Omron SGDV-A5A01A-OY, SGDV-01A11A-OY, SGDV-02A01A-OY, SGDV-02A11A-OY, SGDV-04A01A-OY Datasheet

1Sigma-5 servo drive

SGDV-@

Sigma-5 servo drive

The High perfomance servo family for motion
control. Compact size, reduced space and
integrated MECHATROLINK-II.

• Advance autotuning function

• Enhanced vibration supression function

• Standard support for analog voltage/pulse train ref­erence series or MECHATROLINK-II communica­tions reference series.

• Support for direct drive servomotors, linear servo­motors and linear sliders

• Integrated safety stop function

• Oscilloscope available via software tool

• Windows based configuration and commissioning
software

Ratings

• 230 VAC Single-phase 50 W to 1.5 kW (4.77 Nm)

• 400 VAC Three-phase 500 W to 15 kW (95.4 Nm)

System configuration

SGMGH, SGMUH, SGMSH,
SGMBH Servo Motor

(Refer to chapter Sigma linear motors)

SGMAH, SGMPH
Servo Motor

SGLT_ linear
Servo Motor

SGLG_ linear
Servo Motor

SGLF_ linear
Servo Motor

(Refer to chapter Sigma-II rotary motors)

SGMGV, SGMSV
Servo Motor

SGMJV, SGMAV, SGMEV
Servo Motor

(Refer to chapter Sigma-5 rotary motors)

Direct drive servo motor
SGMCS-@-@B, C, D, E

Direct drive servo motor
SGMCS-@-@M, N

(Refer to chapter Sigma direct drive motors)

Battery case for absolute encoder

Analog monitor cable

USB cable

Safety cable

MECHATROLINK-II network

CN5

CN7

CN1

CN8

CN2

CN6

General purpose connector

Personal
computer

Battery case for absolute encoder

Analog monitor cable

USB cable

Safety cable

CN5

CN7

CN1

CN8

Sigma-5 Analog/Pulse Reference Servo Drive

CN2

Position control unit

Terminal block
position control
Unit

General purpose cable

Personal
computer

Sigma-5 MECHATROLINK-II Servo Drive

2 AC servo systems

Servo motor / servo drive combination

Servo motor Sigma-5 Servo drive

Family Voltage Rated torque Capacity 230 V (1 phase)

Analog/Pulse

230 V (1 phase)

MECHATROLINK-II

400 V (3 phase)

Analog/Pulse

400 V (3 phases)

MECHATROLINK-II

Sigma-II series motors (refer to the Sigma-II rotary motors chapter for details)

SGMAH (3000 min

-1

) 230 V 0.0955 Nm 30 W SGDV-A5A01A-OY SGDV-A5A11A-OY - -

0.159 Nm 50 W SGDV-A5A01A-OY SGDV-A5A11A-OY - -

0.318 Nm 100 W SGDV-01A01A-OY SGDV-01A11A-OY - -

0.637 Nm 200 W SGDV-02A01A-OY SGDV-02A11A-OY - -

1.27 Nm 400 W SGDV-04A01A-OY SGDV-04A11A-OY - -

2.39 Nm 750 W SGDV-08A01A-OY SGDV-08A11A-OY - -

400 V 0.955 Nm 300 W - - SGDV-05D01A-OY SGDV-05D11A-OY

2.07 Nm 650 W - - SGDV-10D01A-OY SGDV-10D11A-OY

SGMPH (3000 min

-1

)230 V 0.318 Nm 100 W SGDV-01A01A-OY SGDV-01A11A-OY - -

0.637 Nm 200 W SGDV-02A01A-OY SGDV-02A11A-OY - -

1.27 Nm 400 W SGDV-04A01A-OY SGDV-04A11A-OY - -

2.39 Nm 750 W SGDV-08A01A-OY SGDV-08A11A-OY - -

4.77 Nm 1500 W SGDV-15A01A-OY-008000 SGDV-15A11A-OY-008000 - -

400 V 0.637 Nm 200 W - - SGDV-05D01A-OY SGDV-05D11A-OY

1.27 Nm 400 W - - SGDV-05D01A-OY SGDV-05D11A-OY

2.39 Nm 750 W - - SGDV-10D01A-OY SGDV-10D11A-OY

4.77 Nm 1500 W - - SGDV-15D01A-OY SGDV-15D11A-OY

SGMGH (1500 min

-1

)400 V 2.84 Nm 0.45 kW - - SGDV-05D01A-OY SGDV-05D11A-OY

5.39 Nm 0.85 kW - - SGDV-10D01A-OY SGDV-10D11A-OY

8.34 Nm 1.3 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

11.5 Nm 1.8 kW - - SGDV-20D01A-OY SGDV-20D11A-OY

18.6 Nm 2.9 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

28.4 Nm 4.4 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

35.0 Nm 5.5 kW - - SGDV-210D01A SGDV-210D11A

48.0 Nm 7.5 kW - - SGDV-260D01A SGDV-260D11A

70.0 Nm 11 kW - - SGDV-280D01A SGDV-280D11A

95.4 Nm 15 kW - - SGDV-370D01A SGDV-370D11A

SGMSH (3000 min

-1

) 400 V 3.18 Nm 1.0 kW - - SGDV-10D01A-OY SGDV-10D11A-OY

4.90 Nm 1.5 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

6.36 Nm 2.0 kW - - SGDV-20D01A-OY SGDV-20D11A-OY

9.80 Nm 3.0 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

12.6 Nm 4.0 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

15.8 Nm 5.0 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

SGMUH (6000 min

-1

) 400 V 1.59 Nm 1.0 kW - - SGDV-10D01A-OY SGDV-10D11A-OY

2.45 Nm 1.5 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

4.9 Nm 3.0 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

6.3 Nm 4.0 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

Sigma-5 series motors (refer to the Sigma-5 rotary motors chapter for details)

SGMJV (3000 min

-1

) 230 V 0.159 Nm 50 W SGDV-A5A01A-OY SGDV-A5A11A-OY - -

0.318 Nm 100 W SGDV-01A01A-OY SGDV-01A11A-OY - -

0.637 Nm 200 W SGDV-02A01A-OY SGDV-02A11A-OY - -

1.27 Nm 400 W SGDV-04A01A-OY SGDV-04A11A-OY - -

2.39 Nm 750 W SGDV-08A01A-OY SGDV-08A11A-OY - -

SGMAV (3000 min

-1

) 230 V 0.159 Nm 50 W SGDV-A5A01A-OY SGDV-A5A11A-OY - -

0.318 Nm 100 W SGDV-01A01A-OY SGDV-01A11A-OY - -

0.477 Nm 150 W SGDV-02A01A-OY SGDV-02A11A-OY - -

0.637 Nm 200 W SGDV-02A01A-OY SGDV-02A11A-OY - -

1.27 Nm 400 W SGDV-04A01A-OY SGDV-04A11A-OY - -

1.75 Nm 550 W SGDV-08A01A-OY SGDV-08A11A-OY - -

2.39 Nm 750 W SGDV-08A01A-OY SGDV-08A11A-OY - -

3.18 Nm 1.0 kW SGDV-15A01A-OY-008000 SGDV-15A11A-OY-008000 - -

SGMEV (3000 min

-1

)230 V 0.318 Nm 100 W SGDV-01A01A-OY SGDV-01A11A-OY - -

0.637 Nm 200 W SGDV-02A01A-OY SGDV-02A11A-OY - -

1.27 Nm 400 W SGDV-04A01A-OY SGDV-04A11A-OY - -

2.39 Nm 750 W SGDV-08A01A-OY SGDV-08A11A-OY - -

4.77 Nm 1.5 kW SGDV-15A01A-OY-008000 SGDV-15A11A-OY-008000 - -

400 V 0.637 Nm 200 W - - SGDV-05D01A-OY SGDV-05D11A-OY

0.955 Nm 300 W - - SGDV-05D01A-OY SGDV-05D11A-OY

1.27 Nm 400 W - - SGDV-05D01A-OY SGDV-05D11A-OY

2.07 Nm 650 W - - SGDV-10D01A-OY SGDV-10D11A-OY

2.39 Nm 750 W - - SGDV-10D01A-OY SGDV-10D11A-OY

4.77 Nm 1.5 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

Sigma-5 servo drive 3

SGMGV (1500 min-1) 400 V 1.96 Nm 300 W - - SGDV-05D01A-OY SGDV-05D11A-OY

2.86 Nm 450 W - - SGDV-05D01A-OY SGDV-05D11A-OY

5.39 Nm 850 W - - SGDV-10D01A-OY SGDV-10D11A-OY

8.34 Nm 1.3 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

11.5 Nm 1.8 kW - - SGDV-20D01A-OY SGDV-20D11A-OY

18.6 Nm 2.9 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

28.4 Nm 4.4 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

35.0 Nm 5.5 Kw - - SGDV-210D01A SGDV-210D11A

48.0 Nm 7.5 Kw - - SGDV-260D01A SGDV-260D11A

70.0 Nm 11 Kw - - SGDV-280D01A SGDV-280D11A

95.4 Nm 15 Kw - - SGDV-370D01A SGDV-370D11A

SGMSV (3000 min

-1

) 400 V 3.18 Nm 1 kW - - SGDV-10D01A-OY SGDV-10D11A-OY

4.9 Nm 1.5 kW - - SGDV-15D01A-OY SGDV-15D11A-OY

6.36 Nm 2 kW - - SGDV-20D01A-OY SGDV-20D11A-OY

7.96 Nm 2.5 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

9.8 Nm 3 kW - - SGDV-30D01A-OY SGDV-30D11A-OY

12.6 Nm 4 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

15.8 Nm 5 kW - - SGDV-50D01A-OY SGDV-50D11A-OY

Sigma direct drive motors (refer to the Sigma direct drive motors chapter for details)

SGMCS (200 min

-1

) 230 V 2.0 Nm 42 W SGDV-04A01A-OY SGDV-04A11A-OY - -

5.0 Nm 105 W SGDV-04A01A-OY SGDV-04A11A-OY - -

7.0 Nm 147 W SGDV-02A01A-OY SGDV-02A11A-OY - -

4.0 Nm 84 W SGDV-04A01A-OY SGDV-04A11A-OY - -

10.0 Nm 209 W SGDV-04A01A-OY SGDV-04A11A-OY - -

14.0 Nm 293 W SGDV-04A01A-OY SGDV-04A11A-OY - -

8.0 Nm 168 W SGDV-04A01A-OY SGDV-04A11A-OY - -

17.0 Nm 356 W SGDV-04A01A-OY SGDV-04A11A-OY - -

25.0 Nm 393 W SGDV-04A01A-OY SGDV-04A11A-OY - -

16.0 Nm 335 W SGDV-08A01A-OY SGDV-08A11A-OY - -

35.0 Nm 550 W SGDV-08A01A-OY SGDV-08A11A-OY - -

45.0 Nm 707 W SGDV-15A01A-OY-008000 SGDV-15A11A-OY-008000 - -

80.0 Nm 1260 W SGDV-15A01A-OY-008000 SGDV-15A11A-OY-008000 - -

Sigma linear motors (refer to the Sigma linear motors chapter for details)

SGLGW coreless
standard-force
magnetic ways

230 V 12.5 N (40 N peak) - SGDV-A5A05A-OY SGDV-A5A15A-OY - -

25 N (80 N peak) - SGDV-01A05A-OY SGDV-01A15A-OY - ­47 N (140 N peak) - SGDV-01A05A-OY SGDV-01A15A-OY - ­70 N (220 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - ­93 N (280 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - -

140 N (420 N peak) - SGDV-04A05A-OY SGDV-04A15A-OY - ­140 N (440 N peak) - SGDV-04A05A-OY SGDV-04A15A-OY - ­210 N (660 N peak) - SGDV-08A05A-OY SGDV-08A15A-OY - -

325 N (1300 N peak) - SGDV-15A05A-OY-008000 SGDV-15A15A-OY-008000 - -

SGLGW coreless
high-force
magnetic ways

230 V 57 N (230 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - -

114 N (460 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - ­171 N (690 N peak) - SGDV-08A05A-OY SGDV-08A15A-OY - -

85 N (360 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - -

170 N (720 N peak) - SGDV-08A05A-OY SGDV-08A15A-OY - -

255 N (1080 N peak) - SGDV-08A05A-OY SGDV-08A15A-OY - -

SGLFW
Linear motors

230 V 25 N (86 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - -

40 N (125 N peak) - SGDV-01A05A-OY SGDV-01A15A-OY - ­80 N (220 N peak) - SGDV-02A05A-OY SGDV-02A15A-OY - -

160 N (440 N peak) - SGDV-04A05A-OY SGDV-04A15A-OY - ­280 N (600 N peak) - SGDV-08A05A-OY SGDV-08A15A-OY - -

560 N (1200 N peak) - SGDV-15A05A-OY-008000 SGDV-15A15A-OY-008000 - -

400 V 80 N (220 N peak) - - - SGDV-05D05A-OY SGDV-05D15A-OY

160 N (440 N peak) - - - SGDV-05D05A-OY SGDV-05D15A-OY

280 N (600 N peak) - - - SGDV-10D05A-OY SGDV-10D15A-OY
560 N (1200 N peak) - - - SGDV-15D05A-OY SGDV-15D15A-OY
1120 N (2400 N peak) - - - SGDV-30D05A-OY SGDV-30D15A-OY
1500 N (3600 N peak) - - - SGDV-20D05A-OY SGDV-20D15A-OY
2250 N (5400 N peak) - - - SGDV-30D05A-OY SGDV-30D15A-OY

SGLTW
Linear motors

400 V 300 N (600 N peak) - - - SGDV-10D05A-OY SGDV-10D15A-OY

600 N (1200 N peak) - - - SGDV-20D05A-OY SGDV-20D15A-OY

450 N (900 N peak) - - - SGDV-10D05A-OY SGDV-10D15A-OY
900 N (1800 N peak) - - - SGDV-20D05A-OY SGDV-20D15A-OY
670 N (2600 N peak) - - - SGDV-30D05A-OY SGDV-30D15A-OY
1000 N (4000 N peak) - - - SGDV-50D05A-OY SGDV-50D15A-OY
1300 N (5000 N peak) - - - SGDV-50D05A-OY SGDV-50D15A-OY

Servo motor Sigma-5 Servo drive

Family Voltage Rated torque Capacity 230 V (1 phase)

Analog/Pulse

230 V (1 phase)

MECHATROLINK-II

400 V (3 phase)

Analog/Pulse

400 V (3 phases)

MECHATROLINK-II

4 AC servo systems

Servo drive

Single-phase, 230 V

Three-phase, 400 V

Type designation

Servo drive specifications

Servo drive type SGDV- @ A5A@@A-OY 01A@@A-OY 02A@@A-OY 04A@@A-OY 08A@@A-OY 15A@@A-OY-008000

Applicable
servo motor

SGMAH-@ A3A@/A5A@ 01A@ 02A@ 04A@ 08A@ -
SGMPH-@ - 01A@ 02A@ 04A@ 08A@ 15A@

SGMJV-@ A5A@ 01A@ 02A@ 04A@ 08A@ -
SGMAV-@ A5A@ 01A@ C2A@/02A@ 04A@ 06A@/08A@ 10A@
SGMEV-@ - 01A@ 02A@ 04A@ 08A@ 15A@

Basic specifications

Max. applicable motor capacity W 50 100 200 400 750 1500
Continuous output current Arms 0.66 0.91 1.6 2.8 5.5 11.6
Max. output current Arms 2.1 2.9 6.5 9.3 16.9 28
Input power Main circuit Single-phase, 200 to 230 VAC + 10 to -15% (50/60 Hz)
Supply Control circuit Single-phase, 200 to 230 VAC + 10 to -15% (50/60 Hz)
Control method Single phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute)

Conditions

Usage/storage temperature 0 to +55 °C / -20 to 85 °C
Usage/storage humidity 90%RH or less (non-condensing)
Altitude 1000m or less above sea level
Vibration/shock resistance 4.9 m/s

2

/ 19.6 m/s

2

Configuration Base mounted
Approx. weight Kg 0.9 1.0 1.5 2.8

Servo drive type SGDV-@ 05D@ 10D@ 15D@ 20D@ 30D@ 50D@ 210D@ 260D@ 280D@ 370D@

Applicable
servo motor

SGMAH-@ 03D@ 07D@ - - - - - - - -
SGMPH-@ 02D@/04D@ 08D@ 15D@ - - - - - - -
SGMGH-@ 05D@ 09D@ 13D@ 20D@ 30D@ 44D@ 55D@ 75D@ 1AD@ 1ED@
SGMSH-@ - 10D@ 15D@ 20D@ 30D@ 40D@/50D@ - - - -
SGMUH-@ - 10D@ 15D@ - 30D@ 40D@ - - - -
SGMEV-@ 02/03/04D@ 07D@/08D@ 15D@ - - - - - - -
SGMGV-@ 03D@/05D@ 09D@ 13D@ 20D@ 30D@ 44D@ 55D@ 75D@ 1AD@ 1ED@
SGMSV-@ - 10D@ 15D@ 20D@ 25D@ 40D@/50D@ - - - -

Basic specifications

Max. applicable motor capacity kW 0.5 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11 15
Continuous output current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
Max. output current Arms 5.5 8.5 14 20 28 42 55 65 70 85
Input power Main circuit Three-phase, 380 to 480 VAC + 10 to -15% (50/60Hz)
Supply Control circuit 24 VDC +/-15%
Control method Three phase full-wave rectification / IGBT / PWM / sine-wave current drive method
Feedback Serial encoder (incremental/absolute)

Conditions

Usage/storage temperature 0 to +55 °C / -20 to +85 °C
Usage/storage humidity 90%RH or less (non-condensing)
Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s

2

/ 19.6 m/s

2

Configuration Base mounted
Ap prox . we igh t K g 2 .7 3. 7 5. 6 11 .3 16 .2

Sigma-5 servo drive

Design Revision Order: A, B...

Source voltage

A: 230 V

D: 400 V

Code

01

05

11

15

Specifications

Analog voltage/pulse train reference type

(for rotary servomotors)

Analog voltage/pulse train reference type

(for linear servomotors)

MECHATROLINK-II comms reference type

(for rotary servomotors)

MECHATROLINK-II comms reference type

(for linear servomotors)

Interface

Voltage Code

230 V

Output

Capacity

50 W

400 V

A5
01
02
04
08
15
05
10
15

20
30
50

200 W

100 W

400 W
750 W

1.5 kW
500 W

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

210
260
280
370

6.0 kW

7.5 kW

11 kW
15 kW

Omron-Yaskawa Motion Control B.V.

(Note: all models except 6 to 15 kW)

Code

Blank

008000

Specifications

Standard

Servo drive 1.5 kW single-phase 230 V

Sigma-5 servo drive 5

Sigma-5 Analog/Pulse Reference Servo Drive

General specifications

Speed/torque control mode

Performance

Speed control range 1:5000
Speed

variance

Load variance During 0 to 100% load ±0.01% max. (at rated speed)
Voltage variance Rated voltage ±10%:0% (at rated speed)

Temperature variance 25 ±25 °C: ±0.1 % max. (at rated speed)
Frequency characteristics 1.6 kHz
Torque control accuracy (Repeatability) ±1%
Soft start time setting 0 to 10 s (acceleration, deceleration can each be set.)

Input signal

Speed
reference
input

Reference voltage ±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. input voltage: ±12 V
Input impedance Approx. 14 kΩ
Circuit time constant Approx. 30 µs

Torque
reference
input

Reference voltage ±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. input voltage: ±12 V
Input impedance Approx. 14 KΩ
Circuit time constant Approx. 30 µs

Position control mode

performance

Feedforward compensation 0 to 100% (setting resolution: 1%)
Position completed width setting 0 to 1073741824 command units (setting resolution: 1 command unit)

Input signal

Command
pulse

Input pulse type Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse form Non-insultated line driver (+5 V level) , open collector.
Input pulse frequency 0 to 4 Mpps (200 Kpps max. at open collector)

Control signal Clears error pulse by external signal

I/O signal

Position signal output A-phase, B.phase, C-phase: line driver output.
Sequence input signal Servo ON, P control (or control mode switching, forward/reverse motor rotation by internal speed setting, zero

clamp, command pulse inhibit), forward/reverse run prohibit, forward/reverse current limit (or internal speed

switching), alarm reset.

Sequence output signal Servo alarm, alarm codes (3-bit output): CN1 output terminal is fixed

It is possible to output three types of signal form incl.: positioning complete, speed coincidence detection, servo-

motor rotation detection, servo ready, current limit detection, speed limit detection, brake release, warning, NEAR.

Integrated functions

USB
Communica­tions

Interface Personal computer
Communications standard Compliant with USB1.1 standard (12 Mbps)
Function Status display, parameter settings, adjustment functions, utility functions, alarm traceback display, JOG run/au-

totuning operations and graphing functions for speed/torque command signal, etc

Automatic load inertia detection Automatic motor parameter setting. One parameter rigidity setting.
Dynamic brake (DB) Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative processing Internal resistor included in models from 500 W to 5 kW. Regenerative resistor externally mounted (option).
Overtravel (OT) prevention function DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder divider function Optional division pulses possible
Electronic gearing 0,01< Numerator/Denominator<100
Internal speed setting function 3 speeds may be set internally
Protective functions Overcurrent, overvoltage, low voltage, overload, regenerative error
Analog monitor functions for supervision Integrates analog monitor connector for supervision of the speed and torque reference signals, etc.

Number of channels: 2 (Output voltage: +/-10V DC)

Panel operator Display functions CHARGE, 7-segments LEDx5

Panel operator keys Used to set parameters (4 keys)

Safety functions Hard wire base block signal and status monitor (fixed output) of safety circuit
Others Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal

for high frequency power suppression function.

6 AC servo systems

I/O specifications

I/O signals (CN1) - input signals

Note: 1. Pin numbers in parentheses () indicate signal grounds.

2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the

parameters.

3. The voltage input range for speed and torque references is a maximum of ±12 V.

Pin No. Signal name Function

40 Common /S-ON Servo ON: Turns ON the servo motor.
41 /P-CON Function selected by parameter.

Proportional control reference Switches the speed control loop from PI (proportional/integral) to P (proportional)

control when ON.
Direction reference With the internal set speed selected: switch the rotation direction.
Control mode

switching

Zero-clamp reference Speed control with zero-clamp function: reference speed is zero when ON.
Reference pulse block Position control with reference pulse stop: stops reference pulse input when ON.

42
43

P-OT
N-OT

Forward run prohibited
Reverse run prohibited

Overtravel prohibited: Stops servo motor when movable part travels beyond the

allowable range of motion.

45
46

/P-CL
/N-CL

Function selected by parameter.
Forward external torque limit ON

Reverse external torque limit ON

Current limit function enabled when ON.

Internal speed switching With the internal set speed selected: switches the internal speed settings.

44 /ALM-RST Alarm reset: releases the servo alarm state.
47 +24VIN Control power supply input for sequence signals: users must provide the +24 V power supply.

Allowable voltage fluctuation range: 11 to 25 V

4 (2) SEN Initial data request signal when using an absolute encoder.
21

22

BAT (+)
BAT (-)

Connecting pin for the absolute encoder backup battery.
Do not connect when the encoder cable for the battery case is used.

5 (6) Speed V-REF Speed reference input: ±2 to ±10 V/rated motor speed (Input gain can be modified using a parameter).
9 (10) Torque T-REF Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified using a parameter).
7

8

11
12

Position PULS

/PULS
SIGN
/SIGN

Reference pulse input
for line driver only

Input mode is set from the following pulses:

Sign + pulse string

CCW/CW pulse

Two-phase pulse (90° phase differential)

15
14

CLR
/CLR

Positional error pulse clear input: clears the positional error pulse during position control.

Tor que ↔ speed

Position

↔

torque

Position

↔

speed

Enables control mode switching

Sigma-5 servo drive 7

I/O signals (CN1) - output signals

Note: 1. Pin numbers in parentheses () indicate signal grounds.

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) output signals can be changed by using the parameters. /CLT, /VLT, /

BK, /WARN and /NEAR signals can also be changed.

I/O signals (CN8) - safety signals

Terminal specifications

Encoder connector (CN2)

Pin No. Signal Name Function

31
32

Common ALM+

ALM-

Servo alarm: Turns OFF when an error is detected.

27
28

/TGON+
/TGON-

Detection during servo motor rotation: detects when the servo motor is rotating at a speed higher than the motor speed
setting.

29
30

/S-RDY+
/S-RDY-

Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON.

33
34

PAO
/PAO

Phase-A signal Two-phase pulse encoder output pulse signal

35
36

PBO
/PBO

Phase-B signal

19
20

PCO
/PCO

Phase-C signal

Zero-point pulse signal

37 (1)
38 (1)
39 (1)

ALO1
ALO2
ALO3

Alarm code output: Outputs 3-bit alarm codes.

Shell FG Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.
25

26

Speed /V-CMP+

/V-CMP-

Turns ON when whether the motor speed is within the setting range is detected and if it matches the reference speed
value.

25
26

Position /COIN+

/COIN-

Turns ON when the number of position error pulse reaches the value set.

- Reserved /CLT
/VLT
/BK
/WARN
/NEAR

Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters.
/CLT, /VLT, /BK, /WARN and /NEAR signals can also be changed.

3
13
16
17
18
23
24
48
49
50

- Terminals not used.

Do not connect.

Pin No. Signal Name Function

4
3

Common /HWBB1+

/HWBB1-

Hard wire baseblock input 1

6
5

/HWBB2+
/HWBB2-

Hard wire baseblock input 2

8

7

EDMI+
EDMI-

Monitored circuit status output 1:
ON when the hard wire baseblock function is normally activated.

1
2

Reserved - Terminals not used.

Do not connect.

Symbol Name Function

L1, L2 or
L1, L2, L3

Main circuit AC input terminal AC power input terminals for the main circuit

U, V, W Servo motor connection terminal Terminals for outputs to the servo motor.
L1C, L2C Control power input terminal AC power input terminals for the control circuit.
24V, 0V 24V DC power input terminals for the control circuit.

Frame ground Ground terminal. Ground to a maximum of 100 Ω. (class 3).

B1/ ⊕, B2, B3 Main circuit DC output terminal Up to 400 W: If the regenerative capacity is insufficient, connect an external regenerative resistor

(option) between B1/ ⊕ and B2.
From 500 W to 5 kW: Normally short B2 and B3. If the internal regenerative resistor is insufficient, remove
the wire between B2 and B3 and connect an external regenerative resistor between
B1/ ⊕ and B2.

1, 2 DC reactor connection terminal for

suppressing power supply harmonic
waves

Normally, short 1 and 2.
If a countermeasure against power supply harmonic waves is needed, connect a DC reactor
between 1 and 2.

Pin No. Signal Name Function

1 E5V Encoder power supply + 5 V
2 E0V Encoder power supply ground
3 BAT+ Battery + (used only with absolute encoder)
4 BAT– Battery – (used only with absolute encoder)
5 S+ Encoder serial signal input
6 S– Encoder serial signal input

8 AC servo systems

Sigma-5 MECHATROLINK-II Servo Drives

General specifications

I/O specifications

I/O signals (CN1) - input signals

Note: 1. The functions allocated to /DEC, P-OT, N-OT, /EXT1,-/EXT2 and /EXT3 input signals can be changed by using the

parameters.

2. 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.

Position/speed/torque control mode

Performance

Speed control range 1:5000
Speed

variance

Load variance During 0 to 100% load ±0.01% max. (at rated speed)
Voltage variance Rated voltage ±10%:0% (at rated speed)

Temperature variance 25 ±25 °C: ±0.1 % max. (at rated speed)
Frequency characteristics 1.6 kHz
Torque control accuracy (Repeatability) ±1%
Soft start time setting 0 to 10 s (acceleration, deceleration can each be set.)

Command input

MECHATROLINK
Communication

MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitor, adjustment and other commands)

I/O signal

Position signal output A-phase, B.phase, C-phase: line driver output.
Sequence input signal Homing deceleration limit switch, forward/reverse run prohibited, external latch signals, forward/reverse current

limit.

Sequence output signal It is possible to output three types of signal form incl.: positioning complete, speed coincidence detection, servo-

motor rotation detection, servo ready, current limit detection, speed limit detection, brake release, warning, NEAR.

Integrated functions

Communications

USB
Communica­tions

Interface Personal computer

Communications standard Compliant with USB1.1 standard (12 Mbps)

Function Status display, parameter setting, adjusting functions, utility functions, alarm traceback display, JOG run/autotun-

ing operations and graphing functions for speed/torque command signal, etc

Mechatrolink
Communica­tions

Communications protocol MECHATROLINK-II

Station Address 41H to 5FH (max. number of slaves: 30)

Transmission Speed 10 Mbps

Transmission Cycle 250 µs, 0.5 to 4.0 ms (multiple of 0.5 ms)

Data length 17-bytes and 32-bytes

Automatic load inertia detection Automatic motor parameter setting. One parameter rigidity setting.
Dynamic brake (DB) Operates during main power OFF, servo alarm, servo OFF or overtravel
Regenerative processing Internal resistor included in models from 500 W to 5 kW. Regenerative resistor externally mounted (option).
Overtravel (OT) prevention function DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder divider function Optional division pulses possible
Electronic gearing 0,01< Numerator/Denominator<100
Internal speed setting function 3 speeds may be set internally
Protective functions Overcurrent, overvoltage, low voltage, overload, regeneration error
Analog monitor functions for supervision Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc.

Number of channels: 2 (Output volatge: +/-10V DC).

Panel operator Display functions CHARGE, 7-segments LEDX1

Switches Rotary switch: MECHATROLINK-II station address setting (16 channels)

DIP switch: MECHATROLINK-II communications setting (4 channels)
Safety functions Hard wire base block signal and status monitor (fixed output) of safety circuit
Others Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal

for high frequency power suppression function.

Pin No. Signal name Function

9 Common /DEC Homing deceleration limit switch Connects the deceleration limit switch for homing.
7

8

P-OT
N-OT

Forward run prohibited
Reverse run prohibited

Overtravel prohibited: Stops servo motor when movable part travels beyond the
allowable range of motion.

10
11
12

/EXT 1
/EXT 2
/EXT 3

External latch signal 1
External latch signal 2
External latch signal 3

Connects the external signals that latch the current feedback pulse counter.

6 +24VIN Control power supply input for sequence signals: users must provide the +24 V power supply.

Allowable voltage fluctuation range: 11 to 25 V.

14
15

BAT (+)
BAT (-)

Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.

13 /SIO General-purpose input signal:

Monitored in the I/O monitor field of MECHATROLINK-II.

Sigma-5 servo drive 9

I/O signals (CN1) - output signals

I/O signals (CN8) - safety signals

Terminal specifications

Encoder connector (CN2)

Pin No. Signal Name Function

3
4

Common ALM+

ALM-

Servo alarm: Turns OFF when an error is detected.

1

2

/BK+
(/SO1+)
/BK­(/SO1-)

Brake interlock signal Controls the brake. The brake is released when the signal turns ON.

Allocation can be changed to general-purpose output signals (/SO1+, /SO1-).

23
24
25
26

/S

O2+

/S

O2-

/S

O3+

/S

O3-

General-purpose output signal.
Note: Set the parameter to allocate a function.

16 FG Signal ground:

Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.

17
18

PAO
/PAO

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)

19
20

PBO
/PBO

Phase-B signal

21
22

PCO
/PCO

Phase-C signal

5 Reserved - Terminal not used. Do no connect.

Pin No. Signal Name Function

4
3

Common /HWBB1+

/HWBB1-

Hard wire baseblock input 1

6
5

/HWBB2+
/HWBB2-

Hard wire baseblock input 2

8

7

EDMI+
EDMI-

Monitored circuit status output 1:
ON when the hard wire baseblock function is normally activated.

1
2

Reserved - Terminals not used.

Do not connect.

Symbol Name Function

L1, L2 or
L1, L2, L3

Main circuit AC input terminal AC power input terminals for the main circuit

U, V, W Servo motor connection terminal Terminals for outputs to the servo motor.
L1C, L2C Control power input terminal AC power input terminals for the control circuit.
24V, 0 24V DC power input terminals for the control circuit.

Frame ground Ground terminal. Ground to a maximum of 100 Ω. (class 3).

B1/ ⊕, B2, B3
or
B1, B2, B3

Main circuit DC output terminal Up to 400 W: If the regenerative capacity is insufficient, connect an external regenerative resistor

(option) between B1/ ⊕ and B2.
From 500 W to 5 kW: Normally short B2 and B3. If the internal regenerative resistor is insufficient, remove
the wire between B2 and B3 and connect an external regenerative resistor between
B1/ ⊕ and B2.

1, 2 DC reactor connection terminal for

suppressing power supply harmonic
waves

Normally, short 1 and 2.
If a countermeasure against power supply harmonic waves is needed, connect a DC reactor
between 1 and 2.

Pin No. Signal Name Function

1 E5V Encoder power supply + 5 V
2 E0V Encoder power supply ground
3 BAT+ Battery + (used only with absolute encoder)
4 BAT– Battery – (used only with absolute encoder)
5 S+ Encoder serial signal input
6 S– Encoder serial signal input