Beruflich Dokumente
Kultur Dokumente
TRANSERVO01
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TRANSERVO SERIES
Closed loop stepper motor single-axis robot available in class 10 cleanroom.
Available in three sizes, with up to 800 mm of travel.
Standard type
Low cost!
SS05H
SS05
SS04
Cleanroom type
SSC05H
SSC05
SSC04
TS-S Robot
Positioner
Standard type /
Maximum speed
(mm/sec)
Stroke (mm)
600
300
100
50 to 400
1
2
1000
600
300
50 to 800
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
50 to 800
Lead (mm)
W49 H59
12
6
2
W55 H56
20
12
6
4
6
10
20
12
Cleanroom type
W55 H56
Transervo Catalog-
Size (mm)
12
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Model
P. 5
Standard type
Cleanroom type P. 8
Standard type
Cleanroom type P. 9
Standard type
P. 6
P. 7
New control method combines the best features of servo and stepping motors!
Stepper motors provide great features such as low cost, yet they
have a drastic drop in torque at high speeds and heavy current
consumption when stopped. The TRANSERVO by YAMAHA
eliminates all these problems by adopting an innovative vector
control method. In effect, the TRANSERVO delivers the same
functions of a servomotor but using a lower cost stepper motor.
Stepping motor
Servo Motors
Smooth movement
Constant torque at
all speed range
Vibrations when
stopped
Cost is higher
TRANSERVO
200
400
600
Speed (mm/s)
800
Payload
Payload
Ordinary type
Payload is always
constant!
200
400
600
800
Speed (mm/s)
Energy saver!
Control is basically the same as a servo motor so power consumption is kept to a minimum, which saves energy.
Resolver
2-row gothic-arch-groove
Ordinary model
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4-row circular-arc-groove
TRANSERVO
Transervo Catalog-
SS04
SSC04
SS05
SSC05
SS05H
SSC05H
Payload (kg)
Lead
(mm)
Horizontal
Vertical
12
600
300
100
20
1000
933
833
733
633
12
600
560
500
440
380
10
300
280
250
220
190
20
1000
933
833
733
633
600
560
500
440
380
440
380
12
220
190
220
190
12
6
50
100
150
200
250
300
350
400
450
500
550
600
650
700
500
300
280
250
250
750
800
[Example]
Mechanical
SS05
Lead
Type
Brake
Origin position
Controller
6mm
Straight
Yes
Standard
Grease
Standard
Stroke
600mm
Cable length 1m
TS-S
Ordering Method
Controller section
TS-S
P. 11
Lead
Type
Brake
Origin position
Grease option
Stroke
Cable length
Select the robot cable length for connecting the robot to the controller.
1L: 1m (standard)
3L: 3m
5L: 5m
Controller
I/O
Transervo Catalog-
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SS04
CE compliance
Ordering method
SS04
S
Lead
12: 12mm
6: 6mm
2: 2mm
Model
Type
S: Straight
Brake
B: With brake
N: With no brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Stroke
50 to 400
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
Basic specifications
W49 H59
Standard: 1 / Option: 3, 5
807
667
687
556
567
869
863
218
107
116
76
56
61
40
292
152
169
112
84
92
60
Wall installation
1kg
2kg
2kg
3kg
4kg
4kg
6kg
A
(Unit: mm)
274
133
149
92
63
72
39
204
93
102
62
43
48
29
776
611
656
516
507
829
789
Step motor
+/-0.02
Ball screw 8 (Class C10)
0.27
12
6
2
600
300
100
2
4
6
1
2
4
45
90
150
50 to 400 (50mm pitch)
Stroke+216
Stroke+261
42
Motor
Repeatability Note 1 (mm)
Deceleration mechanism
Maximum motor torque (N.m)
Ball screw lead (mm)
Maximum speed (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
0.5kg
1kg
1kg
2kg
2kg
4kg
407
204
223
107
118
53
(Unit: N.m)
MY
16
MR
408
17
204
223
Controller
107
118 Controller Operation method
I/O point trace (BCD)
53 TS-S
C
MP
19
1. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 400mm stroke models).
SS04
Approx. 200 (Cable length)
Effective stroke
2-3H7 Depth 6
4-M4 x 0.7 Depth 8
23+/-1 (Note 1)
59
58
32
L
L+45 (with brake)
15
49
50
A x 50
B-M5 x 0.8 Depth8
R
41
25
45
12.5
33
(between knocks +/-0.02)
24
40.5
8 20.5
15
30.5
13
Effective stroke
L
A
B
C
Weight (kg) Note 4
50
266
2
3
50
1.5
100
316
3
4
100
1.6
150
366
4
5
150
1.7
200
416
5
6
200
1.8
250
466
6
7
250
2.0
300
516
7
8
300
2.1
350
566
8
9
350
2.2
400
616
9
10
400
2.3
4H7 ( +0.012
) Depth6
0
2
4 +0.02
Depth6
0
162.5
207.5 (with brake)
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Transervo Catalog-
SS05
CE compliance
Ordering method
SS05
S
Lead
20: 20mm
12: 12mm
6: 6mm
Model
S
Brake Note 1
B: With brake
N: With no brake
Type
S: Straight
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
2. The robot cable is flexible and resists bending.
Basic specifications
W55 H56
4kg
6kg
4kg
8kg
10kg
413
334
347
335
503
332
344
139
67
72
47
78
37
29
218
120
139
95
165
79
62
2kg
4kg
4kg
6kg
4kg
6kg
8kg
A
(Unit: mm)
192
92
109
63
134
76
47
123
51
57
31
63
35
22
372
265
300
263
496
377
355
4kg
Wall installation
Lead 6 Lead 12 Lead 20
Motor
42 Step motor
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw 12 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec) 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical
1
2
Max. pressing force (N)
27
45
90
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+230
Overall length Horizontal
(mm)
Vertical
Stroke+270
0.5kg
1kg
1kg
2kg
578
286
312
148
579
286
312
148
(Unit: N.m)
MY
25
MP
33
MR
30
Controller
Controller Operation method
TS-S
I/O point trace (BCD)
1. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
Standard: 1 / Option: 3, 5
SS05
Approx. 200 (Cable length)
Effective stroke
2-4H7 Depth 6
4-M4 x 0.7 Depth8
24
56
70
42
24
55
50
34
51
12.5
42
(between knocks +/-0.02)
40.5
8 20.5
15
30.5
13
L
L+40 (with brake)
141.5 (with brake)
101.5
B-M6 x 1 Depth8
50
A x 50
4H7 ( +0.012
) Depth6
0
126.5
166.5 (with brake)
Effective stroke
50
L
280
A
3
B
4
C
100
Weight (kg) Note 3
2.1
Lead20
Maximum
speed for each Lead12
stroke Note 4
Lead6
(mm/sec) Speed setting
Transervo Catalog-
100
330
4
5
150
2.3
150
380
5
6
200
2.5
200
430
6
7
250
2.7
250
480
7
8
300
2.8
300 350
530 580
8
9
9
10
350 400
3.0
3.2
1000
600
300
400
630
10
11
450
3.4
450
680
11
12
500
3.6
500
730
12
13
500
3.8
550
780
13
14
500
4.0
600
830
14
15
500
4.2
4 +0.02
0 Depth6
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SS05H
CE compliance
Ordering method
SS05H
S
Lead
20: 20mm
12: 12mm
6: 6mm
Model
Type
S: Straight
S
Brake Note 1
B: With brake
N: With no brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
2. The robot cable is flexible and resists bending.
Basic specifications
6kg
8kg
6kg
Standard: 1 / Option: 3, 5
8kg
10kg
12kg
599
366
352
500
399
403
573
480
442
465
225
109
71
118
79
56
83
61
47
39
291
148
104
179
118
88
136
100
78
64
2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg
(Unit: mm)
262
118
71
146
85
55
101
64
43
28
203
88
49
96
55
34
62
39
26
17
554
309
262
449
334
305
519
413
355
338
Lead 6 Lead 12
4kg
C
Lead 20
6kg
Lead 12
4kg
Wall installation
Lead 6
Lead 20
Lead 12
2kg
W55 H56
Lead 6
Motor
42 Step motor
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw 12 (Class C10)
Maximum motor torque (N.m)
0.47
Ball screw lead (mm)
20
12
6
600
300
Maximum speed Note 2 Horizontal 1000
(mm/sec)
Vertical
500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical
2
4
Max. pressing force (N)
36
60
120
Stroke (mm)
50 to 800 (50pitch)
Stroke+286
Overall length Horizontal
(mm)
Vertical
Stroke+306
1kg
2kg
2kg
4kg
458
224
244
113
459
224
245
113
(Unit: N.m)
MY
32
MP
38
MR
34
Controller
Controller Operation method
TS-S
I/O point trace (BCD)
1. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
SS05H
Approx. 200 (Cable length)
43
14.5+/-1 (Note 1)
24
Effective stroke
2-4H7 Depth6
4-M5 x 0.8 Depth10
24
55
52
34
51
56
90
53
12.5
43
(between knocks +/-0.02)
40.5
8 20.5
15
30.5
13
L
L+20 (with brake)
161.5 (with brake)
141.5
A x 50
B-M6 x 1 Depth8
R
50
Effective stroke
50
L
336
A
3
B
4
C
100
Note 4
Weight (kg)
2.4
Lead20
Maximum Lead12 (Horizontal)
speed for each
Lead12 (Vertical)
stroke Note 4
Lead6 (Horizontal)
(mm/sec)
Lead6 (Vertical)
100
386
4
5
150
2.6
150
436
5
6
200
2.8
200
486
6
7
250
3.0
250
536
7
8
300
3.2
300
586
8
9
350
3.4
350
636
9
10
400
3.6
1000
600
500
300
250
400
686
10
11
450
3.8
450
736
11
12
500
4.0
500
786
12
13
500
4.2
550
836
13
14
500
4.4
600
886
14
15
500
4.5
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4 +0.02
0 Depth6
4H7 ( +0.012
) Depth6
0
166.5
186.5 (with brake)
650
936
15
16
500
4.7
933
560
700
986
16
17
500
4.9
833
500
280
250
Transervo Catalog-
SSC04
Cleanroom type
CE compliance
Ordering method
SSC04
S
Lead
Model
Type
12: 12mm
6: 6mm
2: 2mm
Brake
S: Straight
Direction of air
coupler installation
RJ: Right (Standard)
LJ: Left
B: With brake
N: With no brake
Origin position
Stroke
N: Standard
Z: Non-motor side
50 to 400
(50mm pitch)
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
1L: 1m
3L: 3m
5L: 5m
S: TS-S
Basic specifications
W49 H59
Standard: 1 / Option: 3, 5
CLASS 10 Note 2
Lead 12 Lead 6 Lead 2
50
30
15
1.
4kg
807
667
687
556
567
869
218
107
116
76
56
61
292
152
169
112
84
92
6kg
863
40
60
2kg
2kg
3kg
4kg
Wall installation
(Unit: mm)
4kg
274
133
149
92
63
72
204
93
102
62
43
48
776
611
656
516
507
829
6kg
39
29
789
1kg
2kg
2kg
3kg
4kg
(Unit: N.m)
Motor
42 Step motor
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw 8 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
12
6
2
Maximum speed (mm/sec)
600
300
100
Horizontal
2
4
6
Maximum
payload (kg)
Vertical
1
2
4
Max. pressing force (N)
45
90
150
Stroke (mm)
50 to 400 (50mm pitch)
Stroke+216
Overall length Horizontal
(mm)
Vertical
Stroke+261
0.5kg
1kg
1kg
2kg
2kg
4kg
407
204
223
107
118
53
408
204
223
107
118
53
MY
16
MP
19
MR
17
Controller
Controller Operation method
TS-S
I/O point trace (BCD)
Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 400mm stroke models).
SSC04
Approx. 200 (Cable length)
Effective stroke
24
2-3H7 Depth6
4-M4 x 0.7 Depth8
12.5
Mounting
direction: LJ
68
35
4)
(3
45
34.5
59
15
49
(15)
33
(between knocks +/-0.02)
40.5
8 20.5
15
30.5
13
41
25
L
L+45 (with brake)
182.5 (with brake)
137.5
A x 50
B-M5 x 0.8 Depth8
50
4H7( +0.012
) Depth 6
0
162.5
207.5 (with brake)
Effective stroke 50
L
266
A
2
B
C
Weight (kg) Note 5
3
50
1.5
100
316
3
150
366
4
200
416
5
250
466
6
300
516
7
350
566
8
400
616
9
4
100
1.6
5
150
1.7
6
200
1.8
7
250
2.0
8
300
2.1
9
350
2.2
10
400
2.3
Transervo Catalog-
4 +0.02
0 Depth 6
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SSC05
Cleanroom type
CE compliance
Ordering method
SSC05
S
Lead
Model
20: 20mm
12: 12mm
6: 6mm
Type
Brake
S: Straight
Direction of air
coupler installation
RJ: Right (Standard)
LJ: Left
B: With brake
N: With no brake
Origin position
Stroke
N: Standard
Z: Non-motor side
50 to 800
(50mm pitch)
1L: 1m
3L: 3m
5L: 5m
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
Basic specifications
W55 H56
4kg
4kg
6kg
4kg
8kg
10kg
413
334
347
335
503
332
344
139
67
72
47
78
37
29
218
120
139
95
165
79
62
Wall installation
2kg
4kg
4kg
6kg
4kg
6kg
8kg
A
(Unit: mm)
192
92
109
63
134
76
47
123
51
57
31
63
35
22
372
265
300
263
496
377
355
Standard: 1 / Option: 3, 5
CLASS 10 Note 3
Lead 20 Lead 12 Lead 6
80
50
30
Motor
42 Step motor
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw 12 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
20
12
6
Maximum speed (mm/sec) Note 2 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical
1
2
Max. pressing force (N)
27
45
90
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+230
Overall length Horizontal
(mm)
Vertical
Stroke+270
Maximum outside dimension
of body cross-section (mm)
0.5kg
1kg
1kg
2kg
578
286
312
148
579
286
312
148
(Unit: N.m)
MY
25
MP
33
MR
30
Controller
Controller Operation method
TS-S
I/O point trace (BCD)
1. Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
SSC05
Approx. 200 (Cable length)
30.5
13
2-4H7 Depth6
4-M4 x 0.7 Depth8
24
14+/-1(Note 1)
Mounting
direction: LJ
4)
(3
51
36
(17)
56
24
55
12.5
42 (between
knocks +/-0.02)
40.5
15
34
8 20.5
Effective stroke
53
50
34
L
L+40 (with brake)
141.5 (with brake)
101.5
50
A x 50
B-M6 x 1 Depth8
4H7 ( +0.012
) Depth 6
0
126.5
166.5 (with brake)
Effective stroke
50
L
280
A
3
B
4
C
100
Weight (kg) Note 5
2.1
Maximum speed Lead 20
for each stroke Lead 12
(mm/sec) Note 6 Lead 6
100
330
4
5
150
2.3
150
380
5
6
200
2.5
200
430
6
7
250
2.7
250
480
7
8
300
2.8
300 350
530 580
8
9
9
10
350 400
3.0 3.2
1000
600
300
400
630
10
11
450
3.4
4 +0.02
0 Depth 6
450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
680 730 780 830 880 930 980 1030
Note 2. Either right or left can be selected for suction air
11
12
13
14
15
16
17
18
joint mounting direction. This drawing shows the RJ
(standard) direction.
12
13
14
15
16
17
18
19
500 500 500 500 500 500 500 500 Note 3. Secure the cable with a tie-band 100mm or less
from units end face to prevent the cable from being
3.6 3.8 4.0 4.2 4.4 4.6 4.8 5.0
subjected to excessive loads.
933 833 733 633 Note 4. The cables minimum bend radius is R30.
560 500 440 380 Note 5. These are the weights without a brake. The weights
are 0.2kg heavier when equipped with a brake.
280 250 220 190
Note 6. When the stroke is longer than 650mm, resonance of
the ball screw may occur depending on the operation
conditions (critical speed). In this case, reduce the speed
setting on the program by referring to the maximum
speeds shown in the table at the left.
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Transervo Catalog-
SSC05H
Cleanroom type
CE compliance
Ordering method
SSC05H
S
Lead
Model
Type
20: 20mm
12: 12mm
6: 6mm
Brake
S: Straight
Direction of air
coupler installation
RJ: Right (Standard)
LJ: Left
B: With brake
N: With no brake
Origin position
Stroke
N: Standard
Z: Non-motor side
50 to 800
(50mm pitch)
Controller
1L: 1m
3L: 3m
5L: 5m
S: TS-S
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Basic specifications
4kg
6kg
8kg
Lead 6
6kg
8kg
10kg
12kg
599
366
352
500
399
403
573
480
442
465
225
109
71
118
79
56
83
61
47
39
291
148
104
179
118
88
136
100
78
64
2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg
A
(Unit: mm)
262
118
71
146
85
55
101
64
43
28
203
88
49
96
55
34
62
39
26
17
554
309
262
449
334
305
519
413
355
338
6kg
Lead 20
4kg
Wall installation
Lead 12
Lead 12
Lead 20
Lead 6
Motor
42 Step motor
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw 12 (Class C10)
Maximum motor torque (N.m)
0.47
Ball screw lead (mm)
20
12
6
600
300
Maximum speed Note 2 Horizontal 1000
(mm/sec)
Vertical
500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical
2
4
Max. pressing force (N)
36
60
120
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+286
Overall length Horizontal
(mm)
Vertical
Stroke+306
Maximum outside dimension
W55 H56
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5
Degree of cleanliness
CLASS 10 Note 3
Lead 20 Lead 12 Lead 6
Intake air (N /min)
80
50
30
1kg
2kg
2kg
4kg
458
224
244
113
459
224
245
113
(Unit: N.m)
MY
32
MP
38
MR
34
Controller
Controller Operation method
TS-S
I/O point trace (BCD)
1. Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
SSC05H
Approx. 200 (Cable length)
Effective stroke
175.5+/-1 (Note 1)
2-4H7 Depth6
4-M5 x 0.8 Depth10
14.5+/-1 (Note 1)
24
43
43 (between
knocks +/-0.02)
40.5
90
53
36
51
56
(17)
24
55
Mounting
direction: LJ
12.5
(
34
8 20.5
15
30.5
13
55
52
34
L
L+20 (with brake)
161.5 (with brake)
141.5
A x 50
B-M6 x 1 Depth8
50
4H7 ( +0.012
) Depth6
0
166.5
186.5 (with brake)
Effective stroke
L
A
50
336
3
100
386
4
150
436
5
200
486
6
250
536
7
300
586
8
350
636
9
B
4
C
100
Note 5
Weight (kg)
2.4
Lead 20
Maximum speed Lead 12 (Horizontal)
for each stroke Lead 12 (Vertical)
(mm/sec) Note 6 Lead 6 (Horizontal)
Lead 6 (Vertical)
5
150
2.6
6
200
2.8
7
250
3.0
8
300
3.2
9
350
3.4
10
11
400 450
3.6 3.8
1000
600
500
300
250
Transervo Catalog- 10
400
686
10
450
736
11
500
786
12
550
836
13
600
886
14
650
936
15
12
13
14
15
16
17
18
500 500 500 500 500 500 500
4.0 4.2 4.4 4.5 4.7 4.9 5.1
933 833 733
560 500 440
440
280 250 220
220
www.yamaharobotics.com
4 +0.02
0
Depth 6
19
500
5.3
633
380
380
190
190
TS-S
Robot Positioner
TS series
TS-S is a single axis, incremental, BCD digital I/O controlled robot controller for the Transervo series
actuators. Teaching the TS controller is simple using TS-Manager software allowing the user to save up
to 255 positions in a point table. BCD digital I/O input from a master controller such as a PLC can be used
to move the robot to these predefined points. The TS-S is capable of position or torque based motion
profiles, which are executed closed-loop.
Features
1 Main operation patterns
Position
Current position
P1
P1
Setting items
2 Position
3 Speed
4 Accel.
5 Decel.
6 Push
7 Zone (-)
8 Zone (+)
9 Near width
10 Jump
11 Flag
P2
1 Run type
P1
Setting item
Description
Specifies motion profiles such as ABS, INC,
positioning, push, and point-to-point merging.
Specifies position or distance to move.
Specifies maximum speed during operation.
Specifies acceleration during operation.
Specifies deceleration during operation
(Percentage of acceleration)
Specifies motor current limitation during
pushing operation.
Specifies upper and lower limits of personal
zone for each point data.
Specifies position margin zone where near
width output should turn on.
Specifies next movement destination after positioning
or merging destination for point-to-point operation.
Specifies stop mode and others.
OFF
P1
P1
Pushing operation
Output pattern
Zone output
P1
Speed
Moves to a specified
coordinate position.
Merge operation
Merge operation
Normal operation
P1
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Transervo Catalog- 11
Model Overview
Name
Power
Operating method
Maximum number of controllable axes
Position detection method
Controllable robot
Support software for PC
TS-S
DC24V +/-10%
I/O point tracing (BCD)
Single-axis
Incremental
Compact single-axis robot TRANSERVO
TS-Manager
Ordering method
TS-S
TS-S
Controller
I/O
NP: NPN
PN: PNP
CC: CC-LINK
DN: DeviceNet
Points
Axis control
Basic specifications
External communications
Safety circuit
TS-S
Single-axis
TRANSERVO series
70VA
W30 H162 D82mm
Approx. 0.2kg
DC24V +/-10%
DC24V +/-10%
I/O point tracing (BCD)
Positioning, merge-positioning, push, and jog operations
Resolver
20480 Pulses/Revolutions
Incremental
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
(2) Custom setting: Set speed and acceleration in SI units.
Manual data input (coordinates input), Teaching, Direct teaching
Selectable from the following: NPN, PNP, CC-Link, DeviceNet
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), manual
mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+),
Point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY),
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
RS-232C 1CH (for programming only)
Emergency stop input (2 contact points), main power supply ready output
Handy terminal
TS-Manager
Operating temperature
Storage temperature
Operating humidity
0C to 40C
-10C to 65C
35% to 85%RH (non-condensing)
Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust
particles
All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage,
low voltage, gross position error
Atmosphere
Anti-vibration
Protective functions
Transervo Catalog- 12
www.yamaharobotics.com
TS-S dimensions
5
Controller
Communication
connector 2 (COM2)
Not used at present
(for future expansion)
30
(70)
82
25
4.5
152
152
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
162
Serial No.
TS-S
TS-S
Controller
I/O(NPN)
+COM
ES1
ES2
ESMP24V
CP24V
Power supply 0V
Frame ground
0V
FG
PIN0
PIN 0 to 7
Point No. selection
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
-COM
Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status
POUT7
OUT0
OUT3
BUSY
END
/ALM
SERVO-S
DC24V
I/O power + common
POUT0
Power connector
4.5
Rating nameplate
(on side face of unit body)
Controller
COM1
Handy Terminal
External
emergency stop
External 24V
ES1
ES2
ES-
ES
Status
MP24V
CP24V
0V
RY
External 0V
FG
Internal
GND
External 0V
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Transervo Catalog- 13
I/O Specifications
Item
Input circuit
Description
+COM
DC24V
4.7k
Input
Internal
circuit
Logic
circuit
-COM
+COM
NC
NC
PIN0
PIN1
PIN2
PIN3
PIN4
PIN5
PIN6
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
POUT0
POUT1
POUT2
POUT3
POUT4
POUT5
POUT6
POUT7
OUT0
OUT1
OUT2
OUT3
BUSY
END
/ALM
SRV-S
NC
NC
-COM
Description
Input power + common (Not internally
connected, apply power to both pins)
Use prohibited
Output circuit
+COM
Output
Internal
circuit
Logic
circuit
Load
DC24V
Inputs
Signal name
-COM
Input
Internal
circuit
Logic
circuit
DC24V
Outputs
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
4.7k
-COM
Control outputs
Operation-inprogress
Operation-end
Alarm
Servo status
Output circuit
Use prohibited
Input power - common (Not internally
connected, apply power to both pins)
+COM
DC24V
Internal
circuit
Logic
circuit
Output
-COM
Transervo Catalog- 14
www.yamaharobotics.com
Load
Dummy connector
Model
Model
Model
KCC-M4421-00
KCA-M5163-00
KCA-M4421-20
Options
Teach Pendant HT1 / HT1-D
Has graphic LCD display with backlight for easy viewing. Besides data writing, editing and backup functions,
the TS-Manager also offers cycle time simulation
and various types of monitor functions.
HT1
Data cables
TS-Manager data cable.
Select from USB cable or D-sub cable.
HT1-D
USB
HT1
HT1-D
Model
KCA-M5110-0E KCA-M5110-1E
Model
Enable
switch
CE marking Not supported
KCA-M4966-00
Model
D-Sub
3-position
Applicable
P. 16
TS-Manager environment
OS
CPU
Memory
Hard disk
Communication port
Applicable controllers
1. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
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P. 17
Transervo Catalog- 15
HT1/HT1-D
Applicable controllers
TS-S
TS-X
TS-P
This Teach Pendant is a device that can perform any operation such as robot manual operation, point data edit, teaching, and parameter
setting, etc. Has graphic LCD display with backlight for easy viewing.
HT1
HT1-D
External view
Applicable controllers
Japanese specifications
Model
English specifications
Display
Operation keys
Emergency stop button
Enable switch
Safety connector
CE marking
Operating temperature
Operating humidity
Dimensions
Weight
Cable length
Strap holder
Attaching a short strap
or necklace strap here
prevents dropping the
HT1 while operating it
or installing it onto
equipment.
LCD screen
This is a liquid crystal
display (LCD) screen
with 32 characters 10
lines (pixel display),
showing the operation
menus and various
types of information.
Connector cable
This cable connects to
the controller. One end
of this cable is
terminated with an 8-pin
MD connector (male).
Plug this cable into the
COM1 connector on the
controller front panel.
Safety connector
(only on HT1-D)
Emergency stop button
Pressing this button
during operation
immediately stops robot
movement. To release
this button, turn it
clockwise.
Releasing this button
also cancels
emergency stop.
Run/stop keys
Use these keys to
operate the robot for
teaching or positioning,
or to stop operation.
The
and
keys are
also provided to move
the robot in jog mode.
Enable switch
(only on HT1-D)
Transervo Catalog- 16
www.yamaharobotics.com
TS-Manager
Applicable controllers
TS-S
TS-X
TS-P
Besides basic functions, such as point data edit and backup, support software TS-Manager incorporates various convenient functions for
analysis and debugging the system efficiently. The TS-Manager helps you with application motion profiles, system setup and saving system
parameters.
Features
1 Basic functions
Detailed settings by point, such as the position information, operation pattern, speed, acceleration, and deceleration settings, and robot parameter
settings can be set, edited, and backed up. Additionally, the basic operation of the robot, such as JOG movement or inching operation can also be
controlled through the TS-Manager.
Specify a zone
for calculation.
Calculates the
maximum value,
minimum value,
average value,
and root mean
square value in
a specified zone.
4 Operation simulation
As the operation condition data or point data is input, a period of time
necessary for operation is simulated.
Use of this function makes it possible to select an optimal model before
purchase and simulate the speed and acceleration/deceleration settings
without use of actual machine.
It is also possible to link this operation simulation function with the TSManager main software. This easily affects the point data you have edited in the actual machine.
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Transervo Catalog- 17
NETWORK
Applicable controllers
TS-S
TS-X
TS-P
Monitor LED
1. These values apply when a cable that supports CC-Link Ver.1.10 is used.
Transervo Catalog- 18
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FLIP-X SERIES
YAMAHA X series single-axis ball screw & timing belt driven robots
This single-axis robot series includes many models of 7 types and 37 variations for a wide
range of applications. Each model incorporates space-saving design and uses a built-in
direct drive motor. A battery backup is included to retain the absolute resolver feedback
position when the robot is powered down. Cleanroom units are also available.
RAIL TYPE,
COMPACT SIZE
T4H
T5H
T6
T9 (Shown)
CLEANROOM
C4H
C5H
C6
C8/C8L/C8LH
C10
C14 (Shown)/C14H
C17/C17L
C20
ROTATION AXIS
R5
R10 (Shown)
R20
NUT ROTATION
N15/N15D (Shown)
N18/N18D
PHASER SERIES
FRAME TYPE,
HIGH PAYLOAD
F8/F8L/F8LH
F10 (Shown)
F14/F14H
F17/F17L
F20/F20N
TS-X
Single axis
absolute
robot positioner
MR
TS-P
Single axis
semi-absolute
robot positioner
MF
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Transervo Catalog- 19
Phaser Series
MF Type
SCARA Robots
YK-XG Series
Flip-X Series
Cartesian Robots
Series XY-X
Specifications and appearance are subject to change without prior notice. (July 2010)