Yaskawa Sigma Mini - Manual (Page 163)

4.2Servomotor Ratings and Characteristics
— 4-13 —
Note These characteristics can be obtained when the following heat sinks (steel plates) are
used for cooling purposes:
Model A1 or A2: 150 x 150 x 3 mm (5.91 x 5.91 x 0.12 in.)
Model A3: 250 x 250 x 6 mm (9.84 x 9.84 x 0.24 in.)
Servomotors with Reduction Gears
SGMM Servomotor A1C3Jj A2C3Jj A3C3Jj
Gear Ratio *1 --- 1/5 1/16 1/25 1/5 1/16 1/25 1/5 1/16 1/25
Rated Output W (HP) 8 (0.01) 16 (0.02) 24 (0.03)
Rated Torque *2 N¡m 0.127 0.407 0.636 0.255 0.815 1.27 0.382 1.22 1.91 q
oz¡in *6 18.1 57.7 90.1 36.10 115 181 54.1 173 271
Instantaneous Peak
T
N¡m 0.430 1.38 2.15 0.860 2.55 *5 2.26 *5 1.29 3.23 *5 4.31 *5
Torque
oz¡in *6 60.9 195 304 122 361 *5 320 *5 183 458 *5 610 *5
Rated Current A (rms) 2.1 2.0 2.9
Instantaneous Maximum
Current
A (rms) 6.0 5.7 8.6
Rated Speed min −1 600 187.5 120 600 187.5 120 600 188 120
Instantaneous Maximum
Speed *3
min −1 1000 312.5 200 1000 312.5 200 1000 313 200
Applicable Encoder --- 2048 P/R incremental encoder
Moment of
Inertia
( t d t
Without
Brake
¢ 10 −4
kg¡m 2
0.00529 0.00454 0.00418 0.00723 0.00648 0.00612 0.00917 0.00842 0.0806
(converted to
motor shaft)
(motor +
(×10 −3
oz¡in¡s 2 ) *6
0.0750 0.0643 0.0592 0.1024 0.0918 0.0867 0.1299 0.1193 1.142
(motor +
reduction gear)
[J
M
= GD 2
M
/4]
With
Brake
¢ 10 −4
kg¡m 2
0.00662 0.00587 0.00551 0.00858 0.00783 0.00747 ---
[J
M
GD
M
/4]
(×10 −3
oz¡in¡s 2 ) *6
0.0938 0.0832 0.0781 0.1216 0.1110 0.1058 ---
Brake
(optional) *4
Rated
Voltage
V 24 VDC
(opt o a )
Capacity W 2.0 2.6 2.6
Holding
Torque
--- Motor rated torque
Note (1) The specifications and torque-motor speed characteristics are quoted in combination
with a Servopack at an armature winding temperature of 100°C.
(2) Lost motion is 0.5° max. for all types.
(3) The output torque of the reduction gears is defined as follows:
Reduction gear output torque = Motor output torque x Deceleration rate x Efficiency
The efficiency of motor rated torque with a rated speed of 3000 min
−1 is 80%.
* 1 A planetary-pinion geared decelerator is used.
* 2 The rated torque is the continuous allowable torque at 40 °C with a heat sink attached.
Heat sink dimensions: 150 x 150 x 3 mm (5.91 x 5.91 x 0.12 in.)
4