User manual OMRON SIGMA LINEAR MOTORS DATASHEET

[. . . ] SGLG@, SGLF@, SGLT@ Sigma linear motors Direct drive linear servo motors for faster machine cycles · Direct control of the motors using XtraDrive and Sigma-II drives · Improved machine performance · Easy of operation & high reliability · Designed for high force density in compact packages · Exhibit exceptional force linearity even at near peak force regions · Extremely energy efficient, due to its optimized magnetic circuitry design and high-density windings · Can reach speeds as high as 5 meters per second. · Coreless and iron core types available Ratings · 230 VAC Single-phase 12. 5 to 560 N (1200 N Peak) · 400 VAC Three-phase 80 to 2250 N (7500 N Peak) System configuration (Refer to servo drive chapter) SERVOPACK SGDHVer. 200V POWER CHARGE POWER CN3 Servo Drive with option boards for flexible system configuration Sigma-II Servo Drive Drive options CN3 CHARGE Intelligent Servo Drive XtraDrive CN1 CN1 CN2 CN2 Serial converter cable Serial converter unit Power cable Power cable (To serial converter unit) Power Linear scale Hall sensor Linear scale Linear scale cable (extension) Hall sensor cable (extension) Power cable Hall sensor (To serial converter unit) Power cable Hall sensor Linear scale Power Linear scale Linear coil SGLGW Magnetic way SGLGM SGLG_ Linear Servo Motor Power Linear coil SGLFW Magnetic way SGLFM Magnetic way SGLTM Linear coil SGLTW SGLF_ Linear Servo Motor SGLT_ Linear Servo Motor Sigma linear motors 195 Servo Motor / Servo Drive Combination Sigma series linear servo motor Type SGLGW coreless standard-force magnetic ways Rated force 230 V 12. 5 N 25 N 47 N 70 N 93 N 140 N 140 N 210 N 325 N 230 V 57 N 114 N 171 N 85 N 170 N 255 N Voltage Rated force 230 V 25 N 40 N 80 N 160 N 280 N 560 N 560 N 400 V 80 N 160 N 280 N 560 N 560 N 1120 N 1500 N 2250 N 400 V 300 N 600 N 450 N 900 N 670 N 1000 N 1300 N 2000 N Voltage Peak force 40 N 80 N 140 N 220 N 280 N 420 N 440 N 660 N 1300 N 230 N 460N 690 N 360N 720 N 1080 N Peak force 86 N 125 N 220 N 440 N 600 N 1200 N 1200 N 220 N 440 N 600 N 1200 N 1200 N 2400 N 3600 N 5400 N 600 N 1200 N 900 N 1800 N 2600 N 4000 N 5000 N 7500 N Model 30A050 [B / C] 30A080 [B / C] 40A140 [B / C] 60A140 [B / C] 40A253 [B / C] 40A365 [B / C] 60A253 [B / C] 60A365 [B / C] 90A200 [A / C] 40A140 [B / C] 40A253 [B / C] 40A365 [B / C] 60A140 [B / C] 60A253 [B / C] 60A365 [B / C] Model 20A090A 20A120A 35A120A 35A230A 50A200B 50A380B 1ZA200B 35D120A 35D230A 50D200B 50D380B 1ZD200B 1ZD380B 1ED380B 1ED560B 35D170H 35D320H 50D170H 50D320H 40D400B 40D600B 80D400B 80D600B Serial converter JZDP-@008-[code] code for code for Rev A, B Rev C 158 250 156 251 001 252 004 258 002 253 003 254 005 259 006 260 101 264 059 255 060 256 061 257 062 261 063 262 047 263 code 017 018 019 020 181 182 183 211 212 189 190 191 192 333 334 193 194 195 196 197 198 199 200 Servo drive Sigma-II series 230 V (1-phase) SGDH-A5AE-OY SGDH-01AE-OY SGDH-01AE-OY SGDH-02AE-OY SGDH-02AE-OY SGDH-04AE-OY SGDH-04AE-OY SGDH-08AE-S-OY SGDH-15AE-S-OY SGDH-02AE-OY SGDH-04AE-OY SGDH-08AE-S-OY SGDH-02AE-OY SGDH-08AE-S-OY SGDH-15AE-S-OY 230 V (1-phase) SGDH-02AE-OY SGDH-02AE-OY SGDH-02AE-OY SGDH-08AE-S-OY SGDH-08AE-S-OY SGDH-15AE-S-OY SGDH-15AE-S-OY XtraDrive 230 V (1-phase) XD-P5-MN01 XD-01-MN01 XD-01-MN01 XD-02-MN01 XD-02-MN01 XD-04-MN01 XD-04-MN01 XD-08-MN XD-15-MN XD-02-MN01 XD-04-MN01 XD-08-MN XD-02-MN01 XD-08-MN XD-15-MN 230 V (1-phase) XD-02-MN01 XD-02-MN01 XD-02-MN01 XD-08-MN01 XD-08-MN XD-15-MN XD-15-MN - SGLGW coreless high-force magnetic ways Type SGLFW linear motors 400 V (3-phase) 400 V (3-phase) SGDH-05DE-OY SGDH-05DE-OY SGDH-10DE-OY SGDH-15DE-OY SGDH-15DE-OY SGDH-30DE-OY SGDH-20DE-OY SGDH-30DE-OY SGDH-10DE-OY SGDH-20DE-OY SGDH-10DE-OY SGDH-20DE-OY SGDH-30DE-OY SGDH-50DE-OY SGDH-50DE-OY SGDH-75DE-OY 400 V (3-phase) 400 V (3-phase) SGLTW linear motors XD-05-TN XD-05-TN XD-10-TN XD-15-TN XD-15-TN XD-30-TN XD-20-TN XD-30-TN XD-10-TN XD-20-TN XD-10-TN XD-20-TN XD-30-TN XD-50-TN XD-50-TN - Motor coil SGL F W Linear series Linear servo motor Servo motor model Code Specifications G Coreless F F-type iron core T T-type iron core W : Coil assembly 35 D 120 A P D Cable connector for main circuit cable Code - D Specifications MS connector or connector made by Tyco Electronics AMP K. K. Connector made by Interconnectron Options Code P C H Specifications With hall sensor (standard) Forced cooling With hall sensor and forced cooling Magnet height Voltage A 200 VAC D 400 VAC Design revision order A, B, C Length of coil assembly 196 AC servo systems Magnetic way SGL F M Linear series Linear servo motor Model Code Specifications G Coreless F F-type iron core T T-type iron core M : Magnetic way Magnet width 35 324 A C Options Code C -Y Specifications With magnet cover With base and magnet cover Mounting type 1 Mounting type 1 & high thrust force Mounting type 2 Mounting type 2 & high thrust force Remarks For iron-core types - SGLFM - SGLTM For SGLTM type For SGLGM type -M TT-M Design revision order A, B, C Length of magnetic way Serial converter unit JZDP ­ D008 ­ 001 Design revision order A, B, C Applicable linear servo motor Servo motor model Symbol Model Symbol 250 251 252 253 254 258 259 260 264 265 266 255 256 257 261 262 263 Servo motor model Symbol Serial converter unit model Symbol Appearance Applicable linear scale Made by Renishaw or (Heidenhain *) Hall sensor 30A050B 30A080B 40A140B 40A253B Yes 158 156 001 002 003 004 005 006 101 102 103 059 060 061 062 063 047 30A050C 30A080C 40A140C 40A253C 40A365C 60A140C 60A253C 60A365C 90A200C 90A370C 90A535C 40A140C 40A253C 40A365C 60A140C 60A253C 60A365C 20A170A 20A320A 20A460A 35A170A 35A320A 35A460A 35A170H 35A320H 50A170H SGLTW(Iron core, T-type) 011 012 013 014 015 016 105 106 108 109 185 186 187 188 193 194 195 196 197 198 199 200 A008 D008 SGLGW(coreless) When a standardforce magnetic way is used. 40A365B 60A140B 60A253B 60A365B 90A200A 90A370A 90A535A Note: * When using a linear scale made by Heidenhain an extension cable is required 50A320H 40A400B 40A600B 80A400B 80A600B 35D170H 35D320H 50D170H 50D320H 40D400B 40D600B 80D400B 80D600B SGLGW+ SGLGM-M (coreless) When a high-force magnetic way is used. 40A140B 40A253B 40A365B 60A140B 60A253B 60A365B 20A090A 20A120A 35A120A 35A230A 50A200B 017 018 019 020 181 182 183 184 211 212 189 190 191 192 333 334 SGLFW(Iron core, F-type) 50A380B 1ZA200B 1ZA380B 35D120A 35D230A 50D200B 50D380B 1ZD200B 1ZD380B 1ED380B 1ED560B Sigma linear motors 197 Servo motor specifications Coreless SGLGW/SGLGM - (with standard-force magnetic ways) Voltage Linear servo motor model SGLGWRated force Rated current Instantaneous peak force Instantaneous peak current Coil assembly weight Force constant BEMF constant Motor constant Electrical time constant Mechanical time constant Thermal resistance (with heat sink) Thermal resistance (without heat sink) Magnetic attraction Heat sink size N Arms N Arms kg N / Arms V /(m / s) 230 V 30A 050C 12. 5 0, 51 40 1. 62 0. 14 26. 4 8. 8 3. 7 0. 2 7. 30 5, 19 0 080C 25 0, 79 80 2. 53 0. 19 33. 9 11. 3 5. 6 0. 4 4. 78 3, 11 0 200 x 300 x 12 140C 47 0. 8 140 2. 4 0. 40 61. 5 20. 5 7. 8 0. 4 5. 59 1, 67 3, 02 0 40A 253C 93 1. 6 280 4. 9 0. 66 61. 5 20. 5 11. 0 0. 4 4. 96 0, 87 1, 80 0 300 x 400 x 12 365C 140 2. 4 420 7. 3 0. 93 61. 5 20. 5 13. 5 0. 4 4. 77 0, 58 1, 23 0 400 x 500 x 12 140C 70 1, 16 220 3. 5 0. 48 66. 6 22. 2 11. 1 0. 5 3. 41 1, 56 2, 59 0 200 x 300 x 12 60A 253C 140 2, 2 440 7. 0 0. 82 66. 6 22. 2 15. 7 0. 5 3. 08 0, 77 1, 48 0 300 x 400 x 12 365C 210 3, 3 660 10. 5 1. 16 66. 6 22. 2 19. 2 0. 5 2. 98 0, 51 1, 15 0 400 x 500 x 12 90A 200C 325 4. 4 1300 17. 6 2. 2 78 26. 0 26. 0 1. 4 3. 18 0, 39 1. 09 0 800 x 900 x 12 N/ w ms ms K/W K/W N mm Time rating Insulation class Ambient temperature Ambient humidity Insulation resistance Excitation Dielectric strength Protection methods Allowable winding temperature Continuous Class B 0 to +40 °C 20 to 80% (non-condensing) 500 VDC, 10 M min. Permanent magnet 1500 VAC for 1 minute Self-cooled, air-cooling 130 °C Note: 1. [. . . ] Multiple SGLFM-1Z A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. Keep a minimum distance of 200 mm from the magnetic way 210 AC servo systems Iron-core SGLF@-1E Coil assembly: SGLFW-1ED@B@ Coil assembly model SGLFW1ED380B 1ED560B L1 395 605 Motor terminal L2 120 135 L3 135 Magnetic way N 12 18 P 0. 3 0. 5 70 Approx. weight kg 22 33 L1 (23) (100) (83) (200) 175 (100) 92 YASKAWA TYPE: TYPE: O/N S/N MADE IN JAPAN DATE O/N S/N YASK MADE IN JAPAN 32 60 60 Linear SERVO MOTOR TYPE S/N S/N YASKAWA ELECTRIC MADE IN JAPAN DATE DATE O/N W N m/s A V ins. Nameplate (14. 2) 28 61 (Gap0. 8) P 1ED560 type only 2-Screws #4-40 UNC Cable UL20276, AWG28 84. 2 60 L2 60 L3 60 "N"-M8 tapped holes, depth 16 Tightening torque:3000 N. cm (Ø4. 2) * The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 76±0. 1 Hall sensor terminal Min. 80 500±50 Hall sensor Units: mm Hall sensor Connector specifications 9 6 Linear servo motor Connector Specifications Pin No. 1 Name +5V (Power supply) Hall sensor output signals Pin No. A B C Name Phase U Phase V Phase W Ground Vu Su 5 1 2 3 4 5 6 7 8 9 Phase U Phase V Phase W 0V (Power supply) Pin connector type: 17JE-23090-02 (D8C) made by DDK Ltd. The mating connector Socket connector type: 17JE-13090-02 (D8C) Stud type: 17L-002C or 17L-002C1 When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below. Receptacle type: MS3102A-22-22P made by DDK Ltd. The mating connector L-shaped plug type: MS3108E22-22S D Not used Not used Not used Not used Inverse power Vv (V) Vw 0 Sv Sw 180 360 540 Electrical angle (° ) Magnetic way: SGLFM-1E135A@ (145. 5) 3° Coil assembly (10) 180 200 (100) (83) (175) NS 100 150 NSNS NSNS (92) YASKAWA TYPE: O/N S/N MADE IN JAPAN DATE O/N S/N YASKAWA TYPE: MADE IN JAPAN DATE 9 14. 2 5. 2 Reference mark (61) (Gap0. 8) 0 -0. 2 10 Name plate for magnet track 43. 2 67. 5 (67. 5) Serial number label * 76±0. 1 Includes magnet cover, 0. 2 thick Mounting holes Ø10 Ø15 Spot facing 3. 5 depth Qty. " 2 x 2 " 135 -0. 1 -0. 3 3. 5 Ø10 Ø15 Units: mm Approx. weight: 2. 5 kg Max. 8. 7 Height of screw head is less than 8. 7mm. Multiple SGLFM-1E A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown in the figure. Keep a minimum distance of 200 mm from the magnetic way Sigma linear motors 211 Iron-core SGLT@-35 Coil assembly: SGLTW-35D@H@D Coil assembly model SGLTW35D320H D L1 315 L2 288 (48 × 6) (L3) (17) N 14 Approx. weight kg 8. 8 N×M6 tapped holes, depth 12 0. 15 X 20±0. 1 15 70 66 62. 5 12 P X Magnetic way 30 10 20 L1 L2 48±0. 15 L3 60 120±0. 1 28 Gap 0. 8: With magnet cover) Gap 1: Without magnet cover) 100±0. 15 80±0. 05 1 Linear SERVO MOTOR TYPE S/N YASKAWA ELECTRIC O/N W A 90 N V MADE IN JAPAN DATE 30 30 19. 2: With magnet cover) 19: Without magnet cover) 15 Name plate 500±50 Cable UL20276 AWG28 35 43 63 min. Wiring specification of hall sensor cable 9 6 4. 2 ins. m/s Hall sensor Protective tube 500±50 The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W. 2×screws #4×40 UNC Units: mm Pin No. 1 Name +5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used Linear servo motor Connector specifications 5 4 6 1 2 Pin No. 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground 5 1 2 3 Pin connector type: 17JE-23090-02 D8C made by DDK Ltd. The mating connector Socket connector type: 17JE-13090-02 D8C Stud type: 17L-002C or 17L-002C1 4 5 6 7 8 9 Hall sensor output signals When the coil assembly moves in the direction indicated by the arrow in the figure, the relationship between the hall sensor output signals Su, Sv, Sw and the inverse power of each motor phase Vu, Vv, Vw becomes as shown in the figure below Vu Inverse power Vv (V) Vw 0 Extension: LRRA06AMRPN182 Pin type: 021. 279. 1020 made by Interconnectron The mating connector Plug type: LPRA06BFRBN170 Su Sv Sw 180 360 540 Electrical angle ° Magnetic way: SGLTM-35@H Magnetic way model SGLTM35324H 35540H 35756H L1 -0. 1 -0. 3 324 540 756 L2 270 (54 × 5) 486 (54 × 9) 702 (54 × 13) N 6 10 14 Approx. [. . . ] 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Case Signal /cos input (V1-) /sin input (V2-) Ref input (V0+) +5V 5Vs Empty Empty Empty cos input (V1+) sin input (V2+) /Ref input (V0-) 0V 0Vs Empty Inner shield Shield CN3 Hall sensor signal input 1 6 5 9 Pin No. 1 2 3 4 5 6 7 8 9 Case Signal +5V U-phase input V-phase input W-phase input 0V Empty Empty Empty Empty Shield Note: 1. The linear scale (analog 1Vp-p output, D-sub 15-pin, male) by Renishaw Inc. However, the BID and DIR signals are not connected. [. . . ]