MECHATROLINK-3 Communications References
Product Manual
(SIEPS80000129)
-Series/ -Series for Large-

Series AC Servo Drives and Motors Capacity Models/ -Series User’s Provides details information required for the
Technical Supplement Manual Safety Module design and maintenance of a Safety Module.
(YAI-KAEPS80000123) (SIEPC72082906)
Rotary Servomotor Product Manual

(SIEPS80000136)
Provide detailed information on
Linear Servomotor Product Manual
selecting, installing, and connecting
(SIEPS80000137)
the -Series Servomotors.
Direct Drive Servomotor Product Manual
(SIEPS80000138)
Peripheral Device Selection Manual Describes the peripheral devices

(SIEPS80000132) for a -Series Servo System.
Provides detailed information on the

MECHATROLINK-3 Communications
MECHATROLINK-3 communications
Standard Servo Profile Command Manual
standard servo profile commands that are
(SIEPS80000131)
used for a - Series Servo System.
Digital Operator Operating Manual Describes the operating procedures for a Digital
(SIEPS80000133) Operator for a -Series Servo System.
Engineering Tool
Provides detailed operating procedures
SigmaWin+ Online Manual
for the SigmaWin+ Engineering Tool
Component
for a -Series Servo System.
(SIEPS80000148)
16
Brochure/Catalog Name Manual Name
Description of Document
(Document No.) (Manual No.)
SERVOPACK with 400V-Input

Power and EtherCAT (CoE) Communi-
cations References Product Manual
(SIEPS80000180)
SERVOPACK with 400V-Input
Power and MECHATROLINK III
Communications References Product Provides detailed information on
Manual (SIEPS80000214) selecting -Series SERVOPACKs
and information on installing, connecting,
SERVOPACK with 400V-Input setting, performing trial operation for, tuning,
Power and EtherCAT (CoE) and monitoring the Servo Drives.
Communications References Product
Manual (SIEPS80000219)
SERVOPACK with
Series AC Servo Drives and Motors 400V-Input Power and MECHATROLINK
Technical Supplement III Communications References Product
(YAI-KAEPS80000123) Manual(SIEPS80000220)
-Series User Manual Safety Module

(SIEPC 72082906E)
Provides details information required for the
Supplement for using with Sigma-7 design and maintenance of a Safety Module.
SERVOPACKs (400 V-Input power
models) (900-200-100)
Rotary Servomotor with 400 V-Input

Power Product Manual
(SIEPS80000186) Provide detailed information on
selecting, installing, and connecting
Linear Servomotor with 400 V-Input the -Series Servomotors.
Power Product Manual
(SIEPS8000181)
17
18
CONTENTS
Rotary Servo Motors
SGMMV 4
SGM7J 18
SGM7A 52
SGM7P 108
SGM7G 126
Direct Drive Servo Motors

SGM7F (With Core, Inner Rotor) 178
SGM7D (With Core, Outer Rotor) 194
SGMCS (Small Capacity, Coreless or Medium Capacity, with Core) 222
Linear Servo Motors

SGLFW2 (Models with F-type Iron Cores, 200V) 248
SGLFW2 (Models with F-type Iron Cores, 400V) 276
SGLG (Coreless Models) 296
SGLT (Models with T-type Iron Cores) 326
Recommended Linear Encoders and Cables 356
SGLFW (Earlier Models with F-type Iron Cores) 380
SERVOPACKs
Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs 406
Single-axis MECHATROLINK-III Communications Reference SERVOPACKs 416
Single-axis EtherCAT Communications Reference SERVOPACKs 430
Two-axis MECHATROLINK-III Communications Reference SERVOPACKs 446
Two-axis EtherCAT Communications Reference SERVOPACKs 460
SERVOPACK External Dimensions 466
Option Modules
Feedback Option Module 482
Safety Option Module 488
Sigma-7Siec Option 492
MP2600iec Option 494
SigmaLogic7 Compact Option 502
FT19 Option - Less Deviation Control 504
FY79 Option - Built-in Indexer 506
FT81 Option - Support for Harmonic Drive SHA Series Actuators 508
FT82/83 Option - Support for SGM7D Direct Drive Motor 510
Cables and Peripheral Devices

Cables for SERVOPACKs 512
Peripheral Devices 522
1
Appendices
Capacity Selection for Servo Motors 554
Capacity Selection for Regenerative Resistors 564
International Standards 580
Warranty 582
2
Rotary Servo Motors
SGMMV .................................................................. 4
SGM7J .................................................................. 18
SGM7A ................................................................. 52
SGM7P ................................................................108
SGM7G ................................................................126
Rotary Servo Motors
SGMMV
Model Designations
SGMMV - A1 A 2 A 2 1
1st+2nd 3rd 4th 5th 6th 7th
S-V mini Series digits digit digit digit digit digit
Servo Motors:
SGMMV
1st+2nd digits Rated Output 3rd digit Power Supply Voltage 6th digit Shaft End
Code Specification Code Specification Code Specification
A1 10 W A 200 VAC 2 Straight
A2 20 W A Straight with flat seats
A3 30 W 4th digit Serial Encoder
Code Specification 7th digit Options
2 17-bit absolute Code Specification
1 Without options
5th digit Design Revision Order C With holding brake (24 VDC)
A
Non Stock Items
4
Rotary Servo Motors
SGMMV
Specifications and Ratings
Specifications
Voltage 200 V
Rotary Servo Motors

Model SGMMV- A1A A2A A3A
Time Rating Continuous
Thermal Class B
Insulation Resistance 500 VDC, 10 M min.
Withstand Voltage 1,500 VAC for 1 minute
Excitation Permanent magnet
Mounting Flange-mounted
Drive Method Direct drive
Counterclockwise (CCW) for forward reference when viewed from the
Rotation Direction
load side
Vibration Class*1 V15
Surrounding Air Tempera-
0°C to 40°C
ture
Surrounding Air Humidity 20% to 80% relative humidity (with no condensation)
• Must be indoors and free of corrosive and explosive gases.
• Must be well-ventilated and free of dust and moisture.
Environmental Installation Site • Must facilitate inspection and cleaning.
Conditions • Must have an altitude of 1,000 m or less.
• Must be free of strong magnetic fields.
Store the Servo Motor in the following environment if you store it with
the power cable disconnected.
Storage Environment
Storage Temperature: -20°C to 60°C (with no freezing)
Storage Humidity: 20% to 80% relative humidity (with no condensation)
Impact Acceleration Rate at
Shock 490 m/s 2
Flange
Resistance*2
Number of Impacts 2 times
Vibration Vibration Acceleration Rate
49 m/s 2
Resistance*3 at Flange
Applicable SGD7S- R90A, R90F 1R6A, 2R1F
SERVOPACKs SGD7W- *4
1R6A , 2R8A *4
1R6A, 2R8A *4
*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Motor without a load at the
rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted with the shaft in a horizontal
position is given in the above table.
Vertical
Shock Applied to the Servo Motor
5
Rotary Servo Motors
SGMMV
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor
is mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the
Servo Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to
the Servo Motor with the actual equipment.
Vertical
Front to back Horizontal direction
Side to side Vibration Applied to the Servo Motor
*4. If you use a S-7W SERVOPACK, the control gain may not increase as much as with a S-7S SERVOPACK and other
performances may be lower than those achieved with a S-7S SERVOPACK.
6
Rotary Servo Motors
SGMMV
Servo Motor Ratings

Voltage 200 V
Model SGMMV- A1A A2A A3A
*1 W 10 20 30
Rated Output
Rated Torque*1, *2 N•m 0.0318 0.0637 0.0955
Rotary Servo Motors

Instantaneous Maximum Torque *1 N•m 0.0955 0.191 0.286
*1 Arms 0.70 0.66 0.98
Rated Current
*1 Arms 2.0 1.9 2.9
Instantaneous Maximum Current
*1 -1 3000
Rated Motor Speed min
Maximum Motor Speed *1 min-1 6000
Torque Constant N•m/Arms 0.0516 0.107
Motor Moment of Inertia -7 2 2.72 (4.07) 4.66 (6.02) 6.68 (8.04)
10 kg•m
Rated Power Rate*1 kW/s 3.72 8.71 13.7
*1 2 117000 137000 143000
Rated Angular Acceleration Rate rad/s
Heat Sink Size (Aluminum) mm 150 x 50 x 3 250 x 250 x 6
Totally enclosed, self-cooled, IP55
Protective Structure*3
(except for shaft opening)
+10%
Rated Voltage V 24 VDC 0
Capacity W 2.0 2.6

Holding Torque N•m 0.0318 0.0637 0.0955
Holding Brake Coil Resistance  (at 20°C) 320 221.5
Specifications *4 Rated Current A (at 20°C) 0.075 0.108
Time Required to
ms 40
Release Brake
Time Required to
ms 100
Brake
Allowable Load Moment of Inertia
30 times
(Motor Moment of Inertia Ratio)
With External Regenerative
Resistor and Dynamic Brake 30 times
Resistor
LF mm 16
Allowable Radial
Allowable Shaft N 34 44
Load
Loads *5
Allowable Thrust
N 14.5
Load
*1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is
20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimensions
given in the table.
*3. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used.
*4. Observe the following precautions if you use a Servo Motor with a Holding Brake.
• The holding brake cannot be used to stop the Servo Motor.
• The time required to release the brake and the time required to brake depend on which discharge circuit is used.
Confirm that the operation delay time is appropriate for the actual equipment.
• The 24-VDC power supply is not provided by Yaskawa.
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and
radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.
LF
Radial load
Thrust load
Note: The values in parentheses are for Servo Motors with Holding Brakes.
7
Rotary Servo Motors
SGMMV
Torque-Motor Speed Characteristics
A : Continuous duty zone

B : Intermittent duty zone*
SGMMV-A1A SGMMV-A2A SGMMV-A3A

7000 7000 7000
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 0.04 0.08 0.12 0.16 0 0.08 0.16 0.24 0.32 0 0.1 0.2 0.3 0.4
Torque (N·m) Torque (N·m) Torque (N·m)
* The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V input.
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding
is 20°C. These are typical values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage.
3. If the effective torque is within the allowable range for the rated torque, the Servo Motor can be used within the
intermittent duty zone.
4. If you use a Servo Motor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor
speed characteristics will become smaller because the voltage drop increases.
8
Rotary Servo Motors
SGMMV
Servo Motor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servo Motor surrounding air temperature
of 40°C.
1000
Rotary Servo Motors

SGMMV-A1 ,-A2 ,-A3
100
Detection time (s)
10
1
100 200 300
Torque reference (percent of rated torque)

(%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an
output of 100% or higher. Use the Servo Motor so that the effective torque remains within the continuous duty zone
given in Torque-Motor Speed Characteristics (page 8).
Load Moment of Inertia

The load moment of inertia indicates the inertia of the load. The larger the load moment of inertia, the
worse the response. If the moment of inertia is too large, operation will become unstable.
The allowable size of the load moment of inertia (J L) for the Servo Motor is restricted. Refer to Servo
Motor Ratings (page 7). This value is provided strictly as a guideline and results depend on Servo Motor
driving 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). Perform one of the following steps if this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
• Install an External Regenerative Resistor if the alarm cannot be cleared using the above steps.
Regenerative resistors are not built into SERVOPACKs for 400-W Servo Motors or smaller Servo Motors.
Even for SERVOPACKs with built-in regenerative resistors, an External Regenerative Resistor is
required if the energy that results from the regenerative driving conditions exceeds the allowable loss
capacity (W) of the built-in regenerative resistor.
9
Rotary Servo Motors
SGMMV
Allowable Load Moment of Inertia Scaling Factor for SERVOPACKs

without Built-in Regenerative Resistors
The following graphs show the allowable load moment of inertia scaling factor of the motor speed for
SERVOPACKs* without built-in regenerative resistors when an External Regenerative Resistor is not
connected.
If the Servo Motor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the
SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher.
SGMMV-A1A, -A2A, -A3A
35
Allowable load moment of inertia
30
scaling factor (times)
25
20
15
10
0
0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
* Applicable SERVOPACK models: SGD7S-R90A, -1R6A, -R90F, and -2R1F
10
Rotary Servo Motors
SGMMV
Servo Motor Heat Dissipation Conditions

The Servo Motor ratings are the continuous allowable values when a heat sink is installed on the Servo
Motor. If the Servo Motor is mounted on a small device component, the Servo Motor temperature may
rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs
for the relation between the heat sink size and derating rate.
When using Servo Motors with derating, change the detection timing of overload warnings and overload
Rotary Servo Motors

alarms by referring to the motor overload detection level described in the following manual.
-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEP S800001 36)
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed.
If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
The actual temperature rise depends on how the heat sink (i.e., the Servo Motor mounting
section) is attached to the installation surface, what material is used for the Servo Motor
mounting section, and the motor speed. Always check the Servo Motor temperature with the
Important actual equipment.
100 100
Derating rate (%)
Derating rate (%)
SGMMV-A1 -A2 SGMMV-A3
80 80
60 60
40 40
20 20
0 30 60 90 120 150 0 50 100 150 200 250
Heat sink size (mm) Heat sink size (mm)
11
Rotary Servo Motors
SGMMV
External Dimensions
Servo Motors without Holding Brakes
 SGMMV-A1, -A2 and -A3

Encoder Cable, 4 Dia.
UL20276
300 30
Motor Lead
AWG24,UL10095
or UL3266
Protective Tube
5 Dia., Black
300 30
L
0.04 A 25
12 L1 16
0.02
26.5 L2 2.5 A 16
0.04 Dia. A
S Dia.
4
45
LB Dia.
28
Dia
.
2-M3 Tapped
Holes, Depth 7
Flange Approx.
Model Dimensions
L L1 L2 Mass
SGMMV-
S LB [kg]
0 0
A1A2A 1 70 54 27.5 5 -0.008 20 -0.021 0.13
0 0
A2A2A 1 80 64 37.5 5 -0.008 20 -0.021 0.17
0 0
A3A2A 1 90 74 47.5 5 -0.008 20 -0.021 0.21
Refer to the following section for information on connectors.

 SGMMV-A1, -A2, and -A3 without Holding Brakes (page 14)
 Shaft End Specification

• Straight with Flat Seats
0.02
10 A
S Dia.
LB Dia.
0.5 4.5
12
Rotary Servo Motors
SGMMV
Servo Motors with Holding Brakes
 SGMMV-A1, -A2 and -A3

Encoder Cable, 4 Dia.
UL20276
Rotary Servo Motors

300 30
Motor Lead
AWG24,UL10095
or UL3266
Protective Tube
5 Dia., Black
300 30
L
0.04 A 25
12 L1 16
0.02
26.5 L2 2.5 A 16
S Dia.
4
45
LB Dia.
28
Dia
.
2-M3 Tapped
0.04 Dia. A Holes, Depth 7
Flange Approx.
Model Dimensions
L L1 L2 Mass
SGMMV-
S LB [kg]
0 0
A1A2A C 94.5 78.5 27.5 5 -0.008 20 -0.021 0.215
0 0
A2A2A C 108.5 92.5 37.5 5 -0.008 20 -0.021 0.27
0 0
A3A2A C 118.5 102.5 47.5 5 -0.008 20 -0.021 0.31

 SGMMV-A1, -A2, and -A3 with Holding Brakes (page 14)
 Shaft End Specification

• Straight with Flat Seats
0.02
10 A
S Dia.
LB Dia.
0.5 4.5
13
Rotary Servo Motors
SGMMV
Connector Specifications
 SGMMV-A1, -A2, and -A3 without Holding Brakes

• Encoder Connector Specifications
Model: 55102-0600
Manufacturer: Molex Japan LLC
Mating connector: 54280-0609
• Servo Motor Connector Specifications
Receptacle: 43025-0400
 SGMMV-A1, -A2, and -A3 with Holding Brakes

• Encoder Connector Specifications (24-bit Encoder)
Model: 55102-0600
Receptacle: 43025-0600
14
Rotary Servo Motors
SGMMV
Selecting Cables
 Cable Configurations
The cables shown below are required to connect a Servo Motor to a SERVOPACK.
Rotary Servo Motors

Encoder Cable of 20 m or Less Encoder Cable of 30 m to 50 m (Relay Cable)
SERVOPACK SERVOPACK
Relay Encoder Cable
Cable with a Battery

(Required when an
absolute encoder is used.)
Cable with Connectors

Encoder Cable on Both Ends
Servo Motor Main
Circuit Cable
Battery Case
(Required when an
Servo Motor Main Encoder-end Cable

Servo Motor Circuit Cable
Main Circuit Cable
Encoder-end
Servo Motor Main Cable
Circuit Cable Servo Motor
Servo Motor
Note: 1. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
3. Refer to the following manual for the following information.
• Cable dimensional drawings and cable connection specifications
• Order numbers and specifications of individual connectors for cables
• Order numbers and specifications for wiring materials
-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
15
Rotary Servo Motors
SGMMV
Servo Motor Main Circuit Cables

Servo Order Number
Length
Motor Name Appearance
(L) Standard Cable Flexible Cable*1*2
Model
3m JZSP-CF2M00-03-E JZSP-CF2M20-03-E
For 10 m JZSP-CF2M00-10-E JZSP-CF2M20-10-E
Servo SERVOPACK end Motor end
Motors 15 m JZSP-CF2M00-15-E JZSP-CF2M20-15-E
without 20 m JZSP-CF2M00-20-E JZSP-CF2M20-20-E
Holding
SGMMV 30 m JZSP-CF2M00-30-E JZSP-CF2M20-30-E
Brakes
-A1, -A2,
40 m JZSP-CF2M00-40-E JZSP-CF2M20-40-E
and -A3
10 W, 3m JZSP-CF2M03-03-E JZSP-CF2M23-03-E
20 W,
30 W For
Servo 10 m JZSP-CF2M03-10-E JZSP-CF2M23-10-E
SERVOPACK end Motor end
Motors 15 m JZSP-CF2M03-15-E JZSP-CF2M23-15-E
with 20 m JZSP-CF2M03-20-E JZSP-CF2M23-20-E
Holding 30 m JZSP-CF2M03-30-E JZSP-CF2M23-30-E
Brakes
*1. Use Flexible Cables for moving parts of machines, such as robots.
*2. The recommended bending radius (R) is 90 mm or larger.
Encoder Cables of 20 m or Less

Servo Order Number
Length
(L) Standard Cable Flexible Cable*1*2
Model
3m JZSP-CMP00-03-E JZSP-CMP10-03-E
Cables with
Connectors on 5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK end
L
Encoder end
Both Ends 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E

(for incremen- 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
All tal encoder)
20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
SGMMV
models Cables with 3m JZSP-CSP19-03-E JZSP-CSP29-03-E SERVOPACK end Encoder end
Connectors on 5m JZSP-CSP19-05-E JZSP-CSP29-05-E L
Both Ends
10 m JZSP-CSP19-10-E JZSP-CSP29-10-E
(for absolute
encoder: With 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
(battery included)
Battery Case) 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E
*2. The recommended bending radius (R) is 68 mm or larger.
16
Rotary Servo Motors
SGMMV
Relay Encoder Cables of 30 m to 50 m

Servo Motor Length Order Number for
Name Appearance
Model (L) Standard Cable
Cables with Connectors 30 m JZSP-UCMP00-30-E SERVOPACK Encoder end
end L
on Both Ends (for incre-
40 m JZSP-UCMP00-40-E
Rotary Servo Motors

mental or absolute
molex
encoder) 50 m JZSP-UCMP00-50-E
All SGMMV
SERVOPACK Encoder end
models end L
Cable with a Battery Case
(Required when an abso- 0.3 m JZSP-CSP12-E
molex
lute encoder is used.)* Battery Case
(battery included)
*This Cable is not required if a battery is connected to the host controller.
17
Rotary Servo Motors
SGM7J
SGM7J Servo Motors (without Gear Box)
Model Designations
SGM7J - 01 A 7 D 6 1
S-7 Series digits digit digit digit digit digit
Servo Motors:
SGM7J

A5 50 W A 200 VAC 2 Straight without key
01 100 W D 400 VAC 6 Straight with key and tap
C2 150 W B With two flat seats
02 200 W 4th digit Serial Encoder
04 400 W Code Specification 7th digit Options
06 600 W 7 24-bit absolute Code Specification
08 750 W F 24-bit incremental 1 Without options
C With holding brake (24 VDC)
5th digit Design Revision Order With oil seal and holding
E
brake (24 VDC)
D: Global design revision (200 V)
F: Global design revision (400 V) S With oil seal
Non Stock Items
18
Rotary Servo Motors
SGM7J
SGM7J Gear Motors

The SGM7J gear motor product family pairs SGM7J servo motors with high precision, low backlash inline
planetary gear heads resulting in a portfolio of rotary actuators fit for a wide range of applications. The fam-
ily of gear motors has been thoroughly tested and adheres to the high levels of quality and performance
expected from Yaskawa.
Rotary Servo Motors

The high precision gear heads offer a variety of application advantages:
• 1 Quiet operation – helical cut gears contribute toward reduced
vibration and noise
• 2 High precision – a standard backlash of 5 arc-min make this gear
3
head ideal for the most accurate applications
4
• 3 High rigidity and torque capacity – achieved with a design
which incorporates uncaged needle roller bearings
• 4 Optimized adapter bushing – minimizes inertia allowing for more 5
output torque to be realized

• 5 No leakage through the seal – high viscosity, anti-separation
grease does not liquefy and does not migrate away from the gears
• Maintenance-free – no need to replace the grease for the life of the
unit. The reducer can be positioned in any orientation 1
Model Designations
S7J 01 A C - VL 050 - 05
Σ-7 Series digits digit digit digit digit digit
Gear Motors:
SGM7J
1st+2nd digits Rated Output 4th digit Brake Option 6th digit Gear head frame size

01 100 W Blank No brake 050 50 mm
02 200 W C 24 V Brake 070 70 mm
04 400 W 090 90 mm
08 750 W 120 120 mm
5th digit Gear box backlash
15 1.5 kW 155 155 mm
Code Specification
3rd digit Power Supply Voltage VL 5 arc-min backlash 7th digit Gear Ratio
Code Specification Code Specification

A 200 VAC 03 3:1 Ratio
D 400 VAC 05 5:1 Ratio
10 10:1 Ratio
25 25:1 Ratio
50 50:1 Ratio
19
Rotary Servo Motors
SGM7J
Specifications (200 V Models)

Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
Thermal Class UL: B, CE: B
Rotation Direction
load side
Surrounding Air 0°C to 40°C (With derating, usage is possible between 40°C and
Temperature 60°C.) *4
Environmen- • Must facilitate inspection and cleaning.
tal Installation Site
• Must have an altitude of 1,000 m or less. (With derating, usage is
Conditions possible between 1,000 m and 2,000 m.) *5
Storage Environment
Shock Resis- 490 m/s2
Flange
tance*2
49 m/s 2
SGD7S- R70A R90A 1R6A 2R8A 5R5A
Applicable
2R8A
SERVO-
PACKs SGD7W- 1R6A *6, 2R8A*6 1R6A, 2R8A *6 5R5A *6 5R5A, 7R6A
7R6A *6
rated motor speed.
Vertical
20
Rotary Servo Motors
SGM7J
Vertical
Rotary Servo Motors

*4. If the surrounding air temperature will exceed 40°C, refer to the following section.
Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40 C (page 33)
*5. If the altitude will exceed 1,000 m, refer to the following section.
Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 34)
*6. If you use the Servo Motor together with a S-7W SERVOPACK, the control gain may not increase as much as with a
-7S SERVOPACK and other performances may be lower than those achieved with a -7S SERVOPACK.
21
Rotary Servo Motors
SGM7J

Voltage 400 V
Model SGM7J- 02D 04D 08D 15D
Rotation Direction
load side
Surrounding Air 0°C to 40°C (With derating, usage is possible between 40°C and
Temperature 60°C.)*4
Installation Site
tal • Must have an altitude of 1,000 m or less. (With derating, usage is
Conditions possible between 1,000 m and 2,000 m.) *5
Storage Environment Storage Temperature: -20°C to 60°C (with no freezing)
Storage Humidity: 20% to 80% relative humidity (with no condensa-
tion)
Shock Resis- 490 m/s 2
Flange
tance*2
49 m/s 2
Applicable
SERVO- SGDV-- 1r9 3R5 5R4
PACKs
rated motor speed.
Vertical
22
Rotary Servo Motors
SGM7J
Vertical
Rotary Servo Motors

Applications Where the Altitude of the Servo Motor Exceeds 1,000 m (page 34).
23
Rotary Servo Motors
SGM7J
Ratings of Servo Motors (200 V Models)

Voltage 200 V
Model SGM7J- A5A 01A C2A 02A 04A 06A 08A
*1 W 50 100 150 200 400 600 750
Rated Output
*1, *2 N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39
Rated Torque
*1 N•m 0.557 1.11 1.67 2.23 4.46 6.69 8.36
Instantaneous Maximum Torque
Rated Current*1 Arms 0.55 0.85 1.6 1.6 2.5 4.2 4.4
*1 Arms 2.0 3.1 5.7 5.8 9.3 15.3 16.9
Rated Motor Speed *1 min-1 3000
Torque Constant N•m/Arms 0.316 0.413 0.321 0.444 0.544 0.493 0.584
0.0395 0.0659 0.0915
0.263 0.486 0.800 1.59
Motor Moment of Inertia 10-4 kg•m 2 (0.0475 (0.0739 (0.0995
(0.333) (0.556) (0.870) (1.77)
) ) )
6.40 15.3 24.8 15.4 33.1 45.6 35.9
Rated Power Rate*1 kW/s
(5.32) (13.6) (22.8) (12.1) (29.0) (41.9) (32.2)
40200 48200 52100 24200 26100 23800 15000
Rated Angular Acceleration Rate *1 rad/s2
(33400) (43000) (47900) (19100) (22800) (21900) (13500)
Derating Rate for Servo Motor with Oil
% 80 90 95
Seal
Heat Sink Size (Aluminum) mm 200  200  6 250  250  6
*3 Totally enclosed, self-cooled, IP67
Protective Structure
Rated Voltage V 24 VDC10%
Capacity W 5.5 6 6.5
Holding Torque N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39
Coil Resistance  (at 20°C) 104.810% 9610% 88.610%
Holding Brake
Specifications *4 Rated Current A (at 20°C) 0.23 0.25 0.27
Time Required to
ms 60 80
Release Brake
Time Required to
ms 100
Brake
Allowable Load Moment of Inertia 15 10 20 12
35 times
(Motor Moment of Inertia Ratio) times times times times
LF mm 20 25 35
Allowable Radial
Allowable Shaft N 78 245 392
Load
Loads *5
Allowable Thrust
N 54 74 147
Load
100°C. The values for other items are at 20°C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an alumi-
num heat sink of the dimensions given in the table.
LF
Radial load
Thrust load
24
Rotary Servo Motors
SGM7J
Ratings of Servo Motors (400 V Models)

Voltage 400 V
Model SGM7J- 02D 04D 08D 15D
*1 W 200 400 750 1500
Rated Output
Rated Torque*1, *2 N•m 0.637 1.27 2.39 4.77
Rotary Servo Motors

*1 N•m 2.23 4.46 8.36 14.3
Rated Current*1 Arms 1.5 1.4 2.2 4.5
*1 Arms 5.5 5.3 8.2 14.0
Torque Constant N•m/Arms 0.461 0.965 1.17 1.13
0.263 0.486 1.59 4.02
Motor Moment of Inertia 10-4 kg•m 2
(0.333) (0.556) (1.77) (4.90)
Rated Power Rate*1 kW/s 15.4 (12,1) 33.1 (29.0) 35.9 (32.2) 56.6 (46.6)
24200 26100 15000 11900
(19100) (22800) (13500) (9700)
300  300 
Heat Sink Size (Aluminum) mm 250  250  6
12
Protective Structure*3 Totally enclosed, self-cooled, IP67
Capacity W 6.0 6.5 7.5
Holding Torque N•m 0.637 1.27 2.39 4.77
Coil Resistance  (at 20°C) 9610% 88.610% 76.810%
Holding Brake
Specifications *4 Rated Current A (at 20°C) 0.25 0.27 0.31
Time Required to
ms 60 80
Release Brake
Time Required to
ms 100
Brake
25 times 15 times 12 times
LF mm 25 35
Allowable Radial
Load
Loads *5
Allowable Thrust
N 74 147
Load
num heat sink of the dimensions given in the table.
LF
Radial load
Thrust load
25
Rotary Servo Motors
SGM7J
Servo Motor Torque-Motor Speed Characteristics (200V Models)

A : Continuous duty zone (solid lines): With three-phase 200-V or single-phase 230-V input
B : Intermittent duty zone (dotted lines): With single-phase 200-V input
(dashed-dotted lines): With single-phase 100-V input
SGM7J-A5A*1 SGM7J-01A SGM7J-C2A*2 SGM7J-02A

7000 7000 7000 7000
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 0.75 0 0.25 0.5 0.75 1 0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5
Torque (N m) Torque (N m) Torque (N m) Torque (N m)
SGM7J-04A SGM7J-06A SGM7J-08A

7000 7000 7000
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 5 0 2 4 6 8 10 0 2 4 6 8 10
Torque (N m) Torque (N m) Torque (N m)
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
The SERVOPACK speed control range is 5,000:1. If you use Servo Motors at extremely low
speeds (0.02 min-1 or lower at the gear output shaft), if you use Servo Motors with a one-pulse
feed reference for extended periods, or under some other operating conditions, the gear bear-
Important ing lubrication may be insufficient. That may cause deterioration of the bearing or increase the
load ratio.
Contact your Yaskawa representative if you use a Servo Motor under these conditions.
* The moment of inertia for the Servo Motor and gear is the value without a holding brake. You can calculate the moment
of inertia for a Servo Motor with a Gear and Holding Brake with the following formula.
Motor moment of inertia for a Servo Motor with a Holding Brake from Ratings of Servo Motors (200 V Models)
(page 24) + Moment of inertia for the gear from the above table.
26
Rotary Servo Motors
SGM7J
Servo Motor Torque-Motor Speed Characteristics (400V Models)

B : Intermittent duty zone
SGM7J-02D SGM7J-04D SGM7J-08D SGM7J-15D

2.5 5 10 15
2 4 8 12
Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
Rotary Servo Motors

1.5 3 6 9
B B B B
1 2 4 6
0.5 1 2 3
A A A A
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Motor speed (min-1) Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)
2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zones
in the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torquemotor
27
Rotary Servo Motors
SGM7J
Ratings of Gear Motors (200 V Models)

Base Motor Gearhead Allow- Allow-
Rated Peak Back-
Gear Motor Servo Gearing Rated Max Inertia Inertia able able
Gear Torque lash
Model Number Motor Efficiency Speed Speed Torque Radial Axial Class
Ratio (x10 -4 (x10 -4 (arc-
SJ7_____ Model *1 (RPM) (RPM) (Nm)*2 (Nm)*2 Load Load
min)
SGM7J- kg-m2) kg-m 2) (N) (N)
01A -VL050-03 3:1 1000 2000 0.906 3.16 0.053
01A -VL050-05 5:1 95 600 1200 1.51 5.27 0.036 5
0.0659 710 640
01A -VL050-10 01A7D6 10:1 300 600 3.02 10.5 0.030
(0.0739)
01A -VL050-25 25:1 120 240 7.16 18.0 *3 0.034 7
90
01A -VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100 5
02A -VL050-03 3:1 1000 2000 1.82 6.36 0.17
710 640
02A -VL050-05 5:1 95 600 1200 3.03 10.6 0.15
0.2630
02A -VL050-10 02A7D6 10:1 300 600 6.05 12.0 *3 0.15
(0.3330)
02A -VL070-25 25:1 120 240 14.3 50.2 0.17 1200 1100
90
02A -VL070-50 50:1 60 120 28.7 50.0 *3 0.16
IP65
04A -VL050-03 3:1 1000 2000 3.62 12.7 0.17
710 640
04A -VL050-05 5:1 95 600 1200 6.03 18.0 *3 0.15
0.4860
04A -VL070-10 04A7D6 10:1 300 600 12.1 35.0 *3 (0.5560) 0.17 5
1200 1100
04A -VL070-25 25:1 120 240 28.6 *3 0.17
50.0
90
04A -VL090-50 50:1 60 120 57.2 125*3 0.27 2400 2200
08A -VL070-03 3:1 1000 2000 6.81 23.8 0.53
1200 1100
08A -VL070-05 5:1 95 600 1200 11.4 39.7 0.46
0.8000
08A -VL090-10 08A7D6 10:1 300 600 22.7 79.4 (0.8700) 0.70
2400 2200
08A -VL090-25 25:1 120 240 53.8 125*3 0.74
90
08A -VL120-50 50:1 60 120 108 330*3 0.76 4300 3900
Note: The values in parentheses are for Servo Motors with Holding Brakes (indicated by value of  in model numbers).
*1. The gear efficiency depends on operating conditions such as the output torque, motor speed, and temperature.
*2. The gear motor output torque is expressed by the following formula: Output Torque = (Servo Motor Output Torque) x (Gearing Ratio) x
(Gearing Efficiency). The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air tempera-
ture of 25°C. They are reference values only.
*3. The output torque of the gear motor is limited by the mechanical limit of the gear head. Operation above this limit could result in prema-
ture failure of the gear motor.
During operation of the gear motor, losses due to inefficiencies of the gearing mechanism are generated. The
losses vary as the conditions for gear motor torque and speed change. Temperature rise can vary based on
the mechanical inefficiencies and the heat dissipation conditions. For heat dissipation conditions, check the
Important gear and motor temperatures with the actual equipment. If operating temperatures are too high, implement
the following measures.
• Decrease the load ratio.
• Change the heat dissipation conditions.
• Use forced-air cooling for the motor with a cooling fan or other means.
• Please refer to "Sigma-7 Gearmotor Temperature Test Data" (document number PN.GearMotors.01) on
yaskawa.com for temperature test data.
28
Rotary Servo Motors
SGM7J

Rated Peak Back-
Gear Torque lash
Model Number Motor Efficiency Speed Speed Torque Radial Axial
Ratio (x10-4 (x10 -4 (arc- Class
S7J____ Model *1 (RPM) (RPM) (Nm)*2 (Nm)*2 Load Load
min)
SGM7J- kg-m 2) kg-m 2) (N) (N)
02D -VL050-03 3:1 1000 2000 1.82 6.36 0.17
710 640
02D -VL050-05 5:1 600 1200 3.03 10.6 0.15
Rotary Servo Motors

95
0.263
02D -VL050-10 02D7F6 10:1 300 600 6.05 12.0*3 0.15
(0.333)
02D -VL070-25 25:1 120 240 14.3 50.2 0.17 1200 1100
90
02D -VL070-50 50:1 60 120 28.7 50.0*3 0.16
04D -VL050-03 3:1 1000 2000 3.62 12.7 0.17
710 640
04D -VL050-05 5:1 600 1200 6.03 *3 0.15
95 18.0
0.486
04D -VL070-10 04D7F6 10:1 300 600 12.1 35.0*3 0.17 5 IP65
(0.556) 1200 1100
04D -VL070-25 25:1 120 240 28.6 *3 0.17
50.0
90
04D -VL090-50 50:1 60 120 57.2 125 *3 0.27 2400 2200
08D -VL070-03 3:1 1000 2000 6.81 23.8 0.53
1200 1100
08D -VL070-05 5:1 95 600 1200 11.4 39.7 0.46
08D -VL090-10 10:1 300 600 22.7 79.4 1.59 0.70
08D7F6
(1.77) 2400 2200
08D -VL090-25 25:1 120 240 53.8 125 *3 0.74
90
08D -VL120-50 50:1 40 *3 80*3 108 330 *3 0.76 4300 3900
29
Rotary Servo Motors
SGM7J

of 40°C.
10000
1000
Detection time (s)

Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0 50 100 150 200 250 300 350
(%)
output of 100% or higher.
Use the Servo Motor so that the effective torque remains within the continuous duty zone given in Ratings of Servo
Motors (400 V Models) on page 25.
30
Rotary Servo Motors
SGM7J

connected.
Rotary Servo Motors

SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher with a 200-VAC power
supply input.
SGM7J-A5A SGM7J-01A
35 35

30 30

25 25
20 20
15 15
10 10
5 5
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1) Motor speed (min-1)
SGM7J-C2A SGM7J-02A
35 16
30 14
25 12
10
20
8
15
6
10
4
5 2
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1
Motor speed (min ) Motor speed (min-1)
SGM7J-04A
12
10
0
0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
* Applicable SERVOPACK models: SGD7S-R70A, -R90A, -1R6A, or -2R8A
31
Rotary Servo Motors
SGM7J

The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C
when a heat sink is installed on the Servo Motor. If the Servo Motor is mounted on a small device compo-
nent, the Servo Motor temperature may rise considerably because the surface for heat dissipation
becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating
rate.
120 120 120
SGM7J-A5A and -01A SGM7J-02A and -04A SGM7J-08A

100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7J-C2A
SGM7J-06A
60 60 60
40 40 40
20 20 20
0 50 100 150 200 250 300 0 50 100 150 200 250 300 0 50 100 150 200 250 300
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)
120 120 120
SGM7J-02D, 04D SGM7J-08D 100

100 100 SGM7J-15D
Derating rate (%)
Derating rate (%)
Derating rate (%)
80
80 80
60
60 60
40
40 40 20
20 20 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300 0 50 100 150 200 250 300 350
32
Rotary Servo Motors
SGM7J
Applications Where the Surrounding Air Temperature of the Servo Motor

Exceeds 40C
The Servo Motor ratings are the continuous allowable values at a surrounding air temperature of 40°C. If
you use a Servo Motor at a surrounding air temperature that exceeds 40°C (60°C max.), apply a suitable
derating rate from the following graphs.
Rotary Servo Motors

Note: 1. Use the combination of the SERVOPACK and Servo Motor so that the derating conditions are satisfied for both the
SERVOPACK and Servo Motor.
2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor
speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.
120 120
SGM7J-01A and -C2A SGM7J-02A and -04A
100 100
Derating rate (%)

Derating rate (%)
80 80
60 60
SGM7J-A5A SGM7J-06A and -08A
40 40
20 20
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding air temperature (°C) Surrounding air temperature (°C)
120 1.2
SGM7J-02D, 04D
100 1.0
Derating rate (%)
Derating rate (%)
80 0.8
60 0.6
SGM7J-08D
SGM7J-15D
40 0.4
20 0.2
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60
33
Rotary Servo Motors
SGM7J
Applications Where the Altitude of the Servo Motor Exceeds 1,000 m

The Servo Motor ratings are the continuous allowable values at an altitude of 1,000 m or less. If you use
a Servo Motor at an altitude that exceeds 1,000 m (2,000 m max.), the heat dissipation effect of the air is
reduced. Apply the appropriate derating rate from the following graphs.
-7-Series AC Servo Drive Rotary Servo Motor Product Manual (Manual No.: SIEPS80000136)
120 120
SGM7J-02A, -04A, and -06A
100 100
Derating rate (%)

Derating rate (%)
80 80
SGM7J-A5A, -01A, and -C2A
60 SGM7J-08A
60
40 40
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Altitude (m) Altitude (m)
120 120
SGM7J-02D, 04D
100 100
Derating rate (%)
Derating rate (%)
80 80
60 SGM7J-08D 60
SGM7J-15D
40 40
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
34
Rotary Servo Motors
SGM7J
External Dimensions
 200 V Models: SGM7J-A5, -01, and -C2

0.04 A
Notation
L 0.04 dia. A o: Square dimensions
Rotary Servo Motors

LL LR
oLC
20.5 LM LE
MW
MD 0.6 17 ML 0.8
LG
14
LB dia.
LA
f
S dia.
A
2 ´ LZ dia.
0.02
Unit: mm
Model Flange Dimensions

L LL LM S
SGM7J- LR LE LG LC LA LB LZ
81.5 56.5 0 0
A5A A2 37.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(122) (97)
93.5 68.5 0 0
01A A2 49.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(134) (109)
105.5 80.5 0 0
C2A A2 61.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(153.5) (128.5)
Model Approx. Mass

MD MW ML
SGM7J- [kg]
0.3
A5A A2 8.8 25.8 16.1
(0.6)
0.4
01A A2 8.8 25.8 16.1
(0.7)
0.5
C2A A2  8.8 25.8 16.1
(0.8)
Note: 1. The values in parentheses are for Servo Motors with Holding Brakes.
2. Refer to the following section for detailed shaft end specifications.
400 V Models: SGM7J-02, -04 (page 37)
 Specifications of Options
• Oil Seal
7.5
1.5
30 - 0.021 dia.
29.8 dia.
0
Oil seal cover Unit: mm
35
Rotary Servo Motors
SGM7J
 200 V Models: SGM7J-02, -04, -06, and -08

0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE oLC
MD 0.6 17 ML LG MW
MH
14
LB dia.
S dia.
LA d
ia.
A
0.02 4 × LZ dia. Unit: mm
Flange Dimensions
Model SGM7J- L LL LM S
LR LE LG LC LA LB LZ
99.5 69.5 0 0
02A A2 51.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(140) (110)
115.5 85.5 0 0
04A A2 67.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(156) (126)
137.5 107.5 0 0
06A A2 89.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(191.5) (161.5)
137 97 0 0
08A A2 78.5 40 3 8 80 90 70 -0.030 7 19 -0.013
(184) (144)
Model SGM7J- MD MW MH ML Approx. Mass [kg]

02A A2 8.5 28.7 14.7 17.1 0.8 (1.4)
04A A2 8.5 28.7 14.7 17.1 1.1 (1.7)
06A A2 8.5 28.7 14.7 17.1 1.6 (2.2)
08A A2 13.6 38 14.7 19.3 2.2 (2.8)
400 V Models: SGM7J-02, -04 (page 37)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.
Dimensions with Oil Seal

Model SGM7J-
E1 E2 LS1 LS2
02A, 04A, 06A 35 47 5.2 10
08A 47 61 5.5 11
36
Rotary Servo Motors
SGM7J
 400 V Models: SGM7J-02, -04

25
L2
Notation
o: Square dimensions
Rotary Servo Motors

49.5 L1
0.04 A
L
LL 30
LM 26
46.5
17
3
6
12.5 0.02 9
106.5
A
77
0
88
dia
LB dia.
71
60
.
S dia.
4 × 5.5 dia. .
0.04 dia. A Unit: mm
Model Approx. Mass

L LL LM LB S L1 L2
SGM7J- [kg]
108.5 78.5 0 0 65 0.9
02D F2 51.2 50 -0.025 14 -0.011 25
(148.5) (118.5) (105) (1.5)
125 95 0 0 81.5 1.2
04A F2 67.2 50 -0.025 14 -0.011 41.5
(165) (135) (121.5) (1.8)
Note: The values in parentheses are for Servo Motors with Holding Brakes
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.
37
Rotary Servo Motors
SGM7J
 400 V Model: SGM7J-08

25
L2
49.5 L1
L
LL 40
26
LM 11.5
0.04 A
17
25
46.5
8 3
126.5
90
16
dia
.
80
LB dia.
S dia.
82
0.04 dia. A
A 4 × 7 dia. .
0.02 dia. Unit: mm
Model Approx. Mass

L LL LM LB S L1 L2
SGM7J- [kg]
146.5 106.5 0 0 93 2.3
08D F2 79 70 -0.030 19 -0.013 53
(193.5) (153.5) (121.5) (2.9)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.
38
Rotary Servo Motors
SGM7J
 400 V Models: SGM7J-15

25
L2
Rotary Servo Motors

54 L1
L 0.04 A
(3) LL
(without holding brake) LM 40 0.04 dia. A 28
25
53.5
10 3.5
25
27.5
173.5
120
LB dia.
S dia.
145
dia
.
A
0.02 4 × 10.2 dia.
Unit: mm
Model Approx. Mass

L LL LM LB S L1 L2
SGM7J- [kg]
163.5 123.5 0 0 110 6.4
15D F2 95.6 110 -0.035 19 -0.013 72
(196.5) (156.5) (143) (8.1)
39
Rotary Servo Motors
SGM7J
 Gear Motor Models: 100W, 200W, 400W (S7J01, S7J02, S7J04)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK KD
φS (j6) φ LB (g6) φGD LC
R0
.40
Shaft Detail (VL050 Models Only) Shaft Detail (All Other Models)
QK KD U QK U
W W
T T
Model S7J LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

100 W Models
01A -VL050-03
133.5
01A -VL050-05 65
(174)
01A -VL050-10 24.5 4 12 35 50 42 44 M4 8 19.5 14 2 4 2.5 4
200 V
150
01A -VL050-25 81.5
(190.5)
163.5
01A -VL070-50 95 36 5 16 52 70 52 62 M5 10 28 22 0 5 3 5
(204)
200 W Models
02A -VL050-03
137.5
02A -VL050-05 68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
(178
200 V
02A -VL050-10 65
02A -VL070-25 170.5
101 36 5 16 52 70 62 M5 10 28 22 0 5 3 5
02A -VL070-50 (211)
02D -VL050-03
146.5
02D -VL050-05 68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
(186.5)
400 V
02D -VL050-10 65
02D -VL070-25 179.5
101 36 5 16 52 70 62 M5 10 28 22 0 5 3 5
02D -VL070-50 (219.5)
400 W Models
04A -VL050-03 153.5
68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
04A -VL050-05 (194)
165.5
04A -VL070-10
200 V
80
(206) 65
36 5 16 52 70 62 M5 10 28 22 5 3 5
186.5
04A -VL070-25 101 0
(227)
204.5
04A -VL090-50 119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
(245)
04D -VL050-03 163
68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
04D -VL050-05 (203)
175
04D -VL070-10
400 V
80
(215) 65
36 5 16 52 70 62 M5 10 28 22 5 3 5
196
04D -VL070-25 101 0
(236)
214
04D -VL090-50 119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
(254)
40
Rotary Servo Motors
SGM7J
 Gear Motor Models: 750W (S7J 08)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK KD
Rotary Servo Motors

R0
.40
QK KD U QK U
W W
T T
Model S7J LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

750 W Models
08A -VL070-03 191
94 36 5 16 52 70 62 M5 10 28 22 5 3 5
08A -VL070-05 (238)
204
08A -VL090-10
200 V
107
(251) 80 0
46 7 22 68 90 80 M6 12 36 28 6 3.5 6
226
08A -VL090-25 129
(273)
241.5
08A -VL090-50 144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(288.5)
08D -VL070-03 200.5
94 36 5 16 52 70 62 M5 10 28 22 5 3 5
08D -VL070-05 (247.5)
213.5
08A -VL090-10
400 V
107
(260.5) 80 0
46 7 22 68 90 80 M6 12 36 28 6 3.5 6
235.5
08D -VL090-25 129
(282.5)
251
08D -VL090-50 144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(298)
41
Rotary Servo Motors
SGM7J
Shaft End Specifications
 SGM7J-
Code Specification
2 Straight without key
Straight with key and tap for one location
6
(Key slot is JIS B1301-1996 fastening type.)
B With two flat seats
Servo Motor Model SGM7J-

Shaft End Details
A5A 01A C2A 02A 04A 06A 08A 02D 04D 08D 15D
Code: 2 (Straight without Key)
LR
LR 25 30 40 30 40
S dia.
0 0 0 0 0
S 8 -0.009 14 -0.011 19 -0.013 14 -0.011 19 -0.013
Code: 6 (Straight with Key and Tap)

LR 25 30 40 30 40
LR
QK 14 14 22 14 22
QK
0 0 0 0 0
S 8 -0.009 14 -0.011 19 -0.013 14 -0.011 19 -0.013
U
Y P W 3 5 6 5 6
W
T 3 5 6 5 6
T
S dia.
Y
Cross section Y-Y U 1.8 3 3.5 3 3.5
P M3  6L M5  8L M6  10L M5  8L M6  10L
Code: B (with Two Flat Seats)
LR LR 25 30 40
QH QH 15 15 22
0 0 0
Y S 8 -0.009 14 -0.011 19 -0.013 N/A
H1
H2
H1 7.5 13 18
Y
S dia.
Cross section Y-Y H2 7.5 13 18
42
Rotary Servo Motors
SGM7J
Selecting Cables
Rotary Servo Motors

SERVOPACK
SERVOPACK
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Battery Case
(Required when an Servo Motor Encoder-end Cable
absolute encoder is used.) Main Circuit Cable
Servo Motor Main

Circuit Cable
Servo Motor
Servo Motor
Note: 1. Cables with connectors on both ends that are compliant with an IP67 protective structure and European Safety
2. If the cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
For the following Servo Motor models, there are different order numbers for the Servo Motor
Main Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm
the order numbers before you order.
Important • All SGM7J models
Cable Installed toward Load Cable Installed away from Load
U
U
V
V
W
W
G
G
43
Rotary Servo Motors
SGM7J
Servo Motor Main Circuit Cables (200 V Models)

Servo Order Number
Length
(L) Standard Cable Flexible Cable* Flexible/Shielded
Model
3m JZSP-C7M10F-03-E JZSP-C7M12F-03-E YAI-CSM21-03-P-E
SGM7J-A5 10 m JZSP-C7M10F-10-E JZSP-C7M12F-10-E YAI-CSM21-10-P-E
to -C2 15 m JZSP-C7M10F-15-E JZSP-C7M12F-15-E YAI-CSM21-15-P-E
50 W to 150 20 m JZSP-C7M10F-20-E JZSP-C7M12F-20-E YAI-CSM21-20-P-E
W (200V) 30 m JZSP-C7M10F-30-E JZSP-C7M12F-30-E YAI-CSM21-30-P-E
40 m JZSP-C7M10F-40-E JZSP-C7M12F-40-E YAI-CSM21-40-P-E
Power cable 5m JZSP-C7M20F-05-E JZSP-C7M22F-05-E YAI-CSM22-05-P-E
for Servo
SGM7J-02 10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E YAI-CSM22-10-P-E
Motors with-
to -06 Motor end SERVOPACK end
out Holding 15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E YAI-CSM22-15-P-E L
Brakes U
200 W to 20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E YAI-CSM22-20-P-E

V
600 W
Cable 30 m JZSP-C7M20F-30-E JZSP-C7M22F-30-E YAI-CSM22-30-P-E
(200V)
installed
toward load 40 m JZSP-C7M20F-40-E JZSP-C7M22F-40-E YAI-CSM22-40-P-E
SGM7J-08
750 W 20 m JZSP-C7M30F-20-E JZSP-C7M32F-20-E YAI-CSM23-20-P-E
(200V)
3m JZSP-C7M10G-03-E JZSP-C7M12G-03-E
SGM7J-A5 10 m JZSP-C7M10G-10-E JZSP-C7M12G-10-E
to -C2 15 m JZSP-C7M10G-15-E JZSP-C7M12G-15-E
50 W to 150 20 m JZSP-C7M10G-20-E JZSP-C7M12G-20-E
W (200V) 30 m JZSP-C7M10G-30-E JZSP-C7M12G-30-E
40 m JZSP-C7M10G-40-E JZSP-C7M12G-40-E
Power cable
for Servo 5m JZSP-C7M20G-05-E JZSP-C7M22G-05-E
SGM7J-02 Motors with- 10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E
to -06 out Holding SERVOPACK end
L
Motor end
Brakes 15 m JZSP-C7M20G-15-E JZSP-C7M22G-15-E

N/A
U
200 W to 20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E W
600 W Cable
(200V) installed 30 m JZSP-C7M20G-30-E JZSP-C7M22G-30-E
away from 40 m JZSP-C7M20G-40-E JZSP-C7M22G-40-E
load
SGM7J-08
750 W 20 m JZSP-C7M30G-20-E JZSP-C7M32G-20-E
(200V)
44
Rotary Servo Motors
SGM7J
Servo Order Number

Length
Model
SGM7J-A5 10 m JZSP-C7M13F-10-E JZSP-C7M14F-10-E YAI-CSM31-10-P-E
to -C2 15 m JZSP-C7M13F-15-E JZSP-C7M14F-15-E YAI-CSM31-15-P-E
Rotary Servo Motors

50 W to 150 20 m JZSP-C7M13F-20-E JZSP-C7M14F-20-E YAI-CSM31-20-P-E
W (200V) 30 m JZSP-C7M13F-30-E JZSP-C7M14F-30-E YAI-CSM31-30-P-E
Power cable 5m JZSP-C7M23F-05-E JZSP-C7M24F-05-E YAI-CSM32-05-P-E
for Servo
SGM7J-02 10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E YAI-CSM32-10-P-E
Motors with Motor end SERVOPACK end
to -06 L
Holding 15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E YAI-CSM32-15-P-E U
Brakes
V

G
600 W
B
Cable 30 m JZSP-C7M23F-30-E JZSP-C7M24F-30-E YAI-CSM32-30-P-E

(200V)
installed
toward load 40 m JZSP-C7M23F-40-E JZSP-C7M24F-40-E YAI-CSM32-40-P-E
SGM7J-08
(200V)
SGM7J-A5 10 m JZSP-C7M13G-10-E JZSP-C7M14G-10-E
to -C2 15 m JZSP-C7M13G-15-E JZSP-C7M14G-15-E
50 W to 150 20 m JZSP-C7M13G-20-E JZSP-C7M14G-20-E
W (200V) 30 m JZSP-C7M13G-30-E JZSP-C7M14G-30-E
Power cable
for Servo 5m JZSP-C7M23G-05-E JZSP-C7M24G-05-E
SGM7J-02 Motors with 10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E SERVOPACK end Motor end
L
to -06 Holding
U
Brakes V
N/A
W
200 W to 20 m JZSP-C7M23G-20-E JZSP-C7M24G-20-E

B
600 W Cable
(200V) installed 30 m JZSP-C7M23G-30-E JZSP-C7M24G-30-E
away from 40 m JZSP-C7M23G-40-E JZSP-C7M24G-40-E
load
SGM7J-08
(200V)
* Use Flexible Cables for moving parts of machines, such as robots.
45
Rotary Servo Motors
SGM7J

Servo Order Number
Length
Motor Name Flexible Appearance
(L) Standard Cable Flexible/Shielded
Model Cable*
3m N/A N/A JZSP-C7M143-03-E-G6
SGM7J-
02 to -08 5m N/A N/A JZSP-C7M143-05-E-G6
200W to 10 m N/A N/A JZSP-C7M143-10-E-G6
750 W Power
Cable with- 15 m N/A N/A JZSP-C7M143-15-E-G6 L 125 mm
(400V)
out Brake. 20 m N/A N/A JZSP-C7M143-20-E-G6
Cable 3m N/A N/A JZSP-C7M144-03-E-G6
SGM7J- installed 5m N/A N/A JZSP-C7M144-05-E-G6
15 toward load
10 m N/A N/A JZSP-C7M144-10-E-G6
1.5 kW
(400V) 15 m N/A N/A JZSP-C7M144-15-E-G6
SGM7J-
02 to -08 5m N/A N/A JZSP-C7M343-05-E-G6
200W to 10 m N/A N/A JZSP-C7M343-10-E-G6
750 W Power
Cable with 15 m N/A N/A JZSP-C7M343-15-E-G6 L 125 mm
(400V)
Brake. 20 m N/A N/A JZSP-C7M343-20-E-G6
Cable 3m N/A N/A JZSP-C7M344-03-E-G6
SGM7J- installed 5m N/A N/A JZSP-C7M344-05-E-G6
15 toward load
1.5 kW
(400V) 15 m N/A N/A JZSP-C7M344-15-E-G6
46
Rotary Servo Motors
SGM7J
Encoder Cables of 20 m or Less (200V Models)

Servo Motor Length Order Number
Name Appearance
Model (L) Standard Cable Flexible Cable*1
For incre- 3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
mental 5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E
Rotary Servo Motors

Encoder end SERVOPACK
encoder L end
10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
Cable 15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
installed
toward load
For incre- 3m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E
mental 5m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E
encoder SERVOPACK Encoder end
10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E end L
Cable 15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E

installed
away from 20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E
load
SGM7J-A5 to -08 For absolute 3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
50 W to 750 W encoder: SERVOPACK Encoder end
With Bat- 5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E end L
tery Case *2 10 m JZSP-C7PA0D-10-E JZSP-C7PA2D-10-E
Cable 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case

(battery included)
installed
20 m JZSP-C7PA0D-20-E JZSP-C7PA2D-20-E
toward load
For absolute 3m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E
encoder:
With Bat- 5m JZSP-C7PA0E-05-E JZSP-C7PA2E-05-E SERVOPACK Encoder end
end L
tery Case *2 10 m JZSP-C7PA0E-10-E JZSP-C7PA2E-10-E
Cable 15 m JZSP-C7PA0E-15-E JZSP-C7PA2E-15-E

Battery Case
installed (battery included)
away from 20 m JZSP-C7PA0E-20-E JZSP-C7PA2E-20-E
load
*2. If a battery is connected to host controller, the Battery Case is not required. If so, use a cable for incremental encoders.

Servo Order Number
Length
(L) For Absolute encoder For Incremental encoder
Model
3m JZSP-C7PA2M-03-E-G6 JZSP-C7PI2M-03-E-G6
SGM7J-02 Flexible 5m JZSP-C7PA2M-05-E-G6 JZSP-C7PI2M-03-E-G6
to -15 cable with
10 m JZSP-C7PA2M-10-E-G6 JZSP-C7PI2M-03-E-G6
200 W to 1.5 straight con-
kW nector (M12) 15 m JZSP-C7PA2M-15-E-G6 JZSP-C7PI2M-03-E-G6
3m JZSP-C7PA2N-03-E-G6 JZSP-C7PI2N-03-E-G6
Flexible
SGM7J-02 5m JZSP-C7PA2N-05-E-G6 JZSP-C7PI2N-05-E-G6
cable with
to -15
right angle 10 m JZSP-C7PA2N-10-E-G6 JZSP-C7PI2N-10-E-G6
200 W to 1.5
connector 15 m JZSP-C7PA2N-15-E-G6 JZSP-C7PI2N-15-E-G6
kW
(M12)
20 m JZSP-C7PA2N-20-E-G6 JZSP-C7PI2N-20-E-G6
47
Rotary Servo Motors
SGM7J
Relay Encoder Cable of 30 m to 50 m

Servo
Length
Motor Name Order Number Appearance
(L)
Model
Encoder-end Cable (for
Encoder end SERVOPACK end
incremental or absolute L
encoder) 0.3 m JZSP-C7PRCD-E
Cable installed toward
load
SERVOPACK end Encoder end
encoder) 0.3 m JZSP-C7PRCE-E
SGM7J-A5 Cable installed away
to -08 from load
50 W to 750 Cables with Connectors 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
W on Both Ends (for incre- L
mental or absolute
Cable with a Battery L
Case (Required when an

0.3 m JZSP-CSP12-E
absolute encoder is
Battery Case
used.*) (battery included)
* This Cable is not required if a battery is connected to the host controller.
48
Rotary Servo Motors
SGM7J
Connector Specifications (400V)
 SGM7J-02D to -15D
Encoder Connector Specifications
Rotary Servo Motors

Receptacle 1 PG 5V
Size: M12 2 PG 0V
3 FG
Part number: 1419959 4 BAT (+)
Model: 5 BAT (-)
SACC-MSQ-M12MS-25-3,2 SCO 6 Data (+)
7 Data (-)
Manufacturer: Phoenix Contact 8 Empty
Housing Shield
 SGM7J-02D to -08D
Servo Motor Connector Specifications
1 (Brake)
Receptacle 3 U
Size: M17 4 V
Part number: 1620448 5 Empty
6 (Brake)
Model: ST-5EP1N8AA500S 7 W
Manufacturer: Phoenix Contact FG FG
Housing Shield
 SGM7J-15D
1 V
Receptacle 2 (Brake)
Size: M23 4 (Brake)
Part number: 1617905 5 U
6 W
Model: ST-5EP1N8AAD00S FG FG
Manufacturer: Phoenix Contact Housing Shield
49
Rotary Servo Motors
SGM7J
Servo Motor Connector Rotational Angle
 SGM7-02D to -15D
Allowable number of rotations: 10
50
Rotary Servo Motors
SGM7J
Rotary Servo Motors
51
Rotary Servo Motors
SGM7A
SGM7A Servo Motors (without Gear Box)
Model Designations
SGM7A - 01 A 7 D 6 1
Servo Motors:
SGM7A
A5 50 W A 200 VAC 2 Straight without key
01 100 W D 400 VAC 6 Straight with key and tap
C2 150 W B* With two flat seats
02 200 W * Code B is not supported for models with
04 400 W 4th digit Serial Encoder a rated output of 1.5 kW or higher.
06 600 W Code Specification
7th digit Options
08 750 W 7 24-bit absolute
10 1.0 kW F 24-bit incremental Code Specification
15 1.5 kW 1 Without options
20 2.0 kW 5th digit Design Revision Order C With holding brake (24 VDC)
25 2.5 kW E With oil seal and holding brake
D: Global design revision (200 V)
(24 VDC)
30 3.0 kW F: Global design revision (400 V)
40 4.0 kW S With oil seal
50 5.0 kW Non Stock Items F With dust seal
70 7.0 kW
H With dust seal and holding
brake (24 VDC)
Note: SGM7A-70A Servo Motors with

holding brakes are not available.
52
Rotary Servo Motors
SGM7A
SGM7A Gear Motors

The SGM7A gear motor product family pairs SGM7A servo motors with high precision, low backlash inline
Rotary Servo Motors

vibration and noise
3
4

Model Designations
S7A 01 A C - VL 050 - 05
Gear Motors:
SGM7A
1st+2nd digits Rated Output 3rd digit Power Supply Voltage 6th digit Gear head frame size

01 100 W A 200 VAC 050 50 mm
02 200 W D 400 VAC 070 70 mm
04 400 W 090 90 mm
4th digit Brake Option
08 750 W 120 120 mm
10 1.0 kW Code Specification 155 155 mm
15 1.5 kW Blank No brake 205 205mm
20 2.0 kW C 24 V Brake
235 235mm
25 2.5 kW
30 3.0 kW 7th digit Gear Ratio
40 4.0 kW
50 5.0 kW Code Specification
Code Specification
03 3:1 Ratio
70 7.0 kW VL 5 arc-min backlash
05 5:1 Ratio
10 10:1 Ratio
25 25:1 Ratio
50 50:1 Ratio
53
Rotary Servo Motors
SGM7A

Voltage 200 V
Model SGM7A- A5A to 70A
A5A to 10A UL: B, CE: B
Thermal Class
15A to 70A UL: F, CE: F
Rotation Direction
load side
Surrounding Air 0C to 40C (With derating, usage is possible between 40C and
Temperature 60C.) *4
Surrounding Air
20% to 80% relative humidity (with no condensation)
Humidity
• Must have an altitude of 1,000 m or less. (With derating, usage is pos-
Conditions sible between 1,000 m and 2,000 m.)*5
Storage Environment Storage Temperature: -20C to 60C (with no freezing)
Storage Humidity: 20% to 80% relative humidity
(with no condensation)
Flange
tance*2
49 m/s 2
Vibration Vibration Acceleration Rate A5A to 50A
(Models 15A to 50A: 24.5 m/s 2 front to back)
70A 14.7 m/s
Refer to the following section.
Applicable SERVOPACKs
-7 Series Combination (page M-8)
*1. A vibration class of V15 indicates a vibration amplitude of 15  m maximum on the Servo Motor without a load at the rated
motor speed.
*2. The shock resistance for shock in the vertical direction when the Servo
Motor is mounted with the shaft in a horizontal position is given in the Vertical
above table.
*3. The vertical, side-to-side, and front-to-back vibration resistance for
vibration in three directions when the Servo Motor is mounted with the
shaft in a horizontal position is given in the above table. The strength of Shock Applied to the Servo Motor
the vibration that the Servo Motor can withstand
depends on the application. Always check the vibra- Vertical
tion acceleration rate that is applied to the Servo
Motor with the actual equipment.
*4. If the surrounding air temperature will exceed 40°C, Front to back Horizontal direction
refer to the following section.
Applications Where the Surrounding Air Temperature
of the Servo Motor Exceeds 40°C (page 70)
54
Rotary Servo Motors
SGM7A
Ratings of Servo Motors (200 V Models -A5A to -10A)

Voltage 200 V
Model SGM7A- A5A 01A C2A 02A 04A 06A 08A 10A
*1 W 50 100 150 200 400 600 750 1000
Rated Output
Rated Torque*1, *2 N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Rotary Servo Motors

*1 N•m 0.557 1.11 1.67 2.23 4.46 6.69 8.36 11.1
Rated Current*1 Arms 0.57 0.89 1.5 1.5 2.4 4.5 4.4 6.4
Instantaneous Maximum
Arms 2.1 3.2 5.6 5.9 9.3 16.9 16.8 23.2
Current*1
Rated Motor Speed *1 min -1 3000
Maximum Motor Speed *1 min -1 6000
Torque Constant N•m/Arms 0.304 0.384 0.332 0.458 0.576 0.456 0.584 0.541
0.0217 0.0337 0.0458
10-4 0.139 0.216 0.315 0.775 0.971
Motor Moment of Inertia (0.0297 (0.0417 (0.0538
kg•m 2 (0.209) (0.286) (0.385) (0.955) (1.15)
) ) )
11.7 30.0 49.7 29.2 74.7 115 73.7 104
(8.51) (24.2) (42.2) (19.4) (56.3) (94.7) (59.8) (87.9)
73200 94300 104000 45800 58700 60600 30800 32700
Rated Angular Acceleration Rate *1 rad/s 2
(53500) (76200) (88600) (30400) (44400) (49600) (25000) (27600)
Derating Rate for Servo Motor with
% 80 90 95
Oil Seal
300  300 
250 
Heat Sink Size (Aluminum) mm 200  200  6 250  250  6 300  300 
250  6
12*7 12
Capacity W 5.5 6 6.5
Holding Torque N•m 0.159 0.318 0.477 0.637 1.27 1.91 2.39 3.18
Coil
 (at 20C) 104.810% 9610% 88.610%
Resistance
Holding Brake
Specifications *4 Rated Current A (at 20C) 0.23 0.25 0.27
Time Required
to Release ms 60 80
Brake
Time Required
ms 100
to Brake
Allowable Load Moment of Inertia 30
(Motor Moment of Inertia Ratio) times
LF mm 20 25 35
Allowable
Radial Load
Loads *5
Allowable
N 54 74 147
Thrust Load
2. Refer to the following section for footnotes *1 to *5 and *7.
 Notes for Ratings of Servo Motor (page 58)
55
Rotary Servo Motors
SGM7A
Torque-Motor Speed Characteristics (200 V Models -A5A to -10A)

SGM7A-A5A*1 SGM7A-01A*1 SGM7A-C2A

7000 7000 7000
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 0.75 0 0.25 0.5 0.75 1 1.25 0 0.5 1 1.5 2 2.5
SGM7A-02A SGM7A-04A SGM7A-06A

7000 7000 7000
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 0.5 1 1.5 2 2.5 0 1 2 3 4 5 0 2 4 6 8 10
SGM7A-08A SGM7A-10A*2
7000 7000
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 2
22 4 6 8 10 0 2.5 5 7.5 10 12.5
Torque (N m) Torque (N m)
*1. The characteristics are the same for single-phase 200 V and single-phase 100 V input.
*2. A single-phase power input can be used in combination with the SGD7S-120A A008.
56
Rotary Servo Motors
SGM7A
Servo Motor Ratings (200 V Models -15A to -70A)

Voltage 200 V
Model SGM7A- 15A 20A 25A 30A 40A 50A 70A
*6 kW 1.5 2.0 2.5 3.0 4.0 5.0 7.0
Rated Output
*2, *6 N•m 4.90 6.36 7.96 9.80 12.6 15.8 22.3
Rated Torque
Rotary Servo Motors

N•m 14.7 19.1 23.9 29.4 37.8 47.6 54.0
Torque*6
Rated Current*6 Arms 9.3 12.1 15.6 17.9 25.4 27.6 38.3
Instantaneous Maximum Cur-
Arms 28 42 51 56 77 84 105
rent*6
*6 -1
Maximum Motor Speed min 6000*8
2.00 2.47 3.19 7.00 9.60 12.3
Motor Moment of Inertia 10 -4 kg•m 2 12.3
(2.25) (2.72) (3.44) (9.20) (11.8) (14.5)
120 164 199 137 165 203
Rated Power Rate*6 kW/s 404
(106) (148) (184) (104) (134) (172)
Rated Angular 24500 25700 24900 14000 13100 12800
rad/s 2 18100
Acceleration Rate *6 (21700) (23300) (23100) (10600) (10600) (10800)
Heat Sink Size
mm 300  300  12 400  400  20
(Aluminum)
Totally enclosed,
*3 separately
Protective Structure Totally enclosed, self-cooled, IP67
cooled (with fan),
IP22
Rated Volt- +10%
V 24 VDC 0
age
Capacity W 12 10
Holding
N•m 7.84 10 20
Torque
Coil Resis-
Holding  (at 20C) 48 59
tance
Brake Rated Cur-
A (at 20C) 0.5 0.41 
Specifica- rent
tions *4
Time
Required to
ms 170 100
Release
Brake
Time
Required to ms 80
Brake
Allowable Load Moment of Inertia (Motor
10 times 5 times
Moment of Inertia Ratio)
LF mm 45 63
Allowable Allowable
Shaft N 686 980 1176
Radial Load
Loads *5 Allowable
N 196 392
Thrust Load
2. Refer to the following section for footnotes *2 to *6.
 Notes for Ratings of Servo Motor (page 58)
57
Rotary Servo Motors
SGM7A
Torque-Motor Speed Characteristics (200 V Models -15A to -70A)

SGM7A-15A SGM7A-20A SGM7A-25A SGM7A-30A

7000 7000 7000 7000
6000 6000
Motor speed (min-1)

6000
Motor speed (min-1)
Motor speed (min-1)

6000
Motor speed (min-1)

5000 5000 5000 5000
4000 4000 4000 4000
3000 3000 3000 3000
2000 A B 2000
A B 2000 A B 2000 A B
1000 1000 1000 1000
0 0 0 0
0 5 10 15 20 0 5 10 15 20 0 7.5 15 22.5 30 0 10 20 30 40
Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
SGM7A-40A SGM7A-50A SGM7A-70A

7000 7000 7000
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 10 20 30 40 0 15 30 45 60 0 15 30 45 60
 Notes for Ratings of Servo Motor

*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum
heat sink of the dimensions given in the table.
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so that the thrust and radial
loads applied to the Servo Motor shaft end during operation do not exceed the values given in the table.
LF
Radial load
Thrust load
*7. If the heat sink is 250 mm × 250 mm × 6 mm, the rated output is 550 W and the rated torque is 1.75 N·m.
Refer to the following section for details.
Servo Motor Heat Dissipation Conditions (page 69)
*8. For the SGM7A-25A or SGM7A-50A, the maximum motor speed for the continuous duty zone is 5,000 min-1 .
Use the Servo Motor within the continuous duty zone for the average motor speed and effective torque.
58
Rotary Servo Motors
SGM7A

Voltage 400 V
Model SGM7A- 02D 04D 08D 10D 15D 20D 25F 30D 40D 50D 70D
Thermal Class B F
Rotary Servo Motors

Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side
Surrounding Air 0C to 40C (With derating, usage is possible between 40C and 60C.)*4
Temperature
Surrounding Air
Humidity 20% to 80% relative humidity (with no condensation)

• Must have an altitude of 1,000 m or less. (With derating, usage is possible between 1,000 m and
Conditions 2,000 m.)*5
Store the Servo Motor in the following environment if you store it with the power cable discon-
Storage Environ- nected.
Storage Temperature: -20C to 60C (with no freezing)
ment
Storage Humidity: 20% to 80% relative humidity
(with no condensation)
Impact Accelera-
tion Rate at Flange
tance*2
Vibration Vibration Accelera- 49 m/s 2
Resistance*3 tion Rate at Flange (Models 15A to 50A: 24.5 m/s2 front to back)
Applicable SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 260D

SERVO- 2R6D*6 or
PACKS SGD7W- 2R6D *6 5R4D N/A
5R4D *6
*1. A vibration class of V15 indicates a vibration amplitude of 15  m maximum on the Servo Motor without a load at the rated
motor speed.
Vertical
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in three directions when the Servo Motor is
mounted with the shaft in a horizontal position is given in the above table. The strength of the vibration that the Servo
Motor can withstand depends on the application. Always check the vibration acceleration rate that is applied to the Servo
Motor with the actual equipment.
Vertical
Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40°C (page 70)
*6. If you use this combination, performance may not be as good, e.g., the control gain may not increase, in comparison with
using a Sigma-7 Single Axis SERVOPACK.
59
Rotary Servo Motors
SGM7A
Ratings of Servo Motors (400 V Models -02D to -15D)

Voltage 400 V
Model SGM7A- 02D 04D 08D 10D 15D
*1 W 200 400 750 1000 1500
Rated Output
Rated Torque*1, *2 N•m 0.637 1.27 2.39 3.18 4.90
*1 N•m 2.23 4.46 8.36 11.1 14.7
*1 Arms 1.2 1.2 2.2 3.2 4.7
Rated Current
Arms 5.1 4.9 8.5 12 14
Current*1
Rated Motor Speed*1 min-1 3000
Maximum Motor Speed *1 min-1 6000 *6
Torque Constant N•m/Arms 0.556 1.11 1.16 1.07 1.23
0.139 0.216 0.775 0.971 2.00
Motor Moment of Inertia 10-4 kg•m 2
(0.209) (0.286) (0.955) (1.15) (2.25)
29.2 74.7 73.7 104 120
Rated Power Rate *1 kW/s
(19.4) (56.3) (59.8) (87.9) (106)
45,800 58,700 30,800 32,700 24,500
(30,400) (44,400) (25,000) (27,600) (21,700)
% - 95 100
Seal
Capacity W 6.0 6.5 12
Holding
N•m 0.637 1.27 2.39 3.18 7.84
Torque
Coil
 (at 20C) 96±10% 88.6±10% 48±10%
Resistance
Holding Brake Speci-
fications *4 Rated Cur-
A (at 20C) 0.25 0.27 0.5
rent
Time Required
to Release ms 60 80 170
Brake
Time Required
ms 100 80
to Brake
Allowable Load Standard 30 times 20 times 10 times
Moment of Inertia With external regenerative
(Motor Moment of resistor and dynamic brake 30 times 20 times 30 times 20 times
Inertia Ratio) resistor connected
LF mm 25 35 45
Allowable
Radial Load
Loads *5
Allowable
N 74 147 196
Thrust Load
*1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the tem-
perature of the armature winding is 100°C. The values for other items are at 20°C. For the SGM7A-15D to SGM7A-30D,
these values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C.
These are typical values.
*4. Observe the following precautions if you use a Servomotor with a Holding Brake.
• The holding brake cannot be used to stop the Servomotor.
LF
• The time required to release the brake and the time required to brake depend on which discharge
circuit is used. Confirm that the operation delay time is appropriate for the actual equipment. Radial load
• The 24-VDC power supply is not provided by YASKAWA.
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical
Thrust load
system so that the thrust and radial loads applied to the Servomotor shaft end during
operation do not exceed the values given in the table
*6. .For the SGM7A-25D, the maximum motor speed for the continuous duty zone is 5,000 min-1. Use the Servomotor within
the continuous duty zone for the average motor speed and effective torque.
60
Rotary Servo Motors
SGM7A

Voltage 400 V
Model SGM7A- 20D 25D 30D 40D 50D 70D
*1 W 2000 2500 3000 4000 5000 7000
Rated Output
Rated Torque*1, *2 N•m 6.36 7.96 9.80 12.6 15.8 22.3
*1 N•m 19.1 23.9 29.4 37.8 47.6 54.0
Rotary Servo Motors

*1 Arms 6.1 7.4 8.9 12.5 13.8 19.2
Rated Current
Arms 20 25 28 38 42 52.5
Current*1
Maximum Motor Speed *1 min-1 6000*6
Torque Constant N•m/Arms 1.18 1.15 1.16 1.06 1.21 1.21
2.47 3.19 7.00 9.60 12.3
Motor Moment of Inertia 10-4 kg•m 2 12.3
(2.72) (3.44) (9.20) (11.8) (14.5)
164 199 137 165 203
Rated Power Rate *1 kW/s 404
(148) (184) (104) (134) (172)
25,700 24,900 14,000 13,100 12,800
Rated Angular Acceleration Rate *1 rad/s2 18100
(23,300) (23,100) (10,600) (10,600) (10,800)
% 100
Seal
Totally enclosed,
*3 separately cooled,
Protective Structure Totally enclosed, self-cooled, IP67
(with fan), IP22
cooled (w/fan)
Rated Voltage V 24 VDC10% -
Capacity W 12 10 -
Holding
N•m 7.84 10 20 -
Torque
Coil
 (at 20C) 48±10% 59 -
Resistance
Holding Brake Speci-
fications *4 Rated Cur-
A (at 20C) 0.5 0.41 -
rent
Time Required
to Release ms 170 100 -
Brake
Time Required
ms 80 -
to Brake
Allowable Load Standard 10 times 5 times 15 times
Moment of Inertia With external regenerative
(Motor Moment of resistor and dynamic brake 20 times 15 times
Inertia Ratio) resistor connected
LF mm 45 63
Allowable
Radial Load
Loads *5
Allowable
N 196 392
Thrust Load
*1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the tem-
perature of the armature winding is 100°C. The values for other items are at 20°C. For the SGM7A-15D to SGM7A-30D,
these values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C.
These are typical values.
• The holding brake cannot be used to stop the Servomotor. LF
Confirm that the operation delay time is appropriate for the actual equipment. Radial load
Thrust load
*5. The allowable shaft loads are illustrated in the following figure. Design the mechanical system so
that the thrust and radial loads applied to the Servomotor shaft end during operation do not exceed
61
Rotary Servo Motors
SGM7A
the values given in the table

*6. .For the SGM7A-25D, the maximum motor speed for the continuous duty zone is 5,000 min-1. Use the Servomotor within
the continuous duty zone for the average motor speed and effective torque.
Torque-Motor Speed Characteristics (400V Models)

SGM7A-02D SGM7A-04D SGM7A-08D SGM7A-10D

2.5 5 10 15
2 4 8 12
Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
1.5 3 6 9
B B B B
1 2 4 6
0.5 1 2 3
A A A A
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
SGM7A-15D SGM7A-20D SGM7A-25D SGM7A-30D

15 20 25 30
12 16 20 24
Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
9 12 15 18
B B B B
6 8 10 12
3 4 5 6
A A A
A
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
SGM7A-40D SGM7A-50D SGM7A-70D

40 50 60
32 40 50
Torque (N·m)
Torque (N·m)
Torque (N·m)
24 40
30
B B 30 B
16 20
20
8 10 10
A A A
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)
Note: 1. For the SGM7A-02D to SGM7A-10D, these values are for operation in combination with a SERVOPACK when the
temperature of the armature winding is 100°C. For the SGM7A-15D to SGM7A-30D, these values are for opera-
tion in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These are typical
values.
2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zones
in the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used..
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor
62
Rotary Servo Motors
SGM7A

Rated Peak Back-
Gear Torque lash
Ratio (x10 -4 (x10-4 (arc-
S7A____ Model *1 (RPM) (RPM) (Nm)*2 (Nm)*2 Load Load
min)
SGM7A- kg-m 2) kg-m2 ) (N) (N)
01A -VL050-03 3:1 1000 2000 0.906 3.16 0.053
01A -VL050-05 5:1 95 600 1200 1.51 5.27 0.036 5
Rotary Servo Motors

0.0337 710 640
01A -VL050-10 01A7D6 10:1 300 600 3.02 10.5 0.030
(0.0447)
01A -VL050-25 25:1 120 240 7.16 18.0*3 0.034 7
90
01A -VL070-50 50:1 60 120 14.3 50.0 0.051 1200 1100
02A -VL050-03 3:1 1000 2000 1.82 6.36 0.17
710 640
02A -VL050-05 5:1 95 600 1200 3.03 10.6 0.15
0.139
02A -VL070-10 02A7D6 10:1 300 600 6.05 12.0*3 0.17
(0.209)
02A -VL070-25 25:1 120 240 14.3 50.2 0.17 1200 1100
90
02A -VL070-50 50:1 60 120 28.7 50.0*3 0.16
04A -VL050-03 3:1 1000 2000 3.62 12.7 0.17
710 640
04A -VL050-05 5:1 95 600 1200 6.03 18.0*3 0.15
0.216
04A -VL070-10 04A7D6 10:1 300 600 12.1 35.0*3 0.17
(0.286) 1200 1100
04A -VL070-25 25:1 120 240 28.6 *3 0.17
50.0
90
04A -VL090-50 50:1 60 120 57.2 125 *3 0.27 2400 2200
08A -VL070-03 3:1 1000 2000 6.81 23.8 0.53
1200 1100
08A -VL070-05 5:1 95 600 1200 11.4 39.7 0.46
08A -VL090-10 10:1 300 600 22.7 79.4 0.775 0.70
08A7D6
(0.955) 2400 2200
08A -VL090-25 25:1 120 240 53.8 *3 0.74
125
90
08A -VL120-50 50:1 60 120 108 330 *3 0.76 4300 3900
15A -VL090-03 3:1 1000 2000 14.0 41.9 2.9
15A -VL090-05 5:1 95 600 1200 23.3 69.8 2.6 2400 2200
2.000
15A -VL090-10 15A7D6 10:1 300 600 46.6 80 *3 2.5 IP65
(2.250)
15A -VL120-25 25:1 120 240 110 331 2.8
90 4300 3900
15A -VL120-50 50:1 60 120 180 *3 330 *3 2.5 5
20A -VL090-03 3:1 1000 2000 18.1 54.4 2.9
2400 2200
20A -VL090-05 5:1 95 600 1200 30.2 90.7 2.6
20A -VL120-10 10:1 300 600 60.4 181 2.470 2.6
20A7D6
(2.720) 4300 3900
20A -VL120-25 25:1 120 240 143 *3 330 *3 2.8
90
20A -VL155-50 50:1 40*3 80*3 286 *3 700 *3 2.8 9100 8200
25A -VL090-03 3:1 1000 2000 22.7 68.1 2.9
2400 2200
25A -VL090-05 5:1 95 600 1200 37.8 114 2.6
25A -VL120-10 10:1 300 600 75.6 227 3.190 2.6
25A7D6 (3.440) 4300 3900
25A -VL120-25 25:1 120 240 *3 *3 2.8
179 330
90
25A -VL155-50 50:1 40*3 80*3 358 *3 700 *3 2.8 9100 8200
30A -VL090-03 3:1 1000 2000 27.9 83.8 2.9
2400 2200
30A -VL090-05 5:1 95 600 1200 46.6 125 *3 2.6
7.000
30A -VL120-10 30A7D6 10:1 300 600 93.1 225 *3 2.6
(9.200) 4300 3900
30A -VL120-25 25:1 120 240 *3 *3 2.8
180 330
90
30A -VL155-50 50:1 40*3 80*3 360 *3 700 *3 2.8 9100 8200
40A -VL090-03 3:1 1000 2000 35.9 80 *3 2.9
2400 2200
40A -VL090-05 5:1 95 600 1200 59.9 125 *3 2.6
9.600
40A -VL120-10 40A7D6 10:1 300 600 120 225 *3 (11.80)
2.6 4300 3900
40A -VL155-25 25:1 *3 *3 284 *3 4.1 9100 8200
80 160 700
90
40A -VL205-50 50:1 30*3 60*3 567 1400*3 3.8 15000 14000
63
Rotary Servo Motors
SGM7A

Rated Peak Back-
Gear Torque lash
Ratio (x10 -4 (x10-4 (arc-
min)
SGM7A- kg-m 2) kg-m2 ) (N) (N)
50A -VL090-03 3:1 1000 2000 45.0 80 *3 2.9
2400 2200
50A -VL090-05 5:1 95 600 1200 75.1 125 *3 2.6
12.30
50A -VL155-10 50A7D6 10:1 200*3 400*3 150 452
(14.50)
3.2
9100 8200
50A -VL155-25 25:1 *3 *3 356 *3 4.1
80 160 700
90
50A -VL205-50 50:1 30*3 60*3 711 1400*3 3.8 15000 14000
5 IP65
70A-VL120-03 3:1 1000 2000 63.6 154 5.1
4300 3900
70A-VL120-05 5:1 95 600 1200 106 257 3.1
70A-VL155-10 70A7D61 10:1 200*3 400*3 212 513 12.30 3.2 9100 8200
70A-VL205-25 25:1 90 60*3 120*3 502 1215 7.9
15000 14000
70A-VL235-50 50:1 92 30*3 60*3 1026 2484 4.7
64
Rotary Servo Motors
SGM7A

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
min)
SGM7A- kg-m 2 ) kg-m 2 ) (N) (N)
02D -VL050-03 3:1 1000 2000 1.82 6.36 0.17
710 640
02D -VL050-05 5:1 600 1200 3.03 10.6 0.15
Rotary Servo Motors

95
0.139
02D -VL070-10 02D7F6 10:1 300 600 6.05 12.0*3 0.17
(0.209)
02D -VL070-25 25:1 120 240 14.3 50.2 0.17 1200 1100
90
02D -VL070-50 50:1 60 120 28.7 50.0*3 0.16
04D -VL050-03 3:1 1000 2000 3.62 12.7 0.17
710 640
04D -VL050-05 5:1 600 1200 6.03 *3 0.15
95 18.0
0.216
04D -VL070-10 04D7F6 10:1 300 600 12.1 35.0*3 0.17
(0.286) 1200 1100
04D -VL070-25 25:1 120 240 28.6 *3 0.17
50.0
90
04D -VL090-50 50:1 60 120 57.2 125 *3 0.27 2400 2200
08D -VL070-03 3:1 1000 2000 6.81 23.8 0.53
1200 1100
08D -VL070-05 5:1 95 600 1200 11.4 39.7 0.46
08D -VL090-10 10:1 300 600 22.7 79.4 0.775 0.70
08D7F6
(0.955) 2400 2200
08D -VL090-25 25:1 120 240 53.8 125 *3 0.74
90
08D -VL120-50 50:1 60 120 108 330 *3 0.76 4300 3900
15D -VL070-03 3:1 1000 2000 14 41.9 2.9
15D -VL070-05 5:1 95 600 1200 23.3 69.8 2.6 2400 2200
2.000
15D -VL090-10 15D7F6 10:1 300 600 46.6 80 *3 2.5 5 IP65
(2.250)
15D -VL090-25 25:1 120 240 110 331 2.8
90 4300 3900
15D -VL120-50 50:1 60 120 180 *3 330 *3 2.5
20D -VL070-03 3:1 1000 2000 18.1 54.4 2.9
2400 2200
20D -VL070-05 5:1 95 600 1200 30.2 90.7 2.6
20D -VL090-10 10:1 300 600 60.4 181 2.470 2.6
20D7F6
(2.720) 4300 3900
20D -VL090-25 25:1 120 240 143 *3 330 *3 2.8
90
20D -VL120-50 50:1 40 *3 80 *3 286 *3 700 *3 2.8 9100 8200
25D -VL070-03 3:1 1000 2000 22.7 68.1 2.9
2400 2200
25D -VL070-05 5:1 95 600 1200 37.8 114 2.6
25D -VL090-10 10:1 300 600 75.6 227 3.190 2.6
25D7F6
(3.440) 4300 3900
25D -VL090-25 25:1 120 240 179 *3 330 *3 2.8
90
25D -VL120-50 50:1 40 *3 80 *3 358 *3 700 *3 2.8 9100 8200
30D -VL070-03 3:1 1000 2000 27.9 83.8 2.9
2400 2200
30D -VL070-05 5:1 95 600 1200 46.6 125 *3 2.6
7.000
30D -VL090-10 30D7F6 10:1 300 600 93.1 225 *3 2.6
(9.200) 4300 3900
30D -VL090-25 25:1 120 240 *3 *3 2.8
180 330
90
30D -VL120-50 50:1 40 *3 80 *3 360 *3 700 *3 2.8 9100 8200
65
Rotary Servo Motors
SGM7A

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
min)
SGM7A- kg-m 2 ) kg-m 2 ) (N) (N)
40D -VL070-03 3:1 1000 2000 35.9 125 *3 2.9
2400 2200
40D -VL070-05 5:1 95 600 1200 59.9 225 *3 2.6
9.600
40D -VL090-10 40D7F6 10:1 300 600 120 330 *3 (11.80)
2.6 4300 3900
40D -VL090-25 25:1 *3 *3 284 *3 4.1 9100 8200
80 160 700
90
40D -VL120-50 50:1 30 *3 60 *3 567 1400*3 3.8 15000 14000
50D -VL070-03 3:1 1000 2000 45 80 *3 2.9
2400 2200
50D -VL070-05 5:1 95 600 1200 75.1 *3 2.6
125
50D -VL090-10 50D7F6 10:1 200*3 400*3 150 452 3.2 5 IP65
9100 8200
50D -VL090-25 25:1 *3 *3 356 *3 4.1
80 160 700
90
50D -VL120-50 50:1 30 *3 60 *3 711 1400*3 12.30 3.8 15000 14000
70D -VL070-03 3:1 1000 2000 63.6 154 (14.50) 5.1
70D -VL070-05 5:1 95 600 1200 106 257 3.1 4300 3900
70D -VL090-10 70D7F6 10:1 200*3 400*3 212 513 3.2
70D -VL090-25 25:1 90 80 *3 160*3 502 1215 7.9 9100 8200
70D -VL120-50 50:1 92 30 *3 60 *3 1026 2484 4.7 15000 14000
66
Rotary Servo Motors
SGM7A

of 40°C.
SGM7A-A5, -01, -C2, -02, -04, -06, -08, and -10 SGM7A-15, -20, -25, -30, -40, -50, and -70
10000 10000
Rotary Servo Motors

1000 1000
Detection time (s)
Detection time (s)

SGM7A-15, -20, -25,
-30, -40, and -50
Motor speed of
100 10 min-1 or higher 100
10 10
Motor speed of SGM7A-70
less than 10 min-1
1 1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300
Torque reference (percent of rated torque) Torque reference (percent of rated torque)
(%) (%)
given in Torque-Motor Speed Characteristics (200 V Models -A5A to -10A) on page 56 or in Torque-Motor Speed
Characteristics (200 V Models -15A to -70A) on page 58.
67
Rotary Servo Motors
SGM7A

connected.
SERVOPACK.
supply input.
SGM7A-A5A SGM7A-01A
45 45

40 40
35 35

30 30
25 25
20 20
15 15
10 10
5 5
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1
SGM7A-C2A SGM7A-02A
45 35
40
30
35
25
30
25 20
20 15
15
10
10
5 5
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1
SGM7A-04A
25
20
15
10
0
0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
68
Rotary Servo Motors
SGM7A

rate.
Rotary Servo Motors

120 120 120

SGM7A-08A
SGM7A-A5A and -01A SGM7A-02A and -04A 100
100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80
80 80
SGM7A-10A
SGM7A-C2A 60
60 60
40
SGM7A-06A
40 40 20
20 20 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300 50 100 150 200 250 300 350
120 120
SGM7A-15A, -20A, and -25A 100 SGM7A-70A

100
Derating rate (%)
Derating rate (%)
80
80
60 SGM7A-30A
60
SGM7A-40A and -50A
40
40 20
20 0
0 50 100 150 200 250 300 350 0 100 200 300 400 500
120 120 120

SGM7A-08D
SGM7A-02D, 04D 100 SGM7A-15D, 20D, 25D
100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
80
80 80
SGM7A-10
60
60 60
40
40 20 40
20 0 20
0 50 1 00 150 200 250 300 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
120
100 SGM7A-70D
Derating rate (%)
80
60 SGM7A-30D
SGM7A-40D, 50D
40
20
0
0 1 00 200 300 400 500
Heat sink size (mm)
69
Rotary Servo Motors
SGM7A

Exceeds 40°C
120 120 120
SGM7A-06
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
60 60 60
SGM7A-A5, -01, and -C2 SGM7A-02 and -04
SGM7A-08 and -10
40 40 40
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding Air Temperature (°C) Surrounding Air Temperature (°C) Surrounding Air Temperature (°C)
120 120
SGM7A-70
100 100
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7A-15, -20, and -25 SGM7A-50
40 40
20 20 SGM7A-30 and -40
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding Air Temperature (°C) Surrounding Air Temperature (°C)
120 120 120
100 100 100

Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80
60 60 60
SGM7A-02D, 04D SGM7A-15D, 20D, 25D
SGM7A-08D, 10D
40 40 40
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding air temperature (°C) Surrounding air temperature (°C) Surrounding air temperature (°C)
120
SGM7A-70D
100
Derating rate (%)
80
60
SGM7A-50D
40
20 SGM7A-30D, 40D
0
0 10 20 30 40 50 60 70
Surrounding air temperature (°C)
70
Rotary Servo Motors
SGM7A

Rotary Servo Motors

120 120 120
SGM7A-08
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7A-A5, -01, and -C2 SGM7A-02, -04, and -06 SGM7A-10
60 60 60
40 40 40
20 20 20
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Altitude (m) Altitude (m) Altitude (m)
120 120
SGM7A-70
100 100
Derating rate (%)
Derating rate (%)
80 80
60 60
SGM7A-15, -20, and -25 SGM7A-30 and -40
40 40
SGM7A-50
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
120 120 120

SGM7A-08D
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80
SGM7A-02D, 04D
SGM7A-10D
60 60 60
SGM7A-15D, 20D, 25D
40 40 40
20 20 20
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
120
SGM7A-70D
100
Derating rate (%)
80
60
SGM7A-30D, 40D
40
SGM7A-50D
20
0
0 500 1000 1500 2000 2500
Altitude (m)
71
Rotary Servo Motors
SGM7A
External Dimensions
Servo Motors (200V)
 SGM7A-A5A, -01A, and -C2A (200V Models)
0.04 A
L Notation
0.04 dia. A
LL LR o: Square dimensions
oLC
20.5 LM LE
MW
MD 0.6 17 ML 0.8
LG
14
LB dia.
LA
dia
.
S dia.
A
2 × LZ dia.
0.02 Unit: mm
Flange Dimensions
Model SGM7A- L LL LM S
81.5 56.5 0 0
A5A A2 37.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(122) (97)
93.5 68.5 0 0
01A A2 49.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(134) (109)
105.5 80.5 0 0
C2A A2 61.9 25 2.5 5 40 46 30 -0.021 4.3 8 -0.009
(153.5) (128.5)
Model SGM7A- MD MW ML Approx. Mass [kg]

0.3
A5A A2 8.8 25.8 16.1
(0.6)
0.4
01A A2 8.8 25.8 16.1
(0.7)
0.5
C2A A2 8.8 25.8 16.1
(0.8)
Shaft End Specifications for SGM7A-A5 to -10 (200 V Models) (page 74)
• Oil Seal
7.5
1.5
30 - 0.021 dia.
29.8 dia.
0
72
Rotary Servo Motors
SGM7A
 SGM7A-02A to -10A (200 V Models)

0.04 A
L
LL LR 0.04 dia. A
20.5 LM LE oLC
MD 0.6 17 ML LG MW
MH
14
Rotary Servo Motors

LB dia.
S dia.
LA dia.
A
0.02 4 × LZ dia. Unit: mm
Flange Dimensions
Model SGM7A- L LL LM S
99.5 69.5 0 0
02A A2 51.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(140) (110)
115.5 85.5 0 0
04A A2 67.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(156) (126)
137.5 107.5 0 0
06A A2 89.2 30 3 6 60 70 50 -0.025 5.5 14 -0.011
(191.5) (161.5)
137 97 0 0
08A A2 78.5 40 3 8 80 90 70 -0.030 7 19 -0.013
(184) (144)
162 122 0 0
10A A2 103.5 40 3 8 80 90 70 -0.030 7 19 -0.013
(209) (169)
Model SGM7A- MD MW MH ML Approx. Mass [kg]

02A A2 8.5 28.7 14.7 17.1 0.8 (1.4)
04A A2 8.5 28.7 14.7 17.1 1.2 (1.8)
06A A2 8.5 28.7 14.7 17.1 1.6 (2.2)
08A A2 13.6 38 14.7 19.3 2.3 (2.9)
10A A2 13.6 38 14.7 19.3 3.1 (3.7)
Shaft End Specifications for SGM7A-A5 to -10 (200 V Models) (page 74)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.

Model SGM7A-
E1 E2 LS1 LS2
02A, 04A, 06A 35 47 5.2 10
08A, 10A 47 61 5.5 11
73
Rotary Servo Motors
SGM7A
Shaft End Specifications for SGM7A-A5 to -10 (200 V Models)
 SGM7A-
Code Specification
6
B With two flat seats
Servo Motor Model SGM7A-

Shaft End Details
A5 01 C2 02 04 06 08 10
LR
LR 25 30 40
S dia.
0 0 0
S 8 -0.009 14 -0.011 19 -0.013

LR 25 30 40
LR
QK 14 14 22
QK 0 0 0
S 8 -0.009 14 -0.011 19 -0.013
U
Y P W 3 5 6
W
T 3 5 6
S dia.
Y T
Cross section Y-Y U 1.8 3 3.5
P M3  6L M5  8L M6  10L
Code: B (with Two Flat Seats)
LR LR 25 30 40
QH QH 15 15 22
0 0 0
Y S 8 -0.009 14 -0.011 19 -0.013
H1
H1 7.5 13 18
S dia.
Y H2
Cross section Y-Y H2 7.5 13 18
74
Rotary Servo Motors
SGM7A
Servo Motors (400V)
 SGM7A-02D to -04D (400 V Model)

25
L2
Rotary Servo Motors

Notation
Notation
o:: Square dimen
Square dimensions
sions
49.5 L1
0.04 A
L
LL 30
LM 26
46.5
17
3
6
12.5 0.02 9
106.5
A
70
88
dia
.
dia.
LB dia.
71
60
LB
SS dia.
dia.
4 × 5.5 dia. .
0.04 dia. A Unit: mm
Approx.
Model SGM7A- L LL LM LB S L1 L2
Mass [kg]
108 78.5 0 0 65 0.9
02D F2 51.2 50 -0.025 14 -0.011 25
(141.5) (118.5) (105) (1.5)
125 95 0 0 81.5 1.2
04D F2 67.2 50 -0.025 14 -0.011 41.5
(165) (135) (121.5) (1.8)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.

Model SGM7A-
E1 E2 LS1 LS2
02D, 04D, 35 47 5.2 10
75
Rotary Servo Motors
SGM7A
 SGM7A-08D (400 V Model)

25
L2
49.5 L1
L
LL 40
26
LM 11.5
0.04 A
17
25
46.5
8 3
126.5
90
16
dia
.
S dia.
80
dia.
LB dia.
82
LB
0.04 dia. A
A 4 × 7 dia.
0.02 dia. Unit: mm
Approx.
Mass [kg]
146.5 106.5 0 0 93 2.4
08D F2 79 70 -0.030 19 -0.013 53
(193.5) (153.5) (140) (3.0)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.

Model SGM7A-
E1 E2 LS1 LS2
08D 47 61 5.5 11
76
Rotary Servo Motors
SGM7A

25
L2
Rotary Servo Motors

0.04
54 L1
LL 40 28
11.5
LM
0.04 A
53.5
17
25
8 3
133.5
90
16
dia
.
80
LB dia.
dia.
S dia.
82
LB
4 × 7 dia.
0.04 dia. A
A
0.02 dia. Unit: mm
Approx.
Mass [kg]
171 131 0 0 117.5 3.2
10D F2 103.5 70 -0.030 19 -0.013 77
(218) (178) (164.5) (3.8)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.

Model SGM7A-
E1 E2 LS1 LS2
10D 47 61 5.5 11
77
Rotary Servo Motors
SGM7A
Shaft End Specifications for SGM7A-02 to -10 (400 V Models)
 SGM7A-
Code Specification
6

Shaft End Details
02 04 08 10
LR
LR 30 40
S dia.
0 0
S 14 -0.011 19 -0.013

LR 30 40
LR
QK 14 22
QK 0 0
S 14 -0.011 19 -0.013
U
Y P W 5 6
W
T 5 6
S dia.
Y T
Cross section Y-Y
U 3 3.5
P M5  8L M6  10L
78
Rotary Servo Motors
SGM7A
Servo Motors without Holding Brakes (200V)

 SGM7A-15A, -20A, and -25A
L
Shaft End Details
LL
0.04 A
36 LM LR LR
LG LE 0.04 dia. A
LE
S dia.
0.5
Rotary Servo Motors

40 oLC
.
LH dia
LA
79 dia.
dia
.
LB dia.
65 dia.
45 dia.
S dia.
50
R1
30 dia.
KL1
4 × LZ dia. Q
A
106.5
0.02
17 KB1 Refer to Shaft End Speci-
KB2 fications for SGM7A-15A
to -70A (200V) on page 83
for details. Unit: mm
Model SGM7A- L LL LM LR KB1 KB2 KL1

15A A21 202 157 121 45 107 145 94
20A A21 218 173 137 45 123 161 94
25A A21 241 196 160 45 146 184 94
Flange Dimensions Shaft End Dimensions Approx.

Model SGM7A-
LA LB LC LE LG LH LZ S Q Mass [kg]
0 0
15A A21 115 95 -0.035 100 3 10 130 7 24 -0.013 40 4.6
0 0
20A A21 115 95 -0.035 100 3 10 130 7 24 -0.013 40 5.4
0 0
25A A21 115 95 -0.035 100 3 10 130 7 24 -0.013 40 6.8
Note: Servo Motors with Oil Seals have the same dimensions.
79
Rotary Servo Motors
SGM7A
 SGM7A-30A, -40A, and -50A

L
LL LR Shaft End Details
36 LM LR
0.04 A
LG LE LE
0.04 dia. A
S dia.
1.5 oLC
55
.
dia
LH
dia. LA
79 dia.
45 dia.
S dia.
LB dia.
65 dia.
R1
50
30 dia.
KL1
A Q
0.02
Refer to Shaft End Speci-
17 KB1 4 × LZ dia. fications for SGM7A-15A
KB2 to -70A (200V) on page
83 for details.
Unit: mm
Model SGM7A- L LL LM LR KB1 KB2 KL1

30A A21 257 194 158 63 145 182 114
40A A21 296 233 197 63 184 221 114
50A A21 336 273 237 63 224 261 114
Flange Dimensions Shaft End Dimensions Approx.

Model SGM7A-
LA LB LC LE LG LH LZ S Q Mass [kg]
0 0
30A A21 145 110 -0.035 130 6 12 165 9 28 -0.013 55 10.5
0 0
40A A21 145 110 -0.035 130 6 12 165 9 28 -0.013 55 13.5
0 0
50A A21 145 110 -0.035 130 6 12 165 9 28 -0.013 55 16.5
 SGM7A-15 to -50 without Holding Brakes (page 104)
80
Rotary Servo Motors
SGM7A
 SGM7A-70A
L
70 LL LR
43 LM 0.04 A
130 LG LE
S dia.
1.5 144 63
0.04 dia. A oLC 6
5.5
Cooling air
Rotary Servo Motors

flow
φ LH
LB dia.
65 dia.
oLC
45 dia.
S dia.
144
φL
50
30 dia.
R1
A
80
KL1
114
A
Refer to Shaft End Speci-

20 KB1 fications for SGM7A-15A
KB2 4 × LZ dia. to -70A (200V) on page
0.04 dia. A
Fan connector 83 for details.
0.02
Cooling fan
Unit: mm
17
49
Cooling Fan Specifications Specifications of Fan Operation Error Detector

Single-phase, 220 V Contact Capacity
50/60 Hz Maximum allowable voltage: 350 V (AC/DC)
Motor connector
Detector connector 17/15 W Maximum allowable current: 120 mA (AC/ DC)
0.11/0.09 A Maximum controllable power: 360 mW
Alarm Contacts
ON for normal fan rotation.
OFF at 1,680 ± 100 min-1 max.
OFF for 3 seconds at startup.
Model
L LL LM LR KB1 KB2 KL1
SGM7A-
70A A21 397 334 291 63 224 261 108
Shaft End Dimen-

Model Flange Dimensions Approx.
sions
SGM7A- Mass [kg]
LA LB LC LE LG LH LZ S Q
0 0
70A A21 145 110 -0.035 130 6 12 165 9 28 -0.013 55 18.5
* Leave a minimum space of 70 mm around the Servo Motor from walls and other equipment to allow for a sufficient
amount of cooling air.
 SGM7A-70 without Holding Brakes (page 104)
81
Rotary Servo Motors
SGM7A
Servo Motors with Holding Brakes (200V)
 SGM7A-15A to -50A
• SGM7A-15A to -25A
L
LL LR
36 LM
0.04 A Shaft End Details
LG LE
LR
S dia.
0.04 dia. A
0.5 LE
oLC
40
.
LH dia
d ia. LA
79 dia.
φ1
30 15
φ1
LB dia.
65 dia.
45 dia.
S dia.
50
R1
30 dia.
80
KL1
Q
A
0.02 4 × LZ dia.
KB1
17 Refer to Shaft End Specifi-
KB3
cations for SGM7A-15A to
KB2 -70A (200V) on page 83 for
Unit: mm
• SGM7A-30A to -50A
L
LL LR
36 LM
0.04 A
LG LE
S dia.
1.5 oLC
5.5
0.04 dia. A .
dia
LH
dia LA
79 dia.
.
LB dia.
65 dia.
50
81
KL1
A
0.02
4 × LZ dia.
KB1
17 KB3
KB2
Model
L LL LM LR KB1 KB2 KB3 KL1
SGM7A-
15A A2C 243 198 162 45 107 186 139 102
20A A2C 259 214 178 45 123 202 155 102
25A A2C 292 247 211 45 156 235 188 102
30A A2C 293 232 196 63 145 220 181 119
40A A2C 332 269 233 63 184 257 220 119
50A A2C 372 309 273 63 224 297 260 119
Model Flange Dimensions Shaft End Dimensions Approx.

SGM7A- LA LB LC LE LG LH LZ S Q Mass [kg]
0 0
15A A2C 115 95 -0.035 100 3 10 130 7 24 -0.013 40 6.0
0 0
20A A2C 115 95 -0.035 100 3 10 130 7 24 -0.013 40 6.8
0 0
25A A2C 115 95 -0.035 100 3 10 130 7 24 -0.013 40 8.7
0 0
30A A2C 145 110 -0.035 130 6 12 165 9 28 -0.013 55 13
0 0
40A A2C 145 110 -0.035 130 6 12 165 9 28 -0.013 55 16
0 0
50A A2C 145 110 -0.035 130 6 12 165 9 28 -0.013 55 19
 SGM7A-15 to -50 with Holding Brakes (page 105)
82
Rotary Servo Motors
SGM7A
Shaft End Specifications for SGM7A-15A to -70A (200V)
 SGM7A-
Code Specification
Rotary Servo Motors

6

Shaft End Details
15A 20A 25A 30A 40A 50A 70A
LR LR 45 63
Q Q 40 55
0 0
S 24 -0.013 28 -0.013
R1
S dia.

LR LR 45 63
Q Q 40 55
QK QK 32 50
0 0
S 24 -0.013 28 -0.013
W 8
R1
T 7
U 4
U P
S dia.
P M8 screw, Depth: 16
W
83
Rotary Servo Motors
SGM7A
Servo Motors (400V)
 SGM7A-15D to -25D (400 V Models)

L
LL Shaft End Details
0.04 A
LM 45
45
10 3 3
S dia.
0.5 0.04 A
40 ia.
5d
79 dia.
11
LB dia.
65 dia.
100
45 dia.
16
59
73
113
30 dia.
R1
S dia.
130
0.02 4 × 7 dia.
A Q
dia
.
Refer to 4.3.4 S haft End
Specification s for SGM7A -
L2 15 to -3 0 on page 4-15 for
details.
Unit: mm
54 L1
Shaft End
Dimensions Approx.
Model SGM7A- L LL LM L1 L2 LB
Mass [kg]
S Q
204 159 121 145 0 0 4.7
15D F2 90 95 -0.035 24 -0.013 40
(245) (200) (162) (187) (6.1)
220 175 137 161 0 0 5.5
20D F2 106 95 -0.035 24 -0.013 40
(261) (216) (178) (203) (6.9)
243 198 160 184 0 0 6.9
25D F2 129 95 -0.035 24 -0.013 40
(294) (249) (211) (235) (8.8)
2. Servomotors with Dust Seals have the same dimensions.
3. Refer to Shaft End Specifications for SGM7A-15 to -70 for details.
84
Rotary Servo Motors
SGM7A
 SGM7A-30D to -50D (400 V Models)

L
LL
0.04 A
LM 63 Shaft End Details
12 6 0.04 A 63
S dia.
1.5 .
55 dia
5 6
14
79 dia.
Rotary Servo Motors

65 dia.
LB dia.
130
16
59
45 dia.
136
30 dia.
S dia.
R1
A 4 × 9 dia.
16
5d
Q
i a.
0.02
Refer to 4.3.4 Shaft End

S pecifications for SGM7A-
182.5 15 to -3 0 on page 4-15 for
L2 details.
Unit: mm
54 L1
Shaft End
Dimensions Approx.
Mass [kg]
S Q
259 196 158 183 0 0 10.6
30D F2 131 110 -0.035 28 -0.013 55
(295) (232) (194) (219) (13.1)
298 235 197 222 0 0 14.0
40D F2 170 110 -0.035 28 -0.013 55
(334) (271) (233) (258) (16.5)
338 275 237 262 0 0 17.0
50D F2 210 110 -0.035 28 -0.013 55
(374) (311) (273) (298) (19.5)
85
Rotary Servo Motors
SGM7A

L
LL 63
43 LM 144 Shaft End Details
0.04 A
12 6 130 63
130 .
S dia.
dia
5 6
14
LB dia.
144
1f 1665
59
5dia
45 dia.
80
.
101
147
A
30 dia.
S dia.
4 × 9 dia.
R1
Q
0.04 dia. A
93 0.02 49
48 259
Refer to 4.3.4 Shaft End Spec ifica-
L2 tions for SGM7A-15 to -7 0 on page
4-18 for details.
49
16
Unit: mm
L1
Shaft End
Dimensions Approx.
Mass [kg]
S Q
0 0
70D F2 397 334 291 204 262 110 -0.035 28 -0.013 55 19
 Cooling Fan Specification

• Single-Phase, 220V
• 50/60 Hz
• 17/15W
• 0.11/0.09 A
86
Rotary Servo Motors
SGM7A
Shaft End Specifications for SGM7A-15D to -70D (400V)
 SGM7A-
Code Specification
Rotary Servo Motors

6

Shaft End Details
15D 20D 25D 30D 40D 50D 70D
LR LR 45 63
Q Q 40 55
0 0
S 24 -0.013 28 -0.013
R1
S dia.

LR LR 45 63
Q Q 40 55
QK QK 32 50
0 0
S 24 -0.013 28 -0.013
W 8
R1
T 7
U 4
U P
S dia.
P M8 screw, Depth: 16
W
87
Rotary Servo Motors
SGM7A
 SGM7A-02D to -70D
Receptacle 1 PG 5V
Size: M12 2 PG 0V
3 FG
Model: 5 BAT (-)
SACC-MSQ-M12MS-25-3,2 SCO 6 Data (+)
7 Data (-)
Manufacturer: Phoenix Contact 8 Empty
Housing Shield
 SGM7-02D to -08D
1 (Brake)
Receptacle 3 U
Size: M17 4 V
6 (Brake)
Housing Shield
 SGM7-10D to -50D
1 V
Size: M23 4 (Brake)
6 W
88
Rotary Servo Motors
SGM7A
 SGM7-70D
V U U
– + Receptacle V V
Size: M40 W W
Rotary Servo Motors

Part number: 1607927 + Empty
W - Empty
Model: SM-5EPWN8AAD00S FG FG
U
FG Manufacturer: Phoenix Contact Housing Shield
 SGM7-70D
FG 1 ALARM TERMINAL
Receptacle 3 FAN MOTOR
6 1 Size: M40 4 FAN MOTOR
Part number: 1617927 6 ALARM TERMINAL
7 7 Empty
4 3
89
Rotary Servo Motors
SGM7A
Servo Motor Connector Rotational Angle (400 V)
 SGM7-02D to -70D
SGM7A-02 to -10 SGM7A-15 to -25 SGM7A-30 to -50
27
270°
0°
25
270°
30° 75
° Allowable
SGM7A-70
number of
0° rotations: 10
27
270
°
20°
90°
90
Rotary Servo Motors
SGM7A
Gear Motors
 Gear Motor Models: 100W, 200W, 400W (S7A01, S7A02, S7A04)

LL LR φ MT MD
LL3 LE
Rotary Servo Motors

φ LA
Q
QK KD
R0
.40
QK KD U QK U
W W
T T
Model S7A LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

100 W Models
01A -VL050-03
133.5
01A -VL050-05 65
(174)
01A -VL050-10 24.5 4 12 35 50 42 44 M4 8 19.5 14 2 4 2.5 4
200 V
150
01A -VL050-25 81.5
(190.5)
163.5
01A -VL070-50 95 36 5 16 52 70 52 62 M5 10 28 22 0 5 3 5
(204)
200 W Models
02A -VL050-03 137.5
68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
02A -VL050-05 (178
200 V
149.5
02A -VL070-10 80 65
(190)
02A -VL070-25 36 5 16 52 70 62 M5 10 28 22 0 5 3 5
170.5
101
02A -VL070-50 (211)
02D -VL050-03 146.5
68 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
02D -VL050-05 (186.5)
400 V
158.5
02D -VL070-10 80 65
(198.5)
02D -VL070-25 179.5 36 5 16 52 70 62 M5 10 28 22 0 5 3 5
101
02D -VL070-50 (219.5)
400 W Models
04A -VL050-03 153.5
68 24.5 4 12 52 70 44 M4 8 19.5 14 2 4 2.5 4
04A -VL050-05 (194)
165.5
04A -VL070-10
200 V
80
(206) 65
36 5 16 68 90 62 M5 10 28 22 05 3 5
186.5
04A -VL070-25 101 0
(227)
204.5
04A -VL090-50 119 46 7 22 90 120 80 M6 12 36 28 6 3.5 6
(245)
04D -VL050-03 163
68 24.5 4 12 52 70 44 M4 8 19.5 14 2 4 2.5 4
04D -VL050-05 (203)
175
04D -VL070-10
400 V
80
(215) 65
36 5 16 68 90 62 M5 10 28 22 05 3 5
196
04D -VL070-25 101 0
(236)
214
04D -VL090-50 119 46 7 22 90 120 80 M6 12 36 28 6 3.5 6
(254)
91
Rotary Servo Motors
SGM7A
 Gear Motor Models: 750W, 1.5kW (S7A08, S7A15)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK KD
R0
.40
QK KD U QK U
W W
T T

750 W Models
08A -VL070-03 191
94 36 5 16 52 70 62 M5 10 28 22 5 3 5
08A -VL070-05 (238)
204
08A -VL090-10
200 V
107
(251) 80 0
46 7 22 68 90 80 M6 12 36 28 6 3.5 6
226
08A -VL090-25 129
(273)
241.5
08A -VL120-50 144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(288.5)
08D -VL070-03 200.5
94 36 5 16 52 70 62 M5 10 28 22 5 3 5
08D -VL070-05 (247.5)
213.5
08A -VL090-10
400 V
107
(260.5) 80 0
46 7 22 68 90 80 M6 12 36 28 6 3.5 6
235.5
08D -VL090-25 129
(282.5)
251
08D -VL120-50 144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(298)
1.5 kW Models
15A -VL090-03
276
15A -VL090-05 119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
(317)
200 V
15A -VL090-10 100 0

15A -VL090-25 313.5
156.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
15A -VL120-50 (354.5)
92
Rotary Servo Motors
SGM7A
 Gear Motor Models: 2.0 to 4.4kW (S7A20, S7A25, S7A30, S7A40)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK KD
Rotary Servo Motors

R0
.40
QK KD U QK U
W W
T T

2.0 kW Models
20A -VL090-03 292
119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
20A -VL090-05 (333)
302
20A -VL120-10
200 V
129
(343) 100 0
70 9 32 90 120 108 M8 16 58 45 10 5 8
329
20A -VL120-25 156.5
(370.5)
354.5
20A -VL155-50 181.5 97 12 40 120 155 140 M10 20 82 65 12 5 8
(395.5)
2.5 kW Models
25A -VL090-03 315
119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
25A -VL090-05 (366)
325
25A -VL120-10
200 V
129
(376) 100 0
70 9 32 90 120 108 M8 16 58 45 10
352.5
25A -VL120-25 156.5 5 8
(403.5)
377.5
25A -VL155-50 181.5 97 12 40 120 155 140 M10 20 82 65 12
(428.5)
3.0 kW Models
30A -VL090-03 318
124 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
30A -VL090-05 (356)
328
30A -VL120-10
200 V
134
(366) 130 0
70 9 32 90 120 108 M8 16 58 45 10
355.5
30A -VL120-25 161.5 5 8
(393.5)
380.5
30A -VL155-50 186.5 97 12 40 120 155 140 M10 20 82 65 12
(418.5)
4.0 kW Models
40A -VL090-03 357
124 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
40A -VL090-05 (393)
367
40A -VL120-10
200 V
134 70 9 32 90 120 108 M8 16 58 45 10

(403) 130 0 5 8
419.5
40A -VL155-25 186.5 97 12 40 120 155 140 M10 20 12
(455.5)
82 65
449
40A -VL205-50 216 100 15 55 160 205 184 M12 22 16 6 10
(485)
Note: The values in parentheses are for Servo Motors with Holding Brakes. 7.0kW motors not available with brake.
93
Rotary Servo Motors
SGM7A
 Gear Motor Models: 5.0 to 7.0kW (S7A50, S7A70)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK KD
R0
.40
QK KD U QK U
W W
T T

5.0 kW Models
50A -VL090-03 397
124 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
50A -VL090-05 (433)
425
50A -VL155-10
200 V
152
(461) 130 0
97 12 40 120 155 140 M10 20 12 5 8
459.5
50A -VL155-25 186.5 82 65
(495.5)
489
50A -VL205-50 216 100 15 55 160 205 184 M12 22 16 6 10
(525)
7.0 kW Models
70A -VL120-03
468 134 70 9 32 90 120 108 M8 16 58 45 10
70A -VL120-05 5 8
200 V
70A -VL155-10 486 152 97 12 40 120 155 130 140 M10 20 0 12

82 65
70A -VL205-25 550 216 100 15 55 160 205 184 M12 22 16 6 10
70A -VL235-50 559.5 225.5 126 18 75 180 235 210 M16 28 105 85 20 7.5 12
94
Rotary Servo Motors
SGM7A
Selecting Cables
Rotary Servo Motors

SERVOPACK
SERVOPACK
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Battery Case
(Required when an Servo Motor Encoder-end Cable
absolute encoder is used.) Main Circuit Cable
Servo Motor Main

Circuit Cable
Servo Motor
Servo Motor
Standards are not available from Yaskawa for the SGM7A-15A to SGM7A-30A Servo Motors. You must make such
a cable yourself. Use the Connectors specified by Yaskawa for these Servo Motors. (These Connectors are com-
pliant with the standards.) Yaskawa does not specify what wiring materials to use.
For the following Servo Motor models, there are different order numbers for the Servo Motor
Main Circuit Cables and Encoder Cables depending on the cable installation direction. Confirm
the order numbers before you order.
Important • SGM7A models SGM7A-A5 to SGM7A-10
Cable Installed toward Load Cable Installed away from Load
U
U
V
V
W
W
G
G
95
Rotary Servo Motors
SGM7A

Servo Order Number
Length
Model
SGM7A-
A5 to -C2 10 m JZSP-C7M10F-10-E JZSP-C7M12F-10-E YAI-CSM21-10-P-E
(200V)
Power 50 m JZSP-C7M10F-50-E JZSP-C7M12F-50-E YAI-CSM21-50-P-E
cable for 3m JZSP-C7M20F-03-E JZSP-C7M22F-03-E YAI-CSM22-03-P-E
Servo 5m JZSP-C7M20F-05-E JZSP-C7M22F-05-E YAI-CSM22-05-P-E
SGM7A- Motors
02 to -06 without 10 m JZSP-C7M20F-10-E JZSP-C7M22F-10-E YAI-CSM22-10-P-E
Motor end SERVOPACK end
Holding 15 m JZSP-C7M20F-15-E JZSP-C7M22F-15-E YAI-CSM22-15-P-E L

U
200 W to Brakes
V
20 m JZSP-C7M20F-20-E JZSP-C7M22F-20-E YAI-CSM22-20-P-E W

(200V) Cable
installed 40 m JZSP-C7M20F-40-E JZSP-C7M22F-40-E YAI-CSM22-40-P-E
toward 50 m JZSP-C7M20F-50-E JZSP-C7M22F-50-E YAI-CSM22-50-P-E
load 3m JZSP-C7M30F-03-E JZSP-C7M32F-03-E YAI-CSM23-03-P-E
SGM7A- 10 m JZSP-C7M30F-10-E JZSP-C7M32F-10-E YAI-CSM23-10-P-E
08 and -10 15 m JZSP-C7M30F-15-E JZSP-C7M32F-15-E YAI-CSM23-15-P-E
750 W, 1.0 20 m JZSP-C7M30F-20-E JZSP-C7M32F-20-E YAI-CSM23-20-P-E

kW (200V) 30 m JZSP-C7M30F-30-E JZSP-C7M32F-30-E YAI-CSM23-30-P-E
SGM7A-
A5 to -C2 10 m JZSP-C7M10G-10-E JZSP-C7M12G-10-E
(200V)
Power 50 m JZSP-C7M10G-50-E JZSP-C7M12G-50-E
cable for 3m JZSP-C7M20G-03-E JZSP-C7M22G-03-E
Servo 5m JZSP-C7M20G-05-E JZSP-C7M22G-05-E
SGM7A- Motors
02 to -06 without 10 m JZSP-C7M20G-10-E JZSP-C7M22G-10-E
Holding 15 m JZSP-C7M20G-15-E JZSP-C7M22G-15-E L
N/A
U
200 W to Brakes 20 m JZSP-C7M20G-20-E JZSP-C7M22G-20-E

W

(200V) Cable
installed 40 m JZSP-C7M20G-40-E JZSP-C7M22G-40-E
away 50 m JZSP-C7M20G-50-E JZSP-C7M22G-50-E
from load 3m JZSP-C7M30G-03-E JZSP-C7M32G-03-E
SGM7A- 10 m JZSP-C7M30G-10-E JZSP-C7M32G-10-E
08 and -10 15 m JZSP-C7M30G-15-E JZSP-C7M32G-15-E
750 W, 1.0 20 m JZSP-C7M30G-20-E JZSP-C7M32G-20-E

kW (200V) 30 m JZSP-C7M30G-30-E JZSP-C7M32G-30-E
96
Rotary Servo Motors
SGM7A
Servo Order Number

Length
Model
SGM7A-
A5 to -C2 10 m JZSP-C7M13F-10-E JZSP-C7M14F-10-E YAI-CSM31-10-P-E
Rotary Servo Motors

(200V)
Power 50 m JZSP-C7M13F-50-E JZSP-C7M14F-50-E YAI-CSM31-50-P-E
cable for 3m JZSP-C7M23F-03-E JZSP-C7M24F-03-E YAI-CSM32-03-P-E
Servo 5m JZSP-C7M23F-05-E JZSP-C7M24F-05-E YAI-CSM32-05-P-E
SGM7A- Motors
02 to -06 with 10 m JZSP-C7M23F-10-E JZSP-C7M24F-10-E YAI-CSM32-10-P-E Motor end SERVOPACK end
L
Holding 15 m JZSP-C7M23F-15-E JZSP-C7M24F-15-E YAI-CSM32-15-P-E U
200 W to Brakes 20 m JZSP-C7M23F-20-E JZSP-C7M24F-20-E YAI-CSM32-20-P-E

G

(200V) Cable
installed 40 m JZSP-C7M23F-40-E JZSP-C7M24F-40-E YAI-CSM32-40-P-E
toward 50 m JZSP-C7M23F-50-E JZSP-C7M24F-50-E YAI-CSM32-50-P-E
load 3m JZSP-C7M33F-03-E JZSP-C7M34F-03-E YAI-CSM33-03-P-E
SGM7A- 10 m JZSP-C7M33F-10-E JZSP-C7M34F-10-E YAI-CSM33-10-P-E
08 and -10 15 m JZSP-C7M33F-15-E JZSP-C7M34F-15-E YAI-CSM33-15-P-E
750 W, 1.0 20 m JZSP-C7M33F-20-E JZSP-C7M34F-20-E YAI-CSM33-20-P-E

kW (200V) 30 m JZSP-C7M33F-30-E JZSP-C7M34F-30-E YAI-CSM33-30-P-E
SGM7A-
A5 to -C2 10 m JZSP-C7M13G-10-E JZSP-C7M14G-10-E
(200V)
Power 50 m JZSP-C7M13G-50-E JZSP-C7M14G-50-E
cable for 3m JZSP-C7M23G-03-E JZSP-C7M24G-03-E
Servo 5m JZSP-C7M23G-05-E JZSP-C7M24G-05-E
SGM7A- Motors
02 to -06 with 10 m JZSP-C7M23G-10-E JZSP-C7M24G-10-E SERVOPACK end
L
Motor end
U
Holding V
N/A
W
200 W to Brakes 20 m JZSP-C7M23G-20-E JZSP-C7M24G-20-E

B

(200V) Cable
installed 40 m JZSP-C7M23G-40-E JZSP-C7M24G-40-E
away 50 m JZSP-C7M23G-50-E JZSP-C7M24G-50-E
from load 3m JZSP-C7M33G-03-E JZSP-C7M34G-03-E
SGM7A- 10 m JZSP-C7M33G-10-E JZSP-C7M34G-10-E
08 and -10 15 m JZSP-C7M33G-15-E JZSP-C7M34G-15-E
750 W, 1.0 20 m JZSP-C7M33G-20-E JZSP-C7M34G-20-E

kW (200V) 30 m JZSP-C7M33G-30-E JZSP-C7M34G-30-E
97
Rotary Servo Motors
SGM7A
Servo Order Number

Length
Model
3m B1EV-03(A)-E N/A B1EP-03(A)-E
SGM7A- 5m B1EV-05(A)-E N/A B1EP-05(A)-E
15 to -25
10 m B1EV-10(A)-E N/A B1EP-10(A)-E
1.5 to 2.5
kW (200V) 15 m B1EV-15(A)-E N/A B1EP-15(A)-E
Power
cable for 20 m B1EV-20(A)-E N/A B1EP-20(A)-E
Servo 3m B3EV-03(A)-E N/A B3EP-03(A)-E
SGM7A- Motors 5m B3EV-05(A)-E N/A B3EP-05(A)-E L 125 mm
30
10 m B3EV-10(A)-E N/A B3EP-10(A)-E
3.0 kW Cable
(200V) installed 15 m B3EV-15(A)-E N/A B3EP-15(A)-E
toward 20 m B3EV-20(A)-E N/A B3EP-20(A)-E
load 3m B4EV-03(A)-E N/A B4EP-03(A)-E
SGM7A- 5m B4EV-05(A)-E N/A B4EP-05(A)-E
40 to -70
10 m B4EV-10(A)-E N/A B4EP-10(A)-E
4.0 to 7.0
kW (200V) 15 m B4EV-15(A)-E N/A B4EP-15(A)-E
20 m B4EV-20(A)-E N/A B4EP-20(A)-E
Brake 3m BBEV-03(A)-E N/A BBEP-03(A)-E
cable for 5m BBEV-05(A)-E N/A BBEP-05(A)-E
Servo
10 m BBEV-10(A)-E N/A BBEP-10(A)-E
Motors
SGM7A- 15 m BBEV-15(A)-E N/A BBEP-15(A)-E L 125 mm
with
15 to -50
Holding
1.5 to 5.0
Brakes
kW (200V)
Cable
20 m BBEV-20(A)-E N/A BBEP-20(A)-E
installed
toward
load **
3m BFEV-03(A)-E N/A N/A
L 125 mm
SGM7A- Fan 5m BFEV-05(A)-E N/A N/A

70 7.0kW Cable 10 m BFEV-10(A)-E N/A N/A
(200V) (required) 15 m BFEV-15(A)-E N/A N/A
20 m BFEV-20(A)-E N/A N/A
** Note: Both a power cable and a separate brake cable are required for motors with holding brakes. Use brake cable shown along
with the power cables designated for motors without holding brakes.
98
Rotary Servo Motors
SGM7A

Length Order Number
Servo Motor Model Name Appearance
(L) Standard Flexible Flexible/Shielded
SGM7A-02 to -08 5m N/A N/A JZSP-C7M143-05-E-G6
Rotary Servo Motors

200W to 750 W 10 m N/A N/A JZSP-C7M143-10-E-G6
(400V) 15 m N/A N/A JZSP-C7M143-15-E-G6
SGM7A-10 to -25
1.0 to 2.5kW (400V)
Power 3m N/A N/A JZSP-C7M154-03-E-G6
Cable with- 5m N/A N/A JZSP-C7M154-05-E-G6
SGM7A-30 out Brake.
3.0kW (400V) Cable
installed 15 m N/A N/A JZSP-C7M154-15-E-G6
toward load 20 m N/A N/A JZSP-C7M154-20-E-G6
SGM7A-40 to -50
4.0 to 5.0kW (400V)
SGM7A-70
7.0kW (400V)
99
Rotary Servo Motors
SGM7A
Length Order Number

SGM7A-02 to -08 5m N/A N/A JZSP-C7M343-05-E-G6
200W to 750 W 10 m N/A N/A JZSP-C7M343-10-E-G6
(400V) 15 m N/A N/A JZSP-C7M343-15-E-G6
SGM7A-10 to -25
1.0 to 2.5kW (400V)
Cable with 5m N/A N/A JZSP-C7M354-05-E-G6
SGM7A-30 Brake.
3.0kW (400V) Cable
installed 15 m N/A N/A JZSP-C7M354-15-E-G6
toward load 20 m N/A N/A JZSP-C7M354-20-E-G6
SGM7A-40 to -50
4.0 to 5.0kW (400V)
SGM7A-70
7.0kW (400V)
SGM7A-70 7.0kW Fan Cable
(400V) (required)
Servo Motor Connection Shielding Clamp (400 V Models)

Servo Motor
Name Order Number Appearance
Model
SGM7A-02
to -30
KLBUE 4-13.5_SC
200W to 3.0
kW (400V) Shielding Clamp for Power
SGM7A-50 Cable
to -70
KLBUE 10-20_SC
5.0 to 7.0kW
(400V)
100
Rotary Servo Motors
SGM7A

Name Appearance
For incre- 3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
mental 5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E
Rotary Servo Motors

Encoder end SERVOPACK
encoder L end
Cable 15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
installed
toward load
For incre- 3m JZSP-C7PI0E-03-E JZSP-C7PI2E-03-E
mental 5m JZSP-C7PI0E-05-E JZSP-C7PI2E-05-E
encoder SERVOPACK Encoder end
10 m JZSP-C7PI0E-10-E JZSP-C7PI2E-10-E end L
Cable 15 m JZSP-C7PI0E-15-E JZSP-C7PI2E-15-E

installed
away from 20 m JZSP-C7PI0E-20-E JZSP-C7PI2E-20-E
load
SGM7A-A5 to -10 For absolute 3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
50 W to 1.0 kW encoder: SERVOPACK Encoder end
With Bat- 5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E end L
tery Case*2 10 m JZSP-C7PA0D-10-E JZSP-C7PA2D-10-E
Cable 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case

(battery included)
installed
toward load
For absolute 3m JZSP-C7PA0E-03-E JZSP-C7PA2E-03-E
encoder:
With Bat- 5m JZSP-C7PA0E-05-E JZSP-C7PA2E-05-E SERVOPACK Encoder end
end L
tery Case*2 10 m JZSP-C7PA0E-10-E JZSP-C7PA2E-10-E
Cable 15 m JZSP-C7PA0E-15-E JZSP-C7PA2E-15-E

Battery Case
installed (battery included)
away from 20 m JZSP-C7PA0E-20-E JZSP-C7PA2E-20-E
load
3m JZSP-CVP01-03-E JZSP-CVP11-03-E
5m JZSP-CVP01-05-E JZSP-CVP11-05-E SERVOPACK
L
Encoder end
end
10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
molex
For incre- 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
mental
encoder 3m JZSP-CVP02-03-E JZSP-CVP12-03-E
5m JZSP-CVP02-05-E JZSP-CVP12-05-E SERVOPACK Encoder end
end L
molex
SGM7A-15 to -70 20 m JZSP-CVP02-20-E JZSP-CVP12-20-E
1.5 kW to 7.0 kW 3m JZSP-CVP06-03-E JZSP-CVP26-03-E
L
5m JZSP-CVP06-05-E JZSP-CVP26-05-E end
molex
Battery Case
For absolute 15 m JZSP-CVP06-15-E JZSP-CVP26-15-E (battery included)
encoder: 20 m JZSP-CVP06-20-E JZSP-CVP26-20-E
With Bat- 3m JZSP-CVP07-03-E JZSP-CVP27-03-E
tery Case*2 5m JZSP-CVP07-05-E JZSP-CVP27-05-E
SERVOPACK
L
Encoder end
end
molex
Battery Case
15 m JZSP-CVP07-15-E JZSP-CVP27-15-E (battery included)
*2. If a battery is connected to host controller, the Battery Case is not required. If so, use a cable for incremental encoders.
101
Rotary Servo Motors
SGM7A

Order Number
Servo Motor Length
Name For Incremental Appearance
Model (L) For Absolute encoder
encoder
3m JZSP-C7PA2M-03-G6-E JZSP-C7PI2M-03-E-G6
Flexible
SGM7J-02 to - cable with 5m JZSP-C7PA2M-05-E-G6 JZSP-C7PI2M-03-E-G6
15 (200 W to straight 10 m JZSP-C7PA2M-10-E-G6 JZSP-C7PI2M-03-E-G6
1.5 kW) connector 15 m JZSP-C7PA2M-15-E-G6 JZSP-C7PI2M-03-E-G6
(M12)
Flexible
SGM7J-02 to - cable with 5m JZSP-C7PA2N-05-E-G6 JZSP-C7PI2N-05-E-G6
15 (200 W to right angle 10 m JZSP-C7PA2N-10-E-G6 JZSP-C7PI2N-10-E-G6
1.5 kW) connector 15 m JZSP-C7PA2N-15-E-G6 JZSP-C7PI2N-15-E-G6
(M12)
Relay Encoder Cable of 30 m to 50 m

Servo Motor Length
Model (L)
encoder) 0.3 m JZSP-C7PRCD-E
Cable installed toward
load
encoder) 0.3 m JZSP-C7PRCE-E
Cable installed away
SGM7A-A5 to -10 from load
50 W to 1.0 kW Cables with Connectors 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
on Both Ends (for incre- L
mental or absolute
Cable with a Battery L

0.3 m JZSP-CSP12-E-G5
absolute encoder is
Battery Case
used.*) (battery included)

L
JZSP-CVP01-E
molex
Encoder-end Cable
(for incremental or abso- 0.3 m
lute encoder) L
JZSP-CVP02-E
molex
SGM7A-15 to -70
Cables with Connectors 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
1.5 kW to 7.0 kW L
mental or absolute
molex
L
Cable with a Battery
0.3 m JZSP-CSP12-E-G5
molex
absolute encoder is
used.*) Battery Case
(battery included)
102
Rotary Servo Motors
SGM7A
Rotary Servo Motors
103
Rotary Servo Motors
SGM7A
Connector Specifications (200 V Models)
 SGM7A-15 to -50 without Holding Brakes

Receptacle: CM10-R10P-D
Applicable plug: Not provided by Yaskawa.
Plug: CM10-AP10S- -D for Right-angle Plug
CM10-SP10S- -D for Straight Plug
( depends on the applicable cable size.)
Manufacturer: DDK Ltd.
 SGM7A-70 without Holding Brakes

• Fan Connector Specifications
Receptacle: MS3102A14S-6P
Applicable Plug
Plug:MS3108B14S-6S
Cable Clamp: MS3057-6A
Note: The Servo Motor Connector (receptacle) is RoHS compliant.

Contact the connector manufacturer for RoHS-compliant cable-side connectors (not provided by Yaskawa).
104
Rotary Servo Motors
SGM7A
 SGM7A-15 to -50 with Holding Brakes

Rotary Servo Motors

• Brake Connector Specifications
105
Rotary Servo Motors
SGM7A
Connector Specifications (400 V Models)
 SGM7A-02 to -50
1 PG 5V
3 2 8 Receptacle 2 PG 0V
4 1 Size: M12 3 FG
5 BAT (-)
7 Model: SACC-MSQ-M12MS-25-3,2 SCO 6 Data (+)
5 6 Manufacturer: Phoenix Contact 7 Data (-)
8 Empty
Housing Shield
FG 1 (Brake)
Receptacle 3 U
6 1
Size: M17 4 V
7 6 (Brake)
4 3
Housing Shield
6 FG
1 V
2 4
Size: M23 4 (Brake)
6 W
1 5 Model: ST-5EP1N8AAD00S FG FG
V U U
– +
Receptacle V V
Size: M40 W W
Part number: 1607927 + Empty
W - Empty
U Model: SM-5EPWN8AAD00S FG FG
FG
106
Rotary Servo Motors
SGM7A
FG 1 ALARM TERMINAL
Receptacle 3 FAN MOTOR
6 1 Size: M17 4 FAN MOTOR
7 Part number: 1620448 6 ALARM TERMINAL
7 Empty
4 3 Model: ST-5EP1N8AA500S FG FG
Rotary Servo Motors

SGM7A-02 to -10 SGM7A-15 to -25 SGM7A-30 to -50
27
270°
0°
25
270°
30°
75
° Allowable
SGM7A-70
number of
0° rotations: 10
27
270
°
20°
90°
107
Rotary Servo Motors
SGM7P
SGM7P Servo Motors (without Gear Box)
Model Designations
SGM7P - 01 A 7 J 6 1
1st+2nd 3rd 4th 5th 6th 7th 8th
S-7 Series digits digit digit digit digit digit digit
Servo Motors:
SGM7P
1st+2nd digits Rated Output 4th digit Serial Encoder 7th digit Options

01 100 W 7 24-bit absolute 1 Without options
02 200 W F 24-bit incremental C With holding brake (24 VDC)
04 400 W With oil seal and holding brake
E
08 750 W 5th digit Design Revision Order (24 VDC)
15 1.5 kW S With oil seal
Code Specification
3rd digit Power Supply Voltage J IP67 (01, 02, and 04 Models)
8th digit Connector Specification
E IP67 (08 and 15 Models)
A 200 VAC 6th digit Shaft End Blank Standard (01, 02, 04 Models)
Code Specification D Interconnectron (08, 15 Models)

6 Straight with key and tap
Non Stock Items
108
Rotary Servo Motors
SGM7P
SGM7P Gear Motors

The SGM7P gear motor product family pairs SGM7P servo motors with high precision, low backlash inline
Rotary Servo Motors

vibration and noise
3
4

Model Designations
S7P 01 A C - VL 050 - 05
Gear Motors:
SGM7P
1st+2nd digits Rated Output 4th digit Brake Option 6th digit Gear head frame size

01 100 W Blank No brake 050 50 mm
02 200 W C 24 V Brake 070 70 mm
04 400 W 090 90 mm
08 750 W 120 120 mm
15 1.5 kW
Code Specification 7th digit Gear Ratio
3rd digit Power Supply Voltage VL 5 arc-min backlash Code Specification
Code Specification 03 3:1 Ratio
A 200 VAC 05 5:1 Ratio
10 10:1 Ratio
25 25:1 Ratio
50 50:1 Ratio
109
Rotary Servo Motors
SGM7P
Specifications
Voltage 200 V
Model SGM7P- 01A 02A 04A 08A 15A
Counterclockwise (CCW) for forward reference when viewed from
Rotation Direction
the load side
Surrounding Air 0°C to 40°C
Temperature (With derating, usage is possible between 40°C and 60°C.)*4
• Must facilitate inspection and cleaning.
Environmental Installation Site
• Must have an altitude of 1,000 m or less. (With derating, usage
Conditions is possible between 1,000 m and 2,000 m.)*5
Store the Servo Motor in the following environment if you store it
with the power cable disconnected.
Storage Environment Storage Temperature: -20C to 60C (with no freezing)
Storage Humidity: 20% to 80% relative humidity (with no conden-
sation)
Shock 490 m/s2
Flange
Resistance*2
Vibration Vibration Acceleration Rate at
49 m/s 2
Resistance*3 Flange
SGD7S- R90A 2R8A 5R5A 120A
Applicable
SERVOPACKs 1R6A *6, 5R5A,
SGD7W- 2R8A, 5R5A *6, 7R6A *6 –
2R8A *6 7R6A
*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servo Vertical
Motor without a load at the rated motor speed.
*2. The shock resistance for shock in the vertical direction when the Servo Motor is mounted
with the shaft in a horizontal position is given in the above table.
*3. The vertical, side-to-side, and front-to-back vibration resistance for Shock Applied to the Servo Motor
vibration in three directions when the Servo Motor is mounted with Vertical
the shaft in a horizontal position is given in the above table. The
strength of the vibration that the Servo Motor can withstand Front
Horizontal direction
depends on the application. Always check the vibration acceleration to back
rate that is applied to the Servo Motor with the actual equipment. Side to side Vibration Applied to the Servo Motor
*4. If the surrounding air temperature will exceed 40°C, refer to the fol-
lowing section.
Applications Where the Surrounding Air Temperature of the Servo Motor Exceeds 40°C (page 116)
*6. If you use the Servo Motor together with a S-7W SERVOPACK, the control gain may not increase as much as with a S-7S
SERVOPACK and other performances may be lower than those achieved with a S-7S SERVOPACK.
110
Rotary Servo Motors
SGM7P
Ratings of Servo Motors

Voltage 200 V
Model SGM7P- 01A 02A 04A 08A 15A
*1 W 100 200 400 750 1500
Rated Output
Rated Torque*1, *2 N•m 0.318 0.637 1.27 2.39 4.77
Rotary Servo Motors

*1 N•m 0.955 1.91 3.82 7.16 14.3
Rated Current*1 Arms 0.86 2.0 2.6 5.4 9.2
*1 Arms 2.8 6.4 8.4 16.5 28.0
0.0592 0.263 0.409 2.10 4.02
Motor Moment of Inertia 10-4 kg•m2
(0.0892) (0.415) (0.561) (2.98) (4.90)
17.1 15.4 39.6 27.2 56.6
(11.3) (9.7) (28.8) (19.1) (46.4)
53700 24200 31100 11400 11900
(35600) (15300) (22600) (8020) (9730)
% 90 95
Seal
Heat Sink Size mm 250  250  6 300  300  12
Rated Voltage V 24 VDC 10%
Capacity W 6 7.4 7.5
Holding Torque N•m 0.318 0.637 1.27 2.39 4.77
Coil Resistance  (at 20C) 96 84.5 76.8
Holding Brake
Specifications *4 Rated Current A (at 20C) 0.25 0.31 0.31
Time Required to
ms 80
Release Brake
Time Required to
ms 100
Brake
Allowable Load Moment of Inertia (Motor Moment of
Inertia Ratio)
With External Regenerative 25 times 15 times 10 times 5 times
Resistor and Dynamic Brake
Resistor
LF mm 20 25 35
Allowable Radial
Allowable Shaft N 78 245 392 490
Load
Loads *5
Allowable Thrust
N 49 68 147
Load
• The time required to release the brake and the time required to brake depend on
LF
which discharge circuit is used. Confirm that the operation delay time is appro-
priate for the actual equipment.
Radial load
*5. The 24-VDC power supply is not provided by Yaskawa.The allowable shaft loads are
illustrated in the following figure. Design the mechanical system so that the thrust
and radial loads applied to the Servo Motor shaft end during operation do not exceed Thrust Load
the values given in the table.
111
Rotary Servo Motors
SGM7P

SGM7P-01A SGM7P-02A SGM7P-04A SGM7P-08A

7000 7000 7000
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 0.25 0.5 0.75 1 0 0.5 1 1.5 2 0 1 2 3 4 0 2 4 6 8
SGM7P-15A*
7000
6000
Motor speed (min-1)
5000
4000
3000
A B
2000
1000
0
0 4 8 12 16
Torque (N·m)
* You cannot use the SGM7P-15A Servo Motor together with a SERVOPACK with a single-phase power supply input.
112
Rotary Servo Motors
SGM7P

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
S7P____ Model *1 (RPM) (RPM) (Nm)*2 (Nm)*2 Load Load
min)
SGM7P- kg-m 2 ) kg-m 2 ) (N) (N)
01A -VL050-03 3:1 1000 2000 0.906 2.72 0.053
01A -VL050-05 5:1 95 600 1200 1.51 4.54 0.036 5
Rotary Servo Motors

0.0592 710 640
01A -VL050-10 01A7J6 10:1 300 600 3.02 9.07 0.030
(0.0892)
01A -VL050-25 25:1 120 240 7.16 18.0 *3 0.034 7
90
01A -VL070-50 50:1 60 120 14.3 43.0 0.051 1200 1100
02A -VL070-03 3:1 1000 2000 1.82 5.44 0.25
02A -VL070-05 5:1 95 600 1200 3.03 9.07 0.19
02A -VL070-10 10:1 300 600 6.05 18.1 0.263 0.17
02A7J6 1200 1100
(0.415)
02A -VL070-25 25:1 120 240 14.3 43.0 0.17
90
02A -VL070-50 50:1 60 120 28.7 50.0 *3 0.16
IP65
04A -VL070-03 3:1 1000 2000 3.62 10.9 0.25
04A -VL070-05 5:1 95 600 1200 6.03 18.1 0.19
0.409 1200 1100 5
04A -VL070-10 04A7J6 10:1 300 600 12.1 36.3 0.17
(0.561)
04A -VL070-25 25:1 120 240 28.6 50.0 *3 0.17
90
04A -VL090-50 50:1 60 120 57.2 *3 0.27 2400 2200
125
08A -VL090-03 3:1 1000 2000 6.81 20.4 1.1
08A -VL090-05 5:1 95 600 1200 11.4 34.0 0.80
2.100 2400 2200
08A -VL090-10 08A7E6 10:1 300 600 22.7 68.0 0.70
(2.980)
08A -VL090-25 25:1 120 240 53.8 125*3 0.74
90
08A -VL120-50 50:1 60 120 108 322 0.76 4300 3900
113
Rotary Servo Motors
SGM7P

of 40°C.
10000
1000
Detection time (s)

Motor speed of
10 min-1 or higher
100
10
Motor speed of
less than 10 min-1
1
0 50 100 150 200 250 300
(%)
given in Torque-Motor Speed Characteristics (page 112).
114
Rotary Servo Motors
SGM7P

connected.
Rotary Servo Motors

SERVOPACK.
supply input.
SGM7P-01A SGM7P-02A
30 16

14
25
12

20
10
15 8
6
10
4
5
2
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
-1
SGM7P-04A
12
10
0
0 1000 2000 3000 4000 5000 6000 7000
Motor speed (min-1)
115
Rotary Servo Motors
SGM7P

rate.
120 120
100 100
SGM7P-01, -02, and -04 Derating rate (%) SGM7P-15
Derating rate (%)
80 80
60 60
SGM7P-08
40 40
20 20
0 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350

Exceeds 40°C
120 120
SGM7P-01 SGM7P-08
100 100
Derating rate (%)
Derating rate (%)
80 80
SGM7P-02
60 60
SGM7P-04 SGM7P-15
40 40
20 20
0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60
116
Rotary Servo Motors
SGM7P

Rotary Servo Motors

120 120
SGM7P-08
100 100
Derating rate (%)

Derating rate (%)
80 80
SGM7P-01, -02, and -04
60 60
SGM7P-15
40 40
20 20
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
117
Rotary Servo Motors
SGM7P
External Dimensions
 SGM7P-01, -02, and -04

0.04 A
L 0.04 dia. A
LL LR
(20.5) LM LE oLC
0.6 17 ML LG MW
MD
MH
14
LA
d
ia.
LB dia.
S dia.
4 × LZ dia.
A
0.02
Unit: mm
Flange Dimensions
Model SGM7P- L LL LM S
0 0
01A A2 85 (115) 60 (90) 36 25 3 6 60 70 50 -0.025 5.5 8 -0.009
0 0
02A A2 97 (128.5) 67 (98.5) 43 30 3 8 80 90 70 -0.030 7 14 -0.011
107 77 0 0
04A A2 53 30 3 8 80 90 70 -0.030 7 14 -0.011
(138.5) (108.5)
Approx.
Model SGM7P- MD MW MH ML
Mass [kg]
0.5
01A A2 8.5 19 12 20
(0.7)
1.1
02A A2 13.6 21 13 21
(1.6)
1.4
04A A2 13.6 21 13 21
(1.9)
Gearmotor Models: 100W to 750W (S7P01, S7P02, S7P04, S7P08) (page 120)
• Oil Seal
LS2
LS1
LE
E1 dia.
E2 dia.
Oil seal cover

Unit: mm

Model SGM7P-
E1 E2 LS1 LS2 LE
01A A2 22 39 4 7.5 1.5
02A A2
35 49 6.5 10 2.5
04A A2
118
Rotary Servo Motors
SGM7P
 SGM7P-08 and -15

Encoder Cable 300±30
UL20276, 6 dia. Encoder connector
300±30
Servo Motor Main Circuit Cable
UL1828, 7 dia. Servo Motor connector
Rotary Servo Motors

L
LL 40
LM oLC
0.04 A
25 7 10.5 38
(40)
10 3.5
9
0.04 dia. A
28
13 19
(25.5)
S dia.
LB dia. 14
5
dia
.
A 4 × 10.2 dia.
0.02
Unit: mm
Approx.
Model SGM7P- L LL LM LB LC S
Mass [kg]
126.5 86.5 0 0 4.2
08A A2 67.6 110 -0.035 120 19 -0.013
(160) (120) (5.7)
154.5 114.5 0 0 6.6
15A A2 95.6 110 -0.035 120 19 -0.013
(187.5) (147.5) (8.1)
Gearmotor Models: 100W to 750W (S7P01, S7P02, S7P04, S7P08) (page 120)
• Oil Seal
10.5
5
3.5
55 dia.
77 dia.
119
Rotary Servo Motors
SGM7P
 Gearmotor Models: 100W to 750W (S7P01, S7P02, S7P04, S7P08)

φ MT MD
LL LR
LL3 LE
φ LA
Q
QK KD
φ S (j6) φ LB (g6) φ GD LC
R0
.4 0
QK KD U QK U
W W
T T
Model S7P LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

100 W Models
01A -VL050-03
124
01A -VL050-05 64
(154)
01A -VL050-10 24.5 4 12 35 50 44 M4 8 19.5 14 2 4 2.5 4
200 V
60
140.5
01A -VL050-25 80.5
(170.5)
155
01A -VL070-50 95 36 5 16 52 70 62 M5 10 28 22 0 5 3 5
(185)
200 W Models
02A -VL070-03
146
02A -VL070-05 79
(177.5)
200 V
02A -VL050-10 35 5 16 52 70 80 62 M5 10 28 22 0 5 3 5
02A -VL070-25 167
100
02A -VL070-50 (198.5)
400 W Models
04A -VL070-03
156
04A -VL070-05 79
(187.5)
04A -VL070-10 36 5 16 52 70 62 M5 10 28 22 5 3 5
200 V
80 0
177
04A -VL070-25 100
(208.5
196
04A -VL090-50 119 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
(227.5)
750 W Models
08A -VL090-03
193.5
08A -VL090-05 107
(227)
08A -VL090-10 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
200 V
130 0
215.5
08A -VL090-25 129
(249)
231
08A -VL120-50 144.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(264.5)
120
Rotary Servo Motors
SGM7P
Shaft End Specifications
 SGM7P-
Code Specification
Rotary Servo Motors

6
Servo Motor Model SGM7P-

Shaft End Details
01 02 04 08 15
LR
LR 25 30 40
S dia.
0 0 0
S 8 -0.009 14 -0.011 19 -0.013

LR 25 30 40
LR
QK 14 14 22
QK
0 0 0
S 8 -0.009 14 -0.011 19 -0.013
U
Y P W 3 5 6
W
T 3 5 6
S dia.
Y T
Cross section Y-Y
U 1.8 3 3.5
P M3  6L M5  8L M6  10L
121
Rotary Servo Motors
SGM7P
Selecting Cables
SERVOPACK SERVOPACK
Relay Encoder Cable

(Required when an

Battery Case
(Required when an
Servo Motor Encoder-end Cable
Main Circuit Cable
Servo Motor Main
Circuit Cable
Servo Motor Servo Motor
For SGM7P-08 or -15 For SGM7P-08 or -15

(750 W or 1.5 kW) Servo Motor (750 W or 1.5 kW) Servo Motor
Relay
Encoder Cable
Encoder Cable Refer to page 125 .
Refer to page 125.
Cable with a
Battery Case
(Required when an
absolute encoder
is used.)
Cable with
Connectors on
Servo Motor Servo Motor Both Ends or
Main Circuit Cable Main Circuit Cable Cables without
Refer to page 123. Refer to page 123. Connectors
122
Rotary Servo Motors
SGM7P

Order Number
Servo Motor Length
Name Flexible and Appearance
Model (L) Standard Cable Flexible Cable*
Shielded
3m JZSP-CSM01-03-E JZSP-CSM21-03-E YAI-CSM21-03-P-E
Rotary Servo Motors

10 m JZSP-CSM01-10-E JZSP-CSM21-10-E YAI-CSM21-10-P-E
SGM7P-01 15 m JZSP-CSM01-15-E JZSP-CSM21-15-E YAI-CSM21-15-P-E
100 W 20 m JZSP-CSM01-20-E JZSP-CSM21-20-E YAI-CSM21-20-P-E

and 15 m JZSP-CSM02-15-E JZSP-CSM22-15-E YAI-CSM22-15-P-E
-04
200 W, 400 W 30 m JZSP-CSM02-30-E JZSP-CSM22-30-E YAI-CSM22-30-P-E
For Servo 40 m JZSP-CSM02-40-E JZSP-CSM22-40-E YAI-CSM22-40-P-E
Motor end SERVOPACK end
Motors 50 m JZSP-CSM02-50-E JZSP-CSM22-50-E YAI-CSM22-50-P-E
L
U
without
V
Holding 3m N/A N/A B4ICE-03(A)

Brakes 5m N/A N/A B4ICE-05(A)
10 m N/A N/A B4ICE-10(A)
SGM7P-08 15 m N/A N/A B4ICE-15(A)
750 W 20 m N/A N/A B4ICE-20(A)

3m N/A N/A B5ICE-03(A)
5m N/A N/A B5ICE-05(A)
SGM7P-15 15 m N/A N/A B5ICE-15(A)
1.5 kW 20 m N/A N/A B5ICE-20(A)

123
Rotary Servo Motors
SGM7P
Order Number
Servo Motor Length
Name Flexible and Appearance
Shielded
100 W 20 m JZSP-CSM11-20-E JZSP-CSM31-20-E YAI-CSM31-20-P-E

and 15 m JZSP-CSM12-15-E JZSP-CSM32-15-E YAI-CSM32-15-P-E
-04
200 W, 400 W 30 m JZSP-CSM12-30-E JZSP-CSM32-30-E YAI-CSM32-30-P-E
For Servo 40 m JZSP-CSM12-40-E JZSP-CSM32-40-E YAI-CSM32-40-P-E

Motors with 50 m JZSP-CSM12-50-E JZSP-CSM32-50-E YAI-CSM32-50-P-E
Holding 3m N/A N/A B4IBCE-03(A)
Brakes 5m N/A N/A B4IBCE-05(A)
10 m N/A N/A B4IBCE-10(A)
SGM7P-08 15 m N/A N/A B4IBCE-15(A)
750 W 20 m N/A N/A B4IBCE-20(A)

3m N/A N/A B5IBCE-03(A)
5m N/A N/A B5IBCE-05(A)
SGM7P-15 15 m N/A N/A B5IBCE-15(A)
1.5 kW 20 m N/A N/A B5IBCE-20(A)

124
Rotary Servo Motors
SGM7P

Name Appearance
Model (L) Standard Cable Flexible Cable *1
3m JZSP-C7PI0D-03-E JZSP-C7PI2D-03-E
SGM7P-01, -02 5m JZSP-C7PI0D-05-E JZSP-C7PI2D-05-E Encoder end SERVOPACK
Rotary Servo Motors

L end
and -04
For incre- 10 m JZSP-C7PI0D-10-E JZSP-C7PI2D-10-E
100 W, 200 W,
400 W mental 15 m JZSP-C7PI0D-15-E JZSP-C7PI2D-15-E
encoder 20 m JZSP-C7PI0D-20-E JZSP-C7PI2D-20-E
Cable 3m JZSP-CMP00-03-E JZSP-CMP10-03-E

SGM7P-08
and -15 installed 5m JZSP-CMP00-05-E JZSP-CMP10-05-E Encoder end SERVOPACK end
L
750 W, 1500 W toward load 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
(non-Intercon- 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
nectron style)
For absolute 3m JZSP-C7PA0D-03-E JZSP-C7PA2D-03-E
encoder:
5m JZSP-C7PA0D-05-E JZSP-C7PA2D-05-E SERVOPACK Encoder end
SGM7P-01, -02 With Battery end L
and -04 Case*2 10 m JZSP-C7PA0D-10-E JZSP-C7PA2D-10-E
100 W, 200 W,
400 W Cable 15 m JZSP-C7PA0D-15-E JZSP-C7PA2D-15-E Battery Case
(battery included)
installed
toward load
For incre- 3m N/A A1ICE-03(A)
SGM7P-08
mental 5m N/A A1ICE-05(A)
and -15
encoder
750 W, 1500 W 10 m N/A A1ICE-10(A)
Cable
(Interconnec- 15 m N/A A1ICE-15(A)
installed
tron style)
upward *3 20 m N/A A1ICE-20(A)
Cable with a
Battery SERVOPACK end Encoder end
Case JZSP-CSP12-E L
All SGM7P mod-
(Required
els 0.3 m
when an Note: this cable used with A1ICE cable
Battery Case
absolute listed above (battery included)
encoder is
used.*4)
*2. If a battery is connected to the host controller, the Battery Case is not required. If so, use a cable for incremental
encoders
*3. Non RoHS.
*4. This cable is not required if a battery is connected to the host controller.

Servo Motor Length
Model (L)
Encoder-end Cable
(for incremental or abso- L
lute encoder) 0.3 m JZSP-C7PRCD-E
SGM7P-01, -02 Cable installed toward
and -04 load
100 W, 200 W,
400 W,* Cables with Connectors 30 m JZSP-UCMP00-30-E SERVOPACK end Encoder end
on Both Ends L
(for incremental or abso-
lute encoder) 50 m JZSP-UCMP00-50-E
* Note: Relay encoder cables not available for 750W and 1.5kW models.
125
Rotary Servo Motors
SGM7G
SGM7G Servo Motors (without Gear Box)
Model Designations
SGM7G - 03 A 7 D 6 1
Servo Motors:
SGM7G
03 300 W A Three-phase 200 VAC 2 Straight without key
05 450 W D Three-phase 400 VAC 6 Straight with key and tap
09 850 W Straight without key (850 W,
4th digit Serial Encoder S
13 1.3 kW 1.3 kW)
20 1.8 kW Code Specification Straight with key and tap
K
30 2.9 kW *1 (300 W, 850 W, 1.3 kW)
7 24-bit absolute
44 4.4 kW F 24-bit incremental
55 5.5 kW 7th digit Options
75 7.5 kW 5th digit Design Revision Order Code Specification
1A 11 kW 1 Without options
Code Specification
1E 15 kW C With holding brake (24 VDC)
D Global Design Revision (200V)
B Low Speed Version (200V) With oil seal and holding
E
brake (24 VDC)
F Global Design Revision (400V)
S With oil seal
R High Speed Version (400V)
With dust seal and
H
Limited Stock Item holding brake (24 VDC)
Non Stock Items F With dust seal
*1. The rated output is 2.4 kW if you combine the SGM7G-30A with the SGD7S-200A.
*2. Shaft end specification K is standard on -03, -09, and -13 Models
126
Rotary Servo Motors
SGM7G
SGM7G Gear Motors

The SGM7G gear motor product family pairs SGM7G servo motors with high precision, low backlash inline
Rotary Servo Motors

vibration and noise
3
4

Model Designations
S7G 01 A C - VL 050 - 05
Gear Motors:
SGM7G
1st+2nd digits Rated Output 3rd digit Power Supply Voltage 6th digit Gear head frame size

05 450 W A 200 VAC 070 70 mm
09 850 W D 400 VAC 090 90 mm
13 1.3 kW 120 120 mm
20 1.8 kW 155 155 mm
30 2.9 kW 4th digit Brake Option
205 205mm
44 4.4 kW Code Specification 235 235mm
55 5.5 kW Blank No brake
75 7.5 kW C 24 V Brake
7th digit Gear Ratio
5th digit Gear box backlash Code Specification

03 3:1 Ratio
Code Specification
05 5:1 Ratio
VL 5 arc-min backlash
10 10:1 Ratio
25 25:1 Ratio
50 50:1 Ratio
127
Rotary Servo Motors
SGM7G

Specifications (200V)
Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
Thermal Class UL: F, CE: F
Vibration Class *1 V15
Surrounding Air Tem-
0C to 40C (With derating, usage is possible between 40C and 60C.)*4
perature
Surrounding Air
Humidity
Environmental • Must facilitate inspection and cleaning.
Conditions Installation Site
• Must have an altitude of 1,000 m or less. (With derating, usage is possible
between 1,000 m and 2,000 m.)*5
Store the Servo Motor in the following environment if you store it with the power cable
disconnected.
Storage Environment
Impact Acceleration
Shock 490 m/s2
Rate at Flange
Resistance *2
Vibration Vibration Accelera-
49 m/s2 (24.5 m/s2 front to back) 24.5 m/s2
Resistance *3 tion Rate at Flange
SGD7S- 3R8A 7R6A 120A 180A 330A 470A 550A 590A 780A
Applicable
SERVOPACKs 5R5A*6
SGD7W- 7A6A 
7R6A*6
*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on

the Servo Motor without a load at the rated motor speed. Vertical
*2. The shock resistance for shock in the vertical direction when the Servo Motor is
mounted with the shaft in a horizontal position is given in the above table.
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in
three directions when the Servo Motor is mounted with the shaft in a horizontal
position is given in the above table. The strength of the Shock Applied to the Servo Motor
vibration that the Servo Motor can withstand depends
Vertical
on the application. Always check the vibration accelera-
tion rate that is applied to the Servo Motor with the
actual equipment. Front to back Horizontal direction
*4. If the surrounding air temperature will exceed 40°C,
Applications Where the Surrounding Air Temperature of the
Servo Motor Exceeds 40 C (page 148)
128
Rotary Servo Motors
SGM7G
Specifications (400V)
Voltage 400 V
Model SGM7G- 05D 09D 13D 20D 30D 44D 55D 75D 1AD 1ED
Thermal Class UL: F, CE: F
Rotary Servo Motors

Counterclockwise (CCW) for forward reference when viewed from the load
Rotation Direction
side
Surrounding Air
0C to 40C (With derating, usage is possible between 40C and 60C.)*4
Temperature
Surrounding Air
Humidity
Environmental Conditions Installation Site
• Must have an altitude of 1,000 m or less. (With derating, usage is pos-
sible between 1,000 m and 2,000 m.)*5
Store the Servo Motor in the following environment if you store it with the
Storage Environ- power cable disconnected.
ment Storage Temperature: -20°C to 60°C (with no freezing)
Impact Accelera-
Shock 490 m/s2
tion Rate at Flange
Resistance *2
Vibration Accelera-
Vibration Resistance*3 49 m/s2 (24.5 m/s2 front to back) 24.5 m/s2
tion Rate at Flange
SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
with standard
Servo Motor 2R6D*6
SGD7W- 5R4D 5R4D -
Applicable 5R4D*6
SERVOPACKs SGD7S- 3R5D 5R4D 8R4D 120D 170D 210D -
with high-
speed servo *6
2R6D
motor SGD7W- 5R4D -
5R4D*6
*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on

the Servo Motor without a load at the rated motor speed. Vertical
*2. The shock resistance for shock in the vertical direction when the Servo Motor is
mounted with the shaft in a horizontal position is given in the above table.
*3. The vertical, side-to-side, and front-to-back vibration resistance for vibration in
three directions when the Servo Motor is mounted with the shaft in a horizontal
position is given in the above table. The strength of
the vibration that the Servo Motor can withstand Vertical
depends on the application. Always check the vibra-
tion acceleration rate that is applied to the Servo
Motor with the actual equipment. Front to back Horizontal direction
*4. If the surrounding air temperature will exceed 40°C, Vibration Applied to the Servo Motor
Side to side
129
Rotary Servo Motors
SGM7G
Servo Motor Ratings (200 V Models -03A to -20A)

Voltage 200 V
Model SGM7G- 03A 05A 09A 13A 20A
Rated Output*1 kW 0.3 0.45 0.85 1.3 1.8
*1, *2 N•m 1.96 2.86 5.39 8.34 11.5
Rated Torque
Instantaneous Maximum Torque*1 N•m 5.88 8.92 14.2 23.3 28.7
Instantaneous Maximum Current*1 Arms 8.0 11 17 28 42
*1 -1 1500
Maximum Motor Speed*1 min-1 3000
-4 2 2.48 3.33 13.9 19.9 26.0
Motor Moment of Inertia 10 kg•m
(2.73) (3.58) (16.0) (22.0) (28.1)
15.5 24.6 20.9 35.0 50.9
(14.1) (22.8) (18.2) (31.6) (47.1)
7900 8590 3880 4190 4420
Rated Angular Acceleration Rate*1 rad/s2
(7180) (7990) (3370) (3790) (4090)
250  250  6 400  400  20
Heat Sink Size mm
(aluminum) (steel)
+10%
Capacity W 10
Holding Torque N•m 4.5 12.7 19.6
Holding Brake Coil Resistance  (at 20C) 56 59
Specifications*4 Rated Current A (at 20C) 0.43 0.41
Time Required to
ms 100
Release Brake
Time Required to
ms 80
Brake
LF mm 40 58
Allowable Radial
Load
Loads*5
Allowable Thrust
N 98 343 392
Load
 Notes for the Servo Motor Ratings Tables (page 133)
130
Rotary Servo Motors
SGM7G
Torque-Motor Speed Characteristics (200 V Models -03A to -20A)

SGM7G-03A SGM7G-05A SGM7G-09A SGM7G-13A

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
Rotary Servo Motors

2000 2000 2000 2000
1500 1500 1500 1500
1000 A B A B 1000 A B 1000
A B
1000
500 500 500 500
0 0 0 0
0 1.2 2.4 3.6 4.8 6 0 2 4 6 8 10 0 3 6 9 12 15 0 5 10 15 20 25
SGM7G-20A
3500
3000
Motor speed (min-1)
2500
2000
1500
A B
1000
500
0
0 6 12 18 24 30
Torque (N·m)
131
Rotary Servo Motors
SGM7G
Servo Motor Ratings (200 V Models -30A to -1EA)

Voltage 200 V
Model SGM7G- 30A *6 44A 55A 75A 1AA 1EA
30A
*1 kW 2.9 2.4 4.4 5.5 7.5 11 15
Rated Output
*1, *2 N• m 18.6 15.1 28.4 35.0 48.0 70.0 95.4
Rated Torque
Instantaneous Maximum Torque *1 N• m 54.0 45.1 71.6 102 119 175 224
*1 Arms 23.8 19.6 32.8 37.2 54.7 58.6 78.0
Rated Current
*1 Arms 70 56 84 110 130 140 170
*1 -1 1500 1500 1500 1500 1500 1500 1500
*1 -1 3000 3000 3000 3000 3000 2000 2000
Maximum Motor Speed min
46.0 46.0 67.5 89.0 125 242 303
Motor Moment of Inertia 10-4 kg•m2 (53.9) (53.9) (75.4) (96.9) (133) (261) (341)
75.2 49.5 119 138 184 202 300
(64.2) (42.2) (107) (126) (173) (188) (267)
4040 3280 4210 3930 3840 2890 3150
Rated Angular Acceleration Rate*1 rad/s2 (3450) (2800) (3770) (3610) (3610) (2680) (2800)
650  650  35
Heat Sink Size mm 550  550  30 (steel)
(steel)
+10%
Capacity W 18.5 25 32 35
Holding Torque N• m 43.1 72.6 84.3 114.6
Holding Brake Coil Resistance  (at 20°C) 31 23 18 17
Specifications*4 Rated Current A (at 20°C) 0.77 1.05 1.33 1.46
Time Required to
ms 170 250
Release Brake
Time Required to
ms 100 80
Brake
Allowable Load Moment of Inertia (Motor Moment of
Inertia Ratio)
10
Resistor and Dynamic Brake 7 times 10 times
times
Resistor
LF mm 79 113 116
Allowable Radial
Load
Loads*5
Allowable Thrust
N 490 588 2156
Load
 Notes for the Servo Motor Ratings Tables (page 133)
132
Rotary Servo Motors
SGM7G
Torque-Motor Speed Characteristics (200 V Models -30A to -1EA)

A : Continuous duty zone (solid lines): With three-phase 200-V input
B : Intermittent duty zone (dotted lines): When combined with the SGD7S-200A
SGM7G-30A SGM7G-44A SGM7G-55A SGM7G-75A*

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
Rotary Servo Motors

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 12 24 36 48 60 0 15 30 45 60 75 0 25 50 75 100 125 0 30 60 90 120 150
SGM7G-1AA SGM7G-1EA
2500 2500
2000 2000
Motor speed (min-1)
Motor speed (min-1)
1500 1500
A B A B
1000 1000
500 500
0 0
0 40 80 120 160 200 0 50 100 150 200 250
Torque (N·m) Torque (N·m)
* Use an SGM7G-75A Servo Motor with a Holding Brake with an output torque of 14.4 N·m (30% of the rated torque) or
lower when using the Servo Motor in continuous operation at the maximum motor speed of 3,000 min-1.
 Notes for the Servo Motor Ratings Tables

num or steel heat sink of the dimensions given in the table.
LF
Radial load
Thrust load
*6. This is the value if you combine the SGM7G-30A with the SGD7S-200A.
133
Rotary Servo Motors
SGM7G
Servo Motor Ratings (200 V Low-Speed Models -03A to -55A)

Voltage 200 V
Model SGM7G- 03AB 06AB 09AB 12AB 20AB 30AB 40AB 55AB
Rated Output*1 kW 0.3 0.6 0.9 1.2 2.0 3.0 (2.3) 4.0 5.5
*1, *2 N•m 2.86 5.68 8.62 11.5 19.1 28.4 (22.0) 38.2 52.6
Rated Torque
Instantaneous Maximum Torque*1 N•m 7.17 14.1 19.3 28 44.0 63.7 107 137
*1 Arms 3.0 5.7 7.6 11.6 18.5 24.8 (19.6) 30.0 43.2
Rated Current
Instantaneous Maximum Current*1 Arms 7.3 13.9 16.6 28.0 42.0 56.0 84.0 110
*1 -1 1000
Maximum Motor Speed*1 min-1 2000
N•m/
Torque Constant 1.05 1.09 1.23 1.07 1.08 1.21 1.34 1.27
Arms
10-4 3.33 13.9 19.9 26.0 46.0 89.0 125.0
Motor Moment of Inertia 67.6 (75.4)
kg•m2 (3.58) (16.0) (22.0) (28.1) (53.9) (96.9) (132.9)
Rated Power Rate*1 kW/s 24.6 23.2 37.3 50.9 79.3 119 (71.7) 164 221
*1 2 8590 4090 4330 4420 4150 4210 (3260) 4290 4210
250 x
250 x 6
Heat Sink Size mm 400 x 400 x 20 iron 550 x 550 x 30 iron
alumi-
num
Applicable SERVOPACK SGD7S- 3R8A 7R6A 120A 180A 330A (200A) 330A 470A
Rated Voltage V 24 VDC
Capacity W 10 18.5 25
Holding Torque N•m 4.5 12.7 19.6 43.1 72.6
 (at
Coil Resistance 56 59 31 23
20C)
Holding Brake
Specifications*4 A (at
Rated Current 0.43 0.41 0.77 1.05
20C)
Time Required to
ms 100 170
Release Brake
Time Required to
ms 80 100 80
Brake
15 times 5 times 5 times (3 times) 5 times
(Motor Moment of Inertia Ratio) times
LF mm 40 58 79 113
Allowable Radial
Allowable Shaft N 490 686 980 1470 1764
Load
Loads*5
Allowable Thrust
N 98 343 392 490 588
Load
134
Rotary Servo Motors
SGM7G

Voltage 400 V
Model SGM7G- 05D 09D 13D 20D 30D
Rated Output*1 kW 0.45 0.85 1.3 1.8 2.9
Rated Torque*1, *2 N•m 2.86 5.39 8.34 11.5 18.6
Instantaneous Maximum Torque*1 N•m 8.92 13.8 23.3 28.7 45.1
Rotary Servo Motors

Instantaneous Max.Current *1 Arms 5.5 8.5 14 20 28
3.33 13.9 19.9 26.0 46.0
(3.58) (16.0) (22.0) (28.1) (53.9)
24.6 20.9 35.0 50.9 75.2
(22.8) (18.2) (31.6) (47.1) (64.2)
8,590 3,880 4,190 4,420 4,040
(7,990) (3,370) (3,790) (4,090) (3,450)
250  250  550  550 
Heat Sink Size mm 400 400 x 20 (steel)
6 (aluminum) 30 (steel)
Capacity W 10.0 18.5
Coil
 (at 20C) 56 59 31
Holding Brake Specifica- Resistance
tions *4 Rated Current A (at 20C) 0.43 0.41 0.77
Time Required to
ms 100 170
Release Brake
Time Required to
ms 80 100
Brake
Standard 15 times 5 times
Allowable Load Moment
With external regenerative
of Inertia (Motor Moment
resistor and dynamic brake 15 times 10 times
of Inertia Ratio)
resistor connected
LF mm 40 58 79
Allowable
N 490 686 980 1470
Allowable Shaft Loads*5 Radial Load
Allowable
N 98 343 392 490
Thrust Load
or steel heat sink of the dimensions given in the table.
• The time required to release the brake and the time required to brake depend on which discharge circuit is used. Confirm that the opera-
tion delay time is appropriate for the actual equipment.
radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
135
Rotary Servo Motors
SGM7G
Ratings of Servo Motors (400 V Models -44D to -1ED)

Voltage 400 V
Model SGM7G- 44D 55D 75D 1AD 1ED
Rated Output*1 kW 4.4 5.5 7.5 11 15
*1, *2 N•m 28.4 35.0 48.0 70.0 95.4
Rated Torque
Instantaneous Maximum Torque*1 N•m 71.6 87.6 119 175 224
Rated Current*1 Arms 16 20.8 25.7 28.1 37.2
Instantaneous Max.Current *1 Arms 40.5 52 65 70 85
Maximum Motor Speed *1 min-1 3000 2000
67.5 89 125 242 303
(75.4) (96.9) (133) (261) (341)
119 138 184 202 300
(107) (126) (173) (188) (267)
4,210 3,930 3840 2,890 3,150
(3,770) (3,610) (3,610) (2,680) (2,800)
Heat Sink Size mm 550  550  30 (steel) 650  650  35 (steel)
Capacity W 18.5 25 32 35
Coil
 (at 20C) 31 23 18 17
Holding Brake Specifica- Resistance
tions *4 Rated Current A (at 20C) 0.77 1.05 1.33 1.46
Time Required to
ms 170 250
Release Brake
Time Required to
ms 100 80
Brake
Standard 5 times 10 times
of Inertia (Motor Moment
resistor and dynamic brake 10 times
of Inertia Ratio)
resistor connected
LF mm 79 113 116
Allowable
N 1470 1764 4998
Allowable
N 490 588 2156
Thrust Load
LF
Radial load
Thrust load
136
Rotary Servo Motors
SGM7G
Torque-Motor Speed Characteristics (400 V Models -05D to -1ED)

SGM7G-05D SGM7G-09D SGM7G-13D SGM7G-20D

10 15 25 30
8 12 20 24
Rotary Servo Motors

Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
6 9 15 18
B B B B
4 6 10 12
2 3 5 6
A A A A
0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000

50 75 100 140
40 60 80 112
Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
30 45 60 84
B B B B
20 30 40 56
10 15 20 28
A A A A
0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
SGM7G-1AD SGM7G-1ED
200 300
160
Torque (N·m)
Torque (N·m)
200
120
B B
80
100
40
A A
0 0
0 1000 2000 0 1000 2000
2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zone in
the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used.
137
Rotary Servo Motors
SGM7G
Ratings of High Speed Servo Motors (400 V - NON-STOCK)

Voltage 400 V
Model SGM7G 05D 09D 13D 20D 30D 44D
Rated Output*1 kW 0.45 0.85 1.3 1.8 2.9 4.4
Rated Torque*1, *2 N•m 2.86 5.39 8.34 11.5 18.6 28.4
Instantaneous Maximum Torque*1 N•m 8.8 15 22 28.7 50 71.1
Rated Current*1 Arms 2.6 5.3 8.3 10.1 14.4 19.3
Instantaneous Max.Current *1 Arms 8.2 14 21 24 40 50
Maximum Motor Speed *1 min-1 5000 4500
*1 -1 5000 4000 3300 3000
Allowable Continuous Motor Speed min
Torque Constant N•m/Arms 1.13 1.12 1.09 1.27 1.36 1.58
3.33 13.9 19.9 26.0 46.0 67.5
(3.58) (16.0) (22.0) (28.1) (53.9) (75.4)
24.6 20.9 35.0 50.9 75.2 119
(22.8) (18.2) (31.6) (47.1) (64.2) (107)
8,590 3,880 4,190 4,420 4,040 4,210
(7,990) (3,370) (3,790) (4,090) (3,450) (3,770)
250  250  6
Heat Sink Size mm 400 400 x 20 (steel)
(aluminum)
*3 Totally enclosed, self-cooled, IP67
Protective Structure
Capacity W 10.0 18.5
Coil
Holding Brake Specifica-  (at 20C) 56 59 31
Resistance
tions *4 Rated Current A (at 20C) 0.43 0.41 0.77
Time Required to
ms 100 170
Release Brake
Time Required to
ms 80 100
Brake
Standard 8 times 2 times 4 times 3 times 2 times
of Inertia (Motor Moment 5 times
resistor and dynamic brake 15 times 4 times 7 times 6 times 6 times
of Inertia Ratio)
resistor connected
LF mm 40 58 79
Allowable
N 686 980 1470
Allowable
N 98 343 392 490
Thrust Load
radial loads applied to the Servo Motor shaft end during operation do not exceed the values given in the
table.
LF
Radial load
Thrust load
138
Rotary Servo Motors
SGM7G
Torque-Motor Speed Characteristics (High Speed Models - 400V NON-STOCK)

10 20 25 30
8 16 20 24
Rotary Servo Motors

Torque (N·m)
Torque (N·m)
Torque (N·m)
Torque (N·m)
6 12 15 18
B B B B
4 8 10 12
2 4 5 6
A A A A
0 0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
SGM7G-30D SGM7G-44D
60 75
48 60
Torque (N·m)
Torque (N·m)
36 45
B B
24 30
12 15
A A
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
2. The characteristics in the intermittent duty zone depend on the power supply voltage. The intermittent duty zone in
the graphs show the characteristics when a three-phase, 400-VAC power supply voltage is used.
139
Rotary Servo Motors
SGM7G

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
S7G____ Model *1 (RPM) (RPM) (Nm)*2 (Nm)*2 Load Load
min)
SGM7G- kg-m 2 ) kg-m 2) (N) (N)
05A -VL070-03 3:1 500 1000 8.15 25.4 0.53
1200 1100
05A -VL070-05 5:1 95 300 600 13.6 42.4 0.46
05A -VL090-10 10:1 150 300 27.2 84.7 3.330 0.70
05A7D6 (3.580) 2400 2200
05A -VL090-25 25:1 60 120 64.4 *3 0.74
125
90
05A -VL120-50 50:1 30 60 129 330 *3 0.76 4300 3900
09A -VL090-03 3:1 500 1000 15.4 40.5 1.1
09A -VL090-05 5:1 95 300 600 25.6 67.5 0.80 2400 2200
13.90
09A -VL090-10 09A7DK 10:1 150 300 51.2 80.0*3 (16.00)
0.70
09A -VL120-25 25:1 60 120 121 320 1.1 4300 3900
90
09A -VL155-50 50:1 30 60 243 639 1.1 9100 8200
13A -VL090-03 3:1 500 1000 23.8 66.4 2.9
2400 1100
13A -VL090-05 5:1 95 300 600 39.6 111 2.6
13A -VL120-10 10:1 150 300 79.2 221 19.90 2.6
13A7DK
(22.00) 4300 3900
13A -VL120-25 25:1 60 120 188 *3 2.8
330
90
13A -VL155-50 50:1 30 60 375 700 *3 2.8 9100 8200
20A -VL090-03 3:1 500 1000 32.8 81.8 2.9
2400 2200
20A -VL090-05 5:1 95 300 600 54.6 136 2.6
26.00
20A -VL120-10 20A7D6 10:1 150 300 109 225 *3 (28.10
2.6 4300 3900 5 IP65
20A -VL155-25 25:1 60 120 259 646 4.1 9100 8200
90
20A -VL205-50 50:1 30 60 518 1292 3.8 15000 14000
30A -VL120-03 3:1 500 1000 53.0 154 12.0
4300 3900
30A -VL120-05 5:1 95 300 600 88.4 257 9.5
30A -VL155-10 10:1 150 300 177 51‘3 46.00 9.6
30A7D6
(53.90) 9100 8200
30A -VL155-25 25:1 60 120 *3 *3 10.0
360 700
90
30A -VL205-50 50:1 30 60 750 *3 1400*3 10.0 15000 14000
44A -VL120-03 3:1 500 1000 80.9 204 12.0
4300 3900
44A -VL120-05 5:1 95 300 600 135 340 9.5
44A -VL205-10 10:1 150 300 270 680 67.50 12.0
44A7D6
(75.40)
44A -VL205-25 25:1 90 60 120 639 *3 14.0
1400 15000 14000
44A -VL235-50 50:1 92 *3 *3 1306 *3 12.0
20 40 2300
55A -VL155-03 3:1 500 1000 99.8 291 35.0
9100 8200
55A -VL155-05 5:1 95 300 600 166 485 27.0
55A -VL205-10 10:1 150 300 333 969 89.00 27.0
55A7D6
(96.90)
55A -VL205-25 25:1 90 60 120 788 *3 29.0
1400 15000 14000
55A -VL235-50 50:1 92 20*3 40*3 1610 2300*3 26.0
140
Rotary Servo Motors
SGM7G

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
min)
SGM7G- kg-m 2 ) kg-m 2) (N) (N)
75A -VL155-03 3:1 500 1000 137 339 35.0
9100 8200
75A -VL155-05 5:1 95 300 600 228 565 27.0
75A -VL205-10 10:1 150 300 456 970 *3 125.0 27.0
75A7D6 5 IP65
(133.0)
Rotary Servo Motors

75A -VL235-25 25:1 *3 *3 1104 *3 33.0 15000 14000
40 80 2300
92
75A -VL235-50 50:1 20*3 40*3 1500 *3 2300*3 26.0
141
Rotary Servo Motors
SGM7G

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
min)
SGM7G- kg-m 2 ) kg-m 2) (N) (N)
05D -VL070-03 3:1 500 1000 8.15 25.4 0.53
1200 1100
05D -VL070-05 5:1 95 300 600 13.6 42.4 0.46
05D -VL090-10 10:1 150 300 27.2 84.7 3.330 0.70
05D7D6 (3.580) 2400 2200
05D -VL090-25 25:1 60 120 64.4 *3 0.74
125
90
05D -VL120-50 50:1 30 60 129 330 *3 0.76 4300 3900
09D -VL090-03 3:1 500 1000 15.4 40.5 1.1
09D -VL090-05 5:1 95 300 600 25.6 67.5 0.80 2400 2200
13.90
09D -VL090-10 09D7DK 10:1 150 300 51.2 80.0*3 (16.00)
0.70
09D -VL120-25 25:1 60 120 121 320 1.1 4300 3900
90
09D -VL155-50 50:1 30 60 243 639 1.1 9100 8200
13D -VL090-03 3:1 500 1000 23.8 66.4 2.9
2400 1100
13D -VL090-05 5:1 95 300 600 39.6 111 2.6
13D -VL120-10 10:1 150 300 79.2 221 19.90 2.6
13D7DK
(22.00) 4300 3900
13D -VL120-25 25:1 60 120 188 *3 2.8
330
90
13D -VL155-50 50:1 30 60 375 700 *3 2.8 9100 8200
20D -VL090-03 3:1 500 1000 32.8 81.8 2.9
2400 2200
20D -VL090-05 5:1 95 300 600 54.6 136 2.6
26.00
20D -VL120-10 20D7D6 10:1 150 300 109 225 *3 (28.10)
2.6 4300 3900 5 IP65
20D -VL155-25 25:1 60 120 259 646 4.1 9100 8200
90
20D -VL205-50 50:1 30 60 518 1292 3.8 15000 14000
30D -VL120-03 3:1 500 1000 53.0 154 12.0
4300 3900
30D -VL120-05 5:1 95 300 600 88.4 257 9.5
30D -VL155-10 10:1 150 300 177 51‘3 46.00 9.6
30D7D6
(53.90) 9100 8200
30D -VL155-25 25:1 60 120 *3 *3 10.0
360 700
90
30D -VL205-50 50:1 30 60 750 *3 1400*3 10.0 15000 14000
44D -VL120-03 3:1 500 1000 80.9 204 12.0
4300 3900
44D -VL120-05 5:1 95 300 600 135 340 9.5
44D -VL205-10 10:1 150 300 270 680 67.50 12.0
44D7D6
(75.40)
44D -VL205-25 25:1 90 60 120 639 *3 14.0
1400 15000 14000
44D -VL235-50 50:1 92 *3 *3 1306 *3 12.0
20 40 2300
55D -VL155-03 3:1 500 1000 99.8 291 35.0
9100 8200
55D -VL155-05 5:1 95 300 600 166 485 27.0
55D -VL205-10 10:1 150 300 333 969 89.00 27.0
55D7D6
(96.90)
55D -VL205-25 25:1 90 60 120 788 *3 29.0
1400 15000 14000
55D -VL235-50 50:1 92 20*3 40*3 1610 2300*3 26.0
142
Rotary Servo Motors
SGM7G

Rated Peak Back-
Gear Torque lash
Ratio (x10-4 (x10 -4 (arc-
min)
SGM7G- kg-m 2 ) kg-m 2) (N) (N)
75D -VL155-03 3:1 500 1000 137 339 35.0
9100 8200
75D -VL155-05 5:1 95 300 600 228 565 27.0
75D -VL205-10 10:1 150 300 456 970 *3 125.0 27.0
75D7D6 5 IP65
(133.0)
Rotary Servo Motors

75D -VL235-25 25:1 *3 *3 1104 *3 33.0 15000 14000
40 80 2300
92
75D -VL235-50 50:1 20*3 40*3 1500 *3 2300*3 26.0
143
Rotary Servo Motors
SGM7G
Servo Motor Overload Protection Characteristics (200 V Models)

of 40°C.
SGM7G-03 and -05 SGM7G-09, -13, and -20
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
SGM7G-05
SGM7G-13
10 10
SGM7G-09
SGM7G-03
SGM7G-20
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
SGM7G-30, -44, -55, and -75 SGM7G-1A and -1E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
SGM7G-30 and -55 SGM7G-1A
10 10
SGM7G-75 SGM7G-1E
SGM7G-44
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
given in Torque-Motor Speed Characteristics (200 V Models -03A to -20A) on page 131 and Torque-Motor Speed
Characteristics (200 V Models -30A to -1EA) on page 133
144
Rotary Servo Motors
SGM7G
Servo Motor Overload Protection Characteristics (400 V Models)

of 40°C.
SGM7G-05 SGM7G-09, -13, and -20
10000 10000
Rotary Servo Motors

1000 1000
Detection time (s)

Detection time (s)
100 100
SGM7G-05
SGM7G-13
10 10
SGM7G-09
SGM7G-20
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
SGM7G-30, -44, -55, and -75 SGM7G-1A and -1E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100 SGM7G-1A

SGM7G-44
10 10
SGM7G-30 SGM7G-1E
SGM7G-55, -75
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(%) (%)
given in Torque-Motor Speed Characteristics (400 V Models -05D to -1ED) on page 137.
145
Rotary Servo Motors
SGM7G
Servo Motor Overload Protection Characteristics (400 V High Speed Models)

of 40°C.
SGM7G-05 SGM7G-09, -13, and -20
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
SGM7G-05 SGM7G-20
10 10
SGM7G-13
SGM7G-09
1 1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 30
(%) (%)
SGM7G-30 and -44

10000
1000
Detection time (s)
100
SGM7G-30
10
SGM7G-44
1
0 50 100 150 200 250 300
(%)
given in Torque-Motor Speed Characteristics (High Speed Models - 400V NON-STOCK) on page 139.
146
Rotary Servo Motors
SGM7G

rate.
Rotary Servo Motors

120 120 120 120

SGM7G-30A, -44A, and -55A SGM7G-1AA and -1EA
100 100 100 100
Derating rate (%)

Derating rate (%)
Derating rate (%)

Derating rate (%)
80 80 80 80
SGM7G-75A
60 60 60 60
SGM7G-03A and -05A SGM7G-09A, -13A, and -20A
40 40 40 40
20 20 20 20
0 0 0 0
0 50 100 150 200 250 300 0 100 200 300 400 0 100 200 300 400 500 600 0 100 200 300 400 500 600 700
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)
120 120 120 120

SGM7G-30D, -44D, -55D SGM7G-1AD, -1ED
100 100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)
Derating rate (%)
80 80 80 80
SGM7G-75D
60 60 60 60
SGM7G-05D SGM7G-09D, -13D, -20D
40 40 40 40
20 20 20 20
0 0 0 0
0 50 100 150 200 250 300 0 100 200 300 400 0 100 200 300 400 500 600 0 100 200 300 400 500 600 700
Heat sink size (mm) Heat sink size (mm) Heat sink size (mm) Heat sink size (mm)
147
Rotary Servo Motors
SGM7G

Exceeds 40C
120 120 120
SGM7G-30 and -44
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7G-03 and -05 SGM7G-09, -13, and -20
60 60 60
40 40 40
SGM7G-55, -75, -1A, and -1E
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60
Surrounding Air Temperature (°C) Surrounding Air Temperature (°C) Surrounding Air Temperature (°C)
120 120 120

SGM7G-1E
SGM7G-1ED SGM7G-30, -44
SGM7G-30D, -44D
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
SGM7G-05D SGM7G-09D, -13D, -20D SGM7G-75D
SGM7G-75
60 60 60
SGM7G-55D, -1AD
SGM7G-55, -1A
40 40 40
20 20 20
0 0 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Surrounding air temperature (°C) Surrounding air temperature (°C) Surrounding air temperature (°C)
148
Rotary Servo Motors
SGM7G

Rotary Servo Motors

120 120 120
SGM7G-30A and -44A
100 100 100
Derating rate (%)

Derating rate (%)
Derating rate (%)

80 80 80
60 SGM7G-03A and -05A 60 SGM7G-09A, -13A, and -20A 60
40 40 40
20 20 20
SGM7G-55A, -75A,
-1AA, and -1EA
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
120 120 120

SGM7G-30D, -44D
100 100 100
Derating rate (%)
Derating rate (%)
Derating rate (%)

80 80 80
60 SGM7G-05D 60 SGM7G-09D, -13D, -20D 60
40 40 40
20 20 20
SGM7G-55D, -75D,
-1AD, -1ED
0 0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
149
Rotary Servo Motors
SGM7G
External Dimensions
200V Servo Motors without Holding Brakes
 SGM7G-03A and -05A
Notation
L Shaft End Details

LL LR
36 LM LR
10 0.04 A
5 5
0.04 dia. A .
S dia.
o90 dia
0
10
79 dia.
LB dia.
35 dia.
S dia.
50
70
12
0
dia
R1
.
18 dia.
17 KB1 A
0.02 Q
38 KB2 4 × 6.6 dia.
Refer to SGM7G-03A (Low-Speed
Version) on page 156 for details.
Unit: mm

SGM7G- LA LB LC LE
0
03A AK1 166* 126 90 40* 75 114 70 100 80 -0.030 90 5
05A A21 179 139 103 40 88 127 70 100 80
0
-0.030
90 5
Model Flange Dimensions Shaft End Dimensions Approx.

SGM7G- LG LH LZ S Q Mass [kg]
03A AK1 10 120 6.6 0
14 -0.011 * 30* 2.6
05A A21 10 120 6.6 16
0
-0.011
30 3.2
* The L, LR, S, and Q dimensions of these Servo Motors are different from those of the S-V-series SGMGV Servo Motors.
Models that have the same installation dimensions as the SGMGV Servo Motors are also available. Contact your Yaskawa
representative for details.
 SGM7G-03A and -05A without Holding Brakes (page 172)
150
Rotary Servo Motors
SGM7G
 SGM7G-09A to -75A
L Shaft End Details
LL LR LR
36 LM 0.04 A LE
LG LE
0.04 dia. A
oLC
.
S dia.
dia
LA
LH
dia.
LB dia.
79 dia.
S dia.
45 dia.
Rotary Servo Motors

50
R1
28 dia.
KL1
IE
Q
A
0.02*1
17 KB1 4 × LZ dia. Version) on page 156 for details.
KB2
Unit: mm

L LL LM LR KB1 KB2 IE KL1
SGM7G- LA LB LC LE
09A AK1 195 137 101 58 83 125 - 104 145 110
0
-0.035
130 6
13A AK1 211 153 117 58 99 141 - 104 145 110 -0.035
0
130 6
20A A21 229 171 135 58 117 159 - 104 145 110 -0.035
0
130 6
30A A21 239 160 124 79 108 148 - 134 200 114.3 -0.025
0
180 3.2
44A A21 263 184 148 79 132 172 - 134 200 114.3 -0.025
0
180 3.2
55A A21 334 221 185 113 163 209 123 144 200 114.3 -0.025
0
180 3.2
75A A21 380 267 231 113 209 255 123 144 200 114.3 -0.025
0
180 3.2
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
09A AK1 12 165 9 19 -0.013 40 5.5
0
13A AK1 12 165 9 22 -0.013 40 7.1
0
20A A21 12 165 9 24 -0.013 40 8.6
30A A21 18 230 13.5 35
+0.01
0
76 13.5
44A A21 18 230 13.5 35
+0.01
0 76 17.5
0
55A A21 18 230 13.5 42 -0.016 110 21.5
0
75A A21 18 230 13.5 42 -0.016 110 29.5
*1. This is 0.04 for the SGM7G-55 or SGM7G-75.
151
Rotary Servo Motors
SGM7G
 SGM7G-1AA and -1EA

L
LL LR
36 LM
0.06 A
LG LE Shaft End Details
0.04 dia. A
oLC
LR
d ia.
LH LA LE
S dia.
dia.
79 dia.
LB dia.
80 dia.
50
S dia.
KL1
IE
S1 dia.
R1
110
A 4 × LZ dia.
0.04
17 KB1 56 56
Refer to SGM7G-03A (Low-
KB2 Speed Version) on page 156
for details.
Unit: mm
Flange Dimensions
Model SGM7G- L LL LM LR KB1 KB2 IE KL1
LA LB LC LE
1AA A21 447 331 295 116 247 319 150 168 235 200 0 220 4
-0.046
1EA A21 509 393 357 116 309 381 150 168 235 200 -0.046
0 220 4
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
1AA A21 20 270 13.5 42 -0.016 50 57
1EA A21 20 270 13.5 55 +0.030
+0.011
60 67
 SGM7G-09A to -1EA without Holding Brakes (page 172)
152
Rotary Servo Motors
SGM7G
200V Servo Motors with Holding Brakes

 SGM7G-03A and -05A
L
LL LR
36 LM Shaft End Details
0.04 A
10 5 . LR
o90
S dia.
0.04 dia. A
0 dia
10 5
Rotary Servo Motors

79 dia.
LB dia.
35 dia.
50
S dia.
70
12
0d
18 dia.
ia.
R1
17 KB1 A
0.02 4 × 6.6 dia. Q
38 KB2
Unit: mm

SGM7G- LA LB LC LE
03A AKC 163 159 123 37 75 147 70 100 80 -0.030
0
90 5
05A A2C 212 172 136 40 88 160 70 100 80
0
-0.030
90 5
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
03A AKC 10 120 6.6 14 -0.011 * 25 3.6
0
05A A2C 10 120 6.6 16 -0.011
30 4.2
 SGM7G-03A and -05A with Holding Brakes (page 173)
153
Rotary Servo Motors
SGM7G
L Shaft End Details
LL LR
36 LM LR
0.04 A
LG LE oLC LE
0.04 dia. A d ia.
S dia.
LA
LH d
ia.
LB dia.
79 dia.
45 dia.
S dia.
50
KL3
KL1
IE
R1
28 dia.
A
Q
0.02
11 17 4 × LZ dia.
KB1
KB3 Refer to SGM7G-03A (Low-
KB2 Speed Version) on page 156 for
details.
Unit: mm
Flange Dimensions
Model SGM7G- L LL LM LR KB1 KB2 KB3 IE KL1 KL3
LA LB LC LE
09A AKC 231 173 137 58 83 161 115 - 104 80 145 110
0
-0.035
130 6
13A AKC 247 189 153 58 99 177 131 - 104 80 145 110 -0.035
0
130 6
20A A2C 265 207 171 58 117 195 149 - 104 80 145 110 -0.035
0
130 6
30A A2C 287 208 172 79 108 196 148 - 134 110 200 114.3 -0.025
0
180 3.2
44A A2C 311 232 196 79 132 220 172 - 134 110 200 114.3 -0.025
0
180 3.2
55A A2C 378 265 229 113 163 253 205 123 144 110 200 114.3 -0.025
0
180 3.2
75A A2C 424 311 275 113 209 299 251 123 144 110 200 114.3 -0.025
0
180 3.2
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
09A AKC 12 165 9 19 -0.013 40 7.5
0
13A AKC 12 165 9 22 -0.013 40 9.0
0
20A A2C 12 165 9 24 -0.013 40 11.0
+0.01
30A A2C 18 230 13.5 35 0 76 19.5
+0.01
44A A2C 18 230 13.5 35 0 76 23.5
0
55A A2C 18 230 13.5 42 -0.016 110 27.5
0
75A A2C 18 230 13.5 42 -0.016 110 35.0
154
Rotary Servo Motors
SGM7G
 SGM7G-1AA, 1EA
L
LL LR
36 LM
0.06 A Shaft End Details
LG LE
0.04 dia. A
oLC LR
.
dia LE
LH LA
S dia.
dia
.
Rotary Servo Motors

LB dia.
79 dia.
80 dia.
S dia.
50
KL3
S1 dia.
R1
KL1
110
IE
A 4 × LZ dia.
11 17 0.04 56 56 Refer to SGM7G-03A (Low-
details.
KB3
KB2
Unit: mm
Flange Dimensions
LA LB LC LE
1AAA2C 498 382 346 116 247 370 315 150 168 125 235 0
200 -0.046 220 4
1EA A2C 598 482 446 116 309 470 385 150 168 125 235 0
200 -0.046 220 4
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
1AA A2C 20 270 13.5 42 -0.016 50 65
1AA A2C 20 270 13.5 55 +0.030
+0.011 60 85

 SGM7G-09A to -1EA with Holding Brakes (page 173)
155
Rotary Servo Motors
SGM7G
 SGM7G-03A (Low-Speed Version)

L
LL LR
36 LM Shaft End Details
0.04 A
10 5 . LR
o90
S dia.
0.04 dia. A
0 dia
10 5
79 dia.
LB dia.
35 dia.
50
S dia.
70
12
0d
18 dia.
ia.
R1
17 KB1 A
0.02 4 × 6.6 dia. Q
38 KB2
Unit: mm

SGM7G- LA LB LC LE
0
03A7B61 179 139 103 40 88 127 70 100 80 -0.030
90 5
03A7B6C 212 172 136 40 88 160 70 100 80
0
-0.030
90 5
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
0
03A7B61 10 120 6.6 16 -0.011
30 3.2
0
03A7B6C 10 120 6.6 16 -0.011
30 4.2
156
Rotary Servo Motors
SGM7G
L Shaft End Details
LL LR
36 LM LR
0.04 A
LG LE oLC LE
0.04 dia. A d ia.
S dia.
LA
LH d
ia.
LB dia.
79 dia.
45 dia.
S dia.
Rotary Servo Motors

50
KL3
KL1
IE
R1
28 dia.
A
Q
0.02
11 17 4 × LZ dia.
KB1
KB3 Refer to SGM7G-03A (Low-
details.
Unit: mm
Flange Dimensions
LA LB LC LE
06A7B61 195 137 101 58 83 125 N/A N/A 104 N/A 145 110 130 6
09A7B61 211 153 117 58 99 141 N/A N/A 104 N/A 145 110 130 6
09A7B6C 247 189 153 58 99 177 131 N/A 104 80 145 110 130 6
12A7B61 229 171 135 58 117 159 N/A N/A 104 N/A 145 110 130 6
12A7B6C 265 207 171 58 117 195 149 N/A 104 80 145 110 130 6
20A7B61 239 160 124 79 108 148 N/A N/A 134 N/A 200 114.3 180 3.2
20A7B6C 287 208 172 79 108 196 148 N/A 134 110 200 114.3 180 3.2
30A7B61 263 184 148 79 132 172 N/A N/A 134 N/A 200 114.3 180 3.2
30A7B6C 311 232 196 79 132 220 172 N/A 134 110 200 114.3 180 3.2
40A7B61 334 221 185 113 163 209 N/A 123 144 N/A 200 114.3 180 3.2
40A7B6C 378 265 229 113 163 253 205 123 144 110 200 114.3 180 3.2
55A7B61 380 267 231 113 209 255 N/A 123 144 N/A 200 114.3 180 3.2
55A7B6C 424 311 275 113 209 299 251 123 144 110 200 114.3 180 3.2
Shaft End
Dimensions
SGM7G- Mass [kg]
LG LH LZ S Q
06A7B61 12 165 9 24 40 5.5
09A7B61 12 165 9 24 40 7.1
09A7B6C 12 165 9 24 40 9.0
12A7B61 12 165 9 24 40 8.6
12A7B6C 12 165 9 24 40 11.0
20A7B61 18 230 13.5 35 76 13.5
20A7B6C 18 230 13.5 35 76 19.5
30A7B61 18 230 13.5 35 76 17.5
30A7B6C 18 230 13.5 35 76 23.5
40A7B61 18 230 13.5 42 110 21.5
40A7B6C 18 230 13.5 42 110 27.5
55A7B61 18 230 13.5 42 110 29.5
55A7B6C 18 230 13.5 42 110 35.0
157
Rotary Servo Motors
SGM7G
Shaft End Specifications (200V Models)

 SGM7G-
Code Specification
6
Straight with key and tap with same shaft diame-
K ter as Sigma-5 equivalent (for models 03, 09,
and 13)
Servo Motor Model SGM7G-

Shaft End Details
03 05 09 13 20 30 44 55 75 1A 1E
LR LR 40 40 58 58 58 79 79 113 113 116 116
Q
Q 30 30 40 40 40 76 76 110 110 110 110
R1
+0.01 +0.01 +0.030
S dia.
S 0
16 -0.011
0
16 -0.011 0
24 -0.013
0
24 -0.013
0
24 -0.013 35 0 35 0
0
42 -0.016
0
42 -0.016
0
42 -0.016 55 +0.011
Code: 6 or K (Straight with Key and Tap)
LR 40 40 58 58 58 79 79 113 113 116 116
Q 30 30 40 40 40 76 76 110 110 110 110
QK 20 20 25 25 25 60 60 90 90 90 90
LR
S
+0.01 +0.01 +0.030
Q (Code 0 0 0 0 0
35 35 0 0 0
55 +0.011
16 -0.011 16 -0.011 24 -0.013 24 -0.013 24 -0.013 0 0 42 -0.016 42 -0.016 42 -0.016
QK 6)
S
(Code 0
14 -0.011 N/A 0
19 -0.013
0
22 -0.013 N/A N/A N/A N/A N/A N/A N/A
K)
R1
W 5 5 5 6 8 10 10 12 12 12 16
U P
T 5 5 5 6 7 8 8 8 8 8 10
S dia.
W
T U 3 3 3 3.5 4 5 5 5 5 5 6
M20
screw
M12 screw, M16 screw,
P M5 screw, Depth: 12 ,
Depth: 25 Depth: 32
Depth
: 40
158
Rotary Servo Motors
SGM7G
400V Servo Motors

 SGM7G-05D
L
LL
0.04 A Notation
LM 40 : Square dimensions
10 5 0.04 A
12 Shaft End Details
Rotary Servo Motors

S dia.
0 .
di 40
a. dia
0 5
79 dia. 10
S dia.
35 dia.
LB dia.
90
16
59
18 dia.
R1
94
Q
0.02
A
4 6.6 dia.
10 Refer to 5.3.2 Shaft End Sp eci-
fications on page 5-12 for
L2 details
Unit: mm
54 L1
Shaft End
Model Dimensions Approx.
L LL LM L1 L2 LB
SGM7G- Mass [kg]
S Q
181 141 103 127 3.3
05D F2 74 0
80 -0.030
0
16 -0.011 30
(214) (174) (136) (161) (4.3)
Note: Servo Motors with Oil Seals have the same dimensions. Values in parentheses are for motors with holding brakes.
159
Rotary Servo Motors
SGM7G
 SGM7G-09D, -13D, -20D

L
LL 0.04 A
LM 58
16
.
dia
Shaft End Details
5d
12 6 0.04 A
5
14
ia.
58
79 dia.
6
S dia.
S dia.
45 dia.
130
LB dia.
16
59
121
R1
28 dia.
Q
A
0.02 4 × 9 dia.
Refer to 5.3.2 Shaft End

L2 Specification s on page 5-12
for details.
Unit: mm
54 L1
L
Shaft End
L LL LM L1 L2 LB
SGM7G- Mass [kg]
S Q
197 139 101 125 0 0 5.6
09D FK 69 110 -0.035 19 -0.013 40
(233) (175) (137) (161) (7.6)
213 155 117 141 7.2
13D FK 85 110 -0.035
0 0
22 -0.013 40
(249) (191) (153) (177) (9.1)
231 173 135 159 8.7
20D F2 103 110 -0.035
0 0
24 -0.013 40
(267) (209) (171) (195) (11.1)
160
Rotary Servo Motors
SGM7G
 SGM7G-30D, -44D, -55D, -75

L
Shaft End Details
23
LL LR
0.04 A
0d
LM LR
.
dia
ia.
18 3.2 (3.2)
0
S dia.
20
79 dia.
LB dia.
Rotary Servo Motors

180
16
62 dia.
59
156
R1
44 dia.
A
0.02 Q
4 × 13.5 dia.
0.04 A
L2
Unit: mm
54 L1
Shaft End
L LL LM L1 L2 LR LB
SGM7G- Mass [kg]
S Q
241 162 124 149 +0.01 13.6
30D F2 94 79 0
114.3 -0.035 35 -0 76
(289) (210) (172) (197) (19.6)
265 186 148 173 0 +0.01 18.0
44D F2 118 79 114.3 -0.025 35 -0 76
(313) (234) (196) (221) (24.0)
265 186 148 173 +0.01 18.0
44D R2 112 79 0
114.3 -0.025 35 -0 76
(313) (234) (196) (221) (24.0)
336 223 185 210 22.0
55D F2 143 113 0
114.3 -0.025
0
42 -0.016 76
(380) (267) (229) (254) (28.0)
382 269 231 256 30.0
75D F2 189 113 0
114.3 -0.025
0
42 -0.016 76
(426) (313) (275) (300) (35.5)
161
Rotary Servo Motors
SGM7G
 SGM7G-1AD, -1ED
L
LL 116
38 LM 0.06 A
20 4 Shaft End Details
0.04 dia. A
. (116)
220 dia
S dia.
5 (4)
23
270
dia.
LB dia.
79 dia.
59
150
KL1
80 dia.
A 0.04
R1
S1 dia.
4 × 13.5 dia.
16 70 56 56
115 Q
L1
L2
Unit: mm
Shaft End
L LL LM L1 L2 LB
SGM7G- Mass [kg]
S Q
449 333 295 319
1AD F2 227 200
0
* 42
0
110 50
(500) (384) (346) (371) -0.046 -0.016
511 395 357 382 +0.030

1ED F2 289 0
200 -0.046 * 55 +0.011 110 60
(600) (484) (446) (470)
162
Rotary Servo Motors
SGM7G
Shaft End Specifications (400V Models)

 SGM7G-
Code Specification
2 or S Straight without key
Rotary Servo Motors

6 or K
(Key slot is JIS B1301-1996 fastening type.
Servo Motor Model SGM7G-

Shaft End Details
05 09 13 20 30 44 55 75 1A 1E
Code: 2 or S* (Straight without Key)
LR LR 40 58 58 58 79 79 113 113 116 116
Q
Q 30 40 40 40 76 76 110 110 110 110
R1
+0.01 +0.01 +0.030
S dia.
S 0
16 -0.011 0
19 -0.013 22
0
-0.013
0
24 -0.013 35 0 35 0
0
42 -0.016
0
42 -0.016
0
42 -0.016 55 +0.011
Code: 6 or K* (Straight with Key and Tap)
LR 40 58 58 58 79 79 113 113 116 116
Q 30 40 40 40 76 76 110 110 110 110

LR
Q
QK 20 25 25 25 60 60 90 90 90 90
QK
+0.01 +0.01 +0.030
S 0
16 -0.011 19
0
-0.013
0
22 -0.013
0
24 -0.013 35 0 35 0
0
42 -0.016
0
42 -0.016
0
42 -0.016 55 +0.011
W 5 5 6 8 10 10 12 12 12 16
R1
T 5 5 6 7 8 8 8 8 8 10
U P
U 3 3 3.5 4 5 5 5 5 5 6
S dia.
W
T M20
screw
M12 screw, M16 screw,
P M5 screw, Depth: 12 ,
Depth: 25 Depth: 32
Depth
: 40
* The code for the shaft end depends on the model:
SGM7G-05, -20, -30, -44, -55, -75, -1A, or -1E: 2 or 6
SGM7G-09 or -13: S or K
163
Rotary Servo Motors
SGM7G
Gear Motors
 Gear Motor Models: 450 W to 2.9 kW (S7G05, S7G09, S7G13, S7G20, S7G30)
LL LR φ MT MD
LL3 LE
φ LA
Q
QK
R0
.40
Shaft Detail
QK U
Model S7G LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

450 W Models
05A -VL070-03 243
104 36 5 16 52 70 62 M5 10 28 22 5 3 5
05A -VL070-05 (276)
256
05A -VL090-10
200 V
117
(289) 90 0
46 7 22 68 90 80 M6 12 36 28 6 3.5 6
278
05A -VL090-25 139
(311)
293.5
05A -VL120-50 154.5 70 9 32 90 120 108 M8 16 58 45 10 5 8
(326.5)
850 W Models
09A -VL090-03
259
09A -VL090-05 122 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
(295)
09A -VL090-10
200 V
130 0
296.5
09A -VL120-25 159.5 70 9 32 90 120 108 M8 16 58 45 10
(332.5)
5 8
321.5
09A -VL155-50 184.5 97 12 40 120 155 140 M10 20 82 65 12
(357.5)
1.3 kW Models
13A -VL090-03 287
134 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
13A -VL090-05 (323)
297
13A -VL120-10
200 V
144
(333) 130 0
70 9 32 90 120 108 M8 16 58 45 10
324.5
13A -VL120-25 171.5 5 8
(360.5)
349.5
13A -VL155-50 196.5 97 12 40 120 155 140 M10 20 82 65 12
(385.5)
1.8 kW Models
20A -VL090-03 305
134 46 7 22 68 90 80 M6 12 36 28 6 3.5 6
20A -VL090-05 (341)
315
20A -VL120-10
200 V
144 70 9 30 90 120 108 M8 16 58 45 10

(351) 130 0 5 8
367.5
20A -VL155-25 196.5 97 12 40 120 155 140 M10 20 12
(403.5)
82 65
397
20A -VL205-50 226 100 15 55 160 205 184 M12 22 16 6 10
(433)
2.9 kW Models
30A -VL120-03 285
155 70 9 32 90 120 108 M8 16 58 45 10
30A -VL120-05 (363)
297 5 8
30A -VL155-10
200 V
167
(375) 180 0
97 12 40 120 155 140 M10 20 12
331.5
30A -VL155-25 201.5 82 65
(409.5)
361
30A -VL205-50 231 100 15 55 160 205 184 M12 22 16 6 10
(439)
164
Rotary Servo Motors
SGM7G
 Gear Motor Models: 4.4 kW to 7.5 kW (S7G 44, S7G55, S7G75)

LL LR φ MT MD
LL3 LE
φ LA
Q
QK
Rotary Servo Motors

R0
.40
Shaft Detail
QK U
Model S7G LL LL3 LR LE S LB GD LC LA MT MD Q QK KD W U T

4.4 kW Models
44A -VL120-03 339
155 70 9 32 90 120 108 M8 16 58 45 10 5 8
44A -VL120-05 (387)
370.5
44A -VL205-10
200 V
186.5
(418.5) 180 0
100 15 55 160 205 184 M12 22 82 65 16 6 10
415
44A -VL205-25 231
(463)
424.5
44A -VL235-50 240.5 126 18 75 180 235 210 M16 28 105 85 20 7.5 12
(472.5)
5.5 kW Models
55A -VL155-03 429
208 97 12 40 120 155 140 M10 20 12 5 8
55A -VL155-05 (473)
443.5 82 65
55A -VL205-10
200 V
222.5
(487.5) 180 0
100 15 55 160 205 184 M12 22 16 6 10
488
55A -VL205-25 267
(532)
498
55A -VL235-50 277 126 18 75 180 235 210 M16 28 105 85 20 7.5 12
(542)
7.5 kW Models
75A -VL155-03 475
208 97 12 40 120 155 140 M10 20 12 5 8
75A -VL155-05 (519)
82 65
200 V
489.5
75A -VL205-10 222.5 100 15 55 160 205 180 184 M12 22 0 16 6 10
(533.5)
75A -VL235-25 544
277 126 18 75 180 235 210 M16 28 105 85 20 7.5 12
75A -VL235-50 (588)
165
Rotary Servo Motors
SGM7G
Selecting Cables
SERVOPACK
C
N
6
SERVOPACK
C
N
6
Relay Encoder Cable

(Required when an

on Both Ends
Encoder Cable
Servo Motor
Main Circuit Cable
Battery Case
(Required when an
absolute encoder is used.) Encoder-end Cable
Servo Motor
Main Circuit Cable Servo Motor
Servo Motor
Standards are not available from Yaskawa for the SGM7G Servo Motors. You must make such a cable yourself.
Use the Connectors specified by Yaskawa for these Servo Motors. (These Connectors are compliant with the
standards.) Yaskawa does not specify what wiring materials to use.
166
Rotary Servo Motors
SGM7G
Servo Motor Main Circuit Cables (200 V)

Servo Order Number
Length
Motor Name Standard Appearance
(L) Flexible Cable* Flexible/Shielded
Model Cable
Power 3m N/A JZSP-CVM21-03-E YEA-CVM21-03(A)-E
Rotary Servo Motors

Cable for 5m N/A JZSP-CVM21-05-E YEA-CVM21-05(A)-E
Servo SERVOPACK End Servo Motor End
10 m N/A JZSP-CVM21-10-E YEA-CVM21-10(A)-E 50 mm L
Motors
SGM7G- without 15 m N/A JZSP-CVM21-15-E YEA-CVM21-15(A)-E
03 and - Holding
Wire Markers
M4 Crimped Terminals
05 20 m N/A JZSP-CVM21-20-E YEA-CVM21-20(A)-E

Brakes
300 W, Power 3m N/A JZSP-CVM41-03-E YEA-CVM41-03(A)-E

450 W Cable for 5m N/A JZSP-CVM41-05-E YEA-CVM41-05(A)-E SERVOPACK End Servo Motor End
Servo 50 mm L
10 m N/A JZSP-CVM41-10-E YEA-CVM41-10(A)-E

Motors with
Holding 15 m N/A JZSP-CVM41-15-E YEA-CVM41-15(A)-E Wire Markers
M4 Crimped Terminals
Brakes 20 m N/A JZSP-CVM41-20-E YEA-CVM41-20(A)-E
* Flexible cables are provided as a standard feature

Servo Order Number
Length
(L) Standard Cable Flexible Cable Flexible/Shielded*2
Model
200V 5m B1EV-05(A)-E N/A B1EP-05(A)-E
SGM7G-
10 m B1EV-10(A)-E N/A B1EP-10(A)-E
850 W,
1.3 kW 15 m B1EV-15(A)-E N/A B1EP-15(A)-E
20 m B1EV-20(A)-E N/A B1EP-20(A)-E
200V
SGM7G- 10 m B2EV-10(A)-E N/A B2EP-10(A)-E
2.0 kW
15 m B2EV-15(A)-E N/A B2EP-15(A)-E
L 125 mm
20 m B2EV-20(A)-E N/A B2EP-20(A)-E
200V
Power 5m B4EV-05(A)-E N/A B4EP-05(A)-E
SGM7G-
3.0 kW, Cable *1 10 m B4EV-10(A)-E N/A B4EP-10(A)-E
to 4.4 15 m B4EV-15(A)-E N/A B4EP-15(A)-E
kW
20 m B4EV-20(A)-E N/A B4EP-20(A)-E
200V 3m B6EV-03(A)-E N/A B6EP-03(A)-E
SGM7G- 5m B6EV-05(A)-E N/A B6EP-05(A)-E
5.5 kW,
10 m B6EV-10(A)-E N/A B6EP-10(A)-E
to 7.5
kW 15 m B6EV-15(A)-E N/A B6EP-15(A)-E
20 m B6EV-20(A)-E N/A B6EP-20(A)-E
200V 5m B7EV-05(A)-E N/A B7EP-05(A)-E
SGM7G- L 125 mm
10 m B7EV-10(A)-E N/A B7EP-10(A)-E
11kW, to
15 kW 15 m B7EV-15(A)-E N/A B7EP-15(A)-E
20 m B7EV-20(A)-E N/A B7EP-20(A)-E
167
Rotary Servo Motors
SGM7G
Servo Order Number

Length
(L) Standard Cable Flexible Cable Flexible/Shielded*2
Model
3m BBEV-03(A)-E N/A N/A
5m BBEV-05(A)-E N/A N/A
L 125 mm
10 m BBEV-10(A)-E N/A N/A
200V 15 m BBEV-15(A)-E N/A N/A
SGM7G- Holding 20 m BBEV-20(A)-E N/A N/A
850 W to Brake
15 kW Cable 3m N/A N/A BBEP-03(A)-E
5m N/A N/A BBEP-05(A)-E
L 125 mm
10 m N/A N/A BBEP-10(A)-E
*1. Servo Motors with holding brakes require a holding brake cable in addition to a power cable.
*2. The order number for the Main Power Supply Cable is JZSP-UVA101-xx-E (standard cable) or JZSP-UVA121-xx-E (flexible
cable). The order number for the Holding Brake Connector Kit is JZSP-CVB9-SMC3-E.

Length Order Number
SGM7G-05 to -20 3m N/A N/A JZSP-C7M144-03-E-G6
0.45 to 1.8kW (400V) 5m N/A N/A JZSP-C7M144-05-E-G6
SGM7G-05 to -09 10 m N/A N/A JZSP-C7M144-10-E-G6
0.45 to 0.85kW (400V 15 m N/A N/A JZSP-C7M144-15-E-G6
High Speed) 20 m N/A N/A JZSP-C7M144-20-E-G6
SGM7G-30 3m N/A N/A JZSP-C7M154-03-E-G6
3.0kW (400V) 5m N/A N/A JZSP-C7M154-05-E-G6
SGM7G-44
Cable with- 5m N/A N/A JZSP-C7M164-05-E-G6
4.4kW (400V)
out Brake.
SGM7G-30 10 m N/A N/A JZSP-C7M164-10-E-G6
Cable
2.9kW (400V High 15 m N/A N/A JZSP-C7M164-15-E-G6
installed
Speed) 20 m N/A N/A JZSP-C7M164-20-E-G6
toward load
SGM7G-1A to -1E
11 to15kW (400V)
168
Rotary Servo Motors
SGM7G
Length Order Number

Rotary Servo Motors

SGM7G-30 3m N/A N/A JZSP-C7M354-03-E-G6
3.0kW (400V) 5m N/A N/A JZSP-C7M354-05-E-G6
SGM7G-44
Cable with 5m N/A N/A JZSP-C7M364-05-E-G6
4.4kW (400V)
Brake.
Cable
installed
toward load
SGM7G-1A to -1E
11 to15kW (400V)
Servo Motor Connection Shielding Clamp (400 V Models)

Servo Motor
Model
SGM7G-05
to -30
200W to KLBUE 4-13.5_SC
2.9kW
(400V)
SGM7G-44
Shielding Clamp for Power
to -75
Cable KLBUE 10-20_SC
4.4 to 7.5kW
(400V)
SGM7G-1A
to -1E
KLBUE 15-32_SC
11 to15kW
(400V)
169
Rotary Servo Motors
SGM7G
Encoder Cables of 20 m or Less (200 V)

Name Appearance
3m JZSP-CVP01-03-E JZSP-CVP11-03-E
5m JZSP-CVP01-05-E JZSP-CVP11-05-E SERVOPACK
L
Encoder end
end
Cables with 10 m JZSP-CVP01-10-E JZSP-CVP11-10-E
molex
Connectors 15 m JZSP-CVP01-15-E JZSP-CVP11-15-E
on Both 20 m JZSP-CVP01-20-E JZSP-CVP11-20-E
Ends
(for incre- 3m JZSP-CVP02-03-E JZSP-CVP12-03-E
mental 5m JZSP-CVP02-05-E JZSP-CVP12-05-E SERVOPACK Encoder end
end L
encoder) 10 m JZSP-CVP02-10-E JZSP-CVP12-10-E
molex
All 200 V 20 m JZSP-CVP02-20-E JZSP-CVP12-20-E
SGM7G
models 3m JZSP-CVP06-03-E JZSP-CVP26-03-E
L
Cables with 5m JZSP-CVP06-05-E JZSP-CVP26-05-E end
molex
Connectors
on Both Battery Case
15 m JZSP-CVP06-15-E JZSP-CVP26-15-E (battery included)
Ends 20 m JZSP-CVP06-20-E JZSP-CVP26-20-E
(for abso-
lute 3m JZSP-CVP07-03-E JZSP-CVP27-03-E
L
encoder: 5m JZSP-CVP07-05-E JZSP-CVP27-05-E end
With Battery
molex
Case) 15 m JZSP-CVP07-15-E JZSP-CVP27-15-E Battery Case
(battery included)
* Use Flexible Cables for moving parts of machines, such as robots. NOTE: Shaded items are non-stock items.

Servo Order Number
Length
Motor Name For Incremental Appearance
(L) For Absolute encoder
Model encoder
3m JZSP-C7PA2M-03-E-G6 JZSP-C7PI2M-03-E-G6
SGM7G- Flexible 5m JZSP-C7PA2M-05-E-G6 JZSP-C7PI2M-03-E-G6
05 to -15 cable with
(450 W to straight con-
15 kW) nector (M12) 15 m JZSP-C7PA2M-15-E-G6 JZSP-C7PI2M-03-E-G6
Flexible
SGM7G- 5m JZSP-C7PA2N-05-E-G6 JZSP-C7PI2N-05-E-G6
cable with
05 to -15
right angle 10 m JZSP-C7PA2N-10-E-G6 JZSP-C7PI2N-10-E-G6
(450 W to
connector 15 m JZSP-C7PA2N-15-E-G6 JZSP-C7PI2N-15-E-G6
15 kW)
(M12)
170
Rotary Servo Motors
SGM7G
Relay Encoder Cables of 30 m to 50 m (200 V)

Length Order Number for Stan-
(L) dard Cable
L
JZSP-CVP01-E
Rotary Servo Motors

molex
incremental or absolute 0.3 m
encoder) L
JZSP-CVP02-E
molex
All SGM7G mod- SERVOPACK Encoder end
Cables with Connectors 30 m JZSP-UCMP00-30-E
els end L
mental or absolute
molex
end L
(Required when an abso- 0.3 m JZSP-CSP12-E
molex
lute encoder is used.)* Battery Case
(battery included)
171
Rotary Servo Motors
SGM7G
Connector Specifications (200 V)

 SGM7G-03A and -05A without Holding Brakes
Plug: CM10-AP10S--D for Right-angle Plug
CM10-SP10S--D for Straight Plug
Manufacturer: Japan Aviation Electronics Industry, Ltd.
 SGM7G-09A to -1EA without Holding Brakes

172
Rotary Servo Motors
SGM7G
 SGM7G-03A and -05A with Holding Brakes

Rotary Servo Motors

 SGM7G-09A to -1EA with Holding Brakes

• Brake Connector Specifications
173
Rotary Servo Motors
SGM7G
 SGM7G-05D
 F to -44D
 F and SGM7G-05D
 R to -30D
R
3 2 8
1 PG 5V
Receptacle 2 PG 0V
4 1
Size: M12 3 FG
5 BAT (-)
Manufacturer: Phoenix Contact 7 Data (-)
5 6 8 Empty
Housing Shield
6 FG 1 V
2 4 Size: M23 4 (Brake)
6 W
1 5 Manufacturer: Phoenix Contact Housing Shield
 SGM7G-55D
 F to -1ED
 F and SGM7G-44D
R
3 2 8
1 PG 5V
Receptacle 2 PG 0V
4 1
Size: M12 3 FG
5 BAT (-)
Manufacturer: Phoenix Contact 7 Data (-)
5 6 8 Empty
Housing Shield
V
– + Receptacle U U
V V
Size: M40 W W
Part number: 1607927 + (Brake)
W 7 (Brake)
Model: SM-5EPWN8AAD00S FG FG
U
FG Manufacturer: Phoenix Contact Housing Shield
174
Rotary Servo Motors
SGM7G
  to -20D
SGM7G-05D    to -44D
SGM7G-30D F SGM7G-44D  R, -55D
 F,
 F, -1AD
-75D  F, -1ED
F
Rotary Servo Motors

270
Allowable
270°
270°
°
number of
30°
rotations: 10
75 90
° °
175
Rotary Servo Motors
SGM7G
176
Direct Drive Servo
Motors
SGM7F (With Core, Inner Rotor) ..........................178
SGM7D (With Core, Outer Rotor) .........................194
SGMCS (Small Capacity, Coreless or Medium

Capacity, with Core) .............................................222
SGM7F (With Core, Inner Rotor)
Model Designations
SGM7F - 02 A 7 A 1 1
Direct Drive digits digit digit digit digit digit
Servomotors:
SGM7F
1st+2nd digits Rated Output 3rd digit Servomotor Outer Diameter 6th digit Flange
Rated Torque Code Specification Servomotor Outer Diameter
Code Mounting
Code Specification A 100-mm dia. Code (3rd Digit)
02 2.00 Nm B 135-mm dia. A B C D
04 4.00 Nm C 175-mm dia. Non-load side ü ü ü ü
1
05 5.00 Nm D 230-mm dia. Load side - - - -
07 7.00 Nm M 280-mm dia. 3 Non-load side - - - -
08 8.00 Nm N 360-mm dia. Non-load side
4 ü ü ü ü
10 10.0 Nm (with cable on side)
14 14.0 Nm 4th digit Serial Encoder ü : Applicable models.
16 16.0 Nm
Code Specification
17 17.0 Nm 7th digit Options
25 25.0 Nm 7 24-bit multiturn absolute encoder*
F 24-bit incremental encoder* Code Specification
35 35.0 Nm
* Both multiturn absolute encoder and 1 Without options
incremental encoder can be used as a High machine precision (runout at end of shaft and
2
single-turn absolute encoder by setting runout of shaft surface: 0.01 mm)
parameters.
Note: Shaded Rated Output, Serial Encoder and
Options are non-stock
5th digit Design Revision Order
M: Standard
Note: 1. Direct Drive Servomotors are not available with holding brakes.
2. This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.
 Manufactured Models
Rated Servomotor Outer Diameter
Torque A B C D
Nm (100-mm dia.) (135-mm dia.) (175-mm dia.) (230-mm dia.)
2.00 SGM7F-02A – – –
4.00 – SGM7F-04B – –
5.00 SGM7F-05A – – –
7.00 SGM7F-07A – – –
8.00 – – SGM7F-08C –
10.0 – SGM7F-10B – –
14.0 – SGM7F-14B – –
16.0 – – – SGM7F-16D
17.0 – – SGM7F-17C –
25.0 – – SGM7F-25C –
35.0 – – – SGM7F-35D
45.0 – – – –
80.0 – – – –
110 – – – –
150 – – – –
200 – – – –
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh digits have been omitted.
178
Specifications and Ratings: Small Capacity

Specifications
Voltage 200 V
Model SGM7F- 02A 05A 07A 14B 04B
08C 10B
17C 25C 16D 35D
Thermal Class A

Absolute Accuracy 15 s
Repeatability 1.3 s
Totally enclosed, self-cooled, IP42 (The protective structure is IP40 for CE
Protective Structure*2 Marking.)
Surrounding Air Temperature 0C to 40C (with no freezing)
Environmental Conditions

Installation Site • Must facilitate inspection and cleaning.
• Must have an altitude of 1,000 m or less.
Store the Servomotor in the following environment if you store it with the power
Storage Environment cable disconnected.
Runout of Output Shaft Surface mm 0.02 (0.01 for high machine precision option)
Tolerances *3
Mechanical
Runout at End of Output Shaft mm 0.04 (0.01 for high machine precision option)
Parallelism between Mounting Surface
and Output Shaft Surface mm 0.07
Concentricity between Output Shaft mm 0.07
and Flange Outer Diameter
Shock Flange 490 m/s2
Resistance *4
Vibration Vibration Acceleration Rate at
49 m/s2
Resistance *4 Flange
SGD7S-
2R8A,
2R8A, 2R8F
2R8A, 7R6A*5 ,
2R1F 2R8F 120A
Applicable SERVOPACKs 5R5A 5R5A 7R6A 5R5A
SGD7W-
SGD7C- 2R8A 2R8A 7R6A *5
*1. A vibration class of V15 indicates a vibration amplitude of 15 m maximum on the Servomotor without a load at the rated motor speed.
*2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the shaft are excluded.
Protective structure specifications apply only when the special cable is used.
*3. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual
Servomotors for more information on tolerances.
o dia. Runout of output shaft surface o: Diameter determined by motor model.
A B
Runout at end of output shaft
Load side
Non-load side
o dia. Parallelism between mounting surface and output shaft surface B
Concentricity between output shaft and flange outer diameter A
*4. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the direc-
tions shown in the following figures.
The strength of the vibration that the Servomotor can withstand depends on the application. Check the vibration acceler-
ation rate.
Vertical
Vertical
Side to side
Front to back
Shock Applied to the Servomotor Vibration Applied to the Servomotor
*5. Use derated values for this combination. Refer to the following section for information on derating values.
Ratings (page 180)
179
Ratings
Voltage 200 V
Model SGM7F- 02A 05A 07A 04B 10B 14B 08C 17C 25C 16D 35D
1100
Rated Output*1 W 63 157 220 126 314 440 251 534 785 503 1000
*5
*1, *2 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Rated Torque
Nm 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Torque*1
Stall Torque*1 Nm 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
*1 Arms 1.7 1.8 2.1 2.0 2.8 4.6 2.4 4.5 5.0
Rated Current
Arms 5.1 5.4 6.3 6.4 8.9 14.1 8.6 14.7 13.9 16.9 16.0
Current*1
300
Rated Motor Speed *1 min-1 300 300 300
270 *5
Maximum Motor Speed *1 min-1 600 600 600 500 600 400
Torque Constant Nm/Arms 1.28 3.01 3.64 2.21 3.81 3.27 3.52 4.04 6.04 3.35 7.33
Motor Moment of Inertia 10 -4 kgm 2 8.04 14.5 19.3 16.2 25.2 36.9 56.5 78.5 111 178 276
*1 kW/s 4.98 17.2 25.4 9.88 39.7 53.1 11.3 36.8 56.3 14.4 44.4
Rated Power Rate
Rated Angular
rad/s 2 2490 3450 3630 2470 3970 3790 1420 2170 2250 899 1270
Acceleration Rate*1
550  550 
Heat Sink Size mm 300  300  12 350  350  12 450  450  12
12
Allowable Load Moment of Inertia 25 35 35 25 40 45 15 25 25 10 15
(Motor Moment of Inertia Ratio) times times times times times times times times times times times
25 35 35 25 40 45 15 25 25 10 15
Resistor and External Dynamic
times times times times times times times times times times times
Brake Resistor*3
Allowable
N 1100 1100 1100 1500 3300 4000
Allowable Thrust Load
Load*4 Allowable
Nm 22 24 26 45 55 65 92 98 110 210 225
Moment Load
100C. The values for other items are at 20C. These are typical values.
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40C with a steel heat
sink of the dimensions given in the table.
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you
cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity:
400 W).
• SGD7S-R70    A020 to -2R8   A020
• SGD7W-1R6A20A020 to -2R8A20A020
• SGD7C-1R6AMAA020 to -2R8AMAA020
*4. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the follow-
ing patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table.
L F
F F L
Where F is the external force, Where F is the external force, Where F is the external force,
Thrust load = F + Load mass Thrust load = F + Load mass Thrust load = Load mass
Moment load = 0 Moment load = F × L Moment load = F × L
*5. If you use an SGD7S-7R6A SERVOPACK and SGM7F-35D Servomotor together, use this value (a derated value).
Note: For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is
higher at low temperatures.
180

SGM7F-02A SGM7F-05A SGM7F-07A

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300

A B A B A B
200 200 200
100 100 100
0 0 0
0 1 2 3 4 5 6 7 0 2 4 6 8 10 12 14 16 0 4 8 12 16 20 24
Torque (Nm) Torque (Nm) Torque (Nm)
SGM7F-04B*1 SGM7F-10B SGM7F-14B*1

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

500 500 500
400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
0 5 10 15 0 10 20 30 40 0 10 20 30 40 50
SGM7F-08C SGM7F-17C SGM7F-25C*2

700 700 700
600 600 600
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
500 500 500

400 400 400
300 300 300
A B A B A B
200 200 200
100 100 100
0 0 0
0 5 10 15 20 25 30 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80
SGM7F-16D SGM7F-35D
700 500
600
400
Motor speed (min-1)
Motor speed (min-1)
500
400 300
300 200
A B A B
200
100
100
0 0
0 10 20 30 40 50 0 20 40 60 80 100 120
Torque (Nm) Torque (Nm)
*1. The characteristics are the same for three-phase 200 V, single-phase 200 V, and single-phase 100 V.
*2. Contact your Yaskawa representative for information on the SGM7F-25C.
Note: 1. These values (typical values) are for operation in combination with a SERVOPACK when the temperature of the arma-
ture winding is 100°C.
3. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed
characteristics will become smaller because the voltage drop increases.
181
Servomotor Overload Protection Characteristics

The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of
40C.
SGM7F-ooA, -ooB SGM7F-08C
10000 10000
1000
Detection time (s)
Detection time (s)

1000
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
Torque reference (%) Torque reference (%)
SGM7F-17C and -25C SGM7F-16D

10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGM7F-35D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
Torque reference (%)
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an out-
put of 100% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in
Torque-Motor Speed Characteristics on page 181.
182

The allowable load moments of inertia (motor moment of inertia ratios) for the Servomotors are given in the
Ratings (page 180). The values are determined by the regenerative energy processing capacity of the
SERVOPACK and are also affected by the drive conditions of the Servomotor. Perform the required Steps for
each of the following cases.
Use the SigmaSize+ AC Servo Drive Capacity Selection Program to check the driving conditions. Contact
your Yaskawa representative for information on this program.
 Exceeding the Allowable Load Moment of Inertia

Use one of the following measures to adjust the load moment of inertia to within the allowable value.
If the above steps is not possible, install an external regenerative resistor.
Information An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of iner-
tia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative
resistor may generate a Regenerative Overload Alarm (A.320). Refer to External Regenerative
Resistors (200 V Models) (page 547) for the regenerative power (W) that can be processed by
the SERVOPACKs.
Install an External Regenerative Resistor when the built-in regenerative resistor cannot pro-
cess all of the regenerative power.
 SERVOPACKs without Built-in Regenerative Resistors

The following graph shows the allowable load moment of inertia scaling factor of the motor speed (reference
values for deceleration operation at or above the rated torque). Application is possible without an external
regenerative resistor within the allowable value. However, an External Regenerative Resistor is required in
the shaded areas of the graphs.
SGM7F-02A SGM7F-05A SGM7F-07A
30 40 40
35 35
25
30 30
20
25 25
15 20 20
10 15 15
10 10
5
5 5
0 0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
-1
Motor speed (min ) -1
SGM7F-04B SGM7F-08C SGM7F-10B

30 16 45
14 40
25
12 35
20 30
10
25
15 8
20
10 6
15
4 10
5
2 5
0 0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Motor speed (min-1) Motor speed (min-1) Motor speed (min-1)
Note: Applicable SERVOPACK models: SGD7S-2R8A and -2R8F
 When an External Regenerative Resistor Is Required

Install the External Regenerative Resistor. Refer to the following section for the recommended products.
External Regenerative Resistors (200 V Models) (page 547)
183
External Dimensions
 SGM7F-  A
• Flange Specification 1
L
0.07 B B 6 × M5 × 8
6 × M4 × 6 6.8 (LL) 1.5
0.02 (Divided into equal
92 dia.
(Divided into equal 0.07 dia. A

sections at 60°.) sections at 60°.)
100 dia.
(0.1) ia.
53 d
LH dia.
99.5 dia.
LB dia.
LA dia.
(38 dia.)
(82 dia.)
(1)
R26 (19.1)
.4
o
23
25
o
o .7
.4
*2
25
25
(2 × M5 × 8)
.7
o
(For use by
Yaskawa)
90° *1
A
0.04 Unit: mm
*1. The shaded section indicates the rotating parts.

*2. The hatched section indicates the non-rotating parts.
Note: Values in parentheses are reference dimensions.
Model SGM7F- L (LL) LB LH LA Approx. Mass [kg]

+0.4
02A A11 61 (52.7) 100 0
-0.035 15 0 60 0
-0.030
2.5
+0.4
05A A11 96 (87.7) 100 0
-0.035 15 0 60 0
-0.030
5.0
+0.4
07A A11 122 (113.7) 100 0
-0.035 15 0 60 0
-0.030
6.5
300±50
(35)
43.5
24.5 L
0.07 B B
6 × M4 × 6 0.07 dia. A 6.8 (LL) 1.5 0.02
(Divided into 6 × M5 × 8
equal sections (Divided into equal
(22)
at 60°.) sections at 60°.)

18
100 dia.
10
92 d
ia.
53 d
ia
LH dia.
LB dia.
.
99.5 dia.
LA dia.
(38 dia.)
(82 dia.)
(1)
(0.1)
*2 (2 × M5 × 8)
(For use by
Yaskawa)
*1
A
0.04 Unit: mm


+0.4
02A A41 61 (52.7) 100 0
-0.035 15 0 60 0
-0.030
2.5
+0.4
05A A41 96 (87.7) 100 0
-0.035 15 0 60 0
-0.030
5.0
+0.4
07A A41 122 (113.7) 100 0
-0.035 15 0 60 0
-0.030
6.5

Connector Specifications (page 188)
184
 SGM7F-  B
L Notation
0.07 B B
6 × M5 × 8 4 (LL) 2.7 o: Square dimensions
0.02
90 dia.
(Divided into equal 0.07 dia. A 6 × M5 × 8
sections at 60°.) (Divided into equal sections at 60°.)
ia .
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
(82 dia.)
LA dia.
LB dia.
(1)
(0.1)
R26.5

4
3.
o
2 (9)
25
o
.4
*2
(2 × M5 × 8)
(For use by
90° A Yaskawa)
0.04 *1
Unit: mm


0 +0.3 0
04B A11 60 53.3 120 -0.035 25 +0.1 78 -0.030 5.0
0 +0.3 0
10B A11 85 78.3 120 -0.035 25 +0.1 78 -0.030 6.5
0
14B A11 115 108.3 120 -0.035 25 +0.3
+0.1
0
78 -0.030 9.0
300±50
(35)
43.5
24.5
L
0.07 B B
4 (LL) 2.7
6 × M5 × 8 0.02
(Divided into 0.07 dia. A 6 × M5 × 8
(22)
equal sections 18 (Divided into

at 60°.) equal sections
(2 × M5 × 8)
10
at 60°.)
(For use by
Yaskawa) ia.
70 d
LH dia.
(58.5 dia.)
134 dia.
135 dia.
LB dia.
LA dia.
(80 dia.)
(1)
90 dia (0.1)
.
*2
(2 × M5 × 8)
(For use by
A Yaskawa)
*1
0.04
Unit: mm


0 +0.3 0
04B A41 60 53.3 120 -0.035 25 +0.1 78 -0.030 5.0
0 +0.3 0
10B A41 85 78.3 120 -0.035 25 +0.1 78 -0.030 6.5
0
14B A41 115 108.3 120 -0.035 25 +0.3
+0.1
0
78 -0.030 9.0

185
 SGM7F-  C
L B
6 × M6 × 9 0.07 B
(Divided into equal 5 (LL) 2.7 0.02
.
130 dia
98 dia
sections at 60°.) 6 × M6 × 9
0.07 dia. A (Divided into equal
.
sections at 60°.)
(2 × M6 × 9)
(For use by
Yaskawa)
LH dia.
175 dia.
173 dia.
LB dia.
LA dia.
(84 dia.)
(116 dia.)
(0.1) (1)
R43 (9)
.4
o
23
25
o
.4
*2
(2 × M6 × 9)
(For use by
Yaskawa)
90°
A *1
0.04
Unit: mm


0 +0.3 0
08C  A11 73 65.3 160 -0.040 40 +0.1 107 -0.035 9.0
0 +0.3 0
17C  A11 87 79.3 160 -0.040 40 +0.1 107 -0.035 11.0
0 +0.3 0
25C  A11 117 109.3 160 -0.040 40 +0.1 107 -0.035 15.0
300±50
(35)
43.5
24.5
L
6 × M6 × 9 0.07 B B
(Divided into 5 (LL) 2.7 0.02 6 × M6 × 9
equal sections (Divided into
(22)
1 18
98
0.07 dia. A equal sections

at 60°.)
dia
at 60°.)
.
(2 × M6 × 9)
10
(For use by
Yaskawa)
175 dia.
LH dia.
LB dia.
(84 dia.)
173 dia.
LA dia.
(100 dia.)
(0.1) (1)
130 dia
.
*2
(2 × M6 × 9)
(For use by
Yaskawa)
A *1
0.04
Unit: mm


0 +0.3 0
08C A41 73 65.3 160 -0.040 40 +0.1 107 -0.035 9.0
0 +0.3 0
17C A41 87 79.3 160 -0.040 40 +0.1 107 -0.035 11.0
0 +0.3 0
25C A41 117 109.3 160 -0.040 40 +0.1 107 -0.035 15.0

186
 SGM7F-  D
8 × M6 × 10
L B (Divided into equal
135 dia
8 × M6 × 10 (6 × M6 × 10) 0.08 B
5 (LL) 3 0.02 sections at 45°.)
(Divided into equal (For use by Yaskawa) 0.08 dia. A (2 × M6 × 10)
sections at 45°.)
.
(For use
(2 × M6 × 10)
by Yaskawa)
(For use by Yaskawa)
160
(140 dia.)
230 dia.
LB dia.
228 dia.
LH dia.
LA dia.
(120 dia.)
dia.

(0.1) (1)
5 (9.2)
R5
o2 *2
5.4 3.4
o2
A *1
60°
0.04
Unit: mm

0 +0.4 0
16D A11 78 70 200 -0.046 60 0 145 -0.040 16.0
0
35D A11 107 99 200 -0.046 60 +0.4
0
0
145 -0.040 25.0
300 ±50
(35)
8 × M6 × 10
43.5 (Divided into equal
sections at 45°.)
24.5 L
13
8 × M6 × 10 0.08 B B (2 × M6 × 10)
5
(Divided into equal 5 (LL) 3

di a
0.02 (For use

10 (22)
sections at 45°.) 2.5 18

.
0.08 dia. A by Yaskawa)

(6 × M6 × 10)
160
(140 dia.)
d
230 dia.
228 dia.
LB dia.
ia.
LA dia.
LH dia.
(120 dia.)
(0.1)
(1)
(2 × M6 × 10)
*2
*1
A
0.04 Unit: mm


0 +0.4 0
16D A41 78 70 200 -0.046 60 0 145 -0.040 16.0
0 +0.4 0
35D A41 107 99 200 -0.046 60 0 145 -0.040 25.0

187
 SGM7F-A, -B, -C, or -D: Flange Specification 1

• Servomotor Connector • Encoder Connector
1 1 Phase U 1 3 1 PS
3 2 Phase V 2 /PS
3 Phase W 3 –
2 4 7
4 FG (frame ground) 4 PG5V
4
8 10
5* BAT0
Model: JN1AS04MK2R 6 –
Manufacturer: Japan Aviation Electronics
7 FG (frame ground)
Industry, Ltd.
8* BAT
Mating connector: JN1DS04FK1 9 PG0V
(Not provided by Yaskawa.) 10 –
* Only absolute-value models with multiturn

data.
Model: JN1AS10ML1-R
Manufacturer: Japan Aviation Electronics
Industry, Ltd.
Mating connector: JN1DS10SL1

 SGM7F-A, -B, -C, or -D: Flange Specification 4

1 3 1 Phase U Red 1 PG5V
1
2 Phase V White 5 6 2 PG0V
2
3 Phase W Blue 3* BAT
4 3 3 4
4 FG (frame ground) Green (yellow) 4* BAT0
4
8 10
1 2
5 PS
Models 6 /PS
• Plug: 350779-1 Connector case FG (frame ground)
• Pins: 350561-3 or 350690-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K. * Only absolute-value models with multiturn
data.
Model: 55102-0600
Mating Connector Manufacturer: Molex Japan LLC
• Cap: 350780-1
• Socket: 350570-3 or 350689-3
188
Selecting Cables
The cables shown below are required to connect a Servomotor to a SERVOPACK.
SERVOPACK SERVOPACK

Relay Encoder Cable
Encoder Cable
Battery Case (Required only if a multiturn
(Required to use a multiturn absolute encoder is used.)
absolute encoder.)
on Both Ends
Servomotor Servomotor
Encoder-end Cable
Encoder Servomotor
Servomotor Cable Main Circuit Cable Servomotor
Main Circuit Cable Main Circuit
Cable
A A A
Note: 1. If the Encoder Cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
2. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed
characteristics will become smaller because the voltage drop increases.
189
 Servomotor Main Circuit Cables
Length Order Number

Servomotor Model Appearance
(L) Standard Cable Flexible Cable*1
3m JZSP-CMM60-03-E JZSP-C7MDN23-03-E
SGM7F-  A
SGM7F-  B 5m JZSP-CMM60-05-E JZSP-C7MDN23-05-E SERVOPACK Motor end
SGM7F-  C end L
SGM7F-  D 10 m JZSP-CMM60-10-E JZSP-C7MDN23-10-E
Flange specification*2: 1
Non-load side installa- 15 m JZSP-CMM60-15-E JZSP-C7MDN23-15-E
tion
20 m JZSP-CMM60-20-E JZSP-C7MDN23-20-E
3m JZSP-CMM00-03-E JZSP-C7MDS23-03-E
SGM7F-  A
SGM7F-  B 5m JZSP-CMM00-05-E JZSP-C7MDS23-05-E SERVOPACK Motor end
end
SGM7F-  C L
SGM7F-  D 10 m JZSP-CMM00-10-E JZSP-C7MDS23-10-E
Non-load side installa- 15 m JZSP-CMM00-15-E JZSP-C7MDS23-15-E
tion (with cable on side)
20 m JZSP-CMM00-20-E JZSP-C7MDS23-20-E
*1. Use Flexible Cables for moving parts of machines, such as robots. Flexible cable recommended bending radius is listed in the following
table
*2. Refer to the following section for the flange specifications.
Model Designations (page 178)
Note: Direct Drive Servomotors are not available with holding brakes.
 Encoder Cables of 20 m or Less

Order Number
Servomotor Lengt
Name Standard Flexible Appearance
Model h (L)
Cable Cable*1
3m JZSP-CMP60-03-E JZSP-CSP60-03-E
SGM7F-   F 5 m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
end L
10 m JZSP-CMP60-10-E JZSP-CSP60-10-E
Flange specifica-
tion*2: 1 or 3 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
For incre-
SGM7F-  AF mental 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
SGM7F-  BF encoder
5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
SGM7F-  CF end L
SGM7F-  DF 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
Flange specifica- 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E

tion*2: 4 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
190
Order Number
Servomotor Lengt
Name Standard Flexible Appearance
Model h (L)
Cable Cable*1
For multi- 3m JZSP-C7PI00-03-E JZSP-C7PI20-03-E
turn abso-
5m JZSP-C7PI00-05-E JZSP-C7PI20-05-E
lute SERVOPACK Encoder end
end L
encoder 10 m JZSP-C7PI00-10-E JZSP-C7PI20-10-E
(without
SGM7F-   7 15 m JZSP-C7PI00-15-E JZSP-C7PI20-15-E
Battery
Case*3) 20 m JZSP-C7PI00-20-E JZSP-C7PI20-20-E
Flange specifica-

tion*2: 1 or 3 For multi- 3m JZSP-C7PA00-03-E JZSP-C7PA20-03-E SERVOPACK Encoder end
turn abso- 5m JZSP-C7PA00-05-E JZSP-C7PA20-05-E end L
lute
10 m JZSP-C7PA00-10-E JZSP-C7PA20-10-E
encoder
(with Bat- 15 m JZSP-C7PA00-15-E JZSP-C7PA20-15-E Battery Case
(battery included)
tery Case) 20 m JZSP-C7PA00-20-E JZSP-C7PA20-20-E
For multi- 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
turn abso-
lute SERVOPACK Encoder end
end L
SGM7F-  A7 encoder 10 m JZSP-CMP00-10-E JZSP-CMP10-10-E
SGM7F-  B7 (without
SGM7F-  C7 Battery
SGM7F-  D7 Case*3) 20 m JZSP-CMP00-20-E JZSP-CMP10-20-E
For multi- 3m JZSP-CSP19-03-E JZSP-CSP29-03-E
Flange specifica- turn abso-
5m JZSP-CSP19-05-E JZSP-CSP29-05-E end L
tion*2: 4 lute
10 m JZSP-CSP19-10-E JZSP-CSP29-10-E
encoder
(with Bat- 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E Battery Case
(battery included)
tery Case) 20 m JZSP-CSP19-20-E JZSP-CSP29-20-E
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 68 mm or larger.
*3. Use one of these Cables if a battery is connected to the host controller.
191
 Relay Encoder Cables of 30 m to 50 m

Servomotor Lengt
Name Order Number*1 Appearance
Model h (L)
SGM7F-   F
SGM7F-   7 Encoder-end Cable SERVOPACK Encoder end
(for single-turn/multi- 0.3 m JZSP-C7PRC0-E end
Flange specifica- turn absolute encoder)

tion*2: 1 or 3
SGM7F-   F 30 m JZSP-UCMP00-30-E
Cables with Connec-
SGM7F-   7 SERVOPACK Encoder end
tors on Both Ends end L
(for single-turn/multi-
Flange specifica-
turn absolute encoder)
tion*2: 1, 3 or 4 50 m JZSP-UCMP00-50-E
SGM7F-   7 Cable with a Battery end
Case
0.3 m JZSP-CSP12-E
Flange specifica- (for multiturn absolute
Battery Case
tion*2: 1, 3 or 4 encoder)*3 (battery included)
*1. Flexible Cables are not available.

192
193
SGM7D (With Core, Outer Rotor)
Model Designations
SGM7D - 30 F 7 C 5 2
Direct Drive 1st+2nd 3rd 4th 5th 6th 7th
digits digit digit digit digit digit
Servomotors:
SGM7D
1st+2nd digits Rated Torque 4th digit Serial Encoder
Code Specification Code Specification Code Specification Code Specification

01 1.30 Nm 18 18.0 Nm 58 58.0 Nm 7 24-bit multiturn absolute encoder*
02 2.06 Nm 20 20.0 Nm 70 70.0 Nm F 24-bit incremental encoder*
03 3.00 Nm 24 24.0 Nm 90 90.0 Nm * Both multiturn absolute encoder and incremental encoder can be
used as a single-turn absolute encoder by setting parameters.
05 5.00 Nm 28 28.0 Nm 1Z 100 Nm
06 6.00 Nm 30 30.0 Nm 1A 110 Nm 5th digit Design Revision Order
08 8.00 Nm 34 34.0 Nm 1C 130 Nm C
09 9.00 Nm 38 38.0 Nm 2B 220 Nm 6th digit Flange
12 12.0 Nm 45 45.0 Nm 2D 240 Nm
Servomotor Outer
Code Mounting Diameter Code (3rd Digit)
3rd digit Servomotor Outer Diameter
F G H I J K L
Non-load
4 With cable on side ü ü ü - - - ü

side
F 264-mm dia. J 150-mm dia. 5 With cable on bottom ü ü* - ü ü ü -

G 160-mm dia. K 107-mm dia. ü: Applicable models.
H 116-mm dia. L 224 mm × 224 mm * SGM7D-01G and -05G are not available with a cable
extending from the bottom.
I 264-mm dia.
Note: 1. Direct Drive Servomotors are not available 7th digit Options
with holding brakes.
2. This information is provided to explain Code Specification
model numbers. 1 Standard mechanical precision
It is not meant to imply that models are 2 High mechanical precision*
available for all combinations of codes.
* The SGM7D-01G, -05G, and -03H are available only with
high mechanical precision.
Shaded items are non-stock
194
Manufactured Models
Servomotor Outer Diameter
Rated
Torqu F G H I J K
L (224 mm ×
e Nm (264-mm (160-mm (116-mm (264-mm (150-mm (107-mm
224 mm)
dia.) dia.) dia.) dia.) dia.) dia.)
1.30 – SGM7D-01G – – – – –
2.06 – – – – – SGM7D-02K –
3.00 – – SGM7D-03H – – – –

5.00 – SGM7D-05G – – – – –
6.00 – – – – SGM7D-06J SGM7D-06K SGM7D-06L
8.00 – SGM7D-08G – – – SGM7D-08K –
9.00 – – – – SGM7D-09J – –
12.0 – – – – – – SGM7D-12L
18.0 – SGM7D-18G – – SGM7D-18J – –
20.0 – – – – SGM7D-20J – –
24.0 – SGM7D-24G – – – – –
28.0 – – – SGM7D-28I – – –
30.0 SGM7D-30F – – – – – SGM7D-30L
34.0 – SGM7D-34G – – – – –
38.0 – – – – SGM7D-38J – –
45.0 – SGM7D-45G – – – – –
58.0 SGM7D-58F – – – – – –
70.0 – – – SGM7D-70I – – –
90.0 SGM7D-90F – – – – – –
100 – – – SGM7D-1ZI – – –
110 SGM7D-1AF – – – – – –
130 – – – SGM7D-1CI – – –
220 – – – SGM7D-2BI – – –
240 – – – SGM7D-2DI – – –
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh digits have been
omitted.
195

Specifications
 SGM7D- F, - G, and - H
Voltage 200 V
Model SGM7D- 30F 58F 90F 1AF 01G 05G 08G 18G 24G 34G 45G 03H
Thermal Class F
Excitation Three-phase
Absolute Accuracy ±15 s
Repeatability ±1.3 s
Totally enclosed, Totally enclosed, Totally enclosed, self- Totally enclosed,
Protective Structure*1 self-cooled, IP20 self-cooled, IP30 cooled, IP20 self-cooled, IP30
Surrounding Air Temperature 0°C to 40°C (with no freezing)

Store the Servomotor in the following environment if you store it with
Storage Environment
Tolerances*2
Standard Mechanical
Mechanical
Runout of mm 0.1 – 0.1 0.1 –

Output Shaft Precision
Surface/Runout
at End of Output High Mechanical mm 0.005 0.01 0.005 0.01
Shaft Precision
SGD7S- 120A*3 2R8A*3, 2R8F*3 120A*3 2R8A*3, 2R8F*3
Applicable SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are excluded. Protec-
tive structure specifications apply only when the special cable is used.
*2. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individ-
ual Servomotors for more information on tolerances.
o dia.
A Runout of output shaft surface o: Diameter determined by motor model.
Runout at end of output shaft B
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK models can
be used.
• SGD7S- A  F82 
• SGD7S- A  F83 
196
 SGM7D- I and - J

Voltage 200 V
Model SGM7D- 28I 70I 2BI 2DI 06J 09J 18J 20J 38J
1ZI 1CI
Thermal Class F


Store the Servomotor in the following environment if you store it
Storage Environment
Runout of Standard
Tolerances*2
Mechanical
Output Shaft Mechanical mm 0.1

Surface/ Precision
Runout at End High
of Output Mechanical mm 0.005 0.02 0.005 0.01
Shaft Precision
SGD7S- 120A*3
Applicable
SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are excluded. Protective struc-
ture specifications apply only when the special cable is used.
*2. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual Servo-
motors for more information on tolerances.
o dia.
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK models can be used.
• SGD7S-  A  F82 
• SGD7S-  A  F83 
197
 SGM7D- K and - L

Voltage 200 V
Model SGM7D- 02K 06K
08K 06L 12L 30L
Thermal Class F

Store the Servomotor in the following environment if you store it
Storage Environment
Runout of Standard
Tolerances*2
Mechanical
Output Shaft Mechanical mm 0.1 0.05

Surface/ Precision
Runout at End High
of Output Mechanical mm 0.01 0.005
Shaft Precision
SGD7S- 2R8A*3, 2R8F*3 120A*3
Applicable
SERVOPACKs SGD7W-
–
SGD7C-
*1. The hollow hole section, motor mounting surface, and gap around the rotating part on non-load side are excluded. Protective
structure specifications apply only when the special cable is used.
*2. Refer to the following figure for the relevant locations on the Servomotor. Refer to the dimensional drawings of the individual
Servomotors for more information on tolerances.
o dia.
Load side
Non-load side
*3. An SGM7D Servomotor is used together with an FT-specification SERVOPACK. The following SERVOPACK models can be used.
• SGD7S- A  F82 
• SGD7S- A  F83 
198
Ratings
 SGM7D- F, - G, and - H
Voltage 200 V
Model SGM7D- 30F 58F 90F 1AF 01G 05G 08G 18G 24G 34G 45G 03H
Rated Output W 188 364 565 691 16 63 101 226 302 320 565 38
Rated Torque*1 Nm 30.0 58.0 90.0 110 1.30 5.00 8.00 18.0 24.0 34.0 45.0 3.00
Rated Intermittent Torque*2 Nm – – – – – – – – 27.0 40.0 52.0 –
Instantaneous Maximum Torque Nm 50.0 100 150 200 4.00 6.00 15.0 30.0 45.0 60.0 75.0 4.00

Stall Torque Nm 30.0 58.0 90.0 110 1.30 5.00 8.00 18.0 24.0 34.0 45.0 3.00
Rated Current Arms 5.7 6.4 5.9 5.0 1.7 1.6 3.4 3.4 3.1 3.3 4.8 1.1
Instantaneous Maximum Current Arms 14.1 4.2 3.5 10.6 3.5
Rated Motor Speed min-1 60 120 90 120 120
Maximum Motor Speed min-1 72 150 144 150
Torque Constant Nm/ 6.25 12.5 17.8 24.5 1.09 3.84 2.82 5.76 8.57 11.2 10.2 3.01
Arms
10-4
Motor Moment of Inertia 960 1190 1420 1670 55.0 75.0 120 150 190 230 270 25.0
kgm2
Rated Power Rate kW/s 9.38 28.3 57.0 72.5 0.307 3.33 5.33 21.6 30.3 50.3 75.0 3.60
Rated Angular Acceleration Rate rad/s2 313 487 634 659 236 667 667 1200 1260 1480 1670 1200
350  350
Heat Sink Size mm 550  550  30 (aluminum)  20
(steel)
Allowable Load Moment of Inertia times 200 150 150 130 400 350 300 250 200
130 300 600
(Motor Moment of Inertia Ratio) 500*4 400*4 350*4 300*4 1000*4 900*4 750*4 650*4 450*4
Resistor and External Dynamic times 2500 3500 4000 5000 130 300 2000 3000 4000 4000 4000 600
Brake Resistor*3
4  104 3  104
Allowable
Allowable Thrust Forward N 50 200 50

Loads*5
Load Reverse N 4 50 200 4 50

2  10 1  10
Allowable Moment Load Nm 400 – 50 200 –
Thrust Forward mm/N 2  10-6 – 2.5  10-6 –
Rigidities
Displacement
Rigidity Reverse mm/N 3  10-6 – 3  10-6 –
Moment rad/
Displacement Rigidity Nm 4  10-7 – 1  10-6 –
*1. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum or steel heat sink of
the dimensions given in the table.
*2. The rated intermittent torque is the value for 60% ED.
*3. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs (maximum applicable motor capacity:
400 W).
• SGD7S-2R8 A020F82
• SGD7S-2R8 0 0A020F83
*4. If you use an SGD7S-120A008 SERVOPACK and SGM7D Servomotor together, use the ratios given on the bottom line.
*5. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the following patterns. Design
the machine so that the thrust loads or moment loads will not exceed the values given in the table.
The allowable load is for a static load in one direction. When designing the system, multiply the allowable load by the following safety coefficient
depending on the type of load.
• Smooth load with no shock: 1/3
• Light repetitive load: 1/5
• Shock load: 1/10
L F
Reverse Reverse
F Thrust load direction F Thrust load direction
Forward Forward L
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These
are typical values.
2. For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is higher at
low temperatures.
199
 SGM7D- I, and - J

Voltage 200 V
Model SGM7D- 28I 70I 1ZI 1CI 2BI 2DI 06J 09J 18J 20J 38J
Rated Output W 264 440 628 817 691 754 75 113 226 251 358
Rated Torque*1 Nm 28.0 70.0 100 130 220 240 6.00 9.00 18.0 20.0 38.0
Instantaneous
Nm 50.0 100 150 200 300 400 8.00 15.0 30.0 45.0 60.0
Maximum Torque
Stall Torque Nm 28.0 70.0 100 130 220 240 6.00 9.00 18.0 20.0 38.0
Rated Current Arms 5.2 5.6 5.5 5.0 5.6 4.8 4.0 3.4 3.0 2.2 3.1
Instantaneous
Arms 14.1 10.6
Maximum Current
Rated Motor Speed min-1 90 60 30 120 90
Maximum Motor Speed min-1 108 72 60 48 144
Nm/
Torque Constant 6.90 13.9 20.8 27.8 41.5 54.4 1.71 3.29 6.62 9.88 13.3
Arms
10-4
Motor Moment of Inertia 1800 2000 2300 2850 3400 4000 150 210 240 260 330
kgm2
Rated Power Rate kW/s 4.36 24.5 43.5 59.3 142 144 2.40 3.86 13.5 15.4 43.8
Rated Angular
Acceleration Rate rad/s2 156 350 435 456 647 600 400 429 750 769 1150
Heat Sink Size mm 550  550  30
Allowable Load Moment of Inertia 50 100 90 80 350 250 240 220 180
times 100 150
(Motor Moment of Inertia Ratio) 125*2 250*2 230*2 200*2 700*2 600*2 550*2 550*2 450*2
With External Regenera-
tive Resistor and External times 800 2000 2500 3000 100 150 700 900 2500 2000 2000
Dynamic Brake Resistor*3
Allowable
Forward N 4  104 3  104

Thrust
Load
Allowable
Loads*3
Reverse N 2  104 1  104

Allowable
Nm 400 200
Moment Load
Displacement
Forward mm/N 2  10-6 3  10-6

Rigidity
Thrust
Rigidities
Reverse mm/N 3  10-6 4  10-6

Moment rad/
Displacement Rigidity Nm 4  10-7 2  10-6
*3. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the follow-
ing patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the table.
The allowable load is for a static load in one direction.
When designing the system, multiply the allowable load by the following safety coefficient depending on the type of load.
L F
Reverse Reverse
Forward Forward L
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is
2. For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss
is higher at low temperatures.
200
 SGM7D- K, and - L

Voltage 200 V
Model SGM7D- 02K 06K 08K 06L 12L 30L
Rated Output W 52 151 201 113 226 565
Rated Torque*1 Nm 2.06 6.00 8.00 6.00 12.0 30.0
Repetitive Rated Torque*2 Nm  6.90    
Instantaneous Maximum Torque Nm 5.00 10.0 15.0 10.0 20.0 40.0
Stall Torque Nm 2.06 6.00 8.00 6.00 12.0 30.0

Rated Current Arms 1.6 1.8 1.6 1.7 2.1 8.1
Instantaneous Maximum Current Arms 4.2 4.2 4.2 14.1
Rated Motor Speed min-1 240 180
Maximum Motor Speed min-1 360 216
Torque Constant Nm/Arms 1.83 3.67 5.50 4.13 6.59 3.95
Motor Moment of Inertia 10-4 kgm2 60.0 70.0 80.0 220 220 370
Rated Power Rate kW/s 0.707 5.14 8.00 1.64 6.55 24.3
Rated Angular Acceleration Rate rad/s2 343 857 1000 273 545 811
Heat Sink Size mm 550  550  30 650  650  30
(Motor Moment of Inertia Ratio) times 200 350 25 450 20
130*4
With External Regenerative Resistor and
times 200 350 25 450 20 3500
External Dynamic Brake Resistor*3
Allowable
Forward N 5  10 3 2000
Loads*5
Allowable
Thrust Load Reverse N 3  10 3 1000
Allowable Moment Load Nm 20 100
Thrust Displace- Forward mm/N 4  10-6 –
Rigidities
ment Rigidity Reverse mm/N 8  10-6 –

Moment Displacement Rigidity rad/Nm -6 –
8  10
*1. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with an aluminum heat sink of
the dimensions given in the table.
*2. The rated intermittent torque is the value for 60% ED.
*3. To externally connect dynamic brake resistance, select hardware option specification 020 for the SERVOPACK.
However, you cannot externally connect dynamic brake resistance if you use the following SERVOPACKs (maximum applicable motor
capacity: 400 W).
• SGD7S-2R8 A020F82 
• SGD7S-2R8 00A020F83
*5. The thrust loads and moment loads that are applied while a Servomotor is operating are roughly classified into the following patterns.
Design the machine so that the thrust loads or moment loads will not exceed the values given in the table.
The allowable load is for a static load in one direction.
When designing the system, multiply the allowable load by the following safety coefficient depending on the type of load.
L F
Reverse Reverse
Forward Forward L
Note: 1. These values are for operation in combination with a SERVOPACK when the temperature of the armature winding is 20°C. These
are typical values.
2. For the bearings used in these Servomotors, the loss depends on the bearing temperature. The amount of heat loss is higher at
low temperatures.
201

A : Continuous duty zone (dotted lines): With 60%ED 10 min. duty factor
B : Intermittent duty zone* (solid lines): With three-phase 200-V, single-phase 230-V, and single-phase 200-V input
SGM7D-30F SGM7D-58F SGM7D-90F

80 80 80
70 70 70
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60 60 60
50 50 50
40 40 40
30 30 30
20 20 20
A B A B A B
10 10 10
0 0 0
0 20 40 60 0 20 40 60 80 100 120 0 40 80 120 160
SGM7D-1AF SGM7D-01G SGM7D-05G

80 160 160
70 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60 120 120
50 100 100
40 80 80
30 60 60
20 40 40
A B A B A B
10 20 20
0 0 0
0 40 80 120 160 200 240 0 1 2 3 4 5 0 2 4 6 8
SGM7D-08G SGM7D-18G SGM7D-24G

160 160 160
140 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 120
100 100 100
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 4 8 12 16 0 8 16 24 32 0 10 20 30 40 50
SGM7D-34G SGM7D-45G SGM7D-03H

160 160 160
140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
120 120 120

100 100
80 80 80
60 60 A B
40 40 40
A B A B
20 20
0 0 0
0 10 20 30 40 50 60 70 0 20 40 60 80 0 1 2 3 4 5
SGM7D-28I SGM7D-70I SGM7D-1ZI

120 120 120
100 100 100

Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 20 40 60 0 20 40 60 80 100 120 0 30 60 90 120 150 180
202
SGM7D-1CI SGM7D-2BI SGM7D-2DI

120 80 60
100 50
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

60
80 40
60 40 30
40 20
A B 20
20 A B 10
A B
0 0 0
0 40 80 120 160 200 240 0 80 160 240 320 0 60 120 180 240 300 360 420

SGM7D-06J SGM7D-09J SGM7D-18J
160 160 160
140 140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 120
100 100 100
80 80 80
60 60 60
40 40 40
A B A B A B
20 20 20
0 0 0
0 2 4 6 8 10 0 4 8 12 16 0 8 16 24 32
SGM7D-20J SGM7D-38J SGM7D-02K

160 160 400
140 140
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

120 120 300
100 100
80 80 200
60 60 A B
40 40 100
A B A B
20 20
0 0 0
0 16 32 48 0 16 32 48 64 0 1 2 3 4 5 6
SGM7D-06K SGM7D-08K SGM7D-06L

400 400 240
200
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
300 300
160
200 200 120
80
100 100 A B
A B A B 40
0 0 0
0 2 4 6 8 10 12 0 3 6 9 12 15 18 0 2 4 6 8 10 12
SGM7D-12L SGM7D-30L
240 240
200 200
Motor speed (min-1)
Motor speed (min-1)
160 160
120 120
80 80
A B A B
40 40
0 0
0 4 8 12 16 20 24 0 8 16 24 32 40 48
Torque (Nm) Torque (Nm)
* The characteristics are the same for three-phase 200 V and single-phase 200 V input.
Contact your Yaskawa representative for information on the characteristics for single-phase 100 V input.
Note: 1. These values (typical values) are for operation in combination with a SERVOPACK when the temperature of the armature winding
is 20°C.
3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty
zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed character-
istics will become smaller because the voltage drop increases.
203

40ºC.
SGM7D-30F SGM7D-58F
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
100 120 140 160 180 200 220 240 260 100 120 140 160 180 200 220 240
Current (percentage of rated current) (%) Current (percentage of rated current) (%)
SGM7D-90F SGM7D-1AF
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 120 140 160 180 200 220 240 100 140 180 220 260 300
SGM7D-01G SGM7D-05G
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
80 140 200 260 80 140 200 260
204
SGM7D-08G SGM7D-18G
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100

10 10
1 1
100 160 220 280 340 100 160 220 280 340
SGM7D-24G SGM7D-34G
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 160 220 280 340 100 160 220 280 340
SGM7D-45G SGM7D-03H
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
80 140 200 260 100 130 160 190 220 250 280 310 340
205
SGM7D-28I SGM7D-70I
10000 10000
Detection time (s)
Detection time (s)

1000 1000
100 100
10 10
100 130 160 190 220 250 280 100 140 180 220 260
SGM7D-1ZI SGM7D-1CI
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 140 180 220 260 100 150 200 250 300
SGM7D-2BI SGM7D-2DI
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 140 180 220 260 100 150 200 250 300
206
SGM7D-06J SGM7D-09J
10000 10000
Detection time (s)
Detection time (s)

1000 1000
100 100

10 10
100 140 180 220 260 300 100 140 180 220 260 300 340
SGM7D-18J SGM7D-20J
10000 10000
Detection time (s)
Detection time (s)
1000 1000
100 100
10 10
100 150 200 250 300 350 400 100 160 220 280 340 400 460 520
SGM7D-38J SGM7D-02K
10000 1000
Detection time (s)
Detection time (s)
1000 100
100 10
10 1
100 140 180 220 260 300 340 380 100 140 180 220 260
207
SGM7D-06K SGM7D-08K
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
100 140 180 220 260 100 140 180 220 260
SGM7D-06L SGM7D-12L
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
100 120 140 160 180 200 220 240 260 100 120 140 160 180 200 220
SGM7D-30L
10000
1000
Detection time (s)
100
10
1
100 120 140 160 180
Current (percentage of rated current) (%)
put of 100% or higher.
Use the Servomotor so that the effective force remains within the continuous duty zone. Refer to the following section
for details on the effective torque.
Torque-Motor Speed Characteristics (page 202)
208

The allowable load moments of inertia (motor moment of inertia ratios) for the Servomotors are given in the Ratings
(pages 199 to 201). The values are determined by the regenerative energy processing capacity of the SERVOPACK
and are also affected by the drive conditions of the Servomotor. Perform the required Steps for each of the following
cases.
Use the SigmaSize+ AC Servo Drive Capacity Selection Program to check the driving conditions. Contact your Yas-
kawa representative for information on this program.

 Exceeding the Allowable Load Moment of Inertia
Use one of the following measures to adjust the load moment of inertia to within the allowable value.
If the above steps is not possible, install an external regenerative resistor.
Information An Overvoltage Alarm (A.400) is likely to occur during deceleration if the load moment of iner-
tia exceeds the allowable load moment of inertia. SERVOPACKs with a built-in regenerative
resistor may generate a Regenerative Overload Alarm (A.320). Refer to Built-In Regenerative
Resistor (page 547) for the regenerative power (W) that can be processed by the SERVO-
PACKs.
Install an External Regenerative Resistor when the built-in regenerative resistor cannot process all
of the regenerative power.
 When an External Regenerative Resistor Is Required

Install the External Regenerative Resistor. Refer to the following section for the recommended products.
External Regenerative Resistors (200 V Models) (page 547)
209
External Dimensions
 SGM7D- F
• Servomotors with the Cable on the Side
300 ±50
25° (35)
6 × M8 × 10
Fixed part L ±1 (Divided into equal
5 ±0.2 sections at 60°.)
3)
) (1
0 dia. hole
2 dia
(48
10 +20 ±0.
246
58+0.5
-0.06 dia.
-0.05 dia.
264 dia.
200 -0.02
230 -0.02
( 26
170 ±0.2 dia. )
CW
Cable tie direction
6 × M6 × 15 (6)
*2 *1
(Divided into equal sections at 60°.) CCW
Coated surface *2
direction
Unit: mm
• Servomotors with the Cable on the Bottom

6 × M6 × 15
(Divided into equal sections at 60°.)
L ±1 6 × M8 × 10
(48) (48) 10 +20 5 ±0.2 (Divided into equal
(35)
Fixed part sections at 60°.)

300 ±50
-0.05 dia.
0 dia. hole
.
2 dia
(21.1)
±0.
200 -0.02
246
58+0.5
dia.
264 dia.
-0.02
-0.06
230
CW
direction
*2
170 ±0.2 dia. Coated surface *2 CCW *1
direction Unit: mm
*1. The shaded section indicates the rotating parts.  Connector Specifications
*2. The precision depends on the option specifica- • Servomotor Connector
tion. Refer to the following section for details. 1 Phase U Red
Specifications (page 196) 1
2 Phase V Gray
2
Note: Values in parentheses are reference dimensions. 3 Phase W Blue
3
Model SGM7D- L Approx. Mass [kg] 4 FG (frame ground) Green (yellow)
4
30F C  113 ±1 14.5 Models
• Plug: 350779-1
58F C  138 ±1 19
• Pins: 350218-3 or 350547-3 (No.1 to 3)
90F C  163 ±1 24 • Ground pin: 350654-1 or 350669-1 (No. 4)
1AF  C  188 ±1 29 Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
• Cap: 350780-1
• Socket: 350536-3 or 350550-3
• Encoder Connector
1 PG5V
5 6
2 PG0V
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Connector case FG (frame ground)
* Only absolute-value models with multiturn data.
Model: 55102-0600
210 Mating connector: 54280-0609
 SGM7D-01G
45 ±0.7 160
4 × R5
7.7 3 4 × 7 dia. 10 140
6 × M4 × 6
Coated surface (Divided into equal sections at 60°.)
.
.2 dia
CW
14 6 ±0
25 dia. hole direction
160
140
-0.06 dia.
158 dia.
136 -0.02
CCW *

direction
30 30
10
5
A 4 × M4 thru-hole (35)
0.01
B Unit: mm
0.01 Approx. mass: 3 kg
(35)
300 ±50
* The shaded section indicates the rotating parts.

 SGM7D-05G
65 ±0.7 160
8.5 3 10 140 4 × R5
4 × 7 dia.
Coated surface 6 × M4 × 6 (Divided into equal sections at 60°.)
ia.
.2 d
CW 14 6 ±0
25 dia. hole
direction
-0.06 dia.
158 dia.
160
140
136-0.02
CCW
*
direction
30 30
10
5
A
0.01 4 × M4 thru-hole
B
0.01 (16) (12) Unit: mm
Approx. mass: 5 kg
(35)
300 ±50

 Connector Specifications
1 Phase U Red 1 PG5V
1 5 6
2 Phase V Gray 2 PG0V
2
3 3 4
4 FG (frame ground) Green 4* BAT0
4
1 2 5 PS
Models
• Plug: 350779-1 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3) Connector case FG (frame ground)
• Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K. * Only absolute-value models with multiturn data.
Mating Connector Model: 55102-0600
• Cap: 350780-1 Manufacturer: Molex Japan LLC
• Socket: 350570-3 or 350689-3 Mating connector: 54280-0609
211
 SGM7D-08G, -18G. -24G, -34G, and -45G

300 ±50
s 0
es : 10 (35)
e rec pth
b l D e
Ca 20,
h: 6 × M6 × 8
i dt (Divided into equal L 6 × M6 × 8
w
sections at 60°.) +2 CW (Divided into equal
11.5 0 3 ±0.2
Fixed part direction sections at 60°.)
CCW
Cable tie direction
dia.
0 dia. hole
dia.
±0.2
°
±0.2
55
104 146
25 -0.02
-0.05 dia.
136 -0.06 dia.

160 dia.
116 -0.02
-0.02
(13
)
(30
)
(32
)
*1
(6)
*2 Unit: mm
Coated surface *2

(35)
6 × M6 × 8
300 ±50
(Divided into equal

sections at 60°.)
6 × M6 × 8
(28) (28)
.
L
dia
CW (Divided into equal

+2
2
11.5 0 3 ±0.2 direction sections at 60°.)

.
±0
Fixed part CCW

4
-0.05 dia.
direction
10
dia.
0 dia. hole
±0.2
116 -0.02
146
136 dia.
25 +0.5
160 dia.
-0.02
-0.06
(21.1 dia.)
*1
*2
Coated surface *2 Unit: mm
2 Phase V Gray
2
3
4
08G  C  92.5 ±1 5.5 Models
18G  C  118 ±1 7.5 • Plug: 350779-1
24G  C  143 ±1 9.5 • Pins: 350218-3 or 350547-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
34G  C  168 ±1 12 Manufacturer: Tyco Electronics Japan G.K.
45G  C  194 ±1 14 Mating Connector
• Cap: 350780-1
• Socket: 350536-3 or 350550-3
1 PG5V
5 6
2 PG0V
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Model: 55102-0600 Mfg: Molex Japan LLC
212 Mating connector: 54280-0609
 SGM7D-03H
6 × M4 × 6 6 × 4.5 dia.,
77 ±0.5 (Divided into equal Counterbore: 8 dia., Depth: 5
Fixed part
14 sections at 60°.) (Divided into equal
. 3
dia Helical insert, sections at 60°.)
.2 effective screw length: 4
±0
8
12 CW dia.
0.2
25 dia. hole
direction ±
104
90 -0.06 dia.
140 dia.

116 dia.
-0.02
CCW
direction
*1
A
Coated B 0.01
30° surface 0.01
10°
(35) Unit: mm
Approx. mass: 3 kg
300 ±50

1 5 6
2
3 3 4
4
Models 1 2 5 PS
• Plug: 350779-1 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4) Connector case FG (frame ground)
213
 SGM7D- I
300 ±50 6 × M8 × 12
6 × M8 × 12 L (Divided into equal sections at 60°.)
(35)
(Divided into equal sections at 60°.) Rotating part 5 ±0.2
11.5+20
170 ±0.2 dia.
Fixed part .
0.2 dia
(150 dia.) hole

-0.05 dia.
230 ±
(88)
-0.06 dia.
264 dia.
252 dia.
192 -0.02
215-0.02
300 ±50
(88)
CW
direction *1
79
*2 CCW
Coated direction
surface *2 Unit: mm
2 Phase V Gray
2
3
4
28I C5 158 ±1 23 Models
70I C5 185 ±1 28 • Plug: 350779-1
• Pins: 350218-3 or 350547-3 (No.1 to 3)
1ZI C5 212 ±1 33 • Ground pin: 350654-1 or 350669-1 (No. 4)
1CI C5 250 ±1 45 Manufacturer: Tyco Electronics Japan G.K.
2BI C5 304 ±1 55 Mating Connector
2DI C5 358 ±1 65 • Cap: 350780-1
• Socket: 350536-3 or 350550-3
1 PG5V
5 6
2 PG0V
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Model: 55102-0600
214
 SGM7D-06J
6 × M6 × 12
(Divided into equal
sections at 60°.) 85 ±1 6 × M5 × 5
(Divided into equal
(35)
3.4 ±0.5 Rotating 3 ±0.2 CW
part direction sections at 60°.)
CCW
72 ±0.2 dia.
direction
(56 dia.) hole

.
0.2 dia
-0.05 dia.
300 ±50
130 ±
145 dia.
-0.06 dia.
(37)
145 dia.
Fixed part
86-0.02

120 -0.02
(37)
46.3 *1
*2
Coated surface Unit: mm
*2
Approx. mass: 6 kg

*2. The precision depends on the option specification. Refer to the following section for details.
Specifications (page 196)
 SGM7D-09J, -18J, -20J, and -38J

6 × M6 × 9
6 × M6 × 12 (Divided into equal sections at 60°.)
L
(Divided into equal sections at 60°.) CW
+2 Rotating
(35)
6.5 0 part 4 ±0.2 direction

CCW
direction
72 ±0.2 dia.
-0.06 dia.
-0.05 dia.
dia.
150 dia.
130 ±0.2
(37) (37)
145 dia.
(56 dia.) hole
300 ±50
Fixed part
120 -0.02
86 -0.02
*1
62 Coated *2
surface
*2 Unit: mm
2 Phase V Gray
2
3
4
09J C5 123 ±1 8.0 Models
18J C5 151 ±1 11.0 • Plug: 350779-1
20J C5 179 ±1 13.0 • Pins: 350218-3 or 350547-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
38J C5 207 ±1 15.5 Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
• Cap: 350780-1
• Socket: 350536-3 or 350550-3
1 PG5V
5 6
2 PG0V
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Model: 55102-0600
Mating connector: 54280-0609 215
 SGM7D- K
Fixed part
4 × M6 × 13 6 × M5 × 7
(Divided into equal sections at 60°.) (Divided into equal
L sections at 60°.)
84
(35)
+1
5.5 Rotating 3 ±0.2
±0
0
(2 part
.2
4) (2
dia
(26 dia.) hole
4)
.
-0.06 dia.
-0.06 dia.
.
100 dia.
107 dia.
ia
50 ±0.2 d
300 ±50
60 -0.02
74 -0.02
45°
CW
direction
58 Coated surface CCW *1
*2 direction
*2 Unit: mm

*2. The precision depends on the option specification. Refer to the following section for details.
Model SGM7D- L Approx. Mass [kg]
02K C5  113 ±1 4.0
06K C5  140 ±1 5.0
08K C5  167 ±1 6.5
1 5 6
2
3 3 4
4
1 2 5 PS
Models
• Plug: 350779-1 6 /PS
• Pins: 350561-3 or 350690-3 (No.1 to 3)
• Ground pin: 350654-1 or 350669-1 (No. 4)
216
 SGM7D-06L and -12L

224
4 22 180 ±0.2
×
C2 0
112 -0.2
0 4 × 8.5 dia.
22
6 × M4 × 6
112 -0.2
0
(32)
180 ±0.2
121 ±
0.2
(70.3)
224
dia.

(36)
Marking
06L: White
12L: Red
*1
224 dia.
136 dia.
(35)
300 ±50
D dia.
2 ±0.2
300 ±50
*2
50+0.5
0 dia.
*2
3
42 ±1
(37.5)
(19)
0.5
122 dia.
7
140.5 dia.
14
6 × M5 × 8*3
0.5

dia
12
2d
.
ia.
131
±0.2
dia.
0
7
7
0.5
0.5
(122 dia.)
4× (140.5 dia.)
R1 R115
15
A A-0 Cross Section Unit: mm
(Fixed Part) Approx. mass: 8.1 kg
*2. The precision depends on the option specification. • Servomotor Connector
Refer to the following section for details. 1 Phase U Red
2 Phase V Gray
2
*3. In the following cases, rigidity is required in the 3 Phase W Blue
3
Servomotor. Therefore, secure the Servomotor with 4 FG (frame ground) Green (yellow)
4
these holes.
• There is a fluctuating vertical load on the Servomotor. Models
• Plug: 350779-1
• There is a moment load on the Servomotor. • Pins: 350218-3 or 350547-3 (No.1 to 3)
• The Servomotor is used hanging upside down. • Ground pin: 350654-1 or 350669-1 (No. 4)
Note: Values in parentheses are reference dimensions. Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
Model SGM7D- D • Cap: 350780-1
  L C41 • Socket: 350536-3 or 350550-3
-0.02
(Standard mechanical preci- 112 -0.06 • Encoder Connector
sion)
1 PG5V
  L C42 5 6
(High mechanical precision) 111.9 -0.02
-0.06 2 PG0V
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Model: 55102-0600
217
 SGM7D-30L
224
4 22 180 ±0.2
×
C2 112 0
4 × 8.5 dia.
0 -0.2
22
6 × M6 × 8
112-0.2
0
(32)
180 ±0.2
121 ±
(70.3)
0.2 d
ia
224
(36)
*1
224 dia.
136 dia.
D dia.
(35)
2 ±0.2
*2
300 ±50
50 +0.5
0 dia.
*2 300 ±50
3
62 ±1
(37.5)
(19)
122 dia.
0.5
9
140.5 dia.
14
0.5
6 × M5 × 8*3
dia
12 (Divided into equal sections at 60°.)

2d
.
ia.
131 ±
0.2 d
ia.
9
0
0.5
0.5
(122 dia.)
(140.5 dia.)
4×
R1 R115
15 A-0 Cross Section Unit: mm
A (Fixed Part) Approx. mass: 11.8 kg
*2. The precision depends on the option specification. • Servomotor Connector
Refer to the following section for details. 1 Phase U Red
2 Phase V Gray
2
*3. In the following cases, rigidity is required in the 3 Phase W Blue
3
Servomotor. Therefore, secure the Servomotor with 4 FG (frame ground) Green (yellow)
4
these holes. Models
• There is a fluctuating vertical load on the Servomotor. • Plug: 350779-1
• There is a moment load on the Servomotor. • Pins: 350218-3 or 350547-3 (No.1 to 3)
• The Servomotor is used hanging upside down. • Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
Model SGM7D- D • Cap: 350780-1
• Socket: 350536-3 or 350550-3
30L C41
(Standard mechanical preci- 112 -0.02 • Encoder Connector
-0.06
sion) 1 PG5V
30L C42 5 6
111.9 -0.02 2 PG0V
(High mechanical precision) -0.06
3 4 3* BAT
4* BAT0
1 2 5 PS
6 /PS
Model: 55102-0600
218
Selecting Cables
The cables shown below are required to connect a Servomotor to a SERVOPACK.

SERVOPACK SERVOPACK
Relay Encoder Cable

Encoder Cable
Battery Case (Required only if a multiturn
(Required to use a multiturn absolute encoder is used.)
absolute encoder.)
on Both Ends
Servomotor Servomotor
Encoder-end Cable
Encoder Servomotor
Servomotor Cable Main Circuit Cable Servomotor
Main Circuit Cable Main Circuit
Cable
A A A
Note: 1. If the Encoder Cable length exceeds 20 m, be sure to use a Relay Encoder Cable.
2. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed character-
istics will become smaller because the voltage drop increases.
 Servomotor Main Circuit Cables

Length Order Number
Servomotor Model Appearance
(L) Standard Cable Flexible Cable*
SGM7D-  F 3m JZSP-CMM00-03-E JZSP-C7DM21-03-E SERVOPACK Motor end
5m JZSP-CMM00-05-E JZSP-C7DM21-05-E end
SGM7D-08G to -45G L
SGM7D-  I 10 m JZSP-CMM00-10-E JZSP-C7DM21-10-E
SGM7D-  J 15 m JZSP-CMM00-15-E JZSP-C7DM21-15-E
SGM7D-  L 20 m JZSP-CMM00-20-E JZSP-C7DM21-20-E
3m JZSP-CMM00-03-E JZSP-CMM01-03-E SERVOPACK Motor end
SGM7D-01G or -05G 5m JZSP-CMM00-05-E JZSP-CMM01-05-E end
L
SGM7D-  H 10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
SGM7D-  K 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
20 m JZSP-CMM00-20-E JZSP-CMM01-20-E
* Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 90 mm or larger.
Note: Direct Drive Servomotors are not available with holding brakes.
219
 Encoder Cables of 20 m or Less

Servomotor Length Order Number
Name Appearance
For incre- 3m JZSP- CMP00- 03- E J ZS P- CMP10- 03-E
5 m JZSP- CMP00- 05- E J ZS P- CMP10- 05-E SERVOPACK end Encoder end
mental L
encoder: 10 m JZSP- CMP00- 10- E J ZS P- CMP10- 10-E
Without Bat- 15 m JZSP- CMP00- 15- E J ZS P- CMP10- 15-E
tery Case 20 m JZSP- CMP00- 20- E J ZS P- CMP10- 20-E
For multi- 3m JZSP- CMP00- 03- E J ZS P- CMP10- 03-E
turn abso- 5m JZSP- CMP00- 05- E J ZS P- CMP10- 05-E SERVOPACK end Encoder end
lute 10 m JZSP- CMP00- 10- E J ZS P- CMP10- 10-E
L
All SGM7D models encoder: 15 m JZSP- CMP00- 15- E J ZS P- CMP10- 15-E
Without Bat-
tery Case*2 20 m JZSP- CMP00- 20- E J ZS P- CMP10- 20-E
For multi- 3m JZSP- CSP19- 03- E J ZS P- CSP 29- 03-E
turn abso- 5m JZSP- CSP19- 05- E J ZS P- CSP 29- 05-E L
lute 10 m JZSP- CSP19- 10- E J ZS P- CSP 29- 10-E
encoder:
15 m JZSP- CSP19- 15- E J ZS P- CSP 29- 15-E Battery Case
With Bat- (battery included)
tery Case 20 m JZSP- CSP19- 20- E J ZS P- CSP 29- 20-E
*1. Use Flexible Cables for moving parts of machines, such as robots. The recommended bending radius (R) is 68 mm or
larger.
 Relay Encoder Cables of 30 m to 50 m

Servomotor Length
Model (L)
Cables with Connec- 30 m JZSP -UCMP00-30- E

tors on Both Ends SERVOPACK
L
Encoder end
end
(for incremental or mul- 40 m JZSP -UCMP00-40- E
titurn absolute
All SGM7D mod- encoder)
els 50 m JZSP -UCMP00-50- E
Cable with a Battery SERVOPACK Encoder end

end
Case
0.3 m JZSP -CSP12- E
(for multiturn absolute
Battery Case
encoder)*2 (battery included)

*2. This Cable is not required if a battery is connected to the host controller.
220
221
SGMCS (Small Capacity, Coreless or Medium

Capacity, with Core)
Model Designations
SGMCS - 02 B 3 C 1 1
Direct Drive digits digit digit digit digit digit
Servo Motors:
SGMCS
1st+2nd digits Rated Output 3rd digit Servo Motor Outer Diameter 5th digit Design Revision Order
l Small-Capacity, Coreless Code Specification Code Specification
Code Specification B 135-mm dia. Model with servo Motor outer diameter code
A
02 2 Nm C 175-mm dia. M or N
04 4 Nm D 230-mm dia. B Model with servo Motor outer diameter code E
05 5 Nm E 290-mm dia. Model with servo Motor outer diameter code B,
C
07 7 Nm M 280-mm dia. C, or D
08 8 Nm N 360-mm dia.
10 10 Nm 6th digit Flange
14 14 Nm 4th digit Serial Encoder
16 16 Nm Code
Servo Motor Outer Diameter Code (3rd Digit)
Mounting
Code Specification B C D E M N
17 17 Nm
20-bit single-turn Non-load side ü ü ü ü - -
25 25 Nm 3 1
absolute encoder Load side - - - - ü ü
35 35 Nm
D 20-bit incremental encoder 3 Non-load side - - - - ü ü
Non-load side
l Medium-Capacity, with Core 4 ü ü ü ü - -
(with cable on side)
Code Specification
45 45 Nm ü : Applicable models. Non Stock Items
80 80 Nm
7th digit Options
1A 110 Nm
1E 150 Nm Code Specification
2Z 200 Nm 1 Without options
Note: Direct Drive Servo Motors are not available with holding brakes.
222
SGMCS (Small Capacity, Coreless or Medium Capacity, with Core)

Small-Capacity, Coreless Servo Motors: Specifications
Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Thermal Class A

Counterclockwise (CCW) for forward reference when viewed from the load
Rotation Direction
side
0C to 40C (with no freezing)
ture
Environmental Installation Site • Must facilitate inspection and cleaning.
Storage Environment
Runout of Output
mm 0.02
Shaft Surface
Runout at End of
mm 0.04
Output Shaft
Parallelism
Mechanical Tol- between Mount-
ing Surface and mm 0.07 0.08
erances *3
Output Shaft Sur-
face
Concentricity
between Output
mm 0.07 0.08
Shaft and Flange
Outer Diameter
Impact Acceleration Rate
Shock 490 m/s 2
at Flange
Resistance*4
Vibration Resis- Vibration Acceleration
49 m/s2
tance*5 Rate at Flange
SGD7S-
Applicable SERVOPACKs 2R8A 5R5A
SGD7W-
rated motor speed.
*2. The hollow hole section, motor mounting surface, output shaft surface, and gap around the rotating part of the shaft are
excluded. Protective structure specifications apply only when the special cable is used.
223
*3. Refer to the following figure for the relevant locations on the Servo Motor. Refer to the dimensional drawings of the
individual Servo Motors for more information on tolerances.
o dia. Runout of output shaft surface
A o: Diameter determined by motor model.
Load side
Non-load side
o dia. Parallelism between mounting surface and output shaft surface B
Concentricity between output shaft and flange outer diameter A
Vertical

Servo Motor can withstand depends on the application. Always confirm the vibration acceleration rate.
Vertical
Side to side
Front to back
224
Small-Capacity, Coreless Servo Motors: Ratings

Voltage 200 V
Model SGMCS- 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Rated Output*1 W 42 105 147 84 209 293 168 356 393 335 550
*1, *2 N•m 2.00 5.00 7.00 4.00 10.0 14.0 8.00 17.0 25.0 16.0 35.0
Rated Torque
Instantaneous
N•m 6.00 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Maximum Torque *1
Stall Torque*1 N•m 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6
Rated Current*1 Arms 1.8 1.7 1.4 2.2 2.8 1.9 2.5 2.6 3.3 3.5

Instantaneous
Arms 5.4 5.1 4.1 7.0 8.3 5.6 7.5 8.0 9.4 10.0
Maximum Current*1
*1 -1 200 200 200 150 200 150
Maximum Motor
min-1 500 500 400 300 500 350 250 500 250
Speed *1
Torque Constant N•m/Arms 1.18 3.17 5.44 2.04 5.05 5.39 5.10 7.79 10.8 5.58 11.1
Motor Moment of
10-4 kg•m2 28.0 51.0 77.0 77.0 140 220 285 510 750 930 1430
Inertia
Rated Power Rate*1 kW/s 1.43 4.90 6.36 2.08 7.14 8.91 2.25 5.67 8.33 2.75 8.57
Rated Angular
rad/s2 710 980 910 520 710 640 280 330 170 240
Acceleration Rate *1
Heat Sink Size mm 350  350  12 450  450  12 550  550  12 650  650  12
Allowable
N 1500 3300 4000 11000
Allow- Thrust Load
able Allowable
Load *3 Moment N•m 40 50 64 70 75 90 93 103 135 250 320
Load
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with a steel
*3. The thrust loads and moment loads that are applied while a Servo Motor is operating are roughly classified into the fol-
lowing patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the
table.
L F
F F L
Note: For the bearings used in these Servo Motors, the loss depends on the bearing temperature. The amount of heat loss
225
Small-Capacity, Coreless Servo Motors: Torque-Motor Speed

Characteristics
SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C

500 500 500 500
Motor speed (min-1)

Motor speed (min-1)
Motor speed (min-1)

Motor speed (min-1)
400 400 400 400
300 300 300 300
200 200 200 200
A B A B A B A B
100 100 100 100
0 0 0 0
0 1.5 3.0 4.5 6.0 7.5 9.0 0 3 6 9 12 15 18 0 5 10 15 20 25 30 0 3 6 9 12 15 18
SGMCS-10C SGMCS-14C SGMCS-08D SGMCS-17D

500 500 500 500
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

400 400 400 400
300 300 300 300

200 200 200 200
A B A B A B A B
100 100 100 100
0 0 0 0
0 6 12 18 24 30 36 0 10 20 30 40 50 60 0 6 12 18 24 30 36 0 12 24 36 48 60 72
SGMCS-25D SGMCS-16E SGMCS-35E

500 500 500
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)
400 400 400
300 300 300
200 200 200

A B A B A B
100 100 100
0 0 0
0 15 30 45 60 75 90 0 9 18 27 36 45 54 0 20 40 60 80 100 120
226
Small-Capacity, Coreless Servo Motors: Servo Motor Overload

Protection Characteristics
of 40°C.
SGMCS-02B, -05B, -07B, -10C, -17D, and -35E SGMCS-04C
10000 10000
1000 1000

Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-14C SGMCS-08D and -16E

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-25D
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
given in Small-Capacity, Coreless Servo Motors: Torque-Motor Speed Characteristics on page 226.
227
Medium-Capacity Servo Motors with Cores: Specifications

Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Thermal Class F
Rotation Direction
load side
ture
Surrounding Air
Humidity
Environmental • Must be well-ventilated and free of dust and moisture.
Store the Servo Motor in the following environment if you store it with the
power cable disconnected.
Storage Environment
Runout of Output
mm 0.02
Shaft Surface
Runout at End of
mm 0.04
Output Shaft
Parallelism
between Mounting
mm 
Surface and Out-
put Shaft Surface
Mechanical Tol-
Concentricity
erances *3
between Output
Shaft and Flange mm 0.08
Outer
Diameter
Perpendicularity
between Mounting
mm 0.08
Surface and Out-
put Shaft
Impact Acceleration Rate
Shock 490 m/s 2
at Flange
Resistance*4
Vibration Resis- Vibration Acceleration
24.5 m/s 2
tance*5 Rate at Flange
Applicable SERVO- SGD7S- 7R6A 120A 180A 120A 200 A
PACKs SGD7W- 7R6A 
rated motor speed.
228
*3. Refer to the following figure for the relevant locations on the Servo Motor. Refer to the dimensional drawings of the
individual Servo Motors for more information on tolerances.
o dia. o: Diameter determined by motor model.
Concentricity between output shaft and flange outer diameter A B
o dia.
A o dia. Runout at end of output shaft
Runout of output shaft surface
Load side
Perpendicularity between mounting surface and output shaft A B
Non-load side

Vertical

Servo Motor can withstand depends on the application. Always confirm the vibration acceleration rate.
Vertical
Side to side
Front to back
229
Medium-Capacity Servo Motors with Cores: Ratings

Voltage 200 V
Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Rated Output*1 W 707 1260 1730 1260 2360 3140
Rated Torque*1, *2 N•m 45.0 80.0 110 80.0 150 200
*1 N•m 135 240 330 240 450 600
Stall Torque*1 N•m 45.0 80.0 110 80.0 150 200
*1 Arms 5.8 9.7 13.4 9.4 17.4 18.9
Rated Current
Instantaneous Maximum Current*1 Arms 17.0 28.0 42.0 28.0 56.0 56.0
Rated Motor Speed *1 min-1 150 150
Maximum Motor Speed *1 min-1 300 300 250
Torque Constant Nm/Arms 8.39 8.91 8.45 9.08 9.05 11.5
Motor Moment of Inertia 10 -4 kg•m 2 388 627 865 1360 2470 3060
Rated Power Rate*1 kW/s 52.2 102 140 47.1 91.1 131
*1 2 1160 1280 1270 588 607 654
Heat Sink Size mm 750  750  45
A mm 33 37.5
Allowable
Allowable Thrust Load N 9000 16000
Load *3
Allowable Moment Load N•m 180 350
*2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 40°C with a steel
*3. The thrust loads and moment loads that are applied while a Servo Motor is operating are roughly classified into the fol-
lowing patterns. Design the machine so that the thrust loads or moment loads will not exceed the values given in the
table.
L F
F F L
A (Refer to the
values in the
table.)
Moment load = 0 Moment load = F × L Moment load = F × (L + A)
Note: For the bearings used in these Servo Motors, the loss depends on the bearing temperature. The amount of heat loss
230
Medium-Capacity Servo Motors with Cores: Torque-Motor Speed

Characteristics
SGMCS-45M SGMCS-80M SGMCS-1AM

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B

100 100 100
0 0 0
0 50 100 150 0 100 200 300 0 100 200 300 400
Torque (N⋅m) Torque (N⋅m) Torque (N⋅m)
SGMCS-80N SGMCS-1EN SGMCS-2ZN

300 300 300
Motor speed (min-1)
Motor speed (min-1)
Motor speed (min-1)

200 200 200
A B A B A B
100 100 100
0 0 0
0 100 200 300 0 100 200 300 400 500 0 200 400 600 800
Torque (N⋅m) Torque (N⋅m) Torque (N⋅m)
231
Medium-Capacity Servo Motors with Cores: Servo Motor

Overload Protection Characteristics
of 40°C.
SGMCS-45MoA SGMCS-80MoA
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
SGMCS-1AMoA and -80NoA SGMCS-1ENoA

10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300 350
SGMCS-2ZNoA
10000
1000
Detection time (s)
100
10
1
0 50 100 150 200 250 300
given in Medium-Capacity Servo Motors with Cores: Torque-Motor Speed Characteristics on page 231.
232

SERVOPACKs without built-in regenerative resistors when an External Regenerative Resistor is not con-
nected (applicable SERVOPACK: SGD7S-2R8A).
If the Servo Motor exceeds the allowable load moment of inertia, an overvoltage alarm may occur in the SERVOPACK.
These graphs provide reference data for deceleration at the rated torque or higher with a 200-VAC power supply input.

SGMCS-02BoC SGMCS-04CoC
12

12
10 10

8 8
6 6
4 4
2 2
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
SGMCS-05BoC SGMCS-07BoC
12
12
10 scaling factor (times) 10

8 8
6 6
4 4
2 2
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
SGMCS-08DoC SGMCS-10CoC
3.5 6
3 5
2.5
4
2
3
1.5
2
1
0.5 1
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500
-1
SGMCS-14CoC SGMCS-17DoC
3.5
3.5
3 3
2.5 2.5
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
SGMCS-25DoC
3.5
3
2.5
2
1.5
1
0.5
0
0 50 100 150 200 250 300
Motor speed (min-1)
233
External Dimensions
Small-Capacity, Coreless Servo Motors
 SGMCS- B
Notation
6 × M4 × 8 L
(Divided into equal sections at 60°.) 0.07 B B 6 × M4 × 8 (Divided into equal sections at 60°.)
4 (LL) 4±0.9 0.02
.
dia
0.07 dia. A
90
*1
LH dia.
LB dia.
90 d
135 dia.
ia.
(70 dia.)
LA dia.
R26
(0.5: bolt section)
R4 *1
o
0 (1)
con .5 ma
25
nec x. (9) *2
.4
tor
are
a
.4
23
A
o
90°
0.04 Unit: mm

Model SGMCS- L (LL) LB LH LA Approx. Mass [kg]
0 +0.4 0
02B C11 59 51 120 -0.035 20 0 100 -0.035 4.8
0 +0.4 0
05B C11 88 80 120 -0.035 20 0 100 -0.035 5.8
0 +0.4 0
07B C11 128 120 120 -0.035 20 0 100 -0.035 8.2
300±50
(35)
50
30 L
0.07 B B 6 × M4 × 8
4 (LL) 4±0.9 0.02 (Divided into equal sections at 60°.)
10 (22)
6 × M4 × 8
.

dia
0.07 dia. A 20
90
*1
90
LH dia.
dia
LB dia.
(70 dia.)
135 dia.
.
LA dia.
(80 dia.)
(0.5: bolt section)

0.1
(1) *1
*2
A
0.04
Unit: mm

0
02BC41 59 51 120 -0.035 20 +0.4
0
0
100 -0.035 4.8
0 +0.4 0
05BC41 88 80 120 -0.035 20 0 100 -0.035 5.8
0 +0.4 0
07BC41 128 120 120 -0.035 20 0 100 -0.035 8.2
See Connector Specifications Page 240
234
 SGMCS- C
L 6 × M5 × 8 (Divided into equal sections at 60°.)
6 × M5 × 8 0.07 B B
5 (LL) 5±0.9 0.02
ia.
0d
0.07 dia. A
12
(2 × M5 × 8)
(For use by Yaskawa) *1
(2 × M5 × 8)
LB dia.
(100 dia.)
LH dia.
130 d (For use by
LA dia.
175 dia.
ia . Yaskawa)
(1: bolt section)

.5 R51
R36 con max. (9) *2
(1) *1
nec
tor
o2 3.4 are
5.4 2 a
o
60° A
0.04 Unit: mm

0 +0.4 0
04C C11 69 59 160 -0.040 35 0 130 -0.040 7.2
0 +0.4 0
10C C11 90 80 160 -0.040 35 0 130 -0.040 10.2
0 +0.4 0
14C C11 130 120 160 -0.040 35 0 130 -0.040 14.2
300±50
(35)
50 6 × M5 × 8
0.07 B L B
6 × M5 × 8 5 (LL) 5±0.9 0.02
10 (22)
(Divided
ia.
into equal 0.07 dia. A 20

0d
sections at (2 × M5 × 8)
12
60°.) (For use by

*1 (2 × M5 × 8)
Yaskawa)
(For use by
13
0 Yaskawa)
di
LH dia.
a.
(100 dia.)
LB dia.
175 dia.
LA dia.
(1: bolt section)

(100 dia.)
0.1 *1
(1)
*2
A
0.04 Unit: mm

0
04C C41 69 59 160 -0.040 35 +0.4
0
0
130 -0.040 7.2
0 +0.4 0
10C C41 90 80 160 -0.040 35 0 130 -0.040 10.2
0 +0.4 0
14C C41 130 120 160 -0.040 35 0 130 -0.040 14.2
235
 SGMCS- D
L 6 × M6 × 10
6 × M6 × 10 0.08 B B (Divided into equal sections at 60°.)
5 (LL) 5±0.9 0.02
ia.
0.08 dia. A
0d
16
(2 × M6 × 10)
(For use by Yaskawa) *1
(2 × M6 × 10)
(For use by
230 dia.
160 d
(140 dia.)
LH dia.
LB dia.
ia. Yaskawa)
LA dia.
53 (0.5: bolt section)
R
R6 *1
7
con .5 m (1)
nec ax. (9) *2
o2 tor
5.4 3.4 are
o2 a
60° A
0.04 Unit: mm

0 +0.4 0
08D C11 74 64 200 -0.046 60 0 170 -0.040 14.0
0 +0.4 0
17D C11 110 100 200 -0.046 60 0 170 -0.040 22.0
0 +0.4 0
25D C11 160 150 200 -0.046 60 0 170 -0.040 29.7
300±50
(35)
50 6 × M6 × 10
6 × M6 × 10 L
(Divided into (2 × M6 × 10) 0.08 B B
10 (22)
5 (LL) 5±0.9 0.02

ia.
equal sections (For use by 0.08 dia. A

0d
at 60°.) Yaskawa) 20
16
*1 (2 × M6 × 10)
(For use by
16 Yaskawa)
0d
ia.
LH dia.
(140 dia.)
230 dia.
LB dia.
LA dia.
(140 dia.)
(0.5: bolt section)
0.1 *1
(1)
*2
A
0.04 Unit: mm

0
08D C41 74 64 200 -0.046 60 +0.4
0
0
170 -0.040 14.0
0 +0.4 0
17D C41 110 100 200 -0.046 60 0 170 -0.040 22.0
0
25D C41 160 150 200 -0.046 60 +0.4
0
0
170 -0.040 29.7
236
 SGMCS-E
6 × M8 × 14
6 × M8 × 14 0.08 L (Divided into equal sections at 60°.)
B B
(Divided into equal sections at 60°.) 6 (LL) 6±1.6
ia.
0.08 dia. A 0.02
0d
)
a.
di
20
(2 × M8 × 14)
8 0
(2 × M8 × 14)
(2
(For use by (For use by
Yaskawa) *1
Yaskawa)
200 dia
LH dia.
(180 dia.)
LA dia.
.
290 dia.
LB dia.

*1
R 65
R8 (1)
co 0 m (9) *2
nn ax
o2 ec .
t
5.4 .4 or ar
o 23 ea
60° (4) A
0.04 Unit: mm

0 +0.4 0
16E B11 88 76 260 -0.052 75 0 220 -0.046 26.0
0
35E B11 112 100 260 -0.052 75 +0.4
0
0
220 -0.046 34.0
300±50
(35)
6 × M8 × 14 50 6 × M8 × 14
(Divided into equal 30 (Divided into equal sections at 60°.)
(22)
sections at 60°.) L B
0.08 B 6±1.6
6 (LL) ia.
0.02
0d
0.08 dia. A 20
)
a.
20
di
10
80
(2 × M8 × 14)
(2
(For use by *1 (2 × M8 × 14)

Yaskawa) (For use by
Yaskawa)
20
0d
290 dia.
ia.
LB dia.
(180 dia.)
LH dia.
LA dia.
(160 dia.)
0.1 *1
(1)
*2
(4) A
0.04 Unit: mm

0 +0.4 0
16E B41 88 76 260 -0.052 75 0 220 -0.046 26.0
0 +0.4 0
35E B41 112 100 260 -0.052 75 0 220 -0.046 34.0
237
Medium-Capacity Servo Motors with Cores

 SGMCS- M
LL 15 12 × M6 × 15 (Divided into equal sections.)
6 KB2
0.08 A B 41
KB1 30°
0
15 (280 -0.052 dia. range)
0.08 dia. A B
280 ± 0.5 dia.

5
1.5 A
182
.
dia
(rotating
0.04
147
part)
4
26
*
LH dia.
140 dia.
LA dia.
115 dia.
250 dia.
75.2 dia.
LB dia.
88
+0.019
15 (75 dia. range)
dia
0
Rotating
.
part
*
* *
B
0.04
12 × M6 × 18
(Divided into equal sections.) Unit: mm

Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]
0 +0.019 0
45M A11 141 87.5 122 280 -0.052 75 0 110 -0.035 38
0 +0.019 0
80M A11 191 137.5 172 280 -0.052 75 0 110 -0.035 45
0 +0.019 0
1AM A11 241 187.5 222 280 -0.052 75 0 110 -0.035 51
L
0.08 C C
6 LL 15 0.02
10° KB2
12 × M6 × 15
KB1 41
(Divided into 12 × M6 × 18
equal sections.) (Divided into
0.08 dia. A B equal sections.)
5
1.5 A
182
(rotating 0.04
.
dia
147
part) *
4
26
280 dia.
LB dia.
LH dia.
140 dia.
115 dia.
88
75.2 dia.
LA dia.
dia
.
+0.019
15 (75 0 dia. range)
*
* *
B
0.04
Unit: mm

Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]
0 +0.019 0
45M A31 150 135 102.5 137 248 -0.046 75 0 110 -0.035 38
0 +0.019 0
80M A31 200 185 152.5 187 248 -0.046 75 0 110 -0.035 45
0 +0.019 0
1AM A31 250 235 202.5 237 248 -0.046 75 0 110 -0.035 51
238
 SGMCS- N
12 × M8 × 15
LL 15
(Divided into equal sections.)
6 KB2 41
0.08 A B
KB1 30°
0
15 (360 -0.057 dia. range)
0.08 dia. A B
360 ± 0.5 dia.

5
A
222
1.5
dia
0.04
186
4
(rotating part)
34

*
166 dia.
325 dia.
190 dia.
LH dia.
LA dia.
LB dia.
118.2 dia.
135
+0.022
15 (118 dia. range)
dia
0
Rotating
part *
.
*
* B
0.04
12 × M8 × 20
(Divided into equal sections.) Unit: mm

Model SGMCS- LL KB1 KB2 LB LH LA Approx. Mass [kg]
0
80N A11 151 98 132 360 -0.057 118 +0.022
0
0
160 -0.040 50
0 +0.022 0
1EN A11 201 148 182 360 -0.057 118 0 160 -0.040 68
0 +0.022 0
2ZN A11 251 198 232 360 -0.057 118 0 160 -0.040 86
L
0.08 C C
6 LL 15 0.02
KB2
12 × M8 × 15
(Divided into equal sections.) KB1 12 × M8 × 20
10° (Divided into 41
equal sections.)
0.08 dia. A B
5
A
1.5 0.04
222
ia.
186
4d
(rotating part)
34
*
118.2 dia.
360 dia.
LB dia.
LH dia.
166 dia.
LA dia.
190 dia.
1 35
+0.022
dia
15 (118 0 dia. range)

.
* *
B
0.04
Unit: mm

Model SGMCS- L LL KB1 KB2 LB LH LA Approx. Mass [kg]
0 +0.022 0
80N A31 160 145 113 147 323 -0.057 118 0 160 -0.040 50
0 +0.022 0
1EN A31 210 195 163 197 323 -0.057 118 0 160 -0.040 68
0 +0.022 0
2ZN A31 260 245 213 247 323 -0.057 118 0 160 -0.040 86
239
 SGMCS- B, - C, - D, or - E with Flange Specification 1
Model: JN1AS04MK2R
Mating connector: JN1DS04FK1

Model: JN1AS10ML1-R

 SGMCS- B, - C, - D, or - E with Flange Specification 4
Model
Pin 1 •Plug: 350779-1
•Pins: 350561-3 or 350690-3 (No.1 to 3)
•Ground pin: 350654-1 or 350669-1 (No. 4)
Manufacturer: Tyco Electronics Japan G.K.
Mating Connector
Pin 4 •Cap: 350780-1
•Socket: 350570-3 or 350689-3
Model: 55102-0600
Manufacturer: Molex Japan Co., Ltd.
240
 SGMCS- M or - N with Flange Specification 1 or 3

Model: CE05-2A18-10PD
Mating Connector
Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A-(D265)

Model: JN1AS10ML1
Manufacturer: Japan Aviation Electronics Industry,
Ltd.
241
Selecting Cables
SERVOPACK
SERVOPACK
Relay Encoder Cable

(Required only when using an
SGMCV Servo Motor with a
Multiturn Absolute Encoder.)
Battery Case Servo Motor

Encoder-end Cable
(Required to use a multiturn
absolute encoder.)
Servo Motor Servo Motor
Main Circuit
Encoder Servo Motor Cable
Servo Motor Cable Main Circuit Cable
Main Circuit Cable
A A
242
 SGMCS-
Length Order Number
Servo Motor Model Appearance
(L) Standard Cable Flexible Cable*1
SGMCS-  B 3m JZSP-CMM60-03-E JZSP-CSM60-03-E
SGMCS-  C
SGMCS-  D 5m JZSP-CMM60-05-E JZSP-CSM60-05-E SERVOPACK Motor end

end L
SGMCS-  E
10 m JZSP-CMM60-10-E JZSP-CSM60-10-E
Flange specification*2: 1 15 m JZSP-CMM60-15-E JZSP-CSM60-15-E
Non-load side
installation 20 m JZSP-CMM60-20-E JZSP-CSM60-20-E
SGMCS-  B 3m JZSP-CMM00-03-E JZSP-CMM01-03-E
SGMCS-  C
SGMCS-  D 5m JZSP-CMM00-05-E JZSP-CMM01-05-E SERVOPACK Motor end
end
SGMCS-  E L
10 m JZSP-CMM00-10-E JZSP-CMM01-10-E
Non-load side 15 m JZSP-CMM00-15-E JZSP-CMM01-15-E
installation
(with cable on side) 20 m JZSP-CMM00-20-E JZSP-CMM01-20-E
3m B1EV-03(A)-E B1EP-03(A)-E
SGMCS-  M 5m B1EV-05(A)-E B1EP-05(A)-E
SGMCS-  N 10 m B1EV-10(A)-E B1EP-10(A)-E
  : 45, 80, 1A 15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E L 125 mm
3m B2EV-03(A)-E B2EP-03(A)-E
5m B2EV-05(A)-E B2EP-05(A)-E
SGMCS-N
10 m B2EV-10(A)-E B2EP-10(A)-E
  : 1E, 2Z
15 m B2EV-15(A)-E B2EP-15(A)-E
20 m B2EV-20(A)-E B2EP-20(A)-E
See Flange Specifications Page 245
Note: Direct Drive Servo Motors are not available with holding brakes.
243
 SGMCS-
Name Appearance
SGMCS-  5m JZSP-CMP60-05-E JZSP-CSP60-05-E SERVOPACK Encoder end
end L
Flange specifica-
tion*2: 1 or 3 15 m JZSP-CMP60-15-E JZSP-CSP60-15-E
For incre-
mental/ 20 m JZSP-CMP60-20-E JZSP-CSP60-20-E
absolute 3m JZSP-CMP00-03-E JZSP-CMP10-03-E
encoder
SGMCS-  5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
end L
Flange Specifica-
tion*2: 4 15 m JZSP-CMP00-15-E JZSP-CMP10-15-E
244
 SGMCS-
Servo Motor Length
Model (L)
SGMCS-  SERVOPACK Encoder end
Encoder-end Cable end L
(for incremental or 0.3 m JZSP-CSP15-E
Flange specifica-
absolute encoder)

tion*2: 1 or 3
SGMCS-  Cables with Connec- 30 m JZSP-UCMP00-30-E SERVOPACK Encoder end
tors on Both Ends (for end L
Flange specifica- incremental or abso-
tion*2: 1, 3, or 4 lute encoder) 50 m JZSP-UCMP00-50-E

Flange Specifications
 SGMCS-
Flange Specifica- Servo Motor Outer Diameter Code (3rd Digit)
Flange Location
tion Code (6th Digit) B C D E M N
Non-load side      
1
Load-side      
3 Non-load side      
Non-load side
4      
(with cable on side)
: Applicable models
245
246
Linear Servo Motors
SGLFW2 (Models with F-type Iron Cores, 200V) ..248
SGLFW2 (Models with F-type Iron Cores, 400V) ..276
SGLG (Coreless Models) .....................................296
SGLT (Models with T-type Iron Cores) ..................326
Recommended Linear Encoders and Cables ........356
SGLFW (Earlier Models with F-type Iron Cores) ...380

Linear Servo Motors
SGLFW2 (Models with F-type Iron Cores, 200V)
Model Designations
 Moving Coil
S G L F W 2 - 30 A 070 A S o
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th
Linear S Series digit digit digits digit digits digit digit digit
Linear Servomotors
1st digit Servomotor Type 5th digit Power Supply Voltage 10th digit Sensor Specification

F With F-type iron core A 200 VAC S With polarity sensor and Thermal Protector
T Without polarity sensor, with thermal protector
Length of
2nd digit Moving Coil/Magnetic Way 6th+7th+8th digits Moving Coil
Code Specification Code Specification 11th digit Cooling Method

W Moving Coil 070 70 mm Code Specification
120 125 mm None Self-cooled
200 205 mm L Water-cooled*
3rd+4th digits Magnet Height
230 230 mm
Code Specification
380 384 mm Non Stock Items
30 30 mm
560 563 mm
45 45 mm
90 90 mm 9th digit Design Revision Order
1D 135 mm A
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combina-
tions of codes.
* Contact your Yaskawa representative for information on water-cooled models.
 Magnetic Way
S G L F M 2 - 30 270 A
1st 2nd 3rd+4th 5th+6th+7th 8th
Linear Σ Series digit digit digits digits digit
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits Magnetic Way
(Same as for the Moving Coil.) Code Specification
270 270 mm
2nd digit Moving Coil/Magnetic Way 306 306 mm
Code Specification 450 450 mm
M Magnetic Way 510 510 mm
630 630 mm
3rd+4th digits Magnet Height 714 714 mm
(Same as for the Moving Coil.)

A
248
Linear Servo Motors
Precautions on Moving Coils with Polarity Sensors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, con-
Note
sider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.
Correct Installation Incorrect Installation

Moving Coil
movement direction Polarity sensor
Polarity sensor Moving Coil
Magnetic Way
Edge of Magnetic Way
Linear Servo Motors

 Total Length of Moving Coil

Length of Length of
with Polarity Sensor Moving Coil
Moving Polarity
Total
Model Length,
L Coil, Sensor,
SGLFW2- L [mm]
A L1 Moving Coil L1 [mm] A [mm]
30A070AS 70 97
30A120AS 125 29 152
30A230AS 230 257
45A200AS 205 237
Polarity sensor Magnetic Way 34
45A380AS 384 416
90A200AS 205 237
90A380AS 384 34 416
90A560AS 563 595
1DA380AS 384 416
32
1DA560AS 563 595
249
Linear Servo Motors
Specifications
Linear Servomotor Moving 30A 45A 90A 1DA
Coil Model SGLFW2- 070A 120A 230A 200A 380A 200A 380A 560A 380A 560A
Thermal Class B
Cooling Method Self-cooled and water-cooled*
Protective Structure IP00
perature
Surrounding Air
Environ- 20% to 80% relative humidity (with no condensation)
Humidity
mental
Condi- • Must be indoors and free of corrosive and explosive gases.
tions • Must be well-ventilated and free of dust and moisture.
Shock Impact Acceleration Rate 196 m/s2
Resis-
tance Number of Impacts 2 times
Vibra-
tion Vibration Accelera- 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side,
Resis- tion Rate and front-to-back)
tance
250
Linear Servo Motors
Ratings
Linear Servomotor Moving Coil 30A 45A
Model SGLFW2- 070A 120A 230A 200A 380A
Rated Motor Speed
(Reference Speed during m/s 4.0 4.0 4.0 4.0 4.0
Speed Control)*1
Maximum Speed*1 m/s 5.0 5.0 5.0 4.5 4.5
*1, *2 N 45 90 180 170 280 560
Rated Force
*1 N 135 270 540 500 840 1680 1500
Maximum Force
*1 Arms 1.4 1.5 2.9 2.8 4.4 8.7
Rated Current
Maximum Current*1 Arms 5.3 5.2 10.5 9.3 16.4 32.7 27.5
Moving Coil Mass kg 0.50 0.90 1.7 2.9 5.5
Force Constant N/Arms 33.3 64.5 64.5 67.5 67.5
Linear Servo Motors

Vrms/
BEMF Constant (m/s)/ 11.1 21.5 21.5 22.5 22.5
phase
Motor Constant N/ W 11.3 17.3 24.4 36.9 52.2
Electrical Time Constant ms 7.6 7.3 7.3 19 19
Mechanical Time
ms 3.9 3.0 2.9 2.1 2.0
Constant
Thermal Resistance
K/W 2.62 1.17 0.79 0.60 0.44
(with Heat Sink)
Thermal Resistance
K/W 11.3 4.43 2.55 2.64 1.49
(without Heat Sink)
Magnetic Attraction N 200 630 1260 2120 4240
Maximum Allowable
kg 5.6 9.4 34 10 58 110 95
Payload
Maximum Allowable
Payload
(With External Regenera-
kg 5.6 11 34 20 64 110 110
tive Resistor and External
Dynamic Brake Resis-
tor*3)
Combined Magnetic Way,
30 A 45 A
SGLFM2-
Combined Serial Converter Unit,
628 629 630 631 632
JZDP--
2R8A,
SGD7S- 1R6A, 2R1F 3R8A 5R5A 180A 120A
Applicable 2R8F
SERVOPACKs SGD7W-
1R6A  2R8A 5R5A 
SGD7C-
*2. The rated forces are the continuous allowable force values at a surrounding air temperature of 40C with an aluminum
heat sink of the dimensions given in the following table.
• Heat Sink Dimensions
• 150 mm 100 mm 10 mm: SGLFW2-30A070A
• 254 mm 254 mm 25 mm: SGLFW2-30A120A and -30A230A
• 400 mm 500 mm 25 mm: SGLFW2-45A200A and -45A380A
*3. To externally connect dynamic brake resistor, select hardware option specification 020 for the SERVOPACK. However, you
cannot externally connect dynamic brake resistor if you use the following SERVOPACKs (maximum applicable motor capacity:
400 W).
• SGD7S-R70 A020 to -2R8A020
• SGD7W-1R6A20A020 to -2R8A20A020
• SGD7C-1R6AMAA020 to -2R8AMAA020
251
Linear Servo Motors
Ratings
Linear Servomotor Moving Coil 90A 1DA
Rated Motor Speed
Speed Control)*1
Maximum Speed*1 m/s 4.0 4.0 4.0 2.5 2.5
*1, *2 N 560 1120 1680 1680 2520
Rated Force
*1 N 1680 3360 5040 5040 7560
Maximum Force
*1 Arms 7.2 14.4 21.6 14.4 21.6
Rated Current
Maximum Current*1 Arms 26.9 53.9 80.8 53.9 80.8
Force Constant N/Arms 82.0 82.0 82.0 123 123
Vrms/
BEMF Constant (m/s)/ 27.3 27.3 27.3 41.0 41.0
phase
Motor Constant N/ W 58.1 82.2 101 105 129
Electrical Time Constant ms 24 23 24 25 25
Mechanical Time
ms 1.6 1.5 1.5 1.3 1.3
Constant
Thermal Resistance
K/W 0.45 0.21 0.18 0.18 0.12
(with Heat Sink)
Thermal Resistance
K/W 1.81 1.03 0.72 0.79 0.55
(without Heat Sink)
Maximum Allowable
kg 130 160 360 690 1000
Payload
Maximum Allowable
Payload
(With External Regenera-
kg 140 290 440 710 1000
tive Resistor and Exter-
nal Dynamic Brake
Resistor)
90 A 1DA
SGLFM2-
633 634 648 649 650
JZDP--
SGD7S- 120A 200A 330A 200A 330A
Applicable
SERVOPACKs SGD7W- 
SGD7C-
• 400 mm 500 mm 25 mm: SGLFW2-90A200A
• 609 mm 762 mm 40 mm: SGLFW2-90A380A
• 900 mm 762 mm 40 mm: SGLFW2-90A560A and -1DA380A
• 1,400 mm 900 mm 40 mm: SGLFW2-1DA560A
252
Linear Servo Motors
Force-Motor Speed Characteristics

SGLFW2-30A070A SGLFW2-30A120A
6 6
Motor speed (m/s)
Motor speed (m/s)

5 5
4 4
3 3
2 2
A B A B
1 1
0 0
0 50 100 150 0 100 200 300
Force (N) Force (N)
(Combined with SGD7o-2R8A) (Combined with SGD7S-3R8A) SGLFW2-45A200A
6 6 5
Linear Servo Motors

Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

5 5
4
4 4
3
3 3
2 2 2 A B
A B A B
1 1 1
0 0 0
0 200 400 600 0 200 400 600 0 200 400 600 800 1000
Force (N) Force (N) Force (N)
(Combined with SGD7S-120A) (Combined with SGD7S-180A)
5 5
Motor speed (m/s)
Motor speed (m/s)
4 4
3 3
2 2
A B A B
1 1
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000
Force (N) Force (N)
SGLFW2-90A200A SGLFW2-90A380A SGLFW2-90A560A

5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
4 4 4
3 3 3
2 2 2
A B A B
A B
1 1 1
0 0 0
0 500 1000 1500 2000 0 1000 2000 3000 4000 0 2000 4000 6000
SGLFW2-1DA380A SGLFW2-1DA560A
3 3
Motor speed (m/s)
Motor speed (m/s)
2.5 2.5
2 2
1.5 1.5
1 1
A B A B
0.5 0.5
0 0
0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N)
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermit-
tent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed char-
acteristics will become smaller because the voltage drop increases.
253
Linear Servo Motors

40C.
SGLFW2-30A070A SGLFW2-30A120A and -230A
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
50 100 150 200 250 300 350 400 50 100 150 200 250 300 350 400
Force reference (percent of rated force) Force reference (percent of rated force)
(%) (%)
SGLFW2-45A, -90A, and -1DA

10000
1000
Detection time (s)
100
10
1
50 100 150 200 250 300 350 400
Force reference (percent of rated force)
(%)
put of 100% or higher. Use the Servomotor so that the effective force remains within the continuous duty zone given in
Force-Motor Speed Characteristics on page 253.
254
Linear Servo Motors
External Dimensions
SGLFW2-30
 Moving Coil with Polarity Sensor: SGLFW2-30A070AS

Polarity sensor 50 min. 70
12.2 5.8
40±0.1 Magnetic Way
27 20 20 (12)
(27.5) 1.5
Thermal protector relay connector
(9)
(Molex Japan LLC)

Receptacle housing: 5557-02R
(27.5)
Plug housing: 5559-02P

(55)
31
54
Polarity sensor and thermal

14 15
(27.5)
protector cable
UL20276, AWG28
Linear Servo Motors

(1.5)
12.5±0.1
(6) Refer to the following figure .

0
2 × #4-40 ±3 (7 dia.)
(10.2) 29±0.1 UNC screws 300 Servomotor Main Circuit Cable
0.2 50 min. UL2586, AWG19
The Moving Coil moves in the

Gap 0.8 direction indicated by the
Thermal protector arrow when current flows in
cable the following phase
UL1333, AWG20 sequence: U, V, W.
0 Thermal protector relay cable

3
0± UL1333, AWG22
30
Polarity sensor and
thermal protector
connector
Servomotor connector
SGLFW2-30A070AS
3 × M4 × 8
31
Approx. mass: 0.5 kg

15
29
Unit: mm
18 20
14
40
255
Linear Servo Motors
 Connector Specifications  Polarity Sensor Output Signal

The figure on the right shows
• Servomotor Connector
the relationship between the Vu Su
1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)

1 2 3 4
2 Phase V White sor output signals and the
Vv
3 Phase W Black inverse power of each motor Sv
4 FG Green phase Vu, Vv, and Vw when

the Moving Coil moves in the Vw
Plug: 350779-1 Sw
Pins: 350218-3 or 350547-3 (No.1 to 3) direction indicated by the
arrow in the dimensional 0 180 360 540
350654-1 or 350669-1 (No. 4)
drawings of the Moving Coil. Electrical angle (°)
From Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
• Polarity Sensor and Thermal Protector
Connector
9 6 1 +5 V (thermal protector), +5 V (power supply)
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8
5 0 V (power supply) 9 Thermal protector
Pin connector: 17JE-23090-02 (D8C) -CG
From DDK Ltd.
Mating Connector
Socket connector: 17JE-13090-02 (D8C) A-CG
Studs: 17L-002C or 17L-002C1
256
Linear Servo Motors
 Moving Coils with Polarity Sensors: SGLFW2-30AAS

50 min. L1
Polarity sensor
Thermal protector relay connector 12.6
40±0.1 (Molex Japan LLC)
27 26.7 L2 (33.2)
(27.5) 1.5 Receptacle housing: 5557-02R Magnetic Way
(7)
(27.5) (27.5)
(55)
31
50
15
(0.5) 12 15
protector cable
UL20276, AWG28 Refer to the following figures and .
7.5
12.5±0.1
(6) 2 × #4-40 UNC L3

30 (7 dia.)
(10.2) 29±0.1 screws 0± Servomotor Main Circuit Cable
0.2 30 50 min.
UL2586, AWG19 The Moving Coil moves in
the direction indicated by
Gap 0.8
the arrow when current flows in
Thermal protector cable the following phase sequence: U, V, W.
UL1333, AWG20
30
0±
30 Thermal protector relay cable
Polarity sensor and thermal protector connector UL1333, AWG22
Linear Servo Motors

SGLFW2-30A120AS SGLFW2-30A230AS
4 × M4 × 8 8 × M4 × 8
31
15
31
15
27
27
39.3 52.5 39.3 52.5

12
7.5
12
7.5
157.5 (52.5 × 3) Unit: mm
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]

30A120AS 125 52.5 105.9 0.9
30A230AS 230 157.5 210.9 1.7
257
Linear Servo Motors

Inverse power (V)

1 2 3 4
Vv
3 Phase W Black inverse power of each motor Sv

the Moving Coil moves in the Vw Sw
Plug: 350779-1 direction indicated by the
Pins: 350218-3 or 350547-3 (No.1 to 3) arrow in the dimensional 0 180 360 540
350654-1 or 350669-1 (No. 4) drawings of the Moving Coil. Electrical angle (°)

Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Connector
5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
258
Linear Servo Motors
 Moving Coil without Polarity Sensor: SGLFW2-30A070AT

70
40±0.1 12.2 5.8

Magnetic Way (12)
20 20
(27.5) 1.5 50 min.
(9)
(27.5) (27.5)
(55)
31
54
14 15
Servomotor Main Circuit Cable

(1.5)
12.5±0.1
UL2586, AWG19
(6)
(7
Refer to the following figure .
dia
(10.2) 29±0.1
0.2
.)
Thermal protector cable
UL1333, AWG20
Gap 0.8 30 0
0± ±2 direction indicated by the arrow
30 00 when current flows in the following
1
phase sequence: U, V, W.
Linear Servo Motors

Thermal protector
connector
SGLFW2-30A070AT
3 × M4 × 8
31

15
29
Unit: mm
18 20
14
40
1 2 3 4
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
• Thermal Protector Connector
1 Thermal protector
1
2 Thermal protector
2
Terminals: 5556T or 5556TL
From Molex Japan LLC
Mating Connector
259
Linear Servo Motors
 Moving Coils without Polarity Sensors: SGLFW2-30AAT

L1
12.6 26.7 L2 (33.2)
(27.5) 1.5
50 min.
(7)
(27.5) (27.5)
31
15
(55)
50
12 15
Servomotor Main Circuit Cable Refer to the following figures and .
7.5
12.5±0.1
UL2586, AWG19
(0.5)
L3
(6)
(7
dia
(10.2) 29±0.1 Thermal protector cable
.)
0.2 The Moving Coil moves in the direction
UL1333, AWG20
indicated by the arrow when current
0 flows in the following phase sequence:
Gap 0.8 0 ±3 20 U, V, W.
30 0±
10
Thermal protector
connector
SGLFW2-30A120AT SGLFW2-30A230AT
4 × M4 × 8 8 × M4 × 8
31
15
31
15
27
27
39.3 52.5 39.3 52.5

12
7.5
12
7.5
157.5 (52.5 × 3) Unit: mm
Moving Coil Model SGLFW2- L1 L2 L3 Approx. Mass [kg]

30A120AT 125 52.5 105.9 0.9
30A230AT 230 157.5 210.9 1.7
1 2 3 4 1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
1 Thermal protector
1
2 Thermal protector
2
Mating Connector
260
Linear Servo Motors
 Magnetic Ways: SGLFM2-30A

2 × N, 4.8-dia. mounting holes
8.5 dia. 0.4
(5)
27.5 (27.5)
55
45
N S N S N S
5
0.2
6 4.2
45 (45) (Reference mark)
10.2±0.1
22.5±0.1 L2 (22.5)
L1±0.1
Reference mark
(There are two, approx. 4-dia. indentations.)
Height of screw head: 4.2 max.
Linear Servo Motors

Mounting Section Details
Unit: mm
Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on them are
aligned in the same direction as shown in the figure.
Magnetic Way Model Approx. Mass

L10.1 L2 N
SGLFM2- [kg]
30270A 270 225 (45  5) 6 0.9
30450A 450 405 (45  9) 10 1.5
30630A 630 585 (45  13) 14 2.0
261
Linear Servo Motors
SGLFW2-45

Polarity sensor and Thermal protector relay connector (Molex Japan LLC)
thermal protector cable Receptacle housing: 5557-02R
UL20276, AWG28 Plug housing: 5559-02P
50 min. L1
50±0.1 32 48.5 L2 (55)
(36) 2 Magnetic Polarity
12
(9)
Way sensor
(37.5) (37.5)
69.5
46
23
(75)
22.5
11
L3
15±0.1
14.5
(0.5)
(6)
30 Servomotor Main Circuit Cable Refer to the following figures and .
(11.2) 0±
38±0.1 Refer to the following table. 30 50 min. UL2586, AWG15
(9.1
Gap 0.8 The Moving Coil moves in the direction

UL1333, AWG20 indicated by the arrow when current flows
dia
2 × #4-40
.)
in the following phase sequence: U, V, W.

UNC screws
Thermal protector relay cable
30 UL1333, AWG22
0±
30

protector connector
4 × M6 × 11.5 8 × M6 × 11.5
46
23
46
23
37
37
11
60.5 89.5
11
14.5
60.5 89.5
14.5
268.5 (89.5 × 3) Unit: mm
Approx. Mass
Moving Coil Model SGLFW2- L1 L2 L3 Flatness
[kg]
45A200AS 205 89.5 187 0.2 2.9
45A380AS 384 268.5 365.5 0.3 5.5
262
Linear Servo Motors

1 2 3 4
Inverse power (V)

inverse power of each motor Vv
3 Phase W Black Sv

Plug: 350779-1 direction indicated by the Sw
Pins: 350218-3 or 350547-3 (No.1 to 3) arrow in the dimensional 0 180 360 540
350654-1 or 350669-1 (No. 4) drawings of the Moving Coil. Electrical angle (°)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
Connector
Linear Servo Motors

5 1 2 Su 6
3 Sv 7 Not used
4 Sw 8

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
263
Linear Servo Motors

L1
50±0.1 12 48.5 L2 (55)
(36) 2 Magnetic Way 50 min.
(9)
(37.5) (37.5)
69.5
46
23
(75)
22.5
15±0.1
11
14.5
Refer to the following figures and .

(0.5)
(6)
UL2586, AWG15 L3
(9.
(11.2) 38±0.1
1
Refer to the following table.
dia
The Moving Coil moves in the direction
.)
UL1333, AWG20
Gap 0.8 20 indicated by the arrow when current flows
30 0±
0± 10 in the following phase sequence: U, V, W.
30
Thermal protector connector
4 × M6 × 11.5 8 × M6 × 11.5
46
23
46
23
37
37
11
60.5 89.5
11
14.5
60.5 89.5
14.5
268.5 (89.5×3) Unit: mm
Approx. Mass
[kg]
45A200AT 205 89.5 187 0.2 2.9
45A380AT 384 268.5 365.5 0.3 5.5
1 2 3 4
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3
1 Thermal protector
1
2 Thermal protector
2
Mating Connector
264
Linear Servo Motors

10 dia. 0.5
(6)
(37.5)
75
63 N S N S N S
37.5
0.2
6
6 5.2
102 (102)
11.2±0.1
51±0.1 L2 (51) (Reference
mark)
L1±0.1
Reference mark
Linear Servo Motors

Unit: mm

L1 0.1 L2 N
SGLFM2- [kg]
45306A 306 204 (102  2) 3 1.5
45510A 510 408 (102  4) 5 2.5
45714A 714 612 (102  6) 7 3.4
265
Linear Servo Motors
SGLFW2-90
Thermal protector relay connector (Molex Japan LLC) 50 min.
Receptacle housing: 5557-02R L1
Plug housing: 5559-02P Polarity sensor 32 48.5 L2 (55)
50±0.1 12
Refer to the following table. Magnetic
(36) 2
Way
(9)
(60)
Polarity sensor and
15 30 30
thermal protector cable
120
114.5
UL20276, AWG28
91
45
(60)
2 × #4-40 UNC
screws 30
0± L3
30
15±0.1
(0.5)
14.5
(6)
60 min. Refer to the following figures , , and .
(11.2) 38±0.1 Thermal protector cable
3 0 UL1333, AWG20
0± Thermal protector relay cable The Moving Coil moves in the direction indicated by the
30
(10
Gap 0.8 UL1333, AWG22 arrow when current flows in the following phase
.5
Servomotor Main Circuit Cable sequence: U, V, W.

dia
UL2586, AWG12
.)
Polarity sensor and thermal Servomotor connector

protector connector
SGLFW2-90A200AS SGLFW2-90A380AS
6 × M6 × 11.5 12 × M6 × 11.5
30 30
30 30
91
91
59.5
59.5
15
60.5 89.5 60.5 89.5

15
14.5
14.5
268.5 (89. 5 × 3)
SGLFW2-90A560AS 18 × M6 × 11.5
30 30
91
59.5
60.5 89.5
15
14.5
447.5 (89.5 × 5) Unit: mm
Approx. Mass
Moving Coil Model SGLFW2- L1 L2 L3 Flatness [kg]
90A200AS 205 89.5 187 0.2 5.3
90A380AS 384 268.5 365.5 0.3 10.1
90A560AS 563 447.5 544 0.3 14.9
266
Linear Servo Motors

• Servomotor Connector The figure on the right shows
B1 B2 A1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)

A1 A2 A2 Phase V White sor output signals and the
Vv
B1 Phase W Black inverse power of each motor Sv
B2 FG Green phase Vu, Vv, and Vw when
Tab housing: 1-917808-2 Sw
Contacts: 917803-2 (A1, A2, and B1) direction indicated by the
arrow in the dimensional 0 180 360 540
84695-1 (B2) Electrical angle (°)
From Tyco Electronics Japan G.K. drawings of the Moving Coil.
Mating Connector
Receptacle housing: 1-917807-2
Contacts: 179956-2
Connector
9 6
1 +5 V (thermal protector), +5 V (power supply)
5 1 2 Su 6
Linear Servo Motors

3 Sv 7 Not used
4 Sw 8
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
267
Linear Servo Motors

L1
50±0.1 12 48.5 L2 (55)
(36) 2 Magnetic Way
(9)
(60)
15 30 30
120
114.5
91
45
(60)
Servomotor Main
Circuit Cable
L3
15±0.1
(0.5)
UL2586, AWG12
14.5
(6)
60 min. Refer to the following figures , , and .
(11.2) 38±0.1
30
0± 20 Thermal protector cable
30 0±
(10
Gap 0.8 10 The Moving Coil moves in the direction
UL1333, AWG20
.5
indicated by the arrow when current flows in
d ia.
Thermal protector connector the following phase sequence: U, V, W.
)
6 × M6 × 11.5 12 × M6 × 11.5
30 30
30 30
91
91
59.5
59.5
15
60.5 89.5 60.5 89.5

15
14.5
14.5
268.5 (89. 5 × 3)
SGLFW2-90A560AT
18 × M6 × 11.5
30 30
91
59.5
15
60.5 89.5
14.5
447.5 (89.5 × 5) Unit: mm
Approx. Mass
[kg]
90A200AT 205 89.5 187 0.2 5.3
90A380AT 384 268.5 365.5 0.3 10.1
90A560AT 563 447.5 544 0.3 14.9
268
Linear Servo Motors
B1 B2 A1 Phase U Red
A2 Phase V White
A1 A2
B1 Phase W Black
B2 FG Green
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
Mating Connector
Contacts: 179956-2
1 Thermal protector
1
2 Thermal protector
Linear Servo Motors

2 Receptacle housing: 5557-02R
Mating Connector

2 × N, 7-dia. mounting holes
11.5 dia. 2
(6.5)
(60)
107
120
N S N S N S
(60)
6.5
0.3
6 5.2 102 (102)
11.2±0.1 51±0.1 L2 (51) (Reference mark)
L1±0.1
Reference mark

Unit: mm

L10.1 L2 N
SGLFM2- [kg]
90306A 306 204 (102  2) 3 2.6
90510A 510 408 (102  4) 5 4.2
90714A 714 612 (102  6) 7 5.9
269
Linear Servo Motors
SGLFW2-1D
 Moving Coil with Polarity Sensor: SGLFW2-1DAAS

Thermal protector relay connector (Molex Japan LLC)
50 min. L1
50±0.1 Polarity sensor 32 48.5 L2 (55)
(36) 2 Magnetic Way 12
(9)
Polarity sensor
(87.5)
and thermal
45
protector cable
136
175
160
UL20276, AWG28
22.5 45
67.5
2 × #4-40 UNC
(87.5)
screws 30
0±
30
L3
15
20±0.1
(5)
(6)
(11.2) 38±0.1 60 min.
30 Refer to the following figures and .
0±
30 Thermal protector cable
(10
Gap 0.8
UL1333, AWG20
.5
Polarity sensor and

dia
Thermal protector relay cable

.)
thermal protector
connector UL1333, AWG22
The Moving Coil moves in the direction indicated
UL2586, AWG12
by the arrow when current flows in the following
SGLFW2-1DA380AS SGLFW2-1DA560AS
12 × M8 × 16 18 × M8 × 16
45 45
45 45
136
136
82.5
82.5
60.5 89.5 60.5 89.5

15
22.5
22.5
15
447.5 (89.5 × 5)
268.5 (89.5 × 3) Unit: mm
Approx. Mass
Moving Coil Model SGLFW2- L1 L2 L3 Flatness [kg]
1DA380AS 384 268.5 365.5 0.3 14.6
1DA560AS 563 447.5 544 0.3 21.5
270
Linear Servo Motors

• Servomotor Connector The figure on the right shows
B1 B2 A1 Phase U Red Su, Sv, and Sw polarity sen-
Inverse power (V)

A2 Phase V White sor output signals and the
A1 A2
B1 Phase W Black inverse power of each motor
Vv
Sv
B2 FG Green phase Vu, Vv, and Vw when
Tab housing: 1-917808-2 the Moving Coil moves in the Vw Sw
Contacts: 917803-2 (A1, A2, and B1) direction indicated by the
84695-1 (B2) arrow in the dimensional 0 180 360 540
From Tyco Electronics Japan G.K. drawings of the Moving Coil.
Electrical angle (°)
Mating Connector
Contacts: 179956-2
Connector
5 1 2 Su 6
3 Sv 7 Not used
Linear Servo Motors

4 Sw 8
From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
271
Linear Servo Motors
 Moving Coil without Polarity Sensor: SGLFW2-1DAAT

50±0.1 L1
Refer to the following table. 12 48.5 L2 (55)
(36) 2 Magnetic Way
(9)
(87.5)
45
175
136
160
45
67.5
(87.5)
22.5
Servomotor Main
Circuit Cable
UL2586, AWG12 L3
20±0.1
(6)
(5)
15
60 min. Refer to the following figures and .

(11.2) 38±0.1
0
±3 0
30
0 ±2 Thermal protector cable
00
(10
Gap 0.8 1
UL1333, AWG20
.5

dia
by the arrow when current flows in the following

.)

SGLFW2-1DA380AT SGLFW2-1DA560AT
12 × M8 × 16 18 × M8 × 16
45 45
45 45
136
136
82.5
82.5
60.5 89.5 60.5

15
89.5
15
22.5
22.5
268.5 (89.5 × 3) 447.5 (89.5 × 5) Unit: mm
Moving Coil Model Approx. Mass

L1 L2 L3 Flatness
SGLFW2- [kg]
1DA380AT 384 268.5 365.5 0.3 14.6
1DA560AT 563 447.5 544 0.3 21.5
B1 B2 A1 Phase U Red
A2 Phase V White
A1 A2
B1 Phase W Black
B2 FG Green
Tab housing: 1-917808-2
Contacts: 917803-2 (A1, A2, and B1)
84695-1 (B2)
Mating Connector
Contacts: 179956-2
1 Thermal protector
1
2 Thermal protector
2 Receptacle housing: 5557-02R
Mating Connector
272
Linear Servo Motors
 Magnetic Ways: SGLFM2-1DA

(9.5)
15 dia. 3
(87.5)
175
156
N S N S N S
(87.5)
0.3
9.5
6 5.2 102 (102)

11.2±0.1 51±0.1 L2 (51)
(Reference
L1±0.1 mark)
Reference mark
Linear Servo Motors


Mounting Section Details Unit: mm

L10.1 L2 N
SGLFM2- [kg]
1D306A 306 204 (102  2) 3 3.7
1D510A 510 408 (102  4) 5 6.2
1D714A 714 612 (102  6) 7 8.6
273
Linear Servo Motors
Selecting Cables
To select a Linear Encoder, use Recommended Linear Encoders and Cables (page 356). Prepare the cable
required for the encoder.
SERVOPACK
Serial Converter Unit Cable*

(between SERVOPACK connector
CN2 and Serial Converter Unit)
Linear Servomotor
Main Circuit Cable
Sensor Cable
Linear Encoder (between Serial Converter
(Not provided by Yaskawa.) Unit and polarity sensor)
Polarity sensor
Linear Servomotor
* You can connect directly to an absolute linear encoder.

Note: Refer to the following manual for the following information.
274
Linear Servo Motors
 Linear Servomotor Main Circuit Cables

Lengt
Linear Servomotor Model Order Number Appearance
h (L)
1m JZSP-CL2N703-01-E
3m JZSP-CL2N703-03-E SERVOPACK end Linear Servomotor
end
SGLFW2-30A070A 5m JZSP-CL2N703-05-E
L
SGLFW2-30A120A
SGLFW2-30A230A 10 m JZSP-CL2N703-10-E
*
15 m JZSP-CL2N703-15-E
3m JZSP-CL2N603-03-E SERVOPACK end Linear Servomotor
L end
SGLFW2-45A200A 5m JZSP-CL2N603-05-E
SGLFW2-45A380A 10 m JZSP-CL2N603-10-E
*
Linear Servo Motors

SERVOPACK end Linear Servomotor
SGLFW2-90A200A 5m JZSP-CL2N803-05-E L end
SGLFW2-90A380A
SGLFW2-90A560A 5m JZSP-CL2N503-05-E L end
SGLFW2-1DA380A
SGLFW2-1DA560A 10 m JZSP-CL2N503-10-E
* Connector from Tyco Electronics Japan G.K.
Note: Estimates are available for models other than those listed above (SGLFW2-90AAL and SGLFW2-1DAL).
275
Linear Servo Motors
Model Designations
 Moving Coil
S G L F W 2 - 30 A 070 A S o E
1st 2nd 3rd+4th 5th 6th+7th+8th 9th 10th 11th 12th
Linear S Series digit digit digits digit digits digit digit digit digit
Linear Servomotors
1st digit Servomotor Type 5th digit Power Supply Voltage 10th digit Sensor Specification

F With F-type iron core D 400 VAC S With polarity sensor and Thermal Protector
T Without polarity sensor, with thermal protector
Length of
Code Specification Code Specification 11th digit Cooling Method

W2 Moving Coil 070 70 mm Code Specification
120 125 mm 1 Self-cooled
200 205 mm L Water-cooled*
3rd+4th digits Magnet Height
230 230 mm
Code Specification
380 384 mm 11th digit Cooling Method
30 30 mm
560 563 mm Code Specification
45 45 mm
E Metal round connector (Phoenix)
90 90 mm
1D 135 mm
A Non Stock Items
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all combina-
tions of codes.
 Magnetic Way
S G L F M 2 - 30 270 A
1st 2nd 3rd+4th 5th+6th+7th 8th
Linear S Series digit digit digits digits digit
Linear Servomotors
Length of
1st digit Servomotor Type 5th+6th+7th digits Magnetic Way
(Same as for the Moving Coil.) Code Specification
270 270 mm
2nd digit Moving Coil/Magnetic Way 306 306 mm
M2 Magnetic Way 510 510 mm
630 630 mm

A
276
Linear Servo Motors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom of
the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way, con-
Note
sider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following table.

Moving Coil
Magnetic Way
Linear Servo Motors

 Total Length of Moving Coil

Length of Length of
with Polarity Sensor Moving Coil
Moving Polarity
Total
Model Length,
L Coil, Sensor,
SGLFW2- L [mm]
A L1 Moving Coil L1 [mm] A [mm]
30D070AS 70 97
30D120AS 125 27 152
30D230AS 230 257
45D200AS 205 237
Polarity sensor Magnetic Way
45D380AS 384 416
32
90D200AS 205 237
90D380AS 384 416
277
Linear Servo Motors
Specifications
Linear Servomotor Moving 30D 45D 90D 1DD
Coil Model SGLFW2- 070A 120A 230A 200A 380A 200A 380A 380A 560A
Thermal Class B
Cooling Method Self-cooled and water-cooled*
perature
Surrounding Air
Environ- 20% to 80% relative humidity (with no condensation)
Humidity
mental
Shock Impact Acceleration Rate 196 m/s2
Resis-
tance Number of Impacts 2 times
Vibra-
tion Vibration Accelera- 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and
Resis- tion Rate front-to-back)
tance
278
Linear Servo Motors
Ratings
Linear Servomotor Moving Coil 30D 45D
Rated Motor Speed
Speed Control)*1
Maximum Speed*1 m/s 5.0 5.0 5.0 4.5 4.5
*1, *2 N 45 90 180 280 560
Rated Force
*1 N 135 270 540 840 1500 1680
Maximum Force
*1 Arms 1.4 1.5 1.5 2.2 4.3
Rated Current
Maximum Current*1 Arms 5.3 5.2 5.1 8.1 13.6 16.2
Linear Servo Motors

Vrms/
BEMF Constant (m/s)/ 11.1 21.5 43 45.6 45.6
phase
Motor Constant N/ W 11.3 17.3 24.4 37.9 53.2
Electrical Time Constant ms 7.6 7.3 7.3 20 19.6
Mechanical Time
ms 3.9 3.0 2.9 2.1 1.9
Constant
Thermal Resistance
K/W 2.62 1.17 0.79 0.60 0.44
(with Heat Sink)
Thermal Resistance
K/W 11.3 4.43 2.55 2.64 1.49
(without Heat Sink)
30 A 45 A
SGLFM2-
651 652 653 654 655
JZDP--
Applicable SGD7S- 1R9D 3R5D 5R4D 8R4D
SERVOPACKs SGD7W- 2R6D 2R6D 5R4D 
• 150 mm 100 mm 10 mm: SGLFW2-30D070A
• 254 mm 254 mm 25 mm: SGLFW2-30D120A and -30D230A
• 400 mm 500 mm 25 mm: SGLFW2-45D200A and -45D380A
279
Linear Servo Motors
Ratings
Linear Servomotor Moving Coil 90D 1DD
Rated Motor Speed
Speed Control)*1
Maximum Speed*1 m/s 4.0 4.0 4.0 3.5 3.5
*1, *2 N 560 1120 1680 1680 2520
Rated Force
*1 N 1680 3360 5040 5040 7560
Maximum Force
*1 Arms 3.8 7.7 11.5 10.9 16.3
Rated Current
Maximum Current*1 Arms 14.0 28.0 42.0 39.7 59.6
Vrms/
BEMF Constant (m/s)/ 51.3 51.3 51.3 54.3 54.3
phase
Motor Constant N/ W 59.2 83.7 102 103 126
Electrical Time Constant ms 24 24 24 25 25
Mechanical Time
ms 1.5 1.4 1.4 1.4 1.3
Constant
Thermal Resistance
K/W 0.45 0.21 0.18 0.18 0.12
(with Heat Sink)
Thermal Resistance
K/W 1.81 1.03 0.72 0.79 0.55
(without Heat Sink)
90 A 1DA
SGLFM2-
657 658 659 660 661
JZDP--
Applicable
SGD7S- 5R4D 120D 170D 170D 260D
SERVOPACKs
• 400 mm 500 mm 25 mm: SGLFW2-90D200A
• 609 mm 762 mm 40 mm: SGLFW2-90D380A
• 900 mm 762 mm 40 mm: SGLFW2-90D560A and -1DD380A
• 1,400 mm 900 mm 40 mm: SGLFW2-1DD560A
280
Linear Servo Motors

SGLFW2-30D070A SGLFW2-30D120A SGLFW2-30D230A

6 6 6
Motor speed (m/s)
Motor speed (m/s)

5
Motor speed (m/s)

5 5
4 4 4
3 3 3
A B A B
2 2 2
A B
1 1 1
0 0 0
0 50 100 150 0 50 100 150 200 250 300 0 100 200 300 400 500 600
Linear Servo Motors

(Combined with SGD7S-8R4D) (Combined with SGD7S-5R4D)
5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

4 4 4
3 3 3
2 A B 2 A B 2 A B
1 1 1
0 0 0
0 200 400 600 800 1000 0 400 800 1200 1600 2000 0 400 800 1200 1600 2000

5
5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
4
4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 500 1000 1500 2000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 6000
SGLFW2-1DD380A SGLFW2-1DD560A
5 5
Motor speed (m/s)
Motor speed (m/s)
4 4
3 3
2 2
A B
A B
1 1
0 0
0 1000 2000 3000 4000 5000 6000 0 2000 4000 6000 8000
Force (N) Force (N)
3. If the effective force is within the allowable range for the rated force, the Servomotor can be used within the intermit-
tent duty zone.
4. If you use a Servomotor Main Circuit Cable that exceeds 20 m, the intermittent duty zone in the torque-motor speed char-
acteristics will become smaller because the voltage drop increases.
281
Linear Servo Motors

40C.
SGLFW2-30D070A SGLFW2-30D120A and -230A

Detection time (s)
Detection time (s)

Force reference (percent of rated force (%) Force reference (percent of rated force (%)
SGLFW2-45D, -90D, and -1DD

Detection time (s)
Force reference (percent of rated force (%)
put of 100% or higher. Use the Servomotor so that the effective force remains within the continuous duty zone given in
Force-Motor Speed Characteristics on page 253.
282
Linear Servo Motors
External Dimensions
SGLFW2-30
 Moving Coil with Polarity Sensor: SGLFW2-30D070AS
Polarity sensor 50 min. 70

12.2 5.8
40±0.1
Magnetic Way 27 20 20 (12)
(27.5) 1.5 Thermal protector relay
connector (Molex Japan Co., Ltd.)
(9)

(27.5)
(55)
31
54

14 15
(27.5)
protector cable
UL20276, AWG28
Linear Servo Motors

(1.5)
12.5±0.1
3 x M4 x 8
(6) 2 × #4-40 0
±5
(10.2) 29±0.1 UNC screws
500 Servomotor Main Circuit Cable
0.2 50 min. UL2586, AWG19
(7
Gap: 0.8
dia
.
without
)

magnetic cover
UL1333, AWG20
Gap 1.0
with magnetic cover Thermal protector relay cable
0
0 ±5 UL1333, AWG22 The Moving Coil moves in the direction
50 indicated by the arrow when current
flows in the following phase sequence:
U, V, W.
protector connector

Unit: mm
 Moving Coil without Polarity Sensor: SGLFW2-30D070AT
70
40±0.1 12.2 5.8

Magnetic Way (12)
20 20
(27.5) 1.5 50 min.
(9)
(27.5) (27.5)
(55)
31
54
14 15
±20
(1.5)
12.5±0.1
100 .
(6)
(10.2) 29±0.1 UL2586, AWG19
0.2
(6.
Gap 0.8
6d
UL1333, AWG20
ia.)
without Thermal protector connector

magnetic cover The Moving Coil moves in the direction
Gap 1.0 indicated by the arrow when current
with magnetic cover flows in the following phase sequence:
U, V, W.
±50
500

Servomotor connector Unit: mm
Moving Coil Model

L1 L2 L3 Approx Mass (kg)
SGLFW2
30D070AS
70 40 54.6 0.6
30D070AT
Refer to the following section for the connector specifications for the Sensor Cable and Servomotor Main Circuit
Cable or Moving Coils with Polarity Sensors: SGLFW2-30 and -45.
283
Linear Servo Motors
 Moving Coils with Polarity Sensors: SGLFW2-30DAS
Polarity sensor
50 min. L1
Magnetic Way
12.6
40±0.1
Thermal protector relay 27 26.7 L2 (33.2)
(27.5) 1.5 connector (Molex Japan Co., Ltd.)
(7)
(27.5) (27.5)
(55)
31
15
50
Polarity sensor and
(0.5) 12 15
thermal protector cable

UL20276, AWG28
7.5
8 x M4 x 8
12.5±0.1
(6) 2 × #4-40 UNC L3

0
(10.2) 29±0.1 screws ±5 Servomotor Main Circuit Cable
0.2 5 00 50 min. UL2586, AWG19
( d
Gap 0.8
ia.)
without Thermal protector cable
magnetic cover UL1333, AWG20 The Moving Coil moves in the direction
Gap 1.0 50 indicated by the arrow when current
with magnetic cover 0±
50 Thermal protector relay cable flows in the following phase sequence:
UL1333, AWG22 U, V, W.
protector connector
Unit: mm
 Moving Coils without Polarity Sensors: SGLFW2-30DAT
L1
12.6 26.7 L2 (33.2)
(27.5) 1.5
50 min.
(7)
(27.5) (27.5)
31
(55)
15
50
12 15
s and .
±20
7.5
12.5±0.1
100
(0.5)
L3
(6)
(10.2) 29±0.1 Servomotor Main Circuit Cable
0.2 UL2586, AWG19
Thermal protector
(6.

6
connector Thermal protector cable

dia
without indicated by the arrow when current

UL1333, AWG20
.)
magnetic cover flows in the following phase sequence:

Gap 1.0 U, V, W.
with magnetic cover
± 50
500
Unit: mm
Moving Coil Model

SGLFW2
30D120A 125 52.5 105.9 1.0
30D230A 130 157.5 210.9 1.8
284
Linear Servo Motors

8.5 dia. 0.4
(5)
27.5 (27.5)
55
45
N S N S N S
0.2
5
6 4.2
10.2 0.1 45 (45) (Reference mark)
22.5±0.1 L2 (22.5)
L1±0.1
Reference mark
Linear Servo Motors


Unit: mm
Magnetic Way Model

SGLFM2
30270A 270 225 (45 × 5 6 09
30450A 450 405 (45 × 9) 10 1.5
30630A 630 585 (45 × 13) 14 2.0
Note:
More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on them are
aligned in the same direction as shown in the figure
285
Linear Servo Motors
SGLFW2-45
Polarity sensor and thermal protector Thermal Protector Relay Connector (Molex Japan Co., Ltd.)
cable UL20276, AWG28 Receptacle housing: 5557-02R
50 min. L1
50±0.1 32 48.5 L2 (55)
(36) 2 Magnetic Way Polarity
12
(9)
Sensor
(37.5) (37.5)
69.5
46
23
(75)
22.5
11
L3
15±0.1
14.5
(0.5)
(6) s and .
50 Servomotor Main Circuit Cable
(11.2) 38±0.1 500±
Refer to the 50 min. UL2586, AWG19
(6.
table below.
Gap 0.8 Thermal protector cable
6d
without magnetic cover

ia.)
UL1333, AWG20
with magnetic cover indicated by the arrow when current
2 × #4-40 0 Thermal protector relay cable
±5 UL1333, AWG22 flows in the following phase sequence:
UNC screws 500 U, V, W.

protector connector
Unit: mm
L1
50±0.1 12 48.5 L2 (55)
(36) 2 Magnetic Way 50 min.
(9)
(37.5) (37.5)
69.5
46
23
(75)
22.5
100±20
11
s and .
15±0.1
14.5
(0.5)
(6)
(11.2) L3
38±0.1
Gap 0.8 UL2586, AWG15
without magnetic cover The Moving Coil moves in the direction
Gap 1.0 indicated by the arrow when current
0 Thermal protector cable flows in the following phase sequence:
with magnetic cover ±5
500 UL1333, AWG20 U, V, W.
(6.
6d
ia.)
Unit: mm
Moving Coil Model

L1 L2 L3 Flatness Approx Mass (kg)
SGLFW2
45D200AS 205 89.5 187 0.2 2.9
45D380AS 384 268.5 365.5 0.3 5.5
45D200AT 205 89.5 187 0.2 2.9
45D380AT 384 268.5 365.5 0.3 5.5
286
Linear Servo Motors

10 dia. 0.5
(6)
(37.5)
75
63
37.5 N S N S N S
0.2
6
6 5.2
102 (102)
11.2±0.1
51 0.1 L2 (51) (Reference
mark)
L1±0.1
Reference mark
Linear Servo Motors

Height of screw head: 5.2 max. Unit: mm

L10.1 L2 N
SGLFM2- [kg]
45306A 306 204 (102 × 2) 3 1.5
45510A 510 408 (102 × 4) 5 2.5
45714A 714 612 (102 × 6) 7 3.4
287
Linear Servo Motors
SGLFW2-90

Thermal protector relay connector (Molex Japan Co., Ltd.)
Plug housing: 5559-02P 50 min. L1
Polarity sensor 32 48.5 L2 (55)
50±0.1
(36) 2 12
(9)
Magnetic
Way
(60)
120
114.5
91
30
45
(60)
15 30
2 × #4-40 UNC
screws
(0.5)
15±0.1
14.5
(6) 50
0± L3
50
(11.2) 38±0.1 60 min.
Thermal protector cable s and .
Gap 0.8 without magnetic sensor ±50 UL1333, AWG20
Gap 1.0 with manetic sensor 500 Thermal protector relay cable
UL1333, AWG22
(10

.4

dia
UL2586, AWG22 indicated by the arrow when current

.)

protector connector U, V, W.
Unit: mm
50±0.1 L1
(36) 2 12 48.5 L2 (55)
(9)
Magnetic Way
(60)
120
114.5
91
15 30 30
45
(60)
(0.5)
15±0.1
14.5
(6) Servomotor Main Circuit Cable L3

(11.2) 38±0.1 UL2586, AWG12 60 min.
s and .
±50
Gap 0.8 without magnetic sensor 500 20
Gap 1.0 with magnetic sensor 1 00± Thermal protector cable
(10
UL1333, AWG20
.4
indicated by the arrow when current

dia

.)

U, V, W.
Unit: mm
Moving Coil Model

SGLFW2
90D200AS 205 89.5 187 0.2 5.3
90D380AS 384 268.5 365.5 0.3 10.1
90D560AS 563 447.5 544 0.3 14.9
90D200AT 205 89.5 187 0.2 5.3
90D380AT 384 268.5 365.5 0.3 10.1
Cable or Moving Coils with Polarity Sensors: SGLFW2-90 and -1D.
288
Linear Servo Motors

11.5 dia. 2
(6.5)
(60)
107
120
(60) N S N S N S
6.5
0.3
6 5.2 102 (102)
11.2 0.1 51 0.1 L2 (51) (Reference mark)
L1 0.1
Reference mark
Linear Servo Motors

Unit: mm

L10.1 L2 N
SGLFM2- [kg]
90306A 306 204 (102 × 2) 3 1.5
90510A 510 408 (102 × 4) 5 2.5
90714A 714 612 (102 × 6) 7 3.4
289
Linear Servo Motors
SGLFW2-1D
 Moving Coils with Polarity Sensors: SGLFW2-1DDAS
Thermal protector relay connector

Polarity Sensor (Molex Japan Co., Ltd.)
Polarity Sensor and Receptacle housing: 5557-02R
thermal protector cable Plug housing: 5559-02P
UL20276, AWG28 L1
L2
50 min.
UNC Screws
60 min.
Thermal protector cable UL1333, AWG20
L3
Gap 0.8 without magnetic sensor Thermal protector relay cable The Moving Coil moves in the direction
Gap 1.0 with magnetic sensor UL1333, AWG22 indicated by the arrow when current
Polarity Sensor and Servomotor Main Circuit Cable flows in the following phase sequence:
thermal protector connector UL2586, AWG12 U, V, W.
(10.4 dia)
Servomotor Connector
Magnetic Way
Unit: mm
 Moving Coils without Polarity Sensors: SGLFW2-1DDAT
Gap 0.8 without magnetic sensor

Gap 1.0 with magnetic sensor
Unit: mm
Moving Coil Model

SGLFW2
1DD380A 384 268.5 365.5 0.3 14.6
1DD560A 563 447.5 544 0.3 21.5
Cable or Moving Coils with Polarity Sensors: SGLFW2-90 and -1D.
290
Linear Servo Motors
 Magnetic Ways: SGLFM2-1DA

11.5 dia. 2
(6.5)
(60)
107
120
(60) N S N S N S
6.5
0.3
6 5.2 102 (102)
11.2 0.1 51 0.1 L2 (51) (Reference mark)
L1 0.1
Reference mark
Linear Servo Motors

Unit: mm

L10.1 L2 N
SGLFM2- [kg]
1D306A 306 204 (102 × 2) 3 3.7
1D510A 510 408 (102 × 4) 5 6.2
1D714A 714 612 (102 × 6) 7 8.6
291
Linear Servo Motors
 Moving Coils with Polarity Sensors: SGLFW2-30 and -45
 Servomotor Connector
1 -
3 Phase U
4 Phase V Connector: ST-5EP1N8A9003S (1607706)
6 - Contact: ST-10KP030 (1618261)
7 Phase W From Phoenix Contact GmbH & Co. KG
Ground FG
Case Shield
 Polarity Sensor and Thermal Protector Connector
1 +5 V (thermal protector), +5 V (power supply) Pin connector: 17JE-23090-02 (D8C) -CG

2 Su 6 From DDK Ltd.
3 Sv 7 Not used Mating Connector
4 Sw 8 Socket connector: 17JE-13090-02 (D8C) A-CG
5 0 V (power supply) 9 Thermal protector Studs: 17L-002C or 17L-002C1
 Polarity Sensor Output Signal

The figure on the right shows the relationship between the Su, Sv, and Sw polarity sensor output signals and the inverse power of
each motor phase Vu, Vv, and Vw when the Moving Coil moves in the direction indicated by the arrow in the dimensional drawings
of the Moving Coil.
SGLFW-30D070AS SGLFW-30D120AS SGLFW-45D200AS

SGLFW-30D230AS SGLFW-45D380AS
Inverse Power (V)
Inverse Power (V)
Inverse Power (V)
Electrical Angle (°) Electrical Angle (°) Electrical Angle (°)
292
Linear Servo Motors
 Moving Coils without Polarity Sensors: SGLFW2-30 and -45

1 -
3 Phase U
Connector: ST-5EP1N8A9003S (1607706)
4 Phase V
6 - Contact: ST-10KP030 (1618261)
Ground FG
Case Shield
 Thermostat Connector
1 Terminals: 5556T or 5556TL
Linear Servo Motors

From Molex Japan Co., Ltd.
2 1 Thermal protector
2 Thermal protector Mating Connector
 Moving Coils with Polarity Sensors: SGLFW2-90 and -1D

1 Phase V
3 -
Connector: ST-5EP1N8A9003S (1607706)
4 -
6 Phase U Contact: ST-10KP030 (1618261)
Ground FG
Case Shield
 Thermostat Connector
1 +5 V (thermal protector), +5 V (power supply) Pin connector: 17JE-23090-02 (D8C) -CG

2 Su 6 From DDK Ltd.
3 Sv 7 Not used Mating Connector
4 Sw 8 Socket connector: 17JE-13090-02 (D8C) A-CG
5 0 V (power supply) 9 Thermal protector Studs: 17L-002C or 17L-002C1
 Polarity Sensor Output Signal

The figure on the right shows the relationship between the Su, Sv, and Sw polarity
sensor output signals and the inverse power of each motor phase Vu, Vv, and Vw
when the Moving Coil moves in the direction indicated by the arrow in the dimen-
Inverse Power (V)
sional drawings of the Moving Coil.
Electrical Angle (°)
293
Selecting Cables
To select a Linear Encoder, use Recommended Linear Encoders and Cables (pages 356). Prepare the cable
required for the encoder.
SERVOPACK

Linear Servomotor
Main Circuit Cable
Sensor Cable
Polarity sensor
Linear Servomotor

 Linear Servomotor Main Circuit Cables
Linear Servomotor Cable & Connec- Lengt
Order Number Appearance
Model tor Type h (L)
3m JZSP-C7M143-03-E-G6
Flexible Power 5m JZSP-C7M143-05-E-G6 L end
SGLFW2-30D070
cable
to 10 m JZSP-C7M143-10-E-G6
4 x 1.5mm² with
SGLFW2-45D380 15 m JZSP-C7M143-15-E-G6
M17 connector *
20 m JZSP-C7M143-20-E-G6
Flexible Power 5m JZSP-C7M154-05-E-G6 L end
SGLFW2-90D200
cable
to 10 m JZSP-C7M154-10-E-G6
4 x 2.5mm² with
SGLFW2-1DD380 15 m JZSP-C7M154-15-E-G6
M23 connector *
20 m JZSP-C7M154-20-E-G6
Flexible Power 5m JZSP-C7M164-05-E-G6 SERVOPACK end Linear Servomotor
end
cable L
SGLFW2-1DD560 10 m JZSP-C7M164-10-E-G6
4 x 4mm² with M23
connector 15 m JZSP-C7M164-15-E-G6
20 m JZSP-C7M164-20-E-G6
 Motor Connection Shielding Clamp

SERVOPACK Model Order Number Appearance
Sigma-7 400V up to 3.0kW KLBUE 4-13.5_SC
Sigma-7 400V
KLBUE 10-20_SC
from 5kW up to 7.5kW
Sigma-7 400V
KLBUE 15-32_SC
for 11kW & 15kW
Linear Servo Motors
SGLG (Coreless Models)
Model Designations
Moving Coil
S G L G W - 30 A 050 C P o
Linear Σ Series digit digit digits digit digits digit digit digit
Linear Servo Motors
1st digit Servo Motor Type 5th digit Power Supply Voltage 10th digit Sensor Specification and Cooling Method
Code Specification Code Specification Specifications
G Coreless model A 200 VAC Code Polarity Cooling Applicable Models
Sensor Method
Length of None None Self-cooled All models
C None Air-cooled SGLGW
H Yes Air-cooled -40A, -60A, -90A
W Moving Coil 050 50 mm
P Yes Self-cooled All models
080 80 mm
200 199 mm 11th digit Connector for Servo Motor Main Circuit Cable
Code Specification
253 252.5 mm Specification
30 30 mm Code Applicable Models
365 365 mm
40 40 mm Connector from Tyco
370 367 mm None All models
Electronics Japan G.K.
60 60 mm
535 535 mm Connector from SGLGW
90 86 mm D
Interconnectron GmbH -30A, -40A, -60A
9th digit Design Revision Order Non Stock Items

A, B...
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all
combinations of codes.
Magnetic Way
S G L G M - 30 108 A o
1st 2nd 3rd+4th 5th+6th+7th 8th 9th
Linear Σ Series digit digit digits digits digit digit
Linear Servo Motors
Length of
1st digit Servo Motor Type 5th+6th+7th digits Magnetic Way 9th digit Options
(Same as for the Moving Coil.) Code Specification Code Specification Applicable Models
090 90 mm None Standard-force All models
2nd digit Moving Coil/Magnetic Way 108 108 mm High-force
-M SGLGM-40, -60
M Magnetic Way 225 225 mm Non Stock Items
252 252 mm
405 405 mm
432 432 mm
450 450 mm
504 504 mm

A, B, C*...
* The SGLGM-40 and SGLGM-60 also have a CT code.
• C = Without mounting holes on the bottom
• CT = With mounting holes on the bottom
Note: This information is provided to explain model numbers. It is not meant to imply that models are available for all com-
binations of codes.
296
Linear Servo Motors
When you use a Moving Coil with a Polarity Sensor, the Magnetic Way must cover the bottom
of the polarity sensor. Refer to the example that shows the correct installation.
When determining the length of the Moving Coil’s stroke or the length of the Magnetic Way,
Note consider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following
table.

Moving Coil Polarity sensor
Polarity sensor movement direction Moving Coil
Magnetic Way
Linear Servo Motors

Edge of Magnetic Way Edge of Magnetic Way
 Total Length of Moving Coil with Length of Length of

Polarity Sensor Moving Coil Total
Moving Polarity
Model Length,
Coil, Sensor,
SGLGW- L [mm]
L L1 [mm] A [mm]
A L1
30A050 P 50 0 50
(Included in
30A080 P 80 the length of 80
Moving Coil.)
40A140 H
140 156
40A140 P
40A253 H
Magnetic Way 252.5 16 268.5
40A253 P
40A365 H
365 381
40A365 P
60A140 H
140 156
60A140 P
60A253 H
252.5 16 268.5
60A253 P
60A365 H
365 381
60A365 P
90A200 H
199 199
90A200 P 0
90A370 H (Included in
367 367
90A370 P the length of
90A535 H Moving Coil.)
535 535
90A535 P
297
Linear Servo Motors

Specifications: With Standard-Force Magnetic Way
Linear Servo Motor 30A 40A 60A 90A
Moving Coil Model
SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Thermal Class B
Self-cooled or air-cooled
Cooling Method
(Only self-cooled models are available for the SGLGW-30A.)
Surrounding
Air Tempera- 0C to 40C (with no freezing)
ture
Environ- Surrounding
mental Air Humidity
Installation
Site
Impact Accel-
Shock 196 m/s 2
eration Rate
Resis-
tance Number of
2 times
Impacts
Vibration Vibration
49 m/s 2 (the vibration resistance in three directions, vertical, side-to-side, and
Resis- Acceleration
front-to-back)
tance Rate
298
Linear Servo Motors
Ratings: With Standard-Force Magnetic Way

Linear Servo Motor 30A 40A 60A 90A
Moving Coil Model
SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Rated Motor
Speed (Refer-
ence Speed m/s 1.5 1.5 2.0 2.0 2.0 2.3 2.3 2.3 1.8 1.5 1.5
during Speed
Control) *1
Maximum
m/s 5.0 5.0 5.0 5.0 5.0 4.8 4.8 4.8 4.0 4.0 4.0
Speed *1
Rated Force *1, N 12.5 25 47 93 140 70 140 210 325 550 750
*2
Maximum
N 40 80 140 280 420 220 440 660 1300 2200 3000
Force*1
Rated Current*1 Arms 0.51 0.79 0.80 1.6 2.4 1.2 2.2 3.3 4.4 7.5 10.2
Linear Servo Motors

Maximum
Arms 1.6 2.5 2.4 4.9 7.3 3.5 7.0 10.5 17.6 30.0 40.8
Current*1
Moving Coil
kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.1 2.2 3.6 4.9
Mass
Force Constant N/Arms 26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6 78.0 78.0 78.0
Vrms/
BEMF Constant (m/s)/ 8.80 11.3 20.5 20.5 20.5 22.2 22.2 22.2 26.0 26.0 26.0
phase
Motor Constant N/ W 3.66 5.63 7.79 11.0 13.5 11.1 15.7 19.2 26.0 36.8 45.0
Electrical Time
ms 0.19 0.41 0.43 0.43 0.43 0.45 0.45 0.45 1.4 1.4 1.4
Constant
Mechanical
ms 7.5 4.7 5.6 5.0 4.8 3.4 3.1 3.0 3.3 2.7 2.4
Time Constant
Thermal Resis-
tance (with K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51 0.39 0.26 0.22
Heat Sink)
Thermal Resis-
tance (without K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15 1.09 0.63 0.47
Heat Sink)
Magnetic
N 0 0 0 0 0 0 0 0 0 0 0
Attraction
30   A 40    C 60    C 90   A
SGLGM-
Combined Serial Converter
250 251 252 253 254 258 259 260 264 265 266
Unit, JZDP-   
Applicable SGD7S- R70A R90A R90A 1R6A 2R8A 1R6A 2R8A 5R5A 120A 180A 200A
SERVOPACKs SGD7W- 1R6A 1R6A 1R6A 1R6A 2R8A 1R6A 2R8A 5R5A   
*2. The rated forces are the continuous allowable force values at a surrounding air temperature of 40°C with an aluminum
• 200 mm  300 mm  12 mm: SGLGW-30A050C, -30A080C, -40A140C, and -60A140C
• 300 mm  400 mm  12 mm: SGLGW-40A253C and -60A253C
• 800 mm  900 mm  12 mm: SGLGW-90A200C, -90A370C, and -90A535C
299
Linear Servo Motors

SGLGW-30A050C* SGLGW-30A080C*
6 6
Motor speed (m/s)
5 5
Motor speed (m/s)

4 4
A B A B
3 3
2 2
1 1
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Force (N) Force (N)
SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C

6 6 6
5 5 5
Motor speed (m/s)

Motor speed (m/s)
Motor speed (m/s)
4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 50 100 150 0 100 200 300 0 100 200 300 400 500

6 6 6
Motor speed (m/s)
5 5 5
Motor speed (m/s)
Motor speed (m/s)
4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 150 300 450 600 750

6 6 6
5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
4 4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 300 600 900 1200 1500 0 500 1000 1500 2000 2500 0 700 1400 2100 2800 3500
* The characteristics are the same for three-phase 200 V and single-phase 200 V.
3. If the effective force is within the allowable range for the rated force, the Servo Motor can be used within the inter-
mittent duty zone.
300
Linear Servo Motors

of 40°C.
SGLGW-30A SGLGW-40A
10000 10000
1000 1000
Detection time (s)

Detection time (s)
100 100
10 10
Linear Servo Motors

1 1
50 100 150 200 250 300 350 50 100 150 200 250 300 350
(%) (%)
SGLGW-60A SGLGW-90A
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
50 100 150 200 250 300 350 50 100 150 200 250 300 350 400 450
(%) (%)
output of 100% or higher. Use the Servo Motor so that the effective force remains within the continuous duty zone
given in Force-Motor Speed Characteristics on page 300.
301
Linear Servo Motors
Specifications: With High-Force Magnetic Way

Linear Servo Motor Moving Coil Model 40A 60A
SGLGW- 140C 253C 365C 140C 253C 365C
Thermal Class B
Cooling Method Self-cooled or air-cooled
Environmental • Must be indoors and free of corrosive and explosive gases.
Conditions • Must be well-ventilated and free of dust and moisture.
Shock Impact Acceleration Rate 196 m/s 2
Resistance Number of Impacts 2 times
Vibration 2
49 m/s (the vibration resistance in three directions, vertical, side-
Vibration Acceleration Rate
Resistance to-side, and front-to-back)
302
Linear Servo Motors
Ratings: With High-Force Magnetic Way

Linear Servo Motor Moving Coil Model 40A 60A
SGLGW- 140C 253C 365C 140C 253C 365C
Rated Motor Speed (Reference
m/s 1.0 1.0 1.0 1.0 1.0 1.0
Speed during Speed Control)*1
Maximum Speed *1 m/s 4.2 4.2 4.2 4.2 4.2 4.2
*1, *2 N 57 114 171 85 170 255
Rated Force
*1 N 230 460 690 360 720 1080
Maximum Force
Rated Current*1 Arms 0.80 1.6 2.4 1.2 2.2 3.3
*1 Arms 3.2 6.5 9.7 5.0 10.0 14.9
Maximum Current
Moving Coil Mass kg 0.34 0.60 0.87 0.42 0.76 1.1
Force Constant N/Arms 76.0 76.0 76.0 77.4 77.4 77.4
Vrms/(m/s)/
BEMF Constant 25.3 25.3 25.3 25.8 25.8 25.8
phase
Linear Servo Motors

Motor Constant N/ W 9.62 13.6 16.7 12.9 18.2 22.3
Electrical Time Constant ms 0.43 0.43 0.43 0.45 0.45 0.45
Mechanical Time Constant ms 3.7 3.2 3.1 2.5 2.3 2.2
Thermal Resistance (with Heat
K/W 1.67 0.87 0.58 1.56 0.77 0.51
Sink)
Thermal Resistance (without Heat
K/W 3.02 1.80 1.23 2.59 1.48 1.15
Sink)
Magnetic Attraction N 0 0 0 0 0 0
Combined Magnetic Way, SGLGM- 40C-M 60C-M
Combined Serial Converter Unit, JZDP-- 255 256 257 261 262 263
SGD7S- 1R6A 2R8A 3R8A 1R6A 3R8A 7R6A
Applicable SERVOPACKs
SGD7W- 1R6A 2R8A 5R5A 1R6A 5R5A 7R6A
• 400 mm  500 mm 12 mm: SGLGW-40A365C and -60A365C
303
Linear Servo Motors


5 5 5
4 4 4
Motor speed (m/s)
Motor speed (m/s)

Motor speed (m/s)
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 50 100 150 200 250 0 100 200 300 400 500 0 200 400 600 800

5 5 5
Motor speed (m/s)
Motor speed (m/s)

Motor speed (m/s)
4 4
3 3 3
2 2 2
A B A B A B
1 1 1
0 0 0
0 80 160 240 320 400 0 200 400 600 800 0 240 480 720 960 1200
mittent duty zone.

of 40°C.
SGLGW-40A with High-Force Magnetic Way SGLGW-60A with High-Force Magnetic Way
10000 10000
1000 1000
Detection time (s)
Detection time (s)
100 100
10 10
1 1
50 100 150 200 250 300 350 400 450 50 100 150 200 250 300 350 400 450
(%) (%)
304
Linear Servo Motors
External Dimensions
SGLGW-30
 Moving Coils: SGLGW-30AC

4 × M4 × 5
17
2 × #4-40 UNC screws
L5 L4
500±50
Cable The Moving Coil moves in the direction indicated by the arrow
UL20276, when current flows in the following phase sequence: U, V, W.
Cable
AWG26
UL2517, AWG25
2 × 2 × M4 × 5 (both sides)
500±50
L1
Linear Servo Motors

(5.3 dia.) 15 L3
22
(5 dia.)
12
1
48.5 3
L2
57
44
G (Gap) G (Gap)
W
24
Unit: mm
Moving Coil Model Approx.

L1 L2 L3 L4 L5 W G (Gap)
SGLGW- Mass* [kg]
30A050C 50 48 30 20 20 5.9 0.85 0.14
30A080C 80 72 50 30 25 5.7 0.95 0.19
* The mass is for a Moving Coil with a Polarity Sensor.
Refer to the following section for the connector specifications for the Sensor Cable and Servo Motor Main Circuit Cable.
SGLGW-30AC Moving Coils Page 318
305
 Moving Coils: SGLGW-30ACD
4 × M4 × 5
17
L5 L4
The Moving Coil moves in the direction indicated by the

Cable arrow when current flows in the following phase sequence:
UL20276, U, V, W.
500±50
AWG26
Cable
UL2517, AWG25 2 × 2 × M4 × 5 (both sides)
500±50
L1
(5.3 dia.) 15 L3
22
(5 dia.)
12
1
3
48.5
L2
57
44
G (Gap) G (Gap)
W
24
Unit: mm

L1 L2 L3 L4 L5 W G (Gap)
SGLGW- Mass* [kg]
30A050CD 50 48 30 20 20 5.9 0.85 0.14
30A080CD 80 72 50 30 25 5.7 0.95 0.19
Linear Servo Motors
 Standard-Force Magnetic Ways: SGLGM-30A

7.6 8.2
44
Pitch: 54
4.5
N × 4.5 dia. 24
36 8 dia. 5 L2 (18)
L1 (1 unit)
N × M4 × 6
Linear Servo Motors

Pitch: 54
27 L2 (27) Unit: mm
Magnetic Way Model

L1 L2 N Approx. Mass [kg]
SGLGM-
30108A 108 -0.1
-0.1 54 2 0.6
30216A 216 -0.1
-0.1 162 4 1.1
-0.1
30432A 432 -0.1 378 8 2.3
307
Linear Servo Motors
SGLGW-40

L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
500±50
sequence: U, V, W.
(5.3 dia.) L1
(7 dia.) 16 L4 L3 25.4
45 N1 × M4 × 6 (both sides)
15
4
15
1
30
63
78
L2 (7.5)
62
Polarity sensor
Gap 0.8 Gap 0.8

5.8
25.4
Unit: mm
Moving Coil
Approx.
Model L1 L2 L3 L4 L5 L6 N1 N2
Mass* [kg]
SGLGW-
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
SGLGW-40AC and -60AC Moving Coils Page 320
308
Linear Servo Motors
2 × #4-40 UNC
screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following phase
500±50
sequence: U, V, W.
(5.3 dia.) L1
16 L4 L3 25.4
(7 dia.)
15
4
15
1
30
63
(7.5)
78
L2
62
Polarity sensor
Linear Servo Motors

Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm
Moving Coil
Approx.
Model L1 L2 L3 L4 L5 L6 N1 N2
Mass* [kg]
SGLGW-
40A140CD 140 125 90 30 52.5 45 3 4 0.40
40A253CD 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365CD 365 350 315 30 52.5 270 8 14 0.93
SGLGW-40ACD and -60ACD Moving Coils Page 321
309
Linear Servo Motors
 Standard-Force Magnetic Ways:

SGLGM-40C (without Mounting Holes on the Bottom)
SGLGM-40CT (with Mounting Holes on the Bottom)
L1 (1 unit) 9 9
7.4 7.4
62
62
X
7
X Pitch: 45 25.4 12.7

22.5 L2 (22.5) 25.4
5.5 dia.
N × 5.5 dia.
10 dia.
5.5 dia.
10 dia.
(13)
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
5.4 5.4
X-X X-X
N × M5 × 13 SGLGM- SGLGM-
X 40oooC 40oooCT
( SGLGM- CT only)
Unit: mm
Type Magnetic Way Model SGLGM- L1 L2 N Approx. Mass [kg]

-0.1
40090C or 40090CT 90 -0.3 45 2 0.8
-0.1
40225C or 40225CT 225 -0.3 180 5 2.0
Standard-Force 40360C or 40360CT 360 -0.1
-0.3 315 8 3.1
-0.1
40405C or 40405CT 405 -0.3 360 9 3.5
-0.1
40450C or 40450CT 450 -0.3 405 10 3.9
310
Linear Servo Motors
 High-Force Magnetic Ways:

SGLGM-40C-M (without Mounting Holes on the Bottom)
SGLGM-40CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4 12.2 7.4 12.2
62
62
X
7
X Pitch: 45 15.9
31.8
22.5 L2 (22.5) 31.8
5.5 dia.
5.5 dia.
10 dia.
10 dia.
N × 5.5 dia.
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
Linear Servo Motors

5.4 5.4
(13)
X-X X-X
SGLGM- SGLGM-
N × M5 × 13
X 40oooC-M 40oooCT-M
( SGLGM- CT-M only)
Unit: mm

-0.1
40090C-M or 40090CT-M 90 -0.3 45 2 1.0
40225C-M or 40225CT-M 225 -0.1
-0.3 180 5 2.6
-0.1
High-Force 40360C-M or 40360CT-M 360 -0.3 315 8 4.1
-0.1
40405C-M or 40405CT-M 405 -0.3 360 9 4.6
40450C-M or 40450CT-M 450 -0.1
-0.3 405 10 5.1
311
Linear Servo Motors
SGLGW-60

2 × #4-40
UNC screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
phase sequence: U, V, W. L1
(5.3 dia.)
500±50
(7 dia.) 16 L4 L3 25.4
15
4
15
1
30
L2 (7.5)
83
Polarity sensor
98
82
Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [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
SGLGW-40AC and -60AC Moving Coils Page 320
312
Linear Servo Motors
2 × #4-40
UNC screws
L5 L6
45 N2 × M4 × 6
17
500±50
The Moving Coil moves in the direction indicated by the arrow when current flows in the following
(5.3 dia.) phase sequence: U, V, W. L1
500±50
16 L4 L3 25.4
(7 dia.)
15
4
15
1
30
L2 (7.5)
83
98
Polarity sensor
Linear Servo Motors

82
Gap 0.8 Gap 0.8
5.8
25.4
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [kg]
60A140CD 140 125 90 30 52.5 45 3 4 0.48
60A253CD 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365CD 365 350 315 30 52.5 270 8 14 1.16
SGLGW-40ACD and -60ACD Moving Coils Page 321
313
Linear Servo Motors
 Standard-Force Magnetic Ways:

SGLGM-60C (without Mounting Holes on the Bottom)
SGLGM-60CT (with Mounting Holes on the Bottom)
L1 (1 unit) 9 9
7.4 7.4
82
82
X
7
X Pitch: 45 12.7
25.4
22.5 L2 (22.5) 25.4
5.5 dia.
5.5 dia.
N × 5.5 dia.
10 dia.
10 dia.
(13)
10 dia. 5.4
22.5 L2 (22.5)
Pitch: 45
X
5.4 5.4
X-X X-X
N × M5 × 13 SGLGM- SGLGM-
X
( SGLGM- CT only) 60oooC 60oooCT
Unit: mm

-0.1
60090C or 60090CT 90 -0.3 45 2 1.1
-0.1
60225C or 60225CT 225 -0.3 180 5 2.6
Standard-Force 60360C or 60360CT 360 -0.1
-0.3 315 8 4.1
-0.1
60405C or 60405CT 405 -0.3 360 9 4.6
-0.1
60450C or 60450CT 450 -0.3 405 10 5.1
314
Linear Servo Motors
 High-Force Magnetic Ways:

SGLGM-60C-M (without Mounting Holes on the Bottom)
SGLGM-60CT-M (with Mounting Holes on the Bottom)
L1 (1 unit)
7.4 12.2 7.4 12.2
82
82
X
7
X Pitch: 45 15.9
(22.5) 31.8
22.5 L2 31.8
10 dia.
5.5 dia.
N × 5.5 dia.
10 dia.
5.5 dia.
10 dia. 5.4
22.5 L2 (22.5)
Linear Servo Motors

Pitch: 45
X
5.4 5.4
(13)
X-X X-X
SGLGM- SGLGM-
X N × M5 × 13 60oooC-M 60oooCT-M
( SGLGM- CT-M only)
Unit: mm

60090C-M or 60090CT-M 90 -0.1
-0.3 45 2 1.3
60225C-M or 60225CT-M 225 -0.1
-0.3 180 5 3.3
-0.1
High-Force 60360C-M or 60360CT-M 360 -0.3 315 8 5.2
-0.1
60405C-M or 60405CT-M 405 -0.3 360 9 5.9
60450C-M or 60450CT-M 450 -0.1
-0.3 405 10 6.6
315
Linear Servo Motors
SGLGW-90

L5 L6
95 N2 × M6 × 9
32
2 × #4-40
UNC screws
Cable 500±50 2 × N1 × M6 × 9 (both sides)
UL20276, AWG26
L1
500±50
L4 L3
65 The Moving Coil moves in the direction indicated by the arrow 49
(5.3 dia.) when current flows in the following phase sequence: U, V, W.
26
2
(10.5 dia.)
Cable
121
138
UL2517, AWG15
110
L2
Gap1
Gap1
11.8
50.8
Unit: mm

L1 L2 L3 L4 L5 L6 N1 N2
SGLGW- Mass* [kg]
90A200C 199 189 130 40 60 95 3 4 2.2
90A370C 367 357 260 40 55 285 5 8 3.65
90A535C 535 525 455 40 60 380 8 10 4.95
316
Linear Servo Motors
 Standard-Force Magnetic Ways: SGLGM-90A

L1 (1 unit) 13.8 18.5
110
8.5
X
Pitch: 63 50.8
31.5 L2 (31.5)
N × 6.6 dia.
12 dia. 6.5
6.6 dia.
19 L2 (44)
12 dia.
Pitch: 63
6.5
Linear Servo Motors

X-X
N × M6 × 14.5 Unit: mm
Magnetic Way Model

L1 L2 N Approx. Mass [kg]
SGLGM-
90252A 252 -0.1
-0.3 189 4 7.3
-0.1
90504A 504 -0.3 441 8 14.7
317
Linear Servo Motors
 SGLGW-30AC Moving Coils

• Servo Motor Connector
Plug: 350779-1
Pins: 350924-1 or 770672-1
Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350925-1 or 770673-1
• Polarity Sensor Connector

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
• Polarity Sensor Output Signal
The figure on the right shows the relationship between the Su,
Vu
Sv, and Sw polarity sensor output signals and the inverse power Su
Inverse power (V)

of each motor phase Vu, Vv, and Vw when the Moving Coil
Vv
moves in the direction indicated by the arrow in the dimensional Sv
drawings of the Moving Coil.

Vw
Sw
0 180 360 540

318
Linear Servo Motors
 SGLGW-30ACD Moving Coils

Extension: SROC06JMSCN169
Pins: 021.423.1020
From Interconnectron GmbH
Mating Connector
Plug: SPUC06KFSDN236
Socket: 020.030.1020

From DDK Ltd.
Mating Connector
Linear Servo Motors

Studs: 17L-002C or 17L-002C1
Vu
Inverse power (V)

Vv
moves in the direction indicated by the arrow in the dimensional Sv

Vw
Sw
0 180 360 540

319
Linear Servo Motors
 SGLGW-40AC and -60AC Moving Coils

Plug: 350779-1
Pins: 350561-3 or 350690-3 (No.1 to 3)
Pin 1
350654-1 or 350669-1 (No. 4)
Pin 4
Mating Connector
Cap: 350780-1
Socket: 350570-3 or 350689-3

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
Vu
Inverse power (V)

moves in the direction indicated by the arrow in the dimensional Vv
Sv
Vw
Sw
0 180 360 540
320
Linear Servo Motors
 SGLGW-40ACD and -60ACD Moving Coils

Pins: 021.423.1020
Mating Connector
Socket: 020.030.1020

From DDK Ltd.
Mating Connector
Linear Servo Motors

Studs: 17L-002C or 17L-002C1
Sv, and Sw polarity sensor output signals and the inverse power Vu
Su
Inverse power (V)

Sv
Vw
Sw
0 180 360 540
321
Linear Servo Motors
 SGLGW-90AC Moving Coils

Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
Pin 1
350654-1 or 350669-1 (No. 4)
Pin 4
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3

From DDK Ltd.
Mating Connector
Stud: 17L-002C or 17L-002C1
Sv, and Sw polarity sensor output signals and the inverse power Vu Su
Inverse power (V)

Sv
Vw
Sw
0 180 360 540
322
Linear Servo Motors
Selecting Cables
Example: SGLG Coreless Servo Motors
SERVOPACK
C
N
6

Linear Servo Motors

Servo Motor Main
Circuit Cable
Linear encoder
(Not provided by Yaskawa.) Sensor Cable (between
Serial Converter Unit and
polarity sensor)
Polarity sensor
Linear Servo Motor

Note: 1. The above system configurations are for SGLG Coreless Servo Motors. Refer to the manual for the Linear Servo
Motor for configurations with other models.
323
Linear Servo Motors
Length
Servo Motor Model Order Number Appearance
(L)
1m JZSP-CLN11-01-E
3m JZSP-CLN11-03-E SERVOPACK end Motor end
L
5m JZSP-CLN11-05-E
SGLGW-30A, -40A, -60A
10 m JZSP-CLN11-10-E
*1
1m JZSP-CLN21-01-E
L
5m JZSP-CLN21-05-E
SGLGW-90A
*1
SGLGW- 1m JZSP-CLN14-01-E
30A     D SERVOPACK end Motor end
3m JZSP-CLN14-03-E L
- 5m JZSP-CLN14-05-E
40A     D
- 10 m JZSP-CLN14-10-E
60A     D 15 m JZSP-CLN14-15-E *2
Note: Shaded model numbers are non-stock items
*1. Connector from Tyco Electronics Japan G.K.
*2. Connector from Interconnectron GmbH
*3. A connector is not provided on the Linear Servo Motor end. Obtain a connector according to your specifications. Refer
to the next page for information on connectors.
Linear Encoder Cables

Servo Motor Length*
Model (L)
1m JZSP-CLL00-01-E
For linear 3m JZSP-CLL00-03-E
encoder from 5m JZSP-CLL00-05-E
Renishaw PLC 10 m JZSP-CLL00-10-E Serial Converter Linear encoder
Unit end L end
15 m JZSP-CLL00-15-E
All Models
1m JZSP-CLL30-01-E
encoder from
5m JZSP-CLL30-05-E
Heidenhain
Corporation 10 m JZSP-CLL30-10-E
* When using a JZDP-J00 -   -E Serial Converter Unit, do not exceed a cable length of 3 m.
324
Linear Servo Motors
Serial Converter Unit Cables

Length
(L)
1m JZSP-CLP70-01-E
3m JZSP-CLP70-03-E SERVOPACK Serial Converter
end L Unit end
5m JZSP-CLP70-05-E
All Models
10 m JZSP-CLP70-10-E
Sensor Cables
Length
(L)
1m JZSP-CLL10-01-E
Linear Servo Motors

Serial Converter Polarity sensor end
3m JZSP-CLL10-03-E Unit end L
SGLGW-  A 5m JZSP-CLL10-05-E
325
Linear Servo Motors
SGLT (Models with T-type Iron Cores)
Model Designations
Moving Coil
S G L T W - 20 A 170 A P o
Linear Servo Motors
1st digit Servo Motor Type 5th digit Power Supply Voltage 10th digit Sensor Specification and Cooling Method
Code Specification Code Specification Specifications

T With T-type iron core A 200 VAC Code Polarity Applicable Models
Cooling Method
Sensor
Length of None None Self-cooled All models
C* None Water-cooled
Code Specification Code Specification SGLTW-40, -80
H* Yes Water-cooled
W Moving Coil 170 170 mm P Yes Self-cooled All models
320 315 mm
3rd+4th digits Magnet Height 400 394.2 mm

460 460 mm 11th digit Connector for Servo Motor Main Circuit Cable
Code Specification
600 574.2 mm Code Specification Applicable Models
20 20 mm
Connector from Tyco SGLTW-20Aooooo,
35 36 mm Electronics Japan G.K. -35Aooooo
40 40 mm 9th digit Design Revision Order
None MS connector SGLTW-40AoooBo,
50 51 mm A, B …
H: High-efficiency model -80AoooBo
80 76.5 mm Loose lead wires with SGLTW-35AoooHo,
no connector -50AoooHo
Non Stock Items
* Contact your Yaskawa representative for the characteristics, dimensions, and other details on Servo Motors with these
specifications.
binations of codes.
Magnetic Way
S G L T M - 20 324 A o
Linear S Series digit digit digits digits digit digit
Linear Servo Motors
Length of
1st digit Servo Motor Type 5th+6th+7th digits 9th digit Options
Magnetic Way
(Same as for the Moving Coil.) Code Specification Code Specification Applicable Models
324 324 mm None Without options -
-
2nd digit Moving Coil/Magnetic Way 405 405 mm C With magnet cover All models
Code Specification 540 540 mm With base and SGLTM-20, -35*, -40,
Y
M Magnetic Way 675 675 mm magnet cover -80
756 756 mm Non Stock Items
(Same as for the Moving Coil.) 8th digit Design Revision Order
A, B …
H: High-efficiency model
* The SGLTM-35    H (high-efficiency models) do not support this specification.

binations of codes.
326
Linear Servo Motors
Note consider the total length of the Moving Coil and the polarity sensor. Refer to the following
table.

Moving Coil
movement direction Moving Coil Polarity sensor
Polarity sensor
Magnetic Way
Linear Servo Motors

 Total Length of Moving Coil with

Length of
Polarity Sensor Moving Coil Length of
Polarity
Total
Model Moving Coil, Length,
L Sensor,
SGLTW- L1 [mm] L [mm]
A L1 Moving Coil A [mm]
Polarity sensor 20A170AP 170 204
20A320AP 315 34 349
20A460AP 460 494
35A170AP 170 204
35A320AP 315 34 349
Magnetic Way
35A460AP 460 494
35A170HP 170 204
34
35A320HP 315 349
50A170HP 170 204
34
50A320HP 315 349
40A400BH
394.2 26 420.2
40A400BP
40A600BH
574.2 26 600.2
40A600BP
80A400BH
394.2 26 420.2
80A400BP
80A600BH
574.2 26 600.2
80A600BP
327
Linear Servo Motors
Specifications
High-efficiency
Linear Servo Motor Standard Models
Models
Moving Coil Model
20A 35A 40A 80A 35A 50A
SGLTW-
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Thermal Class B
Cooling Method Self-cooled
Surrounding
Air Tempera- 0C to 40C (with no freezing)
ture
Environ- Surrounding
mental Air Humidity
Installation
Site
Impact Accel-
Shock 196 m/s2
eration Rate
Resis-
tance Number of
2 times
Impacts
Vibra-
Vibration
tion
Acceleration 49 m/s2 (the vibration resistance in three directions, vertical, side-to-side, and front-to-back)
Resis-
Rate
tance
328
Linear Servo Motors
Ratings
High-efficiency
Standard Models
Linear Servo Motor Mov- Models
ing Coil Model SGLTW- 20A 35A 40A 80A 35A 50A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Rated Motor Speed
(Reference Speed during 3.0 3.0 3.0 2.5 2.5 2.5 1.5 2.0 2.0 2.0 2.5 2.0 2.0 2.0
Speed Control)*1
Maximum Speed *1 m/s 5.0 5.0 5.0 5.0 5.0 5.0 3.1 3.1 2.5 2.5 4.8 4.8 3.2 3.1
*1, *2 N 130 250 380 220 440 670 670 1000 1300 2000 300 600 450 900
Rated Force
Maximum Force*1 N 380 760 1140 660 1320 2000 2600 4000 5000 7500 600 1200 900 1800
*1 Arms 2.3 4.4 6.7 3.5 7.0 10.7 7.3 10.9 11.1 17.1 5.1 10.1 5.1 10.2
Rated Current
Maximum
Arms 7.7 15.4 23.2 12.1 24.2 36.7 39.4 60.6 57.9 86.9 11.9 23.9 11.8 23.6
Current*1
Moving Coil Mass kg 2.5 4.6 6.7 3.7 6.8 10 15 23 24 35 4.9 8.8 6.0 11
Linear Servo Motors

N/
Force Constant 61 61.0 61.0 67.5 67.5 67.5 99.1 99.1 126 126 64.0 64.0 95.2 95.2
Arms
Vrms/
BEMF Constant (m/s)/ 20.3 20.3 20.3 22.5 22.5 22.5 33.0 33.0 42.0 42.0 21.3 21.3 31.7 31.7
phase
Motor Constant N/ W 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116 37.4 52.9 48.6 68.7
Electrical Time
ms 5.9 5.9 5.9 6.9 6.8 6.9 15 15 17 17 15 16 16 17
Constant
Mechanical Time
ms 7.1 6.6 6.4 5.2 4.8 4.6 4.0 4.1 2.7 2.6 3.5 3.1 2.5 2.4
Constant
Thermal Resis-
tance K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.20 0.22 0.18 0.76 0.40 0.61 0.30
(with Heat Sink)
Thermal Resis-
tance K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.40 0.47 0.33 1.26 0.83 0.97 0.80
(without Heat Sink)
Magnetic Attrac-
N 0 0 0 0 0 0 0 0 0 0 0 0 0 0
tion*3
Magnetic Attrac-
N 800 1590 2380 1400 2780 4170 3950 5890 7650 11400 1400 2780 2000 3980
tion on One Side*4
20 A 35 A 40 A 80 A 35 H 50 H
SGLTM-
Combined Serial Converter
011 012 013 014 015 016 185 186 187 188 105 106 108 109
Unit, JZDP-  -
SGD7 3R8 7R6 120 5R5 120 180 180 330 330 120 5R5 120
550A 5R5A
Applicable S- A A A A A A A A A A A A
SERVOPACKs SGD7 5R5 7R6 5R5 5R5
       5R5A  
W- A A A A
• 254 mm  254 mm  25 mm: SGLTW-20A170A and -35A170A
• 400 mm  500 mm  40 mm: SGLTW-20A320A, -20A460A, -35A170H, -35A320A, -35A320H,
-35A460A, and -50A170H
• 609 mm  762 mm  50 mm: SGLTW-40A400B, -40A600B, -50A320H, -80A400B, and -80A600B
*3. The unbalanced magnetic gap that results from the Moving Coil installation condition causes a magnetic attraction on
the Moving Coil.
*4. The value that is given is the magnetic attraction that is generated on one side of the Magnetic Way.
329
Linear Servo Motors

 Standard Models
SGLTW-20A170A SGLTW-20A320A SGLTW-20A460A
6 6 6
Motor speed (m/s)
5 5 5
Motor speed (m/s)

Motor speed (m/s)
4 4 4
3 3 3
2 A B A B 2 A B
2
1 1 1
0 0 0
0 100 200 300 400 0 200 400 600 800 0 200 400 600 800 1000 1200
SGLTW-35A170A SGLTW-35A320A SGLTW-35A460A

6 6 6
5 5 5
Motor speed (m/s)
Motor speed (m/s)

Motor speed (m/s)
4 4 4
3 3 3
2 A B A B A B
2 2
1 1 1
0 0 0
0 200 400 600 700 0 400 800 1200 1400 0 500 1000 1500 2000 2500
SGLTW-40A400B SGLTW-40A600B SGLTW-80A400B SGLTW-80A600B

4 4 4 4
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

3 3 3 3
2 2 2 2
A B A B A B A B
1 1 1 1
0 0 0 0
0 1000 2000 3000 0 2000 4000 0 2000 4000 6000 0 2000 4000 6000 8000
Force (N) Force (N) Force (N) Force (N)
 High-efficiency Models
SGLTW-35A170H SGLTW-35A320H SGLTW-50A170H SGLTW-50A320H
6 6 4 4
5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
3 3
4 4
3 3 2 2
A A B A B
A B B
2 2
1 1
1 1
0 0 0 0
0 200 400 600 0 400 800 1200 0 300 600 900 0 600 1200 1800
mittent duty zone.
330
Linear Servo Motors

of 40°C.
SGLTW-20AoooA and -35AoooA SGLTW-40AoooB and -80AoooB

10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
Linear Servo Motors

1 1
50 100 150 200 250 300 350 400 50 100 150 200 250 300 350 400 450 500 550
(%) (%)
SGLTW-35AoooH and -50AoooH

10000
1000
Detection time (s)
100
10
1
50 100 150 200 250
(%)
Note: The above overload protection characteristics do mean that you can perform continuous duty operation with an out-
put of 100% or higher. Use the Servo Motor so that the effective force remains within the continuous duty zone given
in Force-Motor Speed Characteristics on page 330.
331
Linear Servo Motors
External Dimensions
SGLTW-20: Standard Models
 Moving Coils: SGLTW-20AA

N × M6 × 12
(55)
51 50 L1
47.5 10 L2 (L3)
Magnetic Way
(15)
12 48
1
20 28
100
80
60
60
(70)
2 × #4-40
UNC screws
(15)
indicated by the arrow when current flows

Polarity sensor
in the following phase sequence: U, V, W.
(Gap: 1 without magnet cover)
500±50
(Gap: 0.8 with magnet cover)
(19 without magnet cover)
(4.2 dia.)
(19.2 with magnet cover)
(7.4 dia.) 63 min.
500±50
90 min.
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
20A170A 170 144 (48  3) (16) 8 2.5
20A320A 315 288 (48  6) (17) 14 4.6
20A460A 460 432 (48  9) (18) 20 6.7
SGLTW-20AA and -35AA Moving Coils (page 348)
332
Linear Servo Motors
 Magnetic Ways: SGLTM-20A

L1
LB L2 (54)
54
27
9.
9°
(55) LA L2 (29.3)
40 Moving Coil
54 (54)
15
103 max.(at the factory)
71.5 ±1 (at the factory)
(1)
*70±0.3
(100)
87
*2.4±0.3
R6
C1
Gap: 1±0.3
C1
15
19
32 (8) (29.3) 2 × N × 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Linear Servo Motors

Spacers: Do not remove them
Side-to-Side Cross Section until the Moving Coil is mounted
2 × N × M6 × 8 on the machine.
R:
8
0.5
ma .
x. ax 9.9°
1m
R:
3
27
*2.4±0.3
54
Mount the Magnetic LD Mount the Magnetic LC (54)
L2
Way so that its edge *70±0.3 Way so that its edge
surfaces are flush (9.4) L1
surfaces are flush
with the inner step. with the inner step.
Note: 1. Two Magnetic Way tracks are used together as a set. For safety, when they are shipped, the two tracks are
secured to a mounting spacer made from aluminum.
2. More than one Magnetic Way can be connected.
3. Dimensions with asterisks are the distances between the Magnetic Way tracks. Install the tracks according to the
specified dimensions. Observe the dimensions given in Mounting Section Details after installation. Dimensions
when the Magnetic Way is shipped from the factory are indicated by .
4. Use socket head screws of strength class 10.9 or higher for the Magnetic Way mounting screws. (Do not use
stainless steel screws.)
Magnetic Way Approx.

L1 L2 LA LB LC LD N
Model SGLTM- Mass [kg]
0 0 0
20324A 324
-0.1
-0.3 270 (54  5) 31.7 -0.2 13.7 -0.2 40.3 -0.2 62 +0.6
0 6 3.4
-0.1 0 0 0 +0.6
20540A 540 -0.3 486 (54  9) 31.7 -0.2 13.7 -0.2 40.3 -0.2 62 0 10 5.7
-0.1 0 0 0 +0.6
20756A 756 -0.3 702 (54  13) 31.7 -0.2 13.7 -0.2 40.3 -0.2 62 0 14 7.9
333
Linear Servo Motors
 Magnetic Ways with Bases: SGLTM-20AY

11.7 20 L2 (54)
54
(70)
15 (55)
9.
27
9°
Base 40
15
70±0.3
(0.8)
132
116
(100)
87
60
1 2.4±0.3
DATE
0.8±0.3
19.2
15
L5 74 (14)
Moving Coil
74 L4 (162)
2 × N2 × 10 dia.
(Refer to Side-to-Side Cross Section for the depth.)
Gap
Includes a 0.2-mm-thick
magnet cover. 2 × N1 × M6 × 8
9.9°
Side-to-Side Cross Section

(2.4±0.3)
15 27
54
2×N1×M6×16 20 L2 (54)
2.3 L3 (11.7)
L1 Unit: mm
Note: Two Magnetic Way tracks are used together as a set. More than one Magnetic Way can be connected.
Magnetic Way Model Approx.

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
20324AY 324 -0.3 270 310 162 162 6 2 5.1
-0.1
20540AY 540 -0.3 486 526 378 189 10 3 8.5
-0.1
20756AY 756 -0.3 702 742 594 198 14 4 12
334
Linear Servo Motors
 Moving Coils: SGLTW-35AA

(70) N × M6 × 12
66 50 L1
55 10 L2 (L3)
Magnetic Way
12
(15)
48
1
20 28
100
60
(70)
80
60
2 × #4-40
UNC screws
(15)
indicated by the arrow when current flows

Polarity sensor
500±50 in the following phase sequence: U, V, W.

(4.2 dia.)
(8.4 dia.)
63 min.
Linear Servo Motors

500±50
100 min.
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
35A170A 170 144 (48  3) (16) 8 3.7
35A320A 315 288 (48  6) (17) 14 6.8
35A460A 460 432 (48  9) (18) 20 10
SGLTW-20AA and -35AA Moving Coils (page 348)
335
Linear Servo Motors
 Magnetic Ways: SGLTM-35A

L1
LB L2 (54)
54
34.5
9.
9°
(70) LA L2 (30.6)
55 Moving Coil
15
54 (54)
*70±0.3
(1)
(100)
87
*2.4±0.3
R6
C1
Gap: 1±0.3
(30.6)
19
C1
15
47 (8) 2 × N × 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Spacers: Do not remove

Side-to-Side Cross Section them until the Moving Coil is
mounted on the machine.
2 × N × M6 × 8
4
R:
0.5 9.9°
ma .
x. max
*2.4±0.3
34.5
R:1
3
54
Mount the Magnetic Mount the Magnetic LC L2 (54)
LD
Way so that its edge Way so that its edge (12)
surfaces are flush with *70±0.3
surfaces are flush with L1
the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
-0.1 0 0 0
35324A 324 -0.3 270 (54  5) 33 -0.2 15 -0.2 39 -0.2 62 +0.6
0 6 4.8
-0.1 0 0 0
35540A 540 -0.3 486 (54  9) 33 -0.2 15 -0.2 39 -0.2 62 +0.6
0 10 8
-0.1 702 (54  0 0 0
35756A 756 -0.3 33 -0.2 15 -0.2 39 -0.2 62 +0.6
0 14 11
13)
336
Linear Servo Motors

13 20 L2 (54)
54
9.
34.5
(85) 9°
15 (70)
Base 55
15
70±0.3
(0.8)
132
116
(100)
87
60
1 2.4±0.3
0.8±0.3
19.2
15
Moving Coil L5 74 (14)

74 L4 (162)
2 × N2 × 10 dia.
Linear Servo Motors

Gap
(Refer to Side-to-Side Cross Section for the depth.)
Includes a 0.2-mm-thick
magnet cover.
2 × N1 × M6 × 8
9.9
°
(2.4±0.3)
15 34.5
54
2 × N1 × M6 × 16 20 L2 (54)
1 L3 (13)
L1 Unit: mm

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
35324AY 324 -0.3 270 310 162 162 6 2 6.4
-0.1
35540AY 540 -0.3 486 526 378 189 10 3 11
-0.1
35756AY 756 -0.3 702 742 594 198 14 4 15
337
Linear Servo Motors
SGLTW-35H : High-Efficiency Models
 Moving Coils: SGLTW-35AH

N × M6 × 12
(70)
30 L1
66
10 (L3)
20±0.1
L2
62.5 Magnetic Way
20 48±0.15
(15)
12
120±0.1
1
80±0.05
100±0.15
28
60
(90)
30
30
Polarity sensor The Moving Coil moves in the

(Gap: 1.0 without magnet cover)
(15)
2 × #4-40 Protective tube direction indicated by the arrow
(4.2 dia.)
UNC screws when current flows in the following

500±50
500±50
Cable
UL20276, AWG28 35
43
63 min. Unit: mm

L1 L2 L3 N
SGLTW- [kg]
35A170H 170 144 (48  3) (16) 8 4.7
35A320H 315 288 (48  6) (17) 14 8.8
SGLTW-35AH and -50AH Moving Coils (page 350)
338
Linear Servo Motors
 Magnetic Ways: SGLTM-35H

L1
LB L2 (54)
54
9.
34.5
9°
(70)
15±0.1
LA L2 (30.6)
55 Moving Coil
(0.8)
54 (54)
DATE MADE IN JAPAN
TYPE:
S/N
YASKAWA
O/N
*90±0.3
(120)
107
*2.4±0.3
C1
R6
C1
4.2±0.1
0.8±0.3
15±0.1
(30.6)
2 × N × 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
47 (8)
Gap
Linear Servo Motors

Includes a 0.2-mm-thick Spacers: Do not remove
magnet cover. them until the Moving Coil is
2 × N × M6 × 8 mounted on the machine.
(4)
9.

9°
*2.4±0.3
34.5
R: .
0.5 ax
ma m
x. 1 54
R:
3
LC L2 (54)
(12) L1
Mount the Magnetic LD Mount the Magnetic
Way so that its edge *90±0.3 Way so that its edge
surfaces are flush surfaces are flush with
with the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
0 0 0
35324H 324
-0.1
-0.3 270 (54  5) 33 -0.2 15 -0.2 39 -0.2 82 +0.6
0 6 4.8
-0.1 0 0 0
35540H 540 -0.3 486 (54  9) 33 -0.2 15 -0.2 39 -0.2 82 +0.6
0 10 8
-0.1 0 0 0 +0.6
35756H 756 -0.3 702 (54  13) 33 -0.2 15 -0.2 39 -0.2 82 0 14 11
339
Linear Servo Motors
 Moving Coils: SGLTW-40AB

Polarity sensor
(83) N × M8 × 16
78 63 L1
Receptacle L2
75 (L3)
(19.1)
20
Magnetic Way
16 40 60
1
38
(111.8)
149.8
124
97
98
30
2 × #4-40
(4.2 dia.)
(25.1 without magnet cover)
The Moving Coil moves in the direction indicated by the arrow

(19.1)
UNC screws
64 min. when current flows in the following phase sequence: U, V, W.
500±50
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
40A400B 394.2 360 (60  6) (15) 14 15
40A600B 574.2 540 (60  9) (15) 20 22
SGLTW-40AB and -80AB Moving Coils (page 349)
340
Linear Servo Motors

L1
LB L2 (67.5)
67.5
(83)
39
5.6
°
63 Moving Coil
19.1
TYPE:
YASKAWA
113 ±1 (at the factory)
LA L2 (36.1)
67.5
Gap: 1.4±0.3
(1.4)
(67.5)
*111.8±0.3
(150)
C1
131
*1.4±0.3
25.1
19.1
C1
48 (15)
R7
Side-to-Side Cross Section (36.1) 2 × N × 9 dia. (Refer to Side-to-Side Cross Section for the depth.)
Spacers: Do not remove
them until the Moving Coil is
6
R: 2 × N × M8 × 10
Linear Servo Motors

0 .5
ma x. 5.6°
x ma
O/N
. 1
S/N
MADE I
R:
4
*1.4±0.3
39
Mount the Magnetic Mount the Magnetic

LD Way so that its edge 67.5
Way so that its edge
*111.8±0.3 surfaces are flush LC L2 (67.5)
surfaces are flush
with the inner step. with the inner step.
(7.6) L1 Unit: mm

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
-0.1 0 0 0
40405A 405 -0.3 337.5 (67.5  5) 37.5 -0.2 15 -0.2 52.5 -0.2 100 +0.6
0 6 9
0 0 0
40675A 675
-0.1
-0.3 607.5 (67.5  9) 37.5 -0.2 15 -0.2 52.5 -0.2 100 +0.6
0 10 15
877.5 (67.5  0 0 0
40945A 945
-0.1
-0.3 37.5 -0.2 15 -0.2 52.5 -0.2 100 +0.6
0 14 21
13)
341
Linear Servo Motors

12.5 25 L2 (67.5)
67.5
(103) 5.
39
20 6°
(83)
Base 63
19.1
(1.2)
111.8 ±0.3
190
170
131
(150)
90
1 1.4±0.3
1.2 ±0.3
19.1
25.3
L5 92.5 (17.5)
Moving Coil
92.5 L4 (202.5)
2 × N2 × 12 dia.
Gap (Refer to Side-to-Side Cross Section for the depth.)
Includes a 0.2-mm-thick 2 × N1 × M8 × 10
magnet cover.
5.6°
Side-to-Side Cross Section (1.4±0.3)

39
20
67.5
2 × N1 × M8 × 25 25 L2 (67.5)
5 L3 (12.5)
L1 Unit: mm

L1 L2 L3 L4 L5 N1 N2
SGLTM- Mass [kg]
-0.1
40405AY 405 -0.3 337.5 387.5 202.5 202.5 6 2 13
-0.1
40675AY 675 -0.3 607.5 657.5 472.5 236.25 10 3 21
-0.1
40945AY 945 -0.3 877.5 927.5 742.5 247.5 14 4 30
342
Linear Servo Motors
SGLTW-50: High-Efficiency Models
 Moving Coils: SGLTW-50AH

N × M6 × 12
(85)
81 30 L1
(L3)
20±0.1
10 L2
(19.1)
62.5 Magnetic Way
(4.1)
12 20 48±0.15
100±0.15
1
120±0.1
80±0.05
28
(90)
60
30

Polarity sensor
(19.1)
Protective tube direction indicated by the arrow

2 × #4-40 (4.2 dia.) when current flows in the following
Linear Servo Motors

UNC screws phase sequence: U, V, W.
500±50
500±50
Polarity sensor
connector
Cable
UL20276, AWG28
35
43
63 min. Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
50A170H 170 144 (48  3) (16) 8 6
50A320H 315 288 (48  6) (17) 14 11
SGLTW-35AH and -50AH Moving Coils (page 350)
343
Linear Servo Motors
 Magnetic Ways: SGLTM-50H

L1
LB L2 (54)
54
42
19.1±0.1
(85)
LA L2 (27)
(4.1)
70
(0.8)
54 (54)
90±0.3
(120)
112
a.
di
*
C1
12
C1
4.2±0.1
19.1±0.1
0.8±0.3
62 (8) Moving Coil 2 × N × 7 dia. (Refer to Side-to-Side Cross Section for the depth.)
Gap
Includes a 0.2-mm-thick Spacers: Do not remove
magnet cover. them until the Moving Coil is
(4)
R:
0.5 .
42
ma ax
m
x. 1
R:
3
2 × N × M6 × 8 54
LC L2 (54)
LD L1
Mount the Magnetic Mount the Magnetic
Way so that its edge * Way so that its edge
90±0.3
surfaces are flush with surfaces are flush with
the inner step. the inner step.

L1 L2 LA LB LC LD N
SGLTM- Mass [kg]
0 0 0
50324H 324
-0.1
-0.3 270 (54  5) 27 -0.2 9 -0.2 45 -0.2 82 +0.6
0 6 8
0 0 0
50540H 540
-0.1
-0.3 486 (54  9) 27 -0.2 9 -0.2 45 -0.2 82 +0.6
0 10 13
-0.1 0 0 0 +0.6
50756H 756 -0.3 702 (54  13) 27 -0.2 9 -0.2 45 -0.2 82 0 14 18
344
Linear Servo Motors
 Moving Coils: SGLTW-80AB

Polarity sensor N × M8 × 16
(120)
115 Receptacle 63 L1
75 Magnetic Way 20 L2 (L3)
(19.1)
16 40 60
1
38
149.8
(111.8)
97
124
98
30
(4.2 dia.)
The Moving Coil moves in the direction indicated by the arrow


(19.1)
64 min. when current flows in the following phase sequence: U, V, W.

500±50
2 × #4-40
Linear Servo Motors

UNC screws
Unit: mm

L1 L2 (L3) N
SGLTW- [kg]
80A400B 394.2 360 (60  6) (15) 14 24
80A600B 574.2 540 (60  9) (15) 20 35
SGLTW-40AB and -80AB Moving Coils (page 349)
345
Linear Servo Motors

L1
LB L2 (67.5)
67.5
57
5.6
°
(120)
LA L3 (37.9)
19.1
100 Moving Coil 33.75 (67.5)

153 max. (at the factory)
113 ±1 (at the factory
Gap 1.4±0.3
(1.4)
*111.8±0.3
(150)
131
*1.5±0.3
R7
C1
25.1
(37.9) 2 × N2 × 9 dia. (Refer to Side-to-Side Cross Section for the depth.)

19.1
C1
85 (15)
Side-to-Side Cross Section Spacers: Do not remove them

until the Moving Coil is mounted
6
2 × N1 × M8 × 10 on the machine.
5.6°
R0
.5
ma ax
. *1.5±0.3
x. 1m
R:
4
57
Mount the Magnetic Way so LD Mount the Magnetic Way so 67.5 (67.5)
that its edge surfaces are that its edge surfaces are LC L2
flush with the inner step. *111.8±0.3 flush with the inner step. (11.3) L1
Unit: mm
Magnetic
Approx.
Way
L1 L2 L3 LA LB LC LD N1 N2 Mass
Model
[kg]
SGLTM-
337.5 337.5 0 0 0 +0.6
80405A 405
-0.1
-0.3 39.4 -0.2 16.9 -0.2 50.6 -0.2 100 0 6 11 14
(67.5  5) (33.75  10)
607.5 607.5 0 0 0 +0.6
80675A 675
-0.1
-0.3 39.4 -0.2 16.9 -0.2 50.6 -0.2 100 0 10 19 24
(67.5  9) (33.75  18)
877.5 887.5 0 0 0 +0.6
80945A 945
-0.1
-0.3 39.4 -0.2 16.9 -0.2 50.6 -0.2 100 14 27 34
(67.5  13) (33.75  26) 0
346
Linear Servo Motors

14.4 25 L2 (67.5)
67.5
33.75
5.6
57
°
(140)
20 (120)
100 Moving Coil
Base
19.1
2 × N2 × 12 dia.
(1.2)
111.8±0.3
190 (Refer to Side-to-Side Cross Section for the depth.)

170
131
90
(150)
1 1.5±0.3
Linear Servo Motors

1.2±0.3
19.1
25.3
L5 92.5 (17.5)
92.5 L4 (202.5)
2 × N1 × M8 × 10
Gap
Includes a 0.2-mm-thick magnet cover. 5.
6°
Side-to-Side Cross Section (1.5±0.3)
57
20
33.75
2 × N3 × M8 × 25 67.5
25 L2 (67.5)
3.1 L3 (14.4)
L1 Unit: mm
Magnetic Way Approx.

L1 L2 L3 L4 L5 N1 N2 N3
Model SGLTM- Mass [kg]
80405AY 405
-0.1
-0.3 337.5 387.5 202.5 202.5 6 2 11 18
80675AY 675
-0.1
-0.3 607.5 657.5 472.5 236.25 10 3 19 31
80945AY 945
-0.1
-0.3 877.5 927.5 742.5 247.5 14 4 27 43
347
Linear Servo Motors
 SGLTW-20AA and -35AA Moving Coils

Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
Pin 1 350654-1 or 350669-1 (No. 4)
Pin 4 Tyco Electronics Japan G.K.
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1

Vu
Inverse power (V)

Sv
Vw
Sw
0 180 360 540

348
Linear Servo Motors
 SGLTW-40AB and -80AB Moving Coils

Receptacle: MS3102A-22-22P
From DDK Ltd.
Mating Connector
Right-angle plug: MS3108B22-22S
Straight plug: MS3106B22-22S
Cable clamp: MS3057-12A

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
Linear Servo Motors

Sv, and Sw polarity sensor output signals and the inverse power Vu
Su
Inverse power (V)

Sv
Vw
Sw
0 180 360 540
349
Linear Servo Motors
 SGLTW-35AH and -50AH Moving Coils

• Moving Coil Lead
Secure the lead from the Moving Coil of the Linear Servo Motor so that it moves together with the Mov-
ing Coil.
Phase V Phase U
Phase W Ground
(Viewed from the top surface of the Moving Coil.)

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
Vu
Inverse power (V)

Sv
Vw
Sw
0 180 360 540

350
Linear Servo Motors
Cables for Linear Servo Motors
 System Configurations
Example: SGLTW Servo Motors with T-type Iron
Cores
SERVOPACK

Linear Servo Motors

Linear Servomotor
Main Circuit Cable

Sensor Cable (between
Serial Converter Unit and
Linear encoder polarity sensor)
Linear Servomotor
Polarity sensor

Note: 1. The above system configurations are for SGLTW Servo Motors with T-type Iron Cores. Refer to the manual for the
Linear Servo Motor for configurations with other models.
351
Linear Servo Motors
Length
(L)
1m JZSP-CLN21-01-E
L
5m JZSP-CLN21-05-E
SGLTW-20A, -35A
*1
1m JZSP-CLN14-01-E
SGLTW- 5m JZSP-CLN14-05-E
  A     D 10 m JZSP-CLN14-10-E
15 m JZSP-CLN14-15-E *2
1m JZSP-CLN39-01-E
L
SGLTW-40    B 5m JZSP-CLN39-05-E
-80    B 10 m JZSP-CLN39-10-E
*3
352
Linear Servo Motors
JZSP-CLN39-  -E Cables
50 mm L 35 mm 2 mm
8.5 mm
Heat-shrinkable tube
Finished diameter: 15.8
U
V
W
M4 crimp terminal
G Cable
Wire markers (UL2570) AWG11/4C
 Wiring Specifications
SERVOPACK Leads Servo Motor Connector
Wire Color Signal Signal Pin
Red Phase U Phase U A
White Phase V Phase V B
Linear Servo Motors

Blue Phase W Phase W C
Green/yellow FG FG D
 JZSP-CLN39 Cable Connectors

Connector Plug
Applicable
Provided with Cable Clamp
Servo Motor Straight Right-angle
Servo Motor
MS3106B22-22S
SGLTW-40 and -80 MS3102A22-22P or MS3108B22-22S MS3057-12A
MS3106A22-22S
 MS3106B22-2S: Straight Plug with Two-piece Shell

Unit: mm
55.57 max.
J W
Joint Nut Effective
Length of Outer
Joint Thread Thread
A Shell Size Joint Diameter
50 max.
A Length
Q
J 0.12 Q +0
-0.38 W min.
Cable Clamp
22 1-3/8-18UNEF 18.26 40.48 9.53
mounting thread:
1-3/16-18UNEF
 MS3106A22-2S: Straight Plug with Solid Shell

Unit: mm
54±0.5
J W
Joint Nut Effective
Length of Outer
Joint Thread Thread
34.99 ±0.5 dia.
A
Shell Size Joint Diameter
A Length
J 0.12
Q
Q +0
-0.38 W min.
22 1-3/8-18UNEF 18.26 40.48 9.53
Cable Clamp
mounting thread:
1-3/16-18UNEF
353
Linear Servo Motors
 MS3108B22-2S: Right-angle Plug with Two-piece Shell
76.98 max.
Unit: mm
J
Joint Nut Effective
33.3±0.5 24.1±0.5
A
Length of Outer
Joint Thread Thread
Shell Size Joint Diameter
Q
A Length
J 0.12 Q +0 W min.
W
-0.38
Cable Clamp 22 1-3/8-18UNEF 18.26 40.48 9.53

mounting thread:
1-3/16-18UNEF
 Dimensional Drawings: MS3057-12A Cable Clamp with Rubber Bushing

Unit: mm
23.8±0.7
C
15.9 dia. Effective
1.6 (bushing inner diameter) Applicable Mounting
Thread Attached
Connector Thread
35 ±0.7 dia.
37.3±0.7
V 19.0 dia.
(Cable Clamp Length Bushing
Shell Size V
inner diameter) C
4.0 (slide range) 1-3/16-
20.22 10.3 AN3420-12
18UNEF

Servo Motor Length*
Model (L)
1m JZSP-CLL00-01-E
Unit end L end
All Models
1m JZSP-CLL30-01-E
encoder from
5m JZSP-CLL30-05-E
Heidenhain
* When using a JZDP-J00 -   -E Serial Converter Unit, do not exceed a cable length of 3 m.

Length
(L)
1m JZSP-CLP70-01-E
end L Unit end
5m JZSP-CLP70-05-E
All Models
354
Linear Servo Motors
Sensor Cables
Length
(L)
1m JZSP-CLL10-01-E
SGLTW-  A 5m JZSP-CLL10-05-E
Linear Servo Motors
355
Linear Servo Motors
Recommended Linear Encoders and Cables
Recommended Linear Encoders
Incremental Linear Encoders

 1 Vp-p Analog Voltage
You must also use a Yaskawa Serial Converter Unit. The output signal will be multiplied by 8 bits (256 divi-
sions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
Model
Polarity Sensor
Application to
Application to
Loop Control
Servomotors
Fully-Closed
Linear
Support for
Resolution
Maximum
Linear
Speed*1
Linear
Manufac- Relay Device between Encoder Refer-
[m/s]
Input
Sen-
[nm]
Encoder
turer Scale sor SERVOPACK and Pitch ence
Type
Head Linear Encoder*3 m]
JZDP-H003/-H006 78.1 5    page 359

LIDA48 20
Heidenhain JZDP-J003/-J006 4.9 2   *4 page 360
Exposed
Corporation JZDP-H003/-H006 15.6 1    page 359
LIF48  4
JZDP-J003/-J006 1.0 0.4  *4 *4 page 360
JZDP-H005/-H008 78.1 5    page 363
Renishaw plc*2 Exposed RGS20 RGH22B 20
JZDP-J005/-J008 4.9 2   *4 page 364
: Applicable
*1. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when combined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).
*2. If you use the origin signals with a Linear Encoder from Renishaw plc, the origin may sometimes be falsely detected.
If that occurs, use the BID/DIR signal to output the origin signal only in one direction.
*3. These are the models of Serial Converter Units.
*4. Contact your Yaskawa representative.
Note: Confirm detailed specifications, such as the tolerances, dimensions, and operating environment, with the manufacturer
of the Linear Encoder before you use it.
356
Linear Servo Motors
 Encoder for Yaskawa’s Serial Interface

The multiplier (number of divisions) depends on the Linear Encoder. Also, you must write the Servomotor
constant file to the Linear Encoder in advance.
Model
Polarity Sensor
Application to
Application to
Loop Control
Servomotors
Fully-Closed
Linear
Support for
Resolution
Maximum
Linear
Speed*1
Linear
Manufac- Encode Refer-
[m/s]
Input
Sen- Relay Device between
[nm]
Encoder
turer Scale sor SERVOPACK and r Pitch ence
Type
Head Linear Encoder m]
PL101-RY *2 –   page 367

SL70 800 97.7 10
PL101 MJ620-T13*3   *4 page 368
MQ10-FLA –  
SQ10 PQ10 400 48.83 3 page 371
MQ10-GLA   –
BD96-Y1051LC 0.4 0.78 0.8   – –
BD96-Y1025LC 0.4 1.56 1.0   – –
Exposed
BD96-Y2051LC 0.4 0.78 0.8   – –
BL57-RED*4
Magnescale BD96-Y2025LC 0.4 1.56 1.0   – –
Co., Ltd. BD96-YJ051LC 0.4 0.78 0.8   – –
BD96-YJ025LC 0.4 1.56 1.0   – –
BF1- RYF  *4 0.25 0.49 1.77    –
BF1- RY G *4 0.25 0.98 1.8    –
SR75-LF – 80 9.8 3.33 –  
SR75-MF – 80 78.1 3.33 –  
Sealed page 373
SR85-LF – 80 9.8 3.33 –  
SR85-MF – 80 78.1 3.33 –  
: Applicable

*1. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when combined with a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the Linear Encoder (given above).
*2. This is the model of the Sensor Head with Interpolator.
*3. This is the model of the Interpolator.
*4. Contact your Yaskawa representative.
357
Linear Servo Motors
Absolute Linear Encoders
 Encoder for Yaskawa’s Serial Interface

The multiplier (number of divisions) depends on the Linear Encoder. Also, you must write the Servomotor
constant file to the Linear Encoder in advance.
Model
Polarity Sensor
Application to
Application to
Linear
Loop Control
Servomotors
Fully-Closed
Support for
Resolution
Maximum
Linear Relay Device
Speed*1
Encode
Linear
Manufac- Refer-
[m/s]
Input
[nm]
Encoder between SERVO-
turer Scale Sensor Head r Pitch*1 ence
Type PACK and
m]
Linear Encoder
SQ47-SF
– 20.48 5 3.33 –  
SQ47-TF
SQ47-AF
– 40.96 10 3.33 –  
SQ47-FF
Exposed page 374
SQ57-SF
– 20.48 5 3.33 –  
Magnescale SQ57-TF
Co., Ltd. SQ57-AF
– 40.96 10 3.33 –  
SQ57-FF
SR77-LF – 80 9.8 3.33 –  
SR77-MF – 80 78.1 3.33 –  
Sealed page 373
SR87-LF – 80 9.8 3.33 –  
SR87-MF – 80 78.1 3.33 –  
ST781A – 256 500 5 –  
ST782A – 256 500 5 –  
ST783A – 51.2 100 5 –  
Mitutoyo ST784A – 51.2 100 5 –  
Exposed page 375
Corporation ST788A – 51.2 100 5 –  
ST789A*3 – 25.6 50 5 –  
ST1381 – 5.12 10 8 –  
ST1382 – 0.512 1 3.6 *4 –  
LIC4100 Series 20.48 5 10 –  
Exposed 204.8 50 10 –  
Heidenhain LIC2100 Series
EIB3391Y*5 409.6 100 10 –   page 362
Corporation
LC115 40.96 10 3 –  
Sealed
LC415 40.96 10 3 –  
EL36Y-050F – 12.8 50 100 –  
EL36Y-100F – 25.6 100 100 –  
Renishaw plc Exposed EL36Y-500F – 128 500 100 –   page 366
RL36Y-050 – 12.8 50 100 –  
RL36Y-001 – 0.256 1 3.6 –  
: Applicable
*1. These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear encoder scale
pitches.
*2. The maximum speeds given in the above table are the maximum applicable speeds of the encoders when combined with
a Yaskawa SERVOPACK.
The actual speed will be restricted by either the maximum speed of the Linear Servomotor or the maximum speed of the
Linear Encoder (given above).
*3. Contact Mitutoyo Corporation for details on the Linear Encoders.
*4. The speed is restricted for some SERVOPACKs.
*5. This is the model of the Interpolator.
358
Linear Servo Motors
Connections to Linear Encoder from Heidenhain Corporation
 Connections for a 1 Vp-p Analog Voltage Output Signal

You must make the connections through a Yaskawa Serial Converter Unit. The output signal will be multi-
plied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
 Connecting to a Linear Servomotor with a Polarity Sensor

Linear Servomotor Main Circuit Cable
SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Serial Converter Unit Sensor Cable Thermal Protector
Relay Connector *1
Sensor Cable
Linear Encoder from
Serial Converter Linear Encoder
Cable*2 Heidenhain Corporation

Unit Cable
CN2
Cable from Heidenhain
Corporation*3
*1. Only SGLFW2 Servomotors come equipped with Thermal Protector Relay Connectors.
*2. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is longer than 3 m.
*3. Contact Heidenhain Corporation for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Heidenhain Corporation.
359
Linear Servo Motors
 Connecting to a Linear Servomotor without a Polarity Sensor
Servomotors Other Than the SGLFW2

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Linear Encoder from

Serial Converter Serial Converter Linear Encoder
Heidenhain Corporation
Unit Cable Unit Cable*1
CN2
Cable from
Heidenhain Corporation*2
*1. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is longer than 3
m.
*2. Contact Heidenhain Corporation for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Heidenhain Corpo-
ration.
360
Linear Servo Motors
SGLFW2 Servomotors
SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Thermal Protector
Serial Converter Unit Sensor Cable
Relay Connector*1
Linear Encoder from

Unit Cable Cable*2
CN2
Cable from
*3. Contact Heidenhain Corporation for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Heidenhain Corporation.
Reference
No. Cable Type
SGLG SGLF SGLT

 Linear Servomotor Main Circuit Cable page 255 page 280 page 303
 Serial Converter Unit Cable page 377
 Serial Converter Unit page 376
 Sensor Cable page 377
 Linear Encoder Cable page 378
361
Linear Servo Motors
 LIC4100, LIC2100, LC115, or LC415 Linear Encoder with EIB3391Y Interpo-

lator
1. You cannot use an LIC4100, LIC2100, LC115, or LC415 Linear Encoder together with a Linear
Servomotor with a Polarity Sensor.
2. If you use an SGLFW2 Servomotor, input the thermal protector signal from the Linear Servo-
Important motor to the host controller. The thermal protector signal is closed when the temperature is
normal and open when the thermal protector is activated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Input to host controller*1 Thermal Protector

Relay Connector*2
Linear Encoder from

LIC4100 LIC2100
Encoder Cable from LC115 LC415
EIB3391Y
CN2
Interpolator
Products from Heidenhain Corp.

*1. Cables to connect to the host controller are not provided by Yaskawa.
Refer to the following manual for information on connector models.
*3. Use an Encoder Cable from Heidenhain Corporation. Contact Heidenhain Corporation for detailed Encoder Cable specifi-
cations.
Reference
No. Cable Type
SGLG SGLF SGLT
362
Linear Servo Motors
Connections to Linear Encoder from Renishaw plc
 Connections for a 1 Vp-p Analog Voltage Output Signal

You must make the connections through a Yaskawa Serial Converter Unit. The output signal will be multi-
plied by 8 bits (256 divisions) or 12 bits (4,096 divisions) in the Serial Converter Unit.
 Connecting to a Linear Servomotor with a Polarity Sensor

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Relay Connector*1
Sensor Cable
Linear Encoder from
Cable*2 Renishaw plc*3

Unit Cable
CN2
Cable from Renishaw plc*4
*4. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However, the
BID and DIR signals are not connected.
363
Linear Servo Motors
 Connecting to a Linear Servomotor without a Polarity Sensor
Servomotors Other Than the SGLFW2

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way
Linear Encoder from

Serial Converter Serial Converter Unit Linear Encoder
Renishaw plc*2
Unit Cable Cable*1
CN2
*3. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However, the BID and
DIR signals are not connected.
364
Linear Servo Motors
SGLFW2 Servomotors
SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*1
Linear Encoder from

Cable*2 Renishaw plc*3
Unit Cable
CN2
*4. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However, the BID
and DIR signals are not connected.

Reference
No. Cable Type
SGLG SGLF SGLT
 Serial Converter Unit page 376
 Linear Encoder Cable page 378
365
Linear Servo Motors
 EVOLUTE Series Linear Encoder (model: EL36Y-), RESO-

LUTE Series Linear Encoder (model: RL36Y-)
1. You cannot use an EVOLUTE Series or RESOLUTE Series Linear Encoder together with a Lin-
ear Servomotor with a Polarity Sensor.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from

Renishaw plc
EVOLUTE Series
Encoder Cable from RESOLUTE Series
Renishaw plc*3
CN2
Products from Renishaw plc

*3. Use an Encoder Cable from Renishaw plc. Contact Renishaw plc for detailed Encoder Cable specifications.
Reference
No. Cable Type
SGLG SGLF SGLT
366
Linear Servo Motors
Connections to Linear Encoder from Magnescale Co., Ltd.
 SL70 Linear Encoder and PL101-RY Sensor Head with Interpolator
1. You cannot use a PL101-RY Sensor Head with an Interpolator together with a Linear Servo-
motor with a Polarity Sensor.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2

Sensor Cable
SL7o0 Linear Encoder

from Magnescale Co., Ltd.
Encoder Cable
PL101-RY Head with
CN2
Interpolator
Products from
Magnescale Co., Ltd.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable Refer to the below.
 Encoder Cable
Length Order Number
Name Appearance
(L) Standard Cable Flexible Cable*
5m JZSP-CMP00-05-E JZSP-CMP10-05-E SERVOPACK Encoder end
Cable with Connectors end L
on Both Ends

The recommended bending radius (R) is 68 mm or larger.
367
Linear Servo Motors
 SL70 Linear Encoder, PL101 Sensor Head, and MJ620-T13 Interpolator
1. A 5-VDC power supply is required for the MJ620-T13. (The 5-VDC power supply is not pro-
vided by Yaskawa.)
2. Refer to the MJ620-T13 specifications from Magnescale Co., Ltd. for the current consumption
Important
of the MJ620-T13.
3. If you use an SGLFW2 Servomotor, remove the thermal protector relay connector and input
the thermal protector signal from the Linear Servomotor to the host controller. The thermal
protector signal is closed when the temperature is normal and open when the thermal protec-
tor is activated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Sensor Cable
Moving
Coil
Magnetic Way
Input to host controller*1
Polarity Sensor
Thermal Protector
Relay Connector*2
Sensor Cable
Linear Encoder
Encoder Cable
MJ620-T13
CN2
Interpolator
External power supply cable Linear Encoder Cable
External from Magnescale Co., Ltd.
power
supply (Included with the MJ620-T13 Interpolator.)
Products from Magnescale Co., Ltd.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable page 369
These cables are not provided
External power supply by Yaskawa.
 page 370
cable
Use the cables that come with
the MJ620-T13 Interpolator.
 Linear Encoder Cable For details, refer to the –
specifications for the MJ620-
T13 Interpolator.
368
Linear Servo Motors
 Encoder Cables
These cables are not provided by Yaskawa. Use a shielded cable. Refer to the following tables for the pin
layouts.
SERVOPACK End of Cable (CN2)

• Plug Connector: 55100-0670 (Molex Japan LLC)
• Connector order number: JZSP-CMP9-1-E (SERVOPACK Connector Kit)
Pin Signal Function

1 PG5 V Encoder power supply +5 V
2 PG0 V Encoder power supply 0 V
3  
4  
5 PS
Serial data
6 /PS
Shell Shield 
MJ620-T13 End of Cable

For details, refer to the specifications for the MJ620-T13 from Magnescale Co., Ltd..
• Receptacle: PCR-E20LMD+ (Honda Tsushin Kogyo Co., Ltd.)
• Plug: PCR-E20FS+ (Honda Tsushin Kogyo Co., Ltd.)
• Shell: PCS-E20L (Honda Tsushin Kogyo Co., Ltd.)

Pin Signal Function Pin Signal Function
1 Do not connect.  12 0V 0V
2 Do not connect.  13 Do not connect. 
3 Do not connect.  14 0V 0V
5 SD 16 0V 0V
Serial data
6 /SD 17 Do not connect. 
10 Do not connect.  Shell Shield 
11 Do not connect. 
Cables without Connectors

Order Number
Name Length (L)
Standard Cable Flexible Cable
Cables without 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E
Connectors 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E
Note: We recommend that you use Flexible Cables.
369
Linear Servo Motors
 External Power Supply Cables

This cable is not provided by Yaskawa. Refer to the table on the right
for the pin layout. Pin Signal Function
For details, refer to the specifications for the MJ620-T13 from Mag- 1 +5 V +5 V
nescale Co., Ltd.. 2 0V 0V
• Connector Header: MC1.5/2-GF-3.81 (Phoenix Contact)
• Connector Plug: MC1.5/2-STF-3.81 (Phoenix Contact)
370
Linear Servo Motors
 SmartSCALE Linear Encoder (SQ10 Scale + MQ10-LA Interpolator)
If you use an SGLFW2 Servomotor, remove the thermal protector relay connector and input the
thermal protector signal from the Linear Servomotor to the host controller. The thermal protector
signal is closed when the temperature is normal and open when the thermal protector is acti-
Important vated. Do not exceed 3 A or 30 V.

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Sensor Cable
Moving
Coil
Magnetic Way
Polarity Sensor
Thermal Protector
Relay Connector*2
Sensor Cable
Linear Encoder
Encoder Cable*4

MQ10-GLA*3
CN2
Interpolator
from Magnescale Co., Ltd.
*3. This cable configurations shown above is the connection when you use the MQ10-GLA interpolator with polarity sensor.
*4. The maximum length of the Serial Converter Unit Cable is 15 m.
Reference
No. Cable Type
SGLG SGLF SGLT
 Encoder Cable page 372
 Sensor Cable page 377
Use the cables that come with
the MQ10-LA Interpolator.
 Linear Encoder Cable For details, refer to the –
specifications for the MQ10-
LA Interpolator.
371
Linear Servo Motors
 Encoder Cables
These cables are not provided by Yaskawa. Use a shielded cable. Refer to the following tables for the pin
layouts.
SERVOPACK End of Cable (CN2)

• Plug Connector: 55100-0670 (Molex Japan LLC)
• Connector order number: JZSP-CMP9-1-E (SERVOPACK Connector Kit)
Pin Signal Function

1 PG5 V Encoder power supply +5 V
2 PG0 V Encoder power supply 0 V
3  
4  
5 PS
Serial data
6 /PS
Shell Shield 
MQ10- LA End of Cable

For details, refer to the specifications for the MQ10- LA from Magnescale Co., Ltd..
Cables without Connectors

Order Number
Name Length (L)
Standard Cable Flexible Cable
Cables without
Connectors
Note: We recommend that you use Flexible Cables.
372
Linear Servo Motors
 SR-75, SR-77, SR-85, and SR-87 Linear Encoders
1. You cannot use an SR-75, SR-77, SR-85, or SR-87 Linear Encoder with a Linear Servomotor
with a Polarity Sensor.
Important
motor to the host controller. The thermal protector signal is closed when the temperature is

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from


SR75-oooooLF
SR75-oooooMF
SR77-oooooLF
SR77-oooooMF
SR85-oooooLF
SR85-oooooMF
SR87-oooooLF
Encoder Cable from SR87-oooooMF
Magnescale Co., Ltd.*3
CN2

*3. Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable specifica-
tions.
Reference
No. Cable Type
SGLG SGLF SGLT
373
Linear Servo Motors
 SmartSCALE (SQ47/SQ57) Linear Encoders
1. You cannot use an SQ47 or SQ57 Linear Encoder with a Linear Servomotor with a Polarity
Sensor.
Important

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Relay Connector*2
Linear Encoder from

Encoder Cable from SmartSCALE
Magnescale Co., Ltd.*3
CN2
*3. Use an Encoder Cable from Magnescale Co., Ltd. Contact Magnescale Co., Ltd. for detailed Encoder Cable specifica-
tions.
Reference
No. Cable Type
SGLG SGLF SGLT
374
Linear Servo Motors
Connections to Linear Encoders from Mitutoyo Corporation
 ST78A/ST13 Linear Encoders
1. You cannot use a ST78A Linear Encoder together with a Linear Servomotor with a Polarity
Sensor.
Important

SERVOPACK
Main circuit
connector
Linear Servomotor
Main Circuit Cable
Moving
Coil
Magnetic Way

Thermal Protector
Relay Connector*2

Linear Encoders
from Mitutoyo Corporation
ST781A ST788A
ST782A ST789A
ST783A ST1381
Serial Converter ST784A ST1382
Unit Cable
CN2
Cable from Mitutoyo Corporation
Reference
No. Cable Type
SGLG SGLF SGLT
375
Linear Servo Motors
Serial Converter Units
Order Number
Use the following tables to select the Serial Converter Unit.
JZDP - o00o - ooo
Serial Converter Unit Model Applicable Linear Servomotor

Servomotor Model Code Servomotor Model Code
Protector
Thermal
Applicable
Polarity
Sensor
Code Appearance Linear 30A070A 628
30A050C 250
Encoder 30A120A 629
30A230A 630
H003 From Heid- 30A080C 251
None None SGLFW2- 45A200A 631
J003 enhain Corp. (models 45A380A 632
40A140C 252 with F-type
From 90A200A 633
H005 iron cores -
Renishaw None None
J005 200V) 90A380A 634
PLC 40A253C 253
90A560A 648
SGLGW -
H006 From Heid- 1DA380A 649
Yes Yes (coreless 40A365C 254
J006 enhain Corp. models) 1DA560A 650
For Stan- 30D070A 651
From dard-force 60A140C 258
H008 30D120A 652
Renishaw Yes Yes Magnetic
J008 30D230A 653
PLC Way 60A253C 259 SGLFW2-
(models 45D200A 654
with F-type 45D380A 655
60A365C 260
iron cores - 90D200A 657
400V)
90D380A 658
90A200C 264
90D560A 659
1DD380A 660
90A370C 265
1DD560A 661
90A535C 266 20A170A 011
SGLGW - 40A140C 255 20A320A 012
+
SGLGM - 40A253C 256 20A460A 013
-M 40A365C 257 35A170A 014
(coreless
models) 60A140C 261 35A320A 015
For High- SGLTW-
60A253C 262 35A460A 016
force Mag- (models
netic Way 60A365C 263 with T- 35A170H 105
type iron
20A090A 017 35A320H 106
cores)
20A120A 018 50A170H 108
SGLFW- 35A120A 019 50A320H 109
(Earlier 35A230A 020 40A400B 185
models
with F-type 50A200B 181 40A600B 186
iron cores) 50A380B 182 80A400B 187
1ZA200B 183 80A600B 188
1ZA380B 184
Note: 1. Code H for 8 bit interpolation, Code J    for 12 bit interpolation
2. Refer to the following manual for detailed specifications of the Serial Converter Units.
3. Contact your Yaskawa representative for information on the water cooling specifications of the SGLFW2.
376
Linear Servo Motors

Length
(L)
1m JZSP-CLP70-01-E
end L Unit end
5m JZSP-CLP70-05-E
All Models
Sensor Cables
Length
(L)
1m JZSP-CLL10-01-E
SGLGW-  A 3m JZSP-CLL10-03-E Unit end L
SGLFW-A 5m JZSP-CLL10-05-E

SGLTW-  A 10 m JZSP-CLL10-10-E
1m JZSP-CL2L100-01-E
3m JZSP-CL2L100-03-E Unit end L
SGLFW2-A AS
5m JZSP-CL2L100-05-E
(With Polarity Sensor)
10 m JZSP-CL2L100-10-E
15 m JZSP-CL2L100-15-E
1m JZSP-CL2TH00-01-E
Serial Converter Thermal Protector
3m JZSP-CL2TH00-03-E Unit end L end
SGLFW2-AAT
5m JZSP-CL2TH00-05-E
(Without Polarity Sensor)
10 m JZSP-CL2TH00-10-E
15 m JZSP-CL2TH00-15-E
377
Linear Servo Motors

Linear Length
Name Servomotor * Order Number Appearance
Model (L)
1m JZSP-CLL00-01-E
Unit end L end
All Models
1m JZSP-CLL30-01-E
encoder from
5m JZSP-CLL30-05-E
Heidenhain
* When using a JZDP-J00--E Serial Converter Unit, do not exceed a cable length of 3 m.
378
Linear Servo Motors
379
Linear Servo Motors
SGLFW (Earlier Models with F-type Iron Cores)
Model Designations
SGLFW Models
 Moving Coil
S G L F W - 20 A 090 A P o
Linear Servo Motors
1st digit Servo Motor Type 5th digit Voltage 10th digit Sensor Specification

F With F-type iron core A 200 VAC P With polarity sensor
None Without polarity sensor
Length of
Code Specification Code Specification 11th digit Connector for Servo Motor Main Circuit Cable
W Moving Coil 090 91 mm Code Specification Applicable Models
120 127 mm Connector from Tyco
None All models
3rd+4th digits Magnet Height 200 215 mm Electronics Japan G.K.
230 235 mm Connector from SGLFW-35, -50,
Code Specification D
380 395 mm Interconnectron GmbH -1Zo200B
20 20 mm
35 36 mm 9th digit Design Revision Order Non Stock Items
50 47.5 mm
A, B ...
1Z 95 mm
binations of codes.
 Magnetic Way
S G L F M - 20 324 A o
Linear Σ Series digit digit digits digit digit
digits
Linear Servo Motors
Length of
1st digit Servo Motor Type 5th+6th+7th digits Magnetic Way 9th digit Options
(Same as for the Moving Coil.) Code Specification Code Specification

324 324 mm None Without options
2nd digit Moving Coil/Magnetic Way 405 mm C With magnet cover
405
Non Stock Items
M Magnetic Way 675 675 mm
756 756 mm

A, B ...
380
Linear Servo Motors
Note
consider the total length (L) of the Moving Coil and the polarity sensor. Refer to the following
table.

Moving Coil
Magnetic Way
Linear Servo Motors

 Total Length of Moving Coil with

Polarity Sensor Moving Coil
Length of Length of
Total
Moving Polarity
L Model Length,
Coil, Sensor,
A L1 Moving Coil
SGLFW- L [mm]
L1 [mm] A [mm]
20A090AP 91 113
22
20A120AP 127 149
35A120AP 127 149
22
Polarity sensor
35A230AP 235 257
Magnetic Way
50A200BP 215 237
22
50A380BP 395 417
1ZA200BP 215 237
22
1ZA380BP 395 417
381
Linear Servo Motors
Specifications and Ratings: SGLFW Models
Specifications
Linear Servo Motor Moving Coil Model 20A 35A 50A 1ZA
SGLFW- 090A 120A 120A 230A 200B 380B 200B 380B
Thermal Class B
Cooling Method Self-cooled
Environmen- • Must be indoors and free of corrosive and explosive gases.
tal Conditions • Must be well-ventilated and free of dust and moisture.
Shock Impact Acceleration Rate 196 m/s 2
Resistance Number of Impacts 2 times
Vibration 2
49 m/s (the vibration resistance in three directions, vertical, side-
Vibration Acceleration Rate
Resistance to-side, and front-to-back)
382
Linear Servo Motors
Ratings
Linear Servo Motor Moving Coil Model 20A 35A 50A 1ZA
SGLFW- 090A 120A 120A 230A 200B 380B 200B 380B
Rated Motor Speed
(Reference Speed during Speed m/s 5.0 3.5 2.5 3.0 1.5 1.5 1.5 1.5
Control) *1
Maximum Speed *1 m/s 5.0 5.0 5.0 5.0 5.0 5.0 4.9 4.9
*1, *2 N 25 40 80 160 280 560 560 1120
Rated Force
Maximum Force*1 N 86 125 220 440 600 1200 1200 2400
Rated Current*1 Arms 0.70 0.80 1.4 2.8 5.0 10.0 8.7 17.5
Maximum Current*1 Arms 3.0 2.9 4.4 8.8 12.4 25.0 21.6 43.6
Moving Coil Mass kg 0.70 0.90 1.3 2.3 3.5 6.9 6.4 12
Force Constant N/Arms 36.0 54.0 62.4 62.4 60.2 60.2 69.0 69.0
Vrms/(m/s)/
BEMF Constant 12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0
phase
Linear Servo Motors

Motor Constant N/ W 7.95 9.81 14.4 20.4 34.3 48.5 52.4 74.0
Electrical Time Constant ms 3.2 3.3 3.6 3.6 16 16 18 18
Mechanical Time Constant ms 11 9.4 6.3 5.5 3.0 2.9 2.3 2.1
Thermal Resistance
K/W 4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.20
(with Heat Sink)
Thermal Resistance
K/W 7.69 5.02 4.10 1.94 1.65 0.95 1.30 0.73
(without Heat Sink)
Magnetic Attraction N 310 460 810 1590 1650 3260 3300 6520
Combined Magnetic Way, SGLFM- 20   A 35   A 35   A 35   A
017 018 019 020 181 182 183 184
JZDP-   
Applicable SGD7S- 1R6A 1R6A 1R6A 3R8A 5R5A 120A 120A 200A
SERVOPACKs SGD7W- 1R6A 1R6A 1R6A 5R5A 5R5A   
• 125 mm  125 mm  13 mm: SGLFW-20A090A and -20A120A
• 254 mm  254 mm  25 mm: SGLFW-35A120A and -35A230A
• 400 mm  500 mm  40 mm: SGLFW-50A200B, 50A380B, and -1ZA200B
• 600 mm  762 mm  50 mm: SGLFW-1ZA380B
383
Linear Servo Motors

SGLFW-20A090A SGLFW-20A120A SGLFW-35A120A SGLFW-35A230A

6 6 6 6
5 5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

4 4 4 4
A B
3 3 3 3
A B A B A B
2 2 2 2
1 1 1 1
0 0 0 0
0 20 40 60 80 100 0 20 40 60 80 100 120140 0 50 100 150 200 250 0 100 200 300 400 500
SGLFW-50A200B SGLFW-50A380B SGLFW-1ZA200B SGLFW-1ZA380B

6 6 6 6
5 5 5 5
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)
Motor speed (m/s)

4 4 4 4
3 3 3 3
A B A B A B A B
2 2 2 2
1 1 1 1
0 0 0 0
0 200 400 600 800 0 500 1000 1500 0 500 1000 1500 0 1000 2000 3000
mittent duty zone.
384
Linear Servo Motors

of 40°C.
SGLFW-20A SGLFW-35A
10000 10000
1000 1000
Detection time (s)
Detection time (s)

100 100
10 10
1 1
Linear Servo Motors

50 100 150 200 250 300 350 400 450 50 100 150 200 250 300 350
(%) (%)
SGLFW-50A and -1ZA

10000
1000
Detection time (s)
100
10
1
50 100 150 200 250 300
(%)
385
Linear Servo Motors
External Dimensions
SGLFW-20
 Moving Coils: SGLFW-20AA

50 min. L1
30 30 L2 (25)
Polarity sensor 36
(32) 2
Magnetic Way
(7.5)
17.5
(12)
5.5
(22) (22)
(44)
(20)
20
22
40
28
9.7 dia.
0.5 5
(10)
12.5
22.5
(12.5)
(6) 7.7
The Moving Coil moves in
34 (4.2 with magnet cover) 50 the direction indicated by
0.1 0± Refer to the
2 × #4-40 UNC 50 following figures and . the arrow when current flows in
45±0.1 (Gap: 0.8 with magnet cover) screws L3 7 the following phase sequence: U, V, W.
(Gap: 1 without magnet cover) 50
0± 30 min.
(4.2
50 12
dia
(6.
.)
1d
i a. )
SGLFW-20A090Ao SGLFW-20A120Ao
2 × M4 × 8 3 × M4 × 8
20
20
22.5
22.5
12.5
12.5
30 36 30 36
72 Unit: mm
Moving Coil Model SGLFW- L1 L2 L3 Approx. Mass [kg]

20A090A 91 36 72 0.7
20A120A 127 72 108 0.9
Note: The above dimensional drawing gives the dimensions for both models with polarity sensors and models without
polarity sensors.
SGLFW-20AA and -35AA Moving Coils (page 397)
386
Linear Servo Motors
 Magnetic Ways: SGLFM-20A

(L3)
Moving Coil 9.9°
2 × N × 4.8 dia.
(4.5)
(17.5)
22 (22)
35
44
(40)
N S N S N S N S
4.5
(22.5)
6 4
Reference mark (Reference mark)
10 (34) 54 (54)
(Gap: 1) LA L2 (30.8)
45±0.1 L1
Reference mark
Unit: mm
Linear Servo Motors

Note: More than one Magnetic Way can be connected. Connect the Magnetic Ways so that the reference marks on them
are aligned in the same direction as shown in the figure.
Magnetic Way Approx. Mass

L1 L2 (L3) LA N
Model SGLFM- [kg]
20324A 324 -0.1
-0.3 270 (54  5) (331.6) 0
30.8 -0.2 6 0.9
20540A 540 -0.1
-0.3 486 (54  9) (547.6) 0
30.8 -0.2 10 1.4
-0.1 0
20756A 756 -0.3 702 (54  13) (763.6) 30.8 -0.2 14 2
387
Linear Servo Motors
SGLFW-35
 Moving Coils: SGLFW-35AA

50 min. L1
30 30 L2 25
36
(32)
(10.5)
2
(7.5)
Magnetic Way Polarity sensor
5.5
(30) (30)
30 25
(60)
35
37
(35)
43
18
55 5
9.7 dia.
0.5
(8.5)
12.5
(12.5)
(6) 7.7 (4 without magnet cover) 0
±5 Refer to the following
34 Refer to the following table. 2 × #4-40 UNC 500 figures and .
screws L3 7
45±0.1 50 30 min.
0±
(Gap: 0.8 with magnet cover) 50
(4.2
12 The Moving Coil moves in
dia.
(Gap: 1 without magnet cover) the direction indicated by
(6.
)
the arrow when current flows in
1d
the following phase sequence: U, V, W.
i a.
SGLFW-35A120Ao SGLFW-35A230Ao
6 × M4 × 8 12 × M4 × 8
35
35
18
18
30
30
12.5
12.5
8.5
8.5
30 36 30 36
72 180 (36×5) Unit: mm

35A120A 127 72 108 1.3
35A230A 235 180 216 2.3
polarity sensors.
SGLFW-20AA and -35AA Moving Coils (page 397)
388
Linear Servo Motors
 Moving Coils: SGLFW-35AAD

50 min. L1
30 30 L2 25
(32) 2 36
(10.5)
Magnetic Way Polarity sensor
(7.5)
5.5
(30) (30)
30 25
(35)
(60)
37
43
55
35
18
0.5 12.5
9.7 dia.
(8.5)
(12.5)
(6) 7.7 (4 without magnet cover)
34 50 Refer to the following
Refer to the following table. 2 × #4-40 UNC 0±
screws 50 figures and . L3 7
45±0.1 30 min.
0±
(4.2
50 12
d
The Moving Coil moves in
ia.)
(6.
(10.2 with magnet cover) the direction indicated by
1d
(10 without magnet cover) the arrow when current flows in
ia .
)
the following phase sequence: U, V, W.
Linear Servo Motors

SGLFW-35A120AoD SGLFW-35A230AoD
6 × M4 × 8 12 × M4 × 8
35
35
18
18
30
30
12.5
12.5
8.5
30
8.5
36 30 36
72 180 (36×5) Unit: mm

35A120AD 127 72 108 1.3
35A230AD 235 180 216 2.3
polarity sensors.
SGLFW-35AAD and -50ABD Moving Coils (page 398)
389
Linear Servo Motors

(L3)
9.9°
Moving Coil 2 × N × 4.8 dia.
(4.5)
(30)
(25)
60
51
(55)
N S N S N S N S
(30)
30
4.5
6 4
Reference mark (Reference mark)
10 (34) 54 (54)
(Gap: 1) LA L2 (32.2)
45±0.1 Reference mark
L1
(There are two, approx.
4-dia. indentations.)
Unit: mm

L1 L2 (L3) LA N
Model SGLFM- [kg]
0
35324A 324 -0.1
-0.3 270 (54  5) (334.4) 32.2 -0.2 6 1.2
0
35540A 540 -0.1
-0.3 486 (54  9) (550.4) 32.2 -0.2 10 2
0
35756A 756 -0.1
-0.3 702 (54  13) (766.4) 32.2 -0.2 14 2.9
390
Linear Servo Motors
SGLFW-50
 Moving Coils: SGLFW-50AB

50 min. L1
30 55 L2 40
(40) 3 Polarity sensor 60
Magnetic Way
(15)
7
(37.5) (37.5)
37.75 33.75
(75)
23.5
(48)
71.5
(64.5)
12 dia.
0.5 (4.2 with magnet cover) 50
0± 5
(9) (4 without magnet cover) 50 Refer to the following figures and .
43 50 min. 25 L3 10
( 4.
50
0±
2d
58±0.1 50
ia.
(Gap: 0.8 with magnet cover) The Moving Coil moves in the direction indicated
)
(Gap: 1 without magnet cover) (7. by the arrow when current flows in the following phase
sequence: U, V, W.
4
dia
Linear Servo Motors

2 × #4-40 UNC
.)
screws
SGLFW-50A200Bo SGLFW-50A380Bo
6 × M5 × 9.5 12 × M5 × 9.5
23.5
23.5
48
48
12
14
55 60
14
12
55 60 300 (60 × 5)
120 Unit: mm
Moving Coil Model

L1 L2 L3 Approx. Mass [kg]
SGLFW-
50A200B 215 120 180 3.5
50A380B 395 300 360 6.9
polarity sensors.
SGLFW-50AB Moving Coils (page 399)
391
Linear Servo Motors
 Moving Coils: SGLFW-50ABD

50 min. L1
30 55 L2 40
(40) 3 Polarity sensor 60
Magnetic Way
(15)
7
37.75 33.75
(37.5) (37.5)
(64.5)
71.5
(48)
(75)
23.5
0.5
12 dia.
0
(9) ±5 5 Refer to the following figures and .
Refer to the following table. 500
43
(4.2 with magnet cover) 50 min. 25 L3 10
50
(4.
(4 without magnet cover) 0± 55
58±0.1 50
2 dia
.)
(7.
(Gap: 0.8 with magnet cover) by the arrow when current flows in the following
4d
(Gap: 1 without magnet cover) 2 × #4-40 UNC
ia.)
screws
SGLFW-50A200BoD SGLFW-50A380BoD
6 × M5 × 9.5 12 × M5 × 9.5
23.5
23.5
48
48
55 60
12
14
14
12
55 60 300 (60 × 5)
120 Unit: mm
Moving Coil Model

L1 L2 L3 Flatness Approx. Mass [kg]
SGLFW-
50A200BD 215 120 180 0.2 3.5
50A380BD 395 300 360 0.3 6.9
polarity sensors.
SGLFW-35AAD and -50ABD Moving Coils (page 398)
392
Linear Servo Motors

(L3)
8.6°
Moving Coil 2 × N × 5.8 dia.
(5)
(37.75) (33.75)
37.5 (37.5)
(71.5)
75
65
N S N S N S N S
5
9 5
14 (43) 67.5 Reference mark (67.5) (Reference
mark)
(Gap: 1) LA L2 (39.4)
58±0.1 Reference mark L1
Unit: mm

Linear Servo Motors


L1 L2 (L3) LA N
Model SGLFM- [kg]
0
50405A 405 -0.1
-0.3 337.5 (67.5  5) (416.3) 39.4 -0.2 6 2.8
0
50675A 675 -0.1
-0.3 607.5 (67.5  9) (686.3) 39.4 -0.2 10 4.6
0
50945A 945 -0.1
-0.3 877.5 (67.5  13) (956.3) 39.4 -0.2 14 6.5
393
Linear Servo Motors
SGLFW-1Z
 Moving Coils: SGLFW-1ZAB

50 min. L1
(40) 3 Magnetic Way 30 55 L2 40
Polarity sensor 60
(15)
7
(62.5)
57.5
35.5 35.5
96
98
(125)
96
119
61.5
0
(62.5)
5
0±
50
2 × #4-40
UNC screws The Moving Coil moves in the direction
14
(12)
0.5 Refer to the following indicated by the arrow when current flows
(9) figures and . in the following phase sequence: U, V, W.
(4.

2
43 50 min. 25 L3 10
di a

.)

58±0.1 (Gap: 1 without magnet cover) 50
0±
50 (8.
4
dia
(14 without magnet cover) .)
SGLFW-1ZA200Bo SGLFW-1ZA380Bo
9 × M5 × 9.5 18 × M5 × 9.5
35.5 35.5
35.5 35.5
96
96
12
12
14
14
55 60 55 60
120 300 (60 × 5) Unit: mm

1ZA200B 215 120 180 6.4
1ZA380B 395 300 360 11.5
polarity sensors.
SGLFW-1ZAB Moving Coils (page 400)
394
Linear Servo Motors
 Moving Coils: SGLFW-1ZA200BD

50 min. 215
Magnetic Way Polarity sensor 30 55 120 (60 × 2) 40
(40) 3
60
(15)
7
(62.5)
57.5
35.5
(112)
Proximity sensor
(96)
cable
(125)
119
UL20276, AWG28
35.5
0
±5
61.5
(62.5)
0
50
2 × #4-40 UNC
screws Refer to the direction indicated by the arrow when
0.5 (5.2 with magnet cover) following current flows in the following phase
(4.
(9) figure . sequence: U, V, W.
2
(5 without magnet cover) 50 min. 25 180 10
dia
43±0.05 0.2
.)
0±
(8.
58±0.1 (Gap: 1 without magnet cover) 50 Servo Motor Main Circuit Cable
4d
UL2517, AWG15
ia.)
Polarity sensor
(14.2 with magnet cover) connector
Linear Servo Motors

Servo Motor connector
SGLFW-1ZA200BoD
9 × M5 × 9.5L
Tightening torque: 750 to 850 N⋅cm
35.5
96
35.5

12
55 60
14
120 Unit: mm
polarity sensors.
SGLFW-1ZA200BD Moving Coils (page 401)
395
Linear Servo Motors
 Magnetic Ways: SGLFM-1ZA

(L3)
8.6°
Moving Coil
(6.5)
11.5 dia. 1.5
(62.5)
(57.5)
125
112
(119) N S N S N S N S
62.5
(61.5)
6.5
9 5
(Reference
14 (43) 67.5 Reference mark (67.5) mark)
LA L2 (43.2)
(Gap1)
58±0.1 L1
Reference mark
1.5
11.5 dia.

Unit: mm

L1 L2 (L3) LA N
Model SGLFM- [kg]
-0.1 0
1Z405A 405 -0.3 337.5 (67.5  5) (423.9) 43.2 -0.2 6 5
-0.1 0
1Z675A 675 -0.3 607.5 (67.5  9) (693.9) 43.2 -0.2 10 8.3
-0.1 0
1Z945A 945 -0.3 877.5 (67.5  13) (963.9) 43.2 -0.2 14 12
396
Linear Servo Motors
 SGLFW-20AA and -35AA Moving Coils

Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Pin 1
Mating Connector
Cap: 350780-1
Socket: 350536-3 or 350550-3

From DDK Ltd.
Linear Servo Motors

Mating Connector
Studs: 17L-002C or 17L-002C1
Inverse power (V)

Sv
Vw Sw
0 180 360 540

397
Linear Servo Motors
 SGLFW-35AAD and -50ABD Moving Coils

Extension: ARRA06AMRPN182
Pins: 021.279.1020
Mating Connector
Plug: APRA06BFRDN170
Socket: 020.105.1020

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
Inverse power (V)

Sv
Vw Sw
0 180 360 540

398
Linear Servo Motors
 SGLFW-50AB Moving Coils

Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Pin 4
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3

From DDK Ltd.
Mating Connector
Linear Servo Motors

Studs: 17L-002C or 17L-002C1
Inverse power (V)

Sv
Vw Sw
0 180 360 540

399
Linear Servo Motors
 SGLFW-1ZAB Moving Coils

Plug: 350779-1
Pins: 350218-3 or 350547-3 (No.1 to 3)
350654-1 or 350669-1 (No. 4)
Pin 1
Mating Connector
Cap: 350780-1
Socket: 350537-3 or 350550-3

From DDK Ltd.
Mating Connector
Studs: 17L-002C or 17L-002C1
Inverse power (V)

Sv
Vw Sw
0 180 360 540

400
Linear Servo Motors
 SGLFW-1ZA200BD Moving Coils

Pins: 021.423.1020
Mating Connector
Socket: 020.030.1020

From DDK Ltd.
Mating Connector
Linear Servo Motors

Studs: 17L-002C or 17L-002C1
Inverse power (V)

Sv
Vw Sw
0 180 360 540

401
Linear Servo Motors
Selecting Cables
 System Configurations
Example: SGLFW Servo Motors with F-type Iron
Cores
SERVOPACK
C
N
6

Servo Motor Main

Serial Converter Unit Circuit Cable
Sensor Cable
Polarity sensor
Linear Servo Motor

Note: 1. The above system configurations are for SGLFW Servo Motors with F-type Iron Cores. Refer to the manual for the
Linear Servo Motor for configurations with other models.
402
Linear Servo Motors
Length
(L)
1m JZSP-CLN11-01-E
L
5m JZSP-CLN11-05-E
SGLFW-20A, -35A
*1
1m JZSP-CLN21-01-E
L
5m JZSP-CLN21-05-E
SGLFW-50A, -1ZA 10 m JZSP-CLN21-10-E
Linear Servo Motors

*1
1m JZSP-CLN14-01-E
SGLFW- 5m JZSP-CLN14-05-E
 A  D
15 m JZSP-CLN14-15-E *2

Servo Motor Length*
Model (L)
1m JZSP-CLL00-01-E
Unit end L end
All Models
1m JZSP-CLL30-01-E
encoder from
5m JZSP-CLL30-05-E
Heidenhain
* When using a JZDP-J00 -    - E Serial Converter Unit, do not exceed a cable length of 3 m.
403
Linear Servo Motors

Length
(L)
1m JZSP-CLP70-01-E
end L Unit end
5m JZSP-CLP70-05-E
All Models
Sensor Cables
Length
(L)
1m JZSP-CLL10-01-E
SGLFW- A 5m JZSP-CLL10-05-E
404
SERVOPACKs
-7S Single-axis Analog Voltage/Pulse Train

Reference SERVOPACKs ....................................406
-7S Single-axis MECHATROLINK-III Communications

Reference SERVOPACKs ....................................416
-7S Single-axis EtherCAT

Communications Reference SERVOPACKs .........430
-7W Two-axis MECHATROLINK-III

Communications Reference SERVOPACKs .........446
-7W Two-axis EtherCAT Communications Reference

SERVOPACKs .....................................................460
SERVOPACK External Dimensions ......................466

SERVOPACKs
-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs
Model Designations
SGD7S - R70 A 00 A
1st+2nd+3rd 4th 5th+6th 7th
Σ-7 Series digit digit
digits digits
Σ-7S SERVOPACKs
Maximum Applicable
1st+2nd+3rd digits 4th digit Voltage
Motor Capacity
Voltage Code Specification Code Specification
R70*1 0.05 kW A 200 VAC
R90*1 0.1 kW F 100 VAC
1R6*1 0.2 kW
2R8*1 0.4 kW
3R8 0.5 kW 5th+6th digits Interface*2
5R5*1 0.75 kW Code Specification
Three- 7R6 1.0 kW Analog voltage/pulse
phase, 120*3 1.5 kW 00 train reference
200 180 2.0 kW
VAC
200 3.0 kW 7th digit Design Revision Order
330 5.0 kW A
470 6.0 kW
550 7.5 kW
590 11 kW
780 15 kW
R70 0.05 kW
Single- R90 0.1 kW
phase,
2R1 0.2 kW
100 VAC
2R8 0.4 kW
*1. You can use these models with either a single-phase or three-phase power supply input.
*2. The same SERVOPACKs are used for both Rotary Servo Motors and Linear Servo Motors.
*3. A model with a single-phase, 200-VAC power supply input is available as a hardware
option (model: SGD7S-120A00A008).
406
SERVOPACKs
Ratings and Specifications
Ratings
 Single-phase, 100 VAC

Model SGD7S- R70F R90F 2R1F 2R8F
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4
Continuous Output Current [Arms] 0.66 0.91 2.1 2.8
Instantaneous Maximum Output Current [Arms] 2.1 3.2 6.5 9.3
Power Supply 100 VAC to 120 VAC, -15% to +10%, 50/60 Hz
Main Circuit
Input Current [Arms]* 1.5 2.5 5 10
Control Power Supply 100 VAC to 120 VAC, -15% to +10%, 50/60 Hz
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.4
Main Circuit Power Loss [W] 5.3 7.8 14.2 26.2
Power Loss* Control Circuit Power Loss [W] 12 12 12 12
Total Power Loss [W] 17.3 19.8 26.2 38.2
Regenerative Minimum Allowable External Resis-
40 40 40 40
Resistor tance []
Overvoltage Category III
SERVOPACKs
* This is the net value at the rated load.
 Three-phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84.0
Main Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Circuit Input Current [Arms]* 0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15 25
Control Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Power Supply Capacity [kVA]* 0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9 7.5
263.
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8
7
Control Circuit Power Loss [W] 17 17 17 17 17 17 17 22 22 22 27
Power
Loss* Built-in Regenerative
- - - - 8 8 8 10 16 16 36.0
Resistor Power Loss [W]
149. 151. 326.
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8
9 8 7
Built-In Resistance
- - - - 40 40 40 20 12 12 8
Regenera- Regenera- [ ]
tive Resis- tive Resistor Capacity [W] - - - - 40 40 40 60 60 60 180
tor Minimum Allowable Exter-
40 40 40 40 40 40 40 20 12 12 8
nal Resistance [ ]
407
SERVOPACKs
Model SGD7S- 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 6.0 7.5 11 15
Instantaneous Maximum Output Current [Arms] 110 130 140 170
Circuit Input Current [Arms]*1 29 37 54 73
Power Supply Capacity [kVA]*1 10.7 14.6 21.7 29.6
Control Circuit Power Loss [W] 33 33 48 48
Power Loss*1 External Regenerative Resistor Unit
180*2 180 *3 350 *3 350 *3
Power Loss [W]
*2 *3 *3
External Regenera- Resistance [ ] 6.25 3.13 3.13 3.13 *3
External Regenera- tive Resistor Unit Capacity [W] 880 *2
1760 *3
1760 *3
1760*3
tive Resistor Unit
Minimum Allowable External Resistance
5.8 2.9 2.9 2.9
[ ]
*1. This is the net value at the rated load.

*2. This value is for the optional JUSP-RA04-E Regenerative Resistor Unit.

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9
Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz
Main Circuit
Input Current [Arms]* 0.8 1.6 2.4 5.0 8.7
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.2 1.9
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 43.8
Control Circuit Power Loss [W] 17 17 17 17 17
Power Loss* Built-in Regenerative Resistor Power
- - - - 8
Loss [W]
Total Power Loss [W] 22.1 24.3 30.5 41.0 68.8
Built-In Regener- Resistance [ ] - - - - 40
Regenerative ative Resistor Capacity [W] - - - - 40
Resistor Minimum Allowable External Resis-
40 40 40 40 40
tance [ ]
408
SERVOPACKs
 270 VDC
Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 11.0 16.9 17.0 28.0
Power Supply 270 VDC to 324 VDC, -15% to +10%
Main Circuit
Input Current [Arms]* 0.5 1.0 1.5 3.0 3.8 4.9 6.9 11
Control Power Supply 270 VDC to 324 VDC, -15% to +10%
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
Main Circuit Power Loss [W] 4.6 6.3 11.7 20.2 16.9 37.9 46.0 53.2
Power Loss* Control Circuit Power Loss [W] 17 17 17 17 17 17 17 22
Model SGD7S- 180A 200A 330A 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 2.0 3.0 5.0 6.0 7.5 11.0 15.0
Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0
Instantaneous Maximum Output Current [Arms] 42.0 56.0 84.0 110 130 140 170
Main Circuit
Input Current [Arms]* 14 20 34 36 48 68 92
SERVOPACKs
Power Supply Capacity [kVA]* 4.0 5.9 7.5 10.7 14.6 21.7 29.6
Main Circuit Power Loss [W] 95.8 87.6 163.7 203.4 261.2 246.6 346.5
Power Loss* Control Circuit Power Loss [W] 22 22 27 33 33 48 48
Total Power Loss [W] 117.8 109.6 190.7 236.4 294.2 294.6 394.5
409
SERVOPACKs
SERVOPACK Overload Protection Characteristics

The overload detection level is set for hot start conditions with a SERVOPACK surrounding air tempera-
ture of 55°C.
An overload alarm (A.710 or A.720) will occur if overload operation that exceeds the overload protection
characteristics shown in the following diagram (i.e., operation on the right side of the applicable line) is
performed.
The actual overload detection level will be the detection level of the connected SERVOPACK or Servo
Motor that has the lower overload protection characteristics.
In most cases, that will be the overload protection characteristics of the Servo Motor.
10000
SERVOPACK Model:
1000
Detection time (s)
SGD7S-3R8, -5R5, -7R6,

-120, -180, -200, -330,
-470, -550, -590, and -780
100
10 SERVOPACK Model:
SGD7S-R70, -R90,
-1R6, and -2R8
1
Instantaneous maximum output current
100 200 230 × 100%
Continuous output current
(Continuous output current)
SERVOPACK output current (Instantaneous maximum output current)
(continuous output current ratio) (%)
For a Yaskawa-specified combination of SERVOPACK and Servo Motor, maintain the effective torque (or effective
force) within the continuous duty zone of the torque-motor speed characteristic (or force-motor speed characteris-
tics) of the Servo Motor.
410
SERVOPACKs
Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
With Rotary
Serial encoder: 20 bits or 24 bits (incremental encoder/absolute encoder)
Servo Motor
Feedback • Absolute linear encoder (The signal resolution depends on the absolute
With Linear linear encoder.)
Servo Motor • Incremental linear encoder (The signal resolution depends on the incre-
mental linear encoder or Serial Converter Unit.)
-5°C to 55°C
Surrounding Air With derating, usage is possible between 55°C and 60°C.
Temperature*1 Refer to the following section for derating specifications.
Derating Specifications (page 415)
Storage Temperature -20°C to 85°C
Surrounding Air
95% relative humidity max. (with no freezing or condensation)
Humidity
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
I
Environmen- Class SERVOPACK Model: SGD7S-

IP20 R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
SERVOPACKs
tal Conditions Degree of Protection
IP10 180A, 200A, 330A, 470A, 550A, 590A, 780A
2
• Must be no corrosive or flammable gases.
Pollution Degree
• Must be no exposure to water, oil, or chemicals.
• Must be no dust, salts, or iron dust.
1,000 m or less.
*1
With derating, usage is possible between 1,000 m and 2,000 m.
Altitude Refer to the following section for derating specifications.
Derating Specifications (page 415)
Do not use the SERVOPACK in the following locations: Locations subject to static elec-
Others
tricity noise, strong electromagnetic/magnetic fields, or radioactivity
UL 61800-5-1, CSA C22.2 No.274, EN 50178, EN 61800-5-1, EN 55011 group 1 class
Applicable Standards A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to 4, IEC 61800-5-2, IEC
62061, ISO 13849-1, and IEC 61326-3-1
Mounting SERVOPACK Model: SGD7S-

Base-mounted All Models
Mounting R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A,
Rack-mounted
120A, 180A, 200A, 330A
Duct-ventilated 470A, 550A, 590A, 780A
1:5000 (At the rated torque, the lower limit of the speed control range must not cause the
Speed Control Range
Servo Motor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)
Coefficient of Speed Fluctua-
0% of rated speed max. (for a voltage fluctuation of ±10%)
Performance tion*2
±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)
Torque Control Precision
±1%
(Repeatability)
Soft Start Time Setting 0 s to 10 s (Can be set separately for acceleration and deceleration.)
Continued on next page.
411
SERVOPACKs
Continued from previous page.

Item Specification
Encoder Divided Pulse Phase A, phase B, phase C: Line-driver output
Output Number of divided output pulses: Any setting is allowed.
Linear Servo Motor Overheat Number of input points: 1
Protection Signal Input Input voltage range: 0 V to +5 V
Allowable voltage range: 5 VDC ±5%
Fixed Input Number of input points: 1
Absolute Data Request (SEN)
Number of input points: 7
Input method: Sink inputs or source inputs
Input Signals:
• Servo ON (/S-ON)
• Proportional Control (/P-CON)
• Forward Drive Prohibit (P-OT) and Reverse Drive Prohibit (N-OT)
Sequence • Alarm Reset (/ALM-RST)
Input Input • Forward External Torque Limit (/P-CL) and Reverse External Torque Limit
Signals Signals That (/N-CL)
Can Be • Motor Direction (/SPD-D)
Allocated • Internal Set Speed Selection (/SPD-A and /SPD-B)
• Control Selection (/C-SEL)
• Zero Clamping (/ZCLAMP)
• Reference Pulse Inhibit (/INHIBIT)
• Polarity Detection (/P-DET)
I/O Signals • Gain Selection (/G-SEL)
• Reference Pulse Input Multiplication Switch (/PSEL)
• Absolute Data Request (SEN)
A signal can be allocated and the positive and negative logic can be changed.
Allowable voltage range: 5 VDC to 30 VDC
Fixed
Number of output points: 1
Output
Output signal: Servo Alarm (ALM)
(A photocoupler output (isolated) is used for three of the outputs.)
(An open-collector output (non-isolated) is used for the other three outputs.)
Output Signals:
Sequence • Positioning Completion (/COIN)
Output Sig- Output Sig- • Speed Coincidence Detection (/V-CMP)
nals nals That Can • Rotation Detection (/TGON)
Be • Servo Ready Output (/S-RDY)
Allocated • Torque Limit Detection (/CLT)
• Speed Limit Detection (/VLT)
• Brake (/BK)
• Warning Output (/WARN)
• Near Output (/NEAR)
• Reference Pulse Input Multiplication Switching (/PSELA)
• Alarm Code (ALO1, ALO2, and ALO3)
Interfaces Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)
1:N
RS-422A
Communica- Up to N = 15 stations possible for RS-422A port
Communica-
tions
tions (CN3)
Communica- Axis Address
Set with parameters.
tions Setting
Interface Personal computer (with SigmaWin+)
USB Com-
munications Communica-
(CN7) tions Stan- Conforms to USB2.0 standard (12 Mbps).
dard
Displays/Indicators CHARGE indicator and five-digit seven-segment display
Panel Operator Four push switches
412
SERVOPACKs

Item Specification
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Analog Monitor (CN5)
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the
Dynamic Brake (DB)
main circuit or servo is OFF.
Built-in (An external resistor must be connected to the SGD7S-470A to -780A.)
Regenerative Processing
Built-In Regenerative Resistor (page 547)
Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT
Overtravel (OT) Prevention
(Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Safety Func-
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
tions
*3 ISO13849-1 PLe (Category 3) and IEC61508 SIL3
Applicable Standards
Fully-Closed Modules and Safety Modules
Option Module Note: You cannot use a Fully-Closed Module and a Safety Module
together.
SERVOPACKs
• Maximum input voltage: ±12 V (forward motor rotation for positive refer-
Reference
ence).
Voltage
• 6 VDC at rated speed (default setting). Input gain setting can be changed.
Input
Speed Control
Input Imped-
Signal Approx. 14 k
ance
Circuit Time
30 s
Constant
Rotation
Internal Set Direction With Proportional Control signal
Speed Con- Selection
trol Speed Selec- With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection).
tion Servo Motor stops or another control method is used when both signals are OFF.
Feedforward
0% to 100%
Compensation
Controls
Output Signal Positioning

0 to 1,073,741,824 reference units
Completed Width Setting
One of the following is selected:
Reference
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains with 90° phase
Pulse Form
differential
Position Control
Input Form Line driver or open collector

Reference pulses
• Line Driver
Sign + pulse train or CW + CCW pulse trains: 4 Mpps
Input Signals
Maximum
Two-phase pulse trains with 90° phase differential: 1 Mpps
Input
• Open Collector
Frequency
Sign + pulse train or CW + CCW pulse trains: 200 kpps
Two-phase pulse trains with 90° phase differential: 200 kpps
Input
Multiplication 1 to 100 times
Switching
Position deviation clear
Clear Signal
Line driver or open collector
413
SERVOPACKs

Item Specification
• Maximum input voltage: ±12 V (forward torque output for positive refer-
Reference
Torque Control
ence).
Voltage
• 3 VDC at rated torque (default setting). Input gain setting can be changed.
Controls
Input
Input Imped-
Signal Approx. 14 k
ance
Circuit Time
16 s
Constant
*1. If you combine a -7-Series SERVOPACK with a -V-Series Option Module, the following -V-Series SERVOPACKs
specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the
applicable range cannot be increased by derating.
*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:
Coefficient of speed fluctuation = No-load motor speed - Total-load motor speed × 100%
Rated motor speed
*3. Always perform risk assessment for the system and confirm that the safety requirements are met.
414
SERVOPACKs
Derating Specifications
If you use the SERVOPACK at a surrounding air temperature of 55°C to 60°C or at an altitude of 1,000 m
to 2,000 m, you must apply the derating rates given in the following graphs.
 SGD7S-R70A, -R90A, -1R6A, and -2R8A
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
Surrounding air temperature Altitude Surrounding air temperature and altitude
 SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A,
and -780A
SERVOPACKs
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
415
SERVOPACKS
-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
SGD7S - R70 A 30 A 000 F64

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th
S-7 Series digit digit
digits digits digits digits
S-7S SERVOPACKs
Maximum Applicable
1st+2nd+3rd digits 5th+6th digits Interface*2
Motor Capacity
Voltage Code Specification Voltage Code Specification Code Specification
R70*1 0.05 kW 1R9 0.5 kW MECHATROLINK-III
30
R90*1 0.1 kW 3R5 1.0 kW communications reference
1R6*1 0.2 kW 5R4 1.5 kW
2R8*1 0.4 kW 8R4 2.0 kW 7th digit Design Revision Order
Three- 3R8 0.5 kW Three- 120 3.0 kW
phase, phase, Code Specification
200 5R5*1 0.75 kW 400 170 5.0 kW Global Design Revision for
A
VAC 7R6 1.0 kW VAC 210 *4 6.0 kW 200V
120*3 1.5 kW 260 *4 7.5 kW Global Design Revision for
B
180 2.0 kW 280 *4 11 kW 400V
200 3.0 kW 370 *4 15 kW
330 5.0 kW 8th+9th+10th digits
470 6.0 kW 4th digit Voltage Hardware Options (400V Models ONLY)
550 7.5 kW Code Specification Code Specification
590 11 kW D 400 VAC 000 Without options
780 15 kW A 200 VAC 026 With relay for holding brake
R70 0.05 kW F 100 VAC
Single- R90 0.1 kW 11th+12th+13th digits
phase,
100 VAC 2R1 0.2 kW FT/EX Spec (400V Models ONLY)
2R8 0.4 kW
Code Specification
000 Without options
F64 Zone Table
Note: F64 options is standard for 400V

amps and not available for 200V amps.
*1. You can use these models with either a single-phase or three-phase power supply input..
*3. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-
120A30A008).
*4. These SERVOPACKs do not have an integrated Dynamic Brake Circuit. Please refer to page 549 for more information
on Sigma-7 400V Dynamic Brake Resistors.
416
SERVOPACKs
Ratings

Main Circuit
Power Loss * Control Circuit Power Loss [W] 12 12 12 12
Regenerative Minimum Allowable External
40 40 40 40
Resistor Resistance [ ]
SERVOPACKs

Instantaneous Maximum Output Current
2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84.0
[Arms
Main Power Supply 200 VAC to 240 VAC, -15%% to +10%, 50 Hz/60 Hz
Control Power Supply 200 VAC to 240 VAC, -15%% to +10%, 50 Hz/60 Hz
Main Circuit Power Loss [W] 5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7
Control Circuit Power Loss
17 17 17 17 17 17 17 22 22 22 27
[W]
Power Loss*
Built-in Regenerative Resis-
    8 8 8 10 16 16 36.0
tor Power Loss [W]
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 151.8 326.7
Built-In Resistance
    40 40 40 20 12 12 8
Regenera- [ ]
Regenera- tive Resistor Capacity [W]     40 40 40 60 60 60 180
tive Resistor
Minimum Allowable External
40 40 40 40 40 40 40 20 12 12 8
Resistance [ ]
417
SERVOPACKs

Main Power Supply 200 VAC to 240 VAC, -15%% to +10%, 50 Hz/60 Hz
Control Power Supply 200 VAC to 240 VAC, -15%% to +10%, 50 Hz/60 Hz
Power Loss *1 External Regenerative Resistor Unit
Power Loss [W]
180*2 180*3 350*3 350*3
External Regen- Resistance [ ] 6.25 *2
3.13 *3
3.13 *3
3.13*3
External Regen- erative Resistor
erative Resistor Unit Capacity [W] 880*2 1760 *3 1760*3 1760*3
Unit Minimum Allowable External Resis-
5.8 2.9 2.9 2.9
tance [ ]

Main Circuit
Power Loss* Built-in Regenerative Resistor
    8
Power Loss [W]
Built-In Regen- Resistance
    40
erative Resis- [ ]
Regenerative tor Capacity [W]     40
Resistor
40 40 40 40 40
Resistance [ ]
418
SERVOPACKs
 270 VDC
Main Circuit

Main Circuit
SERVOPACKs
419
SERVOPACKs

Model SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
Maximum Applicable Motor Capacity [kW] 0.5 1 1.5 2 3 5 6 7.5 11 15
Continuous Output Current [Arms] 1.9 3.5 5.4 8.4 11.9 16 20.8 25.7 28.1 37.2
Instantaneous Maximum Output Current [Arms 5.5 8.5 14 21 28 42 55 65 70 85
Main Power Supply Three-phase, 380 VAC to 480 VAC, -15%% to +10%, 50 Hz/60 Hz
Circuit Input Current [Arms]* 1.4 2.9 4.3 5.8 8.6 14.5 17.4 21.7 31.8 43.4
Control Power Power Supply 24 VDC ±15%
Supply Input Current [Arms]* 1.2 1.4 1.5
Power Supply Capacity [kVA]* 1.1 2.3 3.5 4.5 7.1 11.7 12.4 14.4 21.9 30.6
Main Circuit Power Loss [W] 19.2 30 62.3 89.4 136.8 188.7 188.4 228.5 278.2 389.8
14 14 28 28 28 36 (180) (240)
Power Loss [W]
Total Power Loss [W] 54.2 65 111.3 138.4 185.5 246.7 216.4 256.5 310.2 389.8
Built-In Resistance
75 75 75 43 43 27 -
Regenerative [ ]
Regenerative Resistor Capacity [W] 70 70 140 140 140 180 -
Resistor
75 75 75 43 43 27 18 14.25
Resistance [ ]
 540 VDC
Main Power Supply 513 VDC to 648 VDC, -15%, +10%
Circuit Input Current [Arms]* 2 3.3 5.5 6.8 11 18 19.6 26.2 38.3 47.6
14 14 28 28 28 36 (180) (240)
Power Loss [W]
Total Power Loss [W] 37.4 45.4 69.5 94.7 131.4 166.5 216.4 228.5 310.2 389.8
420
SERVOPACKs
SERVOPACK Overload Protection Characteristics (200V)

ture of 55°C.
performed.
10000
SERVOPACK Model:
1000 SGD7S-3R8A, -5R5A, -7R6A,
Detection time (s)
-120A, -180A, -200A, -330A,

-470A, -550A, -590A, and -780A
100
10 SERVOPACK Model:
SGD7S-R70A, -R90A,
-1R6A, and -2R8A
1
SERVOPACKs
100 200 230 × 100%
421
SERVOPACKs

ture of 55°C*.
The actual overload detection level will be the detection level of the connected SERVOPACK or Servo-
motor that has the lower overload protection characteristics.
In most cases, that will be the overload protection characteristics of the Servomotor.
10000
SERVOPACK Model:
SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D
1000 -170D, -210D, -260D, -280D, -370D
Detection time (s)
100
10
1 Instantaneous maximum output current

100 200 × 100%
For a YASKAWA-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the
continuous duty zone of the torque-motor speed characteristic of the Servomotor.
* However, the range for the SGD7S-370D is -5°C to 40°C.
422
SERVOPACKs
Item Specification
Drive Method IGBT-based PWM control, sine wave current drive
With Rotary
Servo Motor
Feedback • Absolute linear encoder (The signal resolution depends on the absolute linear
With Linear encoder.)
Servo Motor • Incremental linear encoder (The signal resolution depends on the incremental lin-
ear encoder or Serial Converter Unit.)
-5C to 55C
Surrounding Air With derating, usage is possible between 55C and 60C.
Specifications (400 V Models) (page 426)
Storage Temperature -20C to 85C
Surrounding Air
Humidity
Shock Resistance 19.6 m/s 2
I
Environmen- Class SERVOPACK Model: SGD7S-
SERVOPACKs
tal Conditions Degree of Protection IP20 R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
IP10 180A, 200A, 330A, 470A, 550A, 590A, 780A
2
Pollution Degree
1,000 m or less.
Altitude*1 Refer to the following section for derating specifications.
Do not use the SERVOPACK in the following locations: Locations subject to static
Others
electricity noise, strong electromagnetic/magnetic fields, or radioactivity
UL 61800-5-1, CSA C22.2 No.274, EN 50178, EN 61800-5-1, EN 55011 group 1
Applicable Standards class A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to 4, IEC 61800-5-
2, IEC 62061, ISO 13849-1, and IEC 61326-3-1

Mounting R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
Rack-mounted
7R6A, 120A, 180A, 200A, 330A
1:5000 (At the rated torque, the lower limit of the speed control range must not
Speed Control Range
cause the Servo Motor to stop.)
0.01% of rated speed max. (for a load fluctuation of 0% to 100%)
Coefficient of Speed
0% of rated speed max. (for a voltage fluctuation of 10%)
Fluctuation*2
Performance 0.1% of rated speed max. (for a temperature fluctuation of 25C 25C)
1%
(Repeatability)
Soft Start Time
0 s to 10 s (Can be set separately for acceleration and deceleration.)
Setting
423
SERVOPACKs

Item Specification
Linear Servo Motor Over-
heat Protection Signal
Input voltage range: 0 V to +5 V
Input
Allowable voltage range: 24 VDC 20%
Input Sig- Input Signals:
Sequence
nals That • Origin Return Deceleration Switch (/DEC)
Input
Can Be • External Latch 1 to 3 (/EXT 1 to 3)
Signals
Allocated • Forward Drive Prohibit (P-OT) and Reverse Drive Prohibit (N-OT)
• Forward External Torque Limit (/P-CL) and Reverse External Torque Limit (/N-CL)
I/O Signals Allowable voltage range: 5 VDC to 30 VDC
Fixed Out-
put
(A photocoupler output (isolated) is used.)
Output Signals:
Output Sig- Output
Signals • Speed Coincidence Detection (/V-CMP)
nals • Rotation Detection (/TGON)
That Can
Be Allo- • Servo Ready Output (/S-RDY)
cated • Torque Limit Detection (/CLT)
• Brake (/BK)
Digital Operator (JUSP-OP05A-1-E) and personal computer (with
Interfaces
SigmaWin+)
RS-422A 1:N Com-
Communi- munica- Up to N = 15 stations possible for RS-422A port
cations tions
Communica- (CN3) Axis
tions Address Set with parameters.
Setting
Interface Personal computer (with SigmaWin+)
USB Com-
munications Communi-
(CN7) cations Conforms to USB2.0 standard (12 Mbps).
Standard
Displays/Indicators CHARGE, PWR, COM, L1, and L2 indicators, and one-digit seven-segment display
Communications Protocol MECHATROLINK-III
Station Address 03 to EF hex (maximum number of slaves: 62)
MECHA- Settings The rotary switches (S1 and S2) are used to set the station address.
TROLINK-III Baud Rate 100 Mbps
Communica- 125 s, 250 s, 500 s, 750 s,
tions Transmission Cycle
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmission 32 or 48 bytes/station
Bytes A DIP switch (S3) is used to select the number of transmission bytes.
Performance Position, speed, or torque control with MECHATROLINK-III communications
Reference MECHATROLINK-III commands (sequence, motion, data setting, data access, mon-
Reference Input
Method itoring, adjustment, etc.)
Profile MECHATROLINK-III standard servo profile
MECHATROLINK-III Communications Rotary switch (S1 and S2) positions: 16
Setting Switches Number of DIP switch (S3) pins: 4
424
SERVOPACKs

Item Specification
Number of points: 2
Output voltage range: 10 VDC (effective linearity range: 8 V)
Resolution: 16 bits
Accuracy: 20 mV (Typ)
Maximum output current: 10 mA
Settling time (1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or when the power supply
Dynamic Brake (DB)
to the main circuit or servo is OFF.
Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-
OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal
Safety Func- Output EDM1: Monitors the status of built-in safety circuit (fixed output).
tions Applicable
ISO13849-1 PLe (Category 3), IEC61508 SIL3
Standards*3
Option Module
Note: You cannot use a Fully-Closed Module and a Safety Module together.
SERVOPACKs
No-load motor speed - Total-load motor speed
Coefficient of speed fluctuation = × 100%
Rated motor speed
425
SERVOPACKs
Item Specification
With Rotary
Serial encoder: 24 bits (incremental encoder/absolute encoder)
Servo Motor
-5C to 55C (60C with derating)
Surrounding Air However the range for the SGD7S-370D is -5C to 40C
Surrounding Air
Humidity
Environmen- Shock Resistance 19.6 m/s 2

tal Conditions Degree of Protection IP10
2
Pollution Degree
1,000 m or less.
*1
Others
2, IEC 62061, ISO 13849-1, and IEC 61326-3-1
Mounting Base-mounted
Speed Control Range
Fluctuation*2
1%
(Repeatability)
Soft Start Time
Setting
426
SERVOPACKs

Item Specification
Input
Input Signals:
Input Sig- • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) signals
Sequence
nals That • /Probe1 (Probe 1 Latch Input) signal
Input
Can Be • /Probe2 (Probe 2 Latch Input) signal
Signals
Allocated • /Home (Home Switch Input) signal
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit)
signals
• /SI0 and /SI3 (General-Purpose Input) signals
Fixed Out-
I/O Signals put
SERVOPACKs
Output Signals:
• /COIN (Positioning Completion) signal
• /V-CMP (Speed Coincidence Detection) signal
Sequence • /TGON (Rotation Detection) signal
Output Sig- Output • /S-RDY (Servo Ready) signal
nals Signals • /CLT (Torque Limit Detection) signal
That Can • /VLT (Speed Limit Detection) signal
Be Allo- • /BK (Brake) signal
cated • /WARN (Warning) signal
• /NEAR (Near) signal
• /ZONE0 (ZONE Signal 1 Output) signal
• /nZONE (nZONE output) signal
Interfaces Digital Operator (JUSP-OP05A-1-E)
1:N Com-
RS-422A
munica- Up to N = 15 stations possible for RS-422A port
Communi-
tions
cations
(CN3) Axis
Communica- Address Set with parameters.
tions Setting
Personal Computer (with SigmaWin+)
Interface
USB Com- The software version of the SigmaWin+ must be version 7.11 or higher.
Standard
Displays/Indicators CHARGE, PWR, COM, L1, and L2 indicators, and one-digit seven-segment display
Communications Protocol MECHATROLINK-III
MECHA- Settings The rotary switches (S1 and S2) are used to set the station address.
TROLINK-III Baud Rate 100 Mbps
Communica- 125 s, 250 s, 500 s, 750 s,
tions Transmission Cycle
Number of Transmission 32 or 48 bytes/station
Bytes A DIP switch (S3) is used to select the number of transmission bytes.
427
SERVOPACKs

Item Specification
Reference MECHATROLINK-III commands (sequence, motion, data setting, data access, mon-
Reference Input
Method itoring, adjustment, etc.)
MECHATROLINK-III Communications Rotary switch (S1 and S2) positions: 16
Setting Switches Number of DIP switch (S3) pins: 4
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
tions Applicable
Standards*3
Option Module Fully-Closed Modules
*1. If you combine a -7-Series SERVOPACK with a -V-Series Option Module, the surrounding air temperature of 0°C to
55°C and an altitude of 1,000 m max. must be used. Also, the applicable range cannot be increased by derating.
Rated motor speed
428
SERVOPACKs
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
and -780A
SERVOPACKs
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
429
SERVOPACKS
-7S Single-axis EtherCAT Communications Reference SERVOPACKs
Model Designations
SGD7S - R70 A A0 A 000 F64

digits digits digits digits
S-7S SERVOPACKs
Maximum Applicable
1st+2nd+3rd digits 5th+6th digits Interface*2
Motor Capacity
Voltage Code Specification Voltage Code Specification Code Specification
R70*1 0.05 kW 1R9 0.5 kW EtherCAT communications
A0
R90*1 0.1 kW 3R5 1.0 kW reference
1R6*1 0.2 kW 5R4 1.5 kW
2R8*1 0.4 kW 8R4 2.0 kW 7th digit Design Revision Order
Three- 3R8 0.5 kW Three- 120 3.0 kW
phase, phase, Code Specification
200 5R5*1 0.75 kW 400 170 5.0 kW Global Design Revision for
A
VAC 7R6 1.0 kW VAC 210 *4 6.0 kW 200V
120*3 1.5 kW 260 *4 7.5 kW Global Design Revision for
B
180 2.0 kW 280 *4 11 kW 400V
200 3.0 kW 370 *4 15 kW
330 5.0 kW 8th+9th+10th digits
470 6.0 kW 4th digit Voltage Hardware Options (400V Models ONLY)
550 7.5 kW Code Specification Code Specification
590 11 kW D 400 VAC 000 Without options
780 15 kW A 200 VAC 026 With relay for holding brake
R70 0.05 kW F 100 VAC
Single- R90 0.1 kW 11th+12th+13th digits
phase,
100 VAC 2R1 0.2 kW FT/EX Spec (400V Models ONLY)
2R8 0.4 kW
Code Specification
000 Without options
F64 Zone Table
Note: F64 options is standard for 400V

amps and not available for 200V amps.
*1. You can use these models with either a single-phase or three-phase power supply input..
120A30A008).
430
SERVOPACKs
Ratings

Main Circuit
Power Loss * Control Circuit Power Loss [W] 12 12 12 12
40 40 40 40
Resistor Resistance []
SERVOPACKs

R70 R90 1R6 2R8 3R8 5R5 7R6
A A A A A A A
Maximum Applicable Motor Capacity
0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0
[kW]
2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84.0
[Arms]
Main Circuit Power
5.1 7.3 13.5 24.0 20.1 43.8 53.6 65.8 111.9 113.8 263.7
Loss [W]
Control Circuit Power
17 17 17 17 17 17 17 22 22 22 27
Power Loss [W]
Loss* Built-in Regenerative
Resistor Power Loss     8 8 8 10 16 16 36.0
[W]
Total Power Loss [W] 22.1 24.3 30.5 41.0 45.1 68.8 78.6 97.8 149.9 151.8 326.7
Built-In Resis-
    40 40 40 20 12 12 8
Regener- tance []
Regener- ative Capacity
Resistor     40 40 40 60 60 60 180
ative [W]
Resistor Minimum Allowable
External Resistance 40 40 40 40 40 40 40 20 12 12 8
[]
431
SERVOPACKs

Power Supply Capacity [kVA]]*1 10.7 14.6 21.7 29.6
Power Loss]*1 External Regenerative Resistor Unit
Power Loss [W]
180*2 180*3 350*3 350*3
External Regen- Resistance [] 6.25 *2
3.13 *3
3.13 *3
3.13*3
External Regen- erative Resistor
erative Resistor Unit Capacity [W] 880*2 1760 *3 1760 *3 1760 *3
Unit Minimum Allowable External Resis-
5.8 2.9 2.9 2.9
tance []

Main Circuit
    8
Power Loss [W]
Built-In Regen- Resistance []     40
erative Resis-
Regenerative tor Capacity [W]     40
Resistor
40 40 40 40 40
Resistance []
432
SERVOPACKs
 270 VDC
Main Circuit

SERVOPACKs
Main Circuit
433
SERVOPACKs

Main Power Supply Three-phase, 380 VAC to 480 VAC, -15%% to +10%, 50 Hz/60 Hz
Circuit Input Current [Arms]* 1.4 2.9 4.3 5.8 8.6 14.5 17.4 21.7 31.8 43.4
14 14 28 28 28 36 (180) (240)
Power Loss [W]
Total Power Loss [W] 54.2 65 111.3 138.4 185.5 246.7 216.4 256.5 310.2 389.8
Built-In Resistance
75 75 75 43 43 27 -
Regenerative [ ]
Regenerative Resistor Capacity [W] 70 70 140 140 140 180 -
Resistor
75 75 75 43 43 27 18 14.25
Resistance [ ]
 540 VDC
Main Power Supply 513 VDC to 648 VDC, -15%, +10%
Circuit Input Current [Arms]* 2 3.3 5.5 6.8 11 18 19.6 26.2 38.3 47.6
14 14 28 28 28 36 (180) (240)
Power Loss [W]
Total Power Loss [W] 37.4 45.4 69.5 94.7 131.4 166.5 216.4 228.5 310.2 389.8
434
SERVOPACKs

ture of 55C.
performed.
10000
SERVOPACK Model:
1000 SGD7S-3R8, -5R5, -7R6,
Detection time (s)
-120, -180, -200, -330,

-470, -550, -590, and -780
100
10 SERVOPACK Model:
SGD7S-R70, -R90,
-1R6, and -2R8
1
SERVOPACKs
100 200 230 × 100%
435
SERVOPACKs

ture of 55°C*.
The actual overload detection level will be the detection level of the connected SERVOPACK or Servo-
motor that has the lower overload protection characteristics.
In most cases, that will be the overload protection characteristics of the Servomotor.
10000
SERVOPACK Model:
SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D
1000 -170D, -210D, -260D, -280D, -370D
Detection time (s)
100
10

100 200 × 100%
For a YASKAWA-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the
continuous duty zone of the torque-motor speed characteristic of the Servomotor.
* However, the range for the SGD7S-370D is -5°C to 40°C.
436
SERVOPACKs
Specifications (200V Models)
Item Specification
With Rotary
Servo Motor
Servo Motor • Incremental linear encoder (The signal resolution depends on the incremental linear
encoder or Serial Converter Unit.)
-5C to 55C
Temperature *1 Refer to the following section for derating specifications.
Surrounding Air Humidity 95% relative humidity max. (with no freezing or condensation)
I
Environ- Class SERVOPACK Model: SGD7S-
mental Con- Degree of Protection IP20 R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A
SERVOPACKs
ditions
IP10 180A, 200A, 330A, 470A, 550A, 590A, 780A
2
Pollution Degree
1,000 m or less.
*1
Others
UL 61800-5-1, CSA C22.2 No.274, EN 50178, EN 61800-5-1, EN 55011 group 1 class
Applicable Standards A, EN 61000-6-2, EN 61000-6-4, EN 61800-3, IEC 61508-1 to 4, IEC 61800-5-2, IEC
62061, ISO 13849-1, and IEC 61326-3-1

Rack-mounted
7R6A, 120A, 180A, 200A, 330A
1:5000 (At the rated torque, the lower limit of the speed control range must not cause
Speed Control Range
the Servo MotorServo Motor to stop.)
Perfor- Fluctuation*2
mance 0.1% of rated speed max. (for a temperature fluctuation of 25C 25C)
1%
(Repeatability)
Soft Start Time
Setting
437
SERVOPACKs

Item Specification
Linear Servo Motor
Overheat Protection Sig-
nal Input
Input Input method: Sink inputs or source inputs

Sequence Signals Input Signals:
Input That Can • Origin Return Deceleration Switch (/DEC)
Signals Be • External Latch 1 to 3 (/EXT 1 to 3)
Allocated • Forward Drive Prohibit (P-OT) and Reverse Drive Prohibit (N-OT)
• Forward External Torque Limit (/P-CL) and Reverse External Torque Limit (/N-CL)
Fixed
Output
Output Signals:
Output Output Sig- • Speed Coincidence Detection (/V-CMP)
Signals nals That • Rotation Detection (/TGON)
Can Be • Servo Ready Output (/S-RDY)
Allocated • Torque Limit Detection (/CLT)
• Brake (/BK)
1:N
RS-422A
Communi- Up to N = 15 stations possible for RS-422A port
Communi-
cations
cations
(CN3) Axis
Communi-
Address Set with parameters.
cations
Setting
USB Com- Interface Personal computer (with SigmaWin+)
munica- Communi-
tions cations Conforms to USB2.0 standard (12 Mbps).
(CN7) Standard
Displays/Indicators CHARGE, PWR, and COM indicators, and one-digit seven-segment display
438
SERVOPACKs

Item Specification
Applicable Communica-
IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile
tions Standards
Physical Layer 100BASE-TX (IEEE 802.3)
Communications CN6A (RJ45): EtherCAT signal input connector
Connectors CN6B (RJ45): EtherCAT signal output connector
Category 5, 4 shielded twisted pairs
Cable
* The cable is automatically detected with AUTO MDIX.
SM0: Mailbox output, SM1: Mailbox input, SM2: Process data output, and SM3: Pro-
Sync Manager
cess data input
FMMU 0: Mapped in process data output (RxPDO) area.
FMMU FMMU 1: Mapped in process data input (TxPDO) area.
EtherCAT FMMU 2: Mapped to mailbox status.
Communi-
cations EtherCAT Commands APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and
(Data Link Layer) FRMW (APRW, FPRW, BRW, and LRW commands are not supported.)
Process Data Assignments can be changed with PDO mapping.
Emergency messages, SDO requests, SDO responses, and SDO information
Mailbox (CoE)
(TxPDO/RxPDO and remote TxPDO/RxPDO are not supported.)
Free-Run Mode and DC Mode (Can be switched.)
Distributed Clocks
Applicable DC cycles: 125 μs to 4 ms in 125-μs increments
Slave Information
256 bytes (read-only)
Interface
EtherCAT communications in progress: Link/Activity x 2
SERVOPACKs
Indicators EtherCAT communications status: RUN x 1
EtherCAT error status: ERR x 1
• Homing Mode
• Profile Position Mode
• Interpolated Position Mode
• Profile Velocity Mode
• Profile Torque Mode
CiA402 Drive Profile
• Cyclic Synchronous Position Mode
• Cyclic Synchronous Velocity Mode
• Cyclic Synchronous Torque Mode
• Touch Probe Function
• Torque Limit Function
Number of points: 2
Resolution: 16 bits
Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to
Dynamic Brake (DB)
the main circuit or servo is OFF.
Safety
Functions
Applicable Standards *3 ISO13849-1 PLe (Category 3), IEC61508 SIL3
Option Module
Note: You cannot use a Fully-Closed Module and a Safety Module together.
439
SERVOPACKs
Rated motor speed
440
SERVOPACKs
Item Specification
With Rotary
Servo Motor
-5C to 55C (60C with derating)
Surrounding Air However the range for the SGD7S-370D is -5C to 40C
Surrounding Air
Humidity
Environmen- Shock Resistance 19.6 m/s 2

tal Conditions Degree of Protection IP10
2
SERVOPACKs
Pollution Degree
1,000 m or less.
*1
Others
2, IEC 62061, ISO 13849-1, and IEC 61326-3-1
Speed Control Range
Fluctuation*2
1%
(Repeatability)
Soft Start Time
Setting
441
SERVOPACKs

Item Specification
Input
Input Signals:
Sequence
Input
Signals
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit)
signals
Fixed Out-
I/O Signals put
Output Signals:
Output Sig- Output • /S-RDY (Servo Ready) signal
nals Signals • /CLT (Torque Limit Detection) signal
• /nZONE (nZONE output) signal
Interfaces Digital Operator (JUSP-OP05A-1-E)
1:N Com-
RS-422A
munica- Up to N = 15 stations possible for RS-422A port
Communi-
tions
cations
(CN3) Axis
Communica- Address Set with parameters.
tions Setting
Interface
Standard
CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit seven-seg-
Displays/Indicators
ment display
EtherCAT Communications Setting
EtherCAT secondary address (S1 and S2), 16 positions
Switches
442
SERVOPACKs

Item Specification
Applicable Communica-
tions Standards
Communications Con- CN6A (RJ45): EtherCAT signal input connector
nectors CN6B (RJ45): EtherCAT signal output connector
Cable
Sync Manager
cess data input
EtherCAT FMMU 2: Mapped to mailbox status
Communica-
tions EtherCAT Commands APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and FRMW (APRW,
(Data Link Layer) FPRW, BRW, and LRW commands are not supported.)
Process Data Assignments can be changed with PDO mapping
Emergency messages, SDO requests, SDO responses, and SDO information
Mailbox (CoE)
(TxPDO/RxPDO and remote TxPDO/RxPDO are not supported.)
Distributed Clocks
Applicable DC cycles: 125 s to 4 ms in 125-s increments
Slave Information Inter-
face
SERVOPACKs
• Homing Mode
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
tions Applicable
Standards*3
Option Module Fully-Closed Modules
443
SERVOPACKs
*1. If you combine a -7-Series SERVOPACK with a -V-Series Option Module, the surrounding air temperature of 0°C to
55°C and an altitude of 1,000 m max. must be used. Also, the applicable range cannot be increased by derating.
Rated motor speed
444
SERVOPACKs
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
and -780A
SERVOPACKs
100% 100% 100%
Effective torque
80%
Effective torque
Effective torque
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
445
SERVOPACKS
-7W Two-axis MECHATROLINK-III Communications Reference SERVOPACKs
Model Designations
SGD7W - 2R8 A 20 A 700

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th
digits digits digits
S-7W SERVOPACKs
Maximum Applicable Hardware Options

1st+2nd+3rd digits 5th+6th digits Interface*2 8th+9th+10th digits Specification
Motor Capacity per Axis
Voltage Code Specification Code Specification Applicable
Code Specification
Models
1R6 *1
0.2 kW MECHATROLINK-III
Three- communications 700 HWBB Option *3 200 V
2R8 *1 0.4 kW 20
phase, reference with IMI connector
200 5R5 *1 0.75 kW (200V: 0.75 kW and 1.0 kW - Without options
VAC 7R6 1.0 kW Units) 400 V
With relay for holding
MECHATROLINK-III 026
Three- brake
2R6 0.75 kW communications
phase, 30 reference with RJ45 connector
400
5R4 (200V: 0.2 kW and 0.4 kW Shaded options are non-stock
VAC 1.5 kW
Units and 400V Units)
4th digit Voltage

Code Specification
Code Specification
D 400 VAC Global Design Revision for
A
200V
Global Design Revision for
B
400V
*1. You can use these models with either a single-phas or three phase power supply input
*2. The same SERVOPACKs are used for both Rotary Servo Motors and Linear Servo Motors
*3. Refer to the following manual for details:
Sigma-7 Series AC Servo Drive SGD7W SERVOPACK with Hardware Option Specifications HWBB Function Product Manual
(Manual No: SIEPS800000172)
446
SERVOPACKs
Ratings

Model SGD7W- 1R6A 2R8A 5R5A 7R6A
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75 1.0
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5 7.6
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9 17.0
Main Circuit
Input Current [Arms]* 2.5 4.7 7.8 11
8 8 16 16
Power Loss [W]
Resis-
SERVOPACKs
40 40 12 12
Built-In Regenera- tance []
Regenera- tive Resistor Capacity
40 40 60 60
tive Resistor [W]
40 40 40 40
Resistance []

Model SGD7W- 1R6A 2R8A 5R5A*1
Maximum Applicable Motor Capacity per Axis [kW] 0.2 0.4 0.75
Continuous Output Current per Axis [Arms] 1.6 2.8 5.5
Instantaneous Maximum Output Current per Axis [Arms] 5.9 9.3 16.9
Main Circuit
Input Current [Arms]*2 5.5 11 12
Power Supply Capacity [kVA]*2 1.3 2.4 2.7
Main Circuit Power Loss [W] 27.0 48.0 87.6
Control Circuit Power Loss [W] 24 24 24
Power Loss*2 Built-in Regenerative Resistor
8 8 16
Power Loss [W]
Total Power Loss [W] 59.0 80.0 127.6
Built-In Regenera- Resistance [] 40 40 12
Regenerative tive Resistor Capacity [W] 40 40 60
Resistor Minimum Allowable External Resis-
40 40 40
tance []
*1. If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An exam-
ple is given below.
If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis so that average load ratio for both
axes is 65% ((90% + 40%)/2 = 65%).
447
SERVOPACKs
 270 VDC
Model SGD7W- 1R6A 2R8A 5R5A 7R6A
Main Cir- Power Supply 270 VDC to 324 VDC, -15% to +10%
cuit Input Current [Arms]* 3.0 5.8 9.7 14
Power Supply Capacity [kVA]* 1.2 2 3.2 4.6
Main Circuit Power Loss [W] 23 40 76 92
Power
Loss*
Total Power Loss [W] 47 64 100 116
448
SERVOPACKs

Model SGD7W- 2R6D 5R4D
Maximum Applicable Motor Capacity per Axis [kW] 0.75 1.5
Continuous Output Current per Axis [Arms] 2.6 5.4
Instantaneous Maximum Output Current per Axis [Arms] 8.5 14
Three-phase 380 VAC to 480 VAC, -15% to +10%,
Power Supply
Main Circuit 50 Hz/60 Hz
Input Current [Arms]* 4.4 8.6
Power Supply 24 VDC ±15%
Control
Input Current [Arms]* 1.2
Power Supply Capacity [kVA]* 3.5 6.8
Main Circuit Power Loss [W] 65.4 108.6
Control Circuit Power Loss [W] 21
28 28
Power Loss [W]
Total Power Loss [W] 114.4 157.6
Resis-
43 43
Regenerative tive Resistor Capacity
140 140
Resistor [W]
43 43
Resistance []
SERVOPACKs
 540 VDC
Main Circuit
Input Current [Arms]* 5 11
Control
Power Loss* Control Circuit Power Loss [W] 21
449
SERVOPACKs
SERVOPACK Overload Protection Characteristics (200 V Models)

ture of 55°C.
performed.
10000
1000
Detection time (s)
SERVOPACK Model:
SGD7W-5R5 and -7R6
100
10 SERVOPACK Model:
SGD7W-1R6 and -2R8
1
100 200 230 × 100%
450
SERVOPACKs
SERVOPACK Overload Protection Characteristics (400 V Models)

ture of 55°C.
performed.
10000
SERVOPACK Model:
SGD7W-2R6D, -5R4D
1000
Detection time (s)
100
10
SERVOPACKs
100 200 × 100%
451
SERVOPACKs
Item Specification
With Rotary Serial encoder: 20 bits or 24 bits (incremental encoder/absolute
Servo Motor encoder)
• Absolute linear encoder (The signal resolution depends on the
Feedback
With Linear absolute linear encoder.)
Servo Motor • Incremental linear encoder (The signal resolution depends on the
incremental linear encoder or Serial Converter Unit.)
-5C to 55C
Temperature Refer to the following section for derating specifications.
Specifications (400V Models) (page 455)
Storage Tempera-
-20C to 85C
ture
Surrounding Air
Humidity
Vibration Resistance 4.9 m/s 2
Environ- Shock Resistance 19.6 m/s2
mental Degree of Protection IP20
Conditions
2
Pollution Degree
1,000 m or less.
Altitude
Refer to the following section for derating specifications.
Do not use the SERVOPACK in the following locations: Locations
Others subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
UL 61800-5-1, CSA C22.2 No.274, EN50178, EN 61800-5-1,
Applicable Standards EN 55011 group 1 class A, EN 61000-6-2, EN 61000-6-4,
and EN 61800-3
Mounting Base-mounted or rack-mounted
Speed Control 1:5000 (At the rated torque, the lower limit of the speed control range
Range must not cause the Servo Motor to stop.)
Coefficient of Speed 0% of rated speed max. (for a voltage fluctuation of 10%)
Perfor- Fluctuation* 0.1% of rated speed max. (for a temperature fluctuation of 25C
mance 25C)
Torque Control Pre-
1%
cision (Repeatability)
Soft Start Time
Setting
452
SERVOPACKs

Item Specification
Linear Servo Motor
Overheat Protection
Signal Input
Input Input Signals
Signals • Origin Return Deceleration Switch (/DEC)
Sequence
That • External Latch (/EXT 1 to 3)
Input Sig-
Can Be • Forward Drive Prohibit (P-OT) and Reverse Drive Prohibit (N-OT)
nals
Allo- • Forward External Torque Limit (/P-CL) and Reverse External
cated Torque Limit (/N-CL)
A signal can be allocated and the positive and negative logic can be
changed.
Fixed
I/O Signals Number of output points: 2
Output
Output Signals
SERVOPACKs
Output
Output • Speed Coincidence Detection (/V-CMP)
Signals
Signals • Rotation Detection (/TGON)
That
• Servo Ready (/S-RDY)
Can Be
• Torque Limit Detection (/CLT)
Allo-
cated
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
A signal can be allocated and the positive and negative logic can be
changed.
Inter- Digital Operator (JUSP-OP05A-1-E) and personal computer (with
faces SigmaWin+)
1:N
RS-422A
Commu-
Commu- Up to N = 15 stations possible for RS-422A port
nica-
nications
tions
(CN3)
Axis
Communi- Address Set with parameters.
cations Settings
Inter-
Personal computer (with SigmaWin+)
face
USB
Commu-
Commu-
nica-
nications
tions Conforms to USB2.0 standard (12 Mbps).
(CN7)
Stan-
dard
CHARGE, PWR, COM, L1, and L2 indicators, and two, one-digit
Displays/Indicators
seven-segment displays
453
SERVOPACKs

Item Specification
Communications
MECHATROLINK-III
Protocol
Settings The rotary switches (S1 and S2) are used to set the station address.
MECHA-
Extended Address
TROLINK- Axis 1: 00 hex, Axis 2: 01 hex
Setting
III Commu-
Baud Rate 100 Mbps
nications
250 s, 500 s, 750 s,
Transmission Cycle
Number of Transmis- 32 or 48 bytes/station
sion Bytes A DIP switch (S3) is used to select the baud rate.
Position, speed, or torque control with MECHATROLINK-III communi-
Performance
cations
Reference
MECHATROLINK-III commands (sequence, motion, data setting,
Method Reference Input
data access, monitoring, adjustment, etc.)
MECHATROLINK-III Communica- Rotary switch (S1 and S2) positions: 16
tions Setting Switches Number of DIP switch (S3) pins: 4
Number of points: 2
Resolution: 16 bits
Activated when a servo alarm or overtravel (OT) occurs, or when the
Dynamic Brake (DB)
power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Stopping with dynamic brake, deceleration to a stop, or coasting to a
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive
Prohibit) signal
Overcurrent, overvoltage, low voltage, overload, regeneration error,
Protective Functions
etc.
Option Module Option Module cannot be attached.
* The coefficient of speed fluctuation for load fluctuation is defined as follows:
Rated motor speed
454
SERVOPACKs
Item Specification
With Rotary
Servo Motor
• Absolute linear encoder (The signal resolution depends on the absolute lin-
Feedback
With Linear ear encoder.)
Servo Motor • Incremental linear encoder (The signal resolution depends on the incremen-
tal linear encoder or Serial Converter Unit.)
-5C to 55C
Storage Tempera-
-20C to 85C
ture
Surrounding Air
Humidity
Environ-
mental Shock Resistance 19.6 m/s2
Conditions Degree of Protection IP10
SERVOPACKs
2
Pollution Degree
1,000 m or less.
Altitude
Do not use the SERVOPACK in the following locations: Locations subject to
Others
static electricity noise, strong electromagnetic/magnetic fields, or radioactivity
UL 61800-5-1, CSA C22.2 No.274, EN50178, EN 61800-5-1,
and EN 61800-3
Speed Control 1:5000 (At the rated torque, the lower limit of the speed control range must
Range not cause the Servo Motor to stop.)
Perfor- Fluctuation*
0.1% of rated speed max. (for a temperature fluctuation of 25C 25C)
mance
Torque Control Pre-
1%
cision (Repeatability)
Soft Start Time
Setting
455
SERVOPACKs

Item Specification
Linear Servo Motor
Overheat Protection
Signal Input
Input
Input Signals
Signals
Sequence • /DEC (Origin Return Deceleration Switch) signal
That
Input Sig- • /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
Can Be
nals • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) signals
Allo-
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
cated
• Torque Limit) signals
• /P-DET (Polarity Detection) signal
Fixed
I/O Signals Number of output points: 1
Output
Output Signals
Sequence Output • /COIN (Positioning Completion) signal
Output Signals • /V-CMP (Speed Coincidence Detection) signal
Signals That • /TGON (Rotation Detection) signal
Can Be • /S-RDY (Servo Ready) signal
Allo- • /CLT (Torque Limit Detection) signal
cated • /VLT (Speed Limit Detection) signal
• /BK (Brake) signal
• /WARN (Warning) signal
Inter-
Digital Operator (JUSP-OP05A-1-E)
faces
1:N
RS-422A
Commu-
Commu- Up to N = 15 stations possible for RS-422A port
nica-
nications
tions
(CN3)
Axis
Communi- Address Set with parameters.
cations Settings
Inter- Personal Computer (with SigmaWin+)
face The software version of the SigmaWin+ must be version 7.11 or higher.
USB
Commu-
Commu-
nica-
nications
tions Conforms to USB2.0 standard (12 Mbps).
(CN7)
Stan-
dard
CHARGE, PWR, CN, L1, and L2 indicators, and two, one-digit seven-segment
Displays/Indicators
displays
456
SERVOPACKs

Item Specification
Communications
MECHATROLINK-III
Protocol
Settings The rotary switches (S1 and S2) are used to set the station address.
MECHA-
Extended Address
TROLINK- Axis 1: 00 hex, Axis 2: 01 hex
Setting
III Commu-
Baud Rate 100 Mbps
nications
250 s, 500 s, 750 s,
Transmission Cycle
Number of Transmis- 32 or 48 bytes/station
sion Bytes A DIP switch (S3) is used to select the baud rate.
Reference MECHATROLINK-III commands (sequence, motion, data setting, data
Reference Input
Method access, monitoring, adjustment, etc.)
Number of points: 2
Resolution: 16 bits
SERVOPACKs
Activated when a servo alarm or overtravel (OT) occurs, or when the power
Dynamic Brake (DB)
supply to the main circuit or servo is OFF.
Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for
the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal
/HWBB_A1, /HWWB_A2, /HWWB_B1 and /HWBB_B2: Base block signals for
Inputs
Power Modules
Safety EDM_A and EDM_B: Monitor the status of built-in safety circuits (fixed out-
Outputs
Functions puts).
Applicable Stan-
dards
Option Module Option Module Safety
Rated motor speed
*2. . Always perform risk assessment for the system and confirm that the safety requirements are met.
457
SERVOPACKs
 SGD7W-1R6A, -2R8A, -5R5A, and -7R6A
100% 100% 100%

80% 80%
Effective torque
Effective torque
Effective torque
64%
0% 0% 0%
-5°C 55°C 60°C 0m 1000 m 2000 m -5°C 55°C 60°C
0m 1000 m 2000 m
458
SERVOPACKs
SERVOPACKs
459
SERVOPACKS
-7W Two-axis EtherCAT Communications Reference SERVOPACKs
Model Designations
SGD7W - 2R6 D A0 B
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th
S-7W SERVOPACKs

1st+2nd+3rd digits 5th+6th digits Interface*2 8th+9th+10th digits Specification
Motor Capacity per Axis
Code Specification
Models
Three- A0 EtherCAT communications
2R6 0.75 kW reference - Without options
phase,
400 V
400 026 With relay for holding
VAC 5R4 1.5 kW brake
Code Specification
4th digit Voltage
Global Design Revision for
B
Code Specification 400V
D 400 VAC
460
SERVOPACKs
Ratings

Three-phase 380 VAC to 480 VAC, -15% to +10%,
Power Supply
Main Circuit 50 Hz/60 Hz
Input Current [Arms]* 4.4 8.6
Control
Control Circuit Power Loss [W] 21
28 28
Power Loss [W]
SERVOPACKs
Resis-
43 43
Regenerative tive Resistor Capacity
140 140
Resistor [W]
43 43
Resistance []
 540 VDC
Main Circuit
Input Current [Arms]* 5 11
Control
Power Loss* Control Circuit Power Loss [W] 21
461
SERVOPACKs
SERVOPACK Overload Protection Characteristics

ture of 55°C.
performed.
10000
SERVOPACK Model:
SGD7W-2R6D, -5R4D
1000
Detection time (s)
100
10

100 200 × 100%
462
SERVOPACKs
Specifications
Item Specification
With Rotary
Servo Motor
• Absolute linear encoder (The signal resolution depends on the absolute linear
Feedback
Servo Motor • Incremental linear encoder (The signal resolution depends on the incremental linear
encoder or Serial Converter Unit.)
-5C to 55C
Surrounding Air Humid-
ity
Environ- Shock Resistance 19.6 m/s 2
mental Con- Degree of Protection IP10
ditions
2
Pollution Degree
SERVOPACKs
1,000 m or less.
Altitude
Do not use the SERVOPACK in the following locations: Locations subject to static elec-
Others
tricity noise, strong electromagnetic/magnetic fields, or radioactivity
UL 61800-5-1, CSA C22.2 No.274, EN50178, EN 61800-5-1,
and EN 61800-3
1:5000 (At the rated torque, the lower limit of the speed control range must not cause
Speed Control Range
the Servo Motor to stop.)
Perfor- Fluctuation*
mance
Torque Control Preci-
1%
sion (Repeatability)
Soft Start Time
Setting
463
SERVOPACKs

Item Specification
Linear Servo Motor
Overheat Protection
Signal Input
Input Signals
Sequence
Input Sig-
nals
• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) sig-
nals
Fixed
Output
Output Signals
Output • /S-RDY (Servo Ready) signal
Output Sig-
Signals • /CLT (Torque Limit Detection) signal
nals
• /nZONE (nZONE Output) signal
Inter-
Digital Operator (JUSP-OP05A-1-E)
faces
RS-422A 1:N Com-
Communi- munica- Up to N = 15 stations possible for RS-422A port
cations tions
(CN3) Axis
Communi-
Address Set with parameters.
cations
Settings
Interface
munica- Commu-
tions (CN7) nications Conforms to USB2.0 standard (12 Mbps).
Standard
CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit seven-seg-
Displays/Indicators
ment display
EtherCAT Communications Settings
EtherCAT secondary address (S1 and S2), 16 positions
Switches
464
SERVOPACKs

Item Specification
Applicable Communi-
cations Standards
Communications CN6A (RJ45): EtherCAT signal input connector
Connectors CN6B (RJ45): EtherCAT signal output connector
Cable
Sync Manager
cess data input
EtherCAT
FMMU 2: Mapped to mailbox status.
Communi-
EtherCAT Commands APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and
cations
(Data Link Layer) FRMW (APRW, FPRW, BRW, and LRW commands are not supported.)
Process Data Assignments can be changed with PDO mapping.
Emergency messages, SDO requests, SDO responses, and SDO information (TxPDO/
Mailbox (CoE)
RxPDO and remote TxPDO/RxPDO are not supported.)
Distributed Clocks
Applicable DC cycles: 125 μs to 4 ms in 125-μs increments
Slave Information
Interface
SERVOPACKs
• Homing Mode
Number of points: 2
Resolution: 16 bits
Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to
Dynamic Brake (DB)
the main circuit or servo is OFF.
Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT
(Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal
/HWBB_A1, /HWWB_A2, /HWWB_B1 and /HWBB_B2: Base block signals for Power
Inputs
Safety Modules
Functions Outputs EDM_A and EDM_B: Monitor the status of built-in safety circuits (fixed outputs).
Applicable Standards ISO13849-1 PLe (Category 3), IEC61508 SIL3
Option Module Option Module Safety
Rated motor speed
*2. . Always perform risk assessment for the system and confirm that the safety requirements are met.
465
SERVOPACKS
SERVOPACK External Dimensions
Front Cover Dimensions and Connector Specifications

The front cover dimensions and panel connectors depend on the SERVOPACK interface. Refer to the fol-
lowing figures.
Front Cover Dimensions (200V Models)

• -7S Analog Voltage/Pulse Train Reference • -7S MECHATROLINK-III Communications
SERVOPACKs Reference SERVOPACKs
(16) CN502
(20)
(15)
(7)
Front
cover (1
Front cover (12 20
0° °)
CN3 ) CN6A
CN7 CN6B
CN7
CN1 CN1
CN8 CN8
CN2 CN2
• -7S EtherCAT Communications • -7W MECHATROLINK-III Communications

Reference SERVOPACKs Reference SERVOPACKs
(7) (7)
(15)
(15)
CN502
Front Front
cover cover
(12 (12
CN6A 0°)
0°
) CN6B
CN6A CN3
CN6B
CN7
CN7
CN1
CN1
CN8 CN2A
CN2B
CN2
* A Command Option Module must be attached to the Command Option Attachable-Type SERVOPACK. To find the dimen-
sions of the SERVOPACK with a Command Option Module attached, add the dimensions of the Command Option Mod-
ule (refer to page 240 and following pages).
466
SERVOPACKs
Connector Specifications (200V Models)

Connector Number
SERVOPACK Model Manufacturer
No. of Pins
CN1 10250-59A3MB 50 3M Japan Ltd.
-7S CN2 3E106-0220KV 6 3M Japan Ltd.
Analog Voltage/Pulse HDR-EC14LF-
CN3 14 Honda Tsushin Kogyo Co., Ltd.
Train Reference DTN-SLD-PLUS
SERVOPACK CN7 2172034-1 5 Tyco Electronics Japan G.K.
CN8 1981080-1 8 Tyco Electronics Japan G.K.
CN2 3E106-0220KV 6 3M Japan Ltd.
-7S S8B-ZR-SM4A-TF
CN502 8 J.S.T. Mfg. Co., Ltd.
MECHATROLINK-III (LF)(SN)
Communications CN6A,
1-1734579-4 8 Tyco Electronics Japan G.K.
Reference SERVOPACK CN6B
S8B-ZR-SM4A-TF
-7S EtherCAT CN502 8 J.S.T. Mfg. Co., Ltd.
SERVOPACKs
(LF)(SN)
Communications
CN6A,
Reference SERVOPACK 1903815-1 8 Tyco Electronics Japan G.K.
CN6B
CN2A,
3E106-2230KV 6 3M Japan Ltd.
-7W CN2B
MECHATROLINK-III HDR-EC14LF-
CN3 14 Honda Tsushin Kogyo Co., Ltd.
Communications DTN-SLD-PLUS
Reference SERVOPACK CN6A,
1981386-1 8 Tyco Electronics Japan G.K.
CN6B
Note: The above connectors or their equivalents are used for the SERVOPACKs.
467
SERVOPACKs
Front Cover Dimensions (400V Models)

• -7S MECHATROLINK-III and EtherCAT Reference SERVOPACKs
(20)
(16)
CN3
(12
CN101
0
CN6A
CN6B
CN1
CN103
CN8
CN201 CN2
CN7
CN102 CN117 CN115* 4
250
• -7W MECHATROLINK-III and EtherCAT Communications

Reference SERVOPACKs
(20)
(16)
(12
0°
)
CN7 CN6A
CN3 CN6B
CN1
CN8A
CN8B
CN2A
4 CN2B
250
Unit: mm
* Dynamic Brake Connector only for SGD7S-1R9D up to -170D.
468
SERVOPACKs
Connector Specifications (400V Models)

SERVO- Connec- Yaskawa Order No. of
Function Model Manufacturer
PACK tor No. Code Pins
CN1 I/O Connector DFMC1,5/15-ST-3,5-LRBK JUSP-7CN001 30 Phoenix Contact
CN2 Encoder Connector - JZSP-CMP9-1-E 6 Sumitomo 3M Ltd
- Honda Tsushin
CN3 Digital Operator - 14
- Kogyo Co., Ltd
-7S MECHATROLINK-III or EtherCAT Communications Reference
CN6A/
Fieldbus Connector - - 8
CN6B
SigmaWin USB Tyco Electronics
CN7 - - 5
Connector Japan G.K
Safety Connector Kit - 2013595-1 8
CN8
Safety Jumper Connector - JZSP-CVH05-E 8
Main Power Connector BLZ 7.62HP/08/180LR SN BK
JUSP-7CN101 8
SGD7S-1R9D to -170D BX PRT
CN101
Main Power Connector BUZ 10.16HP/07/180F AG BK
JUSP-7CN101-1 7
SGD7S-210D to -370D BX LPR SO
Motor Power Connector BLZ 7.62IT/04/180MF4 SN
JUSP-7CN102 4
SGD7S-1R9D to -170D BK BX PRT
CN102
Motor Power Connector BUZ 10.16IT/04/180MF4 AG
JUSP-7CN102-1 4 Weidmüller
SGD7S-210D to -370D BK BX LPR SO
DC Power Input BVZ 7.62IT/04/180MF3 SN
JUSP-7CN103 4
SGD7S-1R9D to -170D BK BX PRT
CN103
SERVOPACKs
DC Power Input BUZ 10.16IT/04/180MF3 AG
JUSP-7CN103-1 4
SGD7S-210D to -370D BK BX LPR SO
BLZ 7.62IT/03/180MF2 SN
DC Bus Sharing - Contact JUSP-7CN115 3
BK BX PRT
CN115 Yaskawa for Application
Restrictions No integrated Dynamic Brake circuit. External Dynamic
Brake circuit possible as option.
BLF 5.08HC/04/180LR SN BK
CN117 Holding Brake Connector JUSP-7CN117 4
BX SO
Weidmüller
BLF 5.08HC/04/180LR SN OR
CN201 24V Control Power Input JUSP-7CN201 4
BX SO
CN1 I/O Connector DFMC1,5/15-ST-3,5-LRBK JUSP-7CN001 30 Phoenix Contact
CN2A/ Encoder Connector Axis A
- JZSP-CMP9-1-E 6 Sumitomo 3M Ltd
CN2B Encoder Connector Axis B
-7S MECHATROLINK-III or EtherCAT Communications Reference
Honda Tsushin
CN3 Digital Operator - - 14
Kogyo Co., Ltd.
CN6A/
Fieldbus Connector - - 8
CN6B
SigmaWin USB
CN7 - - 5
Connector
Tyco Electronics
Safety Connector Kit - 2013595-1 Japan G.K.
CN8A 8
Safety Jumper Connector - JZSP-CVH05-E
Safety Connector Kit - 2013595-1
CN8B 8
Safety Jumper Connector - JZSP-CVH05-E
BLZ 7.62HP/08/180LR SN BK
CN101 Main Power Connector JUSP-7CN101 8
BX PRT
Motor Power Connector
CN102A/ BLZ 7.62IT/04/180MF4 SN
Axis A/ Motor Power Con- JUSP-7CN102 4
CN102B BK BX PRT
nector Axis B
DC Bus Sharing - Contact
BVZ 7.62IT/04/180MF3 SN
CN103 Yaskawa for Application JUSP-7CN103 4
BK BX PRT Weidmüller
Restrictions
CN115A/ DB Connector Axis A / BLZ 7.62IT/03/180MF2 SN
JUSP-7CN115 3
CN115B DB Connector Axis B BK BX PRT
BLF 5.08HC/04/180LR SN BK
CN117 Holding Brake Connector JUSP-7CN117 4
BX SO
BLF 5.08HC/04/180LR SN OR
CN201 24V Control Power Input JUSP-7CN201 4
BX SO
Note: The above connectors or their equivalents are used for the SERVOPACKs.
469
SERVOPACKs
-7S SERVOPACKs: Analog/Pulse & Command Option Type (100/

200V)
All of the dimensional drawings show Analog Voltage/Pulse Train Reference SERVOPACKs as typical examples.
 Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A

Single-phase, 100 VAC: SGD7S-R70F, -R90F
2×M4
5
160 ±0.5 (mounting pitch)
Two sets of terminals
Exterior
160
168
168
8
18 (4) 25 10 ±0.5
Ground terminals
(mounting pitch)
2 × M4
40 (75) 140 40
Mounting Hole Diagram Approx. Mass: 0.8 kg
Unit: mm
 Three-phase, 200 VAC: SGD7S-2R8A

Single-phase, 100 VAC: SGD7S-2R1F
2×M4
5
Exterior
160
168
168
8
18 (4) 20 ±0.55
Ground terminals
(mounting pitch)
2 × M4 40 (75) 170 40
Mounting Hole Diagram Approx. Mass: 1.0 kg
Unit: mm
470
SERVOPACKs
 Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A

5
3×M4

160
Exterior
168
168
8
18 (4) 6 58 ±0.5
Ground terminals (mounting pitch)
2 × M4 70 (75) 180 70
Mounting Hole Diagram
Approx. Mass: 1.6 kg
Unit: mm
 Three-phase, 200 VAC: SGD7S-120A

5 80 ±0.5
(mounting pitch)
5
3×M4
SERVOPACKs
Exterior
160
168
168
8
(4)
Ground terminals 18 12.5
2 × M4 (75) 180
90 90
Unit: mm
 Three-phase, 200 VAC: SGD7S-180A and -200A

3×M4
5
188
Exterior
188
180
(4) 75 ±0.5 82.5 ±0.5

8
Terminals (mounting pitch)

14×M4 Ground (mounting
terminals 12.5 pitch)
Terminal Details 2×M4 100 (75) 180 100
Unit: mm
471
SERVOPACKs

4×M5
Exterior
6
250 ± 0.5 (mounting pitch)
258
250
258
Terminals
13×M4
(5)
Ground 84 ± 0.5
Terminal Details (mounting pitch)
terminals 13
2×M4 110
110 (75) 210 Mounting Hole Diagram

Unit: mm

4×M6
6
302.5 ± 0.5 (mounting pitch)
Exterior
315
315
Terminals
4×M5
Ground Terminals 142 ± 0.5

terminals 8×M5 (mounting pitch)
14
2×M5 170
170 (75) 210

Unit: mm

7.5
4×M6
Exterior
Terminals
4×M6
390
390
Terminals
8×M6
Ground 200 ± 0.5

30 (mounting pitch)
terminals
2×M6 260
260 (75) 210

Unit: mm
472
SERVOPACKs
-7S SERVOPACKs: MECHATROLINK-III & EtherCAT Type (100/200V)

All of the dimensional drawings show MECHATROLINK-III Reference SERVOPACKs as typical examples.
 Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A

Single-phase, 100 VAC: SGD7S-R70F, -R90F
2 × M4
5
Exterior
168
160
168
Ground (25) 18 (4) 25 10 ±0.5 (mounting pitch)

terminals
2 × M4 45
(75) 140 45
Unit: mm
SERVOPACKs
 Three-phase, 200 VAC: SGD7S-2R8A
2 × M4
5
Exterior
160
168
168
Ground (25) 18 (4) 5 20 ±0.5 (mounting pitch)

terminals
2 × M4 (75) 170 45
45

Unit: mm
473
SERVOPACKs
 Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A

3 × M4
5
Exterior
160
168
168
(25) 18 (4) 6 58 ±0.5

Ground (mounting pitch)
terminals 70 180 70
2 × M4 (75)
Unit: mm

5 80 ±0.5 (mounting pitch)
3 × M4
5
Exterior
160
168
168
Ground (25) 18 (4)

terminals 12.5
2 × M4 180
90 (75) 90
Unit: mm

3 × M4
5
Exterior
188
188
180
(4)
Terminals 75 ±0.5 (mounting pitch)
14 × M4 Ground
terminals 12.5 82.5 ±0.5 (mounting pitch)
Terminal Details 2 × M4 100 (75) 180 100
Unit: mm
474
SERVOPACKs

4 × M5 Exterior
6
258
258
250
Terminals
13 × M4
(5)
84 ± 0.5
Terminal Details Ground 13 (mounting pitch)
terminals
2 × M4 100 ± 0.5
5 (mounting pitch)
110 (75) 210 110 Approx. Mass: 4.4 kg
Mounting Hole Diagram Unit: mm

4 × M6
6
SERVOPACKs
302.5 ± 0.5 (mounting pitch)
Exterior
315
315
Terminals
4×M5
Terminals
Ground 8×M5 142 ± 0.5
terminals 14 (mounting pitch)
2×M5
170 (75) 210 170

Unit: mm

4 × M6
7.5
Terminals Exterior
390
4×M6
390
Terminals
8×M6
200 ± 0.5
Ground 30 (mounting pitch)
terminals
2×M6
260 (75) 210 260

Unit: mm
475
SERVOPACKs
-7S SERVOPACKs: MECHATROLINK-III and EtherCAT Type (400 V)

All of the dimensional drawings show MECHATROLINK-III Reference SERVOPACKs as typical examples.
 Three-phase, 400 VAC: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, and -120D
(27.5)
Ground terminal, M4
15.3
(25)
7.5
19
(75)
15
4×M5
(mounting pitch)
70
300
315 0.5
330
330
Exterior
15
(25)
10 60 0.5
(mounting pitch)
80 80
250
Approx. mass: SGD7S-1R9D, -3R5D, or -5R4D: 3.4 kg

SGD7S-8R4D or -120D: 3.7 kg
Unit: mm
 Three-phase, 400 VAC: SGD7S-170D

27.5
Ground terminal, M4
25
21
7.5
75
15
15.3
4 M5
(mounting pitch)
70
315 0.5
330
300
330
Exterior
15
25
10 80 0.5
100 (mounting pitch)
100
250 Mounting Hole Diagram

Unit: mm
476
SERVOPACKs
 Three-phase, 400 VAC: SGD7S-210D and -260D

Ground terminal, M4
(41.9)
(75)
20
(25)
33.7
7.5
15
4 M5
(mounting pitch)
365 0.5
70
380
380
350
41.8
10 80 0.5
100 100 (mounting pitch)
250

Unit: mm
SERVOPACKs
 Three-phase, 400 VAC: SGD7S-280D and -370D
Ground terminal, M4
(25)
(75)
(42)
21
15
34
6.5
4 M6
(mounting pitch)
367 0.5
380
380
350
70
42
12.5 155 0.5

180 (mounting pitch)
180
250

Unit: mm
477
SERVOPACKs
-7W SERVOPACKs: MECHATROLINK-III (200 V)

 Three-phase, 200 VAC: SGD7W-1R6A and -2R8A
3×M4
5
Exterior
168
160
168
60 ±0.5
8
18 (4) 5 (mounting pitch)

Ground terminals 65
3 × M4 70 (75) 180
70

Unit: mm
 Three-phase, 200 VAC: SGD7W-5R5A and -7R6A

3×M4
5
Exterior
Two
168
160
sets
168
of
ter-
mi-
nals
90 ±0.5
8
18 (4) 5 (mounting pitch)

Ground terminals 95
3 × M4 100 (75) 180 100
Unit: mm
478
SERVOPACKs
-7W SERVOPACKs: MECHATROLINK-III and EtherCAT Type (400 V)

 Three-phase, 400 VAC: SGD7W-2R6D and -5R4D
Ground terminal, M4
(27.5)
(25)
15.3
21
7.5
15
75
4 M5
315 0.5 (mounting pitch)

330
300
330
70
Exterior
15
(25)
10 60 0.5
80 80 (mounting pitch)
Approx. mass: 2R6D: 4.1 kg

5R4D: 4.3 kg
Unit: mm
SERVOPACKs
479
SERVOPACKs
480
Additional SERVOPACK
Options
Feedback Option ..................................................482
Safety Option .......................................................488
Sigma-7Siec Option .............................................492
MP2600iec Option ...............................................494
SigmaLogic7 Compact Option ..............................502
FT19 Option - Less Deviation Control ..................504
FT79 Option - Built-in Indexer ..............................506
FT81 Option - Harmonic Drive SHA Actuators ......508
FT82/83 Option - for SGM7D Direct Drive Motor ..510

Additional SERVOPACK Options
Feedback Option
Fully-Closed Loop Option

With fully-closed control, an externally installed encoder is used to detect the position of the controlled
machine and the machine’s position information is fed back to the SERVOPACK. High-precision position-
ing is possible because the actual machine position is fed back directly. To perform fully-closed loop con-
trol, the fully closed loop option must be selected.
SERVOPACK Designations
 Purchasing a SERVOPACK with the fully closed loop option

To order SERVOPACKs with the fully-closed loop option, use the following model numbers.
SGD7S *1
R 70 A 00 A 000 001
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+
S-7 Series digit digit 13th digits
S-7S Models

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Code Specification Models
R70*2 0.05 kW A 200 VAC
000 Without options All models
R90*2 0.1 kW F 100 VAC
1R6*2 0.2 kW D 400 VAC
2R8*2 0.4 kW 11th+12th+13th digits Option Module
3R8 0.5 kW
5th+6th digits Interface Code Specification
5R5*2 0.75 kW
001 Fully-Closed Module (100/200 VAC)
Three- 7R6 1.0 kW Code Specification
002 Fully-Closed Module (400 VAC)
phase, 120 1.5 kW Analog voltage/pulse train
200 00
180 2.0 kW reference (100/200V only)
VAC
200 3.0 kW MECHATROLINK-III
30
communications reference
330 5.0 kW
470 6.0 kW EtherCAT communications
A0
reference
550 7.5 kW
590 11 kW
780 15 kW 7th digit Design Revision Order
Single- R70 0.05 kW
A: Global design revision
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC
2R8 0.4 kW
*1. The model number of a SERVOPACK with an Option is not hyphenated after SGD7S.
482
Feedback Option
System Configuration
SERVOPACK
Fully-Closed Loop
Servo Motor Main

Circuit Cable
Serial Converter
Unit Cable*
Serial Converter Unit*

External Linear Encoder Cable*
External Linear Encoder

* The connected devices and cables depend on the type of external Linear Encoder that is used.
Note: Refer to the following section for information on peripheral devices.
Peripheral Devices (page 300)
 Connections to Linear Encoder from Heidenhain Corporation
 Connections for a 1 Vp-p Analog Voltage Output Signal

You must make the connections through a Yaskawa Serial Converter Unit. The output signal will be mul-
tiplied by 8 bits (256 divisions) in the Serial Converter Unit.

SERVO- Fully-Closed Encoder Cable
PACK Module
Connection to encoder in Rotary Servo Motor
Linear Encoder from

Serial Converter Serial Converter Unit Linear*1Encoder Heidenhain Corporation
CN2 CN31 Unit Cable Cable
Cable from Heidenhain

Corporation*2
*1. When using a JZDP-J00- Serial Converter Unit, do not use a Yaskawa Linear Encoder Cable that is longer
than 3 m.
*2. Contact Heidenhain Corporation for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Heidenhain
Corporation.
483
Feedback Option
No. Item Model Reference

 Serial Converter Unit Cable JZSP-CLP70--E page 298
 Serial Converter Unit JZDP-D003-000 page 301
 Linear Encoder Cable JZSP-CLL30- -E page 281
Note: 1. Refer to the following section for recommended Linear Encoders.
Recommended Linear Encoders (page M-11)
2. Refer to the following manual for the specifications of the Serial Converter Units.
3. Refer to the following section for information on Servo Motor Main Circuit Cables and Encoder Cables.
Cables and Peripheral Devices (page 253)
 Connections When Using a Yaskawa Serial Interface for the Output Signals
• LIC4100 Linear Encoder with EIB3391Y Interpolator

PACK Module
LIC4100 Linear Encoder

from Heidenhain
Encoder Cable from
Corporation
CN2 CN31 Heidenhain Corporation*
EIB3391Y
Interpolator
Products from Heidenhain Corporation
* Use an Encoder Cable from Heidenhain Corporation. Contact Heidenhain Corporation for detailed Encoder Cable speci-
fications.
484
Feedback Option
 Connections to Linear Encoder from Renishaw Plc
 Connections for a 1 Vp-p Analog Voltage Output Signal

You must make the connections through a Yaskawa Serial Converter Unit. The output signal will be mul-
tiplied by 8 bits (256 divisions) in the Serial Converter Unit.

PACK Module
Linear Encoder from

Serial Converter Serial Converter Unit Linear Encoder Cable*1 Renishaw plc*3
CN2 CN31 Unit Cable
*2. Contact Renishaw plc for details on cables (analog 1 Vp-p output, D-sub 15-pin, male) from Renishaw plc. However,
the BID and DIR signals are not connected.

No. Item Model Reference
 Serial Converter Unit Cable JZSP-CLP70--E page 281
 Serial Converter Unit JZDP-D005-000 page 284
 Linear Encoder Cable JZSP-CLL00- -E page 281
Note: 1. Refer to the following section for recommended Linear Encoders.
Recommended Linear Encoders (page M-11)
2. Refer to the following manual for the specifications of the Serial Converter Units.
3. Refer to the following section for information on Servo Motor Main Circuit Cables and Encoder Cables.
Cables and Peripheral Devices (page 253)
485
Feedback Option
 Connections to Linear Encoder from Magnescale Co., Ltd.
 SL70 Linear Encoder and PL101-RY Sensor Head with Interpolator

PACK Module
SL7o0 Linear
Encoder from
Serial Converter Magnescale Co., Ltd.
CN2 CN31 Unit Cable*
PL101-RY Head with
Interpolator
* Refer to the following section for information on cables to connect Fully-Closed Loop and Linear Encoders.
Serial Converter Unit Cables (page 281)
 SR-75, SR-77, SR-85, and SR-87 Linear Encoders

PACK Module
Linear Encoder from

SR75-oooooLF SR85-oooooLF
SR75-oooooMF SR85-oooooMF
SR77-oooooLF SR87-oooooLF
Encoder Cable from SR77-oooooMF SR87-oooooMF
CN2 CN31 Magnescale Co., Ltd.*
* To connect the SERVOPACK and Linear Encoder, use a CH33-xxG Cable from Magnescale Co., Ltd. (This Cable
has connectors designed for use with Yaskawa products.)
 RU77-4096ADF/RU77-4096AFFT01 Absolute Rotary Encoders

PACK Module
Rotary Encoder from

RU77-4096ADF
Encoder Cable from RU77-4096AFFT01
CN2 CN31 Magnescale Co., Ltd.*
* To connect the SERVOPACK and Rotary Encoder, use a CE28-Series Extension Cable for RU77 from Magnescale Co., Ltd.
Note: The RU77 is a single-turn absolute rotary encoder.
486
Feedback Option
 Connections to Linear Encoders from Mitutoyo Corporation
 ST78A Linear Encoders

SERVO- Fully-Closed Encoder Cable Linear Encoders from
PACK Module Mitutoyo Corporation
ST781A ST784A
ST782A ST788A
Serial Converter ST783A ST789A
CN2 CN31 Unit Cable*
Cable from Mitutoyo Corporation
* Refer to the following section for information on cables to connect Fully-Closed Loop and Linear Encoders.
Serial Converter Unit Cables (page 281)
External Dimensions
Refer to pages 234 for the external dimensions of the individual SERVOPACKs.

160
(23)
CN31 (9.8)
20 (75) 97
Unit: mm
Connectors
Device Label Model Number of Pins Manufacturer
Note: The above connectors or their equivalents are used for the Fully-Closed Option.
487
Safety Option
Advanced Safety Option

This advanced safety option implements safety functions that conform to EN ISO 13849-1 (the harmo-
nized EU Machinery Directive) and are specified in the individual IEC 61800-5-2 standard. The advanced
safety option for the SGD7S SERVOPACK is designed to optimize safety in a machine system according
to industry needs.
 Purchasing a SERVOPACK with the advanced safety option

To order SERVOPACKs with the advanced safety option, use the following model numbers.
SGD7S *1
R 70 A 00 A 000 010
S-7 Series digit digit 13th digits
S-7S Models

Motor Capacity
Voltage Code Specification Code Applicable
Specification Code Specification Models
R70*2 0.05 kW A 200 VAC
R90*2 0.1 kW F 100 VAC
1R6*2 0.2 kW D 400 VAC
2R8*2 0.4 kW 11th+12th+13th digits Option Module
3R8 0.5 kW 5th+6th digits Interface Code Specification
5R5*2 0.75 kW
Code Specification 001 Fully-Closed Module (100/200 VAC)
Three- 7R6 1.0 kW
phase, Analog voltage/pulse train 002 Fully-Closed Module (400 VAC)
120 1.5 kW 00
200 180 2.0 kW reference (100/200 VAC Only)
VAC MECHATROLINK-III
200 3.0 kW 30
330 5.0 kW
A0
reference
550 7.5 kW
Sigma-7Siec built-in single-axis
590 11 kW M0
control (100/200 VAC Only)
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW 7th digit Design Revision Order
100 2R1 0.2 kW
VAC A: Global design revision
2R8 0.4 kW
488
Safety Option
Applicable Standards and Functions
 Applicable Safety Standards

Applicable Products
Safety Standard Applicable Standard SERVOPACK +
SERVOPACK
Safety
EN ISO13849-1:2008/AC:2009
Safety of Machinery  
IC 60204-1
IEC 61508 Series
Functional Safety IEC 62061  
IEC 61800-5-2
EMC IEC 61326-3-1  
: Applicable
 Support for Functions Defined in IEC61800-5-2

Safety functions are implemented by using the hard wire base block (HWBB) in the SERVOPACK.
Applicable Products

Safety Function Description SERVOPACK +
SERVOPACK
Safety
This safety function is equivalent
Safe BaseBlock
to an STO function. (It shuts OFF
Function  
the power supply from the
(SBB function)
SERVOPACK to the motor.)
to an SS1 function. (It monitors
Safe BaseBlock with the deceleration operation of the
Delay Function motor for the specified time and – 
(SBB-D function) then shuts OFF the power supply
from the SERVOPACK to the
motor.)
to an SS2 function. (It monitors
Safe Position Monitor
the deceleration operation of the
with Delay Function – 
motor for the specified time and
(SPM-D function)
then monitors the position after
the motor stops.)
to an SLS function. (It monitors
Safely Limit Speed the deceleration operation of the
with Delay Function motor for the specified time and – 
(SLS-D function) then monitors the speed of the
motor to confirm that it remains in
the allowable range.)
: Applicable
489
Safety Option
Specifications
 Basic Specifications
Item Specification
Surrounding Air
0˚C to +55˚C
Temperature
Storage Tempera-
-20˚C to +85˚C
ture
Surrounding Air 90% relative humidity
Humidity max.
There must be no freezing or condensation.
90% relative humidity
Storage Humidity
max.
Vibration Resis-
Operating 4.9 m/s2
tance
Conditions
Degree of Protec- • Must be no corrosive or flammable gases.
IP10
tion • Must be no exposure to water, oil, or chem-
icals.
Pollution Degree 2 • Must be no dust, salts, or iron dust.
Altitude 1000 m max.
Do not use the SERVOPACK in the following locations:
Others Locations subject to static electricity noise, strong electromagnetic/
magnetic fields, or radioactivity
 Compliance with UL Standards, EU Directives, and Other Safety Standards (in

Combination with SERVOPACK)
Item Specification
UL61800-5-1
North American Safety Standards
CSA C22.2 No.274
Machinery Directive
EN ISO 13849-1: 2008/AC: 2009
(2006/42/EC)
EN 55011/A2 group 1, class A
EMC Directive EN 61000-6-2
European
(2004/108/EC) EN 61000-6-4
Directives
EN 61800-3
Low Voltage Direc-
EN 50178
tive
EN 61800-5-1
(2006/95/EC)
Safety of Machinery EN ISO 13849-1, IEC 60204-1
Safety
Functional Safety IEC 61508-1 to IEC 61508-7, IEC 62061, and IEC 61800-5-2
Standards
EMC IEC 61326-3-1
IEC 61800-5-2 IEC 60204-1
Safe Torque Off (STO) Stop Category 0
Safe Stop 1 (SS1) Stop Category 1
Safety Function
Safe Stop 2 (SS2) Stop Category 2
Safely Limited Speed
(SLS)
Number of Blocks 2
Input signals: 2 channels (redundant signals),
Safety Function A
output signals: 1 channel
Input signals: 2 channels (redundant signals),
Safety Function B
output signals: 1 channel
490
Safety Option
Item Specification
Safe Performance
Safety Integrity
SIL2, SILCL2
Level
Probability of Dan-
gerous Failure per PFH ≥ 3.3×10-7 [1/h]
Hour
Category Cat3
Performance Level PLd (Category 2)
Mean Time to Dan-
gerous Failure of MTTFd: High
Each Channel
Average Diagnos-
DCave: Medium
tic Coverage
Proof Test Interval 10 years
External Dimensions
Refer to pages 234 for the external dimensions of the individual SERVOPACKs.

(24)
(9.5)
Safety function A
I/O connector: CN21
Safety function B
160
I/O connector: CN22

12
54
Unit: mm
20 75 97 Approx. Mass: 0.11 kg
Connectors
Device Label Model Number of Pins Manufacturer
Note: 1. The above connectors or their equivalents are used for SERVOPACKs.
491
Single-Axis Control Option
Sigma-7Siec Option
The Sigma-7Siec option for Sigma-7 SERVOPACKs provides a compact, all-in-one servo/controller pack-
age with the following features:
• IEC61131-3 standard programming environment with PLCopen function blocks for motion control
• Self-tuning, anti-vibration, and other high performance, easy-to-implement servo control features
• Ethernet/IP, Modbus TCP/IP, and OPC server, which provide connectivity to PLCs, HMIs, SCADA, MES, and ERP
• Scaleability with the multi-axis MP3000iec controller platform via the common programming environment, Motion-
Works IEC
• Web server that allows for maintenance diagnostics and troubleshooting
• I/O features: 7 digital inputs, 4 digital outputs
 Purchasing a SERVOPACK with the Sigma-7Siec option

To order SERVOPACKs with the Sigma-7Siec option, use the following model numbers.
SGD7S - 2R8 A M0 A 000 F50 ___

1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+ 14th+15th+
S-7 Series digit digit 13th digits 16th digits
SERVOPACK

Motor Capacity
Voltage Code Specification Voltage Code Specification Code Specification Applicable
R70*2 0.05 kW 1R9 500 W F 100 VAC
R90*2 0.1 kW 3R5 1.0 kW A 200 VAC
1R6*2 0.2 kW 5R4 1.5 kW D 400 VAC
2R8*2 0.4 kW Three- 8R4 2.0 kW 11th+12th+13th digits FT/EX Specification
3R8 0.5 kW phase, 120 3.0 kW
400 Code Specification
5R5*2 0.75 kW VAC 170 5.0 kW
5th+6th digits Interface F50 Application function for Sigma-7Siec
Three- 7R6 1.0 kW 210 *4 6.0 kW
phase, 120 1.5 kW 260 *4 7.5 kW Code Specification
14th+15th+16th digits Option Module
200 180 2.0 kW 280 *4 11 kW Sigma-7Siec
VAC M0 Code Specification
200 3.0 kW 370 *4 15 kW (built-in single-axis control)
Blank Standard
330 5.0 kW
470 6.0 kW 010*1 Safety Module*3
550 7.5 kW
590 11 kW
B: 400V Global design revision
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC
2R8 0.4 kW
*1. The model number of a SERVOPACK with the Functional Safety option is not hyphenated after SGD7S.
*3. Safety module only available in 100 V and 200 V
492
Single-Axis Control Option

Reference Sigma-7S EtherCAT Communications Reference SERVOPACKs ratings and specifications:
Ratings and Specifications (page 431)
External Dimensions
Reference Sigma-7S EtherCAT Communications Reference SERVOPACK external dimensions:
-7S SERVOPACKs: MECHATROLINK-III & EtherCAT Type (100/200V) (page 473)

Reference Sigma-7S EtherCAT Communications Reference SERVOPACK cables and peripheral
devices:
SERVOPACK Cables (page 512)
SERVOPACK Peripheral Devices (page 522)
493
1.5-Axis Control Option
MP2600iec Option
The MP2600iec option for Sigma-7 SERVOPACKs provides
a compact, all-in-one servo/controller package with the fol-
LED (10 points)
lowing features:
• IEC61131-3 standard programming environment with PLCopen
Ethernet/IP or Modbus TCP/IP
function blocks for motion control Communication Port A (CN11A)
• Self-tuning, anti-vibration, and other high performance, easy-to- Ethernet/IP or Modbus TCP/IP
implement servo control features Communication Port B (CN11B)
• Ethernet/IP, Modbus TCP/IP, and OPC server, which provide con- Configuration DIP
nectivity to PLCs, HMIs, SCADA, MES, and ERP Switches (6 points)
• Scaleability with the multi-axis MP3000iec controller platform via
the common programming environment, MotionWorks IEC CN13 Port
• Web server that allows for maintenance diagnostics and trouble- Analog I/O, Digital I/O
External Encoder (incremental)
shooting
• I/O features:
• 15 digital inputs Battery Port (CN14)
• 11 digital outputs
• 1 analog input 3.6V Lithium Battery
• 1 analog output (preserves retained variables,
absolute encoder offset,
• 1 external encoder input
and real-time clock data)
• 1 external encoder latch
 Purchasing a SERVOPACK with the MP2600iec option

To order SERVOPACKs with the MP2600iec option, use the following model numbers.
SGD7S *1
2R8 A E0 A 000 300
Σ-7 Series digit digit 13th digits
SERVOPACK

Motor Capacity
R70*2 0.05 kW A 200 VAC
R90*2 0.1 kW F 100 VAC
1R6*2 0.2 kW
2R8*2 0.4 kW 11th+12th+13th digits FT/EX Specification
5th+6th digits Interface
3R8 0.5 kW
Code Specification
300 MP2600iec single-axis control option
Three- 7R6 1.0 kW Other control architecture
E0
phase, 120 1.5 kW type
200 180 2.0 kW
VAC
200 3.0 kW
330 5.0 kW
470 6.0 kW
550 7.5 kW
590 11 kW
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC
2R8 0.4 kW
494
External Dimensions
Reference Analog Voltage / Pulse Train Reference SERVOPACKs external dimensions
-7S SERVOPACKs: Analog/Pulse & Command Option Type (100/200V) (page 470)
In order to determine the overall dimensions of the SERVOPACK & MP2600iec option card, add the
dimensions of the option card pictured below to the base SERVOPACK dimensions.
Nameplate for SERVOPACK

with Options
Nameplate for
MP2600iec option
160

( 22 )
20 (20) 97
Dimensions in mm.
495

SERVOPACK Ratings
 Three-Phase, 200 VAC

2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84.0
[Arms]
Control
Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.25 0.25 0.3
104. 114. 226.
2 2 6
Control Circuit Power Loss
12 12 12 12 14 14 14 15 16 16 19
[W]
Power Loss*
Built-in Regenerative Resis-
- - - - 8 8 8 10 16 16 36
tor Power Loss [W]
136. 146. 281.
2 2 6
Built-In Resistance
- - - - 40 40 40 20 12 12 8
Regenera- [W]
Regenerative tive Resistor Capacity [W] - - - - 40 40 40 60 60 60 180
Resistor
40 40 40 40 40 40 40 20 12 12 8
Resistance [W]

Main Circuit
Input Current [Arms]*1 29 37 54 73
Control
Input Current [Arms]*1 0.3 0.3 0.4 0.4
Power Loss *1 External Regenerative Resistor *2 *3 *3
Power Loss [W] 180 350 350 350 *3
External Resistance [] 6.25*2 3.13*3 3.13*3 3.13*3
Regenerative
Regenerative Resistor Capacity [W] 880*2 1760 *3 1760 *3 1760 *3
Resistor
Minimum Allowable External 5.8 2.9 2.9 2.9
Resistance []

496

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A
Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.5
Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5 11.6
Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9 28
Main Circuit
Input Current [Arms]* 0.8 1.6 2.4 5.0 8.7 16
Control
Input Current [Arms]* 0.2 0.2 0.2 0.2 0.2 0.25
Power Supply Capacity [kVA]* 0.2 0.3 0.6 1.2 1.9 4.0
Main Circuit Power Loss [W] 5.0 7.1 12.1 23.7 39.2 71.8
Control Circuit Power Loss [W] 12 12 12 12 14 16
Power Loss* Built-in Regenerative
Resistor Power Loss [W]     8 16
Total Power Loss [W] 17.0 19.1 24.1 35.7 61.2 103.8
Built-In Regen- Resistance []     40 12
Regenerative erative Resistor Capacity [W]     40 60
Resistor
Minimum Allowable External 40 40 40 40 40 12
Resistance []

 270 VDC
Main Circuit
Input Current [Arms] *1 0.5 1.0 1.5 3.0 3.8 4.9 6.9 11
Control
Input Current [Arms] *1 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 *2
*1 0.2 0.3 0.6 1 1.4 1.6 2.3 3.2
Power Supply Capacity [kVA]
Power Loss *1 Control Circuit Power Loss [W] 12 12 12 12 14 14 14 15
*2. The value is 0.25 Arms for the SGD7S-120A00A008.

Main Circuit
Control
Input Current [Arms]* 0.25 0.25 0.3 0.3 0.3 0.4 0.4
497

Main Circuit
Control
Input Current [Arms]* 0.38 0.38 0.38 0.38
Power Loss* Control Circuit Power Loss [W] 12 12 12 12
40 40 40 40
Resistor Resistance []
498
Specifications
Item Specification
Serial encoder: 17 bits (absolute encoder)
With Rotary Servomotor
20 bits or 24 bits (incremental encoder/absolute encoder)
Feedback
• Absolute linear encoder (The signal resolution depends on the absolute linear
encoder.)
With Linear Servomotor
• Incremental linear encoder (The signal resolution depends on the incremental
linear encoder or Serial Converter Unit.)
Surrounding Air Temperature 0C to 45C
Surrounding Air Humidity 90% relative humidity max. (with no freezing or condensation)
Class SERVOPACK Model: SGD7S-

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A,

Degree of Protection IP20
R70F, R90F, 2R1F, 2R8F
120AE0A008, 180A, 200A, 330A, 470A, 550A, 590A,
IP10
780A
2
Pollution Degree
Altitude 1,000 m max.
Others Do not use the SERVOPACK in the following locations: Locations subject to static
UL 61800-5-1 (E147823), CSA C22.2 No.274, EN ISO13849-1: 2015,
EN 55011 group 1 class A, EN 61000-6-2, EN 61000-6-4,
Applicable Standards EN 61800-3 (Category C2, Second environment), EN 50178,
EN 61800-5-1, IEC 60204-1, IEC 61508 series, IEC 62061,
IEC 61800-5-2, and IEC 61326-3-1

Rack-mounted 7R6A, 120A, 180A, 200A, 330A,
R70F, R90F, 2R1F, 2R8F
Speed Control Range
cause the Servomotor to stop.)
Performance

Fluctuation*1
1%
(Repeatability)
Encoder Divided Pulse Phase A, phase B, phase C: Line-driver output Number of divided
I/O Signals
Output output pulses: Any setting is allowed.

Overheat Protection Input
499

Item Specification
Sequence Input Signals
Input Signals:
• Alarm Reset (/ALM-RST)
SERVOPACK
• Forward Drive Prohibited (P-OT)

• Reverse Drive Prohibited (N-OT)
Fixed Input • Origin Return Deceleration Switch (/DEC)
• Registration (/RGRT)
• Servo ON (/S-ON)
I/O Signals

/MODE 0/1 (Mode Switch Input) signal
Sequence Output Signals
Fixed Output Number of output points: 1

Output signal: Servo Alarm (/ALM)
SERVOPACK

Number of output points: 3. (A photocoupler output (isolated) is used.)
Output Signals:
Output Signals for • Warning Output (/WARN)
Which Allocations Can
Be Changed • Brake Output (/BK)
• Servo Ready Output (/S-RDY)
• Alarm Code Output (/ALO1, /ALO2, and /ALO3)
Communications
RS-422A
1:N Communications Up to N = 15 stations possible for RS-422A port

(CN3)
Communications
Axis Address Setting Set with parameters.
Interfaces Interface Personal computer (with SigmaWin+)

Communications
(CN7)
USB
Communications Stan- Conforms to USB2.0 standard (12 Mbps).

dard
Indicators
Displays/
SERVOPACK CHARGE and PWR indicators, and one-digit seven-segment display
Number of points: 2
Analog Monitor (CN5) Resolution: 16 bits; Accuracy: 20 mV (Typ)
Dynamic Brake (DB) Activated when a servo alarm or overtravel (OT) occurs, or when the power sup-
ply to the main circuit or servo is OFF.
Regenerative Processing Refer to the following section for details.
Stopping with a dynamic brake (DB), coasting to a stop, performing a hard stop,
Overtravel (OT) Prevention or performing a smooth stop (decelerating to a stop) for a CCW-OT (CCW Drive
Prohibit Input) signal or CW-OT (CW Drive Prohibit Input) signal.
Functions
Safety
Applicable Standards*2 ISO13849-1 PLe (Category 3), IEC61508 SIL3
Rated motor speed
500

Reference Sigma-7S Single-Axis Command Option Attachable SERVOPACK section for cables and
peripheral devices:
501
Network Indexer Option
SigmaLogic7 Compact Option

The SigmaLogic7 Compact option for Sigma-7 SERVOPACKs provides an intuitive, easy to implement
solution for programming motion control using Rockwell PLCs. SigmaLogic7 Compact allows you to use
Yaskawa's written and tested add-on instructions (AOIs) in your RSLogix5000 program with a Control-
Logix or CompactLogix PLC. No other Yaskawa programming software is required:
• Use as many SigmaLogic instances as you have unused connections in your PLC
• Perform basic point-to-point moves, blended speed moves, homing, jogging, and gearing to an external
encoder using direct commands or initiating moves through a configurable sequence table
• The LogixWorksTM software utility may be used to download sequence and configuration data
A full list of available add-on instructions is listed below. These are compatible with all CompactLogix
and ControlLogix PLCs using RSLogix5000 software version 17 and above.
AOI Names AOI Descriptions Home Types Move Types

MCFG_Yaskawa Motion Axis Conﬁguration 1 - Set Position Directly 1 - Absolute Move
MSO_Yaskawa Motion Axis Servo On 2 - Home in Positive Direction to Hard Stop 2 - Absolute Move with Registration
MSF_Yaskawa Motion Axis Servo Off 3 - Home in Negative Direction to Hard Stop 3 - Relative Move
MAS_Yaskawa Motion Axis Stop 4 - Home in Positive Direction to Limit w/o C-Pulse 4 - Relative Move with Registration
MAFR_Yaskawa Motion Axis Fault Reset 5 - Home in Negative Direction to Limit w/o C-Pulse 5 - Blended Move
MAM_Yaskawa Motion Axis Move 6 - Home in Positive Direction to Limit w/ C-Pulse 6 – Jog
MAJ_Yaskawa Motion Axis Jog 7 - Home in Negative Direction to Limit w/ C-Pulse 7 - Jog with Registration
MAHSP_Yaskawa Motion Axis Home Set Position 8 - Home in Positive Direction to Input w/o C-Pulse 8 - Gear On
MAH_Yaskawa Motion Axis Homing 9 - Home in Negative Direction to Input w/o C-Pulse 9 - Gear Off
MAG_Yaskawa Motion Axis “Gearing” Move 10 - Home in Positive Direction to Input w/ C-Pulse 10 - Superimpose Move on Gear
MAB_Yaskawa Motion Axis “Blend” Move 11 - Home in Negative Direction to Input w/ C-Pulse 11 - Torque Mode
MSQR_Yaskawa Motion Axis Index Run Sequencer 12 - High Speed Index
MSQE_Yaskawa Motion Axis Index Step Edit
MHSI_Yaskawa Motion Axis High-Speed Index
MTRQ_Yaskawa Motion Axis Torque Control
MCLK_Yaskawa Motion Axis Set Clock
MPLS_Yaskawa Motion Axis Programmable Limit Switch
502
Network Indexer Option
 Purchasing a SERVOPACK with the SigmaLogic7 Compact option

To order SERVOPACKs with the SigmaLogic7 Compact option, use the following model numbers.
SGD7S - 2R8 A Q0 A 000 F51

SERVOPACK

Motor Capacity
R70*1 0.05 kW A 200 VAC
R90*1 0.1 kW F 100 VAC
1R6*1 0.2 kW
3R8 0.5 kW
Code Specification
F51 Application function for
Three- 7R6 1.0 kW SigmaLogic7 Compact SigmaLogic7 Compact
Q0
phase, 120 1.5 kW (Ethernet/IP Indexer)

200 180 2.0 kW
VAC
200 3.0 kW
330 5.0 kW
470 6.0 kW
550 7.5 kW
590 11 kW
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC
2R8 0.4 kW

Reference Sigma-7S EtherCAT Communications Reference SERVOPACKs ratings and specifications:
Ratings and Specifications (page 431)
External Dimensions
Reference Sigma-7S EtherCAT Communications Reference SERVOPACK external dimensions:
-7S SERVOPACKs: MECHATROLINK-III & EtherCAT Type (100/200V) (page 473)

Reference Sigma-7S EtherCAT Communications Reference SERVOPACK cables and peripheral
devices:
503
FT Specification Options
FT19 Option - Less Deviation Control

The FT19 option for the Sigma-7 SERVOPACK provides built-in control with less deviation. There is
almost no delay in motor operation for position references, which prevents path error caused by position-
ing response delays, and prevents interference between the machine and moving parts. FT19 is avail-
able with MECHATROLINK-III and Analog/Pulse style SERVOPACKs.
504
 Purchasing a SERVOPACK with the FT19 option

To order SERVOPACKs with the FT19 option, use the following model numbers.
SGD7S - 2R8 A 30 A 000 F19

SERVOPACK

Motor Capacity
R70*1 0.05 kW A 200 VAC
R90*1 0.1 kW F 100 VAC
1R6*1 0.2 kW
3R8 0.5 kW
Code Specification
Three- 7R6 1.0 kW Analog voltage/pulse train Less Deviation Control
00
phase, 120 1.5 kW reference

200 180 2.0 kW MECHATROLINK-III
VAC 30
200 3.0 kW
330 5.0 kW
470 6.0 kW
550 7.5 kW
590 11 kW
780 15 kW
R70 0.05 kW 7th digit Design Revision Order
Single-
phase, R90 0.1 kW A: Global design revision
100 2R1 0.2 kW
VAC
2R8 0.4 kW

Reference the Sigma-7S Ratings and Specifications of the appropriate SERVOPACK type:
-7S Single-axis Analog Voltage/Pulse Train Reference SERVOPACKs (page 406)
-7S Single-axis MECHATROLINK-III Communications Reference SERVOPACKs (page 416)
-7S Single-axis EtherCAT Communications Reference SERVOPACKs (page 430)
External Dimensions
Reference the Sigma-7S External Dimensions of the appropriate SERVOPACK type:
SERVOPACK External Dimensions (page 466)

Reference Sigma-7S Cables and Peripheral Devices of the appropriate SERVOPACK type::
505
FT79 Option - Built-in Indexer

The FT79 option for the Sigma-7 SERVOPACK provides built-in positioning with an indexer that lets you
easily achieve motion control simply by entering positions, speeds, and other data for the operation pat-
tern in the SigmaWin+ configuration tool. FT79 is available with Analog/Pulse style SERVOPACKs.
506

SGD7S - 2R8 A 30 A 000 F79

SERVOPACK

Motor Capacity
R70*1 0.05 kW A 200 VAC
R90*1 0.1 kW F 100 VAC
1R6*1 0.2 kW
3R8 0.5 kW
Code Specification
Three- 7R6 1.0 kW Analog voltage/pulse train Simple Indexer
00

200 180 2.0 kW
VAC
200 3.0 kW
330 5.0 kW
470 6.0 kW A: Global design revision
550 7.5 kW
590 11 kW
780 15 kW
Single- R70 0.05 kW
phase, R90 0.1 kW
100 2R1 0.2 kW
VAC
2R8 0.4 kW

External Dimensions

507
FT81 Option - Harmonic Drive SHA Actuators

The FT81 option for the Sigma-7 SERVOPACK provides support for Harmonic Drive SHA Series Actua-
tors. FT81 is available with MECHATROLINK-III and EtherCAT style SERVOPACKs.
508

SGD7S - 2R8 A 30 A 000 F81

SERVOPACK

Motor Capacity
R70*1 0.05 kW A 200 VAC
R90*1 0.1 kW F 100 VAC
1R6*1 0.2 kW
3R8 0.5 kW
Code Specification
F81 Application function for connection to
Three- 7R6 1.0 kW Analog voltage/pulse train Harmonic Drive SHA series actuators
00

200 180 2.0 kW MECHATROLINK-III
VAC 30
200 3.0 kW
A0
reference
470 6.0 kW
550 7.5 kW
590 11 kW
780 15 kW
R70 0.05 kW 7th digit Design Revision Order
Single-
phase, R90 0.1 kW A: Global design revision
100 2R1 0.2 kW
VAC
2R8 0.4 kW

External Dimensions

For more information on Harmonic Drive SHA Series Actuators:

Visit: http://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-actuators/sha-sg
509
FT82/83 Option - for SGM7D Direct Drive Motor

To order SERVOPACKs with the FT82/83 option, use the following model numbers.
SGD7S - 2R8 A 00 A 001 F82

Σ-7 Series digit digit digits
Σ-7S SERVOPACKs

Motor Capacity
Code Specification
Models
A 200 VAC
Three- 2R8*1 0.4 kW None
phase, F 100 VAC Without options All models
200 *2 000
120 1.5 kW
VAC Single-phase,
5th+6th digits Interface 008 200-VAC power SGD7S-120A
Single-
phase, Code Specification supply input
2R8 0.4 kW
100 Analog voltage/pulse train
00
VAC reference
MECHATROLINK-III 11th+12th+13th digits FT Specification
30
Code Specification
A0 EtherCAT
communications reference Application function
F82 for connection to
SGM7D motors
Application function
A
for connection to
F83 SGM7D motors plus
application function
for simple indexer*
* Only available with Analog/Pulse interface
120A 0A008).
Note: Refer to the following manual for details.

-7-Series AC Servo Drive -7S SERVOPACK with FT/EX Specification for SGM7D Motor Product Manual
(Manual No.: SIEP S800001 91)
510
SERVOPACK Cables/
Peripherals
SERVOPACK Cables ...........................................512
SERVOPACK Peripheral Devices .........................522

SERVOPACK Cables/Peripherals
SERVOPACK Cables
System Configurations (200V)

 -7S Single-axis Analog Voltage/Pulse  -7S Single-axis MECHATROLINK-III
Train Reference SERVOPACKs Communications Reference SERVO-
PACKs

CN5 CN5
MECHATROLINK-III Communications Cable

Digital Operator
Digital Operator
Converter Cable CN6 To next
CN3
MECHATROLINK-III
REF
ALARM
YASKAWA
station
CN7 Computer Cable SVON
JZSP-CVS06-02-E
CN7
READ WRITE
SERVO SERVO
Computer Cable
DIGITAL OPERATOR − − −
JZSP-CVS06-02-E
Host controller
I/O Signal Cable
CN1 I/O Signal Cable To external
CN1
devices,
such as LED
indicators
Safety Function Device Cable CN8
CN8 Safety Function Device Cable
 -7S Single-axis EtherCAT Comm. Refer-  -7W Two-axis MECHATROLINK-III Com-

ence and Sigma-7Siec SERVOPACKs munications Reference SERVOPACKs
Analog Monitor Cable Analog Monitor Cable

CN5 CN5
EtherCAT Communications Cable MECHATROLINK-III

CN6 CN6
To next EtherCAT station To next MECHATROLINK-III
station
CN7 Computer Cable CN7 Computer Cable

JZSP-CVS06-02-E JZSP-CVS06-02-E
I/O Signal Cable I/O Signal Cable

CN1 To external devices, CN1
To external devices,
such as LED indicators such as LED indicators
CN8
512
SERVOPACK Cables
 -7S Single-axis Command Option

Attachable-Type SERVOPACKs

CN5
 Command Option Module:

Safety Module
Digital Operator Digital Operator

Converter Cable
CN3
REF
YASKAWA
ALARM
SVON
CN7 Computer Cable

JZSP-CVS06-02-E
SERVO
READ WRITE
DIGITAL OPERATOR JUSP−OP05A−1−E

SERVO
I/O Signal Cable CN21

CN1
To external devices, Safety Function Device Cable
such as LED indicators
Safety Function Device Cable CN22

CN8

 Command Option Module:
MP2600 Module
13 CN11A/B
Ethernet/EtherCAT Cables
for Industrial Use
CN13
11 I/O Signal Connector/Cable
12 CN14 Battery Kit
513
SERVOPACK Cables
Selection Table
1. Use the cable specified by Yaskawa for the Computer Cable. Operation may not be
dependable with any other cable.
2. Use the cable specified by Yaskawa for the MECHATROLINK Communications Cables.
Important
Operation may not be dependable due to low noise resistance with any other cable.

-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32
Length
Code Name Order Number Appearance/Spec
(L)
L
 Analog Monitor Cable 1m JZSP-CA01-E
JZSP-CVS05-A3-E*1
Digital Operator Converter
 0.3 m
Cable L
JZSP-CVS07-A3-E*2
L
 Computer Cable 2.5 m JZSP-CVS06-02-E
 I/O Connector N/A JUSP-7CN001
Soldered Connector Kit JZSP-CSI9-2-E
0.5 m SBK-U-VBA-A5(B) Terminal block & 0.5m connection cable

Connector-
Terminal Con- 1m SBK-U-VBA-01(B)
verter Unit
I/O Signal 3m SBK-U-VBA-03(B)

Cables
Cable with
1m JZSP-CSI02-1-E
Loose Wires L
at One End
2m JZSP-CSI02-2-E
(loose wires
on peripheral
3m JZSP-CSI02-3-E
device end)
514
SERVOPACK Cables
Length
(L)
Soldered Connector Kit DP9420007-E
0.5 m JUSP-TA36P-E L
Connector-Ter-
minal Block 1m JUSP-TA36P-1-E
Converter Unit
I/O Signal
 (with cable) 2m JUSP-TA36P-2-E
B1
A1
B20
A20
Cables 1
2
39
40
Cable with 1m JZSP-CSI03-1-E

Loose Wires at 2m JZSP-CSI03-2-E L
One End
(peripheral 3m JZSP-CSI03-3-E
device end)
0.45 m JZSP-CVH03-A45(A)-E L
Cables with
Safety 1m JZSP-CVH03-01(A)-E
Connectors*3
Function 3m JZSP-CVH03-03(A)-E

Device Contact Tyco Electronics Japan G.K.
Cable Connector Kit*4 Name: Industrial Mini I/O D-shape Type 1 Plug Connector Kit
Model number: 2013595-1
0.2 m CM3RRM0-00P2-E
1m JZSP-CM3RRM0-01-E

Cables with L
RJ45 Connec- 5m JZSP-CM3RRM0-05-E
tors on Both 10 m JZSP-CM3RRM0-10-E
Ends 20 m JZSP-CM3RR00-20-E
EtherCAT 30 m JZSP-CM3RR00-30-E
or 40 m JZSP-CM3RR01-40-E
MECHA- 50 m JZSP-CM3RR01-50-E
 TROLINK-
III Commu- 0.2 m CM3RMM0-00P2-E
nications 0.5 m CM3RMM0-00P5-E
Cables 1m JZSP-CM3RMM0-01-E
Cables with
RJ45 Connec- 3m JZSP-CM3RMM0-03-E
L
tor on One End 5m JZSP-CM3RMM0-05-E
and IMI Con- 10 m JZSP-CM3RMM0-10-E
nector on 20 m JZSP-CM3RM00-20-E
Other End
30 m JZSP-CM3RM00-30-E
0.45 m JZSP-CVH03-A45(A)-E L
Cables with
Safety 1m JZSP-CVH03-01(A)-E
Connectors*3
Function 3m JZSP-CVH03-03(A)-E

Device Contact Tyco Electronics Japan G.K.
Cables Connector Kit*4 Name: Industrial Mini I/O D-shape Type 1 Plug Connector Kit
515
SERVOPACK Cables
Length
(L)
Connector Kit JZSP-CSI9-1E
0.5 m CBK-U-MP2B-A5
MP2600iec Connector Ter-
1m CBK-U-MP2B-01
Cables for minal Con-
11 I/O Signals verter Unit 3m CBK-U-MP2B-03
(CN13)
0.5 m CFC-U-MP2B-A5
Flying Lead 1m CFC-U-MP2B-01
Cable
3m CFC-U-MP2B-03
3.6 V Lithium battery, cable with con-

MP2600iec CN14 Battery Kit SGDV-OZC02A nector, and mounting bracket for
12
MP2600iec
Category: CAT5e
MP2600iec Cables for I/O Signals
Shield specifications: S/UTP or S/STP
13 (CN13)
Cable length: 50 m maximum
*1. This Converter Cable is required to use the -III-series Digital Operator (JUSP-OP05A) for -7-series SERVOPACKs.
*2. If you use a MECHATROLINK-III Communications Reference SERVOPACK, this Converter Cable is required to pre-
vent the cable from disconnecting from the Digital Operator.
*3. When using safety functions, connect this Cable to the safety function devices.
When not using safety functions, connect the enclosed Safety Jumper Connector to the SERVOPACK.
*4. Use the Connector Kit when you make cables yourself.
 Connector Kit for CN13 (MP2600iec)

Use the following connector and cable to assemble the cable. The CN13 connector kit includes one case and one connector.
Connector Kit Case Connector

Model Model Qty Model Qty
10350- 10150-3000PE*
JZSP-CSI9-1-E 1 set 1
52Z0-008* (Soldered)
Dimensional Drawings of Case Dimensional Drawings of Connector

17.0 2.54
8.5
1.27
2.3
5.1
41.1 14.0
46.5
39.0
23.8
19.3
2.9
6.6
12.7
52.4 12.7
5.2
41.1
Pin No.1
9.1
7.5
1.27 15°
Pin No.26
30.48
36.7
516
SERVOPACK Cables
Cable Size
Item Specifications
Use twisted pair or twisted pair
Cable
shielded wire
Applicable Wires AWG 24, 26, 28, 30
Cable Finished
16 dia. max
Diameter
 Connector Terminal Converter Unit for CN13 (MP2600iec)
CBK-U-MP2B-XX Function Chart for MP2600iec

Pin Signal
I/O Function
No. Name
1 AO O Analog output
2 AI I Analog input
3 - - -
4 PA+ I Phase A pulse (+)
5 PA- I Phase A pulse (-)
6 GND P Encoder input ground
7 BAT+ P Controller SRAM Battery (+)
8 - - -
9 PILC5V I Phase-C latch pulse (-) for 5VDC input
11 DO_00- O Digital output 0 (-)
13 DICOM I Digital input common
14 DI_00 I Digital input 0

20 - - -
21 DO_00+ O Digital output 0 (+)
25 - - -
26 AO_GND O Analog output ground
27 AI_GND I Analog input ground
28 - - -
29 PB+ I Phase B pulse (+)
30 PB- I Phase B pulse (-)
31 GND P Encoder input ground
32 BAT- P Controller SRAM Battery (-)
33 - - -
35 PIL I Phase-C latch pulse (+)
38 DICOM I Digital input common
39 DI_01 I Digital input 1 - shared with pulse latch input
45 - - -
49 DO_07+ O Digital output 7 (+) - shared w/ position agreement COIN signal
50 - - -
I = Input, O = Output, P = Power
517
SERVOPACK Cables
 Flying Lead Cable for CN13 (MP2600iec)
CFC-U-MP2B-XX Function Chart for MP2600iec

Pin Color Signal
Function
No. (Solid/Band)
Name
1 BLK/RED AO O Analog output
2 BLK/WHT AI I Analog input
3 RED/GRN - - -
4 BLK/BLU PA+ I Phase A pulse (+)
5 BLU/BLK PA- I Phase A pulse (-)
6 RED/BLU GND P Encoder input ground
7 RED/WHT BAT+ P Controller SRAM Battery (+)
8 BLK/GRN - - -
9 BLK/YEL PILC5V I Phase-C latch pulse (-) for 5VDC input
10 BLK/ORG PILC24V I Phase-C latch pulse (-) for 24VDC input
11 RED/YEL DO_00- O Digital output 0 (-)
12 RED/BRN DO_02- O Digital output 2 (-)
13 RED/ORG DICOM I Digital input common
14 GRN/WHT DI_00 I Digital input 0
15 GRN/BLU DI_02 I Digital input 2
16 GRN/YEL DI_04 I Digital input 4
17 GRN/BRN DI_06 I Digital input 6
18 GRN/ORG DO_04- O Digital output 4 (-)
19 WHT/BLU DO_06- O Digital output 6 (-)
20 WHT/YEL - - -
21 YEL/RED DO_00+ O Digital output 0 (+)
22 BRN/RED DO_02+ O Digital output 2 (+)
23 ORG/GRN DO_04+ O Digital output 4 (+)
24 BLU/WHT DO_06+ O Digital output 6 (+)
25 WHT/BRN - - -
26 RED/BLK AO_GND O Analog output ground
27 WHT/BLK AI_GND I Analog input ground
28 GRN/RED - - -
29 BLK/BRN PB+ I Phase B pulse (+)
30 BRN/BLK PB- I Phase B pulse (-)
31 BLU/RED GND P Encoder input ground
32 WHT/RED BAT- P Controller SRAM Battery (-)
33 GRN/BLK - - -
34 ORG/BLK PILC12V I Phase-C latch pulse (-) for 12VDC input
35 YEL/BLK PIL I Phase-C latch pulse (+)
36 WHT/ORG DO_01- O Digital output 1 (-)
37 BLU/YEL DO_03- O Digital output 3 (-)
38 ORG/RED DICOM I Digital input common
39 WHT/GRN DI_01 I Digital input 1 - shared with pulse latch input
40 BLU/GRN DI_03 I Digital input 3
41 YEL/GRN DI_05 I Digital input 5
42 BRN/GRN DI_07 I Digital input 7
43 BLU/BRN DO_05- O Digital output 5 (-)
44 BLU/ORG DO_07- O Digital output 7 (-)
45 YEL/WHT - - -
46 ORG/WHT DO_01+ O Digital output 1 (+)
47 YEL/BLU DO_03+ O Digital output 3 (+)
48 BRN/BLU DO_05+ O Digital output 5 (+)
49 DO_07+
ORG/BLU DO_07+ O Digital output 7 (+) - shared w/ position agreement COIN signal
50 BRN/WHT - - -
I = Input, O = Output, P = Power
518
SERVOPACK Cables
System Configurations (400V)

 -7S and -7W MECHATROLINK and EtherCAT Comm. Reference SERVOPACKs
MECHATROLINK-III or EtherCAT
To next MECHATROLINK-III Safety Function Device Cable
or EtherCAT station
CN6 CN8
With Front Cover Open
Host controller
CN1
Computer Cable
I/O Signal Cable JZSP-CVS06-02-E
CN7
Digital Operator
REF
CN3
YASKAWA
ALARM
SVON
Digital Operator
SERVO
READ
DIGITAL OPERATOR −
WRITE
− −
SERVO Converter Cable Analog Monitor Cable
CN5

Selection Table
1. Use the cable specified by Yaskawa for the Computer Cable. Operation may not be
dependable with any other cable.
2. Use the cable specified by Yaskawa for the MECHATROLINK Communications Cables.
Important
Operation may not be dependable due to low noise resistance with any other cable.
Length
(L)
L
 1m JZSP-CA01-E
(CN5)
REF
Digital Operator (including

 1.0 m JUSP-OP05A-1-E
YASKAWA
ALARM
1 m cable SVON
READ WRITE
SERVO SERVO
DIGITAL OPERATOR − − −
L
 Computer Cable 2.5 m JZSP-CVS06-02-E
519
SERVOPACK Cables
Length
(L)
Soldered Connector Kit DP9420007-E
0.5 m JUSP-TA36P-E L
Connector-Ter-
minal Block 1m JUSP-TA36P-1-E
Converter Unit
I/O Signal
 (with cable) 2m JUSP-TA36P-2-E
B1
A1
B20
A20
Cables 1
2
39
40
Cable with 1m JZSP-CSI03-1-E

Loose Wires at 2m JZSP-CSI03-2-E L
One End
(peripheral 3m JZSP-CSI03-3-E
device end)
Cables with 3m JZSP-CM3RRM0-03-E L
RJ45 Connec- 5m JZSP-CM3RRM0-05-E
tors on Both 10 m JZSP-CM3RRM0-10-E
Ends 20 m JZSP-CM3RR00-20-E
EtherCAT
30 m JZSP-CM3RR00-30-E
or
MECHA- 40 m JZSP-CM3RR01-40-E
TROLINK- 50 m JZSP-CM3RR01-50-E
 III Commu- 0.2 m CM3RMM0-00P2-E
nications 0.5 m CM3RMM0-00P5-E
Cables
1m JZSP-CM3RMM0-01-E
Cables with
RJ45 Connec- 3m JZSP-CM3RMM0-03-E
L
tor on One End 5m JZSP-CM3RMM0-05-E
and IMI Con- 10 m JZSP-CM3RMM0-10-E
nector on 20 m JZSP-CM3RM00-20-E
Other End
Cables with 1m JZSP-CVH03-01-E-G L
Safety
Connectors*1 3m JZSP-CVH03-03-E-G
Function
 Device Contact Tyco Electronics Japan G.K.
Cable Connector Kit*2 Name: Industrial Mini I/O D-shape Type 1 Plug Connector Kit
*1. 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.
*2. Use the connector kit when you make cables yourself.
520
SERVOPACK Cables
521
SERVOPACK Peripheral Devices
System Configuration (200 V Models)

Power supply
R S T
Molded-case
circuit breaker
Noise Filter
SERVOPACK*1 MECHATROLINK
*1
Communications Cables
Magnetic Contactor
To other
MECHATROLINK-III
stations*2
Computer
Engineering Tool
SERVOPACK
Main Circuit Wires
Computer Cable
Host controller
Control Power Supply Cable I/O Signal Cables
External
Regenerative
Resistor
External Regenerative Resistor Cable
200 VAC
Holding Brake Power

Supply Unit*3, *4, *5
Safety function device
When not using a safety function,

Battery Case leave the Safety Jumper Connector
(Used for an absolute encoder.) connected to the SERVOPACK.
Magnetic Contactor Ground
cable
Encoder Cable
(Wires required for a Servo Motor Servo Motor Main Circuit Cable
with a Brake)
Surge Absorbers
DC Reactors
Surge Absorbers for Holding Brakes (Varistors) and Diodes
Servo Motor
522
*1. The peripheral devices are described using a MECHATROLINK-III Communications Reference SERVOPACK as an
example. The shapes of the connectors may be different for other interfaces.
*2. The connected devices depend on the interface.
For MECHATROLINK-II communications references: Other MECHATROLINK-II stations
For analog voltage/pulse train references: There is no CN6 connector.
*3. A Holding Brake Power Supply Unit is required to use a Servo Motor with a Holding Brake. Holding Brake Power Sup-
ply Units for 24 VDC are not provided by Yaskawa. Obtain these from other manufacturers.
Never connect Holding Brake Power Supply Units with different output voltages to a SERVOPACK. Overcurrent may
result in burning in the brake.
*4. If you use a Servo Motor with a Holding Brake, select a brake relay according to the power supply voltage and current
of the brake. Yaskawa does not recommend any particular brake relays. Select an appropriate brake relay using the
selection method of the brake relay manufacturer.
*5. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the holding brake
specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power
supplies, such as the one for the I/O signals of the CN1 connector. If the power supply is shared, the I/O signals may
malfunction.
523
System Configuration (400 V Models)
SGD7S Single Axis SERVOPACK (400 V)
Host controller
Computer
SERVOPACK
Support
main circuit wires
Software

Cable 24 VDC
Computer Cable
Digital
Operator cable
Motor Connection
Shielding Clamp
Bottom of SERVOPACK
524
SGD7W Dual Axis SERVOPACK (400 V)
Power supply
Host controller
Computer
SERVOPACK
Support
main circuit wires
Software

Cable 24 VDC
Computer Cable
Digital
Digital Operator cable
Operator

Motor Connection
Shielding Clamps
Bottom of SERVOPACK
525
Peripheral Device Selection Table
SERVOPACK
Main
DC
Circuit Maximum Magnetic Digital
Noise Filter*1 Reac- Surge Absorber
Power Applicable Contactor Operator
Model Model tor*2
Supply Motor
SGD7S- SGD7W-
Capacity
[kW]
0.05 R70A 
0.1 R90A 
0.2 1R6A  HF3010C-SZC SC-03
0.4 2R8A 1R6A X5061
0.5 3R8A 
0.75 5R5A 2R8A
Three- 1.0 7R6A  SC-4-1
phase, HF3020C-SZC
1.5 120A 5R5A LT-C32G801WS
200 X5060
VAC 2.0 180A 7R6A
SC-5-1
3.0 200A  HF3030C-SZC X5059
5.0 330A  HF3050C-SZC X5068
SC-N1 JUSP-OP05A-1-E
6.0 470A  -47EDD
7.5 550A  HF3060C-SZC SC-N2


11 590A  SC-N2S
HF3100C-SZC
15 780A  SC-N3
0.05 R70A 
X5071
0.1 R90A 
HF2010A-UPF SC-03
Single- 0.2 1R6A  X5070
phase, 0.4 2R8A 1R6A X5069 LT-C12G801WS
200
HF2020A-UPF-
VAC 0.75 5R5A 2R8A X5079 SC-4-1
2BB
HF2030A-UPF-
1.5  5R5A X5078 SC-5-1
2BB
0.5 1R9D X5074
1.0 3R5D SC-4-1/G
*3
X5075
1.5 5R4D FESS-4009A
2.0 8R4D
X5076 SC-5-1/G
Three- 3.0 120D
phase,
5.0 170D FESS-4015A*3 X5077
400 LT-C35G102WS JUSP-OP05A-1-E
VAC 6.0 210D - SC-N1/G
FESS-4022A*3
7.5 260D -
11.0 280D
FESS-4044A*3 - -
15.0 370D
2 x 0.75 2R6D X5075 SC-4-1/G
FESS-4009A*3
2 x 1.5 5R4D X5076 SC-5-1/G
526
Device Inquiries
Noise Filters Yaskawa Controls Co., Ltd. (200 V Models); EPA GmbH (400 V Models)
Surge Absorbers
Yaskawa Controls Co., Ltd.
DC Reactors
Magnetic Contactors Fuji Electric FA Components & Systems Co., Ltd.
*1. Some Noise Filters have large leakage currents. The grounding conditions also affect the size of the leakage current. If
necessary, select an appropriate leakage detector or leakage breaker taking into account the grounding conditions and
the leakage current from the Noise Filter.
*2. The last digit of an RoHS-compliant serial number is R. Consult with Yaskawa Controls Co., Ltd. for RoHS-compliant
reactors.
Note: 1. Consult the manufacturer for details on peripheral devices.
2. Refer to the following section for information on Digital Operator Converter Cables.
Selection Table (page 514)
• Dimensional drawings, ratings, and specifications of peripheral devices
527
Molded-case Circuit Breakers and Fuses
Using an AC Power Supply

Use a molded-case circuit breaker and fuse to protect the power supply line. They protect the power line
by shutting OFF the circuit when overcurrent is detected. Select these devices based on the information
in the following tables.
Note: The following tables also provide the net values of the current capacity and inrush current. Select a fuse and a
molded-case circuit breaker that meet the following conditions.
• Main circuit and control circuit: No breaking at three times the current value given in the table for 5 s.
• Inrush current: No breaking at the current value given in the table for 20 ms.
 -7S SERVOPACKs
Current Capacity Inrush Current
Power Supply
Maximum Control Control
Main Circuit SERVOPACK Capacity per Main Main
Applicable Motor Power Power
Power Supply Model: SGD7S- SERVOPACK Circuit Circuit
Capacity [kW] Supply Supply
[kVA]* [Arms]* [A0-p]
[Arms] [A0-p]
0.05 R70F 0.2 1.5
Single-phase, 0.1 R90F 0.3 2.5
0.38 34 34
100 VAC 0.2 2R1F 0.6 5
0.4 2R8F 1.4 10
0.05 R70A 0.2 0.4
0.1 R90A 0.3 0.8
0.2 1R6A 0.5 1.3
0.4 2R8A 1.0 2.5
0.2
0.5 3R8A 1.3 3.0
34
0.75 5R5A 1.6 4.1
1.0 7R6A 2.3 5.7
Three-phase,
1.5 120A 3.2 7.3
200 VAC
2.0 180A 4.0 10
0.25
3.0 200A 5.9 15
34
5.0 330A 7.5 25
6.0 470A 10.7 29 0.3 68
7.5 550A 14.6 37
11 590A 21.7 54
0.4 114
15 780A 29.6 73
0.05 R70A 0.2 0.8
0.1 R90A 0.3 1.6
Single-phase,
0.2 1R6A 0.6 2.4 0.2 34
200 VAC
0.4 2R8A 1.2 5.0
0.75 5R5A 1.9 8.7
0.5 1R9D 1.1 1.4
1.0 3R5D 2.3 2.9 19
1.5 5R4D 3.5 4.3
1.2
2.0 8R4D 4.5 5.8
Three-phase, 3.0 120D 7.1 8.6 38
-
400 VAC 5.0 170D 11.7 14.5
6.0 210D 12.4 17.4
1.4
7.5 260D 14.4 21.7
68
11.0 280D 21.9 31.8
1.7
15.0 370D 30.6 43.4

528
 -7W SERVOPACKs
Current Capacity Inrush Current
Maximum Power Supply
Main Circuit Applicable Motor Capacity per Control Control
SERVOPACK Main Main
Power Supply Capacity per Axis SERVOPACK Power Power
Model: SGD7W- Circuit Circuit
Supply Supply
[kW] [kVA]*1 [Arms]*1 [A0-p]
[Arms] [A0-p]
0.2 1R6A 1.0 2.5
Three-phase, 0.4 2R8A 1.9 4.7
200 VAC 0.75 5R5A 3.2 7.8
1.0 7R6A 4.5 11 0.25 34 34
0.2 1R6A 1.3 5.5
Single-phase, 0.4 2R8A 2.4 11
200 VAC
0.75 5R5A *2 2.7 12
Three-phase, 0.75 2R6D 3.5 4.4 19
1.2 -
400 VAC 1.5 5R4D 6.8 8.6 38

*2. If you use the SGD7W-5R5A with a single-phase 200-VAC power supply input, derate the load ratio to 65%. An
example is given below.
If the load ratio of the first axis is 90%, use a load ratio of 40% for the second axis so that average load ratio for both
axes is 65% ((90% + 40%)/2 = 65%).
Using a DC Power Supply with 200 V SERVOPACKS

This section gives the power supply specifications for using a DC power supply input. Use the Fuses

given in the following tables to protect the power supply line and SERVOPACK. They protect the power
line by shutting OFF the circuit when overcurrent is detected.
Note: The following tables provide the net values of the current capacity and inrush current.
 -7S SERVOPACKs
Current Capacity Inrush Current External Fuse
Main Power Supply
Circuit SERVOPACK Capacity per Control Control
Main Cir- Current Voltage
Power Main Cir- Power
Power Model: SGD7S- SERVOPACK cuit Order Number*2 Rating Rating
[kVA]*1 Supply cuit [A0-p] Supply
Supply [Arms]*1 [A] [Vdc]
[Arms] [A0-p]
R70A 0.2 0.5
R90A 0.3 1.0 3,5URGJ17/16UL 16
0.2
1R6A 0.5 1.5
2R8A 1.0 3.0 3,5URGJ17/20UL 20
3R8A 1.3 3.8
34
5R5A 1.6 4.9 0.2
3,5URGJ17/40UL 40
7R6A 2.3 6.9
270 120A 3.2 11 0.2 34 400
VDC
180A 4.0 14
0.25 3,5URGJ17/63UL 63
200A 5.9 20
330A 7.5 34 3,5URGJ17/100UL 100
68*3
470A 10.7 36 0.3 (5 
external) 3,5URGJ23/160UL 160
550A 14.6 48
590A 21.7 68 114*3
0.4 (3  3,5URGJ23/200UL 200
780A 29.6 92 external)

*2. These Fuses are manufactured by MERSEN Japan.
*3. If you use a DC power supply input with any of the following SERVOPACKs, externally connect an inrush current limiting circuit
and use the power ON and OFF sequences recommended by Yaskawa: SGD7S-330A, -470A, -550A, -590A, or -780A.
There is a risk of equipment damage.
529
For information on the power ON and OFF sequences, refer to the product manual for the type of references used by
your SERVOPACK.
 -7W SERVOPACKs
Current Capacity Inrush Current External Fuse
Main Power Supply
Circuit SERVOPACK Capacity per Control Control
Main Cir- Current Voltage
Power Main Cir- Power
Power Model: SGD7W- SERVOPACK cuit Order Number*2 Rating Rating
[kVA]*1 Supply cuit [A0-p] Supply
Supply [Arms]*1 [A] [Vdc]
[Arms] [A0-p]
1R6A 1 3.0
3,5URGJ17/40UL 40
270 2R8A 1.9 5.8
0.25 34 34 400
VDC 5R5A 3.2 9.7
3,5URGJ17/63UL 63
7R6A 4.5 14

*2. These Fuses are manufactured by MERSEN Japan.
DC power supply
(converter)
Fuse U
+ B1/ +
V M
− 2
W
SERVOPACK
Fuse U
B1/ +
V M
2
W
SERVOPACK
Note: If you connect more than one SERVOPACK to the same DC power supply, connect Fuses for each SERVOPACK.
530
SERVOPACK Main Circuit Wires

This section describes the main circuit wires for SERVOPACKs.
These specifications are based on IEC/EN 61800-5-1, UL 61800-5-1, and CSA C22.2 No.274.
1. To comply with UL standards, use UL-compliant wires.
2. Use copper wires with a rated temperature of 75° or higher.
Important
3. Use copper wires with a rated withstand voltage of 300 V or higher.
Note: To use 600-V heat-resistant polyvinyl chloride-insulated wire (HIV), use the following table as reference for the appli-
cable wires.
• The specified wire sizes are for three bundled leads when the rated current is applied with a surrounding air
temperature of 40°C.
• Select the wires according to the surrounding air temperature.
Three-phase, 200-VAC Wires for -7S SERVOPACKs

Tightening
SERVOPACK Screw
Terminals Wire Size Torque
Model: SGD7S- Size
[Nm]
Main Circuit Power Supply
L1, L2, L3
Cable
Servo Motor Main Circuit
U, V, W
Cable* AWG16 (1.25 mm 2)  

R70A Control Power Supply Cable L1C, L2C
External Regenerative
Resistor Cable B1/ , B2
Ground cable AWG14 (2.0 mm 2) min. M4 1.2 to 1.4

L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  

L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
1R6A Control Power Supply Cable L1C, L2C
B1/ , B2
Resistor Cable
L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  

531

Tightening
SERVOPACK Screw
Model: SGD7S- Size
[Nm]
L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  

L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
B1/ , B2
Resistor Cable
L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
B1/ , B2
Resistor Cable
L1, L2, L3
Cable
AWG14 (2.0 mm 2)
U, V, W
Cable*  
120A Control Power Supply Cable L1C, L2C
External Regenerative AWG16 (1.25 mm 2)
Ground cable AWG14 (2.0 mm 2) min.

Cable
L1, L2, L3 AWG14 (2.0 mm 2)

Cable*
U, V, W AWG10 (5.5 mm 2)
B1/ , B2
Resistor Cable
Cable
L1, L2, L3 AWG12 (3.5 mm 2)

Cable*
U, V, W AWG10 (5.5 mm 2)
B1/ , B2
Resistor Cable
532

Tightening
SERVOPACK Screw
Model: SGD7S- Size
[Nm]
L1, L2, L3
Cable
AWG8 (8.0 mm 2)
U, V, W
Cable*
330A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm 2) M4 1.2 to 1.4
Resistor Cable
B1/ , B2 AWG14 (2.0 mm 2)

Cable
L1, L2, L3 AWG8 (8.0 mm 2)

Cable*
U, V, W AWG6 (14 mm 2)
470A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm 2)
Resistor Cable
B1/ , B2 AWG14 (2.0 mm 2)

M5 2.2 to 2.4
Cable
L1, L2, L3 AWG8 (8.0 mm 2)

Cable*
U, V, W AWG4 (22 mm 2)

Resistor Cable
B1/ , B2 AWG10 (5.5 mm 2)

L1, L2, L3
Cable
AWG4 (22 mm 2)
U, V, W
Cable*
Resistor Cable
B1/ , B2 AWG10 (5.5 mm 2)

M6 2.7 to 3.0
L1, L2, L3
Cable
AWG3 (30 mm 2)
U, V, W
Cable*
Resistor Cable B1/ , B2 AWG8 (8.0 mm 2)

* If you do not use the recommended Servo Motor Main Circuit Cable, use this table to select wires.
533
Single-phase, 200-VAC Wires for -7S SERVOPACKs

Tightening
SERVOPACK Screw
Model: SGD7S- Size
[Nm]
L1, L2
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
B1/ , B2
Resistor Cable
L1, L2
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  

L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
B1/ , B2
Resistor Cable
L1, L2, L3
Cable
U, V, W
Cable* AWG16 (1.25 mm 2)  
B1/ , B2
Resistor Cable
Cable
L1, L2, L3 AWG14 (2.0 mm 2)

U, V, W
Cable*  
5R5A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm 2)
B1/ , B2
Resistor Cable
534
DC Power Supply Wires for -7S SERVOPACKs

Tightening
SERVOPACK Screw
Terminal Symbols *1 Wire Size Torque
Model: SGD7S- Size
[Nm]
U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
R70A
Main Circuit Power
Supply Cables B1/ , - 2 AWG16 (1.25 mm 2) – –
Ground Cable AWG14 (2.0 mm 2) or larger M4 1.2 to 1.4

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
R90A
Main Circuit Power

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
1R6A
Main Circuit Power

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
2R8A
Main Circuit Power

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
3R8A
Main Circuit Power

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
5R5A
Main Circuit Power

U, V, W*2 AWG16 (1.25 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
7R6A
Main Circuit Power

535

Tightening
SERVOPACK Screw
Model: SGD7S- Size
[Nm]
U, V, W*2 AWG14 (2.0 mm 2) – –
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) – –
120A
Main Circuit Power Sup-
ply Cables B1/ , - 2 AWG14 (2.0 mm 2) – –

U, V, W*2 AWG10 (5.5 mm 2) M4 1.2 to 1.4
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) M4 1.2 to 1.4
180A
Main Circuit Power
Supply Cables B1/ , - 2 AWG10 (5.5 mm 2) M4 1.2 to 1.4

U, V, W*2 AWG10 (5.5 mm 2) M4 1.2 to 1.4
Cables
Cables
L1C, L2C AWG16 (1.25 mm 2) M4 1.2 to 1.4
200A
Main Circuit Power

Cables
U, V, W AWG8 (8.0 mm 2) M4 1.2 to 1.4

Cables
L1C, L2C AWG16 (1.25 mm 2) M4 1.2 to 1.4
330A
Main Circuit Power

Cables
U, V, W AWG6 (14 mm 2) M5 2.2 to 2.4

Cables
L1C, L2C AWG16 (1.25 mm 2) M5 2.2 to 2.4
470A
Main Circuit Power

Cables
U, V, W AWG4 (22 mm 2) M5 2.2 to 2.4

Cables
L1C, L2C AWG16 (1.25 mm 2) M5 2.2 to 2.4
550A
Main Circuit Power
Supply Cables B1/ , - 2 AWG6 (14 mm 2) M5 2.2 to 2.4

Cables
U, V, W AWG4 (22 mm 2) M6 2.7 to 3.0

Cables
L1C, L2C AWG16 (1.25 mm 2) M6 2.7 to 3.0
590A
Main Circuit Power

536

Tightening
SERVOPACK Screw
Model: SGD7S- Size
[Nm]
Cables
U, V, W AWG3 (30 mm 2) M6 2.7 to 3.0

Cables
L1C, L2C AWG16 (1.25 mm 2) M6 2.7 to 3.0
780A
Main Circuit Power
*1. Do not wire the following terminals: L1, L2, L3, B2, B3, - 1, and - terminals.
*2. If you do not use the recommended Servo Motor Main Circuit Cable, use this table to select wires.
Three-phase, 400-VAC Wires for -7S SERVOPACKs

SERVOPACK
Terminals Wire Size
Model: SGD7S-
Main Circuit Power Supply Cable L1, L2, L3
Servo Motor Main Circuit Cable* U, V, W
1R9D Control Power Supply Cable 24V, 0V

External Regenerative Resistor Cable B1/ , B2
Ground cable

Control Power Supply Cable 24V, 0V
3R5D AWG16 (1.5 mm2)
Ground cable

Ground cable
AWG14 (2.5 mm2)
AWG16 (1.5 mm2)
Ground cable AWG14 (2.5 mm2)
AWG14 (2.5 mm2)
120D Control Power Supply Cable 24V, 0V

AWG16 (1.5 mm2)
AWG12 (4.0 mm2)
170D Control Power Supply Cable 24V, 0V AWG16 (1.5 mm2)

External Regenerative Resistor Cable B1/ , B2 AWG14 (2.5 mm2)
537

SERVOPACK
Terminals Wire Size
Model: SGD7S-
Main Circuit Power Supply Cable L1, L2, L3 AWG12 (4.0 mm2)
Servo Motor Main Circuit Cable* U, V, W AWG10 (4.0 mm2)
AWG12 (4.0 mm2)
Ground cable
AWG10 (4.0 mm2)

AWG8 (10 mm2)

Ground cable AWG8 (10 mm2)
AWG8 (10 mm2)

AWG8 (10 mm2)
Ground cable
538
Three-phase, 200-VAC Wires for -7W SERVOPACKs

Tightening
SERVOPACK Screw
Model: SGD7W- Size
[Nm]
L1, L2, L3
Cable
Servo Motor Main Circuit UA, VA, WA,
Cable* UB, VB, WB AWG16 (1.25 mm2)  
B1/ , B2
Resistor Cable
Cable
L1, L2, L3 AWG14 (2.0 mm 2)

Cable* UB, VB, WB  
2R8A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm2)

Cable
L1, L2, L3 AWG14 (2.0 mm 2)

5R5A

Control Power Supply Cable L1C, L2C
Resistor Cable
B1/ , B2 AWG14 (2.0 mm 2)

Cable
L1, L2, L3 AWG14 (2.0 mm 2)

Resistor Cable
B1/ , B2 AWG14 (2.0 mm 2)
539
Single-phase, 200-VAC Wires for -7W SERVOPACKs

Tightening
SERVOPACK Screw
Model: SGD7W- Size
[Nm]
L1, L2, L3
Cable
B1/ , B2
Resistor Cable
Cable
L1, L2, L3 AWG14 (2.0 mm 2)

Cable* UB, VB, WB  
2R8A Control Power Supply Cable L1C, L2C AWG16 (1.25 mm2)

Cable
L1, L2, L3 AWG14 (2.0 mm 2)

Resistor Cable
B1/ , B2 AWG14 (2.0 mm 2)
DC Power Supply Wires for -7W SERVOPACKs
Tightening
SERVOPACK Screw
Terminal Symbols*1 Wire Size Torque
Model: SGD7W- Size
[Nm]
UA, VA, WA,
Servo Motor Main Circuit UB, VB,
Cables AWG16 (1.25 mm 2) – –
WB *2
1R6A Cables
L1C, L2C AWG16 (1.25 mm 2) – –
Main Circuit Power


UA, VA, WA,
Cables AWG16 (1.25 mm 2) – –
WB *2
2R8A Cables
L1C, L2C AWG16 (1.25 mm 2) – –
Main Circuit Power


540

Tightening
SERVOPACK Screw
Terminal Symbols*1 Wire Size Torque
Model: SGD7W- Size
[Nm]
UA, VA, WA,
Cables AWG16 (1.25 mm 2) – –
WB *2
5R5A Cables
L1C, L2C AWG16 (1.25 mm 2) – –
Main Circuit Power


UA, VA, WA,
Cables AWG16 (1.25 mm 2) – –
WB *2
7R6A Cables
L1C, L2C AWG16 (1.25 mm 2) – –
Main Circuit Power

Supply Cables B1/ , - 2 AWG14 (2.0mm 2) – –

*1. Do not wire the following terminals: L1, L2, L3, B2, B3, - 1, and - terminals.
*2. If you do not use the recommended Servo Motor Main Circuit Cable, use this table to select wires.
Three-phase, 400-VAC Wires for -7W SERVOPACKs

SERVOPACK
Terminals Wire Size
Model: SGD7W-
Main Circuit Power Supply Cable L1, L2, L3 AWG14 (2.0 mm 2)
2R6D Control Power Supply Cable 24V, 0V AWG16 (1.25 mm 2)
Ground cable AWG14 (2.0 mm 2)
Main Circuit Power Supply Cable L1, L2, L3 AWG14 (2.0 mm 2)
5R4D Control Power Supply Cable 24V, 0V AWG16 (1.25 mm 2)
Ground cable AWG14 (2.0 mm 2)
541
Wire Types
The following table shows the wire sizes and allowable currents for three bundled leads.
HIV Specifications* Allowable Current at Surrounding Air Temperatures [Arms]
Nominal Cross-sectional Area Configuration
30C 40C 50C
[mm2] [Wires/mm 2]
0.9 37/0.18 15 13 11
1.25 50/0.15 16 14 12
2.0 7/0.6 23 20 17
3.5 7/0.8 32 28 24
5.5 7/1.0 42 37 31
8.0 7/1.2 52 46 39
14.0 7/1.6 75 67 56
22.0 7/2.0 98 87 73
38.0 7/2.6 138 122 103
* This is reference data based on JIS C3317 600-V-grade heat-resistant polyvinyl chloride-insulated wires (HIV).
542
Crimp Terminals and Insulating Sleeves

If you use crimp terminals for wiring, use insulating sleeves. Do not allow the crimp terminals to come
close to adjacent terminals or the case.
To comply with UL standards, you must use UL-compliant closed-loop crimp terminals and insulating
sleeves for the main circuit terminals. Use the tool recommended by the crimp terminal manufacturer to
attach the crimp terminals.
The following tables give the recommended tightening torques, closed-loop crimp terminals, and insulat-
ing sleeves in sets. Use the set that is suitable for your model and wire size.
-7S SERVOPACKs for Use with Three-Phase, 200-VAC and DC Power

Supply
Crimp Insulating
Crimp Crimping
Main Tightening Recom- Terminal Die Sleeve
SERVOPACK Screw Terminal Tool
Circuit Ter- Torque mended Model Model
Model: SGD7S- Size Horizontal
minals [Nm] Wire Size (Tokyo Dip
Width (From J.S.T. Mfg. Co., Ltd.)
Co., Ltd.)
R70A, R90A, Connector 
1R6A, 2R8A,
3R8A, 5R5A, 10 mm AWG14 YHT-
M4 1.2 to 1.4 R2-4  
7R6A, or 120A max. (2.0 mm2) 2210
AWG10
5.5-S4  TP-005
(5.5 mm2)

Terminal 7.7 mm AWG14 YHT-
M4 1.2 to 1.4 
block max. (2.0 mm2) 2210
180A or 200A 2-M4 TP-003
AWG16

(1.25 mm2)
10 mm AWG14 YHT-
M4 1.2 to 1.4 R2-4  
max. (2.0 mm2) 2210
AWG8 TD-121
8-4NS YPT-60N TP-008
(8.0 mm 2) TD-111
Terminal 9.9 mm AWG14
M4 1.2 to 1.4 
block max. (2.0 mm 2) YHT-
330A R2-4 TP-003
AWG16 2210

(1.25 mm2)
10 mm AWG14 YHT-
M4 1.2 to 1.4 R2-4  
max. (2.0 mm 2) 2210
AWG4 TD-123
22-S5 TP-022
(22 mm2) TD-112
AWG6 TD-122
R14-5 YPT-60N TP-014
(14 mm2) TD-111
AWG8 TD-121
R8-5 TP-008
Terminal 13 mm (8.0 mm2) TD-111
M5 2.2 to 2.4
block max. AWG10
470A or 550A R5.5-5  TP-005
(5.5 mm2)
AWG14 YHT-

(2.0 mm2) 2210
R2-5 TP-003
AWG16

(1.25 mm2)
12 mm AWG14 YHT-
M5 2.2 to 2.4 R2-5  
max. (2.0 mm2) 2210
543

Crimp Insulating
Crimp Crimping
Co., Ltd.)
AWG3 TD-124
38-S6 TP-038
(30 mm2) TD-112
AWG4 TD-123
R22-6 YPT-60N TP-022
(22 mm2) TD-112
AWG8 TD-121
R8-6 TP-008
Terminal 18 mm (8.0 mm2) TD-111
M6 2.7 to 3.0
block max. AWG10
590A or 780A R5.5-6  TP-005
(5.5 mm2)
AWG14 YHT-

(2.0 mm2) 2210
R2-6 TP-003
AWG16

(1.25 mm2)
12 mm AWG14 YHT-
M6 2.7 to 3.0 R2-6  
max. (2.0 mm2) 2210
-7S SERVOPACKs for Use with Single-Phase, 200-VAC Power Supply

Crimp Insulating
Crimp Crimping
Co., Ltd.)
R70A, R90A, Connector 
1R6A, 2R8A, or 10 mm AWG14 YHT-
5R5A M4 1.2 to 1.4 R2-4  
max. (2.0 mm 2) 2210
-7W SERVOPACKs for Use with Three-Phase, 200-VAC and DC Power

Supply
Crimp Insulating
Crimp Crimping
Model: SGD7W- Size Horizontal
Co., Ltd.)
Connector 
1R6A, 2R8A,
5R5A, or 7R6A 10 mm AWG14 YHT-
M4 1.2 to 1.4 R2-4  
max. (2.0 mm 2) 2210
-7W SERVOPACKs for Use with Single-Phase, 200-VAC Power Supply

Crimp Insulating
Crimp Crimping
Model: SGD7W- Size Horizontal
Co., Ltd.)
Connector 
1R6A, 2R8A, or
5R5A 10 mm AWG14 YHT-
M4 1.2 to 1.4 R2-4  
max. (2.0 mm 2) 2210
544
Surge Absorbers (Varistors) and Diodes for Holding Brake Power

Supplies
Surge Absorbers (varistors) and Diodes for holding brake power supplies help prevent damage to brake
coils caused by voltage surges.
If you use a Servo Motor with a Holding Brake and switch the brake power supply circuit on the DC side, connect
a Surge Absorber (varistor) or Diode that is suitable for the brake power supply voltage and current.
• When you select a Surge Absorber, varistor, or Diode for your application, consider the ser-
vice life and test all operations, including the brake timing, before you use the Servo Motor.
• If you connect an SSR (i.e., a semiconductor relay) to switch the brake circuit, use a Diode.
Note
• If you connect a Diode, more time is required to brake than with a Surge Absorber. (Refer to
the following figure.) If you use a diode, consider this in the application.
Diode
Current Holding the Voltage
brake (Diode)
Diode
0 0
Time Time
Surge Absorber
Holding the
brake (varistor)
Surge Absorber

 Surge Absorbers (Varistors) for Holding Brake Power Supplies
Use the following table as reference in selecting a Surge Absorber. Elements were selected for a Surge
Absorber surrounding air temperature range of -20°C to 60°C and an ON/OFF switching frequency of
10 times or less per minute. The information in this table is for reference only, and does not ensure oper-
ation in combination with the holding brake.
Holding Brake Power Supply Voltage 24 VDC
Nippon Chemi-Con Corporation Semitec Corporation
Manufacturer
Order Number
1 A max. TNR5V121K Z5D121
Brake Rated Current
 Diodes for Holding Brake Power Supplies

Select a Diode for the holding brake power supply with a rated current that is greater than that of the
holding brake and with the recommended withstand voltage given in the following table.
Diodes are not provided by Yaskawa.
Holding Brake Power Supply Unit Specifications
Withstand Voltage
Rated Output Voltage Input Voltage
24 VDC 200 V 100 V to 200 V
545
Regenerative Resistors
Types of Regenerative Resistors

The following regenerative resistors can be used.
• Built-in regenerative resistors: Some models of SERVOPACKs have regenerative resistors built into
them.
• External regenerative resistors: These resistors are used when the smoothing capacitor and built-in
regenerative resistor in the SERVOPACK cannot consume all of the regenerative power.
Use Yaskawa’s SigmaJunmaSize+, an AC Servo drive capacity selection program, to determine if a
regenerative resistor is required.
Note: If you use an External Regenerative Resistor, you must change the setting of the Pn600 (Regenerative Resistor
Capacity) or Pn603 (Regenerative Resistance) parameters.
Selection Table
SERVOPACK Model Built-In Regener- External Regen-
Contents
SGD7S- SGD7W- ative Resistor erative Resistor
There is no built-in regenerative resistor, but
normally an external regenerative resistor is
R70A, R90A, Basically not not required.
 None
1R6A, 2R8A required Install an external regenerative resistor when
the smoothing capacitor in the SERVOPACK
cannot process all the regenerative power.*1
3R8A, 5R5A,
7R6A, 120A, 1R6A, 2R8A, A built-in regenerative resistor is provided as a
180A, 200A, 5R5A, 7R6A standard feature. Install an external regenera-
Standard fea- Basically not
330A tive resistor when the built-in regenerative
ture *2 required
1R9D, 3R5D, resistor cannot process all the regenerative
5R4D, 8R4D, 2R6D, 5R4D power.*1
120D, 170D
A built-in regenerative resistor is not provided.
An External Regenerative Resistor is required.
470A, 550A,
 None Required.*3 If the External Regenerative Resistor is not
590A, 780A
connected to the SERVOPACK, a Regenera-
tion Alarm (A.300) will occur.
*1. Use Yaskawa's SigmaJunmaSize+, an AC Servo drive capacity selection program, to select an external regenerative
resistor.
*2. Refer to the following section for the specifications of built-in regenerative resistors.
*3. Regenerative Resistor Units are available. Refer to the following sections for details.
Regenerative Resistor Units (page 548)
546
Built-In Regenerative Resistor

The following table gives the specifications of the built-in regenerative resistors in the SERVOPACKs and
the amount of regenerative power (average values) that they can process.
Built-In Regenerative Regenerative Power Minimum
SERVOPACK Model
Resistor Processing Capacity of Allowable
Resistance Capacity Built-In Regenerative Resistor Resistance
SGD7S- SGD7W- [W] []
[] [W]
R70A, R90A, 1R6A,
    40
2R8A
3R8A, 5R5A, 7R6A 1R6A, 2R8A 40 40 8 40
120A  20 60 10 20
180A, 200A 5R5A, 7R6A 12 60 16 12
330A  8 180 36 8
470A  (6.25) *1 (880) *1 (180) *1 5.8
550A, 590A, 780A  (3.13) *2 (1760)*2 (350) *2 2.9
1R9D, 3R5D 70
75 75
5R4D
140
8R4D, 120D 43 43
-
170D 27 180 27
2R6D
43 140 43
5R4D
*1. Values in parentheses are for the optional JUSP-RA04-E Regenerative Resistor Unit.
*2. Values in parentheses are for the optional JUSP-RA05-E Regenerative Resistor Unit.

External Regenerative Resistors (200 V Models)
Model Specification Inquiries Manufacturer
RH120 70 W, 1  to 100 
RH150 90 W, 1  to 100 
Iwaki Musen Kenkyusho
RH220 or RH220B 120 W, 1  to 100  Yaskawa Controls Co., Ltd.
Co., Ltd.
RH300C 200 W, 1 k to 10 k
RH500 300 W, 2  to 50 
Note: 1. Consult Yaskawa Controls Co., Ltd. if you require a RoHS-compliant resistor.
2. Consult Yaskawa Controls Co., Ltd. for the model numbers and specifications of resistors with thermostats.
RH120 10Ω J
Model Resistance Resistance Tolerance
Code Specification
K ±10%
J ±5%
H ±3%
547
External Regenerative Resistors (400 V Models)

SERVOPACK Specification Resistor Specification
Minimum Allowable
Resistance Power
SERVOPACK External Resistance Model Resistor Manufacturer
[] [W]
[]
1R9D
3R5D 75 RH-0520W120-UL-T 120 520
5R4D
8R4D
43 RH-0400W045-UL-T 45
120D 400
SGD7S-
170D 27 RH-0400W032-UL-T 32
Heine
210D
18
260D
RH-4800W022-10-UL-T 22 1000
280D
14.25
370D
2R6D
SGD7W- 43 RH-0400W045-UL-T 45 400
5R4D
Regenerative Resistor Units

SERVOPACK Model: Regenerative Resistor Unit
Specifications Allowable Power Loss
SGD7S- Model
470A JUSP-RA04-E 6.25 , 880 W 180 W
550A, 590A, or 780A JUSP-RA05-E 3.13 , 1,760 W 350 W
Note: If you use only the above Regenerative Resistor Units, you do not need to change the setting of the Pn600 (Regen-
erative Resistor Capacity) or Pn603 (Regenerative Resistance) parameters.
 External Dimensions
 JUSP-RA04-E  JUSP-RA05-E
4×M5 4×M5
Protective
cover Protective
cover
335
350
335
350
External
External 180 (1.6) terminals 250 Ground (1.6)
terminals 220 Ground terminal 92 300 terminal 95
4×M5 2×4×M5
(M4 screw) (M4 screw)
Cement resistor Cement resistor
Unit: mm Unit: mm
30
30
548
Dynamic Brake Resistors
Dynamic Brake Resistors for 400V SERVOPACKS
SERVOPACK Specification Resistor Specification

Minimum Allowable
Resistance Power
SERVOPACK External Resistance Model Resistor Manufacturer
[] [W]
[]
1R9D 20 - - - -
3R5D - - - -
7.5
5R4D - - - -
8R4D 7.8 - - - -
120D 4 - - - -
SGD7S-
170D 3.3 - - - -
210D
260D
No integrated Dynamic Brake circuit
280D
370D
2R6D - - - -
SGD7W- 7.5
5R4D - - - -
Note: Contact you Yaskawa representative for information on Sigma-7 400V Dynamic Brake Resistors.

Calculate the energy that must be consumed by the resistance for one dynamic brake stop. To simplify the energy consumption cal-
culation, assume that all the kinetic energy until the Servomotor stops is consumed by the dynamic brake resistor and use the fol-
lowing formula.
Out of all possible operation patterns, use the one which maximizes the kinetic energy of the Servomotor.
Rotary Servomotors
Energy consumption of the dynamic brake resistor: EDB [J]

Motor moment of inertia*: JM [kgm2]
Load inertia: JL [kgm2]
Motor speed just before stopping with the dynamic brake: N [min-1]
* For detailed information on the motor moment of inertia, refer to the catalog or Servomotor product manual.
Linear Servomotors
Energy consumption of the dynamic brake resistor: EDB [J]

Moving Coil mass*: mM [kg]
Load mass: mL [kg]
Motor speed just before stopping with the dynamic brake: v [m/s]
* For detailed information on Moving Coil mass, refer to the catalog or Servomotor product manual.
549
Batteries for Servo Motor with Absolute Encoders

If you use an absolute encoder, you can use an Encoder Cable with a Battery Case connected to it to
supply power and retain the absolute position data.
You can also retain the absolute position data by supplying power from a battery on the host controller.
The Battery Case is sold as a replacement part for the Battery Case that is included with an Absolute
Encoder Cable.
Name Order Number Remarks
The Encoder Cable and Battery are not included.
Battery Case (case only) JUSP-BA01-E
(This is a replacement part for a damaged Battery Case.)
Lithium Battery JZSP-BA01 This is a special battery that mounts into the Battery Case.
1. You cannot attach the Battery Case to an Incremental Encoder Cable.

2. Install the Battery Case where the surrounding air temperature is between -5°C and 60°C.
Important
Note: The cable and connector to Absolute Encoder Cable

connect the Encoder Cable and
Battery Case are not included.
SERVOPACK Connector
Mount a Lithium Battery.
Battery Case (JUSP-BA01-E) Lithium Battery (JZSP-BA01)
 Mounting a Battery in the Battery Case

Obtain a Lithium Battery (JZSP-BA01) and mount it in the Battery Case.
2 Red
Connector
1 Red
Battery
ER3V (3.6 V, 1000 mAh) from Toshiba Battery Co., Ltd.
 Connecting a Battery to the Host Controller

Use a battery that meets the specifications of the host controller. Use an ER6VC3N Battery (3.6 V,
2,000 mAh) from Toshiba Battery Co., Ltd. or an equivalent battery.
550
Current Suppression Devices

Inrush current suppression devices prevent equipment from being damaged by inrush current.
They are used only when using a SERVOPACK of 5 kW or higher (SGD7S-330A, -470A, -550A, -590A, or
-780A) with a DC power supply input.
Selection Table
 External Inrush Current Suppression Resistors

External Inrush Current
Main Suppression Resistor
SERVO-
Circuit
PACK Model: Resis- Rated Manufacturer Inquiries
Power Order Num-
SGD7S- tance Power
Supply ber
[ ] [W]
330A
470A RH120-5  J 5 Iwaki Musen Yaskawa
270 VDC 550A 70 Kenkyusho Controls
590A Co., Ltd. Co.,Ltd.
RH120-3  J 3
780A
 Inrush Current Suppression Resistor Short Relays

Recommended Inrush Current
Main Main Cir- Suppression Resistor Short Relay
SERVO-
Circuit cuit DC Contact
PACK Model: Voltage Current Manufacturer
Power Current Specification
SGD7S- Model Rating Rating
Supply [Arms]
[Vdc] [A]
330A 34
G9EA-1-B 60
470A 36
G9EA-1-B-CA OMRON Cor-
270 VDC 550A 48 NO 400 100
poration
590A 68 G9EA-1-B-CA *1
200
780A 92 G9EC-1-B *2
*1. Connect two Relays in parallel. Also, maintain the same resistance between the DC power supply and SERVOPACK
for the wiring for each Relay.
*2. This Relay is applicable only when the temperature of the Relay installation environment is 50°C or less.
551
Software
SigmaWin+: AC Servo Drive Engineering Tool

The SigmaWin+ Engineering Tool is used to set up and optimally tune Yaskawa -series Servo Drives.
 Features
• Set parameters with a wizard.
• Display SERVOPACK data on a computer just like you would on a oscilloscope.
• Estimate moments of inertia and measure vibration frequencies.
• Display alarms and alarm diagnostics.
Setting Parameters with a Wizard Displaying SERVOPACK Data on a Computer Just Like You Would on a
Oscilloscope
Estimating Moments of Inertia and Mea- Displaying Alarms and Alarm Diagnostics
suring Vibration Frequencies
 System Requirements
Item System Requirement
Supported Languages English and Japanese
OS Windows XP, Windows Vista, or Windows 7 (32-bit or 64-bit edition)
CPU Pentium 200 MHz min.
Memory 64 MB min. (96 MB or greater recommended)
For Standard Setup:
Available Hard Disk Space
350 MB min. (400 MB or greater recommended for installation)
552
Appendices
Capacity Selection for Servo Motors ....................554
Capacity Selection for Regenerative Resistors .....564
International Standards ........................................580
Warranty ..............................................................582
Appendices
Capacity Selection for Servo Motors
Selecting the Servo Motor Capacity

Use Yaskawa’s SigmaJunmaSize+, an AC servo drive capacity selection program, to select the Servo
Motor capacity. With the SigmaJunmaSize+, you can find the optimum Servo Motor capacity by simply
selecting and entering information according to instructions from a wizard.
Refer to the following selection examples to select Servo Motor capacities with manual calculations
rather than with the above software.
Capacity Selection Example for a Rotary Servo Motor: For Speed

Control
1. Mechanical Specifications
Servo Motor
Linear motion section
υL Coupling
Gear
Ball screw
Item Code Value Item Code Value

Gear and Coupling
Load Speed L 15 m/min JG 0.40 10-4 kgm2
Moment of Inertia
Linear Motion Number of Feeding
m 250 kg n 40 operations/min
Section Mass Operations
Ball Screw Length B 1.0 m Feeding Distance 0.275 m
Ball Screw Diameter dB 0.02 m Feeding Time tm 1.2 s max.
Ball Screw Lead PB 0.01 m Friction Coefficient  0.2
Ball Screw Material Density  3 3 Mechanical Efficiency  0.9 (90%)
7.87 10 kg/m
Gear Ratio R 2 (gear ratio: 1/2)
External Force on
F 0N
Linear Motion Section
2. Operation Pattern
υL
t = 60 = 60 = 1.5 (s)
15 40
Motor Speed If ta = td,
(m/min)
ta tc td Time (s)
60 × 0.275
tm ta = tm − 60υL = 1.2 − = 1.2 − 1.1 = 0.1 (s)
15
t
tc = 1.2 − 0.1 × 2 = 1.0 (s)
3. Motor Speed
υL 15
• Load shaft speed nL = = = 1,500 (min-1)
PB 0.01
• Motor shaft speed nM = nL · R = 1,500 2 = 3,000 (min-1)
4. Load Torque
(9.8 µ m + F) PB (9.8 × 0.2 × 250 + 0) × 0.01
TL = = = 0.43 (Nm)
2πR η 2π × 2 × 0.9
554
Appendices
5. Load Moment of Inertia

• Linear motion section
2 2
PB 0.01
JL1 = m = 250 × = 1.58 × 10-4 (kgm2)
2πR 2π × 2
• Ball screw
π ρ 1 π 1
JB = B dB4 2 = × 7.87 × 103 × 1.0 × (0.02)4 2 = 0.31 × 10-4 (kgm2)
32 R 32 2
• Coupling JG = 0.40  10-4 (kgm2)
• Load moment of inertia at motor shaft
JL = JL1 + J B + J G = (1.58 + 0.31 + 0.40)  10-4 = 2.29  10-4 (kgm2)
6. Load Moving Power

2πnM TL 2π × 3,000 × 0.43
PO = = = 135 (W)
60 60
7. Load Acceleration Power

2 2
2π J 2π 2.29 × 10-4
Pa = nM L = × 3,000 × = 226 (W)
60 ta 60 0.1
8. Servo Motor Provisional Selection

 Selection Conditions
• TL  Motor rated torque
• (Po + Pa) < Provisionally selected Servo Motor rated output < (Po + Pa)
2
• nM  Rated motor speed
• JL  Allowable load moment of inertia
The following Servo Motor meets the selection conditions.

• SGM7J-02A Servo Motor
 Specifications of the Provisionally Selected Servo Motor
Appendices
Item Value
Rated Output 200 (W)
Rated Motor Speed 3,000 (min-1)
Rated Torque 0.637 (Nm)
Instantaneous Maximum Torque 2.23 (Nm)
Motor Moment of Inertia 0.263 10 -4 (kgm2)
Allowable Load Moment of Inertia 0.263 10 -4 15 = 3.94 10-4 (kgm2)
9. Verification of the Provisionally Selected Servo Motor

• Verification of required acceleration torque:
2πnM (JM + JL) 2π × 3,000 × (0.263 + 2.29) × 10-4
TP = + TL = + 0.43
60ta 60 × 0.1
≈ 1.23 (Nm) < Maximum instantaneous torque...Satisfactory
• Verification of required deceleration torque:
2πnM (JM + JL) 2π × 3,000 × (0.263 + 2.29) × 10-4
TS = − TL = − 0.43
60td 60 × 0.1
555
Appendices
• Verification of effective torque value:
TP2 ta + TL2 tc + Ts2 td (1.23)2 × 0.1 + (0.43)2 × 1.0 + (0.37)2 × 0.1

Trms = =
t 1.5
≈ 0.483 (Nm) < Rated torque...Satisfactory
10. Result
It has been verified that the provisionally selected Servo Motor is applicable.
The torque diagram is shown below.
(Nm) Torque
Motor Speed
1.23
0.43
0
-0.37
0.1 1.0 0.1
1.5
Capacity Selection Example for a Rotary Servo Motor: For Position

Control
Linear motion section Servo Motor
υL
Coupling
Ball screw

Coupling Outer
Load Speed L 15 m/min dC 0.03 m
Diameter
Linear Motion Sec- Number of Feeding
m 80 kg n 40 rotation/min
tion Mass Operations
Ball Screw Length B 0.8 m Feeding Distance 0.25 m
Ball Screw Diameter dB 0.016 m Feeding Time tm 1.2 s max.
Electrical Stopping
Ball Screw Lead PB 0.005 m  0.01 mm
Precision
Ball Screw Material
 7.87 10 3 kg/m3 Friction Coefficient  0.2
Density
External Force on
F 0N Mechanical Efficiency  0.9 (90%)
Linear Motion Section
Coupling Mass mC 0.3 kg
2. Speed Diagram
υL 60 60
15
Reference pulses t= = = 1.5 (s)
40
Motor Speed Load speed
(m/min) If ta = td and ts = 0.1 (s),
ta tc td ts Time (s)
ta = tm − ts − 60 60 × 0.25 = 0.1 (s)
tm
υL = 1.2 − 0.1 − 15
t
tc = 1.2 − 0.1 − 0.1 × 2 = 0.9 (s)
556
Appendices
3. Motor Speed
υ 15
• Load shaft speed nL = L = = 3,000 (min-1)
PB 0.005
Direct coupling gear ratio 1/R = 1/1
• Motor shaft speed
Therefore, nM = nL  R = 3,000  1 = 3,000 (min-1)
4. Load Torque
(9.8 µ m + F ) PB (9.8 × 0.2 × 80 + 0) × 0.005
TL = = = 0.139 (Nm)
2πR η 2π × 1 × 0.9

• Linear motion section
PB 2 0.005
2
JL1 = m = 80 × = 0.507 × 10-4 (kgm2)

2πR 2π × 1
π ρ π
B dB = 32 × 7.87 × 10 × 0.8 × (0.016) = 0.405 × 10 (kgm )
4 3 4 -4 2
• Ball screw JB =
32
1 1
• Coupling Jc = m d 2= × 0.3 × (0.03)2 = 0.338 × 10-4 (kgm2)
8 C C 8
• Load moment of inertia at motor shaft
JL = J L1 + J B + Jc = 1.25  10-4 (kgm2)
6. Load Moving Power

2πnM TL 2π × 3,000 × 0.139
PO = = = 43.7 (W)
60 60
7. Load Acceleration Power

2 2
2π J 2π 1.25 × 10-4
Pa = nM L = × 3,000 × = 123.4 (W)
60 ta 60 0.1
8. Servo Motor Provisional Selection

Appendices
• TL  Motor rated torque
(Po + Pa)
• < Provisionally selected Servo Motor rated output < (Po + Pa)
2
• nM  Rated motor speed
• JL  Allowable load moment of inertia

• SGM7J-01A Servo Motor
Item Value
Rated Output 100 (W)
Rated Motor Speed 3,000 (min-1)
Rated Torque 0.318 (Nm)
Instantaneous Maximum Torque 1.11 (Nm)
Motor Moment of Inertia 0.0659 10 -4 (kgm2)
Allowable Load Moment of Inertia 0.0659 10 -4 35 = 2.31 10 -4 (kgm2)
Encoder Resolution 16,777,216 pulses/rev [24 bits]
557
Appendices

2πnM (JM + JL) 2π × 3,000 × (0.0659 + 1.25) × 10-4
TP = + TL = + 0.139
60ta 60 × 0.1
TS = 2πnM (JM + JL) − TL = 2π × 3,000 × (0.0659 + 1.25) × 10 − 0.139

-4
60td 60 × 0.1
TP2 ta + TL2 tc + Ts2 td (0.552)2 × 0.1 + (0.139)2 × 0.9 + (0.274)2 × 0.1

Trms = =
t 1.5
It has been verified that the provisionally selected Servo Motor is applicable in terms of capacity. Position
control is considered next.
10. Positioning Resolution

The electrical stopping precision  is ±0.01 mm, so the positioning resolution ∆ is 0.01 mm.
The ball screw lead P B is 0.005 m, so the number of pulses per motor rotation is calculated with the follow-
ing formula.
P 5 mm/rev
The number of pulses per revolution (pulses) = B = = 500 (pulses/rev) < Encoder resolution [16777216 (pulses/rev)]
∆ 0.01 mm
The number of pulses per motor rotation is less than the encoder resolution (pulses/rev), so the
provisionally selected Servo Motor can be used.
11. Reference Pulse Frequency

The load speed υL is 15 m/min, or 1,000 × 15/60 mm/s and the positioning resolution (travel distance per
pulse) is 0.01 mm/pulse, so the reference pulse frequency is calculated with the following formula.
1,000 υL 1,000 × 15
vs = = = 25,000 (pps)
60 × ∆ 60 × 0.01
The reference pulse frequency is less than the maximum input pulse frequency,* so the provisionally
selected Servo Motor can be used.
*Refer to the specifications in the SERVOPACK manual for the maximum input pulse frequency.
It has been verified that the provisionally selected Servo Motor is applicable for position control.
558
Appendices
Capacity Selection Example for Direct Drive Servo Motors

DT Item Code Value Item Code Value

Acceleration/ tp
Turntable Mass W 12 kg Deceleration = tpsa 0.1 s
Time = tpsd
Turntable Turntable Operating
DT 300 mm tf 2s
Diameter Frequency
Servo Motor
Rotational Angle
 270 deg Load Torque TL 0 Nm
per Cycle
Positioning Time t0 0.35 s Settling Time ts 0.1 s
2. Motor Speed of Direct Drive Servo Motor

θ 60 270 60
NO = × = × = 300 (min-1)
360 (t0 - tp - ts) 360 (0.35 - 0.1 - 0.1)
Motor speed (min-1)
300
Time (s)
0.1 0.1 0.1
tpsa tpsd ts
0.35
ts t0
2.0
One cycle (tf)

JL = 1 × DT2 × W = 1 × (300 × 10-3)2 × 12 = 0.135 (kgm2)
8 8
Appendices
5. Load Acceleration/Deceleration Torque
NO /60
Ta = JL × 2π × = 0.135 × 2π × 300/60 = 42.4 (Nm)
tp 0.1
6. Provisional Selection of Direct Drive Servo Motor

• Load acceleration/deceleration torque < Instantaneous maximum torque of Direct Drive Servo Motor
• Load moment of inertia < Allowable load moment of inertia ratio (JR)  Moment of inertia of Direct
Drive Servo Motor (J M)

• SGMCV-17CEA11
Item Value
Rated Torque 17 (Nm)
Instantaneous Maximum Torque 51 (Nm)
559
Appendices
Item Value
Moment of Inertia (JM) 0.00785 (kgm2)
Allowable Load Moment of Inertia Ratio
25
(JR)

TMa = (JL + JM) × NO = (0.135 + 0.00785) × 300

9.55 × tpsa 9.55 × 0.1
J J N (0.135 + 0.00785) × 300
TMd = - ( L + M) × O = -
9.55 × tpsd 9.55 × 0.1
≈ -44.9 (Nm) < Maximum instantaneous torque...Satisfactory
TMa2 × tpsa + TL2 × tc + TMd2 × tpsd 44.92 × 0.1 + 02 × 0.05 + (-44.9)2 × 0.1
Trms = =
tf 2
tc =Time of constant motor speed = t0 - ts - tpsa - tpsd
8. Result
The torque diagram is shown below.
Torque (N⋅m)
44.9
Time (s)
0.1 0.05 0.1 0.1
-44.9
2.0
560
Appendices
Servo Motor Capacity Selection Example for Linear Servo Motors

Load
Table
Moving Coil
Magnetic Way

Load Mass mW 1 kg Acceleration Time ta 0.02 s
Table Mass mT 2 kg Constant-speed Time tc 0.36 s
Motor Speed v 2 m/s Deceleration Time td 0.02 s
Feeding Distance l 0.76 m Cycle Time t 0.5 s
Friction Coefficient  0.2 External Force on Linear Motion Section F 0N
FP
v Force (N)
Motor speed (m/s)
FL
Time (s)
FS
ta tc td
t
3. Steady-State Force (Excluding Servo Motor Moving Coil)

FL = {9.8    (mW + mT)} + F = 9.8  0.2  (1 + 2) + 0 = 5.88 (N)
4. Acceleration Force (Excluding Servo Motor Moving Coil)

v
FP = (mW + mT) × + FL = (1 + 2) × 2 + 5.88 = 305.88 (N)
ta 0.02
5. Provisional Selection of Linear Servo Motor

Appendices
• FP  Maximum force  0.9
• Fs  Maximum force  0.9
• Frms  Rated force  0.9
The following Servo Motor Moving Coil and Magnetic Way meet the selection conditions.
• SGLGW-60A253CP Linear Servo Motor Moving Coil
• SGLGM-60C Linear Servo Motor Magnetic Way
Item Value
Maximum Force 440 (N)
Rated Force 140 (N)
Moving Coil Mass (mM) 0.82 (kg)
Servo Motor Magnetic Attraction (Fatt) 0 (N)
561
Appendices

• Steady-State Force
FL =  {9.8  (mW + mT + mM) + Fatt} = 0.2 {9.8  (1 + 2 + 0.82) + 0} = 7.5 (N)
• Verification of Acceleration Force
FP = (mW + mT + mM) × + FL = (1 + 2 + 0.82) × 2 + 7.5

ta 0.02
= 389.5 (N) ≤ Maximum force × 0.9 (= 396 N)… Satisfactory
• Verification of Deceleration Force
FS = (mW + mT + mM) × − FL = (1 + 2 + 0.82) × 2 − 7.5

ta 0.02
= 374.5 (N) ≤ Maximum force × 0.9 (= 396 N)… Satisfactory
• Verification of Effective Force
FP2 ∙ ta + FL2 ∙ tc + Fs2 ∙ td 389.52 × 0.02 + 7.52 × 0.36 + 374.52 × 0.02
Frms = =
t 0.5
= 108.3 (N) ≤ Rated force × 0.9 (= 132.3 N)… Satisfactory
7. Result
562
Appendices
Appendices
563
Appendices
Capacity Selection for Regenerative Resistors
If the regenerative power exceeds the amount that can be absorbed by charging the smoothing capacitor,
a regenerative resistor is used.
Regenerative Power and Regenerative Resistance

The rotational energy of a driven machine such as a Servo Motor that is returned to the SERVOPACK is
called regenerative power. The regenerative power is absorbed by charging a smoothing capacitor. When
the regenerative power exceeds the capacity of the capacitor, it is consumed by a regenerative resistor.
(This is called resistance regeneration.)
The Servo Motor is driven in a regeneration state in the following circumstances:
• While decelerating to a stop during acceleration/deceleration operation.
• While performing continuous downward operation on a vertical axis.
• During continuous operation in which the Servo Motor is rotated by the load (i.e., a negative load).
You cannot use the resistance regeneration provided by the SERVOPACK for continuous regener-
ation. For continuous operation with a negative load, you must design a system that also includes
a Power Regenerative Converter or Power Regenerative Unit (for example, Yaskawa model
Important D1000 or R1000). If regenerative power is not appropriately processed, the regenerative energy
from the load will exceed the allowable range and damage the SERVOPACK.
Examples of negative loads are shown below.
• Motor Drive to Lower Objects without a Counterweight • Motor Drive for Feeding
Servo Motor Tension
Servo Motor
Negative load that feeds a material at
a constant speed under tension Servo Motor
Types of Regenerative Resistors

The following regenerative resistors can be used.
• Built-in regenerative resistor: A regenerative resistor that is built into the SERVOPACK. Not all SERVO-
PACKs have built-in regenerative resistors.
• External Regenerative Resistor: A regenerative resistor that is connected externally to a SERVOPACK.
These resistors are used when the smoothing capacitor and built-in regenerative resistor in the
SERVOPACK cannot consume all of the regenerative power.
SERVOPACK Model Built-In Regenerative Resistor External Regenerative Resistor
R70A, R90A, 1R6A, 2R8A None Basically not required
3R8A, 5R5A, 7R6A,
SGD7S- Standard feature *1 Basically not required
120A, 180A, 200A, 330A
470A, 550A, 590A, 780A None Required *2
SGD7W- 1R6A, 2R8A, 5R5A, 7R6A Standard feature *1 Basically not required
*1. Refer to the following section for the specifications of the regenerative resistors built into SERVOPACKs.
*2. An optional external Regenerative Resistor Unit is required.
564
Appendices
Selecting External Regenerative Resistor

Use Yaskawa’s SigmaJunmaSize+, an AC servo drive capacity selection program, to determine if you
need an External Regenerative Resistor.
You can use one of the following two methods to manually calculate whether an External Regenerative
Resistor is required. Refer to the following information if you do not use the SigmaJunmaSize+.
Simple Calculation (page 565)
Calculating the Regenerative Energy (page 570)
Simple Calculation
When driving a Servo Motor with a horizontal shaft, check if an External Regenerative Resistor is required
using the following calculation method. The calculation method depends on the model of the SERVOPACK.
 SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, and -2R8A

Regenerative resistors are not built into the above SERVOPACKs. The total amount of energy that can
be charged in the capacitors is given in the following table.
If the rotational energy (E S) of the Servo Motor and load exceeds the processable regenerative energy,
then connect an External Regenerative Resistor.
Processable Regenerative Energy
Applicable SERVOPACK Remarks
(Joules)
R70A, R90A, 1R6A 24.2 Value when main circuit input voltage
SGD7S-
2R8A 31.7 is 200 VAC
Calculate the rotational energy (ES) of the servo system with the following equation:
E S = J  (nM)2/182 (Joules)
• J = J M + JL
• J M: Servo Motor moment of inertia (kgm 2)
• J L: Load moment of inertia at motor shaft kgm2)
• nM: Servo Motor operating motor speed (min-1)
Appendices
565
Appendices
 SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A,

-200A, -330A, -470A, -550A, -590A, and -780A; SGD7W-1R6A, -2R8A, -5R5A,
and -7R6A
These SERVOPACKs have built-in regenerative resistors. The allowable frequencies for regenerative
operation of the Servo Motor without a load in acceleration/deceleration operation during an operation
cycle from 0 (min-1) to the maximum motor speed and back to 0, are listed in the following table. Convert
the data into the values for the actual motor speed and load moment of inertia to determine whether an
External Regenerative Resistor is required.
 Rotary Servo Motors

Allowable Frequencies in Allowable Frequencies in
Regenerative Operation Regenerative Operation
(Operations/Min) (Operations/Min)
Servo Motor Model SERVOPACK Servo Motor Model SERVOPACK

Model: SGD7W Model: SGD7W
SERVOPACK SERVOPACK
(Simultaneous (Simultaneous
Model: SGD7S Model: SGD7S
Operation of Operation of
Two Axes) Two Axes)
A5A  300 01A  200
01A  180 C2A  46
C2A  130 SGM7P- 04A  29
SGM7J- 02A  46 08A 11 11
04A  25 15A 7.5 
06A 30 30 03A 39 39
08A 15 15 05A 29 29
A5A  560 09A 6.9 6.9
01A  360 13A 6.1 
C2A  260 20A 7.4 
02A  87 SGM7G- 30A 9.5 
04A  56 44A 6.4 
06A 77 77 55A 24 
08A 31 31 75A 34 
SGM7A- 10A 31  1AA 39 
15A 15  1EA 31 
20A 19 
25A 15 
30A 6.9 
40A 11 
50A 8.8 
70A 86 
566
Appendices
 Direct Drive Servo Motors

Allowable Frequencies in
Regenerative Operation
(Operations/Min)
Servo Motor Model SERVOPACK

Model: SGD7W
SERVOPACK
(Simultaneous
Model: SGD7S
Operation of
Two Axes)
02B  62
05B  34
07B  22
04C  22
08D  6.1
10C  19
14C  22
17D  7
SGMCS- 25D  9.3
16E 3.7 3.7
35E 9.7 9.7
45M 25 25
80M 19 
80N 8.9 
1AM 22 
1EN 11 
2ZN 9.1 
Appendices
567
Appendices
 Linear Servo Motors

Allowable Frequencies in
Regenerative Operation
(Operations/Min)
Servo Motor Model SERVOPACK

Model: SGD7W
SERVOPACK
(Simultaneous
Model: SGD7S
Operation of Two
Axes)
30A050C  190
30A080C  120
40A140C  56
40A253C  32
SGLGW- Using a 40A365C  22
Standard-Force 60A140C  49
Magnetic Way 60A253C  27
60A365C 37 37
90A200C 34 
90A370C 33 
90A535C 24 
40A140C  80
SGLGW- 40A253C  45
Using a High- 40A365C 62 62
Force Magnetic 60A140C  64
Way 60A253C 71 71
60A365C 49 49
20A090A  27
20A120A  21
35A120A  14
35A230A 16 16
SGLFW-
50A200B 10 10
50A380B 6.9 
1ZA200B 7.8 
1ZA380B 6.6 
20A170A 15 15
20A320A 8.3 8.3
20A460A 7.1 
35A170A 10 10
35A170H 8.5 8.5
35A320A 7 
35A320H 5.9 
SGLTW-
35A460A 7.6 
40A400B 13 
40A600B 19 
50A170H 15 15
50A320H 11 
80A400B 28 
80A600B 180 
*1. This value is in combination with the SGD7S-120A.

*2. This value is in combination with the SGD7S-180A
568
Appendices
Load moment of inertia = 0 (Servo Motor only)
Speed reference
0 t
Maximum motor speed

Servo Motor motor speed
0
Regenerative
operation
Maximum torque
Servo Motor-generated torque
0 t
Maximum torque
T
(Operation cycle)
Allowable frequency = 1/T (times/min)
Operating Conditions for Calculating the Allowable Regenerative Frequency
Use the following equation to calculate the allowable frequency for regenerative operation.
Allowable frequency for regenerative operation for Servo Motor without load Maximum motor speed 2
Allowable frequency × (time/min)
(1+ n) Operating motor speed
• n = JL/J M
• J M: Servo Motor moment of inertia (kgm 2)
• J L: Load moment of inertia at motor shaft (kgm2)
Appendices
569
Appendices
Calculating the Regenerative Energy

This section shows how to calculate the regenerative resistor capacity for the acceleration/deceleration
operation shown in the following figure.
nM: Motor speed
Motor speed
0
tD
TL: Load torque
Motor torque
0
Regenerative torque
T
• Calculation Procedure for Regenerative Resistor Capacity

Step Item Code Formula
Calculate the rotational energy of the Servo
1 ES ES = JnM2/182
Motor.
EL = (/60) nMT LtD
Calculate the energy consumed by load
2 EL Note: If the load loss is unknown, calcu-
loss during the deceleration period
late the value with EL set to 0.
(Value calculated from the graphs in  Servo
Calculate the energy lost from Servo Motor
3 EM Motor Winding Resistance Loss on page 573)
winding resistance.
 tD
Calculate the energy that can be absorbed Calculate from the graphs in  SERVO-
4 EC
by the SERVOPACK. PACK-absorbable Energy on page 571
EK = ES  (EL + EM + EC)
Calculate the energy consumed by the EK = ES  (EL + EM + EC) + EG*

5 EK
regenerative resistor. Note: Use this formula if there will be con-
tinuous periods of regenerative oper-
ation, such as for a vertical axis.
Calculate the required regenerative resis-
6 WK WK = EK/(0.2  T)
tor capacity (W).
* E G (joules): Energy for continuous period of regenerative operation
E G = (2/60) n MGTGtG
• TG: Servo Motor’s generated torque in continuous period of regenerative operation (Nm)
• nMG: Servo Motor’s motor speed for same operation period as above (min-1 )
• tG: Same operation period as above (s)
Note: 1. The 0.2 in the equation for calculating W K is the value when the regenerative resistor’s utilized load ratio is 20%.
2. The units for the various symbols are given in the following table.
Code Description Code Description

ES to EK Energy in joules (J) TL Load torque (Nm)
WK Required regenerative resistor capacity (W) tD Deceleration stopping time (s)
2
J = J M + J L (kgm ) T Servo Motor repeat operation cycle (s)
nM Servo Motor motor speed (min ) -1
If the value of WK does not exceed the capacity of the built-in regenerative resistor of the SERVOPACK, an
External Regenerative Resistor is not required. For details on the built-in regenerative resisters, refer to the
SERVOPACK specifications. If the value of WK exceeds the capacity of the built-in regenerative resistor,
install an External Regenerative Resistor with a capacity equal to the value for W calculated above.
570
Appendices
 SERVOPACK-absorbable Energy
The following figures show the relationship between the SERVOPACK’s input power supply voltage and
its absorbable energy.
 -7S SERVOPACKs
Model: SGD7S- Model: SGD7S-
80 180
R70A, R90A, and 1R6A 120A
2R8A 160 180A and 200A
70
3R8A 330A
5R5A and 7R6A 140
60
Absorbable energy (J)

120
50
100
40
80
30
60
20
40
10 20
0 0
170 180 190 200 210 220 230 240 250 260 270 170 180 190 200 210 220 230 240 250 260 270
Input voltage (Vrms) Input voltage (Vrms)
Model: SGD7S-
600
470A
550A
500 590A
780A
400
300
200
Appendices
100
0
170 180 190 200 210 220 230 240 250 260 270
Input voltage (Vrms)
571
Appendices
 -7W SERVOPACKs
SGD7W-
120
1R6A
2R8A
100 5R5A and 7R6A
80
60
40
20
0
170 180 190 200 210 220 230 240 250 260 270
Input voltage (Vrms)
572
Appendices
 Servo Motor Winding Resistance Loss

The following figures show the relationship for each Servo Motor between the Servo Motor’s generated
torque and the winding resistance loss.
 SGM7J Rotary Servo Motors

Model: SGM7J- Model: SGM7J-
400 450
A5A 400 04A

350
01A 06A
C2A 350 08A
300
Winding Resistance Loss (W)

02A
300
250
250
200
200
150
150
100
100
50 50
0 0
0 100 200 300 0 100 200 300
Torque (%) Torque (%)
 SGM7A Rotary Servo Motors

Model: SGM7A- Model: SGM7A-
400 600
A5A 04A
350
01A 500 06A
C2A 08A
300
02A 10A
400
250
200 300
150
200
100
100
50
0 0
Appendices
0 100 200 300 0 100 200 300
Model: SGM7A-
Model: SGM7A- 1600
1400
15A 30A
1400 40A
1200 20A
50A
25A 1200
1000 70A
1000
800
800
600
600
400
400
200 200
0 0
0 100 200 300 0 100 200 300
573
Appendices
 SGM7P Rotary Servo Motors

Model: SGM7P-
450
400 01A
02A
350 04A
08A
300 15A
250
200
150
100
50
0
0 100 200 300
Torque (%)
 SGM7G Rotary Servo Motors

Model: SGM7G- Model: SGM7G-
600 800
700
500
03A 09A
600
05A 13A
400 20A
500
300 400
300
200
200
100
100
0 0
0 100 200 300 400 0 50 100 150 200 250 300
Model: SGM7G- Model: SGM7G-

1400 1400
30 1A
44 1E
1200 1200
55
75
1000 1000
800 800
600 600
400 400
200 200
0 0
0 50 100 150 200 250 300 0 50 100 150 200 250 300
574
Appendices
 SGMCS Direct Drive Servo Motors

Model: SGMCS- Model: SGMCS-
700 1000
10C
600
04C 16E
800

14C 35E
500
07B 25D
05B 600 08D
400
02B 17D
300
400
200
200
100
0 0
0 100 200 300 0 100 200 300
Model: SGMCS-
3000
1EN
2500
2ZN
1AM
2000
80M
80N
1500 45M
1000
500
0
0 100 200 300
Torque (%)
Appendices
575
Appendices
 SGLGW Linear Servo Motors

Model: SGLGW-30A Model: SGLGW-40A
250 1200
365Co
080Co
1000
200

253Co
800
050Co
150
600
140Co
100
400
50
200
0 0
0 100 200 300 400 0 100 200 300 400
Force (%) Force (%)

2500 1400
365Co
365Co-M 1200
2000

1000
253Co
253Co-M
1500
800
140Co
140Co-M 600
1000
400
500
200
0 0
0 100 200 300 400 500 0 100 200 300 400
Force (%) Force (%)

3000 6000
365Co-M
535Co
2500 5000
253Co-M
2000 4000
370Co
1500 3000
140Co-M 200Co
1000 2000
500 1000
0 0
0 100 200 300 400 500 0 100 200 300 400 500
Force (%) Force (%)
576
Appendices
 SGLFW Linear Servo Motors

Model: SGLFW-20A Model: SGLFW-35A
300 800
120Ao
700
250
230Ao

600
200
500
090Ao
150 400
120Ao
300
100
200
50
100
0 0
0 100 200 300 400 500 0 100 200 300 400
Force (%) Force (%)
Model: SGLFW-50A Model: SGLFW-1ZA

1200 1800
1600
1000

1400
380Bo 380Bo
800 1200
1000
600 200Bo
200Bo 800
400 600
400
200
200
0 0
0 100 200 300 0 100 200 300
Force (%) Force (%)
Appendices
577
Appendices
 SGLTW Linear Servo Motors

Model: SGLTW-20A Model: SGLTW-35A
2500 3500
3000
2000 460Ao

460Ao 2500
1500 320Ao
2000
320Ao
1500
1000 170Ao
170Ao
1000
500
500
0 0
0 100 200 300 400 0 100 200 300 400
Force (%) Force (%)

900 7000
800
6000
320Ho
700 600Bo

5000
600
400Bo
170Ho 4000
500
400 3000
300
2000
200
1000
100
0 0
0 50 100 150 200 250 0 200 400 600
Force (%) Force (%)

1200 10000
9000
1000
8000
320Ho
600Bo
7000
800 400Bo
6000
170Ho
600 5000
4000
400
3000
200 2000
1000
0 0
0 50 100 150 200 250 0 200 400 600
Force (%) Force (%)
578
Appendices
Appendices
579
Appendices
International Standards
 : Certified, – : Not Certified

UL/CSA Standards CE Marking KC Mark
RoHS
Product Model
Directive
SGD7S    
SERVOPACKs
SGD7W    
Fully-
Feedback SGDV-
Closed    
Option OFA01A*1
Module
Safety Safety SGDV-
   
Option Module OSA01A*1
UL/CSA Standards CE Marking
RoHS
Product Model
Directive
SGM7J   
SGM7A   
Rotary Servo Motors
SGM7P   
SGM7G   
SGMCS  *3 *2
Direct Drive
SGM7F   
Servo Motors
SGM7D -  
SGLFW2
  
(SGLFM2)*4
SGLGW
 *5 
(SGLGM)*4
Linear Servo Motors
SGLFW
 *5 
(SGLFM)*4
SGLTW
 *5 
(SGLTM)*4
*1. Use this model number to purchase the Option Module separately.
*2. Estimates are provided for RoHS-compliant products. The model numbers have an “-E” suffix.
*3. CE Marking certification has not yet been received for SGMCS-M and SGMCS-N Direct Drive Servo Motors.
CE Marking certification has been received for the following Direct Drive Servo Motors: SGMCS-B, SGMCS-C,
SGMCS-D, and SGMCS-E. Contact your Yaskawa representative if the CE Marking label is required.
*4. The model numbers of the Magnetic Ways of Linear Servo Motors are given in parentheses.
*5. CE Marking certification has been received. Contact your Yaskawa representative if the CE Marking label is required.
580
Appendices
International Standards
Appendices
581
Appendices
Warranty
 Details of Warranty
 Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one
year from the time of delivery to the location specified by the customer or 18 months from the time of
shipment from the Yaskawa factory, whichever is sooner.
 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa
occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its service life
and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product
catalogs or manuals, or in any separately agreed-upon specifications
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Use of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time of
shipment from Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters
 Limitations of Liability
• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that
arises due to failure of the delivered product.
• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
• The information described in product catalogs or manuals is provided for the purpose of the customer
purchasing the appropriate product for the intended application. The use thereof does not guarantee
that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or
third parties, nor does it construe a license.
• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property
rights or other proprietary rights of third parties as a result of using the information described in cata-
logs or manuals.
582
Appendices
Warranty
 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equip-
ment used by the customer.
• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and pro-
vide safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in con-
ditions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle
systems, medical equipment, amusement machines, and installations subject to separate industry or
government regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electric-
ity, or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
• Never use the product for an application involving serious risk to life or property without first ensuring
that the system is designed to secure the required level of safety with risk warnings and redundancy,
and that the Yaskawa product is properly rated and installed.
• The circuit examples and other application examples described in product catalogs and manuals are for
reference. Check the functionality and safety of the actual devices and equipment to be used before
using the product.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly
to prevent accidental harm to third parties.
 Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals
may be changed at any time based on improvements and other reasons. The next editions of the revised
catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa represen-
tative to confirm the actual specifications before purchasing a product.
Appendices
583
Yaskawa is the leading global manufacturer of low and medium voltage variable
frequency drives, servo systems, machine controllers and industrial robots. Our
standard products, as well as tailor-made solutions, are well known and have a
high reputation for outstanding quality and reliability.
Yaskawa America, Inc. YAI-KAEPS80000123F-16

Drives & Motion Division 1-800-YASKAWA ©2018 Yaskawa America, Inc.
yaskawa.com Email: marcom@yaskawa.com Revision Date: 2/20/2019

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SIGMA-7

AC Servo Drives and Motors Technical Supplement

Direct Drive Servomotors

Single-axis MECHATROLINK-III Two-axis MECHATROLINK-III Single-axis Analog Voltage/Pulse

SGD7S- 30A SGD7W- 30A SGD7S- 00A

Single-axis EtherCAT Two-axis EtherCAT

SGD7S- A0A SGD7W- DA0A (400V only)

Fully-Closed Module Advanced Safety Module Single-Axis Control Option

SGDV-OFA01A SGDV-OSA01A SGD7S AM0A000F50

SGD7S AE0A000300 SGD7S- AQ0A000F51 SGD7S- A 0A000F

For MECHATROLINK-III Communications

MECHATROLINK Communications Cable

I/O Signal Cable

(Wiring required for the brake)

For MECHATROLINK-III Communications

MECHATROLINK Communications Cable

I/O Signal Cable

Serial Converter Unit Cable

Serial Converter Unit

For MECHATROLINK-III Communications

Noise Filter Magnetic Two-axis

MECHATROLINK Communications Cable

I/O Signal Cable

(Wiring required for the brake)

For MECHATROLINK-III Communications

Noise Filter Safety Function Device Cable

Control Power Supply

Analog Monitor Cable

For MECHATROLINK-III Communications

Power supply Communications Cable

CN1 I/O Connector

Safety Function Device Cable

Control Power Supply

Analog Monitor Cable

Digital Motor Connection

Serial Converter Unit Bottom of SERVOPACK

Linear Encoder Cable

For MECHATROLINK-III Communications

Noise Filter Safety Function Device Cable

Control Power Supply

Analog Monitor Cable

LS Limited Stock Item

SGM7G-05A 450 W 1R9D 2R6D or 5R4D*

Instantaneous SERVOPACK Model

SGLFW2-1DA380A 1680 5040 200A

Model Linear Support for

Absolute Rotary Encoder

Model Linear Support for

Brochure/Catalog Name Manual Name

This brochure presents an introduction to

MP3300iec Machine Controller Provides detailed information on selection

SERVOPACK with Analog

-Series/ -Series for Large-

Rotary Servomotor Product Manual

Peripheral Device Selection Manual Describes the peripheral devices

Provides detailed information on the

SERVOPACK with 400V-Input

-Series User Manual Safety Module

Rotary Servomotor with 400 V-Input

Direct Drive Servo Motors