User manual OMRON SIGMA-5 SERVO DRIVE DATASHEET

[. . . ] (at rated speed) 1. 6 kHz ±1% 0 to 10 s (acceleration, deceleration can each be set. ) ±6 VDC (forward motor rotation if positive reference) at rated speed: Set at delivery Variable setting range: ±2 to ±10 VDC at rated speed/ max. 30 µs ±3 VDC (forward rotation if positive reference) at rated torque: Set at delivery Variable setting range ±1 to ±10 VDC at rated torque reference, max. 40 41 Signal name Common /S-ON /P-CON Function Servo ON: Turns ON the servo motor. Proportional control reference Switches the speed control loop from PI (proportional/integral) to P (proportional) control when ON. [. . . ] CHARGE, 7-segments LEDX1 Rotary switch: MECHATROLINK-II station address setting (16 channels) DIP switch: MECHATROLINK-II communications setting (4 channels) Hard wire base block signal and status monitor (fixed output) of safety circuit Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal for high frequency power suppression function. Automatic load inertia detection Dynamic brake (DB) Regenerative processing Overtravel (OT) prevention function Encoder divider function Electronic gearing Internal speed setting function Protective functions Analog monitor functions for supervision Panel operator Display functions Switches Integrated functions Safety functions Others I/O specifications I/O signals (CN1) - input signals Pin No. 9 7 8 10 11 12 6 14 15 13 Signal name Common /DEC P-OT N-OT /EXT 1 /EXT 2 /EXT 3 +24VIN BAT (+) BAT (-) /SIO Function Homing deceleration limit switch Connects the deceleration limit switch for homing. Forward run prohibited Overtravel prohibited: Stops servo motor when movable part travels beyond the Reverse run prohibited allowable range of motion. External latch signal 1 Connects the external signals that latch the current feedback pulse counter. External latch signal 2 External latch signal 3 Control power supply input for sequence signals: users must provide the +24 V power supply. General-purpose input signal: Monitored in the I/O monitor field of MECHATROLINK-II. Note: 1. The functions allocated to /DEC, P-OT, N-OT, /EXT1, -/EXT2 and /EXT3 input signals can be changed by using the parameters. If the Forward/ Reverse run prohibited function is used, the software can be used to stop the Servo drive. If the application does not satisfy the requirements, add an external circuit for safety reasons as required. 8 AC servo systems I/O signals (CN1) - output signals Pin No. 3 4 1 2 23 24 25 26 16 17 18 19 20 21 22 5 Signal Name Common ALM+ ALM/BK+ (/SO1+) /BK(/SO1-) /SO2+ /SO2/SO3+ /SO3FG PAO /PAO PBO /PBO PCO /PCO Function Servo alarm: Turns OFF when an error is detected. Allocation can be changed to general-purpose output signals (/SO1+, /SO1-). General-purpose output signal. Note: Set the parameter to allocate a function. Signal ground: Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell. Phase-A signal Dividing ratio can be set by parameter (proper line receiver is SN75175 manufactured by Texas instruments or the equivalent corresponding to MC3486) Phase-B signal Phase-C signal Terminal not used. Do no connect. Reserved I/O signals (CN8) - safety signals Pin No. 4 3 6 5 8 7 1 2 Signal Name Common /HWBB1+ /HWBB1/HWBB2+ /HWBB2EDMI+ EDMIReserved Function Hard wire baseblock input 1 Hard wire baseblock input 2 Monitored circuit status output 1: ON when the hard wire baseblock function is normally activated. Do not connect. Terminal specifications Symbol L1, L2 or L1, L2, L3 U, V, W L1C, L2C 24V, 0 B1/ , B2, B3 or B1, B2, B3 Name Main circuit AC input terminal Servo motor connection terminal Control power input terminal Frame ground Main circuit DC output terminal Function AC power input terminals for the main circuit Terminals for outputs to the servo motor. Up to 400 W: If the regenerative capacity is insufficient, connect an external regenerative resistor (option) between B1/ and B2. If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor between B1/ and B2. If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2. 1, 2 DC reactor connection terminal for suppressing power supply harmonic waves Encoder connector (CN2) Pin No. 1 2 3 4 5 6 Signal Name E5V E0V BAT+ BAT­ S+ S­ Function Encoder power supply + 5 V Encoder power supply ground Battery + (used only with absolute encoder) Battery ­ (used only with absolute encoder) Encoder serial signal input Encoder serial signal input Sigma-5 servo drive 9 Operation Sigma-5 Analog/Pulse Reference Servo Drive Panel operator With front cover open Status display mode Control-circuit power supply ON Baseblock Speed coincidence (during speed/torque control) Positioning complete (during position control) Motor rotation detection Speed command being input (during speed control) Command pulses being input (during position control) Torque command being input (during torque control) Error counter reset signal being input (during position control) Main-circuit power supply ON Display panel Bit display Symbol display Keys Changing modes To change modes, press the MODE/SET key. Power ON (Display example) Status Display Mode Baseblock MODE/SET Symbol bb rUn p%t n%t h. bb tst 020 Status Baseblock (servo OFF) Operating (servo on) Forward rotation prohibited (forward overtravel) Reverse rotation prohibited (reverse overtravel) Hard Wire Base Block. Servo drive is baseblocked by the safety function Mode test without motor Alarm. @0@A-OY Function Selects the display mode (status display mode, utility function mode, parameter setting mode and monitor mode). [. . . ] (CX-drive version 1. 50 or higher) Complete OMRON software package including CX-drive. (CX-One version 3. 0. 2 or higher) Model CX-drive CX-One 26 AC servo systems Ordering information Sigma-5 MECHATROLINK Servo Drive Configuration CN5 CN6 F G Analog monitor cable MECHATROLINK-II network Personal computer C Sigma-5 Servo Drives CN7 USB cable J Filter CN1 H D General purpose connector I E Safety cable Battery case for absolute encoder CN8 CN2 MECHATROLINK-II Models (Refer to chapter Sigma-II rotary motors) B (Refer to chapter Sigma linear motors) Cables B Cables A SGMAH, SGMPH Servo Motor A SGMGH, SGMUH, SGMSH, SGMBH Servo Motor A SGLG_ linear Servo Motor A SGLF_ linear Servo Motor A SGLT_ linear Servo Motor (Refer to chapter Sigma-5 rotary motors) B Cables (Refer to chapter Sigma direct drive motors) B Cables A SGMJV, SGMAV Servo Motor A SGMGV, SGMSV Servo Motor A Direct drive servo motor SGMCS-@-@B, C, D, E A Direct drive servo motor SGMCS-@-@M, N Note: The symbols ABCDE. . . show the recommended sequence to select the components in a Sigma-5 servo system Servo motors, power & encoder cables Note: AB Refer to the servo motors chapter for detailed motor specifications and selection Sigma-5 servo drive 27 Servo drives Symbol Specifications Model Compatible rotary servo motors A Compatible direct drive motors A Compatible linear motors A SGLGW-30A050@ - C 1 phase 230 VAC 50 W SGDV-A5A11A-OY SGMAH-A5D@, SGMJV-A5A@, SGMAV-A5A@ SGDV-A5A15A-OY 100 W SGDV-01A11A-OY SGMAH-01A@, SGMPH-01A@, SGMJV-01A@, SGMAV-01A@, SGMEV-01A@ SGDV-01A15A-OY 200 W SGDV-02A11A-OY SGMAH-02A@, SGMPH-02A@, SGMJV-02A@, SGMAV-02A@, SGMEV-02A@ - SGMCS-07B@ SGLGW-30A080@, SGLGW-40A140@ - SGDV-02A15A-OY - 400 W SGDV-04A11A-OY SGMAH-04A@, SGMPH-04A@, SGMJV-04A@, SGMAV-04A@, SGMEV-04A@ SGMAH-08A@, SGMPH-08A@, SGMJV-08A@, SGMAV-08A@, SGMEV-08A@ - SGDV-04A15A-OY 750 W SGDV-08A11A-OY SGMCS-02B@, SGMCS-05B@, SGMCS-04C@, SGMCS-10C@, SGMCS-14C@, SGMCS-08D@, SGMCS-17D@, SGMCS-25D@ SGMCS-16E@, SGMCS-35E@ SGLGW-60A140@, SGLGW-40A253@, SGLFW-20A@, SGLFW-35A120@ - SGLGW-40A365@, SGLGW-60A253A@ - SGDV-08A15A-OY - 1. 5 kW SGDV-15A11A-OY SGDV-15A15A-OY SGMPH-15A@, SGMAV-10A@, SGMEV-15A@ - SGMCS-45M@, SGMCS-80M@, SGMCS-80N@ - SGLGW-60A365A@, SGLFW-35A230@, SGLFW-50A200@ SGLGW-90A200A@, SGLFW-50A380@, SGLFW-1ZA200@ - 3 phase 400 VAC 0. 5 kW SGDV-05D11A-OY SGDV-05D15A-OY 1. 0 kW SGDV-10D11A-OY SGDV-10D15A-OY SGMAH-03D@, SGMPH-04D@, SGMGH-05D@, SGMEV-04D@, SGMGV-05D@ SGMAH-07D@, SGMPH-08D@, SGMGH-09D@, SGMSH-10D@, SGMUH-10D@, SGMEV-08D@, SGMGV-09D@, SGMSV-10D@, - - - SGLFW-35D@ - - 1. 5 kW SGDV-15D11A-OY SGDV-15D15A-OY 2 kW SGDV-20D11A-OY SGDV-20D15A-OY SGMPH-15D@, SGMGH-13D@, SGMSH-15D@, SGMUH-15D@, SGMEV-15D@, SGMGV-13D@, SGMSV-15D@ SGMGH-20D@, SGMSH-20D@, SGMGV-20D@, SGMSV-20D@ - - SGLFW-50D200@, SGLTW-35D170@, SGLTW-50D170@ - - SGLFW-50D380@, SGLFW-1ZD200@ SGLFW-1ED380@, SGLTW-35D320@, SGLTW-50D320@ - 3 kW SGDV-30D11A-OY SGDV-30D15A-OY SGMGH-30D@, SGMSH-30D@, SGMUH-30D@, SGMGV-30D@, SGMGV-30D@ - - - 5 kW SGDV-50D11A-OY SGDV-50D15A-OY 6 kW 7. 5 kW 11 kW 15 kW SGDV-210D11A SGDV-260D11A SGDV-280D11A SGDV-370D11A SGMGH-44D@, SGMSH-50D@, SGMUH-40D@, SGMGV-44D@, SGMSV-50D@ SGMGH-55D@, SGMGV-55D@ SGMGH-75D@, SGMGV-75D@ SGMGH-1AD@, SGMGV-1AD@ SGMGH-1ED@, SGMGV-1ED@ - SGLFW-1ZD380@, SGLFW-1ED560@, SGLTW-40D400@ - - SGLTW-40D60@, SGLTW-80D400@ - 28 AC servo systems Battery backup for absolute encoder (for CN2 encoder cable) Symbol USB personal computer cable (for CN7) Symbol E Name Battery Model JZSP-BA01 H Name USB Mini Connector cable Note JZSP-CVS06-02-E Note: when the encoder cables with a battery case JUSP-BA01 are used, no battery is required for CN1 (between pin 21 and 22). Battery for CN1 is ER6VCN3. Note: doble shield USB cable recommended Cable (for CN5) Symbol Cable for Safety Functions (for CN8) Model R88A-CMW001S DE9404559 Symbol F Name Analog monitor cable I Name Safety connector with 3 m cable (with Loose Wires at one End) Model JZSP-CVH03-03-E Note: when using the safety function, connect this cable to the safety devices. [. . . ]