YASKAWA SIGMA 5 User Manual

1 Introduction
1.2 Overview
1-4
163475-1CD
163475-1CD
MHTH Postioner
SIGMA V
1.2.5 Specifications
Table 1-1: MHTH 305 Drive Module Specifications
Axis Type Rotation
Rated Load kgf 305
Max MHTH Load @ CG Off Center kgf @ mm 969 @ 50
Headstock Speed rpm 33.3
180 Degree Sweep Time sec 1.40
Rated CG Off Center mm 152
Rated CG Overhang mm 2750
Load @ 500 mm CG Overhang kgf 1578
Rated Intertia kg*m2 66
Rated Holding Torque Nm 475
Rated Weld Current 
(STD Optional)
Amps 800/1600
Allowable Thrust kgf 800
Motor Power kW 1.3
* Motor PN, YEC SGMRV-13ANA-YR11
* Motor Speed rpm 3800
* Rated Acceleration Time sec 0.5
Motor PN, Yaskawa Motoman 156009-3
* Total Reduction Ratio R 114
Repeatability mm/mm 0.000028
E-Stop Response sec 0.449
E-Stop Response deg 12.8
**In Position Maximum Motion deg 15.47
Face Plate Through Hole mm 110
Drive Assy Weight kgf/lbs 293/645
** The ‘In Position Maximum Motion’ is the maximum motion expected if the
c
ycle start command is given while the safety zone is violated. This assumes
utilizing the position switches in the safety circuit, and includes the motion
required to clear the switch actuators and implement an E-Stop
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YASKAWA SIGMA 5 Specifications

General

Type	Servo Amplifier
Rated Output Power	50 W to 15 kW
Humidity	90% RH or less (non-condensing)
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback	Incremental Encoder, Absolute Encoder
Series	SIGMA-5
Feedback Resolution	20-bit
Protection Functions	Overvoltage, Overcurrent, Overload
Ambient Temperature	0°C to 40°C (32°F to 104°F)
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s² (0.6G)