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YAMAHA Single-Axis Actuators

Stepping Servo (SS04 / SSC04 / SS05 / SSC05 / SS05H / SSC05H)

The TRANSERVO by YAMAHA!


Stepper motor single-axis actuator
that breaks all the old rules!

TRANSERVO01
www.yamaharobotics.com

YAMAHA S series single-axis ball screw driven robots

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.

No payload limitations due to high speed usage


Robot can operate at high speed with heavy loads
Easy selection and installation time

Standard type

Low cost!

Basic operation is the same as a servo motor, but with the


lower cost of a stepper motor.

Resolver is used for position feedback

Position detection is stable even in harsh environments with


dust particles, oil mist, etc.

SS05H

SS05

SS04

Cleanroom type

Utilizes a 4-row circular arc groove


rail guide
Ideal for handling large moment loads
while maintaining high rigidity.

SSC05H

SSC05

SSC04

TS-S Robot
Positioner

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.

TRANSERVO easy selection table


Type

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- 

Maximum payload (kg)


Horizontal Vertical
2
1
4
2
6
4

Size (mm)

12

www.yamaharobotics.com

Model

Detailed info page

P. 5

Standard type: SS04

Standard type

Cleanroom type: SSC04

Cleanroom type P. 8

Standard type: SS05

Standard type

Cleanroom type: SSC05

Cleanroom type P. 9

Standard type: SS05H

Standard type

P. 6

P. 7

Cleanroom type: SSC05H Cleanroom type P. 10

The Yamaha TRANSERVO Benefits


1

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

Simple design & low cost


No vibration
while stopped

Combines the best features of both types!


High-pitched operating
noise
Drop in torque at high-speed

Vibrations when
stopped
Cost is higher

High-speed operation slashes production time!


The TRANSERVO moves heavy payloads faster than
typical steppers with conventional controls.

TRANSERVO

Must use only


small payloads
during high speeds

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.

Environmentally rugged resolver provides closed loop control

The resolver used for detecting the motor position is the


same reliable resolver as used in our high-end robots.
Resolvers offer stable position detection even in harsh
environments containing dust or oil, etc. Additionally,
the resolution of the resolver is 20,480 pulses per one
revolution.

Resolver

The resolver is a magnetic position detector. Its


structure is simple with no electronic component
and no optical elements. One great feature
compared to ordinary optical encoders is that there
are very few points where a failure might occur.
Resolvers are used in fields like aviation and the
automobile industry where reliability is essential
and also because they are suitable in harsh
environments.

Ideal 4-row circular-groove guide provides long service life

A newly developed rail guide is employed, with a 4-row


circular-groove guide system, built into a very compact
actuator.
The guide maintains a satisfactory rolling movement with
minimal ball differential slip. The rugged design ensures
long life.

2-row gothic-arch-groove

Ordinary model

www.yamaharobotics.com

4-row circular-arc-groove

TRANSERVO

Transervo Catalog- 

TRANSERVO SPECIFICATION SHEET


Model

SS04
SSC04

SS05
SSC05

SS05H
SSC05H

Payload (kg)

Stroke (mm) and maximum speed (mm/sec)

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

Robot ordering method description


In the order format for the YAMAHA single-axis robots TRANSERVO series, the notation (letters/numbers) for the mechanical section is
shown linked to the controller section notation.

[Example]
Mechanical

SS05

Lead
Type
Brake
Origin position

Controller

6mm
Straight
Yes
Standard

Grease
Standard
Stroke
600mm
Cable length 1m

TS-S

Input /Output selection NPN

Ordering Method

SS05 06SB NN 600 1L SNP


Mechanical section

Controller section

To find detailed controller information see the controller page.

TS-S

P. 11

Robot ordering method terminology


Model

Enter the robot unit model.

Lead

Select the ball screw lead.

Type
Brake

Show the robot type by the motor installation position.


(Only the straight type is currently available.)
Select Brake or No-brake.
Horizontal Operation: No-brake
Vertical Operation: With Brake

Origin position

Origin point position can be changed.

Grease option

Cleanroom grease can be selected.

Stroke

Select the stroke for the robot operating range.

Cable length

Select the robot cable length for connecting the robot to the controller.
1L: 1m (standard)
3L: 3m
5L: 5m

Controller

Controller for Transervo is TS-S.

I/O

Select the type of I/O desired or the field bus required.


NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet

Transervo Catalog- 

www.yamaharobotics.com

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)

Cable length Note 1


1L: 1m
3L: 3m
5L: 5m

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet

Controller
S: TS-S

1. The robot cable is flexible and resists bending.

Basic specifications

Allowable overhang Note

W49 H59

Cable length (m)

Standard: 1 / Option: 3, 5

Horizontal installation (Unit: mm)


1kg
2kg
2kg
3kg
4kg
4kg
6kg

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

Vertical installation (Unit: mm)


A
Lead 2 Lead 6 Lead 12

Maximum outside dimension


of body cross-section (mm)

Static loading moment

Lead 2 Lead 6 Lead 12

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

Lead 2 Lead 6 Lead 12

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).

1. Positioning repeatability in one direction.

SS04
Approx. 200 (Cable length)

161+/-2: When origin is on motor side


(161: When origin is on non-motor side)
Cable securing position (Note 2)
129+/-1 (Note 1)
21

(55: When origin is on motor side)


55+/-2: When origin is on non-motor side

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

182.5 (with brake)


137.5

41
25

45

206+/-2 (with brake): When origin is on motor side


(206 with brake: When origin is on non-motor side)

51 (Slider top face)

174+/-1 (with brake) (Note 1)

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)

1. Stop positions are determined by the mechanical stoppers at both ends.


2. Secure the cable with a tie-band 100mm or less from units end face to prevent
the cable from being subjected to excessive loads.
3. The cables minimum bend radius is R30.
4. These are the weights without a brake. The weights are 0.2kg heavier when
equipped with a brake.

www.yamaharobotics.com

Transervo Catalog- 

SS05

High lead: Lead 20

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

Cable length Note 2


1L: 1m
3L: 3m
5L: 5m

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

Allowable overhang Note

Cable length (m)

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

Vertical installation (Unit: mm)


Lead 6 Lead 12

4kg

Wall installation
Lead 6 Lead 12 Lead 20

Horizontal installation (Unit: mm)


2kg

Lead 6 Lead 12 Lead 20

Maximum outside dimension


of body cross-section (mm)

Static loading moment

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

1. Positioning repeatability in one direction.


2. 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 below.

SS05
Approx. 200 (Cable length)

178+/-2: When origin is on motor side


(178: When origin is on non-motor side)
140+/-1 (Note 1)
34

(55: When origin is on motor side)


52+/-2: When origin is on non-motor side
14+/-1 (Note 1)

Effective stroke
2-4H7 Depth 6
4-M4 x 0.7 Depth8

24

Cable securing position (Note 2)

56

70
42

24
55

50
34

51

180+/-1 (with brake) (Note 1)


218+/-2 (with brake): When origin is on motor side
(218 with brake: When origin is on non-motor side)

12.5

57 (Slider top face)

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

Note 1. Stop positions are determined by the


650 700 750 800
mechanical stoppers at both ends.
880 930 980 1030 Note 2. Secure the cable with a tie-band
100mm or less from units end face to
15
16
17
18
prevent the cable from being subjected
16
17
18
19
to excessive loads.
500 500 500 500 Note 3. The cables minimum bend radius is
4.4
4.6
4.8
5.0
R30.
933 833 733 633 Note 4. These are the weights without a brake.
The weights are 0.2kg heavier when
560 500 440 380
equipped with a brake.
280 250 220 190 Note 5. When the stroke is longer than 650mm,
resonance of the ball screw may occur
93% 83% 73% 63%
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.

www.yamaharobotics.com

SS05H

High lead: Lead 20

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

Cable length Note 2


1L: 1m
3L: 3m
5L: 5m

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

Allowable overhang Note

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

Vertical installation (Unit: mm)

(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

Horizontal installation (Unit: mm)

W55 H56

1. Positioning repeatability in one direction.


2. 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 below.

Lead 6

Maximum outside dimension


of body cross-section (mm)
Cable length (m)

Static loading moment

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)

223.5: When origin is on motor side


(223.5: When origin is on non-motor side)
175.5+/-1 (Note 1)

43

14.5+/-1 (Note 1)

24

Cable securing position (Note 2)

(62.5: When origin is on motor side)


62.5+/-2: When origin is on non-motor side

Effective stroke
2-4H7 Depth6
4-M5 x 0.8 Depth10

24
55

52
34

51

56

90
53

60 (Slider top face)

195.5+/-1 (with brake) (Note 1)


243.5+/-2 (with brake): When origin is on motor side
(243.5 with brake: When origin is on non-motor side)

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

www.yamaharobotics.com

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

Note 1. Stop positions are determined by


the mechanical stoppers at both
ends.
750 800 Note 2. Secure the cable with a tie-band
100mm or less from units end face
1036 1086
to prevent the cable from being
17
18
subjected to excessive loads.
18
19 Note 3. The cables minimum bend radius is
500 500
R30.
5.1
5.3 Note 4. These are the weights without
a brake. The weights are 0.2kg
733 633
heavier when equipped with a
440 380
brake.
440 380 Note 5. When the stroke is longer than
650mm, resonance of the ball
220 190
screw may occur depending on the
220 190
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.

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

Cable length Note 1

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

1. The robot cable is flexible and resists bending.

Basic specifications

Allowable overhang Note

W49 H59

Cable length (m)


Degree of cleanliness

Standard: 1 / Option: 3, 5
CLASS 10 Note 2
Lead 12 Lead 6 Lead 2
50
30
15

Intake air (N /min)

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)

Vertical installation (Unit: mm)


Lead 2 Lead 6 Lead 12

Horizontal installation (Unit: mm)


1kg

Lead 2 Lead 6 Lead 12

Maximum outside dimension


of body cross-section (mm)

Lead 2 Lead 6 Lead 12

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

Static loading moment

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).

1. Positioning repeatability in one direction.


2. Per 1cf (0.1m base), when suction blower is used.

SSC04
Approx. 200 (Cable length)

161+/-2: When origin is on motor side


(161: When origin is on non-motor side)
Cable securing position (Note 3)
124+/-1 (Note 1)
21

(55: When origin is on motor side)


55+/-2: When origin is on non-motor side
18+/-1 (Note1)

Effective stroke

24

2-3H7 Depth6
4-M4 x 0.7 Depth8

169+/-1 (with brake) (Note 1)


206+/-2 (with brake): When origin is on motor side
(206 with brake: When origin is on non-motor side)

12.5

176 (with brake)


131

Mounting
direction: LJ

68
35

4)
(3
45

34.5

59

2-6 Suction air joint


Mounting direction:
RJ (Note 2)

15
49

(15)

51 (Slider top face)


0.5

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

1. Stop positions are determined by the mechanical stoppers at both ends.


2. Either right or left can be selected for the suction air joint mounting direction.
This drawing shows the RJ (standard) direction.
3. Secure the cable with a tie-band 100mm or less from units end face to prevent the cable from
being subjected to excessive loads.
4. The cables minimum bend radius is R30.
5. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.

www.yamaharobotics.com

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

Cable length Note 1

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

1. The robot cable is flexible and resists bending.

Basic specifications

Allowable overhang Note


A

Cable length (m)


Degree of cleanliness

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

Vertical installation (Unit: mm)


Lead 6 Lead 12

Lead 6 Lead 12 Lead 20

Horizontal installation (Unit: mm)


2kg

Standard: 1 / Option: 3, 5
CLASS 10 Note 3
Lead 20 Lead 12 Lead 6
80
50
30

Intake air (N /min)

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 (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)

Static loading moment

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).

1. Positioning repeatability in one direction.


2. 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 below.
3. Per 1cf (0.1m base), when suction blower is used.

SSC05
Approx. 200 (Cable length)
30.5
13

178+/-2: When origin is on motor side


(178: When origin is on non-motor side)
140+/-1 (Note 1)

Cable securing position (Note 3)

2-4H7 Depth6
4-M4 x 0.7 Depth8

24

14+/-1(Note 1)

Mounting
direction: LJ

4)
(3

51

36
(17)

56

2-6 Suction air joint


Mounting direction:
RJ (Note 2)

180+/-1 (with brake) (Note 1)


218+/-2 (with brake): When origin is on motor side
(218 with brake: When origin is on non-motor side)
178 (with brake)
138
70
42

24
55

57 (Slider top face)


(0.5)

12.5

42 (between
knocks +/-0.02)

40.5

15

34

8 20.5

(52: When origin is on motor side)


52+/-2: When origin is on non-motor side

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.

www.yamaharobotics.com

Transervo Catalog- 

SSC05H

Cleanroom type

High lead: Lead 20

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

Cable length Note 1

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

1. The robot cable is flexible and resists bending.

Basic specifications

Allowable overhang Note

Static loading moment

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

Vertical installation (Unit: mm)


Lead 6 Lead 12

6kg

Lead 20

4kg

Wall installation

Lead 12

Lead 12

Lead 20

Horizontal installation (Unit: mm)


2kg

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).

1. Positioning repeatability in one direction.


2. 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 below.
3. Per 1cf (0.1m base), when suction blower is used.

SSC05H
Approx. 200 (Cable length)

223.5+/-2: When origin is on motor side


(223.5: When origin is on non-motor side)

Cable securing position (Note 3)

Effective stroke

175.5+/-1 (Note 1)

2-4H7 Depth6
4-M5 x 0.8 Depth10

14.5+/-1 (Note 1)

24

43

(62.5 When origin is on motor side)


62.5+/-2: When origin is on non-motor side

43 (between
knocks +/-0.02)

40.5

195.5+/-1 (with brake) (Note 1)


243.5+/-2 (with brake): When origin is on motor side
(243.5 with brake: When origin is on non-motor side)

90
53

36

51

56

2-6 Suction air joint


Mounting direction:
RJ (Note 2)

(17)

24
55

60 (Slider top face)


(0.5)

214 (with brake)


194

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

700 750 800


986 1036 1086
16
17
18

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

1. Stop positions are determined by the


mechanical stoppers at both ends.
2. Either right or left can be selected for the
suction air joint mounting direction. This
drawing shows the RJ (standard) direction.
3. Secure the cable with a tie-band 100mm or
less from units end face to prevent the cable
from being subjected to excessive loads.
4. The cables minimum bend radius is R30.
5. These are the weights without a brake. The
weights are 0.2kg heavier when equipped with
a brake.
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.

TS-S

Robot Positioner

TS series

Dedicated I/O point tracing

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

Moves from the current position


to a distance specif ied in point
data and completes positioning.

P1

Pushing starts after decelerating


at a distance equal to Near width
(N) from the target position.

Setting items

2 Position
3 Speed
4 Accel.
5 Decel.
6 Push
7 Zone (-)
8 Zone (+)
9 Near width
10 Jump
11 Flag

P2

Settings such as acceleration, deceleration, zone output


range, and position margin zone can be set for each point.
Different operations can be easily specified by combining
these settings with the above operation patterns.

1 Run type

P1

Moves to multiple points in


succession. If different speeds were
set, then the speeds are changed
without decelerating and stopping to
continue point-to-point operation.

Decelerates and then


pushes

2 Detailed data can be set for each point

Setting item

Changes speed with no


deceleration

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.

Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units


(standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time.

Output turns ON when a


specified zone is entered
ON

OFF

P1

Zone for external I/O output can


be set for each point.

Near width output

P1

Moves while pushing at a preset


push force.

Pushing after decelerating

Pushing operation

Pushes at a fixed thrust

Moves a specified distance


from the current position

Output pattern
Zone output

P1

Moves to the target position relative


to the origin point and completes
positioning.

INC (incremental) operation

Speed

ABS (absolute) operation

Moves to a specified
coordinate position.

Merge operation
Merge operation

Normal operation

Specify position margin


zone.

P1

Near width output zone can be set for


each point as a position margin zone where
positioning complete signal is to be output.

3 Maximum acceleration auto setting


Acceleration is a critical parameter that determines how
long the robot can continue operating (or service life).
In worst cases, setting the acceleration too high may
cause the robot to breakdown after a short time.
On the TS series, the maximum acceleration is finely set by
taking into account the service life span of the motor output and
the guide for each robot model and payload. This eliminates
any worry about setting the acceleration too high by mistake.

4 Full range of monitor functions


The TS-Manager software developed exclusively for the
TS series not only does data write, edit, backup tasks and
parameter settings but also comes loaded with cycle-time
motion simulator, and four channel oscilloscope.
A run-distance monitor for maintenance use is provided
as a standard unit feature. Design emphasizes easy,
user-friendly operation.
Typical Oscilloscope
Feedback
Position
Speed
Current
Load factor
Voltage
Temperature
Input information
Output information

www.yamaharobotics.com

Transervo Catalog- 11

TS-S Robot Positioner


Instruction manuals can be downloaded from our company website.
http://www.yamaharobotics.com/Business/robot/Manuals

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

General specifications Options External input/output

Points

Axis control

Basic specifications

TS-S basic specifications


Item
Model
Number of controllable axes
Controllable robots
Maximum power consumption
Dimensions
Weight
Input power Control power supply
supply
Motor power supply
Operating method
Operation types
Position detection method
Resolution
Origin search method
Points

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

HT1, HT1-D (with enable switch)

Support software for PC

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

Point type setting


Point teaching method
I/O interface
Input
Output

Atmosphere
Anti-vibration
Protective functions

Transervo Catalog- 12

www.yamaharobotics.com

Robot Positioner TS-S


TS-S part names

TS-S dimensions
5

Controller

Status indicator lamps


(PWR, ERR)
The controller status is indicated
by LED lamps.

Communication
connector 2 (COM2)
Not used at present
(for future expansion)

30

(70)

82

25

4.5

152

Robot I/O connector (ROB I/O)


Dedicated connector for robot I/O
signals such as position signals
and origin sensor signals, etc.

152

Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.

162

Serial No.

I/O connector (I/O)


Selectable at time of purchase as:
NPN,PNP, CC-LINK or DeviceNet.

NPN type input / output wiring diagram

PNP type input / output wiring diagram

TS-S

TS-S
Controller

I/O(NPN)
+COM

Emergency stop contact 1


Emergency stop contact 2
Emergency stop READY signal
Main power input
Control power input 24V DC

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

JOG movement (+)


JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON

-COM

I/O power common

Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status

Point No. outputs


POUT 0 to 7

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)

Power supply connector


Connector for main power and
control power input.

Emergency stop circuit example


TS-S (power connector and host unit connection example)

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

www.yamaharobotics.com

Transervo Catalog- 13

TS-S Robot Positioner


Instruction manuals can be downloaded from our company website.
http://www.yamaharobotics.com/Business/robot/Manuals

I/O Specifications

NPN type I/O circuit details

Item

Input circuit

Description

Input 16 points, 24VDC +/-10%, 5.1mA/point, positive common


NPN
Output 16 points, 24VDC +/-10%, 50mA/point, sink type
Input 16 points, 24VDC +/-10%, 5.5mA/point, minus common
PNP
Output 16 points, 24VDC +/-10%, 50mA/point, source type
CC-Link
CC-Link Ver.1.10 compatible, Remote station device (1 node)
DeviceNet DeviceNet Slave 1 node

+COM
DC24V

4.7k

Input

Internal
circuit

Logic
circuit

-COM

I/O signals (NPN / PNP)

+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)

Type : DC input (plus common type)


Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.1mA
OFF voltage : 19.6Vmin (1.0mA)
ON voltage : 4.9Vmax (4.0mA)

Use prohibited

Output circuit
+COM

Point No. select (BCD)

Output
Internal
circuit

Logic
circuit

Load
DC24V

Inputs

Signal name

-COM

JOG movement (+ direction)


JOG movement (- direction)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON

Type : NPN open collector output


(Minus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point

PNP type I/O circuit details


Input circuit
+COM

Point No. outputs (BCD)

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

Type : DC input (minus common type)


Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.5mA
ON voltage : 19.6Vmin (4.5mA)
OFF voltage : 4.9Vmax (1.1mA)

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

Type : PNP open collector output


(Plus common type)
Photo-coupler isolation format
Load : 24VDC, 50mA/point

Transervo Catalog- 14

www.yamaharobotics.com

Load

Robot Positioner TS-S


Accessories and part options
Standard accessories
Power connector

Dummy connector

I/O cables (2m)

Model

Model

Model

KCC-M4421-00

KCA-M5163-00

KCA-M4421-20

Options
Teach Pendant HT1 / HT1-D

Support software TS-Manager

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

USB type (5m)


KCA-M538F-A0
D-Sub type (5m) KCA-M538F-00

3-position
Applicable

P. 16

TS-Manager environment
OS
CPU
Memory
Hard disk
Communication port
Applicable controllers

Microsoft Windows 2000/XP/Windows Vista/Windows 7


Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 20MB in the installation destination drive
Serial (RS-232C), USB
TS-S

1. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.

www.yamaharobotics.com

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 basic specifications


Name

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

TS-S, TS-X, TS-P


KCA-M5110-0J
KCA-M5110-1J
KCA-M5110-0E
KCA-M5110-1E
Dot matrix monochrome display (with backlighting) 32 characters 10 lines
Mechanical switch
Normally closed contact point (with lock function)
3-position
15 pin D-sub connector (male)
Not supported
Applicable
0C to 40C
35% to 85%RH (non-condensing)
W88 H191 D45mm (Emergency stop button not included.)
260g (not including cable)
300g (not including cable)
3.5m

Part names and function

HT1-D rear side

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.

Data edit keys


Use these keys to
select menus and edit
various data.

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)

Use with remote safety


circuits triggered by the
emergency stop button or
enable switch.

This switch is effective for


use with remote safety
circuits. This switch cuts off
the circuit when pressed or
released but allows circuit
operation when in the
middle position.

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.

JOG movement, inching


operation, and current position
acquisition buttons.

Only clicking relevant icon will


show the operation panel or I/O
monitor.

Turns ON or OFF the operation


point monitoring.
Shows the data in easy-to-read
tabular format.
Exchanging data with a
spreadsheet application, such
as Excel is also easy.

Shows the servo or emergency


stop status, and operation mode.
Shows the current position at
real-time.

Operation panel for servo status,


brake ON/OFF, and stop.
Note. Excel is a registered trademark of Microsoft Corporation in the United States and/or other countries.

2 Four Channel Oscilloscope (Real-time trace)


This function traces the current position, speed, load factor, current
value, and voltage value at real-time. Additionally, as trigger conditions
are set, data can be automatically obtained when these conditions are
satisfied. Furthermore, as a zone is specified from the monitor results,
the maximum value, minimum value, and average value can be calculated. These values are useful for the analysis if a trouble occurs.

Specify a zone
for calculation.

Real-time traceable items (up to four items)


Voltage value
Current value
Motor load factor
Command speed
Current speed
Internal temperature
Command current value Present current value Input/output I/O status
Word input/output status

Traces data at real-time.

3 Various monitor functions and detailed error logs


The robot operation status (operation mode or servo status) and I/O status can be monitored.
Additionally, the Alarm Log screen also displays the input/output I/O
status in addition to the carrier position, speed, operation status, current
value, and voltage value in case of an alarm. This greatly contributes to
the status analysis.

I/O status monitor panel

Detailed status monitor panel

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.

Point data list

Operation setting list

Displays the detailed simulation


results graphically.

Result display list

www.yamaharobotics.com

Transervo Catalog- 17

Field network system with minimal wiring


Field network system with minimal wiring

NETWORK
Applicable controllers

TS-S

TS-X

TS-P

Network modules CC-Link


Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S .
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to save wiring of the entire system, which contributes to
efficient wiring work, reduction of installation and maintenance costs, etc.
16 input/outputs usable as I/O.
Operation occurs as a CC-Link remote device station,
on a one-unit to one-station basis.

Basic specifications for network modules CC-Link


Item
Applicable controllers
Version supporting CC-Link
Remote node type
Number of occupied nodes
Node number setting
Communication speed setting
No. of CC-Link inputs/outputs
Shortest distance between nodesNote1
Overall extension distanceNote1

Remote commands can read or write point data and


load each type of status.

Monitor LED

Network modules CC-Link


TS-S, TS-X, TS-P
Ver. 1.10
Remote device node
1 node
1 to 64
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 125Kbps
Input 16 points , Output 16 points
0.2m or more
100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps,
1200m/156Kbps
L RUN, L ERR, SD, RD

1. These values apply when a cable that supports CC-Link Ver.1.10 is used.

Network modules DeviceNet


Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S .
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to reduce wiring of the entire system, which contributes
to efficient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
Operate as slave stations, with each unit occupying 6
input and 6 output channels.
Remote commands can read or write point data and
load each type of status.

Transervo Catalog- 18

Basic specifications for network modules DeviceNet


Item
Applicable controllers
Applicable DeviceNet specifications
Device type
Number of occupied CH
MAC ID setting
Communication speed setting
DeviceNet inputs/outputs
Overall extension distance
Network Branch length
length
Overall branch length
Monitor LED

www.yamaharobotics.com

Network modules DeviceNet


TS-S, TS-X, TS-P
Volume 1 Release2.0/Volume 2 Release2.0
Generic Device (device number 0)
Input 6ch, Output 6ch
0 to 63
500Kbps, 250Kbps, 125Kbps
Input 16 points, Output 16 points
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
6m or less
39m or less/500Kbps, 78m or less/250Kbps,
156m or less/125Kbps
Module, Network

Other Yamaha Robots compatible with TS-Manager Software Support

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

TIMING BELT DRIVE


B10 (Shown)
B14/B14H

YAMAHA linear motor single-axis robots


PHASER series robots use a compact-size linear motors which provides high
thrust, high performance, +/-5 m repeatability, 3G maximum acceleration and
2500 mm/sec maximum speed.

ALL MODELS SUPPORT INDIVIDUALLY-DRIVEN, DOUBLE-CARRIAGE OPTIONS

MR

ROUND CORE LINEAR


MOTOR, COMPACT SIZE
MR12/MR12D
MR16/MR16D
MR20/MR20D
MR25/MR25D

TS-P
Single axis
semi-absolute
robot positioner

MF

FLAT CORE LINEAR MOTOR,


LONG TRAVEL, HIGH POWER
MF15/MF15D
MF20/MF20D
MF30/MF30D
MF50/MR50D

www.yamaharobotics.com

Transervo Catalog- 19

OTHER YAMAHA ROBOTS

Phaser Series
MF Type
SCARA Robots
YK-XG Series

Flip-X Series

Pick & Place Robots


YP-X Series

Cartesian Robots
Series XY-X

Specifications and appearance are subject to change without prior notice. (July 2010)

qty -? 5/10 8094