JEPMC-W6022-E

## MECHATROLINK-II Communications Reference SERVOPACKs 

## **SGDV-** _¡¡¡_ **E11** (For Rotary Servomotors) 

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S G D V  - 2R9  E  11  A  002 00  0<br>1st+2nd+ 4th 5th+6th 7th 8th+9th+ 11th+12th 13th<br>v  Series<br>3rd digits digit digits digit 10th digits digits digit<br>SGDV<br>Tt Ty ft fT<br>SERVOPACKs<br>with DC Power Input<br>1st+2nd+3rd digits Current 7th digit Design Revision Order 11th+12th digits Options (software)<br>Cc) Co) CD<br>Voltage Code Applicable Servomotor Max. Capacity kW A, B… Code Specifications<br>24 VDC/  1R7 0.011 00 Standard<br>48 VDC 2R9 0.030 8th+9th+10th digits Options (hardware)<br>————<br>Code Specifications 13th digit Options (parameter)<br>4th digit Power Supply Voltage 002 Base-mounted, varnish(standard) Code Specifications<br>Code Specifications 0 Standard<br>E 48 VDC*<br>—— —<br>5th+6th digits Interface<br>Code Specifications<br>MECHATROLINK-II communications<br>11<br>Reference (for rotary servomotors)<br>PP<br>**----- End of picture text -----**<br>


*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC. Note: If the option codes digits 8 to 13 are all zeros, they are omitted. 

**351** 

SERVOPACKs with DC Power Input 

**- SGDV** _¡¡¡_ **E11** 

DC 

## Features 

## _1_ Real-time communications 

MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps in a transmission cycle from 250 μs to 4 ms (set by the host controller). Such a high transmission speed allows real-time transmission of various data required for control. 

## _1_ Cost savings 

Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for conversion from digital to analog for speed/torque references and for a pulse generator to generate position references. 

## _1_ High-precision motion control 

The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque, position, and speed control but also synchronized phase control that requires advanced control technology. The control mode can be changed online so that the machine can move smoothly in complex motions with great efficiency. 

|SERVOPACK Model SGDV-_¡¡¡¡_|1R7E|1R7E|2R9E|2R9E|
|---|---|---|---|---|
|Applicable Servomotor Max. Capacity<br>kW|0.011||0.030||
|Continuous Output Current<br>Arms|1.7||2.9||
|Max. Output Current<br>Arms|4.1||8.6||
|Regenerative Resistors|None||||
|Main Circuit*|24 VDC±15%|48 VDC±15%|24 VDC±15%|48 VDC±15%|
|Control Circuit|24 VDC±15%||||



*:  Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48 VDC cannot be achieved. For details, refer to Torque-Motor Speed Characteristics on page 6. 

## _1_ SERVOPACK Overload Characteristics 

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1000 1000<br>100 SGMMV- - A A 1 3 E, E -A2E,<br>100<br>SGMMV-B9E<br>10 PONG TTY Po<br>===>5 === === CN<br>—— <= 10 TTT<br>1 Lf NNT<br>SGMMV-B3E, -B5E<br>=_ennE= === PES=<br>0.1 S E A 1 PEPESSS<br>100 150 200 250 100 200 300<br>Torque reference (percent of rated torque) Torque reference (percent of rated torque)<br>(%) (%)<br>Detecting time (s) Detecting time (s)<br>**----- End of picture text -----**<br>


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

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## Specifications 

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Items Specifications<br>Control Method PWM control,  sine-wave driven<br>Feedback Serial encoder: 17-bit (incremental/absolute)<br>Ambient Temperature 0 to +55˚C<br>Storage Temperature − 20 to +85˚C<br>Ambient Humidity 90%RH or less<br>With no freezing or condensation<br>Storage Humidity 90%RH or less<br>Vibration Resistance 4.9 m/s2<br>Shock Resistance 19.6 m/s2<br>Operating<br>Conditions Protection Class IP10 An environment that satisfies the following conditions.<br>• Free of corrosive or flammable gases<br>•  Free of exposure to water, oil, or chemicals<br>Pollution Degree 2 •  Free of dust, salts, or iron dust<br>Altitude 1000 m or less<br>Do not use SERVOPACKs in the following locations:<br>Others<br>•  Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity<br>UL508C<br>Applicable Standards<br>EN55011/A1, EN61000-6-2,EN61800-3, EN61800-5-1<br>Mounting Base-mounted<br>1 : 5000 (The lower limit of the speed control range must be lower than the point at which<br>Speed Control Range<br>the rated torque does not cause the servomotor to stop.)<br>Load Fluctuation 0% to 100% load: ±0.01% max. (at rated speed)<br>Speed<br>Performance Voltage Fluctuation Rated voltage: ±10% : 0% (at rated speed)<br>Regulation [*1]<br>Temperature Fluctuation 25±25˚C : ±0.1% max. (at rated speed)<br>Torque Control Tolerance (Repeatability) ± 1%<br>Soft Start Time Setting [*2] 0 to 10 s (can be set individually for acceleration and deceleration.)<br>Number of<br>3 channels<br>Channels<br>Input Signals<br>• Homing deceleration switch signal (/DEC)<br>Sequence Input which can be  • External latch signals (/EXT 1)<br>allocated Functions • Forward run prohibited (P-OT), reverse run prohibited (N-OT)<br>• Forward external torque limit (/P-CL), reverse external torque limit (/N-CL)<br>Positive and negative logic can be changed.<br>Fixed Output Servo alarm (ALM)<br>Number of<br>3 channels<br>I/O Signal Channels<br>•  Positioning completion (/COIN)<br>•  Speed limit detection (/VLT)<br>•  Speed coincidence detection (/V-CMP)<br>Sequence Output Output Signals which  •  Brake (/BK)<br>can be allocated •  Rotation detection (/TGON)<br>Functions<br>•  Warning (/WARN)<br>•  Servo ready (/S-RDY)<br>•  Near (/NEAR)<br>•  Torque limit detection (/CLT)<br>Positive and negative logic can be changed.<br>Compatible with SigmaWin+.<br>Communications Computer (USB)<br>Compliant with the USB1.1 standard (12 Mbps)<br>Display Servo alarm (ALM): red; servo ready (RDY): green; communications(COM): green<br>DIP switches: SW1 and<br>DIP Switches for MECHATROLINK-II Communication Settings Number of poles: 4/DIP switch (two DIP switches)*3<br>SW2<br>Number of points: 2<br>Analog Monitor  Output voltage: ±10 VDC (linearity effective range: ±8 V)<br>Output through the analog monitor unit (model: JUSP-PC001-E)<br>**----- End of picture text -----**<br>


- *1: Speed regulation is defined as follows: 

(Cont’d) 

   - Speed regulation =[N][o][-l][oad][ m][oto][r ][speed][−T][ota][l l][oad][ m][oto][r ][speed] × 100% Rated motor speed 

   - The motor speed may change due to voltage fluctuation or temperature fluctuation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations. 

- *2 :  For information on soft start, refer to 4.2.10 Velocity Control (VELCTRL: 3CH) in the AC Servo Drives v Series USER’S MANUAL MECHATROLINK-II Commands 

- *3 :  For details, refer to 4.1.1 Setting Switches SW1 and SW2 in the AC Servo Drives DC Power Input v Series USER’S MANUAL Design and Maintenance 

**353** 

SERVOPACKs with DC Power Input **- SGDV** _¡¡¡_ **E11** 

DC 

## Specifications 

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Items Specifications<br>Dynamic Brake (DB) Not available<br>Regenerative Processing Not available<br>Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel<br>Overtravelling (OT) Prevention<br>signal (P-OT or N-OT) is input.<br>Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc.<br>Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc.<br>Communications Protocol MECHATROLINK-II<br>41H to 5FH (max. number of slaves: 30)<br>Station Address<br>Set station addresses with combinations of SW1 and SW2 settings.<br>MECHATROLINK-II 10 Mbps, 4 Mbps<br>Transmission Speed<br>Communications Set by using the SW2 DIP switch.<br>Transmission Cycle 250  μ s or 0.5 ms to 4.0 ms (increments of 0.5 ms)<br>Can be switched between 17 bytes /station and 32 bytes / station.<br>Number of Transmission Bytes<br>Set by using the SW2 DIP switch.<br>Position control, speed control, and torque control through MECHATROLINK-II<br>Performance<br>communications<br>Command Method<br>MECHATROLINK-II commands<br>Command Input<br>(for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.)<br>**----- End of picture text -----**<br>


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## Power Supply Capacities and Power Losses 

The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. 

|Main Circuit<br>Power<br>Supply|Applicable<br>Servomotor<br>Max.<br>Capacity<br>W|SERVOPACK<br>Model<br>SGDV-|Main Circuit<br>Power Supply<br>Capacity per<br>SERVOPACK<br>W|Output Current<br>Arms|Main Circuit<br>Power Loss<br>W|Regenerative<br>Resistor<br>Power Loss<br>W|Control Circuit<br>Power Loss<br>W|Total Power<br>Loss<br>W|
|---|---|---|---|---|---|---|---|---|
|24 VDC|11|1R7E|108|1.7|3.4|–|7.2|10.6|
||30|2R9E|165|2.9|6.9|||14.1|
|48 VDC|11|1R7E|169|1.7|3.4|–|7.2|10.6|
||30|2R9E|411|2.9|6.9|||14.1|



Note: These power supply capacities are net values at instantaneous maximum loads. 

**355** 

SERVOPACKs with DC Power Input **- SGDV** _¡¡¡_ **E11** 

DC 

## Selecting Cables 

## _1_ Cables for CN1[CN3][CN5][CN6][CN7][(MECHATROLINK-II Communications Reference SERVOPACKs)] 

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MECHATROLINK-2<br>Communication Cable<br>CN6<br>Connect to the<br>MECHATROLINK-2<br>２<br>Cable for I/O Signals ３４<br>CN1 ７５６８ LED Indicator forExternal Device<br>Connection Cable  １０９<br>for Personal Computer １１<br>Analog Monitor Unit<br>Analog Monitor Unit  Cable for Analog Monitor<br>Connection Cable<br>CN7<br>CN5<br>Power Supply Cable<br>ＦＧ Insulated AC/DC<br>Ｌ２<br>CN3 Ｃ２ Converter for Control<br>ＦＧＬ１ Circuit Power Supply<br>Ｃ１ Insulated AC/DC<br>Converter for Main<br>Circuit Power Supply<br>Name Length Order No. Specifications Details<br>1 m JZSP-CF1I02-1-E ２３<br>４<br>Cables for I/O SignalsCN1 Cable with Loose wire at One End 2 m JZSP-CF1I02-2-E ５６７８９ (1)<br>3 m JZSP-CF1I02-3-E １０１１<br>1 m JZSP-CF1G00-01-E<br>2 m JZSP-CF1G00-02-E<br>3 m JZSP-CF1G00-03-E<br>SERVOPACK End  Power Supply End<br>4 m JZSP-CF1G00-04-E<br>ＦＧ<br>CN3 Cable with Loose wire  5 m JZSP-CF1G00-05-E Ｌ２Ｃ２<br>Power Supply Cables at One End 6 m JZSP-CF1G00-06-E ＦＧＬ１ (2)<br>7 m JZSP-CF1G00-07-E Ｃ１<br>8 m JZSP-CF1G00-08-E<br>9 m JZSP-CF1G00-09-E<br>10 m JZSP-CF1G00-10-E<br>Analog Monitor Unit JUSP-PC001-E (3)<br>CN5 SERVOPACK End  Analog Monitor<br>Analog Monitor Unit  Analog Monitor Unit  Unit End<br>Cable Connection Cable 0.3 m JZSP-CF1S06-A3-E (4)<br>Cables for Analog  Analog Monitor<br>Monitor 1 m JZSP-CA01-E Unit End (5)<br>Cables with  0.5<br>Connectors at Both  to  JEPMC-W6002- ¡¡ -E (6)<br>Ends 50 m<br>CN6A [CN6B]<br>Cables with Connectors at  0.5<br>MECHATROLINK-II<br>Communication Cable Both Ends (with Ferrite  to  JEPMC-W6003- ¡¡ -E (7)<br>Core) 50 m<br>Terminator JEPMC-W6022-E (8)<br>Cable with Connectors at Both Ends<br>CN7  Connection Cables  2.5 m JZSP-CVS06-02-E (9)<br>for Personal Computer<br>**----- End of picture text -----**<br>


**356** 

## Selecting Cables 

- (1)  Cable with Loose Wires at One End for CN1 (Model: JZSP-CF1I02- _¡_ -E) 

- External Dimensions (Units: mm) 

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SERVOPACK End<br>Connector (12 poles): 43025-1200 (by Molex Japan Co., Ltd.)<br>Contact: 43030-0005 (Chained)<br>43030-0011 (Loose wires)<br>30 Ｌ 100 Shield<br>65<br>２<br>(18.85) 5 15 15 5 ３４<br>７１ ８２ ９３ １０４ １１５ １２６ ５６７<br>８<br>９<br>１０<br>Cable: CMX/2464-1061/2A-SR LF  １１<br>AWG24 × 5P  Marking sticker<br>(by Taiyo Cabletec Corp.)<br>Model Cable Length<br>JZSP-CF1I02-1-E 1 m<br>JZSP-CF1I02-2-E 2 m<br>JZSP-CF1I02-3-E 3 m<br> Dia.<br>47.<br>)(288.<br>**----- End of picture text -----**<br>


_1�_ Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CF1I02- _¡_ -E Cable 

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Host<br>SERVOPACK End Controller End<br>Pin  Wire  Marking Lead<br>No. Signal Color Color Dots Marker<br>1 FG Shield − − −<br>2 +24VIN Orange Black 1 2<br>3 P-OT Orange Red 1 3<br>4 ALM Gray Black 1 4<br>5 COM_SG Gray Red 1 5<br>6 − − − − −<br>7 /DEC White Black 1 7<br>8 N-OT White Red 1 8<br>9 SO3 Yellow Black 1 9<br>10 SO2 Yellow Red 1 10<br>11 /BK Pink Black 1 11<br>12 − − − − −<br>：  Represents<br>  twisted-pair<br>  wires.<br>**----- End of picture text -----**<br>


- (2)  Cable with Loose Wires at One End for CN3 

- (Model: JZSP-CF1G00- _¡¡_ -E) 

- External Dimensions (Units: mm) 

## SERVOPACK End 

Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.) Contact: 43030-0001 (Chained) 

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50 L<br>3C × AWG20 (BRG/Y)  45<br>(by Hitachi Cable Ltd.)<br>Cable: CL2-UL2464-AWM<br>9.85 ＦＧＬ２<br>４１ ５２ ６３ Heat-shrinkable Tube  [(] Black [)] Ｌ1<br>ＦＧ<br>Ｃ2<br>Ｃ１ 35<br>Cable: CL2-UL2464-AWM<br>3C × AWG20 (WYG/Y)<br>(by Hitachi Cable Ltd.)<br>)(288. 1 Dia.5.<br>**----- End of picture text -----**<br>


- Specifications 

|Model|Cable Length||Pin No.|Cable Color|Signal|
|---|---|---|---|---|---|
|JZSP-CF1G00-01-E|1 m||1|Green/yellow|FG|
|JZSP-CF1G00-02-E|2 m||2|Green/yellow|FG|
|JZSP-CF1G00-03-E|3 m||3|Blue|L2|
|JZSP-CF1G00-04-E|4 m||4|White|C2|
|JZSP-CF1G00-05-E|5 m||5|Yellow|C1|
|JZSP-CF1G00-06-E|6 m||6|Red|L1|
|JZSP-CF1G00-07-E|7 m|||||
|JZSP-CF1G00-08-E|8 m|||||
|JZSP-CF1G00-09-E|9 m|||||
|JZSP-CF1G00-10-E|10 m|||||



**357** 

SERVOPACKs with DC Power Input **- SGDV** _¡¡¡_ **E11** 

DC 

## Selecting Cables 

## (3)  Analog Monitor Unit 

- (Model: JUSP-PC001-E) 

- External Dimensions (Units: mm) 

CN4: Connector for Analog Monitor CN3: Connector for Digital Operator 

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66.5 28<br>Nameplate<br>665.<br>**----- End of picture text -----**<br>


## CN1: Connector for SERVOPACK 

Note:  The cable (JZSP-CF1S06-A3-E) to connect the SERVOPACK is not included. 

- (4)  Analog Monitor Unit Connection Cable for CN5 

(Model: JZSP-CF1S06-A3-E) 

- External Dimensions (Units: mm) 

Connector: 10120-6000EL (by Sumitomo 3M Ltd.) Shell: 10320-52AO-008 300[+] -[30] 0 １２ ５６ Socket: DF11-6DS-2C 14 (by Hirose Electric Corporation.)Contact: DF11-2428SCF Cable: CMX 2464-1061/2A-SB (by Hirose Electric Corporation.) AWG24 × 4P (by Taiyo Cabletec Corp.) 

**358** 

## Selecting Cables 

- (5)  Analog Monitor Unit Cable for CN4 

- (Model: JZSP-CA01-E) 

- External Dimensions (Units: mm) 

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Socket  ： DF11-4DS-2C * Black<br>Contact  ： DF11-2428SCF * Black<br>3 4<br>1000 +-020 1 2<br>White<br>* :  Manufactured by Hirose Electric Corporation. Red<br>View from Cable End<br>**----- End of picture text -----**<br>


## •  Specifications 

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Pin No. Cable Color Signal Standard Settings<br>1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1<br>Torque reference : 1V/100% rated<br>2 White Analog Monitor 1<br>torque<br>3, 4 Black GND (0V) −<br>(2 cables)<br>**----- End of picture text -----**<br>


Note :  The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007. 

- (6)  Cable with Connectors at Both Ends for CN6 

- (Model: JEPMC-W6002- _¡¡_ -E) 

- External Dimensions (Units: mm) 

- (7)  Cable with Connectors at Both Ends 

- (with Ferrite Core) for CN6 

- (Model: JEPMC-W6003-□□-E) 

- External Dimensions (Units: mm) 

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Model Cable Length (L) Model Cable Length (L)<br>**----- End of picture text -----**<br>


|Model|Cable Length (L)|Cable Length (L)|Model|Cable Length (L)|
|---|---|---|---|---|
||||||
|JEPMC-W6002-A5-E|0.5 m||JEPMC-W6003-A5-E|0.5 m|
|JEPMC-W6002-01-E|1.0 m||JEPMC-W6003-01-E|1.0 m|
|JEPMC-W6002-03-E|3.0 m||JEPMC-W6003-03-E|3.0 m|
|JEPMC-W6002-05-E|5.0 m||JEPMC-W6003-05-E|5.0 m|
|JEPMC-W6002-10-E|10.0 m||JEPMC-W6003-10-E|10.0 m|
|JEPMC-W6002-20-E|20.0 m||JEPMC-W6003-20-E|20.0 m|
|JEPMC-W6002-30-E|30.0 m||JEPMC-W6003-30-E|30.0 m|
|JEPMC-W6002-40-E|40.0 m||JEPMC-W6003-40-E|40.0 m|
|JEPMC-W6002-50-E|50.0 m||JEPMC-W6003-50-E|50.0 m|



IMPORTANT[Use a MECHATROLINK-II communications cable specified by Yaskawa. When using other cables, noise resistance ] may be reduced, and operation cannot be guaranteed. 

- (8)  MECHATROLINK-II Terminator for CN6 

- (Model : JEPMC-W6022-E) 

- External Dimensions (Units: mm) 

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(8)<br>46<br>21<br>**----- End of picture text -----**<br>


**359** 

SERVOPACKs with DC Power Input **- SGDV** _¡¡¡_ **E11** 

DC 

## Selecting Cables 

- (9)  Connection Cable for Personal Computer for CN7 

- (Model: JZSP-CVS06-02-E) 

- External Dimensions (Units: mm) 

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2,500 +−1000<br>10 to 20<br>JZSP-CVS06-02-E<br>(100) (55)<br>**----- End of picture text -----**<br>


IMPORTANT[Use a cable specified by Yaskawa. ] 

When using other cables, operation cannot be guaranteed. 

**360**