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. For machine builders this translates into better machine performance to meet exacting machine requirements. It also has a significant impact on increasing machine availability while reducing costs. As Sigma-5 belongs to the product portfolio of a global leader in automation, you will have total world-wide service and support throughout the product life cycle. Moreover, ongoing technical developments by Omron will keep your machines in front, giving you an edge, both now and in the future. . . . value delivered · Meets the most demanding machine requirements · Helps to maximize machine performance · Minimizes total cost of ownership · Increases machine availability Flow wrap machine require various servo axes working in absolute synchronisation. [. . . ] The rated torques listed here are the values for the continuous allowable torque at 40°C with an aluminium heatsink of the following dimensions attached (SGMEV-01A/02A/04A/02D/03D/04D/07D: 250 mm x 250 mm x 6 mm, SGMEV-08A/15A/08D/15D: 300 mm x 300 mm x 12 mm) *3. IP67 is possible unless SGMEV-03D/07D servomotors. Torque-speed charecteristics ( A : Continuous Duty Zone B : Intermittent Duty Zone) SGMEV-01A 5000 4000 3000 A 2000 1000 0 B 5000 4000 3000 A 2000 1000 0 B SGMEV-02A 5000 4000 3000 SGMEV-04A SPEED (min-1) SPEED (min-1) SPEED (min-1) A 2000 1000 0 B 0 0. 25 0. 5 0. 75 1 0 0. 5 1 1. 5 2 0 1 2 3 4 TORQUE (N · m) TORQUE (N · m) TORQUE (N · m) 5000 4000 3000 SGMEV-08A 5000 4000 3000 SGMEV-15A SGMEV-02D 5000 4000 3000 A 2000 1000 0 B 5000 4000 3000 SGMEV-03D SPEED (min-1) A 2000 1000 0 B SPEED (min-1) A 2000 1000 0 B SPEED (min-1) SPEED (min-1) A 2000 1000 0 B 0 2 4 6 8 0 4 8 12 16 0 0. 5 1 1. 5 2 0 1 2 3 4 TORQUE (N · m) TORQUE (N · m) TORQUE (N · m) TORQUE (N · m) 5000 4000 3000 SGMEV-04D 5000 4000 3000 SGMEV-07D 5000 4000 3000 SGMEV-08D 5000 4000 3000 SGMEV-15D SPEED (min-1) A 2000 1000 0 B SPEED (min-1) A 2000 1000 0 B SPEED (min-1) A 2000 1000 0 B SPEED (min-1) A 2000 1000 0 B 0 1 2 3 4 0 2 4 6 8 0 2 4 6 8 0 4 8 12 16 TORQUE (N · m) TORQUE (N · m) TORQUE (N · m) TORQUE (N · m) 8 AC servo systems AC servo systems 15 Type SGMGV, 400 V Ratings and specifications Applied voltage Servo motor model SGMGV- @ kW Rated output*1 Rated torque*1 N·m Instantaneous peak torque*1 N·m A (rms) Rated current*1 Instantaneous max. 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. 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. 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. [. . . ] When the encoder cable for the battery case is connected, do not connect a backup battery. *3 For servo ON, connect to safety device and set wiring to enable safety function. When not using the safety function, use the servo drive with the plug (JZSP-CVH05-E, provided as an accessory) inserted into the CN8. Sigma-5 servo system 40 33 Sigma-5 servo system AC Servo systems Servo motor Three-phase, 400 VAC Single-Phase 200 to 230 VAC Noise filter Power Off Power ON Alarm processing Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay 2 3 Servo motor 4 +24 V Power supply 0V 24 VDC +10%, -15% 3 24 V 0V SGDV MECHATROLINK-II Servo Drive Optical encoder Be sure to ground CN1 Be sure to prepare the end of the shielded wire properly +24 VIN Control power supply for sequence signal Forward run prohibited (Prohibited when OFF) Reverse run prohibited (Prohibited when OFF) Homing deceleration switch (Decelerated when ON) External latch signal 1 (Latched when ON) External latch signal 2 (Latched when ON) External latch signal 3 (Latched when ON) General purpose P-OT N-OT /DEC /EXT1 /EXT2 /EXT3 +24V /SI1 /SI2 /SI3 /SI4 /SI5 /SI6 /SIO 6 7 8 9 10 3. 3 k 3 4 ALM+ ALM- Photocoupler output Max. 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. [. . . ]