YASKAWA Sigma Mini GMM-A1S312 Series, User Manual

Page: 164 / 283

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 A1C3J
j
A2C3J
j
A3C3J
j
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
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