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Ts-S2/Ts-Sh/Ts-X/Ts-P

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Ts-S2/Ts-Sh/Ts-X/Ts-P APPLICATION Single axis TS series TRANSERVO single-axis robots TS-S2/TS-SH/TS-X/TS-P Robot positioner CE compliance Compact TS series are positioner type controllers that only performs point trace. No program is needed. Single-axis robots Operation is simple. After setting point data, specify the point number and enter a FLIP-X START signal from host controller such as a PLC. Positioning or pushing operation then begins. single-axis robots Features TS-S2 TS-SH TS-X TS-P PHASER Linear motor Linear 1 Main operation patterns Normal operation Merge operation Output pattern Zone AB IN Me Cartesian XY-X robots C S (a rg Moves to a specified (i Moves a specified distance Changes speed with no Output turns ON when a coordinate position. ncremental from the current position deceleration specified zone is entered e Speed bs output operation olut ON OFF e) ) operation P1 Position Current position P1 P1 P2 P1 operatio YK-X SCARA robots Moves to the target position relative Moves from the current position Moves to multiple points in Zone for external I/O output can to the origin point and completes just by a distance specified in point succession. If different speeds were be set for each point. positioning. n data and completes positioning. set, then the speeds are changed without decelerating and stopping to “Nea Pu Pu continue point-to-point operation. s shin hin Decelerates and then Specify position margin Pushes at a fixed thrust Pick & place pushes zone. r g YP-X robots width af g te N operation r decelerati ” P1 P1 P1 output Moves while pushing at a preset Pushing starts after decelerating “Near width” output zone can be set for CLEAN push force. ng at a distance equal to “Near width each point as a position margin zone where (N)” from the target position. “positioning complete” signal is to be output. 2 Detailed data can be set for each point 4 Full range of monitor functions P.454 CONTROLLER Settings such as acceleration, deceleration, zone output The TS-Manager developed exclusively for the TS series range, and position margin zone can be set for each point. not only does data write, edit, backup tasks and parameter Different operations can be easily specified by combining settings but also comes loaded with cycle-time, simulator, these settings with the above operation patterns. and monitor functions of all types. INFORMATION Setting items A run-distance monitor for maintenance use is provided Setting item Description as a standard unit feature. Design emphasizes easy, Specifies operation pattern such as ABS, INC, user-friendly operation. 1 Run type positioning, push, and point-to-point link. 2 Position Specifies position or distance to move. Main monitor displays 3 Speed Specifies maximum speed during operation. · Position · Speed 4 Accel. Specifies acceleration during operation. positioner Specifies deceleration during operation · Current · Load factor Robot 5 Decel. (Percentage of acceleration) · Voltage · Temperature Specifies motor current limitation during 6 Push · Input information pushing operation. Pulse string string Pulse 7 Zone (-) Specifies upper and lower limits of “personal · Output information driver 8 Zone (+) zone” for each point data. Specifies position margin zone where “near 9 Near width width” output should turn on. Specifies next movement destination after positioning controller 10 Jump 5 Direct positioning command Robot or linked destination for point-to-point operation. 11 Flag Specifies stop mode and others. “Direct positioning command” is provided that performs Specifies the waiting time (delay) after 12 Timer the positioning operation by specifying the position and positioning completion. speed data directly for the remote command. Electric Electric gripper Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units iVY/ (standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time. The positioning data can be handled by the control unit and the positioning operation can be performed by one 3 Maximum acceleration auto setting command. The programming of the control unit can be Acceleration is a critical parameter that determines how constructed simply. Option long the robot can continue operating (or service life). Position and speed data designations In worst cases, setting the acceleration too high may and positioning command are cause the robot to breakdown after a short time. transmitted in the batch mode. On the TS series, the maximum acceleration is finely set by taking into account the service life span of the motor output and WIN0 WIN1 WIN2 WIN3 the guide for each robot model and payload. This eliminates Command Speed data Position data any worry about setting the acceleration too high by mistake. 438 Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. APPLICATION http://global.yamaha-motor.com/business/robot/ TS-S2/TS-SH/TS-X/TS-P 6 “Gateway function” reduces the network cost TRANSERVO single-axis robots TS-S2 TS-SH TS-X TS-P Compact One controller installed on the field network board manages up to four I/O interfaces through the daisy chain connection. This does not require any excess devices and ensures the control in the same way as one board is installed into one unit while reducing the network cost. Conventional NEW Single-axis robots Host unit FLIP-X (Applicable to field network) 4 CC-Link boards are needed. Daisy chain connection Field network single-axis robots PHASER CC-Link motor Linear 4 boards are reduced to 1 board. Network board is required for each controller. Only one network board manages up to 4 units. Cartesian XY-X robots 7 Daisy chain function TS-S2 TS-SH TS-X TS-P This function allows monitoring the various data HT1 YK-X design and operation status of any controller SCARA or robots connected via daisy chain from one PC or handy terminal. TS-Manager Pick & place YP-X robots CLEAN Up to 16 controllers Ordering method CONTROLLER TS-S2 / TS-SH (TRANSERVO) TS-X/TS-P (FLIP-X / PHASER) Driver: Power-supply voltage/ Input/Output Robot positioner Type I/O Battery Note 1 Controller Regenerative unit LCD monitor Battery Note 2 Power capacity Selection S2: TS-S2 No entry: Standard NP: NPN B: With battery TSX: TS-X 105: 100V / 100W more less No entry: None No entry: None NP: NPN B: With battery INFORMATION SH: TS-SH S: Sensor PN: PNP (Absolute model) TSP: TS-P 110: 100V / 200W R: With RGT L: With LCD PN: PNP (Absolute model) CC: CC-Link N: None 205: 200V / 100W more less R: With RGU-2 CC: CC-Link N: None TM DN: DeviceNet (Incremental model) 210: 200V / 200W DN: DeviceNetTM (Incremental model) TM EP: EtherNet/IP 220: 200V / 400 to 600W EP: EtherNet/IPTM GW: With no I/O board GW: With no I/O board Note 1. Battery can only be selected for TS-SH. (Not provided for TS-S2). Note 2. Battery can only be selected for TS-X. (Not provided for TS-P). TS-X / TS-P specification selection table positioner Robot Some specifications are automatically determined by the robot model. TS-X T4LH / T5LH / T6L / T9 T9H F8 / F8L / F8LH / F10 / F14 / F14H / GF14XL F17 / F17L / GF17XL F20 / F20N N15 / N18 / B10 B14 B14H R5 R10 R20 string Pulse C4LH C5LH C6L C8 C8L C8LH C10 C14 C14H C17 C17L C20 N15D N18D driver 105 Power supply 110 voltage / TS-X 205 Current 210 controller sensor Robot 220 Regenera- No entry (None) (1) (2) (1) (1) (2) (3) (6) (3) (4) (5) tive unit R (RGT) (1) (2) (1) (1) (2) (3) (6) (3) (4) (5) (1) Regenerative unit is needed if using in a perpendicular position and movement stroke is 700mm or more. Electric Electric (2) Regenerative unit is needed if using in a perpendicular position. gripper iVY/ (3) Regenerative unit is needed if using in a perpendicular position, using at maximum speeds exceeding 1000mm per second, or if using high leads (40). (4) Regenerative unit is needed if using at maximum speeds exceeding 1000mm per second. (5) Regenerative unit is needed if using at maximum speeds exceeding 1250mm per second. (6) Regenerative unit is needed if using at maximum speeds exceeding 750mm per second. TS-P Option MR12/12D MF7/7D MF15/15D MF20/20D MF30/30D MF75/75D 105 Power supply 110 voltage / TS-P 205 Current 210 sensor 220 No entry (None) Regenera- R (RGT) tive unit R (RGU-2) 439 APPLICATION TS-S2/TS-SH/TS-X/TS-P TS-S2 / TS-SH basic specifications Item Model TS-S2 TS-SH TRANSERVO single-axis robots Number of controllable axes Single-axis Compact Controllable robots TRANSERVO series Current consumption 2.5A (Rating) 4.5A (Max.) 3.5A (Rating) 6.5A (Max.) Dimensions W30 × H162 × D82mm W30 × H162 × D123mm Weight Approx. 0.2kg Approx. 0.3kg Single-axis robots Input power Control power supply DC24V +/-10% FLIP-X Basic specifications Basic supply Motor power supply DC24V +/-10% Control method Closed loop vector control method Operating method I/O point tracing (Positioning operation by specifying point number) / Remote command Operation types Positioning, merge-positioning, push, and jog operations single-axis robots Position detection method Resolver Resolver with multi-turn absolute function PHASER Linear motor Linear Axis control Resolution 20480 pulses/rev. or 4096 pulses/rev. depending on the robot Origin search method Incremental Absolute / Incremental Points 255 points (1) Standard setting: Set speed and acceleration in percent of the respective maximum settings. Point type setting (2) Custom setting: Set speed and acceleration in SI units. Points Point teaching method Manual data input (coordinates input), Teaching, Direct teaching Cartesian XY-X TM TM
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