User manual OMRON SIGMA-5 BROCHURE

[. . . ] Sigma-5 The 5-star servo drive » I n c re a s e s m a c h i n e e f f i c i e n c y, p e r fo r m a n c e & a va i l a b i l i ty » » S a ve t i m e & c o s t Meets demanding machine requirements Sigma-5: the 5-star servo drive. . . It is a primary goal of OMRON YASKAWA to offer customers products and solutions that meet their needs. And the Sigma-5 servo drive offers exactly that. Precise positioning at the highest speed. For machine builders this translates into better machine performance to meet exacting machine requirements. [. . . ] speed*1 Torque constant N·m/A (rms) Rotor moment of inertia (JM) kg·m2x10-4 (without brake) kg·m2x10-4 (with brake) Allowable load moment of inertia (JL) Multiple of (JM) Rated power rate*1 kW/s (without brake) kW/s (with brake) Rated angular acceleration*1 rad/s2 (without brake) rad/s2 (with brake) Encoder Standard Option Allowable radial load N Allowable thrust load N Approx. mass Kg (without brake) Kg (with brake) Rated voltage Power consumption (at 20°C) W (24 VDC) W (90 VDC) Current consumption (at 20°C) A (24 VDC) A (90 VDC) Holding torque N·m Rise time for holding torque ms (max) Release time ms (max) Time rating Thermal class Usage/ storage temperature Usage/ storage humidity Insulation resistance Withstand voltage Vibration class Enclosure Vibration resistance Altitude Mounting 03D@ 0. 3 1. 96 5. 88 1. 4 4 05D@ 0. 45 2. 86 8. 92 1. 9 5. 5 09D@ 0. 85 5. 39 13. 8 3. 5 8. 5 400 V 13D@ 1. 3 8. 34 23. 3 5. 4 14 1500 3000 1. 78 19. 9 22 5 35. 0 31. 6 4190 3790 20D@ 1. 8 11. 5 28. 7 8. 4 20 30D@ 2. 9 18. 6 45. 1 11. 9 28 44D@ 4. 4 28. 4 71. 1 16. 5 40. 5 AC Servo systems 1. 55 2. 48 2. 69 1. 71 3. 33 3. 54 1. 72 13. 9 16 20. 9 18. 2 3880 3370 1. 50 26 28. 1 50. 9 47. 1 4420 4090 1. 70 46 54. 5 75. 2 63. 5 4040 3410 1. 93 67. 5 76 119 106 4210 3740 15. 5 24. 6 14. 3 23. 1 7900 8590 7290 8080 Incremental encoder (20 bits) Absolute encoder (20 bits) 490 98 2. 6 3. 2 4. 5 5. 0 10 10 0. 42 4. 5 5. 5 7. 5 Brake specifications 686 343 7. 1 9. 0 24 /90 VDC 9. 8 10. 1 0. 41 19. 6 980 392 8. 6 11. 0 1470 490 13. 4 19. 5 17. 5 23. 5 0. 11 12. 7 80 100 18. 5 18. 5 0. 77 0. 21 43. 1 100 (24 V), 80 (90 V) 170 Continuous Class F 0 to +40 °C/ -20 to 60 °C without freezing 20 to 80% RH (non-condensing) 500 VDC, 10 MOhm min. 1500 VAC for one minute 15 µm or below Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration acceleration 24. 5 m/s2 1000 m or less above sea level Flange-mounted Note: Basic specifications *1. These items and torque/speed characteristics quoted in combination with an SGDV servo drive are at an armature winding temperature of 20°C. Torque-speed charecteristics ( A : Continuous duty zone B : Intermittent duty zone) û û û û û û û Sigma-5 servo system 16 9 Sigma-5 servo system Type SGMSV, 400 V Ratings and specifications 30D@ kW 3. 0 N·m 9. 8 N·m 29. 4 A (rms) 8. 9 A (rms) 28 min-1 min-1 6000 5000 N·m/A (rms) 1. 27 1. 15 1. 12 1. 15 1. 16 kg·m2x10-4 (without brake) 1. 74 2. 0 2. 47 3. 19 7. 0 1. 99 2. 25 2. 72 3. 44 9. 2 kg·m2x10-4 (with brake) Allowable load moment of inertia (JL) Multiple of (JM) 5 Rated power rate*1 kW/s 57. 9 97. 2 127 199 137 rad/s2 18300 24500 25700 25000 14000 Rated angular acceleration*1 Encoder Standard Incremental encoder (20 bits) Option Absolute encoder (20 bits) Allowable radial load N 686 980 Allowable thrust load N 196 4. 6 5. 1 5. 8 7. 0 11 Approx. mass Kg (without brake) 5. 5 6 6. 8 8. 7 13 Kg (with brake) Time rating Continuous Thermal class Class F Usage/ storage temperature 0 to +40 °C/ -20 to 60°C without freezing Usage/ storage humidity 20 to 80% RH (non-condensing) Vibration class 15 µm or below Insulation resistance 500 VDC, 10 MOhm min. Withstand voltage 1500 VAC for one minute Enclosure Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration resistance Vibration acceleration xx. x m/s2 Altitude 1000 m or less above sea level Mounting Flange-mounted Applied voltage Servo motor model SGMSV- @ Rated output*1 Rated torque*1, 2 Instantaneous peak torque*1 Rated current*1 Instantaneous max. speed*1 Torque constant Rotor moment of inertia (JM) 10D@ 1. 0 3. 18 9. 54 2. 8 8. 5 15D@ 1. 5 4. 9 14. 7 4. 7 14 20D@ 2. 0 6. 36 19. 1 6. 1 19. 5 400 V 25D@ 2. 5 7. 96 23. 9 7. 4 22. 3 3000 40D@ 4. 0 12. 6 37. 8 12. 5 38 50D@ 5. 0 15. 8 47. 6 13. 8 42 1. 06 9. 60 11. 8 165 13100 1. 21 12. 3 14. 5 203 12800 1176 392 14 16 17 19 Note: Basic specifications *1. These items and torque/speed characteristics quoted in combination with an SGDV servo drive are at an armature winding temperature of 20°C. The rated torques listed here are the values for the continuous allowable torque value with an aluminium heatsink of the following dimensions attached (SGMSV-10/15/20/25: 300 mm x 300 mm x 12 mm, SGMSV-30/40/50: 400 mm x 400 mm x 20 mm ). Torque-speed charecteristics A : Continuous Duty Zone B : Intermittent Duty Zone û 10 AC servo systems AC servo systems 17 Dimensions Servomotors Type SGMJV (230 V, 50 - 100 W) Dimensions (mm) Model SGMJV-A5A@A6@-OY SGMJV-01A@A6@-OY Without brake L LL 94 107. 5 69 82. 5 With brake L LL 139 152. 5 114 127. 5 LM Shaft End Dimensions Tap × Depth QK U W M3 x 6L 14 1. 8 3 T 3 Approx. Mass (Kg) Without brake With brake 0. 3 0. 4 0. 6 0. 7 AC Servo systems 19 14 QK U 37 50. 5 L LL 0. 04 A 25 LM 20. 5 6. 1 2 17 20 2. 5 5 0. 04 Dia. A ¡40 0 30 -0. 021 Dia. 46 0 8 -0. 009 Dia. Dia . W T Cross Section Y-Y Y Y A 12 0. 02 2-4. 3 Dia. Tap × Depth Shaft End With Key and Tap Type SGMJV (230 V, 200 - 750 W) Dimensions (mm) Model Without brake L LL With brake LM L LL Flange Face Dimensions LR LE LG LC LA 3 6 60 70 LB 500 -0. . 025 Shaft End Dimensions LZ 5. 5 S 140 -0. . 011 Tap × Depth M5x8L MD MW MH Approx. Mass Kg QK U W T Without With brake brake 14 3 5 5 8. 3 21 13 0. 9 1. 3 2. 3 1. 5 1. 9 3. 2 SGMJV-02A@A6@-OY 110 80 150 120 51 30 SGMJV-04A@A6@-OY 128. 5 98. 5 168. 5 138. 5 69. 5 SGMJV-08A@A6@-OY 155 115 200 160 85 40 8 80 90 700 -0. . 030 7 190 -0. . 013 M6x10L 22 3. 5 6 6 13. 8 27 15 L LL 0. 04 LM LR LE LG A 0. 04 Dia. A ¡LC 20. 5 MD 14 1. 5 17 21 MW MH QK LB Dia. W Y U S Dia. Y T Cross Section Y-Y Shaft End With Key and Tap A 0. 02 Tap × Depth LA . Dia 4-LZ Dia. Sigma-5 servo system 18 11 Sigma-5 servo system Type SGMAV (230 V, 50 - 150 W) Dimensions (mm) Model SGMAV-A5A@A6@-OY SGMAV-01A@A6@-OY SGMAV-C2A@A6@-OY Without brake L 95. 5 107. 5 119. 5 LL 70. 5 82. 5 94. 5 With brake L 140. 5 152. 5 164. 5 LL 115. 5 127. 5 139. 5 38. 5 50. 5 62. 5 LM Shaft End Dimensions Tap x Depth M3x6L QK 14 U 1. 8 W 3 T 3 Approx. Mass (Kg) Without brake With brake 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8 L LL 0. 04 A 25 LM 20. 5 6. 1 2 17 20 2. 5 5 QK 0. 04 Dia. A ¡40 19 14 12 46 D Y 8 -0. 009 Dia. ia. 0 W Y 30 -0. 021 Dia. U T Cross Section Y-Y 0 A 0. 02 Tap × Depth 2-4. 3 Dia. Shaft End With Key and Tap Type SGMAV (230 V, 200 - 750 W) Dimensions (mm) Model SGMAV-02A@A6@-OY SGMAV-04A@A6@-OY SGMAV-06A@A6@-OY SGMAV-08A@A6@-OY SGMAV-10A@A6@-OY Without brake L LL 110 128. 5 154. 5 155 185 80 98. 5 124. 5 115 145 With brake L LL LM Flange Face Dimensions LR LE LG LC LA 3 6 60 70 LB 500 -0. . 025 Shaft End Dimensions LZ 5. 5 S 140 -0. . 011 MD MW MH Tap x QK U W T Depth M5x8L 20 14 3 5 5 8. 5 21 13 Approx. Mass (Kg) Without With brake brake 0. . 9 1. 2 1. 7 2. 3 3. 6 1. 5 1. 9 2. 4 3. 2 4. 6 150 120 51 30 168. 5 138. 5 69. 5 200. 5 170. 5 95. 5 200 160 85 40 235 195 115 8 80 90 700 -0. . 030 7 190 -0. . 013 M6x10L 22 3. 5 6 6 13. 8 27 15 L LL 0. 04 LM LR LE LG A 0. 04 Dia. A ¡LC 20. 5 MD 14 1. 5 17 21 MW MH QK LB Dia. W Y U LA S Dia. Y T Cross Section Y-Y Shaft End With Key and Tap 4-LZ Dia. A 0. 02 Tap × Depth Dia . 12 AC servo systems AC servo systems 19 Type SGMEV (230/400 V, 100 - 1500 W) Dimensions (mm) Model SGMEV-01A@A6@-OY SGMEV-02A@A6@-OY SGMEV-02D@A6@-OY SGMEV-04A@A6@-OY SGMEV-04D@A6@-OY SGMEV-08A@A6@-OY SGMEV-08D@A6@-OY SGMEV-15A@A6@-OY SGMEV-15D@A6@-OY Without brake L 87 97 117 LL 62 67 87 With brake LM L 116 LL 91 25 30 LA 70 90 Flange Face Dimensions LB 50 0 Shaft End Dimensions S 8 7 0 Approx. Mass (Kg) LC 60 80 LE LG LZ 3 6 8 QK 14 16 W 3 5 T 3 5 Tap x Depth Without With brake brake 1. 8 M3 x 6L 0. 7 0. 9 3 M5 x 8L 1. 4 2. 1 1. 9 2. 6 4. 7 8. 1 U 128. 5 98. 5 148. 5 118. 5 160 188 120 148 -0. . 030 700 -0. . 030 -0. . 011 140 -0. . 011 126. 5 86. 5 154. 5 114. 5 40 145 1100 -0. . 035 120 3. 5 10 10 160 -0. . 011 190 -0. . 013 22 6 6 3. 5 M6 x 10L 4. 2 6. 6 300 ±30 300 ±30 Shaft End U W 300±30 300±30 T L LL LG LR LE L LL LG LM LE LC S QK QK LB S LB LA Holding brake 4-LZ Tap × Depth Models without Brake Type SGMEV (400 V, 300 - 650 W) Dimensions (mm) Model SGMEV-03D@A6@-OY SGMEV-07D@A6@-OY Without brake L LL With brake LM L LL LA 70 90 Models with Brake Flange Face Dimensions LB 500-0. . 025 700-0. . 030 LC 60 80 LE LG LZ 3 3 6 8 5. 5 70 S 140-0. . 011 160-0. . 011 Shaft End Dimensions QK 20 30 W 5 T 5 U 3 Approx. Mass (Kg) 154. 5 124. 5 194 164 30 185 145 229. 5 189. 5 40 Tap x Depth Without With brake brake M5 x 8L 1. 7 2. 2 3. 4 4. 3 300 ±30 300 ±30 Shaft End U W 300 ±30 L LL LG 300 ±30 T LR LE S QK L LL LG LM LC LE S QK LB L A LB Holding brake 4-LZ Tap × Depth Models without Brake Sigma-5 servo system 20 Models with Brake 13 Sigma-5 servo system AC Servo systems Type SGMGV (400 V, 300 - 450 W) Dimensions (mm) Model L Without brake LL LM KB2 114 127 L With brake LL LM KB2 147 160 37 40 75 88 LR KB1 S 140-0. 011 140-0-011 Shaft End Dimensions Q 25 30 QK 15 20 W 5 T 5 U 3 Tap x Depth M4 x 10L M4 x 12L Approx. [. . . ] operating current: 50 mA DC Servo alarm output (OFF for an alarm) 1 2 23 SO1+ / BK+ Brake interlock SO1- / BK- (Brake released when ON) /SO2+ /SO2/SO3+ /SO3- 11 12 13 24 25 26 17 18 Backup battery 1 2. 8 to 4. 5 V BAT(+) BAT(-) 14 15 19 20 21 22 16 PAO /PAO PBO /PBO PCO /PCO SG Encoder output pulses Applicable line receiver SN75175 or MC3486 manufactured by Texas Instruments or the equivalent Signal ground Switch 24 V Safety device 0V /HWBB1+ fuse *3 /HWBB1- 4 3 6 5 CN8 8 EDM1+ Monitored circuit status output (ON when the hard wire baseblock function is normally activated) /HWBB2+ /HWBB2- 7 Connector shell FG Connect shield to connector shell. EDM1- *1 Connect when using an absolute encoder. When the encoder cable for the battery case is connected, do not connect a backup battery. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1 and B2. *3 For servo ON, connect to safety device and set wiring to enable safety function. [. . . ]