Yaskawa Sigma Mini Servo System Product Catalog Supplement

Sigma Mini Servo System Product Catalog Supplement

Table of Contents

SGMM Sigma Mini Servo System

SGMM Ratings & Specifications......................................................................5 - 6

SGMM Speed/Torque Curves...............................................................................7

SGMM Dimensions..........................................................................................8 - 9

SGMM Selection/Ordering Information........................................................10 - 14

SGDF Sigma Mini Servo Amplifier

SGDF Ratings & Specifications...................................................................15 - 17

SGDF Dimensions ..............................................................................................18

SGDF Internal Connection Diagrams..........................................................19 - 22

Overload Characteristics.....................................................................................23

Cable Specifications and Peripheral Devices..............................................24 - 26

3

Table of Contents

NOTES:

Super High Power Rate Series

SGMM Sigma Mini Servo System

SGMM Servomotors

Design Features

1. Compact

Small sized motor

!

Two frame sizes: up to 27.1oz-in. peak torque. Smaller installation space for more compact machine designs. High torque to inertia ratio.

2. High Speed and Power

High power rating

!

High power is achieved by minimizing the inertia of the motor. This increases the acceleration/deceleration rate and reduces positioning time.

Maximum rotation speed of 5000rpm

!

Increases maximum rotation speed and shortens positioning time.

Rated speed of 3000rpm

!

3. Encoder

2048 PPR incremental encoder (standard)

!

4. Enclosure

Totally enclosed, self-cooled IP55 (not including shaft).

!

Vibration resistance: 5G.

!

5. Application Emphasis

Semiconductor equipment

!

Chip mounters

!

Robots

!

Packaging

!

6. Certified International Standards

CE compliance.

!

- With Incremental Encoder

Rated Output: 10W, 20W

For Additional Information Page(s)

SGMM Ratings & Specifications SGMM Speed/Torque Curves SGMM Dimensions SGMM Selection/Ordering Information SGDF Ratings & Specifications

6

7 8 - 9 10 - 14 15 - 17

SGMM

5

SGMM Sigma Mini Servo System

Servomotor Ratings and Specifications

Time Rating: Continuous Insulation: Class B Vibration: 15µm or less Withstand Voltage: 1000VAC Insulation Resistance: 500VDC

SGMM

10MΩ

minimum

Enclosure: Totally-enclosed, self-cooled Ambient Temperature: 0 to 40ºC Ambient Humidity: 20 to 80%

(non-condensing) Rated Rotation Speed: 3000rpm Max. Rotation Speed: 5000rpm

Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Applicable Encoder: Incremental encoder 2048PPR

Applied Voltage

24VDC

Applied Voltage

24VDC

M O T O R :

SGMM-

"

A1

"

A2

Rate Output W (hp)

10 (0.013) 4.5 (0.0318) 13.5 (0.0955) 2.1 6.0 90000 2.9 20 (0.027)

Rated

Torque

oz • in (N • m)

9.02

(0.0637)

Instantaneous

Peak Torque

oz • in (N • m)

27.1 (0.191) 2.0 5.7 120000 7.4

Continuous

Rated Current

A

rms

*Values when se rvomotor is combined with SGDF servo amplifier

MOTOR

SGMM-

"

A1

"

A2

Moment of Inertia (JM)

Motor without Brake Motor with Brake

2

oz • in • s

(kgf • m

0.0501

(0.00354)

0.0776

(0.00548)

-3

)

oz • in • s

(kgf • m

×

10

2

-4

×

10

2

× 10

2

× 10

0.069

(0.00487)

0.0967

(0.00683)

-4

Capacity Torque

-3

)

Holding Brake (at 20°C)

kg

W

2 0.325 320 0.075

2.6 0.65 221.5 0.108

• m

f

*

.

Maximum

Peak

.Current

A

rms

Coil

Resis-

tance

Ω

*

Rated

Angular

Acceleration

rad/s

Rated

Current

A

2

Allowable Load

Inertia (J

oz • in • s

(kg • m

(0.1064)

Rated

Power Rating

KW/s

)

L

2

-3

×

10

2

-4

)

×

10

1.5072

2.4832

(0.164)

6

SGMM Sigma Mini Servo System

Speed / Torque Curves

24V Servomotors

SGMM - A1S

5000 4000

3000 2000

SPEED (rpm)

1000

A

0

0 0.02 0.04 0.06 0.08 0.10

TORQUE (N · m)

0 0.2 0.4 0.6 0.8

TORQUE (lb · in)

SGMM - A2S

5000 4000

3000

B

2000

SPEED (rpm)

1000

0

0 0.05 0.1 0.15 0.2

B

A

TORQUE (N · m)

0 0.5 1.0 1.5

TORQUE (oz · in)

SGMM

7

SGMM Sigma Mini Servo System

Dimensions in inches (mm)

(1) 2048PPR Increm ental E ncoder, without Brake

•10W (0.013hp), 20W (0.027hp)

Encoder Cable UL20276

SGMM

11.81 (300) ±1.18 (30)

1.38 (35)

Encoder Plug

Protective Tube

0.20 (Φ5)

Φ

(black)

11.81 (300) ±1.18 (30)

Motor Leads, AWG24 UL10095

L

LL

1.04

1.44

0.63 (16)

0.197 (5)

Type

SGMM-

A1S312 A1S313 A2S312 A2S313

Without Flat Seat With Flat Seat Without Flat Seat With Flat Seat

LM

0.10 (2.5)

L LL LM *ΦS

2.76

2.13

(70)

(54)

(26.5)

3.15

2.52

(80)

(64)

(36.5)

Note: The detector uses a 2048PPR incremental encoder.

The allowable load is applied to the shaft end.

Connector Specifications

Encoder Plug

1 7

2 8

Motor Plug

Plug 55101-0800 (Molex Japan)

Connected to: Socket: 54280-0600

Receptacle: 5557-04R (Molex) Terminal: 5556T

Connected to: Socket: 5559-04P Terminal: 5558T

Motor Plug

0.02 (0.5)

Cross-section Y - Y

(with flat seat)

0.0016 (0.04) A

A

0.53 (13.5)

0.39 (10)

Y

ΦLB

0.0133

0.787 (20)

0.0266

1 Chan nel A Outp ut Blue 1 Phase U Red 2 Channel A Ouput Blue/Black 2 Phase V White

3 Chan nel B Outp ut Yellow 3Phase W Blue 4 Channel B Output Yellow/Black 4 FG (Frame Ground) Green 5 Chan nel C Outp ut G ree n 6 Channel C Output Green/Black 7 0V (Power Supply) Grey 8 +5V (Power Supply) Red 9 FG (Frame Ground) Orange

0.0008 (0.002)

1.10 (Φ28)

Φ

LB

S

Φ

*

**

Output

Approx

W

(hp)

(10)

(120)

(20)

(160)

Incremental Encoder Connection Motor Connection

Mass 0z (g)

4.23

5.64

0.0016 (Φ0.04)

Φ

Allowable

Radial

Load

lb (N)

7.7

(34.3)

9.9

(44.1)

A

2 × M3 tap screws depth: 0.20 (5)

Thrust

Load

lb (N)

3.3

(14.7)

0.18 (4.5)

S

Φ

0.98 (25)

0.63 (16)

0.14 (4)

Specified Tolerances

Diameter Tolerance

0.197in

*ΦS

5.000mm

**ΦLB

0.787in 20mm

0.98 (25)

-0.0001 -0.0005 +0.000 -0.008

+0.0004 -0.0001 +0.000 -0.013

8

SGMM Sigma Mini Servo System

(2) 2048PPR Incremental Encoder, with Brake

•10W (0.013hp), 20W (0.027hp)

Encoder Cable UL20276

11.81 (300) ±1.18 (30)

1.38 (35)

Encoder Plug

Motor Leads, AWG24

Protective Tube

0.20 (Φ5)

Φ

(black)

11.81 (300) ±1.18 (30)

UL10095

L

LL

1.04

(26.5)

1.44

(36.5)

0.63 (16)

0.53 (13.5)

0.39 (10)

Y

0.197 (5)

Type

SGMM-

A1S312C A1S313C A2S312C A2S313C

QK L LL LM *ΦS

Without Flat Seat With Flat Seat Without Flat Seat With Flat Seat

LM

0.10 (2.5)

Magnetic brake Non-excitation operaton DC power supply: 24V Maximu m ca pacity: 3W

3.72

4.27

3.09

(78.5)

3.64

(92.5)

(94.5)

(108.5)

Note: The detector uses a 2048PPR incremental encoder.

The allowable load is applied to the shaft end.

Connector Specifications

ΦLB

0.787 (20)

Motor Plug

S

Φ

*

Output

0.0133

0.0266

0.0016 (0.04) A

A

0.0008 (0.02)

LB

Φ

**

W

(hp)

(10)

(20)

0.0016 (Φ0.04)

Φ

Approx

Mass

0z (g)

7.23

(205)

9.17

(260)

0.02 (0.5)

Cross-section Y - Y

(with flat seat)

1.10 (Φ28)

Φ

2 × M3 tap screws depth: 0.20 (5)

A

Allowable

Radial

Load

lb (N)

Allowable

Thrust

Load

lb (N)

7.7

(34.3)

9.9

3.3

(14.7)

(44.1)

0.18 (4.5)

S

Φ

0.98 (25)

0.14 (4)

0.98 (25)

Specified Tolerances

Diameter Tolerance

0.197in

*ΦS

5.000mm

**ΦLB

0.787in 20mm

SGMM

-0.0001 -0.000 5 +0.000 -0.008

+0.0004 -0.000 1 +0.000 -0.013

Encoder Plug

1 7

2 8

Motor Plug

Plug 55101-0800 (Molex Japan)

Connected to: Socket: 54280-0800

Receptacle: 5557-06R (Molex) Terminal: 5556T

Connected to: Socket: 5559-06P Terminal: 5558T

Incremental Encoder Connection Motor Connection

1 Channel A Ouput Blue 1 Phase U Red 2 Channel A Ouput Blue/Black 2 Phase V White 3 Channel B Output Yellow 3Phase W Blue 4 Channel B Output Yellow/Black 4 FG (Frame Ground) Green 5 Channel C Output Green 5 Brake Terminal Black 6 Channel C Output Green/Blac k 6 Brake Terminal Black 7 0V (Power Supply) Grey 8 +5V (Power Supply) Red 9 FG (Frame Ground) Orange

9