Omron SIGMA-5 SERVO DRIVE DATASHEET

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

(Refer to chapter Sigma-II rotary motors)

SGMAH, SGMPH
Servo Motor

(Refer to chapter Sigma-5 rotary motors)

SGMJV, SGMAV, SGMEV
Servo Motor

(Refer to chapter Sigma linear motors)

SGLG_ linear
Servo Motor

(Refer to chapter Sigma direct drive motors)

SGMGH, SGMUH, SGMSH,
SGMBH Servo Motor

SGMGV, SGMSV
Servo Motor

SGLF_ linear
Servo Motor

SGLT_ linear
Servo Motor

Sigma-5 Analog/Pulse Reference Servo Drive

CN5

CN7

CN1

CN8

CN2

Sigma-5 MECHATROLINK-II Servo Drive

CN5

CN6

CN7

Analog monitor cable

USB cable

General purpose cable

Terminal block
position control

Safety cable

Battery case for absolute encoder

Analog monitor cable

MECHATROLINK-II network

USB cable

Unit

Personal
computer

Position control unit

Personal
computer

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

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

CN1

CN8

CN2

General purpose connector

Safety cable

Battery case for absolute encoder

1Sigma-5 servo drive

Servo motor / servo drive combination

Family Voltage Rated torque Capacity 230 V (1 phase)

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 - -

Analog/Pulse

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

Servo motor Sigma-5 Servo drive

SGMPH (3000 min

-1

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

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

SGMGH (1500 min

-1

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

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

SGMSH (3000 min

-1

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

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

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

SGMUH (6000 min

-1

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

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

SGMAV (3000 min

-1

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

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

SGMEV (3000 min

-1

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

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

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

230 V (1 phase)

MECHATROLINK-II

400 V (3 phase)

Analog/Pulse

400 V (3 phases)

MECHATROLINK-II

2 AC servo systems

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

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

Servo motor Sigma-5 Servo drive

SGMSV (3000 min

-1

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

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

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

Sigma-5 servo drive 3

Type designation

Servo drive

Sigma-5 servo drive

Capacity

A5
01
02
04
08
15
05
10
15

20
30

50
210
260
280
370

Output

50 W

100 W
200 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

6.0 kW

7.5 kW

11 kW
15 kW

Voltage Code

230 V

400 V

Source voltage

A: 230 V

D: 400 V

Code

Blank

008000

Servo drive 1.5 kW single-phase 230 V

Omron-Yaskawa Motion Control B.V.

(Note: all models except 6 to 15 kW)

Interface

Code

Analog voltage/pulse train reference type

01

Analog voltage/pulse train reference type

05

MECHATROLINK-II comms reference type

11

MECHATROLINK-II comms reference type

15

Specifications

Standard

Design Revision Order: A, B...

Specifications

(for rotary servomotors)

(for linear servomotors)

(for rotary servomotors)

(for linear servomotors)

Servo drive specifications

Single-phase, 230 V

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

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)

Usage/storage temperature 0 to +55 °C / -20 to 85 °C
Usage/storage humidity 90%RH or less (non-condensing)

Basic specifications

Altitude 1000m or less above sea level
Vibration/shock resistance 4.9 m/s

Conditions
Configuration Base mounted
Approx. weight Kg 0.9 1.0 1.5 2.8

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@

2

/ 19.6 m/s

2

Three-phase, 400 V

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

Applicable
servo motor

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)

Usage/storage temperature 0 to +55 °C / -20 to +85 °C
Usage/storage humidity 90%RH or less (non-condensing)

Basic specifications

Altitude 1000 m or less above sea level
Vibration/shock resistance 4.9 m/s

Conditions

Configuration Base mounted
Ap prox. weigh t Kg 2.7 3. 7 5. 6 11. 3 16 .2

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@ - - - -

2

/ 19.6 m/s

2

4 AC servo systems

Sigma-5 Analog/Pulse Reference Servo Drive

General specifications

Speed control range 1:5000
Speed

variance

Frequency characteristics 1.6 kHz
Torque control accuracy (Repeatability) ±1%

Performance

Soft start time setting 0 to 10 s (acceleration, deceleration can each be set.)
Speed

reference
input

Torque

Speed/torque control mode

reference

Input signal

input

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

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)

Reference voltage ±6 VDC (forward motor rotation if positive reference) at rated speed: Set at delivery

Input impedance Approx. 14 kΩ
Circuit time constant Approx. 30 µs
Reference voltage ±3 VDC (forward rotation if positive reference) at rated torque: Set at delivery

Input impedance Approx. 14 KΩ
Circuit time constant Approx. 30 µs

Variable setting range: ±2 to ±10 VDC at rated speed/ max. input voltage: ±12 V

Variable setting range ±1 to ±10 VDC at rated torque reference, max. input voltage: ±12 V

performance

Command
pulse

Control signal Clears error pulse by external signal

Position control mode

Input 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

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

I/O signal

USB
Communica­tions

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.

Integrated functions

Panel operator Display functions CHARGE, 7-segments LEDx5

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

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)

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

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

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-

Panel operator keys Used to set parameters (4 keys)

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

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

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

for high frequency power suppression function.

Sigma-5 servo drive 5

I/O specifications

I/O signals (CN1) - input signals

Pin No. Signal name Function

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

42
43

45
46

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.

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

22
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

15
14

Position PULS

P-OT
N-OT

/P-CL
/N-CL

BAT (+)
BAT (-)

/PULS
SIGN
/SIGN

CLR
/CLR

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

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.
Forward run prohibited

Reverse run prohibited
Function selected by parameter.
Forward external torque limit ON

Reverse external torque limit ON
Internal speed switching With the internal set speed selected: switches the internal speed settings.

Allowable voltage fluctuation range: 11 to 25 V

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

Reference pulse input
for line driver only

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

control when ON.

Position

↔

speed

Position

↔

torque

Enables control mode switching

To rque ↔ speed

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

Current limit function enabled when ON.

Input mode is set from the following pulses:
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90° phase differential)

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.

6 AC servo systems

I/O signals (CN1) - output signals

Pin No. Signal Name Function

31
32

27
28

29
30

33
34

35
36

19
20

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

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

26
25

26

- Reserved /CLT

3
13
16
17
18
23
24
48
49
50

Common ALM+

Speed /V-CMP+

Position /COIN+

ALM­/TGON+

/TGON­/S-RDY+

/S-RDY­ PAO

/PAO
PBO

/PBO
PCO

/PCO
ALO1

ALO2
ALO3

/V-CMP-

/COIN-

/VLT
/BK
/WARN
/NEAR

- Terminals not used.

Servo alarm: Turns OFF when an error is detected.

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

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

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

Phase-B signal

Phase-C signal

Alarm code output: Outputs 3-bit alarm codes.

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

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

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.

Do not connect.

Zero-point pulse signal

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

Pin No. Signal Name Function

4
3

6
5

8

7
1

2

Common /HWBB1+

Reserved - Terminals not used.

/HWBB1­/HWBB2+

/HWBB2­EDMI+

EDMI-

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 Name Function

L1, L2 or
L1, L2, L3

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.

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

1, 2 DC reactor connection terminal for

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

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

(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.

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.

Encoder connector (CN2)

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

Sigma-5 servo drive 7

Sigma-5 MECHATROLINK-II Servo Drives

General specifications

Speed control range 1:5000
Speed

variance

Frequency characteristics 1.6 kHz
Torque control accuracy (Repeatability) ±1%

Performance

Soft start time setting 0 to 10 s (acceleration, deceleration can each be set.)
MECHATROLINK

Communication

Command input

Position/speed/torque control mode

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

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

I/O signal

USB
Communica­tions

Mechatrolink
Communica­tions

Communications

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.

Panel operator Display functions CHARGE, 7-segments LEDX1

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

Integrated functions

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)

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

limit.

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-

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

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

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

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

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

DIP switch: MECHATROLINK-II communications setting (4 channels)

for high frequency power suppression function.

I/O specifications

I/O signals (CN1) - input signals

Pin No. Signal name Function

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

8

10
11
12

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

14
15

13 /SIO General-purpose input signal:

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.

P-OT
N-OT

/EXT 1
/EXT 2
/EXT 3

BAT (+)
BAT (-)

Forward run prohibited
Reverse run prohibited

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

Allowable voltage fluctuation range: 11 to 25 V.
Connecting pin for the absolute encoder backup battery.

Do not connect when a battery is connected to the host controller.

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

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

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

8 AC servo systems

I/O signals (CN1) - output signals

Pin No. Signal Name Function

3
4

1

2

23
24
25
26

16 FG Signal ground:

17
18

19
20

21
22

5 Reserved - Terminal not used. Do no connect.

Common ALM+

ALM­/BK+

(/SO1+)
/BK­(/SO1-)

O2+

/S

O2-

/S

O3+

/S

O3-

/S

PAO
/PAO

PBO
/PBO

PCO
/PCO

Servo alarm: Turns OFF when an error is detected.

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

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

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

Phase-B signal

Phase-C signal

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

(proper line receiver is SN75175 manufactured by Texas instruments or the equivalent
corresponding to MC3486)

I/O signals (CN8) - safety signals

Pin No. Signal Name Function

4
3

6
5

8

7
1

2

Common /HWBB1+

Reserved - Terminals not used.

/HWBB1­/HWBB2+

/HWBB2­EDMI+

EDMI-

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 Name Function

L1, L2 or
L1, L2, L3

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.

B1/ ⊕, B2, B3
or
B1, B2, B3

1, 2 DC reactor connection terminal for

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

Frame ground Ground terminal. Ground to a maximum of 100 Ω. (class 3).
Main circuit DC output terminal Up to 400 W: If the regenerative capacity is insufficient, connect an external regenerative resistor

suppressing power supply harmonic
waves

(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.

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

Encoder connector (CN2)

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

Sigma-5 servo drive 9