AC SERVO DRIVES SERIES. Rotary Servomotors. Certified for ISO9001 and ISO14001

Transcription

1 C SERVO DRIVES SERIES Rotary Servomotors Certified for ISO91 and ISO141 JQ-422 JQ-EM22

2 CONTENTS Rotary Servomotors SGMMV (ow Inertia, Ultra-small Size) 4 SGM7J (Medium Inertia, High-speed) 14 SGM7 (ow Inertia, High-speed) 38 SGM7P (Medium Inertia, Flat Type) 74 SGM7G (Medium Inertia, arge Torque) 94 1

3 Features SGMMV (ow Inertia, Ultra Small Size)... 4 Contributes to machine downsizing (flange size: 25 mm 25 mm). Ultra small capacity: 1 W to 3 W and maximum motor speed: 6, min -1 Mounted absolute serial encoder: 17 bits. Can be used as an incremental encoder. SGMMV SGM7J SGM7 SGM7P SGM7G SGM7J (Medium Inertia, High Speed) Instantaneous peak torque: 35% of rated torque. Protective structure: IP67 Mounted high-resolution serial encoder: 24 bits. Batteryless absolute encoder also provided. Full lineup (5 W to 75 W, with holding brake, with gears, and with oil seal). Cables can be installed in both load side and non-load side. SGM7 (ow Inertia, High Speed) Instantaneous peak torque: 35% of rated torque (for motors of less than 1 kw). Protective structure: IP67 (IP22 for 7. kw motor) Mounted high-resolution serial encoder: 24 bits. Batteryless absolute encoder also provided. Full lineup (5 W to 7. kw, with holding brake, with gears, and with oil seal). Cables can be installed in both load side and non-load side (for motors of less than 1 kw). SGM7P (Medium Inertia, Flat Type) Flat type with short depth. Mounted high-resolution serial encoder: 24 bits. Batteryless absolute encoder also provided. Full lineup (1 W to 1.5 kw, with holding brake, with gears, and with oil seal). SGM7G (Medium Inertia, arge Torque) Protective structure: IP67 Mounted high-resolution serial encoder: 24 bits. Batteryless absolute encoder also provided. Full lineup (3 W to 15 kw, with holding brake, and with oil seal).

4 SGMMV Designations SGMMV V mini Series Servomotors: SGMMV 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st+2nd digits Rated Output 3rd digit Power Supply Voltage 6th digit Shaft End Code W 2 W 3 W Specification Code Specification 2 VC 4th digit Serial Encoder Code Specification 2 17-bit absolute 5th digit Design Revision Order Code Specification 2 Straight (standard) Straight with flat seats (optional) 7th digit Options Code Specification 1 Without options C With holding brake (24 VDC) 4

5 Specifications and Ratings Rotary Servomotors SGMMV SGMMV Specifications Voltage 2 V SGMMV Time Rating Continuous Thermal Class B Insulation Resistance 5 VDC, 1 MΩ min. Withstand Voltage 1,5 VC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side Vibration Class *1 V15 Surrounding ir Temperature C to 4 C Surrounding ir Humidity 2% to 8% relative humidity (with no condensation) Shock Resistance *2 Vibration Resistance *2 pplicable SERVOPCKs Environmental Conditions Must be indoors and free of corrosive and explosive gases. Must be well-ventilated and free of dust and moisture. Installation Site Must facilitate inspection and cleaning. Must have an altitude of 1, m or less. Must be free of strong magnetic fields. Store the Servomotor in the following environment if you store it with the power cable disconnected. Storage Environment Storage Temperature: -2 C to 6 C (with no freezing) Storage Humidity: 2% to 8% relative humidity (with no condensation) Impact cceleration Rate at Flange 49 m/s 2 Number of Impacts 2 times Vibration cceleration Rate at Flange 49 m/s 2 SGD7S- R9, R9F 1R6, 2R1F SGD7W- SGD7C- 1R6 *3, 2R8 *3 1R6, 2R8 *3 *1. vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed. *2. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the directions shown in the following figures. The strength of the vibration that the Servomotor can withstand deps on the application. lways check the vibration acceleration rate that is applied to the Servomotor with the actual equipment. Vertical Vertical Front to back Shock pplied to the Servomotor Horizontal direction Side to side Vibration pplied to the Servomotor *3. If you use a Servomotor together with a Σ-7W or Σ-7C SERVOPCK, the control gain may not increase as much as with a Σ-7S SERVOPCK and other performances may be lower than those achieved with a Σ-7S SERVOPCK. 5

6 SGMMV Servomotor Ratings Voltage 2 V SGMMV Rated Output *1 W Rated Torque *1, *2 N m Instantaneous Maximum Torque *1 N m Rated Current *1 rms Instantaneous Maximum Current *1 rms Rated Motor Speed *1 min -1 3 Maximum Motor Speed *1 min -1 6 Torque Constant N m/rms Motor Moment of Inertia 1-7 kg m (4.7) 4.66 (6.2) 6.68 (8.4) Rated Power Rate *1 kw/s Rated ngular cceleration Rate *1 rad/s Heat Sink Size (luminum) *3 mm Protective Structure *4 Totally enclosed, self-cooled, IP55 (except for shaft opening) +1% Rated Voltage V 24 VDC Capacity W Holding Torque N m Holding Brake Coil Resistance Ω (at 2 C) Specifications *5 Rated Current (at 2 C) Time Required to Release Brake ms 4 Time Required to Brake ms 1 llowable oad Moment of Inertia (Motor Moment of Inertia Ratio) *6 3 times With External Regenerative Resistor 3 times F mm 16 llowable Shaft oads *7 llowable Radial oad N 34 llowable Thrust oad N Note: The values in parentheses are for Servomotors with Holding Brakes. *1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. These are typical values. *2. The rated torques are the continuous allowable torque values with an aluminum or steel heat sink of the dimensions given in the table. *3. Refer to the following section for the relation between the heat sinks and derating rate. Servomotor Heat Dissipation Conditions (page 9) *4. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. *5. Observe the following precautions if you use a Servomotor with a Holding Brake. The holding brake cannot be used to stop the Servomotor. The time required to release the brake and the time required to brake dep on which discharge circuit is used. Confirm that the operation delay time is appropriate for the actual equipment. The 24-VDC power supply is not provided by Yaskawa. *6. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake. *7. Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft during operation do not exceed the values given in the table. F Radial load Thrust load 6

7 Torque-Motor Speed Characteristics Rotary Servomotors SGMMV SGMMV : Continuous duty zone B : Intermittent duty zone* 7 SGMMV-1 7 SGMMV-2 7 SGMMV Motor speed (min -1 ) B Motor speed (min -1 ) B Motor speed (min -1 ) B Torque (N m) Torque (N m) Torque (N m) * The characteristics are the same for three-phase 2 V, single-phase 2 V, and single-phase 1 V input. Note: 1. These values (typical values) are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. 2. The characteristics in the intermittent duty zone dep on the power supply voltage. 3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone. 4. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases. Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 4 C. 1 SGMMV-1,-2,-3 Detection time (s) Torque reference (percent of rated torque) (%) Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 1% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in Torque-Motor Speed Characteristics (page 7). 7

8 SGMMV llowable oad Moment of Inertia The allowable load moments of inertia (motor moment of inertia ratios) for the Servomotors are given in the Servomotor Ratings (page 6). The values are determined by the regenerative energy processing capacity of the SERVOPCK and are also affected by the drive conditions of the Servomotor. Perform the required Steps for each of the following cases. Use the SigmaSize+ C Servo Drive Capacity Selection Program to check the driving conditions. Contact your Yaskawa representative for information on this program. Exceeding the llowable oad Moment of Inertia Use one of the following measures to adjust the load moment of inertia to within the allowable value. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. If the above steps is not possible, install an external regenerative resistor. Information n Overvoltage larm (.4) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPCKs with a built-in regenerative resistor may generate a Regenerative Overload larm (.32). Refer to Built-In Regenerative Resistor (page 472) for the regenerative power (W) that can be processed by the SERVO- PCKs. Install an External Regenerative Resistor when the built-in regenerative resistor cannot process all of the regenerative power. SERVOPCKs without Built-in Regenerative Resistors The following graph shows the allowable load moment of inertia scaling factor of the motor speed (reference values for deceleration operation at or above the rated torque). pplication is possible without an external regenerative resistor within the allowable value. However, an External Regenerative Resistor is required in the shaded areas of the graphs. llowable load moment of inertia scaling factor (times) SGMMV-1, -2, Motor speed (min -1 ) Note: pplicable SERVOPCK models: SGD7S-R9, -1R6, -R9F, and -2R1F When an External Regenerative Resistor Is Required Install the External Regenerative Resistor. Refer to the following section for the recommed products. External Regenerative Resistors (page 472) 8

9 Derating Rates Rotary Servomotors SGMMV SGMMV Servomotor Heat Dissipation Conditions The Servomotor ratings are the continuous allowable values when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small device component, the Servomotor temperature may rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating rate. Derating rate (%) SGMMV-1-2 Derating rate (%) SGMMV Heat sink size (mm) Heat sink size (mm) Important The actual temperature rise deps on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting section, and the motor speed. lways check the Servomotor temperature with the actual equipment. Information When using Servomotors with derating, change the detection timing of overload warning and overload alarm based on the overload detection level of the motor given in Servomotor Overload Protection Characteristics (page 7). Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative. 9

10 SGMMV External Dimensions Servomotors without Holding Brakes SGMMV-1, -2 and -3 Encoder Cable, 4 Dia. U2276 Encoder connector 3 ±3 Motor ead WG24,U195 or U3266 Servomotor connector Protective Tube 5 Dia., Black 3 ± Dia B Dia. S Dia Dia. 2-M3 Tapped Holes, Depth 7 SGMMV- 1 2 Flange Dimensions S B pprox. Mass [kg] Shaft End Specification Straight with Flat Seats.2 1 S Dia. B Dia Connector Specifications Encoder Connector PG5V Red 2 PGV Black 3* BT Orange 4* BT Orange/white 5 PS ight blue 6 /PS ight blue/white Connector case FG (frame ground) Shield * battery is required only for an absolute encoder. : Manufacturer: Molex Japan C Mating connector: Servomotor Connector Phase U 2 Phase V 3 Phase W 4 FG (frame ground) Receptacle: Manufacturer: Molex Japan C 1

11 28 Dia. Servomotors with Holding Brakes Rotary Servomotors SGMMV SGMMV SGMMV-1, -2 and -3 Encoder Cable, 4 Dia. U2276 Encoder connector 3 ±3 Protective Tube 5 Dia., Black Motor ead WG24,U195 or U3266 Servomotor connector 3 ± B Dia. S Dia. 4.4 Dia. 2-M3 Tapped Holes, Depth 7 SGMMV- 1 2 Flange Dimensions S B pprox. Mass [kg] 12 C C C Shaft End Specification Straight with Flat Seats.2 1 S Dia. B Dia Connector Specifications Encoder Connector PG5V Red 2 PGV Black 3* BT Orange 4* BT Orange/white 5 PS ight blue 6 /PS ight blue/white Connector case FG (frame ground) Shield * battery is required only for an absolute encoder. : Manufacturer: Molex Japan C Mating connector: Servomotor Connector 1 Phase U 2 Phase V Phase W FG (frame ground) 5 Brake 6 Brake Receptacle: Manufacturer: Molex Japan C 11

12 SGMMV Selecting Cables Cable Configurations The cables shown below are required to connect a Servomotor to a SERVOPCK. Encoder Cable of 2 m or ess Encoder Cable of 3 m to 5 m (Relay Cable) SERVOPCK SERVOPCK Relay Encoder Cable Cable with a Battery Case (Required when an absolute encoder is used.) Encoder Cable Battery Case (Required when an absolute encoder is used.) Servomotor Main Circuit Cable Cable with Connectors on Both Ends Servomotor Main Circuit Cable Servomotor Main Circuit Cable Encoder- Cable Servomotor Main Circuit Cable Encoder- Cable Servomotor Servomotor Note: 1. If the Encoder Cable length exceeds 2 m, be sure to use a Relay Encoder Cable. 2. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases. 3. Refer to the following manual for the following information. Cable dimensional drawings and cable connection specifications Order numbers and specifications of individual connectors for cables Order numbers and specifications for wiring materials Σ-7-Series C Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S81 32) 12

13 Servomotor Main Circuit Cables Rotary Servomotors SGMMV SGMMV Name ength () Standard Cable Order Number Flexible Cable* ppearance 3 m JZSP-CF2M-3-E JZSP-CF2M2-3-E 5 m JZSP-CF2M-5-E JZSP-CF2M2-5-E 1 m JZSP-CF2M-1-E JZSP-CF2M2-1-E For Servomotors without Holding Brakes 15 m JZSP-CF2M-15-E JZSP-CF2M2-15-E 2 m JZSP-CF2M-2-E JZSP-CF2M2-2-E SERVOPCK 3 m JZSP-CF2M-3-E JZSP-CF2M2-3-E 4 m JZSP-CF2M-4-E JZSP-CF2M2-4-E 5 m JZSP-CF2M-5-E JZSP-CF2M2-5-E 3 m JZSP-CF2M3-3-E JZSP-CF2M23-3-E 5 m JZSP-CF2M3-5-E JZSP-CF2M23-5-E For Servomotors with Holding Brakes 1 m JZSP-CF2M3-1-E JZSP-CF2M23-1-E 15 m JZSP-CF2M3-15-E JZSP-CF2M23-15-E 2 m JZSP-CF2M3-2-E JZSP-CF2M23-2-E SERVOPCK 3 m JZSP-CF2M3-3-E JZSP-CF2M23-3-E 4 m JZSP-CF2M3-4-E JZSP-CF2M23-4-E 5 m JZSP-CF2M3-5-E JZSP-CF2M23-5-E * Use Flexible Cables for moving parts of machines, such as robots. The recommed bing radius (R) is 9 mm or larger. Encoder Cables of 2 m or ess Name Cables with Connectors on Both Ends (for incremental encoder) Cables with Connectors on Both Ends (for absolute encoder: With Battery Case) ength Order Number () Standard Cable Flexible Cable* 3 m JZSP-CMP-3-E JZSP-CMP1-3-E 5 m JZSP-CMP-5-E JZSP-CMP1-5-E 1 m JZSP-CMP-1-E JZSP-CMP1-1-E 15 m JZSP-CMP-15-E JZSP-CMP1-15-E 2 m JZSP-CMP-2-E JZSP-CMP1-2-E 3 m JZSP-CSP19-3-E JZSP-CSP29-3-E 5 m JZSP-CSP19-5-E JZSP-CSP29-5-E 1 m JZSP-CSP19-1-E JZSP-CSP29-1-E 15 m JZSP-CSP19-15-E JZSP-CSP29-15-E 2 m JZSP-CSP19-2-E JZSP-CSP29-2-E SERVOPCK SERVOPCK ppearance Battery Case (battery included) Encoder Encoder * Use Flexible Cables for moving parts of machines, such as robots. The recommed bing radius (R) is 68 mm or larger. Relay Encoder Cables of 3 m to 5 m Name Cables with Connectors on Both Ends (for incremental or absolute encoder) Cable with a Battery Case (Required when an absolute encoder is used.)* ength () Order Number 3 m JZSP-UCMP-3-E 4 m JZSP-UCMP-4-E 5 m JZSP-UCMP-5-E.3 m JZSP-CSP12-E SERVOPCK molex SERVOPCK molex ppearance Battery Case (battery included) Encoder Encoder * This Cable is not required if a battery is connected to the host controller. 13

14 SGM7J Designations Without Gears SGM7J Series Servomotors: SGM7J 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st+2nd digits Rated Output 3rd digit Power Supply Voltage Code Specification Code Specification 5 5 W 2 VC 1 1 W C2 15 W 4th digit Serial Encoder 2 2 W Code Specification W 6 W 75 W 6 7 F 24-bit batteryless absolute 24-bit absolute 24-bit incremental 5th digit Design Revision Order 6th digit Code 2 6 B Code 1 C E S Shaft End Specification Straight without key Straight with key and tap With two flat seats 7th digit Options Specification Without options With holding brake (24 VDC) With oil seal and holding brake (24 VDC) With oil seal With Gears SGM7J H Series Servomotors: SGM7J 1st+2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 8th digit 9th digit 1st+2nd digits Rated Output Code Specification 5 5 W 1 C2 2 1 W 15 W 2 W 4 4 W 6 6 W 8 75 W 3rd digit Power Supply Voltage Code Specification 2 VC 4th digit Serial Encoder Code 6 7 F Specification 24-bit batteryless absolute 24-bit absolute 24-bit incremental 5th digit Design Revision Order 6th digit Gear Type Code H Specification HDS planetary low-backlash gear 7th digit Gear Ratio Code Specification B 1/11 *1 C 1/21 1 1/5 2 1/9 *2 7 1/33 *1. This specification is not supported for models with a rated output of 5 W. *2. This specification is supported only for models with a rated output of 5 W. 8th digit Shaft End Code Specification Flange output 2 Straight without key 6 Straight with key and tap 9th digit Options Code Specification 1 Without options C With holding brake (24 VDC) 14

15 SGM7J Specifications and Ratings SGM7J Specifications Voltage 2 V SGM7J- 5 1 C Time Rating Continuous Thermal Class U: B, CE: B Insulation Resistance 5 VDC, 1 MΩ min. Withstand Voltage 1,5 VC for 1 minute Excitation Permanent magnet Mounting Flange-mounted Drive Method Direct drive Rotation Direction Counterclockwise (CCW) for forward reference when viewed from the load side Vibration Class *1 V15 Surrounding ir Temperature C to 4 C (With derating, usage is possible between 4 C and 6 C.) *3 Surrounding ir Humidity 2% to 8% relative humidity (with no condensation) Environmental Conditions Installation Site Storage Environment Must be indoors and free of corrosive and explosive gases. Must be well-ventilated and free of dust and moisture. Must facilitate inspection and cleaning. Must have an altitude of 1, m or less. (With derating, usage is possible between 1, m and 2, m.) *3 Must be free of strong magnetic fields. Store the Servomotor in the following environment if you store it with the power cable disconnected. Storage Temperature: -2 C to 6 C (with no freezing) Storage Humidity: 2% to 8% relative humidity (with no condensation) Shock Impact cceleration Rate at Flange 49 m/s 2 Resistance *2 Number of Impacts 2 times Vibration Resistance *2 pplicable SERVO- PCKs Vibration cceleration Rate at Flange SGD7S- SGD7W- SGD7C- R7, R7F R9, R9F 49 m/s 2 1R6, 2R1F 2R8, 2R8F 1R6 *4, 2R8 *4 1R6, 2R8 *4 5R5 *4, 2R8, 7R6 *4 *1. vibration class of V15 indicates a vibration amplitude of 15 μm maximum on the Servomotor without a load at the rated motor speed. *2. The given values are for when the Servomotor shaft is mounted horizontally and shock or vibration is applied in the directions shown in the following figures. The strength of the vibration that the Servomotor can withstand deps on the application. lways check the vibration acceleration rate that is applied to the Servomotor with the actual equipment. Vertical Vertical Front to back 5R5 5R5, 7R6 Shock pplied to the Servomotor Horizontal direction Side to side Vibration pplied to the Servomotor *3. Refer to the following section for the derating rates. Derating Rates (page 22) *4. If you use a Servomotor together with a Σ-7W or Σ-7C SERVOPCK, the control gain may not increase as much as with a Σ-7S SERVOPCK and other performances may be lower than those achieved with a Σ-7S SERVOPCK. 15

16 SGM7J Ratings of Servomotors without Gears Voltage 2 V SGM7J- 5 1 C Rated Output *1 W Rated Torque *1, *2 N m Instantaneous Maximum Torque *1 N m Rated Current *1 rms Instantaneous Maximum Current *1 rms Rated Motor Speed *1 min -1 3 Maximum Motor Speed *1 min -1 6 Torque Constant N m/rms Motor Moment of Inertia With holding brake 1-4 kg m With batteryless absolute encoder Rated Power Rate * kw/s With holding brake Rated ngular cceleration Rate *1 rad/s With holding brake Derating Rate for Servomotor with Oil Seal % Heat Sink Size (luminum) *3 mm Protective Structure *4 Totally enclosed, self-cooled, IP67 Rated Voltage V 24 VDC±1% Capacity W Holding Torque N m Coil Resistance Ω (at 2 C) 14.8±1% 96±1% 88.6±1% Rated Current (at 2 C) Time Required to Release Brake ms 6 8 Time Required to Brake ms 1 Holding Brake Specifications *5 llowable oad Moment of Inertia (Motor Moment of Inertia Ratio) *6 llowable Shaft oads *3 35 times 15 times With External Regenerative Resistor and External Dynamic Brake Resistor *7 35 times 25 times 1 times 2 times 2 times 12 times 15 times F mm llowable Radial oad N llowable Thrust oad N *1. These values are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. The values for other items are at 2 C. These are typical values. *2. The rated torques are the continuous allowable torque values at a surrounding air temperature of 4 C with an aluminum heat sink of the dimensions given in the table. *3. Refer to the following section for the relation between the heat sinks and derating rate. Servomotor Heat Dissipation Conditions (page 22) *4. This does not apply to the shaft opening. Protective structure specifications apply only when the special cable is used. *5. Observe the following precautions if you use a Servomotor with a Holding Brake. The holding brake cannot be used to stop the Servomotor. The time required to release the brake and the time required to brake dep on which discharge circuit is used. Confirm that the operation delay time is appropriate for the actual equipment. The 24-VDC power supply is not provided by Yaskawa. *6. The motor moment of inertia scaling factor is the value for a standard Servomotor without a Holding Brake. *7. To externally connect a dynamic brake resistor, select hardware option specification 2 for the SERVOPCK. However, you cannot externally connect a dynamic brake resistor if you use the following SERVOPCKs (maximum applicable motor capacity: 4 W). SGD7S-R7 2 to -2R8 2 SGD7W-1R622 to -2R822 SGD7C-1R6M2 to -2R8M2 *8. Design the mechanical system so that the thrust and radial loads applied to the Servomotor shaft during operation do not exceed the values given in the table. F Radial load Thrust load 16

17 SGM7J Torque-Motor Speed Characteristics : Continuous duty zone B : Intermittent duty zone (solid lines): With three-phase 2-V or single-phase 23-V input (dotted lines): With single-phase 2-V input (dashed-dotted lines): With single-phase 1-V input SGM7J 7 SGM7J-5 *1 7 SGM7J-1 7 SGM7J-C2 * Motor speed (min -1 ) B Motor speed (min -1 ) B Motor speed (min -1 ) B Torque (N m) Torque (N m) Torque (N m) 7 SGM7J-2 7 SGM7J-4 7 SGM7J Motor speed (min -1 ) B Motor speed (min -1 ) B Motor speed (min -1 ) B Torque (N m) Torque (N m) Torque (N m) 7 SGM7J-8 6 Motor speed (min -1 ) B Torque (N m) *1. The characteristics are the same for single-phase 2 V and single-phase 1 V input. *2. The characteristics are the same for three-phase 2 V and single-phase 2 V input. Note: 1. These values (typical values) are for operation in combination with a SERVOPCK when the temperature of the armature winding is 1 C. 2. The characteristics in the intermittent duty zone dep on the power supply voltage. 3. If the effective torque is within the allowable range for the rated torque, the Servomotor can be used within the intermittent duty zone. 4. If you use a Servomotor Main Circuit Cable that exceeds 2 m, the intermittent duty zone in the torquemotor speed characteristics will become smaller because the voltage drop increases. 17

18 SGM7J Ratings of Servomotors with Gears ll s Gear Mechanism Protective Structure ost Motion [arc-min] Planetary gear mechanism Totally enclosed, self-cooled, IP55 (except for shaft opening) 3 max. Rated Output [W] Rated Motor Speed [min -1 ] Servomotor Servomotor SGM7J- Maximum Motor Speed [min -1 ] Rated Torque [N m] Instantaneous Maximum Torque [N m] *1. The gear output torque is expressed by the following formula. Gear output torque = Servomotor output torque 1 Efficiency Gear ratio Gear Output The gear efficiency deps on operating conditions such as the output torque, motor speed, and temperature. The values in the table are typical values for the rated torque, rated motor speed, and a surrounding air temperature of 25 C. They are reference values only. *2. When using an SGM7J-5, SGM7J-1, or SGM7J-C2 Servomotor with a gear ratio of 1/5 or an SGM7J-C2 Servomotor with a gear ratio of 1/11, maintain an 85% maximum effective load ratio. For an SGM7J-C2 Servomotor with a gear ratio of 1/21 or 1/33, maintain a 9% maximum effective load ratio. The values in the table take the effective load ratio into consideration. *3. The instantaneous maximum torque is 3% of the rated torque. Note: 1. The gears that are mounted to Yaskawa Servomotors have not been broken in. Break in the Servomotor if necessary. First, operate the Servomotor at low speed with no load. If no problems occur, gradually increase the speed and load. 2. The no-load torque for a Servomotor with a Gear is high immediately after the Servomotor starts, and it then decreases and becomes stable after a few minutes. This is a common phenomenon caused by grease circulation in the gears and it does not indicate faulty gears. 3. Other specifications are the same as those for Servomotors without Gears. Gear Ratio Rated Torque/ Efficiency *1 [N m/%] Instantaneous Maximum Torque [N m] Rated Motor Speed [min -1 ] Maximum Motor Speed [min -1 ] 5 H1 1/5.433/64 * H2 1/9 1.12/ HC 1/ / H7 1/ / H1 1/5 1.6/78 * HB 1/ / HC 1/ / H7 1/ / C2 H1 1/5 1.68/83 * C2 HB 1/ /79 * C2 HC 1/21 6.3/7 * C2 H7 1/ /79 * H1 1/5 2.39/ HB 1/ / HC 1/21 1.2/ H7 1/33 17./ H1 1/5 5.35/ HB 1/ / HC 1/21 23./ H7 1/33 34./ H1 1/5 7.54/ HB 1/ / HC 1/ / H7 1/ / H1 1/5 1./ HB 1/ / HC 1/ / H7 1/ / Important The SERVOPCK speed control range is 1:5,. If you use Servomotors at extremely low speeds (.2 min -1 or lower at the gear output shaft), if you use Servomotors with a one-pulse feed reference for exted periods, or under some other operating conditions, the gear bearing lubrication may be insufficient. That may cause deterioration of the bearing or increase the load ratio. Contact your Yaskawa representative if you use a Servomotor under these conditions. 18

19 SGM7J Servomotor SGM7J- Moment of Inertia [ 1-4 kg m 2 ] Shaft Output Flange Output llowable Radial Motor* Motor* Gear Gear oad + Gear + Gear [N] With Gears llowable Thrust oad [N] 5 H H HC H H HB HC H C2 H C2 HB C2 HC C2 H H HB HC H H HB HC F [mm] 4 H H HB HC H H HB HC H Reference Diagram Shaft Output F Radial load Thrust load Flange Output F Radial load Thrust load SGM7J * The moment of inertia for the Servomotor and gear is the value without a holding brake. You can calculate the moment of inertia for a Servomotor with a Gear and Holding Brake with the following formula. Motor moment of inertia for a Servomotor with a Holding Brake from Ratings of Servomotors without Gears (page 16) + Moment of inertia for the gear from the above table. Important During operation, the gear generates the loss at the gear mechanism and oil seal. The loss deps on the torque and motor speed conditions. The temperature rise deps on the loss and heat dissipation conditions. For the heat dissipation conditions, always refer to the following table and check the gear and motor temperatures with the actual equipment. If the temperature is too high, implement the following measures. Decrease the load ratio. Change the heat dissipation conditions. Use forced-air cooling for the motor with a cooling fan or other means. SGM7J-5 SGM7J-1 SGM7J-C2 SGM7J-2 SGM7J-4 SGM7J-6 SGM7J-8 Heat Sink Size 1/5 1/9 or 1/11 1/21 1/33 : 25 mm 25 mm 6 mm, aluminum plate B: 3 mm 3 mm 12 mm, aluminum plate C: 35 mm 35 mm 12 mm, aluminum plate C B 19

20 SGM7J Servomotor Overload Protection Characteristics The overload detection level is set for hot start conditions with a Servomotor surrounding air temperature of 4 C. 1 Detection time (s) Motor speed of less than 1 min -1 Motor speed of 1 min -1 or higher Torque reference (percent of rated torque) (%) Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 1% or higher. Use the Servomotor so that the effective torque remains within the continuous duty zone given in Torque- Motor Speed Characteristics on page 17. 2

21 SGM7J llowable oad Moment of Inertia The allowable load moments of inertia (motor moment of inertia ratios) for the Servomotors are given in the Ratings of Servomotors without Gears (page 16). The values are determined by the regenerative energy processing capacity of the SERVOPCK and are also affected by the drive conditions of the Servomotor. Perform the required Steps for each of the following cases. Use the SigmaSize+ C Servo Drive Capacity Selection Program to check the driving conditions. Contact your Yaskawa representative for information on this program. SGM7J Exceeding the llowable oad Moment of Inertia Use one of the following measures to adjust the load moment of inertia to within the allowable value. Reduce the torque limit. Reduce the deceleration rate. Reduce the maximum motor speed. If the above steps is not possible, install an external regenerative resistor. Information n Overvoltage larm (.4) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia. SERVOPCKs with a built-in regenerative resistor may generate a Regenerative Overload larm (.32). Refer to Built-In Regenerative Resistor (page 472) for the regenerative power (W) that can be processed by the SERVO- PCKs. Install an External Regenerative Resistor when the built-in regenerative resistor cannot process all of the regenerative power. SERVOPCKs without Built-in Regenerative Resistors The following graph shows the allowable load moment of inertia scaling factor of the motor speed (reference values for deceleration operation at or above the rated torque). pplication is possible without an external regenerative resistor within the allowable value. However, an External Regenerative Resistor is required in the shaded areas of the graphs. llowable load moment of inertia scaling factor (times) SGM7J Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGM7J Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGM7J-C Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGM7J Motor speed (min -1 ) llowable load moment of inertia scaling factor (times) SGM7J Motor speed (min -1 ) Note: pplicable SERVOPCK models: SGD7S-R7, -R9, -1R6, -2R8, -R7F, -R9F, -2R1F, and -2R8F When an External Regenerative Resistor Is Required Install the External Regenerative Resistor. Refer to the following section for the recommed products. External Regenerative Resistors (page 472) 21

22 SGM7J Derating Rates Servomotor Heat Dissipation Conditions The Servomotor ratings are the continuous allowable values at a surrounding air temperature of 4 C when a heat sink is installed on the Servomotor. If the Servomotor is mounted on a small device component, the Servomotor temperature may rise considerably because the surface for heat dissipation becomes smaller. Refer to the following graphs for the relation between the heat sink size and derating rate Derating rate (%) SGM7J-5 and -1 SGM7J-C2 Derating rate (%) SGM7J-2 and -4 SGM7J-6 Derating rate (%) SGM7J Heat sink size (mm) Heat sink size (mm) Heat sink size (mm) Important The actual temperature rise deps on how the heat sink (i.e., the Servomotor mounting section) is attached to the installation surface, what material is used for the Servomotor mounting section, and the motor speed. lways check the Servomotor temperature with the actual equipment. pplications Where the Surrounding ir Temperature Exceeds 4 C The Servomotor ratings are the continuous allowable values at a surrounding air temperature of 4 C. If you use a Servomotor at a surrounding air temperature that exceeds 4 C (6 C max.), apply a suitable derating rate from the following graphs SGM7J-1 and -C2 1 1 SGM7J-2 and -4 Derating rate (%) 8 6 SGM7J-5 4 Derating rate (%) SGM7J-6 and Surrounding air temperature ( C) Surrounding air temperature ( C) pplications Where the ltitude Exceeds 1, m The Servomotor ratings are the continuous allowable values at an altitude of 1, m or less. If you use a Servomotor at an altitude that exceeds 1, m (2, m max.), the heat dissipation effect of the air is reduced. pply the appropriate derating rate from the following graphs SGM7J-2, -4, and -6 Derating rate (%) 8 SGM7J-5, -1, and -C2 6 4 Derating rate (%) SGM7J-8 22 Information ltitude (m) ltitude (m) When using Servomotors with derating, change the detection timing of overload warning and overload alarm based on the overload detection level of the motor given in Servomotor Overload Protection Characteristics (page 2). Note: 1. Use the combination of the SERVOPCK and Servomotor so that the derating conditions are satisfied for both the SERVOPCK and Servomotor. 2. The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representative.

23 SGM7J External Dimensions SGM7J Servomotors without Gears SGM7J-5, -1, and -C2 2.5 MD M M G R E.4.4 dia. MH C MW.8 Notation : Square dimensions B dia. SGM7J- 5 2 (122) (134) 93.5 C (153.5) * * M 56.5 (97) 68.5 (19) 8.5 (128.5) Flange Dimensions R E G C B Z S MD MW MH M * For models that have a batteryless absolute encoder, and are 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2. The values for a straight, without key specification are given. Refer to the information given below for other shaft specifications and option specifications. Shaft End Specifications Straight with Key and Tap Y Y dia Cross section Y-Y M3 6 S dia dia. 2 Z dia. Unit: mm Specifications of Options Oil Seal dia dia. pprox. Mass [kg].3 (.6).4 (.7).5 (.8) With Two Flat Seats Y dia. 7.5 Oil Seal Cover Connector Mounting Dimensions Cable Installed on oad Side 25 Y 7.5 (7.4) 35 (1.2) Cross section Y-Y Cable Installed on Non-load Side (1)

24 SGM7J SGM7J-2, -4, and -6 M.6 17 M G R E.4 dia. C MW S dia. B dia. 14 MH 2.5 MD.4.2 dia. 4 Z dia. Unit: mm SGM7J (14) (156) * * M 69.5 (11) 85.5 (126) (191.5) (161.5) Flange Dimensions R E G C B Z S MD MW MH M * For models that have a batteryless absolute encoder, and are 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2. The values for a straight, without key specification are given. Refer to the information given below for other shaft specifications and option specifications. Shaft End Specifications Straight with Key and Tap 3 14 Y dia. 5 3 M Specifications of Options Oil Seal pprox. Mass [kg].8 (1.4) 1.1 (1.7) 1.6 (2.2) With Two Flat Seats Y 5 Cross section Y-Y 35 dia. 47 dia Y Y dia Oil Seal Cover Connector Mounting Dimensions Cable Installed on oad Side Cross section Y-Y Cable Installed on Non-load Side (1)

25 25 Rotary Servomotors SGM7J SGM7J MD M.6 17 M G R E.4.4 dia. C MW SGM7J S dia. B dia. 14 MH.2 dia. 4 Z dia. Unit: mm SGM7J (184) * * M 97 (144) Flange Dimensions R E G C B Z * For models that have a batteryless absolute encoder, and are 8 mm greater and the approximate mass is.1 kg greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. S MD MW MH M The values for a straight, without key specification are given. Refer to the information given below for other shaft specifications and option specifications. Shaft End Specifications Straight with Key and Tap 4 22 Y dia M Specifications of Options Oil Seal pprox. Mass* [kg] 2.2 (2.8) With Two Flat Seats Y 6 Cross section Y-Y 47 dia. 61 dia Y Y dia Oil Seal Cover Connector Mounting Dimensions Cable Installed on oad Side Cross section Y-Y 25 Cable Installed on Non-load Side (1)

26 SGM7J Servomotors with Gears SGM7J-5, -1, and -C M G 1 3 E.6 (.5) R 2 Q QK.4 (.3).5 dia. (.4 dia.) C dia. W S dia. C dia. B dia. D dia. B dia. U T SGM7J- Gear Ratio 5 H1 1/ H2 1/9 (178.5) 5 HC 1/ (187.5) 5 H7 1/ (219) 1 H1 1/5 15 (19.5) 1 HB 1/ HC 1/21 (231) 1 H7 1/ (255.5) C2 H1 1/5 162 (21) C2 HB 1/ (25.5) C2 HC 1/ C2 H7 1/33 (275) SGM7J- 5 H1 5 H2 5 HC * * M 96 (136.5) 15 (145.5) 12.5 (161) 18 (148.5) (173) 135 (175.5) 12 (168) (192.5) 147 (195) Flange Dimensions R E G B D B C Z Flange Dimensions Tap Size Key Dimensions Q C S Depth QK U W T M H M H M HB 1 HC M H M C2 H M C2 HB M C2 HC C2 H7 Details of Shaft End with Key and Tap Rotating parts (shaded section) 4 Z dia. Tap size Depth Unit: mm M pprox. Mass [kg].6 (.9).7 (1.) 1.3 (1.6).7 (1.) 1.4 (1.7) 2.8 (3.1).8 (1.1) 1.5 (1.8) 2.9 (3.2) * For models that have a batteryless absolute encoder, and are 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series. 3. The values for the shaft are for a straight shaft with key and tap. If a key and tap are not necessary, specify shaft code 2 for the 8th digit

27 SGM7J Flange Output Face R 3 E.6 (.5).2.4 (.3).5 dia. (.4 dia.) C dia. SGM7J F dia. G dia. D dia. B dia. J dia. K 4 Z dia. Tap size Depth Unit: mm Note: The geometric tolerance in parentheses is the value for C = 4. SGM7J- Gear Ratio 5 H1 1/ H2 1/9 (151.5) 5 HC 1/21 5 H7 1/33 1 H1 1/5 * R J F G K 12 (16.5) (182) 123 (163.5) 1 HB 1/ HC 1/21 (194) 1 H7 1/33 C2 H1 1/5 C2 HB 1/ (22.5) 135 (183) (213.5) C2 HC 1/ C2 H7 1/33 (222) * For models that have a batteryless absolute encoder, is 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. No. of Taps Tap Size Depth M M M Dimensions not found in the above table are the same as those in the table on the previous page. 5 3 M M M M M6 1 pprox. Mass [kg].6 (.9) 1.2 (1.5).7 (1.) 1.3 (1.6) 2.4 (2.7).8 (1.1) 1.4 (1.7) 2.5 (2.8) Important For a Servomotor with a flange output that has square gear flange dimensions ( C) of 4 mm, we recomm that you design the Servomotor with the dimensions shown in the following figure in order to secure a gap between the gear oil seal and the connecting parts on the load side..5 min. Connecting parts on the load side 24 dia. max. 27

28 SGM7J SGM7J-2, -4, and -6.6 M 1 G E R 2 Q QK.4.5 C dia. W S dia. C dia. B dia. D dia. B dia. U T Details of Shaft End with Key and Tap Rotating parts (shaded section) 4 Z dia. Tap size Depth Unit: mm SGM7J- Gear Ratio 2 H1 1/ HB 1/11 (232) 2 HC 1/ H7 1/33 (261) 4 H1 1/ (248) 4 HB 1/ HC 1/21 (277) 4 H7 1/ (363) 6 H1 1/ HB 1/11 (312.5) 6 HC 1/ H7 1/33 (398.5) SGM7J- 2 H1 2 HB 2 HC 2 H7 * * M (174) 14.5 (181) (19) (197) (23) (232.5) (265.5) Flange Dimensions R E G B D B C Z Flange Dimensions Tap Size Key Dimensions Q C S Depth QK U W T M M H M HB 4 HC M H M H1 6 HB 6 HC 6 H M M pprox. Mass [kg] 1.8 (2.4) 1.9 (2.5) 3.7 (4.3) 2.1 (2.7) 4. (4.6) 8.6 (9.2) 4.3 (4.9) 4.5 (5.1) 9.1 (9.7) * For models that have a batteryless absolute encoder, and are 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series. 3. The values for the shaft are for a straight shaft with key and tap. If a key and tap are not necessary, specify shaft code 2 for the 8th digit

29 SGM7J Flange Output Face SGM7J R 3 E dia. C dia. F dia. G dia. D dia. B dia. J dia. 5 4 Z dia. Tap size Depth Unit: mm SGM7J- Gear Ratio 2 H1 1/5 2 HB 1/11 * R J F G (195) 2 HC 1/ H7 1/33 (28) 4 H1 1/ (211) 4 HB 1/ HC 1/21 (224) 4 H7 1/33 6 H1 1/5 6 HB 1/ (265) 25.5 (259.5) 6 HC 1/ H7 1/33 (3.5) * For models that have a batteryless absolute encoder, is 8 mm greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. No. of Taps Tap Size Depth M M M M M M M Dimensions not found in the above table are the same as those in the table on the previous page. pprox. Mass [kg] 1.7 (2.3) 1.8 (2.4) 3.3 (3.9) 2. (2.6) 3.6 (4.2) 7.2 (7.8) 3.9 (4.5) 4.1 (4.7) 7.7 (8.3) 29

30 SGM7J SGM7J M G 1 3 E.6 R 2 Q QK.4.5 C dia. W S dia. C dia. B dia. D dia. B dia. U T Details of Shaft End with Key and Tap Rotating parts (shaded section) 4 Z dia. Tap size Depth Unit: mm SGM7J- Gear Ratio 8 H1 1/ HB 1/11 (32) 8 HC 1/ H7 1/33 (381) SGM7J- 8 H1 8 HB 8 HC 8 H7 * * M 175 (222) 21 (248) Flange Dimensions R E G B D B C Z Flange Dimensions Tap Size Key Dimensions Q C S Depth QK U W T M M * For models that have a batteryless absolute encoder, and are 8 mm greater and the approximate mass is.1 kg greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. 2. Gear dimensions are different from those of the Σ, Σ-II, and Σ-III Series. 3. The values for the shaft are for a straight shaft with key and tap. If a key and tap are not necessary, specify shaft code 2 for the 8th digit pprox. Mass* [kg] 5.1 (5.7) 5.3 (5.9) 1 (1.6) 3

31 SGM7J Flange Output Face SGM7J R 3 E dia. C dia. F dia. G dia. D dia. B dia. J dia. 5 4 Z dia. Tap size Depth Unit: mm SGM7J- Gear Ratio * R J F G 8 H11 1/5 8 HB1 1/11 22 (249) 8 HC1 1/ H71 1/33 (283) * For models that have a batteryless absolute encoder, is 8 mm greater and the approximate mass is.1 kg greater than the given value. Refer to the following section for the values for individual models. Dimensions of Servomotors with Batteryless bsolute Encoders (page 32) Note: 1. The values in parentheses are for Servomotors with Holding Brakes. No. of Taps Tap Size Depth M M Dimensions not found in the above table are the same as those in the table on the previous page. pprox. Mass* [kg] 4.7 (5.3) 4.9 (5.5) 8.6 (9.2) 31

32 SGM7J Dimensions of Servomotors with Batteryless bsolute Encoders Servomotors without Gears pprox. SGM7J- Mass [kg] (13) (15) (.6) (142) (117) (.7) C (161.5) (136.5) (.8) (148) (118) (1.4) (164) (134) (1.7) (198.5) (169.5) (2.2) (192) (152) (2.9) Note: The values in parentheses are for Servomotors with Holding Brakes. Servomotors with Gears Shaft End Specification: Straight SGM7J- 56H H2 (186.5) 56HC 155 (195.5) 56H (227) 16H1 158 (198.5) 16HB HC (239) 16H7 223 (263.5) C26H1 17 (218) C26HB 21.5 (258.5) C26HC 235 C26H7 (283) 26H1 26HB (232) 26HC 26H (269) 46H (248) 46HB HC (285) 46H (371) 66H1 66HB (32.5) 66HC H7 (46.5) 86H1 86HB 263 (31) 86HC H7 (389) 14 (144.5) 113 (153.5) (169) 116 (156.5) 14.5 (181) 143 (183.5) 128 (176) (2.5) 155 (23) (182.5) (189) (198) (25) (238) (24.5) (273.5) 183 (23) 29 (256) pprox. Mass [kg].6 (.9).7 (1.7) 1.3 (1.6).7 (1.) 1.4 (1.7) 2.8 (3.1).8 (1.1) 1.5 (1.8) 2.9 (3.2) 1.8 (2.4) 1.9 (2.5) 3.7 (4.3) 2.1 (2.7) 4. (4.6) 8.6 (9.2) 4.3 (4.9) 4.5 (5.1) 9.1 (9.7) 5.2 (5.8) 5.4 (6.) 1.1 (1.7) Note: The values in parentheses are for Servomotors with Holding Brakes. Shaft End Specification: Flange Output SGM7J- 56H H2 56HC 128 (168.5) 56H (19) 16H1 131 (171.5) 16HB HC (22) 16H7 17 (21.5) C26H1 143 (191) C26HB (221.5) C26HC 21.5 C26H7 (258.5) 26H1 26HB pprox. Mass [kg] (159.5).6 (.9) (23) 26HC 26H (216) 46H (219) 46HB HC (232) 46H (273) 66H1 66HB (267.5) 66HC H7 (38.5) 86H1 86HB 21 (257) 86HC H7 (291) 1.2 (1.5).7 (1.) 1.3 (1.6) 2.4 (2.7).8 (1.1) 1.4 (1.7) 2.5 (2.8) 1.7 (2.3) 1.8 (2.4) 3.3 (3.9) 2. (2.6) 3.6 (4.2) 7.2 (7.8) 3.9 (4.5) 4.1 (4.7) 7.7 (8.3) 4.8 (5.4) 5. (5.6) 8.7 (9.3) 32