The TRANSERVO by YAMAHA! Stepper motor single-axis actuator that breaks all the old rules!

Transcription

1 YMH Single-xis ctuators Stepping Servo (SS04 / SS04 / SS05 / SS05 / SS05H / SS05H) The TRNSERVO by YMH! Stepper motor single-axis actuator that breaks all the old rules! TRNSERVO01

2 YMH S series single-axis ball screw driven robots TRNSERVO SERIES losed loop stepper motor single-axis robot available in class 10 cleanroom. vailable 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! asic 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. Utilizes a 4-row circular arc groove rail guide Ideal for handling large moment loads while maintaining high rigidity. SS05H SS05 SS04 leanroom type SS05H SS05 SS04 Robot Positioner is a single axis, incremental, D 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. D digital I/O input from a master controller such as a PL can be used to move the robot to these predefined points. The is capable of position or torque based motion profiles, which are executed closed-loop. TRNSERVO easy selection table Type Size (mm) Lead (mm) Maximum payload (kg) Maximum speed Horizontal Vertical (mm/sec) W49 H Stroke (mm) Model Detailed info page 50 to 400 Standard type: SS04 leanroom type: SS04 Standard type P. 5 leanroom type P. 8 Standard type / leanroom type W55 H to 800 Standard type: SS05 leanroom type: SS05 Standard type P. 6 leanroom type P W55 H (Horizontal) 500 (Vertical) 300 (Horizontal) 250 (Vertical) 50 to 800 Standard type: SS05H leanroom type: SS05H Standard type P. 7 leanroom type P. 10 Transervo atalog- 2

3 The Yamaha TRNSERVO enefits 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 TRNSERVO by YMH eliminates all these problems by adopting an innovative vector control method. In effect, the TRNSERVO delivers the same functions of a servomotor but using a lower cost stepper motor. Stepping motor Simple design & low cost No vibration while stopped Servo Motors Smooth movement onstant torque at all speed range ombines the best features of both types! High-pitched operating noise Drop in torque at high-speed Vibrations when stopped ost is higher High-speed operation slashes production time! The TRNSERVO moves heavy payloads faster than typical steppers with conventional controls. Ordinary type TRNSERVO Payload Must use only small payloads during high speeds Payload Payload is always constant! Speed (mm/s) Speed (mm/s) Energy saver! ontrol is basically the same as a servo motor so power consumption is kept to a minimum, which saves energy. 2 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. dditionally, 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. 3 Ideal 4-row circular-groove guide provides long service life 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 4-row circular-arc-groove Ordinary model TRNSERVO Transervo atalog-

4 TRNSERVO SPEIFITION SHEET Model SS04 SS04 SS05 SS05 SS05H SS05H Lead (mm) Payload (kg) Stroke (mm) and maximum speed (mm/sec) Horizontal Vertical Robot ordering method description In the order format for the YMH single-axis robots TRNSERVO series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation. [Example] Mechanical SS05 Lead 6mm Type Straight rake Yes Origin position Standard Grease Stroke able length Standard 600mm 1m ontroller Input /Output selection NPN Ordering Method SS05 06S NN 600 Mechanical section 1L SNP ontroller section To find detailed controller information see the controller page. P. 11 Robot ordering method terminology Model Lead Type rake Origin position Grease option Stroke able length ontroller I/O Enter the robot unit model. Select the ball screw lead. Show the robot type by the motor installation position. (Only the straight type is currently available.) Select rake or No-brake. Horizontal Operation: No-brake Origin point position can be changed. leanroom grease can be selected. Select the stroke for the robot operating range. Vertical Operation: With rake Select the robot cable length for connecting the robot to the controller. 1L: 1m (standard) 3L: 3m 5L: 5m ontroller for Transervo is. Select the type of I/O desired or the field bus required. NP: NPN PN: PNP : -Link DN: DeviceNet Transervo atalog-

5 SS04 E compliance Ordering method SS04 S S Model Lead Type rake Origin position Grease option Stroke able length Note 1 ontroller I/O 12: 12mm S: Straight : With brake N: Standard N: Standard grease 50 to 400 1L: 1m S: NP: NPN 6: 6mm N: With no brake Z: Non-motor side : leanroom grease (50mm pitch) 3L: 3m PN: PNP 2: 2mm 5L: 5m : -Link DN: DeviceNet The robot cable is flexible and resists bending. asic specifications llowable overhang Note Static loading moment Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ8 (lass 10) Maximum motor torque (N. m) 0.27 all screw lead (mm) Maximum speed (mm/sec) Maximum payload (kg) Horizontal Vertical Max. pressing force (N) Stroke (mm) Overall length (mm) Horizontal Vertical Maximum outside dimension of body cross-section (mm) 50 to 400 (50mm pitch) Stroke+216 Stroke+261 W49 H59 able length (m) Standard: 1 / Option: 3, 5 Positioning repeatability in one direction. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead 2 1kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg Lead 2 6kg kg Lead 2 2kg kg kg 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). (Unit: N. m) MY MP MR ontroller ontroller Operation method I/O point trace (D) SS pprox. 200 (able length) able securing position (Note 2) 161+/-2: When origin is on motor side (161: When origin is on non-motor side) 129+/-1 (Note 1) 21 2-ϕ3H7 Depth 6 4-M4 x 0.7 Depth 8 Effective stroke (55: When origin is on motor side) 55+/-2: When origin is on non-motor side 23+/-1 (Note 1) /-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) (between knocks +/-0.02) L L+45 (with brake) 51 (Slider top face) (with brake) x 50 -M5 x 0.8 Depth8 R ϕ4h7 ( ) Depth (with brake) Depth6 0 Effective stroke L Weight (kg) Note Stop positions are determined by the mechanical stoppers at both ends. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. The cable s minimum bend radius is R30. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. Transervo atalog- 5

6 SS05 High lead: Lead 20 E compliance Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ12 (lass 10) Maximum motor torque (N. m) 0.27 all screw lead (mm) Maximum speed Note 2 (mm/sec) Maximum payload (kg) Horizontal Vertical 1 2 Max. pressing force (N) Stroke (mm) Overall length (mm) Horizontal Vertical Maximum outside dimension of body cross-section (mm) 50 to 800 (50mm pitch) Stroke+230 Stroke+270 W55 H56 able length (m) Standard: 1 / Option: 3, Ordering method SS05 S S Model Lead Type rake Note 1 Origin position Grease option Stroke able length Note 2 ontroller I/O 20: 20mm S: Straight : With brake N: Standard N: Standard grease 50 to 800 1L: 1m S: NP: NPN 12: 12mm N: With no brake Z: Non-motor side : leanroom grease (50mm pitch) 3L: 3m PN: PNP 6: 6mm 5L: 5m : -Link DN: DeviceNet rake-equipped models can be selected only when the lead is 12mm or 6mm. The robot cable is flexible and resists bending. asic specifications llowable overhang Note Static loading moment Positioning repeatability in one direction. 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. SS pprox. 200 (able length) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead 20 able securing position (Note 2) 2kg Lead 20 2kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg 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). 178+/-2: When origin is on motor side (178: When origin is on non-motor side) 140+/-1 (Note 1) 34 Effective stroke 2-ϕ4H7 Depth 6 4-M4 x 0.7 Depth8 ontroller (Unit: N. m) MY MP MR ontroller Operation method I/O point trace (D) (55: When origin is on motor side) 52+/-2: When origin is on non-motor side 14+/-1 (Note 1) /-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) (between knocks +/-0.02) L L+40 (with brake) 57 (Slider top face) (with brake) x 50 -M6 x 1 Depth8 R ϕ4h7 ( 0 ) Depth (with brake) Depth6 0 Effective stroke L Weight (kg) Note Maximum Lead speed for each Lead stroke Note 4 Lead (mm/sec) Speed setting 93% 83% 73% 63% Note Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R30. Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. Note 5. 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. Transervo atalog-

7 SS05H High lead: Lead 20 E compliance Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ12 (lass 10) Maximum motor torque (N. m) 0.47 all screw lead (mm) Maximum speed Note 2 (mm/sec) Maximum payload (kg) Horizontal Vertical Horizontal Vertical 2 4 Max. pressing force (N) Stroke (mm) Overall length (mm) Horizontal Vertical Maximum outside dimension of body cross-section (mm) 50 to 800 (50pitch) Stroke+286 Stroke+306 W55 H56 able length (m) Standard: 1 / Option: 3, 5 2. SS05H S S 2. Ordering method Model Lead Type rake Note 1 Origin position Grease option Stroke able length Note 2 ontroller I/O 20: 20mm S: Straight : With brake N: Standard N: Standard grease 50 to 800 1L: 1m S: NP: NPN 12: 12mm N: With no brake Z: Non-motor side : leanroom grease (50mm pitch) 3L: 3m PN: PNP 6: 6mm 5L: 5m : -Link DN: DeviceNet rake-equipped models can be selected only when the lead is 12mm or 6mm. The robot cable is flexible and resists bending. asic specifications Positioning repeatability in one direction. 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. SS05H pprox. 200 (able length) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead 20 2kg Lead 20 2kg kg kg kg kg 2 2 6kg kg kg kg kg kg kg kg kg 4 5 4kg kg kg kg kg kg kg kg kg 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) : When origin is on motor side (223.5: When origin is on non-motor side) able securing position (Note 2) /-1 (Note 1) 43 llowable overhang Note Static loading moment Effective stroke 2-ϕ4H7 Depth6 4-M5 x 0.8 Depth10 ontroller (Unit: N. m) MY MP MR (62.5: When origin is on motor side) 62.5+/-2: When origin is on non-motor side 14.5+/-1 (Note 1) ontroller Operation method I/O point trace (D) /-1 (with brake) (Note 1) 3.5+/-2 (with brake): When origin is on motor side (3.5 with brake: When origin is on non-motor side) (between knocks +/-0.02) L L+20 (with brake) 60 (Slider top face) (with brake) x 50 -M6 x 1 Depth8 R ϕ4h7 ( ) Depth (with brake) Effective stroke L Weight (kg) Note Lead Maximum Lead12 (Horizontal) speed for each stroke Note 4 Lead12 (Vertical) (mm/sec) Lead6 (Horizontal) Lead6 (Vertical) Depth6 0 Note Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R30. Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. Note 5. 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. Transervo atalog-

8 SS04 leanroom type E compliance SS04 S S Model Lead Type rake Direction of air Origin position Stroke able length Note 1 Input/Output ontroller coupler installation selection 12: 12mm S: Straight : With brake RJ: Right (Standard) N: Standard 50 to 400 1L: 1m S: NP: NPN 6: 6mm N: With no brake LJ: Left Z: Non-motor side (50mm pitch) 3L: 3m PN: PNP 2: 2mm 5L: 5m : -Link DN: DeviceNet The robot cable is flexible and resists bending. Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ8 (lass 10) Maximum motor torque (N. m) 0.27 all screw lead (mm) Maximum speed (mm/sec) Maximum payload (kg) Horizontal Vertical Max. pressing force (N) Stroke (mm) Overall length (mm) Horizontal Vertical Maximum outside dimension of body cross-section (mm) 50 to 400 (50mm pitch) Stroke+216 Stroke+261 W49 H59 able length (m) Standard: 1 / Option: 3, 5 Degree of cleanliness LSS 10 Note 2 Intake air (N /min) 2. Ordering method asic specifications llowable overhang Note Static loading moment Lead Positioning repeatability in one direction. Per 1cf (0.1μm base), when suction blower is used. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead 2 1kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg Lead 2 6kg kg Lead 2 2kg kg kg 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). ontroller Operation method (Unit: N. m) MY MP MR ontroller I/O point trace (D) SS pprox. 200 (able length) able securing position (Note 3) 161+/-2: When origin is on motor side Effective stroke (161: When origin is on non-motor side) 1+/-1 (Note 1) 21 2-ϕ3H7 Depth6 4-M4 x 0.7 Depth8 (55: When origin is on motor side) 55+/-2: When origin is on non-motor side 18+/-1 (Note1) ϕ6 Suction air joint Mounting direction: RJ (Note 2) 34.5 (15) Mounting direction: LJ 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) 176 (with brake) 33 (between knocks +/-0.02) L L+45 (with brake) (ϕ34) (Slider top face) (with brake) x 50 -M5 x 0.8 Depth8 R (with brake) ϕ4h7( 0 ) Depth 6 D Depth Effective stroke L Weight (kg) Note Stop positions are determined by the mechanical stoppers at both ends. Either right or left can be selected for the suction air joint mounting direction. This drawing shows the RJ (standard) direction. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. The cable s minimum bend radius is R30. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. Transervo atalog-

9 SS05 leanroom type E compliance SS05 S S Model Lead Type rake Direction of air Origin position Stroke able length Note 1 Input/Output ontroller coupler installation selection 20: 20mm S: Straight : With brake RJ: Right (Standard) N: Standard 50 to 800 1L: 1m S: NP: NPN 12: 12mm N: With no brake LJ: Left Z: Non-motor side (50mm pitch) 3L: 3m PN: PNP 6: 6mm 5L: 5m : -Link DN: DeviceNet The robot cable is flexible and resists bending. Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ12 (lass 10) Maximum motor torque (N. m) 0.27 all screw lead (mm) Maximum speed (mm/sec) Note Maximum payload (kg) Horizontal Vertical 1 2 Max. pressing force (N) Stroke (mm) 50 to 800 (50mm pitch) Overall length (mm) Horizontal Vertical Maximum outside dimension of body cross-section (mm) Stroke+230 Stroke+270 W55 H56 able length (m) Standard: 1 / Option: 3, 5 Degree of cleanliness LSS 10 Note 3 Intake air (N /min) Lead 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 (0.1μm base), when suction blower is used. SS pprox. 200 (able length) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) 2kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg 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). Lead 20 able securing position (Note 3) Lead /-2: When origin is on motor side (178: When origin is on non-motor side) 140+/-1 (Note 1) 34 Effective stroke 2-ϕ4H7 Depth6 4-M4 x 0.7 Depth8 ontroller Operation method (Unit: N. m) MY MP MR (52: When origin is on motor side) 52+/-2: When origin is on non-motor side 14+/-1(Note 1) I/O point trace (D) Ordering method asic specifications llowable overhang Note Static loading moment ontroller ϕ6 Suction air joint Mounting direction: RJ (Note 2) 36 (17) Mounting direction: LJ 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) (between knocks +/-0.02) L L+40 (with brake) (ϕ34) (Slider top face) (0.5) (with brake) x 50 -M6 x 1 Depth8 R ϕ4h7 ( 0 ) Depth D (with brake) Effective stroke L Weight (kg) Note Maximum speed Lead for each stroke (mm/sec) Note Depth 6 2 Note Stop positions are determined by the mechanical stoppers at both ends. Note 2. Either right or left can be selected for suction air joint mounting direction. This drawing shows the RJ (standard) direction. Note 3. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 4. The cable s minimum bend radius is R30. Note 5. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. 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. Transervo atalog-

10 SS05H leanroom type High lead: Lead 20 E compliance SS05H S S Model The robot cable is flexible and resists bending. Lead Type rake Direction of air Origin position Stroke able length Note 1 Input/Output ontroller coupler installation selection 20: 20mm S: Straight : With brake RJ: Right (Standard) N: Standard 50 to 800 1L: 1m S: NP: NPN 12: 12mm N: With no brake LJ: Left Z: Non-motor side (50mm pitch) 3L: 3m PN: PNP 6: 6mm 5L: 5m : -Link DN: DeviceNet Motor 42 Step motor Repeatability Note 1 (mm) +/-0.02 Deceleration mechanism all screw ϕ12 (lass 10) Maximum motor torque (N. m) 0.47 all screw lead (mm) Maximum speed Note 2 Horizontal (mm/sec) Vertical Maximum Horizontal payload (kg) Vertical 2 4 Max. pressing force (N) Stroke (mm) 50 to 800 (50mm pitch) Overall length Horizontal Stroke+286 (mm) Vertical Stroke+306 Maximum outside dimension of body cross-section (mm) W55 H56 able length (m) Standard: 1 / Option: 3, 5 Degree of cleanliness LSS 10 Note 3 Intake air (N /min) Lead 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 (0.1μm base), when suction blower is used. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) 2kg kg kg kg kg kg 2 2 6kg kg kg 4 5 4kg kg kg kg kg kg kg kg kg kg kg kg kg kg kg 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). Lead 20 Lead 20 ontroller Operation method (Unit: N. m) MY MP MR I/O point trace (D) SS05H pprox. 200 (able length) able securing position (Note 3) /-2: When origin is on motor side (223.5: When origin is on non-motor side) /-1 (Note 1) 43 Effective stroke 2-ϕ4H7 Depth6 4-M5 x 0.8 Depth10 (62.5 When origin is on motor side) 62.5+/-2: When origin is on non-motor side 14.5+/-1 (Note 1) Ordering method asic specifications llowable overhang Note Static loading moment ontroller ϕ6 Suction air joint Mounting direction: RJ (Note 2) 36 (17) Mounting direction: LJ /-1 (with brake) (Note 1) 3.5+/-2 (with brake): When origin is on motor side (3.5 with brake: When origin is on non-motor side) 214 (with brake) (with brake) L L+20 (with brake) 43 (between knocks +/-0.02) x 50 -M6 x 1 Depth8 (ϕ34) (Slider top face) (0.5) R Effective stroke L Weight (kg) Note Lead Maximum speed (Horizontal) for each stroke (Vertical) (mm/sec) Note 6 (Horizontal) (Vertical) Transervo atalog ϕ4h7 ( 0 ) Depth D (with brake) Depth Stop positions are determined by the mechanical stoppers at both ends. Either right or left can be selected for the suction air joint mounting direction. This drawing shows the RJ (standard) direction. Secure the cable with a tie-band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads. The cable s minimum bend radius is R30. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake. 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.

11 Robot Positioner TS series Dedicated I/O point tracing is a single axis, incremental, D 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. D digital I/O input from a master controller such as a PL can be used to move the robot to these predefined points. The is capable of position or torque based motion profiles, which are executed closed-loop. Features 1 Main operation patterns Normal operation Merge operation Output pattern S (absolute) operation Pushing operation Speed Moves to a specified coordinate position. P1 Position Moves to the target position relative to the origin point and completes positioning. Pushes at a fixed thrust P1 Moves while pushing at a preset push force. IN (incremental) operation Pushing after decelerating Moves a specified distance from the current position urrent position P1 Moves from the current position to a distance specified in point data and completes positioning. Decelerates and then pushes P1 Pushing starts after decelerating at a distance equal to Near width (N) from the target position. N Merge operation hanges speed with no deceleration P1 P2 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. Zone output Near width output Output turns ON when a specified zone is entered ON OFF P1 Zone for external I/O output can be set for each point. 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. 2 Detailed data can be set for each point 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. Setting items Setting item Description 1 Run type Specifies motion profiles such as S, IN, positioning, push, and point-to-point merging. 2 Position Specifies position or distance to move. 3 Speed Specifies maximum speed during operation. 4 ccel. Specifies acceleration during operation. 5 Decel. Specifies deceleration during operation (Percentage of acceleration) 6 Push Specifies motor current limitation during pushing operation. 7 Zone (-) Specifies upper and lower limits of personal 8 Zone (+) zone for each point data. Specifies position margin zone where near 9 Near width width output should turn on. 10 Jump Specifies next movement destination after positioning or merging destination for point-to-point operation. 11 Flag Specifies stop mode and others. Note:cceleration 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. 3 Maximum acceleration auto setting cceleration 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. run-distance monitor for maintenance use is provided as a standard unit feature. Design emphasizes easy, user-friendly operation. Typical Oscilloscope Feedback Position Speed urrent Load factor Voltage Temperature Input information Output information Transervo atalog- 11

12 Robot Positioner Instruction manuals can be downloaded from our company website. Model Overview Name Power DV +/-10% Operating method I/O point tracing (D) Maximum number of controllable axes Single-axis Position detection method Incremental ontrollable robot ompact single-axis robot TRNSERVO Support software for P TS-Manager Ordering method ontroller I/O NP: NPN PN: PNP : -LINK DN: DeviceNet asic specifications xis control Points External input/output Options General specifications basic specifications Item Model Number of controllable axes Single-axis ontrollable robots TRNSERVO series Maximum power consumption 70V Dimensions W30 H162 D82mm Weight pprox. 0.2kg Input power ontrol power supply DV +/-10% supply Motor power supply DV +/-10% Operating method I/O point tracing (D) Operation types Positioning, merge-positioning, push, and jog operations Position detection method Resolver Resolution Pulses/Revolutions Origin search method Incremental Points 255 points Point type setting (1) Standard setting: Set speed and acceleration in percent of the respective maximum settings. (2) ustom setting: Set speed and acceleration in SI units. Point teaching method Manual data input (coordinates input), Teaching, Direct teaching I/O interface Selectable from the following: NPN, PNP, -Link, DeviceNet Servo ON (SERVO), reset (RESET), start (STRT), interlock (/LOK) origin search (ORG), manual Input mode (MNUL), jog motion - (JOG-), jog motion + (JOG+), Point number selection (PIN0 to PIN7) Output Servo status (SRV-S), alarm (/LM), operation end (END), operation in-progress (USY), control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7) External communications RS-232 1H (for programming only) Safety circuit Emergency stop input (2 contact points), main power supply ready output Handy terminal Support software for P HT1, HT1-D (with enable switch) TS-Manager Operating temperature 0 to 40 Storage temperature -10 to 65 Operating humidity 35% to 85%RH (non-condensing) tmosphere Indoor location not exposed to direct sunlight. No corrosive, flammable gases, oil mist, or dust particles nti-vibration ll XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s 2 Protective functions Positioning detection error, power module error, temperature abnormality, overload, overvoltage, low voltage, gross position error Transervo atalog- 12

13 part names dimensions Robot Positioner ommunication connector 2 (OM2) Not used at present (for future expansion) ontroller Status indicator lamps (PWR, ERR) The controller status is indicated by LED lamps. 30 (70) ϕ4.5 ommunication connector 1 (OM1) onnector for connection to HT1 or a personal computer. I/O connector (I/O) Selectable at time of purchase as: NPN,PNP, -LINK or DeviceNet. Power supply connector onnector for main power and control power input. Serial No. Robot I/O connector (RO I/O) Dedicated connector for robot I/O signals such as position signals and origin sensor signals, etc. Rating nameplate (on side face of unit body) R NPN type input / output wiring diagram PNP type input / output wiring diagram ontroller +OM I/O(NPN) DV I/O power + common Emergency stop contact 1 Emergency stop contact 2 Emergency stop REDY signal Main power input ontrol power input V D Power supply 0V Frame ground Power connector ES1 ES2 ES- MPV PV 0V FG POUT0 POUT7 OUT0 OUT3 USY END /LM SERVO-S PIN0 PIN7 JOG+ JOG- MNUL ORG /LOK STRT RESET SERVO Point No. outputs POUT 0 to 7 ontrol outputs OUT 0 to 3 Operation-in-progress End-of-operation larm Servo status PIN 0 to 7 Point No. selection JOG movement (+) JOG movement (-) MNUL mode Return-to-origin Interlock Start Reset Servo ON -OM I/O power common Emergency stop circuit example (power connector and host unit connection example) ontroller OM1 Handy Terminal External V External emergency stop ES1 ES2 ES- ES Status MPV PV RY 0V FG Internal GND External 0V External 0V Transervo atalog- 13

14 Robot Positioner Instruction manuals can be downloaded from our company website. I/O Specifications NPN type I/O circuit details Item NPN PNP -Link DeviceNet Description Input 16 points, VD +/-10%, 5.1m/point, positive common Output 16 points, VD +/-10%, 50m/point, sink type Input 16 points, VD +/-10%, 5.5m/point, minus common Output 16 points, VD +/-10%, 50m/point, source type -Link Ver.10 compatible, Remote station device (1 node) DeviceNet Slave 1 node Input circuit +OM DV Input 4.7kΩ Logic circuit Internal circuit -OM I/O signals (NPN / PNP) No. Signal name Description 1 Input power + common (Not internally +OM 2 connected, apply power to both pins) 3 N Use prohibited 4 N 5 PIN0 6 PIN1 7 PIN2 8 PIN3 Point No. select (D) 9 PIN4 10 PIN5 11 PIN6 12 PIN7 13 JOG+ JOG movement (+ direction) 14 JOG- JOG movement (- direction) 15 MNUL MNUL mode 16 ORG Return-to-origin 17 /LOK Interlock 18 STRT Start 19 RESET Reset 20 SERVO Servo ON 21 POUT0 22 POUT1 23 POUT2 Point No. outputs (D) 26 POUT5 27 POUT6 28 POUT7 29 OUT0 ontrol outputs 32 OUT3 33 USY Operation-inprogress 34 END Operation-end 35 /LM larm 36 SRV-S Servo status Use prohibited 39 Input power - common (Not internally -OM 40 connected, apply power to both pins) POUT3 OUT1 N POUT4 OUT2 N Inputs Outputs Type : D input (plus common type) Photo-coupler isolation format Load : VD +/- 10%, 5.1m OFF voltage : 19.6Vmin (0m) ON voltage : 4.9Vmax (4.0m) Output circuit Internal circuit Logic circuit Type : NPN open collector output (Minus common type) Photo-coupler isolation format Load : VD, 50m/point PNP type I/O circuit details Input circuit DV +OM Input -OM 4.7kΩ Type : D input (minus common type) Photo-coupler isolation format Load : VD +/- 10%, 5.5m ON voltage : 19.6Vmin (4.5m) OFF voltage : 4.9Vmax (1m) Output circuit Internal circuit Logic circuit Logic circuit +OM Output -OM +OM Output -OM Load DV Load Internal circuit DV Type : PNP open collector output (Plus common type) Photo-coupler isolation format Load : VD, 50m/point Transervo atalog- 14

15 ccessories and part options Robot Positioner Standard accessories Power connector Dummy connector I/O cables (2m) Model K-M Model K-M Model K-M Options Teach Pendant HT1 / HT1-D Support software TS-Manager Has graphic LD display with backlight for easy viewing. esides data writing, editing and backup functions, the TS-Manager also offers cycle time simulation and various types of monitor functions. Data cables TS-Manager data cable. Select from US cable or D-sub cable. HT1 HT1-D US D-Sub HT1 HT1-D Model K-M US type (5m) Model K-M5110-0E K-M5110-1E Model K-M538F-0 D-Sub type (5m) K-M538F-00 Enable 3-position switch E marking Not supported pplicable TS-Manager environment P. 16 OS Microsoft Windows 2000/XP/Windows Vista/Windows 7 PU Exceeding the environment recommended by the OS being used Memory Exceeding the environment recommended by the OS being used Hard disk Vacant capacity of more than 20M in the installation destination drive ommunication port Serial (RS-232), US pplicable controllers Windows is the registered trademark of US Microsoft orporation in U.S.. and other countries. P. 17 Transervo atalog- 15

16 HT1/HT1-D pplicable controllers 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 LD display with backlight for easy viewing. HT1 / HT1-D basic specifications Name HT1 HT1-D External view pplicable controllers, TS-X, TS-P Model Japanese specifications K-M5110-0J K-M5110-1J English specifications K-M5110-0E K-M5110-1E Display Dot matrix monochrome display (with backlighting) 32 characters 10 lines Operation keys Mechanical switch Emergency stop button Normally closed contact point (with lock function) Enable switch - 3-position Safety connector - 15 pin D-sub connector (male) E marking Not supported pplicable Operating temperature 0 to 40 Operating humidity 35% to 85%RH (non-condensing) Dimensions W88 H191 D45mm (Emergency stop button not included.) Weight 260g (not including cable) 300g (not including cable) able length 3.5m Part names and function HT1-D rear side Strap holder ttaching a short strap or necklace strap here prevents dropping the HT1 while operating it or installing it onto equipment. LD screen This is a liquid crystal display (LD) 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. onnector 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 OM1 connector on the controller front panel. 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) 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. Safety connector (only on HT1-D) Use with remote safety circuits triggered by the emergency stop button or enable switch. Transervo atalog- 16

17 TS-Manager pplicable controllers TS-X TS-P esides 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 asic 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. dditionally, the basic operation of the robot, such as JOG movement or inching operation can also be controlled through the TS-Manager. Only clicking relevant icon will show the operation panel or I/O monitor. Shows the servo or emergency stop status, and operation mode. Shows the current position at real-time. JOG movement, inching operation, and current position acquisition buttons. 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. Operation panel for servo status, brake ON/OFF, and stop. Note. Excel is a registered trademark of Microsoft orporation in the United States and/or other countries. 2 Four hannel Oscilloscope (Real-time trace) This function traces the current position, speed, load factor, current value, and voltage value at real-time. dditionally, 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. Real-time traceable items (up to four items) Voltage value urrent value Motor load factor ommand speed urrent speed Internal temperature ommand current value Present current value Input/output I/O status Word input/output status 3 Various monitor functions and detailed error logs Traces data at real-time. 4 Operation simulation Specify a zone for calculation. alculates the maximum value, minimum value, average value, and root mean square value in a specified zone. The robot operation status (operation mode or servo status) and I/O status can be monitored. dditionally, the larm 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 s 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 TS- Manager 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 Transervo atalog- 17

18 Field network system with minimal wiring Field network system with minimal wiring NETWORK pplicable controllers TS-X TS-P Network modules -Link Option unit with networking functions that can be incorporated in YMH robot controllers,. s 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 -Link remote device station, on a one-unit to one-station basis. Remote commands can read or write point data and load each type of status. asic specifications for network modules -Link Item Network modules -Link pplicable controllers, TS-X, TS-P Version supporting -Link Ver. 10 Remote node type Remote device node Number of occupied nodes 1 node Node number setting 1 to 64 ommunication speed setting 10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 125Kbps No. of -Link inputs/outputs Input 16 points, Output 16 points Shortest distance between nodes Note1 0.2m or more Overall extension distance Note1 100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps, 1200m/156Kbps Monitor LED L RUN, L ERR, SD, RD These values apply when a cable that supports -Link Ver.10 is used. Network modules DeviceNet Option unit with networking functions that can be incorporated in YMH robot controllers,. s 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. asic specifications for network modules DeviceNet Item Network modules DeviceNet pplicable controllers, TS-X, TS-P pplicable DeviceNet specifications Volume 1 Release2.0/Volume 2 Release2.0 Device type Generic Device (device number 0) Number of occupied H Input 6ch, Output 6ch M ID setting 0 to 63 ommunication speed setting 500Kbps, 250Kbps, 125Kbps DeviceNet inputs/outputs Input 16 points, Output 16 points Network length Monitor LED Overall extension distance 100m/500Kbps, 250m/250Kbps, 500m/125Kbps ranch length 6m or less 39m or less/500kbps, 78m or less/250kbps, Overall branch length 156m or less/125kbps Module, Network Transervo atalog- 18

19 Other Yamaha Robots compatible with TS-Manager Software Support FLIP-X SERIES YMH 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. battery backup is included to retain the absolute resolver feedback position when the robot is powered down. leanroom units are also available. T RIL TYPE, OMPT SIZE T4H T5H T6 T9 (Shown) F FRME TYPE, HIGH PYLOD F8/F8L/F8LH F10 (Shown) F14/F14H F17/F17L F20/F20N R ROTTION XIS R5 R10 (Shown) R20 LENROOM 4H 5H 6 8/8L/8LH (Shown)/14H 17/17L 20 N NUT ROTTION N15/N15D (Shown) N18/N18D TIMING ELT DRIVE 10 (Shown) 14/14H TS-X Single axis absolute robot positioner PHSER SERIES YMH linear motor single-axis robots PHSER series robots use a compact-size linear motors which provides high thrust, high performance, +/-5 µm repeatability, 3G maximum acceleration and 2500 mm/sec maximum speed. LL MODELS SUPPORT INDIVIDULLY-DRIVEN, DOULE-RRIGE OPTIONS MR ROUND ORE LINER MOTOR, OMPT SIZE MR12/MR12D MR16/MR16D MR20/MR20D MR25/MR25D MF FLT ORE LINER MOTOR, LONG TRVEL, HIGH POWER MF15/MF15D MF20/MF20D MF30/MF30D MF50/MR50D TS-P Single axis semi-absolute robot positioner Transervo atalog- 19

20 OTHER YMH ROOTS Phaser Series MF Type SR Robots YK-XG Series Flip-X Series Pick & Place Robots YP-X Series artesian Robots Series XY-X Specifications and appearance are subject to change without prior notice. (July 2010) qty -? 5/