Omron SIGMA-II DATASHEET
SGMAH-@, SGMPH-@, SGMGH-@,SGMSH-@,SGMUH-@,SGMBH-@
Sigma-II rotary servo motors
The ideal servo family for motion control.
Fast response, high speed, and high
accuracy.
• 6 different designs provide a complete range of
servo motors to meet the power, speed and
performance required per each application.
• Peak torque 300% of nominal during 3 seconds
• Automatic motor recognition by servo drive
• IP67 and shaft oil seal available
• High resolution encoders
• Absolute multiturn encoder solution
• Compact design and robust construction
Ratings
• 230 VAC from 30 W to 1.5k W
(rated torque from 0.09 to 4.77 Nm)
• 400 VAC from 300 W to 55 kW
(rated torque from 0.95 Nm to 350 Nm)
System configuration
(Refer to servo drive chapter)
SGDH-
Ver.
CHARGE POWER
CN2
SERVOPACK
Servo drive with option
200V
boards for flexible
system configuration
CN3
Sigma-II
Servo Drive
CN1
Intelligent
Servo Drive
POWER
CN3
CHARGE
Drive options
Power cable
Encoder cable
Power and
encoder cables
Brake cable
CN1
CN2
Power cable
XtraDrive
Encoder cable
SGMBH
Servo Motor
1500 rpm
(22 kW-55 kW)
SGMAH
Servo Motor
3000 rpm
(30-750 W)
SGMPH
Servo Motor
3000 rpm
(100-1500 W)
SGMGH
Servo Motor
1500 rpm
(450W-15 kW)
SGMUH
Servo Motor
3000 rpm
(1-5 kW)
SGMSH
Servo Motor
6000 rpm
(1-4 kW)
163Sigma-II rotary servo motors
Servo motor / servo drive combination
Sigma-II rotary servo motor Sigma-II servo drive XtraDrive servo drive
Voltage Rated torque Capacity Model 230 V (1-phase) 400 V (3-phase) 230 V (1-phase) 400 V (3-phase)
SGMAH
(3000 min
SGMPH
(3000 min
SGMGH
(1500 min
SGMSH
(3000 min
-1
)
-1
)
-1
)
-1
)
SGMUH (6000 min
SGMBH (1500 min
230 V 0.0955 N.m 30 W SGMAH-A3A@ SGDH-A3AE-OY - XD-P3-MN01 -
0.159 N.m 50 W SGMAH-A5A@ SGDH-A5AE-OY - XD-P5-MN01 -
0.318 N.m 100 W SGMAH-01A@ SGDH-01AE-OY - XD-01-MN01 -
0.637 N.m 200 W SGMAH-02A@ SGDH-02AE-OY - XD-02-MN01 -
1.27 N.m 400 W SGMAH-04A@ SGDH-04AE-OY - XD-04-MN01 -
2.39 N.m 750 W SGMAH-08A@ SGDH-08AE-S-OY - XD-08-MN -
400 V 0.955 N.m 300 W SGMAH-03D@ - SGDH-05DE-OY - XD-05-TN
2.07 N.m 650 W SGMAH-07D@ - SGDH-10DE-OY - XD-10-TN
230 V 0.318 N.m 100 W SGMPH-01A@ SGDH-01AE-OY - XD-01-MN01 -
0.637 N.m 200 W SGMPH-02A@ SGDH-02AE-OY - XD-02-MN01 -
1.27 N.m 400 W SGMPH-04A@ SGDH-04AE-OY - XD-04-MN01 -
2.39 N.m 750 W SGMPH-08A@ SGDH-08AE-S-OY - XD-08-MN -
4.77 N.m 1500 W SGMPH-15A@ SGDH-15AE-S-OY - XD-15-MN -
400 V 0.637 N.m 200 W SGMPH-02D@ - SGDH-05DE-OY - XD-05-TN
1.27 N.m 400 W SGMPH-04D@ - SGDH-05DE-OY - XD-05-TN
2.39 N.m 750 W SGMPH-08D@ - SGDH-10DE-OY - XD-10-TN
4.77 N.m 1500 W SGMPH-15D@ - SGDH-15DE-OY - XD-15-TN
400 V 2.84 N.m 0.45 kW SGMGH-05D@ - SGDH-05DE-OY - XD-05-TN
5.39 N.m 0.85 kW SGMGH-09D@ - SGDH-1ODE-OY - XD-10-TN
8.34 N.m 1.3 kW SGMGH-13D@ - SGDH-15DE-OY - XD-15-TN
11.5 N.m 1.8 kW SGMGH-20D@ - SGDH-20DE-OY - XD-20-TN
18.6 N.m 2.9 kW SGMGH-30D@ - SGDH-30DE-OY - XD-30-TN
28.4 N.m 4.4 kW SGMGH-44D@ - SGDH-50DE-OY - XD-50-TN
35.0 N.m 5.5 kW SGMGH-55D@ - SGDH-60DE-OY - -
48.0 N.m 7.5 kW SGMGH-75D@ - SGDH-75DE-OY - -
70.0 N.m 11 kW SGMGH-1AD@ - SGDH-1ADE-OY - -
95.4 N.m 15 kW SGMGH-1ED@ - SGDH-1EDE-OY - -
400 V 3.18 N.m 1.0 kW SGMSH-10D@ - SGDH-10DE-OY - XD-10-TN
4.90 N.m 1.5 kW SGMSH-15D@ - SGDH-15DE-OY - XD-15-TN
6.36 N.m 2.0 kW SGMSH-20D@ - SGDH-20DE-OY - XD-20-TN
9.80 N.m 3.0 kW SGMSH-30D@ - SGDH-30DE-OY - XD-30-TN
12.6 N.m 4.0 kW SGMSH-40D@ - SGDH-50DE-OY - XD-50-TN
-1
) 400 V 1.59 N.m 1.0 kW SGMUH-10D@ - SGDH-10DE-OY - XD-10-TN
15.8 N.m 5.0 kW SGMSH-50D@ - SGDH-50DE-OY - XD-50-TN
2.45 N.m 1.5 kW SGMUH-15D@ - SGDH-15DE-OY - XD-15-TN
4.9 N.m 3.0 kW SGMUH-30D@ - SGDH-30DE-OY - XD-30-TN
-1
) 400 V 140 Nm 22 kW SGMBH-2BD@ - SGDH-2BDE - -
6.3 N.m 4.0 kW SGMUH-40D@ - SGDH-50DE-OY - XD-50-TN
191 Nm 30 kW SGMBH-3ZD@ - SGDH-3ZDE - -
236 Nm 37 kW SGMBH-3GD@ - SGDH-3GDE - -
286 Nm 45 kW SGMBH-4ED@ - SGDH-4EDE - -
350 Nm 55 kW SGMBH-5ED@ - SGDH-5EDE - -
Note: 1. For servo motor and cables part numbers refer to ordering information at the end of this chapter
2. Refer to the servo drive chapter for drive options selection and detailed specifications
164 AC servo systems
Type designation
Servo motor
SGMAH - 01 A 1 A 6 S D - OY
Sigma-II servo motor type
SGMAH: Super high power rate type
SGMPH: Cube type
SGMGH: High-speed feed type
SGMSH: Super high power rate type
SGMUH: High speed type
Capacity (kW)
SGMAH
Code
A3 0.03
A5
01
02
03
04
05
06
07
08
09
10
12
13
15
20
22
30
32
40
44
50
55
60
75
1A
1E
SGMPH
3000
-1
min
0.05
0.1
0.2
0.3
0.4 0.4
0.65
0.75
3000
min
0.1
0.2
0.75
1.5
-1
SGMGH SGMSH
1500
min
0.45
0.85
1.3
1.8
2.9
4.4
5.5
7.5
11
15
3000
-1
min
2.0
3.0
4.0
5.0
Voltage
A: 230 V
D: 400 V
-1
SGMUH
6000
-1
min
1.01.0
1.51.5
3.0
4.0
Connector specifications
Blank
D
Brake, oil seal specifications
1
S
B
C
D
E
F
G
H
Shaft end specifications
Code
Shaft end
Straight, no key
2
Straight, key
4
6
Straight, key, tapped
8
Straight, tapped
Design procedure:
A: Standard
E: SGMPH (IP67)
F: SGMAH (prepared for oil seal mounting)
Serial encoder specifications
Code
Encoder
1 16-bit absolute
2 17-bit absolute
A 13-bit incremental
B 16-bit incremental
C 17-bit incremental
SGMAH SGMPH SGMGH SGMSH
No option
Hypertac connector
(SGMAH,SGMPH)
No brake, no oil/dust seal
Oil seal
90 V brake
24 V brake
Oil seal + 90 DC brake
Oil seal + 24 VDC brake
Dust seal
Dust seal + 90 VDC brake
Dust seal + 24 VDC brake
SGMAH SGMPH SGMGH SGMSH
Type
: Standard
Type
: Standard : Option
SGMUH
: Option
SGMUH
SGMBH - 2 B D 2 A
Sigma-II series large
Type : SGMBH
Motor output
2B: 22 kW
3Z: 30 kW
4E: 45 kW
5E: 55 kW
3G: 37 kW
Voltage
D:400 V
Encoder specifications
2:17-bit absolute (standard)
C:17-bit incremental (standard)
3: 20-bit absolute (option)
Design revision
A: Max. torque 200%
Sigma-II rotary servo motors 165
Option
1: Oil seal (V type)
B: Oil seal (V type) and holding brake (90 VDC)
C: Oil seal (V type) and holding brake (24 VDC)
S: Oil seal (S type)
D: Oil seal (S type) and holding brake (90 VDC)
E: Oil seal (S type) and holding brake (24 VDC)
Note : Options are not available for 55 kW motors.
Motor specifications
2 : Flange, straight shaft
6 : Flange, straight shaft
For 45 kW or less
(with key and tap)
K : Foot mount, straight shaft
L : Foot mount, straight shaft
For 37 kW or more
(with key and tap)
Servo motor specifications
Type SGMAH, 230 V/400 V
Ratings and specifications
Applied voltage 230 V 400 V
Rated output W 30 50 100 200 400 750 300 650
Rated torque N·m 0.096 0.159 0.318 0.637 1.27 2.39 0.955 2.07
Instantaneous peak torque N·m 0.286 0.477 0.955 1.91 3.82 7.16 3.82 7.16
Rated current A (rms) 0.44 0.64 0.91 2.1 2.8 4.4 1.3 2.2
Instantaneous max. current A (rms) 1.3 2.0 2.8 6.5 8.5 13.4 5.1 7.7
Rated speed min
Max. speed min
Torque constant N·m/A (rms) 0.238 0.268 0.378 0.327 0.498 0.590 0.837 1.02
Rotor moment of inertia (JM) kg·m
Allowable load moment of inertia (JL) Multiple of (JM) 30 20
Rated power rate kW/s 5.49 11.5 27.8 38.2 93.7 84.8 52.9 63.8
Rated angular acceleration rad/s
Applicable encoder Standard Incremental encoder (13 bits)
Holding brake moment of inertia J kg·m
Basic specifications
Servo motor model SGMAH- @ A3A@ A5A@ 01A@ 02A@ 04A@ 08A@ 03D@ 07D@
-1
-1
2
-4
x10
2
Option Incremental/absolute encoder (16 bits)
2
-4
x10
0.017 0.022 0.036 0.106 0.173 0.672 0.173 0.672
57500 72300 87400 60100 73600 35500 55300 30800
0.0085 0.058 0.14 0.058 0.14
3000
5000
Time rating Continuous
Insulation class Class B
Ambient temperature 0 to +40 °C
Ambient humidity 20 to 80% (non-condensing)
Vibration class 15 µm or below
Enclosure Totally-enclosed, self-cooled, IP55 (excluding shaft opening)
Vibration resistance Vibration acceleration 49 m/s2
Mounting Flange-mounted
Torque-speed charecteristics
( A : Continuous duty zone B : Intermittent duty zone)
SGMAH-A3A SGMAH-A5A SGMAH-01A
5000
4000
3000
SPEED
(min
SPEED
(min
AB
-1
)
2000
1000
0
0 0.1 0.2 0.3 0.4
TORQUE (N · m)
SGMAH-02A SGMAH-04A SGMAH-08A
5000
4000
3000
AB
-1
)
2000
1000
0
0 0.5 1 1.5 2
TORQUE (N · m)
5000
4000
3000
SPEED
-1
(min
)
2000
1000
0
0 0.15 0.3 0.45 0.6
5000
4000
3000
SPEED
-1
(min
)
2000
1000
0
AB
TORQUE (N · m)
AB
01234
TORQUE (N · m)
SPEED
(min
SPEED
(min
5000
4000
3000
-1
)
2000
1000
0
5000
4000
3000
-1
)
2000
1000
0
AB
0 0.25 0.5
AB
02468
0.75
TORQUE (N · m)
TORQUE (N · m)
1
SGMAH-03D SGMAH-07D
5000
4000
3000
SPEED
(min
AB
-1
)
2000
1000
0
012 34
TORQUE (N · m)
SPEED
(min
5000
4000
3000
-1
)
2000
1000
0
AB
02468
TORQUE (N · m)
166 AC servo systems
Type SGMPH, 230 V/400 V
Ratings and specifications
Applied voltage 230 V 400 V
Servo motor model SGMPH- @ 01A@ 02A@ 04A@ 08A@ 15A@ 02D@ 04D@ 08D@ 15D@
Rated output W 100 200 400 750 1500 200 400 750 1500
Rated torque N·m 0.318 0.637 1.27 2.39 4.77 0.637 1.27 2.39 4.77
Instantaneous peak torque N·m 0.955 1.91 3.82 7.16 14.3 1.91 3.82 7.16 14.3
Rated current A (rms) 0.89 2.0 2.6 4.1 7.5 1.4 1.4 2.6 4.5
Instantaneous max. current A (rms) 2.8 6.0 8.0 13.9 23.0 4.6 4.4 7.8 13.7
Rated speed min
Max. speed min
Torque constant N·m/A (rms) 0.392 0.349 0.535 0.641 0.687 0.481 0.963 0.994 1.14
Rotor moment of inertia (JM) kg·m
-1
-1
2
-4
x10
0.0491 0.193 0.331 2.10 4.02 0.193 0.331 2.10 4.02
3000
5000
Allowable load moment of inertia (JL) Multiple of (JM) 25 15 7 5 15 7 5
Rated power rate kW/s 20.6 21.0 49.0 27.1 56.7 21.0 49.0 27.1 56.7
Rated angular acceleration rad/s
2
64800 33000 38500 11400 11900 33000 38500 11400 11900
Applicable encoder Standard Incremental encoder (13 bits)
Holding brake moment of inertia J kg·m
x10
0.029 0.109 0.875 0.109 0.875
Option Incremental/absolute encoder (16 bits)
2
-4
Time rating Continuous
Insulation class Class B
Ambient temperature 0 to +40 °C
Ambient humidity 20 to 80% (non-condensing)
Vibration class 15 µm or below
Enclosure Totally-enclosed, self-cooled, IP55 (excluding shaft opening)
Vibration resistance Vibration acceleration 49 m/s2
Mounting Flange-mounted
Basic specifications
Torque-speed charecteristics
( A : Continuous duty zone B : Intermittent duty zone)
SGMPH-01A SGMPH-02A SGMPH-04A
5000
4000
3000
SPEED
(min
SPEED
(min
AB
-1
)
2000
1000
0
0 0.25 0.5 0.75 1
SGMPH-08A SGMPH-15A
5000
4000
3000
AB
-1
)
2000
1000
0
024 68
TORQUE (N · m)
TORQUE (N · m)
5000
4000
3000
SPEED
(min
SPEED
(min
AB
-1
)
2000
1000
0
0 0.5 1 1.5 2
5000
4000
3000
AB
-1
)
2000
1000
0
0481216
TORQUE (N · m)
TORQUE (N · m)
5000
4000
3000
SPEED
(min
SPEED
(min
AB
-1
)
2000
1000
0
012 34
SGMPH-02D
5000
4000
3000
AB
-1
)
2000
1000
0
0 0.5 1 1.5 2
TORQUE (N · m)
TORQUE (N · m)
SGMPH-04D SGMPH-08D
5000
4000
3000
SPEED
(min
AB
-1
)
2000
1000
0
012 34
TORQUE (N · m)
5000
4000
3000
SPEED
(min
AB
-1
)
2000
1000
0
024 68
SPEED
TORQUE (N · m)
SGMPH-15D
5000
4000
3000
AB
-1
(min
)
2000
1000
0
0481216
TORQUE (N · m)
Sigma-II rotary servo motors 167
Type SGMGH, 400 V
Ratings and specifications
Applied voltage 400 V
Servo motor model SGMGH- @ 05D@ 09D@ 13D@ 20D@ 30D@ 44D@ 55D@ 75D@ 1AD@ 1ED@
Rated output kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
Rated torque N·m 2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
Instantaneous peak torque N·m 8.92 13.8 23.3 28.7 45.1 71.1 90.7 123 175 221
Rated current A (rms) 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
Instantaneous max. current A (rms) 5.5 8.5 14 20 28 40.5 55 65 70 85
Rated speed min
Max. speed min
Torque constant N·m/A (rms) 1.64 1.65 1.68 1.46 1.66 1.82 1.74 2.0 2.56 2.64
Rotor moment of inertia (JM) kg·m
-1
-1
2
-4
x10
7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315
3000 2000
1500
Allowable load moment of inertia (JL) Multiple of (JM) 5
Rated power rate kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184 174 289
Rated angular acceleration rad/s
2
3930 3880 4060 3620 4050 4210 3930 3850 2490 3030
Applicable encoder Standard Incremental encoder (17 bits)
Holding brake moment of inertia J kg·m
x10
2.10 8.50 18.8 37.5
Option Absolute encoder (17 bits)
2
-4
Time rating Continuous
Insulation class Class F
Ambient temperature 0 to +40 °C
Ambient humidity 20 to 80% (non-condensing)
Vibration class 15 µm or below
Enclosure Totally-enclosed, self-cooled, IP67 (excluding shaft opening)
Vibration resistance Vibration acceleration 24.5 m/s2
Mounting Flange-mounted
Basic specifications
Torque-speed charecteristics
( A : Continuous duty zone B : Intermittent duty zone)
SGMGH-05D
3000
2000
SPEED
(min
SPEED
(min
A
-1
)
1000
0
02 46810
TORQUE (N · m)
SGMGH-20D
3000
2000
AB
-1
)
1000
0
010203040
TORQUE (N · m)
B
SGMGH-09D
3000
2000
SPEED
(min
SPEED
(min
AB
-1
)
1000
0
0 5 10 15 20
TORQUE (N · m)
SGMGH-30D
3000
2000
A
-1
)
1000
0
01020304050
TORQUE (N · m)
SGMGH-13D
3000
2000
SPEED
-1
)
(min
1000
0
0102030
SGMGH-44D
3000
2000
B
SPEED
-1
)
(min
1000
0
020406080
AB
TORQUE (N · m)
AB
TORQUE (N · m)
SGMGH-55D
3000
2000
SPEED
(min
AB
-1
)
1000
0
0 20406080100
TORQUE (N · m)
SGMGH-75D
3000
2000
SPEED
(min
-1
A
)
1000
0
0 50 100 150
TORQUE (N · m)
SGMGH-1AD
2000
SPEED
B
1000
-1
)
(min
AB
0
0 10050 150 200
TORQUE (N · m)
SGMGH-1ED
2000
SPEED
1000
-1
)
(min
AB
0
0 15010050 200 250
TORQUE (N · m)
168 AC servo systems
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