Robot positioner dedicated to TRANSERVO

TS-SH  Robot positioner dedicated to TRANSERVO -Operating method : I/O point tracing / Remote command -Input power supply : Control power supply DC24V +/-10% Motor power supply DC24V +/-10% -Origin search method : Absolute / Incremental

        1. Available for all TRANSERVO series models.

        2. Main operation patterns

        3. 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.

                *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.

        4. 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.

        5. Applicable to EtherNet/IP.
                Select from the following I/O types to match the host controller specifications. All hardware is built into the positioner unit so cabling and wire hookups are easy.

                *EtherNet/IP will be supported from August, 2013.

        6. Up to 16 controllers can be connected. (Daisy chain function)
                As the TS series controllers are connected through the daisy chain, the data designing or monitoring of a desired controller can be made through one personal computer or handy terminal.
                Since the daisy chain is applicable to not only "TS-S2" and "TS-SD" dedicated to the TRANSERVO, but also "TS-X" and "TS-P" applicable to higher-grade models, it can be connected to all YAMAHA single axis robots. This is very convenient when many more robots are used.
                *"TS-SD" cannot use the HT1 and touch panel display "Pro-face".

        7. Support software common to the TS series "TS-Manager"

                TS series not only does data write, edit, backup tasks and parameter settings but also comes loaded with cycle-time, simulator, and monitor functions of all types. A run-distance monitor for maintenance use is provided as a standard unit feature. Design emphasizes easy, user-friendly operation.

        Real-time trace

        Various monitor functions and detailed error logs

        Operation simulation

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Specifications

Controllable robot	TRANSERVO series
Consumption current	Rating 3.5A (Max. 6.5A)
Dimensions	W30 x H162 x D123mm
Main unit weight	Approx. 0.3kg
Control power supply	DC24V +/-10%
Main power supply	DC24V +/-10%
Control method	Closed loop vector control method
Position detection method	Resolver with multi-turn absolute function (resolution: 20480 P/r)*
Operation method	Positioning operation by specifying point number, direct positioning command
Operation type	Positioning operation, positioning linked operation, pushing operation, jog operation
Number of points	255 points
Point type setting	(1) Standard setting: Set a ratio (%) to the maximum level for the speed or acceleration. (2) Custom setting: Set the speed or acceleration in the SI unit sy stem.
Point teaching method	Manual data input (coordinate value input), teaching, direct teaching
I/O interface	Select a desired interface from NPN, PNP, CC-Link, DeviceNet, and EtherNet/IP.
Input	Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK), return-to-origin (ORG), manual mode (MANUAL), jig movement - (JOG-), jog movement + (JOG+), point number selection (PIN0 to PIN7)
Output	Servo state (SRV-S), alarm (/ALM), operation end (END), operation executing (BUSY), control output (OUT0 to 3), point number output 0 to 7 (POUT0 to POUT7)
Communication	RS-232C 1CH
Emergency stop circuit	Emergency stop input, emergency stop contact output (1 system: HT1 is used.)
Protection function	Position detection error, temperature error, overload, overvoltage, low voltage, excessive position deviation, overcurrent, motor current error, motor faulty wiring, excitation power failure error
Operating ambient temperature and humidity	0 to 40°C, 35 to 85%RH (No dew condensation allowed.)
Storage ambient temperature and humidity	-10 to 65°C, 10 to 85%RH (No dew condensation allowed.)
Atmosphere	Indoor place where the positioner is not exposed to the direct sunlight. There shall be no corrosive and flammable gas, oil mist, and dust.
Vibration resistance	In each of X, Y, and Z directions 10 to 57Hz, half amplitude 0.075mm, 57 to 150Hz, 9.8m/s^2
Absolute backup battery	Lithium battery
Absolute backup period	Approx. 1 year (non-energizing state)

*This value may vary depending on the model.

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External View