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Stepping motor single axis robots

1. SS05H o High lead Lead 20 CE compliance Ordering method ssosH J j ti 50 to 800 50mm pitch Origin on the non motor side is selectable ENNEC NEED 77H 20 20mm S Straight model N With no brake N Standard N Standard grease 1L 1m S2 15 52 NP NPN B With battery e 2 12 12mm R Space saving model B With brake Z Non motor side C Clean room grease 3L 3m SH TS SH PN PNP Absolute gt E 06 6mm motor installed on right 5L 5m CC CC Link N None Zo L Space saving model 10L 10m DN DeviceNet Incremental ES x motor installed on left EP EtherNet IP GW No I O board ve on 5 Note 1 Brake equipped models can be selected only when the lead is 12mm or 6mm Robot positioner Note 2 The robot cable is flexible and resists bending SD Note 3 See P 460 for DIN rail mounting bracket Note 4 Select this selection when using the gateway function For details see P 453 I O cabl Note 5 Select whether or not the battery is provided only when using the TS SH a THER E Allowable overhang aid L Basic specifications E Static loading moment Motor 42 Step motor A Resolution Pulse rotation 20480 Repeatability mm
2. IL 1 7 7 o GO ol 35 IN gs Width across flat part 4 M3x0 5 Depth 10 across flat 90 equal division Option Horizontal installation plate foot Contents of option Plate 2 pcs See our robot manuals for additional settings 3 3 Effective stroke P L1 261 L 304 H 2 3 4 5 M4x0 7 Depth 5 For securing cable K 6 8 10 12 Weight kg 1 3 1 5 1 6 1 8 Hex socket head cap bolt M3x0 5 M TR jg Length under head 10 Option Vertical installation plate flange It is possible to apply only the axial load Two bolts are required for one plate Hex socket head cap bolt M3x0 5 Pee te exiarmial guide togelhersothabany radial iode s not applied to the rod Length under head Ga The orientation of the width across flat part is undefined to the base surface Use the support guide together to maintain the straightness When running the cables secure cables so that any load is not applied to them Y Remove the M4 hex socket head cap set bolts and use 40 4 4 5 them to secure the cables Effective screw thread depth 5 37 5 drill through The cable s minimum bend radius is R30 Models with a brake will be 0 2kg heavier Distance to mechanical stopper m 108 SEMIN TS S2 gt 452 TS SH 452 TS SD 465
3. Option Horizontal installation plate foot Contents of option Plate 2 pcs pIE Effective stroke 150 See our robot manuals for additional settings E 9S L1 261 L 304 H 2 3 4 5 amp K 6 8 10 12 2 Weight kg 13 15 16 1 8 Hex socket head cap bolt M3x0 5 itis i possible to apply only the axial load Length under head 10 Epiignsiventcssi lustalisi o plate dla deg Use the external guide together so that any radial load is Hex socket head cap bolt M3x0 5 not applied to the rod _ Length under head 14 ne orientation of the width across flat part is undefined to e base surface Use the support guide together to maintain the straightness When running the cables secure cables so that any load is not applied to them Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 The cable s minimum bend radius is R30 Models with a brake will be 0 2kg heavier Distance to mechanical stopper M4x0 7 Depth 5 10 For securing cable M8x1 25 13 Origin on Origin on motor side N non motor side Dimensions of attached nut 7 Note 8 5 Note 8 e 37 552 Effective stroke 11 Width across flat
4. SRO3 OQ e 3 D o e z e 6 I i x a p 9 er 9 a P gt zZ on ing wd lt O SR03 Space saving model motor installed on top 7 M4x0 7 Depth 5 Approx 245 Cable length 37 5 2 Effective stroke 5 Note 8 Eor seeing cane i Ball screw greasing Origin on Origin on port 6 5 motor side N non motor side N N 7 5 Width across flat part Fors Depth um 4 M3x0 5 Depth 10 or securing cable 2 divisi Option Horizontal installation plate foot s 10 27 5 Ca eaua avison Contents of option Plate 2 pcs r K M3x0 5 Depth 4 See our robot manuals for additional settings e Effective stroke M4x0 7 Depth 5 L1 For securing cable L Hex socket head cap bolt M3x0 5 Length under head 10 Option Vertical installation plate flange Two bolts are required for one plate K Hex socket head cap bolt M3x0 5 Weight kg Length under head 14 A Itis possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod The orientation of the width across flat part is undefined to the base surface Use the support guide together to maintain the str
5. Cross sectional drawing A A Tolerance range Weight kg 2 3 Note1 This drawing is output under the conditions below Bearing Standard Approx 300 J Approx 300 Standard High torque Note2 The minimum bending radii of the motor cable and sensor cable are R30 lt Sensor cable exit direction Exit from left side Sensor cable exit direction Exit from right side 134 Controller TS S2 P 452 TS SH gt 452 RF04 S yppedwog e z e oO I 5 x a pri 9 er o a P gt zZ on ing wd lt O RF04 SH Sensor specification High rigidity model 7 2 8 5 drill through 14 deep spot facing Depth 8 5 6 M6x1 0 Depth 10 60 equally divided 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 The return to origin position may differ from that shown in this drawing 0 To align with the position shown in this drawing refer to the TS Series 76h8 0 046 74h8 0 046 User s Manual and change the origin coordinates eo ce Manual operation screw M both sides 3 3 Approx 160 S Approx 170 Motor cable exit direction Exit from left side Motor cable exit direction Exit from right side lt gt
6. 0 02 B t Deceleration mechanism Ball screw 12 Class C10 B C A Maximum motor torque N m 0 47 i a cn cD TETUER mm al an ais 306 Horizontal installation unit mm Wall installation Unitmm Vertical installation Unit mm Unit Nm ximu LSS See m MP MR mm sec Vertical 500 250 S 2k x S 2k TT e 1k ae ut MY MP MR Maximum Horizontal 6 8 12 B A 3 3 32 38 34 Max pressing force N 36 60 120 4 6kg 352 6kg 71 S 2kg 244 245 Stroke mm 50 to 800 50pitch N 4kg 500 N 4kg 146 3 4kg 113 113 Kolelaiige i Ji Overall length Horizontal Stroke 286 wl 6kg 399 al G6kg 85 mm Vertical Stroke 306 8kg 403 oy 8kg 55 Controller Operation method Maximum outside dimension i W55 x H56 6kg 573 6kg 101 TS S2 I O point trace of body cross section mm o o E Cable length m Standard 1 Option 3 5 10 AS san D Y d nemoe commana Note 1 Positioning repeatability in one direction ES 465 m 28 TS SD Pulse train control Be tAm Eang Note 2 When the stroke is longer than 600mm resonance of the ball g g screw may occur depending on the operation conditions critical mex a 2 speed In this case reduce the speed setting on the program Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of by referring to the maximum speeds shown in the table below 10 000 km Service life is calculated for 600mm stroke models E Motor instal
7. 11 13 1 4 1 6 Note1 It is possible to apply only the axial load Hex socket head cap bolt M3x0 5 Length under head 10 ied c A toyetarso hatrany radal load ismo Two bolts are required for one plate Note2 The orientation of the width across flat part is undefined to the base surface Note3 Use the support guide together to maintain the straightness Note4 When running the cables secure cables so that any load is not applied to them Note5 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note6 The cable s minimum bend radius is R30 See the bottom installation tap position Note7 Models with a brake will be 0 2kg heavier Note8 Distance to mechanical stopper AOC TS S2 gt 452 TS SH gt 492 TS SD gt 465 107 mem SRO3 SRO3 Space saving model motor installed on right 128 with brake M8x1 25 13 H S Origin on Originon motor side non motor side Dimensions of attached nut Effective stroke ERAI s oqo1 E14 6 Ts M8x1 25 I 1 Width across flat 38 5 m M 7 5 M4x0 7 Depth 5 Width across flat part For securing cable 4 M3x0 5 Depth 10 pru 90 equal division M4x0 7 Depth 5 For securing cable 14 Width across flat
8. the payload See the Speed vs payload graph shown on the right For details see P 98 E Speed vs payload Controller E Motor installation Space saving model Controller Operation method G gt B l TS S2 I O point trace GEB Motor installed on right 85 g TS SH Remote command E Fi TS SD Pulse train control 3 8 2 8 Note The robot with the brake cannot 4 0 use the TS SD 0 0 0 100 200 300 400 C J Speed mm s Speed mm s STHO4 Straight model Approx 200 Cable length without brake Approx 180 Cable length with brake 1 0 5 LI 0 5 Note 2 Note 2 N Origin on motor side N Origin on non motor side Note 1 Note 1 2 1 elke 86 Effective stroke lt 149 5 with brake 2 M6x1 0 Depth 12 Not mounted on upper surface CH Te S dl APES i Cross sectional a 5 4H9 a drawing A A Depth 12 Effective stroke Detailed drawing of installation hole Depth 5 Option Installation plate 116 5 Contents of option Plate 4 pcs 65 85 For additional settings contact your distributor 39 5 88 5 122 191 Weight kg 1 25 1 7 Note1 Ret
9. Bearing Note2 The minimum bending radii of the motor cable and sensor cable are R30 Controller 2 06 8 drill through 11 deep spot facing Depth 6 5 Ke P C D 48 58 p64h8 0 046 63h8 0 046 2 4 Approx 180 Motor cable exit direction Exit from left side lt 6 M5x0 8 Depth 8 60 equally divided 2 4 Approx 180 Motor cable exit direction Exit from right side gt ae a 2 M8x1 25 Depth 16 Approx 300 NI l St dS Sensor cable exit direction Exit from left side Approx 300 Sensor cable exit direction Exit from right side TS S2 gt 452 TS SH gt 452 gt RF03 S yppedwog e z e oO I 5 x a p 9 er o a P gt zZ on ing wd lt O RF03 SH Sensor specification High rigidity model AN 2 6 8 drill through 11 deep spot facing Depth 6 5 raya P C D 48 e 58 6 M5x0 8 Depth 8 60 equally divided 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 The return to origin position may differ from that shown in this drawing 0 To align with the position shown in this drawing refer to the TS Series Q64h8 0 046 U
10. Comes with 8 mounting nuts for feet ll Rod type Grease gun nozzle tube for space saving models E Rod type Running life distance to life time conversion example When greasing the ball screw in the SRO3 UB or SRDO3 UB motor installed This is an example of life time converted from the running life distance on top with brake use a grease gun with a bent nozzle tube as shown below listed on each model page for the SR type E Grease gun nozzle tube YAMAHA recommended nozzle tube Model SRO04 02SB Vertical mount 25 kg payload Life distance 500 km Life time Approx 3 years Operating conditions 100mm back and forth movement shuttle time 16 seconds duty 2096 Word conditions 16 hours per day Work days 240 days per year Model KCU M3861 00 Note This nozzle tube can be attached to a commercially available ordinary grease gun This nozzle tube is even usable when there is little Note Make sure that the rod is not subjected to a radical load space around the grease port For example when the SRO4 or SRO5 space saving model is used with the motor facing up the grease port is positioned on the side of the robot body This may make it difficult to refill grease depending on the positions of other robots or peripheral units 99 HEN SS04 CE compliance Origin on the non motor side is selectable Ordering method S804 P Mode
11. Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided on E Basic specifications ly when using the TS SH Motor 28 L Step motor m Resolution Pulse rotation 4096 3 Repeatability 0 05 2 Drive method Special warm gear belt k Torque type Standard High torque z Maximum speed sec 420 280 is Rotating torque N m 0 8 1 2 5 Max pushing torque Nem 0 4 0 6 S Backlash 0 5 Max moment of inertia kgem 0 012 0 027 Cable length m Standard 1 Option 3 5 10 Rotation range 360 Note 1 Positioning repeatability in one direction Note 2 The maximum speed may vary depending on the moment of inertia Check the maximum speed while referring to the Moment of inertia vs Acceleration deceleration graph and the Effective torque vs speed graph reference Note 3 For moment of inertia and effective torque details RF03 SN Sensor specification 100 1000 mm 10000 Acceleration deceleration s E Moment of inertia Acceleration deceleration Effective torque vs speed Effective torque T N m EP EtherNet IP GW No I O board e 100 200 300 400 500 Speed w s 9I E19 0 e To E Controller
12. W135 x H58 6 40 11 250 50 to 300 with support guide SRDO04 U SRDO4 U P115 80 EE Straight model 12 50 8 5 300 EP EN Note 1 The size shows approximate maximum cross sectional size E Allowable ambient temperature for robot installation Note 2 The payload may vary depending on the operation speed For details refer to the detailed page of relevant model SS SR type 0to 40 C Note 3 The maximum speed may vary depending on the transfer weight or stroke length For details refer to the detailed page of relevant model mm 12 TRANSERVO Series Product Lineup As the slide table type rotary type and belt type were added to the product lineup the design flexibility was extended STH type Slide table type Straight model P120 ETES a G P121 em 08 STH04 S Us STH04 R L STH06 S STHO6 R L Size mm Lead Maximum payload kg STH04 S W45 x H46 5 STH04 R L W73 x H51 10 STHO6 W61 x H65 8 STHO6 R L W106 x H70 17 6 4 400 STH04 S P 120 STHO4 R L P 121 STHO6 P 122 STHO6 R L P 123 STH type Slide table type Straight model Space saving model 50 to 100 50 to 150 RF type Rotary type Standard model P124 High rigidity model P125 x A a x gt 8 RF02 RF03 RF04 t 4 Rotation Maximum pushing Maximum speed Rotation Type Height mm Torque type torque
13. 7 T zi Crs amp Detail of section B Dimensions of 7 Note 8 attached nut 45 5 2 Effective stroke 5 Note 8 Note 12 T slot for M4 8 locations M12x1 25 For securing cable Width across l g cabe flat part 4 M5x0 8 Depth 10 dd across 90 equal division at orizontal installation plate foot Contents of option Plate 2 pcs Nut 8 pcs See our robot manuals for additional settings Effective stroke L1 L Option Vertical installation plate flange Weight kg te Ul 127 5 9 5 M4x0 7 Depth 5 Hex socket head cap bolt M5x0 8 Note1 It is possible to apply only the axial load Length under head 14 Use the external guide together so that any radial load is not applied to the rod Installed within the T slot range of the main unit Note2 The orientation of the width across flat part is undefined to the base surface 2 6 6 Hex socket head cap bolt M4x0 7 f Note3 Use the support guide together to maintain the straightness drill through Length under head 12 AN NE bie a anng ine ane tae a 2 iod n p cm l ote5 Remove the ex socket head cap set bolts and use them to secure the Four bolts are required for one plate cables Effective screw thread depth 5 we Note6 The cable s minimum bend radius is R30 Li Note7 Models wi
14. Horizontal Vertical _ mm sec 3 page W40 x H40 48 300 to 1000 P136 Belt be W58 x H48 300 to 2000 P137 BDO7 W70 x H60 a x 1 1500 300 to 2000 P138 Note 1 The size shows approximate maximum cross sectional size Note 2 The payload may vary depending on the operation speed For details refer to the Precautions for use detailed page of relevant model B Handling B Allowable installation ambient temperature Note 3 The maximum speed may vary depending on the transfer weight or stroke length Fully understand the contents stated in the TRANSERVO SS SR type 0 to 40 C For details refer to the detailed page of relevant model User s Manual and strictly observe the handling STH RF BD type 5 to 40 C Note 4 STHO4 R L with 50 stroke and brake is not supported precautions during operation li SR SRD STH type Speed vs payload table SRO03 SRD03 Lead 12 Lead 6 Horizontal Lead 12 Lead 6 Payload ko 96 Payload kg Speed mm sec 96 Payload kg Payload kg Speed mm sec 96 10 450 90 20 225 90 10 450 90 20 225 90 5 500 100 15 237 5 95 5 500 100 15 237 5 95 10 250 100 10 250 100 Lead 12 Lead 6 Lead 12 Lead 6 Payload kg Speed mm sec 96 Payload kg
15. LL Controller Operation method TS S2S I O point trace TS SHS Remote command see P 534 Allowable radial load Allowable thrust load N Allowable moment N a b Nem High High High High Standard inigi Standard inigi Standard inigi Standard Te rigidity rigidity rigidity rigidity model PE model model model model model w 196 233 197 363 398 5 3 6 4 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual Standard model User s Manual and change the origin coordinates 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 The return to origin position may differ from that shown in this drawing To align with the position shown in this drawing refer to the TS Series Manual operation screw both sides q32H8 0 0 9 17 Through hole FY 7 z LZ N ITAN WR ini 7 N q22Ha 009 Cross sectional drawing A A Weight kg 1 2 77 g j LI Wd Ws Te 77 Tolerance range gt Tolerance range Note1 This drawing is output under the conditions below Standard Standard High torque
16. Origin mark Manual operation screw both sides Approx 180 Approx 180 Motor cable exit direction Motor cable exit direction 0 039 ar T Exit from left side Exit from right side 32H8 0 17 Through hole Tolerance range Sa Tolerance range Weight kg 1 2 Note1 This drawing is output under the conditions below High rigidity Standard High torque 2 M8x1 25 Depth 16 Note2 E M bending radius of the motor cable is Cross sectional drawing A A ZONE TS S2 gt 192 TS SH gt 452 TS SD 465 129 mem e z e oO J 5 x a 9 ed o 2 9 sd gt zZ e 2 Pm 9 lt O x 130 RFO3 S CE compliance OQ Limitless rotation Ordering method Rotary type Sensor specification RF03 S H H H H S Modi Return to origin method Bearing TT Cable entry location TEE DICIT bad I O selection S Sensor N Standard N Standard torque R From the right N CCW 1L 1m S2 TS S2 e S Sensor NP NPN B With battery Limitless rotation H High rigidity H High torque L From the left Z CW 3L 3m SH TS SH PN PNP Absolute 5L 5m CC CC Link N None Note 1 The robot cable is flexible and resists bending 10L 10m DN DeviceNet Incremental Note 2 See P 460 for DIN rail mounting bracket
17. S Slide type 20 350 SR03 S 4 500 SRO3 R L W48 x H56 5 50 to 200 P107 P109 SRO3 U 8 250 Sr YPE SRO4 S 5 500 o e z s Heu SRO4 R L Ue niai i Z zn 50 to 300 P112 P113 Space saving model SR05 S m ps SRO5 R L 20 150 50 to 300 P116 P117 30 50 SRD03 S 10 3 5 500 o Wise tse E 750 sowo200 Pid SR Type 25 4 500 Rod ps m support EADEM 23 11 250 50 to 300 P114 P115 Straight model 2 45 24 80 Space saving model SRD05 S 12 50 8 5 300 SRD05 U W157 x H71 6 55 18 5 150 50 to 300 P118 P119 STH Type STH04 S W45 x H46 5 2 200 Slide table type STHO4 R L ve W73 x H51 1 400 Eaa F120 P121 Straight model STHO06 W61 x H65 8 9 2 150 Space saving model STHO6 R L W106 x H70 16 6 4 400 SOARE F122 F123 Rotational torque Maximum pushing Maximum speed Detailed info Type Model High mm Torque type torque N m mm sec No 3 Rotation range RFO2 N 42 Standard N Standard 0 22 0 11 420 310 RFO2 N P124 P127 RF Type RF02 S 49 High rigidity H High torque l 280 360 RF02 S Rotary type 53 Standard N Standard 420 320 RFO3 N P128 P131 Standard model 62 High rigidity H High torque y 280 360 RF03 S High rigidity model RFO4 N 68 Standard N Standard 6 6 3 3 320 RF04 N P132 P135 RF04 S 78 High rigidity H High torque 10 5 280 360 RF04 S gh torg Note 1 Lead Maximum payload kg Maximum speed Detailed info aa mm
18. Standard Ordering Method SS05 06SB NN 600 C4L SNP 2 xu Mechanical section Controller section SS type SG type Slider type 9p dL cELL RdSLLLLL EILLL ABELSLL ENCINNM Brake P Stroke E a z e 0 J 5 x a pi 9 er 9 2 9 ped gt zZ on ing v lt O SS04 02 2mm S Straight model N With no brake N Standard N Standard grease SS05 06 6mm Space saving model B With brake Z No motor side C Clean room grease 3L 3m SS05H 12 12mm motor installed on right 5L 5m SG07 20 20mm L Space saving model 10L 10m motor installed on left SR type Rod type IOEEKEENMME MEMGMMMNMEMMKAEKEK e RKLZDNNNEM NNEENEENEV Jj ENCIEEN SR03 02 2mm S Straight model N With no brake Standard N No plate 1L 1m SRDO3 06 6mm Space saving model B With brake No motor side H With plate 3L 3m SR04 12 12mm motor installed on right V With flange 5L 5m SRD04 L Space saving model 10L 10m SR05 motor installed on left SRD05 U Space saving model motor installed on top STH eec Cere abre type table type C ss___f____ 1s ___ y R STH04 5mm S Straight model N With no brake N Standa
19. TRANSERVO Series Product Lineup CLOSED LOOP STEPPING MOTOR SINGLE AXIS ROBOTS Excellent characteristics of both stepping motor and servomotor were combined This robot positioner is specialized for the I O point trace input The positioning or pushing op E eration can be performed using simple operation M only by specifying a point number from the host control unit and inputting the START signal e I oe EAE of Note SG07 is only applicable to TS SH TS S2 TS SH Stepping motor single axis robots TRANSERVO series breaking through existing conventions This robot driver omits the operation with robot languages and is dedicated to the pulse train input This driver can be made applicable to the open collector method or line driver method using the parameter setting and signal wiring So you can match the robot driver to the host unit to be used wu EIEE Ga EZ Note Except for STH vertical specifications and RF sensor specifications Newly developed vector control method provides functions and performance similar to servomotors SS type Slider type SG type Slider type Straight model P100 RIGE ELI 1 P101 Straight model P 106 Side mounted motor model D BB gt P ur l E SS05H S Y SS05H R L SG07 SR type Rod type standard Straight model model P107 Space saving model Side mounted motor model P 108 P p Ly P E d P a
20. operation The values in show those when the Cross sectional 4 return to origin direction is changed drawing A A Note3 The minimum bending radius of the motor cable is R30 Note4 When installing the mechanical main unit using the back facing holes push the slider toward the origin position on the motor side and insert the hex socket head cap M6 bolt The dimensions of the specifications with the brake are common to those shown above Models with a brake will be 0 34kg heavier y NRN 8 N WOES N AA AS Detailed drawing of installation hole 6 18 8 Depth 6 C M6x1 0 Depth 8 3 M6x1 0 Depth 10 24 y eo 40 19 05 Note 2 Note 2 Origin on motor Origin on non motor side L side Note 1 Note 1 Effective stroke Effective stroke 0 030 Q9H9 o 75 48 65 4 8 8 80 44 66 2 4 4 80 88 132 143 207 285 132 196 274 Weight kg iir 2 5 3 3 4 26 Note1 Return to origin position E M8x1 25 Depth 16 D Note2 Table movable range during return to origin operation The values in show those when the return to origin direction is changed Note3 The minimum bending radius of the motor cable is R30 Note4 When installing the mechanical main unit using the back facing holes push the slider toward the origin position on the motor side and insert the hex soc
21. 75 10 500 62 15 270 7T INATT 8 950 79 9 600 75 15 300 85 7 1000 83 8 615 76 10 325 92 6 1020 85 7 635 79 9 330 94 5 1035 86 6 655 81 8 335 95 4 1055 87 5 675 84 7 340 97 3 1075 89 4 750 93 6 350 100 2 1100 91 3 800 100 1 1200 100 201 3 When origin is on motor side 25 400 600 Speed mm s Effective stroke 800 po H4 gt Bl Quick reference Lead 20 Lead 12 Lead 6 Payload Speed A Payload Speed Payload Speed JA k mm sec k mm sec kg j mm sec 4 560 56 12 200 33 20 100 31 3 680 68 10 240 40 15 150 46 2 800 80 9 260 43 12 180 56 1 1000 100 8 280 46 10 200 62 7 310 51 9 210 65 6 345 57 8 225 70 5 380 63 7 235 73 4 435 72 6 250 78 3 500 83 5 270 84 2 600 100 4 295 92 3 320 100 87 When origin is on motor side Approx 160 with brake Cable securing position 201 When origin is on non motor side Note 2 Effective stroke 45 between knocks 0 02 26 1 Note 1 241 3 with brake When origin is on motor side L L 40 with brake Ax100 B M6x1 0 Depth 8 64 Slider top face 4H7 0 0 012 Depth 6 87 3 When origin is on non motor side Stop posi
22. N m torque N m mm sec range Page 42 Standard N Standard 0 22 0 11 420 310 RF02 N RFO2 N P 124 49 High rigidity H High torque 0 32 0 16 280 360 RF02 S RF02 S P 127 RF type l R ee 53 Standard N Standard 0 8 0 4 420 320 RF03 N RFO3 N P 128 62 High rigidity H Hi 360 RF03 S RF03 S P 131 Standard Hilgimeidity H High torque 1 2 0 6 280 RFO4 N 68 Standard N Standard 6 6 3 3 420 320 RF04 N RFO4 N P 132 RF04 S 78 High rigidity H High torque 10 5 280 360 RF04 S RF04 S P 135 BD type Belt type Straight model Tere P 136 note1 Lead Maximum payload kg Maximum payload kg Maximum speed Stroke ECNMENLEEM aA W40 x H40 48 300 to 1000 BD04 P 136 PD Ype W58 x H48 300 to 2000 BD05 P 137 Belt type BD07 W70 x H60 E a aCe 1500 300 to 2000 BDO7 P 138 Note 1 The size shows approximate maximum cross sectional size E Allowable ambient temperature for robot installation Note 2 The payload may vary depending on the operation speed For details refer to the detailed page of relevant model STH RF BD type 5 to 40 C Note 3 The maximum speed may vary depending on the transfer weight or stroke length For details refer to the detailed page yp of relevant model Note 4 STHO4 R L with 50 stroke and brake is not supported Common features of TRANSRVO Series POUNT 1 5 2 ZD0 o o
23. Non motor side C Clean room grease 50mm pitch 3L 3m SH TS SH PN PNP Absolute 06 6mm 5L 5m CC CC Link N None 10L 10m DN DeviceNet Incremental Note 1 The robot cable is flexible and resists bending EP EtherNet IP Note 2 Select this selection when using the gateway function For details see P 453 GW No I O board e Basic specifications L Allowable overhang ad li Static loading moment Motor 56 L Step motor A Resolution Pulse rotation 20480 Repeatability ete mm 0 02 B Deceleration mechanism Ball screw 12 Class C10 B C A C Ball screw lead mm 20 12 6 A cn cmn Maximum speed e 2Nee mm sec 1200 800 350 azimie Home 36 43 46 Horizontal installation Unit mm Wall installation Unit mm Vertical installation Unit mm Unit N m payload kg Vertical 4 12 20 A c A A C MY MP MR Stroke mm l 50 to 800 50pitch S 25kg 2971 245 25kg 117 155 2943 4kg 1147 1147 Overall length Horizontal Stroke 288 S 36kg 3150 160 36kg 98 85 2520 4kg 1386 1386 m ssusdedic ned Aa N 15kg 3703 406 N 15kg 351 307 3403 12kg 442 442 KE G ans W65xH64 S 30kg 1962 196 amp 30kg 134 117 1663 7kg 781 781 of body cross section mm o o B Controller Operation method Cable length m Standard 1 Option 3 5 10 43kg 1430 191 43kg 68 59 1070 20kg 252 252 Note 1 Positioning repeatability in one direction 15kg 3853 414 z 15kg 353 307 3541 TS SH E dene Nac d Note
24. Positioning repeatability in one direction Note 2 The maximum speed may vary depending on the moment Allowable radial load N Allowable thrust load N Allowable moment TS SD Pulse train control of inertia Check the maximum speed while referring to the i b l Nem i Moment of inertia vs Acceleration deceleration graph and the Standard High Standard SEnden High Standard High u rigidity rigidity rigidity Effective torque vs speed graph reference model model model model Note 3 For moment of inertia and effective torque details see P 534 Model medel model q dco 196 233 363 398 5 3 6 4 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual RF03 NN Limit rotation specification Standard model Stroke end Origin position in CW rotation direction Origin CCW direction Origin Origin position in CCW KE 4 rotation direction 2 06 8 drill through Stroke end 11 deep spot facing Depth 6 5 P C D 48 1 Table movable range by return to origin operation 6 M5x0 8 Depth 8 Be careful not to interfere with the workpiece or equipment around the table 60 equally divided 2 Return to origin position 3 Values and characters in show those when the return
25. With no brake N Standard N No plate 50 to 300 1L 1m S2 TS 82 B With battery 2 06 6mm R Space saving model Nee3 B With brake Z Non motor side H With plate 50mm pitch 3L 3m SH TS SH Absolute E 02 2mm motor installed on right V With flange 5L 5m CC CC Link N None o L Space saving model Nete 3 10L 10m DN DeviceNet Incremental x motor installed on left EP EtherNet IP fe Len o9 7 sd gt Pa e 2 Pm 9 lt O Motor 42 Step motor 5000 km on models other than shown below Resolution Pulse rotation 20480 50 ju spe a Fn becomes shorter than 5000 km depending on the Repeatability mm 0 02 da pelea i Ball screw 8 Ball screw 10 9 TES 4 Deceleration mechanism Class C10 Class C10 M f Lead 2 d Ball screw lead mm 12 6 2 9 NU 6000 Maximum speed mm sec 500 250 80 520 5000 E 5000 Maximum Horizontal 25 40 45 O49 I 4000 4000 payload kg Vertical 5 12 25 3000 53000 Max pressing force N 150 300 600 0 a o0 a 59077200 7500 3006 SR E Stroke mm 50 to 300 50pitch Speed mm s Lost motion 0 1mm or less 30 g 1000 1000 Rotating backlash 1 0 oe 0 0 Overall length Horizontal Stroke 263 fes 1 0 5 10 15 20 25 0 1 2 3 4 5 mm Vertical Stroke 303 20 Payload kg Payload kg Maximum outside dimension B15 Not
26. 10 000km This does not warrant the service life of the product Service life is calculated for QE Bl Quick reference Payload Speed 9 as kg mm sec B D x 5 550 39 o 4 E 3 700 50 3 1 1000 71 2 0 1400 100 1 09 500 1000 1500 Approx 230 Motor cable length __ Speed mm s L D Effective stroke 118 8 1 65 8 Note 1 Effective stroke H9 2025 Depth 3 123 68 Note 1 b 3H9 8025 Depth 3 b S IA J a E Q x 3 2S E ON o fo o n sd 2 zZ e ing wd lt O E Static loading moment Unit N m MY MP MR 27 27 52 E Controller Controller Operation method TS S2 TS SH I O point trace Remote command TS SD Pulse train control Effective stroke 167 Mx170 M4x0 7 Depth 8 For grounding terminal 10 12 14 14 16 Weight kg 2 39 2 85 3 08 3 31 3 54 3 77 Note1 Position from both ends to the mechanical stopper Movable range during return to origin Note2 When installing using the main unit installation reference surface make the mating or positioning height 2mm or more higher than the reference surface since the R chamfering is provided on the main unit Recommended height 5mm Note3 The minimum bending radius of the motor ca
27. 2 When the stroke F n than SET EE iet an 30kg 2105 197 S 30kg 134 117 1752 emote comman screw may occur depending on the operation conditions critica speed In this case reduce the speed setting on the program 46kg 1500 122 46kg 58 50 1100 by referring to the maximum speeds shown in the table below Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of Note 3 It is necessary to change the maximum speed according to the payload For details see the Speed vs payload graph shown below Note Position detectors resolvers are common to incremental and absolute specifications If the controller has a backup function then it will be absolute specifications 10 000 km Service life is calculated for 600mm stroke models Note Calculated by the speed corresponding to the payload E Speed vs payload Bl Quick reference Speed mm s n HERREN ERR 00 1000 1200 1400 SG07 Straight model Approx 200 Cable length Lead 20 Lead 12 Lead 6 Payload Speed 9L Payload Speed 9L Payload Speed JA k mm sec k mm sec kg j mm sec 36 320 26 43 240 30 46 140 40 30 400 33 40 255 31 42 155 44 25 480 40 35 295 36 40 165 47 20 560 46 30 340 42 35 190 54 15 720 60 25 380 47 30 200 57 10 800 66 15 420 52 25 245 70 TT 9 900
28. 500 500 Note 4 These are the weights without a brake The weights Weight kg l l i i l l 4 3 6 3 8 A l AJAD une dr ee ote 5 When the stroke is longer than mm Lead20 633 resonance of the ball screw may occur depending on the operation conditions critical speed Maximum Lead12 Horizontal 380 In this case reduce the speed setting on the speed for each Lead12 Vertical 380 program by referring to the maximum speeds Note 5 shown in the table at the left stroke Lead6 Horizontal 190 The belt cover s left and right sides are mm sec Lead6 Vertical 190 asymmetrical Therefore if the motor mounting Speed settin 8396 63 orientation is changed the cover cannot be attached ZONE TS S2 gt 452 TS SH gt 452 TS SD gt 465 105 mem sd gt zZ e 2 Pm 9 lt O e z e oO J 5 x a ae 9 ed 9 2 9 x 106 SG07 High lead Lead 20 CE compliance Ordering method 607 Q Origin on the non motor side is selectable L IL SH EE 20 20mm S Straight model N With no brake N Standard N Standard grease 50 to 800 1L 1m ME NP NPN B With battery 12 12mm B With brake Z
29. 5m CC CC Link N None gt E L Space saving model Note 2 10L 10m DN DeviceNet Incremental PAN motor installed on left EP EtherNet IP ni 2 U Space saving model Nee GW No I O board 4 3 motor installed on top 8 Note 1 The robot cable is flexible and resists bending SD 4 i Note 2 See P 99 for grease gun nozzles Note 3 See P 460 for DIN rail mounting bracket Robot dri V0 cabi Note 4 Select this selection when using the gateway function For details see P 453 Note 5 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m Basic specifications E Speed vs payload E Running life CID Motor 42 Step motor 5000 km on models other than shown below Running life of only the model shown below becomes shorter than 5000 km depending on the Re Aan TIT tation z a payload so check the running life curve Deceleration mechanism Ball screw 8 Class C10 v EID Ball screw lead mm 12 6 TD bang d Maximum speed te mm sec 500 250 Maximum Horizontal 10 20 ond payload kg Vertical 4 8 D 4000 Max pressing force N 75 100 o 3000 Stroke mm 50 to 200 50pitch O 100 s n s 500 600 2000 Lost motion 0 1mm or less pesca S 1000 Rotating backlash 1 0 9 Y gj Overall length Horizontal Stroke 236 5 _ Lead 6 0 2 3 mm Vertical Stroke 276
30. Note 1 4 M4 x 0 7 Depth 8 eae Note 1 174 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 Slider face 51 L 45 with brake 4H7 09 Depth 207 5 with brake Effective stroke Note 1 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 Weight kg e 100 N TS S2 gt 452 TS SH gt 452 TS SD gt 465 SS04 Space saving model GD Effective stroke xn 82 2 When origin is on motor side SS04 IA J a E Q x3 zem E ON o fo o n sd gt Pa e ing wd lt O 128 5 with brake Tolerance between knocks 0 02 4 M4x0 7 Depth 8 23 1 Note 1 2 3H7 Depth 6 55 When origin is on motor side 82 When origin is on non motor side i Note 2 Cable securing position Approx 245 Cable length Effective str
31. Operation method aximum outside dimension ke D of body cross section mm Woe UNDE gists 332 79 Bes 76 55 gr E E trace Cable length m Standard 1 Option 3 5 10 10kg 344 62 8kg 47 22 a emoe comman Note 1 Positioning repeatability in one direction Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of TS SD Pulse train control Note 2 When the stroke is longer than 600mm resonance of the ball 10 000 km Service life is calculated for 600mm stroke models 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 E Motor installation Space saving model C E a Ta GEB Motor installed on right SS05 Straight model Approx 200 Cable length 178 2 When origin is on motor side Effective stroke _ 52 When origin is on motor side 178 When origin is on non motor side 2 4H7 Depth 6 52 2 When origin is on non motor side Cable securing position Note 2 140 1 Note 1 14 1 Note 1 180 1 with brake Note 1 J 218 2 with brake When origin is on motor side 218 with brake When origin is on non motor side between knocks 0 02 57 Slider top face L 40 with brake Ax 50 B M6 x 1 Depth8 166 5 wit
32. SH gt 452 TS SD gt 465 113 m NYAN GF S R D Rod type With support guide CE compliance Origin on the non motor side is selectable Lead 6 12 Ordering method SRD04 ee ee 50 to 300 50mm pitch 12 12mm S Straight model N With no brake N Standard N No plate 1L 1m S2 TS S2 e4 NP NPN B With battery 06 6mm U Space saving model Nee3 B With brake Z Non motor side H With plate 3L 3m SH TS SH PN PNP Absolute 02 2mm motor installed on top 5L 5m CC CC Link N None 10L 10m DN DeviceNet Incremental EP EtherNet IP GW No I O board Nes Note 1 When 2mm lead is selected the origin position cannot be changed to non motor side Note 2 The robot cable is flexible and resists bending SD 4 Note 3 See P 99 for grease gun nozzles Note 4 See P 460 for DIN rail mounting bracket a z e oO J 5 x a ae 2 ed 9 E a sd gt zZ on Pm 9 lt O Note 5 Select this selection when using the gateway function For details see P 453 l O cable Note 6 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m L Basic specifications E Speed vs payload E Running life Horizontal 5000 km on models other than shown be
33. SK AT ad et A SR04 S A SR03 S SRO5 R L t SR04 R L SRO3 R L SR type Rod type with support guide Straight model P110 Space saving model Side mounted motor mode P111 LUE 1m a m ou i tu um amp e c o SRD04 S NE SRD03 S EC E SRDO4 U amp 377 SRD03 U M H l d k Note 2 f Model Size mm Lead aximum payload kg Maximum speed Stroke Page mm Horizontal Vertical mm sec mm SS04 S 12 2 600 SS04 S P 100 SSO4 R L W49 x H59 6 4 2 300 50 to 400 2 6 4 100 SS04 R L P 101 SS type SS05 S 20 E 1000 SS05 S P 102 W55 x H56 12 6 1 600 50 to 800 SSMO SS05 R L ia Bon SS05 R L P 103 S A modal 20 6 1000 SSO5H S P104 Space saving model onis W55 x H56 ue 2 P S00 Vertical 50 to 800 x SSO5H R L a SSO5H R L P 105 6 42 A 300 Horizontal 250 Vertical eT 20 36 4 e As e Qo SG07 W65 x H64 12 43 12 50 to 800 SG07 P 106 yP 6 46 20 SR03 S 12 10 4 SR03 S P 107 SRO3 R L W48 x H56 5 50 to 200 SRO3 R L P 108 PM SRO3 U 6 20 8 SRO03 U P 109 us 12 25 5 SRO4 S P112 Rod type standard SR04 S W48 x H58 6 40 12 50 to 300 Space saving model i m 12 50 10 SR05 S P 116 SROS R L W56 4 x H71 6 55 20 150 50 to 300 50 ui NE SRD03 S 12 10 3 5 500 SRDO3 S P 110 T SRDO3 U W109 P66 3 7 5 250 90 to 200 l SRDOX U P111 Rod Aas SRD04 S 12 25 4 500 SRDO4 S P114
34. See our robot manuals for additional settings M3x0 5 EP A A OO ES L Length under head 14 Dimensions of attached square nut for T slot 6 pcs Details of T slot Dimensions of attached nut Effective stroke 50 100 150 200 250 300 L1 162 5 212 5 262 5 312 5 362 5 412 5 L 270 5 320 5 370 5 420 5 470 5 520 5 Installed within the T slot range of the i Note 8 Installed v g Weight kg 1 4 1 9 2 2 2 4 27 oe o head ap bolt M3x0 5 Maximum Lead 12 500 440 320 ength under nea speed for each exe Six bolts are required for one plate j stroke Lead 6 250 220 160 mm sec Lead 2 80 72 53 Note1 Itis possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod Note2 The orientation of the width across flat part is undefined to the base surface Note3 Use the support guide together to maintain the straightness Note4 For lead 2mm specifications the origin on the non motor side cannot be set Note5 When running the cables secure cables so that any load is not applied to them Note6 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note7 The cable s minimum bend radius is R30 Note8 Models with a brake will be 0 2kg heavier Note9 Distance to mechanical stopper om 112 N TS S2 gt 452 TS SH gt 452 TS SD gt 465 SRO4 SR
35. Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 4 300 60 8 150 60 3 5 300 60 7 5 150 60 2 432 86 5 200 80 1 5 432 86 4 5 200 80 1 500 100 2 250 100 0 5 500 100 1 5 250 100 SR04 SRD04 Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 25 320 64 40 200 80 45 80 100 25 320 64 40 200 80 45 80 100 20 363 72 30 225 90 20 363 72 30 225 90 15 407 81 20 250 100 15 407 81 20 250 100 5 500 100 5 500 100 Lead 12 Lead 6 Lead 2 Lead 12 Lead 6 Lead 2 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec Payload kg Speed mm sec _ Payload kg Speed mm sec 5 200 40 12 125 50 25 60 75 4 200 40 11 120 48 24 60 75 2 350 70 5 200 80 5 80 100 3 250 50 4 200 80 14 70 87 1 500 100 2 250 100 0 5 500 100 1 250 100 4 80 100 SRO05 SRD05 Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 50 168 56 55 135 90 60 100 50 168 56 55 135 90 60 100 40 198 66 40 150 100 40 198 66 40 150 100 30 249 83 30 249 83 20 300 100 20 300 100 QN aa Iess le
36. With brake Z Non motor side H With plate 3L 3m SH TS SH Absolute 02 2mm motor installed on right V With flange 5L 5m CC CC Link N None L Space saving model Nete 3 10L 10m DN DeviceNet Incremental motor installed on left EP EtherNet IP GW No I O board Nes Note 1 When 2mm lead is selected the origin position cannot be changed to non motor side Note 2 The robot cable is flexible and resists bending SD 4 Note 3 See P 99 for grease gun nozzles Note 4 See P 460 for DIN rail mounting bracket Note 5 Select this selection when using the gateway function For details see P 453 I O cable Note 6 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m E Basic specifications E Speed vs payload E Running life Motor 56 L Step motor 5000 km on models other than shown below a z e oO J 5 x a ae 2 o 9 E a sd gt Pa e 2 Pm 9 lt O Resolution Pulse rotation 20480 70 Running life of only the model shown below becomes shorter than 5000 km depending on the Repeatability mm 0 02 60 payload so check the running life curve Deceleration mechanism Ball screw 12 Class C10 250 d AN Ball screw lead mm 12 6 2 5 40 Cae Maximum speed mm sec 300 150 50 8 30 9000 Maximum Horizontal 50 55 60 on
37. amp 5000 payload kg Vertical 10 20 30 an g 4000 Max pressing force N 250 550 900 0 53000 Stroke mm 50 to 300 SOpitch O 50 100 150 200 250 300 350 Lost motion 0 1mm or less Speed mm s S ae Rotating backlash 1 0 Ap land 1000 Overall length Horizontal Stroke 276 em 0 mm Vertical Stroke 316 x25 0 5 10 15 20 25 30 Maximum outside dimension Y 20 Payload kg of body cross section mm iM Note See P 99 for running life distance to life time conversion example Cable length m Standard 1 Option 3 5 10 amp 10 Lead 2 Note 1 The maximum speed needs to be changed in accordance with 5 the payload 0 See the Speed vs payload graph shown on the right 0 50 100 150 200 250 300 350 For details see P 98 Speed mm s E Controller Motor installed on left Controller Operation method Controller Operation method TS S2 I O point trace TS SD Pulse train control TS SH Remote command Ball screw greasing port M4x0 7 Depth 5 66 5 For securing cable M4x0 7 Depth 5 For securing cable 4 M5x0 8 Depth 10 CI TSiot range Origin on 90 equal division Width motor side Origin on T slot for M4 across flat L 40 with brake 45 5X2 Effective stroke non motor side 8 locations ke 19 M12x1 25 bs 7 Option Horizontal installation plate foot Op
38. not need any return to origin The work can be started quickly to shorten the start up time TS SH 13 HEN TRANSERVO Series Product Lineup SS type Slider type Straight model Space saving model POINT 0 b GAoAA9AObG o 4 row circular arc groove type 2 point contact guide applicable to even large moment load A newly developed module guide is employed with a 4 row circular arc groove type 2 point contact guide built into a very compact body similar to the conventional model This guide maintains a satisfactory rolling movement with less ball differential slip due to its structure even if a large moment load is applied or the installation surface precision is poor and has characteristics that are difficult to malfunction such as unusual wear Tact is shortened by high speed movement As advantages of the vector control method are utilized at maximum level the TRANSERVO maintains a constant payload even in a high speed range This greatly contributes to shortening of the tact time Additionally by combining this feature with high lead ball screws the TRANSRERVO has achieved a maximum speed of 1 m sec which is faster than any single axis servo motor Note SS05 S SS05H S with 20 mm lead specifications Conventional model TRANSERVO SS type Bi 2 row gothic arch groove type 4 point contact guide Bi 4 row circular arc groove type 2 point contact guide If a large moment load is applied or the instal
39. side Gn D kis Note2 able securing position _ Approx 245 Cable length 57 Slider top face Ax50 B M6x1 0 Depth 12 4H7 09 Depth 6 Effective stroke 650 700 750 800 Note 1 Stop positions are determined by the mechanical stoppers at both ends L 796 5 846 5 896 5 946 5 Note 2 Secure the cable with a tie band 80mm or less A 14 15 16 17 from unit s end face to prevent the cable from being subjected to excessive loads B 15 16 17 18 Note 3 The cable s minimum bend radius is R30 C 500 500 500 500 Note 4 These are the weights without a brake The weights Note 4 are 0 2kg heavier when equipped with a brake Weight kg 4 0 4 1 4 3 4 5 Note 5 When the stroke is longer than 600mm resonance of the ball screw may occur depending on the operation Maximum Leadan AREE 088 conditions critical speed In this case reduce the speed for each _Lead12 560 500 440 380 speed setting on the program by referring to the stroke 5 Lead6 280 250 220 190 m Mains Ht Mae at the left X e belt cover s left and right sides are asymmetrical mm sec Speed setting 93 83 73 63 Therefore if the motor mounting orientation is changed the cover cannot be attached AOC TS S2 gt 452 TS SH gt 452 TS SD gt 465 103 m
40. the inside and troubles caused by foreign objects Additionally oleo synthetic foam rubber with a self lubricating function ensures low friction resis tance Use of a circulation type linear guide achieves the high rigidity and high accuracy Guide rail is integrated with the table Positioning pin hole 6 Table deflection amount is small Workpiece installation reproducibility is improved Use of a circulation type linear guide achieves the high rigidity and high accuracy 6 STHO6 provides an allowable overhang exceeding that of FLIP X series T9 Space saving model with the motor built into the body is also added to the product lineup Body installation through hole Installation is possible from the top surface 6 Suitable for precision assembly Workpiece installation tap Guide rail is integrated with the table RF type Rotary type Standard model High rigidity model Use of highly rigid bearing makes it possible Rotation axis model first in TRANSERVO series to reduce displacement amount in the radial Rotation axis model first in TRANSERVO series thrust direction of the table Thin and compact Can be secured from the top or bottom surface Hollow hole through which the tool wiring is passed is prepared Workpiece can be attached easily Motor is built into the body to achieve the space saving 6 Standard model or high rigidity model can be selected Standard model Hi
41. to mechanical stopper Controller TS S2 452 TS SH gt 452 TS SD gt 465 SRDO3 yppedwog e z e oO I 5 x a pri 9 er o a P gt zZ on ing wd lt O SRD03 Space saving model motor installed on top A Approx 245 Cable length V 37 5 2 Effective stroke 5 Note 8 M4x0 7 Depth 5 vss oen For securing cable 10 motor side Origin on non motor side ENS S Ball screw greasing port 6 5 N anlk e Lo c Sere i Li LO co Y M4x0 7 Depth 5 4 M4x0 7 drill through For securing cable For main unit installation x 8 M4x0 7 Depth 10 105 For user tool installation Contents of option Plate 2 pcs See our robot manuals for additional settings Hex socket head cap bolt M3x0 5 M4x0 7 Depth 5 Length under head 10 For securing cable Two bolts are required for one plate Effactiva ctrakal en 4nn 4 amp n onn It is possible to apply only the axial load EMSCHYOISUONS Use the external guide together so that any radial load is not applied to the rod L1 The orientation of the width across flat part is undefined to the base surface L Use the support guide together to maintain the str
42. to origin 66 4h8 0 046 direction is changed lt ese IM Um 63h8 0 046 Origin mark Manual operation screw both sides Approx 180 Approx 180 Motor cable exit direction Motor cable exit direction Exit from left side Exit from right side Tolerance range Weight kg 1 1 Note1 This drawing is output under the conditions below Bearing Standard Standard High torque 2 M8x1 25 Depth 16 Note2 oo bending radius of the motor cable is Tolerance range Cross sectional drawing A A om 128 N TS S2 gt 452 TS SH gt 452 TS SD gt 465 RFO3 N IA J Kej g D x 3 oT 289 ON o fo o 0 P gt zZ on ing wd lt O RF03 NH Limit rotation specification High rigidity model Stroke end Origin position in CW rotation direction Origin CCW direction Origin l Origin position in CCW 2 06 8 drill through rotation direction 11 deep spot facing Depth 6 5 Stroke end P C D 48 T 6 M5x0 8 Depth 8 1 Table movable range by return to origin operation 60 equally divided Be careful not to interfere with the workpiece or equipment around the table 2 Return to origin position 0 3 Values and characters in show those when the return to origin 64hB 0 046 i direction is changed BE 63h84 046
43. 00 1000 1200 Speed mm s Approx 230 Cable length 92 5 1 fe Effective stroke m 103 24 54 5 Note 1 NM 3H9 6 Depth 3 63 Note 1 1o 0 025 Depth 3 Dep 4 M4x0 7 Depth 6 4 s 40 Main unit installation reference surface Note 2 ZZ nis a wat HAE ee SS ee 40 3H9 0 a Effective stroke 135 Mx150 Effective stroke 1000 1195 5 Note1 Position from both ends to the mechanical stopper Movable range during return to origin 7 Note2 When installing using the main unit installation reference surface make the mating or positioning height 2mm or more higher than the reference surface since the R chamfering is provided on the main unit 16 Recommended height 5mm Weight kg 2 1 Note3 The minimum bending radius of the motor cable is R30 m 136 N TS S2 gt 452 TS SH gt 452 TS SD gt 465 BD05 CE compliance Ordering method Brake Origin position N With no brake N Standard L Cable length e1 Robot positioner NNNM Battery 48 48mm 300 300mm 1L 1m S2 TS 82 e NP NPN B With battery Absolute 500 500mm 3L 3m SH TS SH PN PNP N None Incremental 600 600mm 5L 5m CC CC Link 700 700mm 10L 10m DN DeviceNet 800 800mm EP EtherNet IP 900 900mm GW No I O board ve Note 1 The robot cable is flexible and resists bending No
44. 150 200 250 300 350 0 50 100 Speed mm s 150 200 250 300 350 Effective stroke 107 5000 km on models other than shown below Running life of only the model shown below becomes shorter than 5000 km depending on the payload so check the running life curve Vertical M Lead 2 0 5 10 15 20 25 30 Payload kg Note See P 99 for running life distance to life time conversion example Controller Controller Operation method Controller Operation method TS S2 I O point trace TS SD Pulse train control TS SH Remote command 8 M6x1 0 Depth 15 For user tool installation 4 M6x1 0 drill through For main unit installation L1 T slot range L Origin on motor side L 40 with brake 45 542 Effective stroke Option Horizontal installation plate foot Contents of option Plate 2 pcs Nut 8 pcs See our robot manuals for additional settings Installed within the T slot range of the main unit Hex socket head cap bolt M4x0 7 Length under head 12 M4x0 7 Depth 5 For securing cable T Dimensions of attached square nut for T slot 6 pcs Details of T slot 2 1 Effective stroke 50 100 150 200 250 L1 183 233 283 333 383 L 280 5 330 5 380 5 430 5 480 5 530 5 Four bolts are required fo
45. 3 For moment of inertia and effective torque details see P 534 Allowable radial load Allowable thrust load N Allowable moment N a b Nem High High High High Standard is Standard ar Standard n Standard VR rigidity rigidity rigidity rigidity model EOS model model model model model w 314 378 296 398 517 9 7 12 0 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual J 2 8 5 drill through 14 deep spot facing Depth 8 5 6 M6x1 0 Depth 10 60 equally divided 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 The return to origin position may differ from that shown in this drawing To align with the position shown in this drawing refer to the TS Series 76h8 0 046 User s Manual and change the origin coordinates LT dp so TUM 74h8 1 os Manual operation screw e both sides 3 3 Approx 170 Approx 160 Motor cable exit direction Exit from left side Motor cable exit direction Exit from right side lt gt 35H8 8099 Tolerance range
46. 35H8 809 20 Through hole i Tolerance range 2 M10x1 5 Depth 20 Cross sectional drawing A A Tolerance range set Weight kg 2 5 Note1 This drawing is output under the conditions below 2 Bearin High rigidit 3 PE Approx 300 Approx 300 Standard High torque SUP pr M sspe peck Note2 The minimum bending radii of the dcr in and sensor cable are R30 Sensor cable exit direction Exit from left side Sensor cable exit direction Exit from right side e TS S2 gt 452 TS SH gt 452 135 BD04 CE compliance Ordering method B4 48 NUN K Model NLCNEMS Origin position f Cable length Robot positioner I O Battery 48 48mm N With no brake N Standard 300 300mm 1L 1m S2 TS 82 e NP NPN B With battery Absolute 2 500 500mm 3L 3m SH TS SH PN PNP N None Incremental gt a 600 600mm 5L 5m CC CC Link Z 700 700mm 10L 10m DN DeviceNet i 2 x 800 800mm EP EtherNet IP aa d 900 900mm GW No I O board ve Zg 1000 1000mm oO Note 1 The robot cable is flexible and resists bending SD 4 Note 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Robot driver l
47. 5 256 Payload kg EON e DIE WA8 x H56 5 5 i Lead 12 Note See P 99 for running life distance to life time conversion example Cable length m Standard 1 Option 3 5 10 g 2 Note 1 The maximum speed needs to be changed in accordance with 1 the payload 0 See the Speed vs payload graph shown on the right 0 100 200 300 400 500 600 For details see P 98 Speed mm s E Motor installation Space saving model L Controller GED Motor installed on right ARDT Motor installed on left QED Motor installed on top Controller Operation method Controller Operation method IS TS S2 I O point trace TS SD Pulse train control TS SH Remote command A li ZO 7 5 Width across flat part ge M8xt 25 l I EIE ei M4x0 7 Depth 5 For securing cable 4 M3x0 5 Depth 10 90 equal division 11 Width across flat 0 5 a Origin on non motor side Effective stroke QT h J Width across flat M4x0 7 Depth 5 For securing cable K M3x0 5 Depth 4 i 5 13 M8x1 25 TT i TE l HN a NEM Dimensions of attached nut View A Option Horizontal installation plate foot Contents of option Plate 2 pcs Effective stroke 150 See our robot manuals for additional settings Hex socket head cap bolt M3x0 5 L1 261 Length under head 14 L 349 H 2 3 4 5 K 6 8 10 12 Weight kg
48. 54 5588 46 46 101 Stroke mm aoe A E DER 8kg 1839 399 458 8kg 474 399 1658 14kg 829 154 254 14kg 255 151 643 ERA Stroke 285 6 Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of 10 000km This does not warrant the service life of the product Service life is calculated for Maximum outside dimension of body cross section mm Cable length m Standard 1 Option 3 5 10 Note 1 Positioning repeatability in one direction E Speed VS payload Hi Controller Note 2 The maximum speed needs to be changed in accordance with CHEND W70 x H147 5 600mm stroke models ilie payload B Quick reference Controller Operation method See the Speed vs payload graph shown on the right 1 Payload Speed 9 TS S2 I O point trace s 14 kg mm sec TS SH Remote command 12 14 50 3 TS SD Pulse train control g 10 9 525 35 cs 4 1000 66 6 i 1 1400 93 2 0 5 1500 100 0 500 1000 1500 2000 Speed mm s Approx 230 Motor cable length L 150 6 1 Effective stroke 87 6 Note 1 Effective stroke 189 Mx200 M4x0 7 Depth 8 For grounding terminal Note1 Position from both ends to the mechanical stopper Movable range during return to origin Note2 Whe
49. E ote Dimensions of attache etail o imensions o Weight kg 2 6 2 9 i 3 9 square nut for T slot 6 pcs section B attached nut Maximum Lead 12 500 320 Use the support guide together to maintain the straightness specu Lead 6 250 160 When running the cables secure cables so that any load is not applied to them mm sec Lead 2 80 72 53 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 The cable s minimum bend radius is R30 Note1 It is possible to apply only the axial load Models with a brake will be 0 2kg heavier Use the external guide together so that any radial load is not applied to the rod Distance to mechanical stopper Note2 The orientation of the width across flat part is undefined to the base surface For lead 2mm specifications the origin on the non motor side cannot be set ZONE TS S2 gt 192 TS SH gt 452 TS SD gt 465 115 mmm SR05 ex CE compliance Origin on the non motor side is selectable Lead 6 12 SRO5 R Ordering method sRO HKH H H NL I H 50 to 300 NP NPN 50mm pitch PN PNP 1L 1m S2 TS S2 P 12 12mm S Straight model N With no brake N Standard N No plate B With battery 06 6mm R Space saving model Nee3 B
50. Note 5 Select this selection when using the gateway function For details see P 453 Robot driver I O cable Note 6 Select whether or not the battery is provided only when using the TS SH SD TS SD ee4 1 4m E Basic specifications E Allowable overhang ll Static loading moment Motor 42 Step motor A Resolution Pulse rotation 20480 Repeatability et mm 0 05 A B C Drive method Straight Slide screw B C A MR CD Space saving Slide screw belt Ball screw lead mm 8 16 Horizontal installation Unit mm Wall installation Uni mm Vertical installation Unit mm Unit N m Maximum payload Horizontal 9 6 2kg 3000 2123 1436 2kg 1500 2091 3000 1kg 3000 3000 50mm 77 77 146 kg Vertical 4 2 9 kg 2493 1001 680 S 4kg 710 975 2443 1 5kg 2458 2457 100mm 112 112 177 E pressing force N BE Are 5i 6kg 1571 627 428 J 6kg 440 603 1524 2kg 1837 1837 150mm 155 155 152 roke mm e 3kg 3000 1375 932 3kg 979 1347 3000 2kg 1837 1837 Maximum outside dimension Straight W61 x H65 of body cross section mm Space saving W108 x H70 am 6kg 1571 627 428 m 6kg 440 603 1524 z 3kg 1217 1216 Cable length m Standard 1 Option 3 5 10 7 9kg 956 378 260 9kg 260 355 912 4kg 907 906 Note 1 Positioning repeatability in one direction Note 2 The maximum speed needs to be changed in accordance with the payload See the Speed vs payload graph
51. O l New control method combining the advantages of both the servomotor and stepping motor The stepping motor provides features that its price is less expensive and hunting minute vibration does not occur during stopping However this motor has disadvantages that the SIpping noter 29nromoter positional deviation due to step out occurs in the open loop Simple amp low cost Smooth movement ipid Constant torque at mode the torque decreases greatly in the high speed area and No vibration any time during stopping the power consumption is large during stopping As YAMAHA Ss Energy saving TRANSERVO uses the closed loop control this ensures High pitched operation noise x Sree ee decrease in high x Tiny vibration during stopping complete no step out Furthermore use of a newly developed Na none nna High cost vector control method ensures less torque decrease in the high SHIT tapping speed area energy saving and low noise The function and performance equivalent to the servomotor are achieved at a low TRANSERVO combines both merits cost even using the stepping motor Energy saving No hunting during stopping As the basic control is the same as the servomotor waste power con Stop mode without hunting can be set in the same manner as the sumption is suppressed This greatly contributes to the energy saving general stepping motor So select this mode as required and CO reduction POINT Closed
52. O cable Note 4 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m Basic specifications E Allowable overhang d ll Static loading moment Motor 28 L Step motor A Resolution Pulse rotation 4096 m B Repeatability mm 0 1 C A B cm CI Drive method Belt E Equivalent lead mm 48 Horizontal installation Uni mm Wall installation Unit mm Unit N m Maximum speed mm sec 1100 A B C A B C MY MP MR Maximum payload kg 1 0 5kg 8036 1950 1504 0 5kg 1614 1942 8013 10 10 20 Stroke mm ono eee Oe S Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of Overall length mm Stroke 195 5 10 000km This does not warrant the service life of the product Service life is calculated for Horizontal installation 600mm stroke models Maximum outside dimension of body cross section mm vee EROTA Cable length m Standard 1 Option 3 5 10 Note 1 Positioning repeatability in one direction E Speed VS payload Hi Controller Note 2 mc speed needs to be changed in accordance with CHEND H Quick reference Controller Operation method 1 2 See the Speed vs payload graph shown on the right TS S2 I O point trace v E E 4 TS SH Remote command 08 90 TS SD Pulse train control S 95 oo 100 A 0 4 0 2 0 200 400 600 8
53. O4 Space saving model motor installed on right Approx 245 Cable length L 42 5 2 Effective stroke 5 Note 8 152 with brake 7 Note 8 Origin on Origin on N motor side N non motor side Note 9 M10x1 25 a Detail of section B Dimensions of yppedwog Ball screw greasing port 66 5 T slot for M3 8 locations ERAI s oqo1 sixe 9 6uls 14 Width across flat M10x1 25 M4x0 7 Depth 5 REN For securing cable fi Width across l flat M4x0 7 Depth 5 For securing cable 9 5 M3x0 5 2 4 Option Horizontal installation plate foot Ke XE Contents of option Plate 2 pcs Nut 12 pcs See our robot manuals for additional settings Dimensions of attached Effective stroke 100 square nut for T slot 6 pcs L1 212 51262 5 L 259 5 309 5 Weight kg 1 9 2 1 eE VAEA EET Maximum Lead 12 500 ION l in ion n Installed within the T slot range of the main unit PRON EIcal staal oniplatentlange ice Lead 6 250 Hex socket head cap bolt M3x0 5 Hex socket head cap bolt M4x0 7 mm sec Lead2 80 72 53 Length under head 10 Length under head 14 73 i Six bolts are required for one plate 4 6 6 Note1 It is possible to apply only the axial load drill through Use the external guide together so that any radial load is not applied to the rod 1 Note2 The orientation of the
54. P NPN B With battery H High rigidity H High torque L From the left Z CW 3L 3m SH TS SH PN PNP Absolute 5L 5m CC CC Link N None 10L 10m DN DeviceNet Incremental BET ET Te HL o1 LES Note 1 The robot cable is flexible and resists bending Note 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH N eo torque o AB Motor 42 Step motor ia Resolution Pulse rotation 20480 a Repeatability 0 05 d Drive method Special warm gear belt 0 06 Torque type Standard High torque 5 0 0 Maximum speed sec 420 280 S 0 0 Rotating torque N m 10 0 00 Max pushing torque Nem 5 Backlash 0 5 Max moment of inertia kg m 0 04 0 1 Cable length m Standard 1 Option 3 5 10 Rotation range 320 Note 1 Positioning repeatability in one direction Note 2 The maximum speed may vary depending on the moment of inertia Check the maximum speed while referring to the Moment of inertia vs Acceleration deceleration graph and the Effective torque vs speed graph reference Note 3 For moment of inertia and effective torque details see P 534 Mm 132 Stroke end Origin positi
55. T i TM Z Note 1 The robot cable is flexible and resists bending ee on DOO E dogementa ERU Note 2 See P 460 for DIN rail mounting bracket E Dee m 3 ote Z see F o g GW No I O board te lt 3 D 7 E Moment of inertia Acceleration deceleration E Effective torque vs speed Motor 42 Step motor P Ost _ 1 Resolution Pulse rotation 20480 E 40 m 40 Repeatability Note 1 0 05 2 High torque N dich torgie Drive method Special warm gear belt m l o Torque type Standard High torque 0 06 P 6 Maximum speed sec 420 280 5 0 04 9 4 Rotating torque N m 6 6 10 5 T 9 P 3 Max pushing torque Nem 3 3 5 5 him ndan Backlash 0 5 0o 1000 10000 09 100 200 300 400 500 Max moment of inertia kgem 0 04 0 1 Acceleration deceleration w s Speed w s LE epee Aliowableload Controller Rotation range 360 E Allowable load E Controller Note 1 Positioning repeatability in one direction a l b Controller Operation method Note 2 The maximum speed may vary depending on the moment oo TS S2S I O point trace of inertia Check the maximum speed while referring to the 2 TS SHS Remote command Moment of inertia vs Acceleration deceleration graph and the Effective torque vs speed graph reference Note
56. ad2 if leadi2 lead Lead 2 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 10 69 23 20 48 32 30 30 60 8 5 90 30 18 5 48 32 28 5 30 60 5 168 56 15 75 50 5 50 100 5 5 138 46 8 5 102 68 5 50 100 1 300 100 2 150 100 0 5 300 100 0 5 150 100 STH04 STHO6 Lead 10 Lead 5 Horizontal Lead 16 Lead 8 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 4 400 100 6 200 100 6 400 100 9 150 100 2 400 100 3 200 100 3 400 100 5 150 100 1 400 100 1 200 100 1 400 100 1 150 100 Lead 10 Lead 5 Lead 16 Lead 8 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 Payload kg Speed mm sec 96 1 220 62 2 150 75 2 200 80 4 100 66 0 75 220 62 1 150 75 1 5 200 80 3 100 66 0 3 350 100 0 5 200 100 1 250 100 2 140 93 1 150 100 x 98 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 gt SS05 Controller gt TS S2 Lead gt 6mm Grease gt Standard e Input Output selection gt NPN Model gt Straight e Stroke gt 600mm Brake Yes Cable length gt 1m Origin position
57. aightness When running the cables secure cables so that any load is not applied to them 41 Remove the M4 hex socket head cap set bolts and use them to secure the cables 41 4 Effective screw thread depth 5 pth 5 See the bottom installation tap position The cable s minimum bend radius is R30 Models with a brake will be 0 2kg heavier Distance to mechanical stopper a TS S2 gt 192 TS SH gt 452 TS SD 465 109 mum SRDO Ordering method NN SRDO3 EE Emm p Battery Add Lead Brake oTa B Te TUTTI B zT C3 ELG EIC L Robot positioner ETE 12mm S Straight model N With no brake N Standard N No plate 50 to 200 1L 1m S2 TS S2 B With battery 06 6mm U Space saving model e2 B With brake Z Non motor side H With plate 50mm pitch 3L 3m SH TS SH Absolute motor installed on top 5L 5m N None 10L 10m DN DeviceNet Incremental EP EtherNet IP GW No I O board 4 e z e oO J 5 X a jej ed o E a Note 1 The robot cable is flexible and resists bending Note 2 See P 99 for grease gun nozzles SD Note 3 See P 460 for DIN rail mounting bracket Note 4 Select this selection when using the gateway function For details see P 453 Robot driver 1 0 cable Note 5 Select whether or
58. aightness When running the cables secure cables so that any load is not applied to them H Remove the M4 hex socket head cap set bolts and use them to secure the K cables Effective screw thread depth 5 The cable s minimum bend radius is R30 See the bottom installation tap position Weight kg 1 i Models with a brake will be 0 2kg heavier en ne Distance to mechanical stopper a TS S2 gt 192 TS SH gt 452 TS SD gt 465 111 mem SR04 ex CE compliance Origin on the non motor side is selectable Lead 6 12 Ordering method SR04 HO HO H i Jj J H M Lead Brake Origin position I Bracket plate fad Cable length Robot positioner u Battery NP NPN PN PNP GW No I O board Nes Note 1 When 2mm lead is selected the origin position cannot be changed to non motor side Note 2 The robot cable is flexible and resists bending SD 4 Note 3 See P 99 for grease gun nozzles Note 4 See P 460 for DIN rail mounting bracket Note 5 Select this selection when using the gateway function For details see P 453 I O cable Note 6 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m E Basic specifications E Speed vs payload E Running life 12 12mm S Straight model N
59. ble is R30 Controller 4 46 5 15 TS S2 gt 452 TS SH gt 452 TS SD gt 465 137 E CE compliance Ordering method BD07 48 NN 1 LLL 30 48 48mm N With no brake N Standard 300 300mm 1L 1m S2 TS 52 NP NPN B With battery Absolute S 500 500mm 3L 3m SH TS SH PN PNP N None Incremental gt E 600 600mm 5L 5m CC CC Link Zi 700 700mm 10L 10m DN DeviceNet un x 800 800mm EP EtherNet IP aa d 900 900mm GW No I O board 3 ZF 1000 1000mm 7 1200 1200mm Note 1 The robot cable is flexible and resists bending 1500 1500mm SD 4 Note 2 See P 460 for DIN rail mounting bracket 1800 1800mm Note 3 Select this selection when using the gateway function For details see P 453 2000 2000mm Robot driver I O cable Note 4 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m Basic specifications L Allowable overhang ad li Static loading moment Motor 56 L Step motor A Resolution Pulse rotation 20480 m B Repeatability mm 0 1 C A B CR TMP Drive method Belt E Equivalent lead mm 48 Horizontal installation Unit mm Wall installation Unit mm Unit N m Maximum speed mm sec 1500 A B C A B C MY MP MR Maximum payload kg 14 3kg 5767 1353 1247 3kg 1324 13
60. cal In this case reduce the speed setting on the stroke Lead6 Horizontal program by referring to the maximum speeds mm sec Lead6 Vertical shown in the table at the left Speed settin m 104 SEMIN TS S2 gt 452 TS SH gt 452 TS SD gt 465 SSO5H oeduio5 e z e oO I 5 x a pri 9 er o e a sd gt Pa e ing wd lt O SS05H Space saving model GD 128 5 with brake Tolerance between knocks 0 02 TIER 14 5 1 Note 1 100 2 When origin is on motor side En 62 5 When origin is on motor side 100 When origin is on non motor side Effective stroke 62 5 2 When origin is on non motor side 52 34 Ry Note 2 Cable securing position Approx 245 Cable length L Ax50 B M6x1 0 Depth 12 60 Slider top face b4H7 5 Depth 6 lt lt C gt Effective stroke 550 600 800 Note 1 Stop positions are determined by the mechanical stoppers at both ends 9712 5 762 5 5962 5 Note 2 Secure the cable with a tie band 80mm or less 12 13 17 from unit s end face to prevent the cable from 13 14 18 being subjected to excessive loads Note 3 The cable s minimum bend radius is R30 500
61. d sec 420 280 0 0015 9 535 Rotating torque Nem 0 22 0 32 0 0010 9 Max pushing torque N m 0 11 0 16 5 0 0005 T Ses Backlash 0 5 0 0000 50 1000 10000 100 200 300 400 500 Max moment of inertia kgsm 0 0018 0 004 Acceleration deceleration s Speed o s Cable length m Standard 1 Option 3 5 10 Rotation range 360 E Allowable load Note 1 Positioning repeatability in one direction a l b Controller Operation method Note 2 The maximum speed may vary depending on the moment oo TS S2S I O point trace of inertia Check the maximum speed while referring to the 2 TS SHS Remote command Moment of inertia vs Acceleration deceleration graph and the Effective torque vs speed graph reference Note 3 For moment of inertia and effective torque details see P 534 Allowable radial load Allowable thrust load N Allowable moment N a b Nem High High High High Standard midi Standard igi Standard n Standard n rigidity rigidity rigidity rigidity nd model Angel model nne model nd model 78 86 74 78 107 2 4 2 9 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual RF02 SN Sensor specification Standard model 2 05 2 drill through 9 deep spot
62. e See P 99 for running life distance to life time conversion example of body cross section mm NGO Taon A oa Cable length m Standard 1 Option 3 5 10 e Note 1 The maximum speed needs to be changed in accordance with 2 the payload 0 See the Speed vs payload graph shown on the right 0 100 200 300 400 500 600 For details see P 98 Speed mm s Additionally when the stroke is long the maximum speed is decreased due to the critical speed of the ball screw See the maximum speed table shown at the lower portion of the drawing Meveyayine i sie Controller Operation method Controller Operation method TS S2 I O point trace TS SD Pulse train control TS SH Remote command A l M4x0 7 Depth 5 9 5 9 For securing cable TEN N N Wi 7 T L ALME J See Note 5 Width across flat part Emm MTOXT 28 TT Il Reo Res oe a c L 1 E N Width across flat RIS X Lb p g I 4 M4x0 7 Depth 10 TTE 5 90 equal division Width across 9 5 Origin on T slot for M3 8 locations flat motor side aT 42 5 2 Effective stroke origin ONON MOIO SIUE ex la 17 M10x1 25 Option Horizontal installation plate foot ele x 2 4 6 ER Contents of option Plate 2 pcs Nut 12 pcs Hex socket head cap bolt M4x0 7 A f
63. e exit direction is only the left side Bearing TS S2 gt 452 TS SH gt 452 TS SD gt 465 RFO2 N o J Kej E D x3 re 289 ON o o o 0 P gt zZ on ing wd lt O RF02 NH Limit rotation specification High rigidity model Stroke end Origin position in CW rotation direction Origin CCW direction Origin C Origin position in CCW rotation direction zx 2 5 2 drill through Stroke end 9 deep spot facing Depth 5 5 P C D 32 6 M4x0 7 Depth 6 60 equally divided 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 Return to origin position 9 Values and characters in show those when the return to origin direction is changed Manusi Origin mark operation screw both sides Approx 170 Motor cable exit direction 0 027 Exit from left side 918H8 0 Tolerance range Weight kg 0 52 Note1 This drawing is output under the conditions below High rigidity Standard High torque Note2 The minimum bending radius of the motor cable is R30 Note3 The motor cable exit direction is only the left side Tolerance range Cross sectional drawing A A 2 M6x1 0 Depth 12 AOC TS S2 gt 452 TS SH gt 452 TS SD 465 125 mem Rotary type Sensor specificatio
64. e free operation Note The maintenance free period is within the running life of the robot Highly reliable resolver is used A resolver with excellent environment resistance is used for the position detector All models can select brake specifications Ball screw lubricator A lubricator with high density fiber net impregnated with grease supplies an adequate amount of oil to appropriate locations Laminated type contact scraper A dual layer scraper removes fine foreign objects sticking to the rod to prevent them from entering the inside and troubles caused by foreign objects Rod rattle is suppressed effectively Environment friendly lubrication system Asa E Tip nozzle for grease application The lubrication system is environment friendly as it uses a high When applying the grease to the ball screw of the SR type space saving density fiber net and supplies an adequate amount of oil to appro model SRO3 UB or SRDO3 UB use a grease gun with the tip bent priate locations to eliminate waste lubrication Model KCU M3861 00 F 5 B Note YAMAHA s recommended product This tip nozzle can be attached to a generally Prevention of foreign object entry available grease gun The dual layer scraper is in contact with the front of the rod to ensure excellent fine contaminant particle removal performance The scraper removes fine contaminant particles sticking to the rod through multi steps to prevent them from entering
65. eration screw both sides Controller Controller Operation method TS S2 I O point trace TS SH Remote command TS SD Pulse train control 2 8 5 drill through 14 deep spot facing 4 35H8 799 20 Through hole Cross sectional drawing A A vo T Tolerance range Tolerance range Approx 160 Motor cable exit direction Exit from left side 2 M10x1 5 Depth 20 Approx 170 Motor cable exit direction Exit from right side Weight kg 2 2 Note1 This drawing is output under the conditions below Bearing Standard Standard High torque Note2 The minimum bending radius of the motor cable is R30 TS S2 gt 452 TS SH gt 452 TS SD gt 465 RFO4 N IA J Kej g D x 3 oT 289 ON o fo o 0 P gt zZ on ing wd lt O RF04 NH Limit rotation specification High rigidity model Stroke end Origin position in CW rotation direction Origin 2 8 5 drill through 14 deep spot facing Depth 8 5 CCW direction 320 o 7 Origin 2 Origin position in CCW rotation direction Stroke end eS 6 M6x1 0 Depth 10 60 equally divided ro Pero 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table Manual 2 Return to origin position oa SCIEN 3 Values and characte
66. facing Depth 5 5 P C D 32 6 M4x0 7 Depth 6 1 Table movable range by return to origin operation Be careful not to 60 equally divided interfere with the workpiece or equipment around the table 2 The return to origin position may differ from that shown in this drawing To align with the position shown in this drawing refer to the TS Series User s Manual and change the origin coordinates Manual operation screw both sides Approx 170 Motor cable exit direction Exit from left side lt Tolerance range Sa LO 2 M6x1 0 Depth 12 Cross sectional drawing A A Tolerance range Weight kg 0 51 Note1 This drawing is output under the conditions below j Approx 300 Bearing Standard Standard High torque Note2 The minimum bending radii of the motor cable and sensor cable are R30 Note3 The motor cable exit direction is only the left side Sensor cable exit direction Exit from left side zm 126 Controller TS S2 p 452 TS SH gt 452 RF02 S yppedwog e z e oO I i x a pri 9 er o a P gt zZ on ing wd lt O RF02 SH Sensor specification High rigidity model 2 5 2 drill through 9 deep spot facing Depth 5 5 P C D 32 1 Table movable range by return to origin operation Be careful not
67. gh rigidity model BD type Belt type Straight model Belt type applicable to long stroke Applicable to up to 2000 mm stroke High speed movement at a speed of up to 1500 mm sec can be made Maximum payload 14 kg Main body can be installed without disassembling the robot a Be shutter is provided as standard Shutter is provided as standard equipment This prevents grease a 7 equipment scattering Or entry of foreign object This shutter covers the guide ball screw and belt The shutter prevents grease scattering or entry of external foreign object 15 ER NEW CONCEPT IN STEPPING MOTOR SINGLE AXIS ROBOTS SERIES TRANSERVO SPECIFICATION RF02 S sc sonaos neangcaoononsoDnconcocuncanraccosannccon 126 SHEET eeeeeeeeeeeeeeeeeee 98 E TOEEIE aeneae eenesonssceccescenscerciccosccncocteeoeecus 128 a Robot ordering method RF03 S onconcaoBn5BnDon coDoDOnsonacnnnDOonB6ossnucchouanoB6OG 130 description DN C eo COO 99 RFOA N pnannnmacnu nn npunnonuanononnanagnucancacannnacnon 132 RF04 S connnBnpBunguDonOnnausanBDuDnuccDononsocooubnsoOn 134 E Rod type Bracket plates SU Bat Um Ue EP 136 m Rod type BD05 c DGanDoanbobDcoDonOOa6onOnnonnobGODoOBOnsOnocnonnoo6On 137 Grease gun nozzle tube for BDO7 a o oa nunannunnunu nuunoannoneonnognnganchoncnnoanasnun 138 space saving models 99 E Rod type Running life distance to life time conversion example 99 SS04 annununnnuacna nnunn
68. h brake 4 0 02 Depth Effective stroke Note 1 Stop positions are determined by the mechanical stoppers at both ends L Note 2 Secure the cable with a tie band 100mm or less A 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 C are 0 2kg heavier when equipped with a brake Weight kg j f f f i f f 0 Note 5 When the stroke is longer than 600mm resonance of the ball screw may occur depending on the operation Maximum Lead20 conditions critical speed In this case reduce the speed for each Lead12 speed setting on the program by referring to the stroke 5 Lead6 maximum speeds shown in the table at the left mm sec Speed setting m 102 SERINE TS S2 gt 452 TS SH 452 TS SD gt 465 SS05 yppedwog e z e oO I 5 x a pri 9 er o a P gt zZ on ing wd lt O SS05 Space saving model GP ED 128 5 with brake Tolerance between knocks 0 02 56 5 1 4 M4x0 7 Depth 8 1 Note 1 o Note 1 2 4H7 Depth 6 Haier 94 5 2 When origin is on motor side 52 When origin is on motor side 94 5 When origin is on non motor side Effective stroke 52 2 When origin is on non motor
69. ientation of the width across flat part is undefined to the base surface Length under head 12 Length under head 14 f Note3 Use the support guide together to maintain the straightness Four bolts are required for one plate A Note4 When running the cables secure cables so that any load is not applied to them 7 Eb Y Note5 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note6 The cable s minimum bend radius is R30 Note7 Models with a brake will be 0 2kg heavier Note8 Distance to mechanical stopper Note9 For lead 2mm specifications the origin on the non motor side cannot be set Note10 This unit can be installed with the motor facing up turned 90 degrees from 4 6 6 drill through the position in this drawing Note11 Take great care as the outer case of the motor and cover belt projects from the bottom of the main unit Note12 When the lead is 2mm this dimension is 27mm SRO5 Space saving model motor installed on left 19 A M4x0 7 Depth 5 T 9 5 For securing cable Note 5 L1 T slot range 3 2 1 M4x0 7 e S MM E 1 I3 n Cc L 8 amp p MEg HE3 M A e Dimensions of attached Origin on square nut for T slot 6 pcs motor side N non motor side Note 9 Ball screw greasing port 66 5 7 3 M12x1 25 19
70. ket head cap M6 bolt The dimensions of the specifications with the brake are common to those shown above Models with a brake will be 0 34kg heavier Cross sectional drawing A A Detailed drawing of installation hole See the cross sectional drawing of A A AOC TS S2 gt 452 TS SH gt 452 TS SD gt 465 123 en z e oO J 5 X a ae jej er o 2 a sd 2 zZ on ing 9 lt O Mm 124 KF02 N Rotary type Limit rotation specification CE compliance Rotation range 310 Ordering method RF2 N N Stroke end Limit rotation N Standard N Standard torque L From the left N CCW 1L 1m S2 TS S82 NP NPN B With battery H High rigidity H High torque Z CW SH TS SH PN PNP Absolute CC CC Link N None DN DeviceNet Incremental Note 1 The robot cable is flexible and resists bending Note 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH BET ET Te LH Lei Uo ats Motor 20 L Step motor Resolution Pulse rotation 4096 Repeatability 0 05 Drive method Special warm gear belt Torque type Standard High torque Maximu
71. l Bread Brake Origin position NE Cable length Robot positioner Battery e4 12 12mm S Straight model N With no brake N Standard N Standard grease 50 to 400 1L 1m S2 TS S82 e NP NPN B With battery E 06 6mm R Space saving model B With brake Z Non motor side C Clean room grease 50mm pitch 3L 3m SH TS SH PN PNP Absolute gt E 02 2mm motor installed on right 5L 5m CC CC Link N None Zo L Space saving model 10L 10m DN DeviceNet Incremental on x motor installed on left EP EtherNet IP an d GW No I O board e oH 5 3 Note 1 The robot cable is flexible and resists bending SD Note 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Robot driver I O cable Note 4 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m E Basic specifications E Allowable overhang d ll Static loading moment Motor 42 Step motor A Resolution Pulse rotation 20480 Repeatability mm 0 02 A B C Deceleration mechanism Ball screw 8 Class C10 B G C A D cD Maximum motor torque N m 0 27 i 0n MEC 4 oco mm 12 6 2 Horiz
72. l moJal model model modal model model 78 86 78 107 2 4 2 9 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual RF02 NN Limit rotation specification Standard model Stroke end Origin position in CW rotation direction Origin Origin Origin position in CCW rotation direction Stroke end 1 Table movable range by return to origin operation 2 Return to origin position 3 Values and characters in show those when the return to origin direction is changed Be careful not to interfere with the workpiece or equipment around the table CCW direction Manual Operation screw both sides Origin mark 2 5 2 drill through 9 deep spot facing Depth 5 5 P C D 32 6 M4x0 7 Depth 6 60 equally divided Approx 170 Motor cable exit direction Exit from left side Tolerance range N pne AA Z ZA NY Niz SN Cross sectional drawing A A Controller Tolerance range Weight kg 0 49 Note1 This drawing is output under the conditions below Standard Standard High torque Note2 The minimum bending radius of the motor cable is R30 Note3 The motor cabl
73. lation Space saving model I R a GEB Motor installed on right SS05H Straight model Approx 200 Cable length 223 5 2 When origin is on motor side n Effective stroke 62 5 When origin is on motor side 223 5 When origin is on non motor side 62 5 2 When origin is on non motor side 2 64H7 Depth6 Cable securing position Note 2 175 5 1 Note 1 4 M5 x 0 8 Depth10 14 5 1 Note 1 195 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 60 Slider top face L 20 with brake 161 5 with brake 141 5 Ax 50 B M6 x 1 Depth8 166 5 186 5 with brake Effective stroke 250 300 350 Note 1 Stop positions are determined by the mechanical stoppers at both ends 936 586 636 Note 2 Secure the cable with a tie band 100mm or less 7 8 9 from unit s end face to prevent the cable from 8 9 10 being subjected to excessive loads 400 Note 3 The cable s minimum bend radius is R30 Note 4 These are the weights without a brake The weights 3 2 3 4 3 6 are 0 2kg heavier when equipped with a brake Lead20 Note 5 When the stroke is longer than 600mm Maximum Lead12 Horizontal resonance of the ball screw may occur depending on the operation conditions critical speed speed for each Lead12 Verti
74. lation surface precision is poor a large differential slip may occur easily Differential slip is small due to its structure and service life is long Conventional model TRANSERVO SS type 0 200 400 600 Speed mm s 200 400 600 Speed mm s 800 NEW SG type Slider type ms 14 Maximum payload is 46 kg A maximum payload of 20 kg is supported even with the vertical specifications As rigid table slide and 56 increased greatly A maximum payload of 46 kg is achieved Up to 20 kg can be transferred even with the vertical specifications motor are adopted the payload is POINT 0L Wo w Payload is increased about 4 times Maximum speed is 1200 mm sec The maximum speed is made 1 2 times faster than that of the current model SS05H The tact up of the equipment can be achieved Maximum speed of the current model is increased 1 2 times current model SS05H SG07 Long term maintenance free is achieved A lubricator used in the ball screw and a contact scraper installed at the rod inlet and outlet provide maintenance free operation Maintenance interval is greatly extended Normal grease lubrication on the ball screw loses a very small amount of oil as the ball screw moves The SR type has a lubricator that supplies grease lost over long periods to greatly extend the maintenance interval and ensure near maintenanc
75. loop control using excellent environment resistant resolver Cu A resolver with excellent reliability is used to detect the motor position in the same manner as YAMAHA s upper model This resolver is a magnetic position detector The The stable position detection can be made even in a poor resolver features a simple structure without using environment where fine particle dusts or oil mists exist electronic components and optical elements and less potential failure factors when compared to general optical encoders provided The resolver has high environment resistance and low failure ratio and is used in a wide variety of fields aiming at reliability such as automobile or aircraft industry LUIEM 0 l a High resolution 4096 20480 pulse rev Use of a high resolution makes it possible to maintain excellent controllability Variations in speed are small and settling time during deceleration stop can be shortened Additionally a high resolution of 20480 pulses per revolution is mee TRANSERVO X Speed stability Poor s Conventional model Speed Adverse effect on settling time Q Speed stability Good Time X Settling ability Poor Q settling ability Good POINT 4 0 l0 ooo ll Return to origin is not needed to shorten the start up time New type robot positioner TS SH applicable to the high power LJ was newly developed This robot positioner is applicable to the absolute position system and does
76. low Motor ti Pulse rotatl e Step motor Running life of only the model shown below becomes shorter than 5000 km depending on the ESOU ion ulse rotation payload so check the running life curve Repeatability mm 0 02 i i Ball screw 8 Ball screw 10 Vertical EDB Vertical d Deceleration mechanism Class C10 Class C10 CED 1 eu l Ball screw lead mm 12 6 2 5000 E Maximum speed mm sec 500 250 80 x ao Maximum Horizontal 25 40 45 B 900 2 4000 payload kg Vertical 4 11 24 3000 3000 Max pressing force N 150 300 600 C 2000 2000 Stroke mm 50 to 300 50pitch O 100 200 300 400 500 600 1000 1000 Lost motion 0 1mm or less Speed mm s 0 0 Rotating backlash 0 05 0 5 10 15 20 25 0 1 2 3 4 5 Overall length Horizontal Stroke 263 Payload kg Payload kg mm Vertical Stroke 303 Note See P 99 for running life distance to life time conversion example Maximum outside dimension of body cross section mm W48 x H58 Cable length m Standard 1 Option 3 5 10 Note 1 The maximum speed needs to be changed in accordance with the payload See the Speed vs payload graph shown on the right For details see P 98 Additionally when the stroke is long the maximum speed is decreased due to the critical speed of the ball screw See the maximum speed table shown at the lower portion of the drawing SRDO4 Straight model 4 Controller Controller Operation method Controller Ope
77. m speed sec 420 280 Rotating torque N m 0 22 0 32 Max pushing torque Nem 0 11 0 16 Backlash 0 5 Max moment of inertia kgem 0 0018 0 004 Cable length m Standard 1 Option 3 5 10 Rotation range 310 Note 1 Positioning repeatability in one direction Note 2 The maximum speed may vary depending on the moment of inertia Check the maximum speed while referring to the Moment of inertia vs Acceleration deceleration graph and the Effective torque vs speed graph reference Note 3 For moment of inertia and effective torque details see P 534 _ 0 0045 E 0 0040 0 0035 0 0030 S 0 0025 0 0020 6 0 0015 S 0 0010 5 0 0005 0 0000 100 1000 3 10000 Acceleration deceleration w s E Moment of inertia Acceleration deceleration E Effective torque vs speed EP EtherNet IP GW No I O board ve Robot driver I O cable SD TS SD 1 1m igh torque 0 100 200 300 400 500 Speed w s LE Allowable load E Controller a Controller Operation method F TS S2 I O point trace TS SH Remote command Te a a BEWNSSSEEESS TS SD i Allowable radial load N Allowable thrust load E I ee Pulse train control Standard rigidity Standard Standard rigidity Standard rigidity mode
78. n RF02 S CE compliance Limitless rotation Ordering method RFO2 S HLEH H H ISLC H U Return to origin method Bearing D Cable entry location Rotation direction Cable length Mamaia Robot positioner LL e selection Battery N Standard L From the left S Sensor S Sensor N Standard torque N CCW 1L 1m S2 pate NP NPN B With battery Limitless rotation H High rigidity H High torque Z CW 3L 3m SH TS SH PN PNP Absolute 5L 5m CC CC Link N None Note 1 The robot cable is flexible and resists bending 10L 10m DN DeviceNet Incremental EP EtherNet IP GW No I O board ve Note 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH Basic specifications e z e oO J 5 X a 9 ed o 2 a sd gt zZ e 2 Pm 9 lt O Motor 20 L Step motor c 9 0045 m 0 35 Resolution Pulse rotation 4096 caps 0 30 Repeatability 0 05 PON X 0 25 Drive method Special warm gear belt 0 0025 v 0 20 Torque type Standard High torque 0 0020 E 0 15 Maximum spee
79. n installing using the main unit installation reference surface make the mating or positioning height 2mm or more higher than the reference surface since the R chamfering is provided on the main unit Recommended height 5mm Note3 The minimum bending radius of the motor cable is R30 Controller TS S2 452 TS SH gt 452 TS SD 465
80. nical main unit using the back facing holes push the slider toward the Cross sectional origin position on the motor side and insert the drawing A A d hex socket head cap M5 bolt Detailed drawing of The dimensions of the specifications with the installation hole brake are common to those shown above The specifications with the brake are applicable to only 100 strokes Models with a brake will be 0 11kg heavier 65100 Depth 5 C M5x0 8 Depth 6 5 14 0 5 2 Note 2 p Origin on motor side Note 2 Origin on non motor side Note 1 Note 1 Effective stroke Effective stroke gt 50 S SSS lt 40 44 0 030 Q4H9 0 6 8 45 44 2 4 45 88 116 5 191 5 106 181 Weight kg Note7 415 1 6 h Return to origin position Table movable range during return to origin operation The values in show those when the return to origin direction is changed E M6x1 0 Depth 12 EE UM bending radius of the motor cable is i See the cross sectional When installing the mechanical main unit using Cross sectional drawing of A A the back facing holes push the slider toward the drawing A A origin position on the motor side and insert the hex socket head cap M5 bolt Detailed drawing of The dimen
81. not the battery is provided only when using the TS SH SD TS SD cca E Basic specifications E in vs payload E Running life sd 2 zZ e 2 Pm ww lt O 5000 km on models other than shown below moan i Motor 40Stepmoor Step motor Running life of only the model shown below becomes shorter than 5000 km depending on the Resolution Pulse rotation 20480 25 pm payload so check the running life curve Deceleration mechanism Ball screw 8 Class C10 2 i 6000 B Ball screw lead mm 12 6 8 Lead 12 5000 Maximum speed mm sec 500 250 zu X 4000 d o Maximum Horizontal 10 20 Q5 3000 payload kg Vertical 3 5 7 5 o 2000 Max pressing force N 75 100 200 300 400 500 2 1000 Stroke mm 50 to 200 50pitch Speed mm s 0 3 5 i Lost motion 0 1mm or less i gt Payload kg Rotating backlash 0 05 7 Note See P 99 for running life distance to life time conversion example Overall length Horizontal Stroke 236 5 5 6 Lead 6 mm Vertical Stroke 276 5 6 Maximum outside dimension W48 x H56 5 3 4 Lead 12 of body cross section mm gt 3 Cable length m Standard 1 Option 3 5 10 E Controller Note 1 The maximum speed needs to be changed in accordance with 0 Controller Operation method Controller Operation method the payload 0 100 200 300 400 500 600 See the Speed vs payload graph
82. nstallation nr Tm 4 o eL NY NZ ob Ball screw greasing T slot for M4 4 locations M4x0 7 Depth 5 For securing cable M4x0 7 A 3 2 mS s6 E e Dimensions of attached square nut for T slot 6 pcs Detail of section B Effective stroke 50 20 Installed within the T slot range of the main unit L1 Hex socket head cap bolt M4x0 7 Length under head 12 L Four bolts are required for one plate Weight kg 7 Note1 It is possible to apply only the axial load Note6 The cable s minimum bend radius is R30 Use the external guide together so that any radial load Note7 Models with a brake will be 0 2kg heavier is not applied to the rod Note8 Distance to mechanical stopper Note2 The orientation of the width across flat part is Note9 For lead 2mm specifications the origin on the non undefined to the base surface motor side cannot be set Note3 Use the support guide together to maintain the straightness Note10 Take great care as the outer case of the cover belt Note4 When running the cables secure cables so that any projects from the bottom of the main unit load is not applied to them Note11 When the lead is 2 mm this dimension is 27 mm Note5 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective sc
83. nstalled on left EP EtherNet IP 0 lt 3 D 7 Note 1 Brake equipped models can be selected only when the lead is 12mm or 6mm Note 2 The robot cable is flexible and resists bending SD 4 Note 3 See P 460 for DIN rail mounting bracket Note 4 Select this selection when using the gateway function For details see P 453 Note 5 Select whether or not the battery is provided only when using the TS SH eu 1 Im VO cabi L BETTE ALOLE LE Allowable overhang ibid ll Static loading moment Motor 42 Step motor A Resolution Pulse rotation 20480 Repeatability mm 0 02 B C Deceleration mechanism Ball screw 12 Class C10 B C A C A GI cb Maximum motor torque N m 0 27 Ball screw lead mm 20 12 6 Horizontal installation Unit mm Wall installation Unit mm Vertical installation Unit mm Unit N m Maximum speed mm sec 1000 600 300 A C A B A C MY MP MR m Horizontal 4 6 10 S 2kg 413 218 amp 2kg 192 123 S 0 5kg 578 579 25 33 30 payloa g Vertical 1 2 E g E S 4k S 4k 2 1 S 1kg 2 2 Max pressing force N 27 45 90 H 334 Ls ES B 2 2 B S 36 Stroke mm 50 to 800 50mm pitch Te 34 139 PER 109 57 g kg 312 312 Bi Controller Overall length Horizontal Stroke 230 S 6kg 335 95 S 6kg 63 31 5 2kg 148 148 vom d Vertical Stroke 270 o 4kg 503 165 4kg 134 63 Controller
84. o brake N Standard N No plate 50 to 300 1L 1m S2 TS S2 e NP NPN B With battery 06 6mm U Space saving model Nee3 B With brake Z Non motor side H With plate 50mm pitch 3L 3m SH TS SH PN PNP Absolute 02 2mm motor installed on top 5L 5m CC CC Link N None 10L 10m DN DeviceNet Incremental EP EtherNet IP GW No I O board Nes Robot driver I O cable SD TS SD 1 1m Basic specifications lE vs payload E Running life Motor 56 Motor 56 jStepmoter Step motor Resolution Pulse rotation 20480 Repeatability mm 0 02 Deceleration mechanism Ball screw 12 Class C10 Ball screw lead mm 12 6 2 Maximum speed mm sec 300 150 50 Maximum Horizontal 50 55 60 payload kg Vertical 8 5 18 5 28 5 Max pressing force N 250 550 900 Stroke mm 50 to 300 50pitch Lost motion 0 1mm or less Rotating backlash 0 05 Overall length Horizontal Stroke 276 mm Vertical Stroke 316 Maximum outside dimension W56 4 x H71 of body cross section mm Cable length m Standard 1 Option 3 5 10 Note 1 The maximum speed needs to be changed in accordance with the payload See the Speed vs payload graph shown on the right For details see P 98 SRDO5 Straight model 2 0 50 100 Speed mm s
85. o2 NP NPN B With battery m S H High rigidity H High torque L From the left Z CW SH TS SH PN PNP Absolute gt e CC CC Link N None Z DN DeviceNet Incremental un EP EtherNet IP zi GW No I O board ion ch SD 1 Note 1 The robot cable is flexible and resists bending Note 2 See P 460 for DIN rail mounting bracket z Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH SD TS SD 1 1m Mi Moment of inertia Acceleration deceleration RE Effective torque vs speed L Basic specifications Motor 28 L Step motor ao pi F F E Resolution Pulse rotation 4096 2 qs A torque Repeatability 0 05 oo p Drive method Special warm gear belt g 2a g t o Torque type Standard High torque 0010 E S u Maximum speed sec 420 280 9 0 005 E o Rotating torque N m 0 8 1 2 0 000 ao 100 1000 10000 0 100 200 300 400 500 Max pushing torque Nem 0 4 0 6 Acceleration deceleration c s Speed w s Backlash 0 5 ESI All owable load Controller Max moment of inertia kgem 0 012 0 027 Cable length m Standard 1 Option 3 5 10 Qj Controller Operation method emote Note 1
86. oke 55 2 When origin is on non motor side 51 Slider top face 4H7 9 012 Depth 6 Ax50 B M5x0 8 Depth 12 Weight kg gt Stop positions are determined by the mechanical stoppers at both ends Secure the cable with a tie band 80mm 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 The belt cover s left and right sides are asymmetrical Therefore if the motor mounting orientation is changed the cover cannot be attached AOC TS S2 gt 452 TS SH gt 452 TS SD gt 465 101 mm SS05 High lead Lead 20 CE compliance Ordering method sso5 fh K LL lobo 50 to 800 50mm pitch Origin on the non motor side is selectable Battery e5 GW No I O board ve 20 20mm S Straight model N With no brake N Standard N Standard grease 1L 1m S2 TS 525 NP NPN B With battery e 2 12 12mm R Space saving model B With brake Z Non motor side C Clean room grease 3L 3m SH TS SH PN PNP Absolute gt E 06 6mm motor installed on right 5L 5m CC CC Link N None Zo L Space saving model 10L 10m DN DeviceNet Incremental ES x motor i
87. on in CW rotation direction Origin Origin Origin position in CCW rotation direction Stroke end 1 Table movable range by return to origin operation Be careful not to interfere with the workpiece or equipment around the table 2 Return to origin position 8 Values and characters in show those when the return to origin direction is changed 1000 10000 N Effective torque T Nem eo Acceleration deceleration s mug Allowable radial load N Allowable thrust load N at fo T Allowable moment Robot driver I O cable SD TS SD 1 1m EP EtherNet IP GW No I O board Nes 1 E Moment of inertia Acceleration deceleration RE Effective torque vs speed High torque Ss 0 100 200 Standard 300 400 500 Speed o s E Allowable load E Controller b Nem Standard rigidity Standard Standard rigidity Standard rigidity model modal model model Riedel model model 314 378 296 398 517 9 7 12 0 Note When purchasing the product set the controller acceleration while carefully checking the Moment of inertia vs Acceleration Deceleration and Effective torque vs Speed graphs For details please refer to the TRANSERVO Series User s Manual CCW direction Origin mark Manual op
88. ontal installation Uni mm Wall installation Unit mm Vertical installation Unit mm Unit N m Maximum speed mm sec 600 300 100 E a E E A E EN EM zs Maximum Horizontal 2 4 6 1kg 807 292 1kg 274 776 0 5kg 407 408 16 19 17 payload kg Vertical 1 2 4 2kg 667 152 2kg 133 611 1kg 204 204 Max pressing force N 45 90 150 vco 2kg 687 169 2kg 149 656 1kg 223 223 E Controller Stroke mm 50 to 400 50mm pitch 3kg 556 112 8 3kg 92 516 2kgl 107 107 E Controller Overall length Horizontal Stroke 216 S 4kg 567 84 4kg 63 507 9 2kg 118 118 Controller Operation method oe outside ae Sree E ey 869 us E End E Pe 3 4 ss 53 o du ELM of body cross section mm QUIC S 6kg 863 60 S 6kg 39 789 TS SD Cable length m Standard 1 Option 3 5 10 Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of 18 SD_ Pulse train control Note 1 Positioning repeatability in one direction 10 000 km Service life is calculated for 400mm stroke models E Motor installation Space saving model oe ey a GEB Motor installed on right SS04 Straight model Approx 200 Cable length 161 2 When origin is on motor side _ Effective stroke _ 55 When origin is on motor side 161 When origin is on non motor side 55 2 When origin is on non motor side Cable securing position Note 2 1294 1 Eare able securing position Note 2 1
89. r additional settings Dimensions of attached Effective stroke square nut for T slot 6 pcs L1 362 5 L 409 5 Weight kg t 7 f 2 6 Maximum Lead 12 440 Installed within the T slot range of the main unit Hex socket head cap bolt M4x0 7 Speed or Sach Lead 6 220 Hex socket head cap bolt M3x0 5 Length under head 14 mm sec Lead 2 72 drill through Length under head 10 ertical ir stallat ion p ate flan ge Note1 It is possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod 10 df NA i i Note2 The orientation of the width across flat part is undefined to the base surface Note3 Use the support guide together to maintain the straightness Ow VW NONAS Note4 When running the cables secure cables so that any load is not applied to them i Note5 Remove the M4 hex socket head cap set bolts and use them to secure the L esot i ME E cables Effective screw thread depth 5 s NR OG OV Note6 The cable s minimum bend radius is R30 Q Note7 Models with a brake will be 0 2kg heavier Note8 Distance to mechanical stopper Note9 For lead 2mm specifications the origin on the non motor side cannot be set Note10 This unit can be installed with the motor facing up turned 90 degrees from the position in this drawing a TS S2 gt 192 TS
90. r one plate Controller Note2 Note3 Note4 Noted Note6 Note7 Note8 Note9 Weight kg 31 36 41 45 5 0 55 Note1 It is possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod For lead 2mm specifications the origin on the non motor side cannot be set When the lead is 2mm this dimension is 27mm When running the cables secure cables so that any load is not applied to them Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 The cable s minimum bend radius is R30 Take great care as the outer case of the motor projects from the bottom of the main unit Models with a brake will be 0 2kg heavier Distance to mechanical stopper TS S2 gt 492 TS SH gt 452 TS SD gt 465 SRDO5 e z e oO I 5 x a pri 9 er o a P gt zZ on ing wd lt O SRD05 Space saving model motor installed on top 7 Approx 245 Cable length 45 5 2 Effective stroke 5 Note 8 Note 11 Note 8 Origin on Origin on motor side non motor side Note 9 M4x0 7 Depth 5 For securing cable 9 5 co v Effective stroke 107 l 8 M6x1 0 Depth 15 For user tool installation 4 M6x1 0 drill through N For main unit a_i i
91. ration method TS S2 I O point trace TS SD Pulse train control TS SH Remote command D a an rr Ball screw greasing port 8 M5x0 8 Depth 12 For user tool 4 M5x0 8 Approx 250 Cable length installation qrill through 126 For main unit installation M4x0 7 Depth 5 L1 T slot range Origin on T slot for M3 For securing cable motor side 4 locations 105 42 5 2 Effective stroke 135 A Originon M4x0 7 Depth 5 non motor side For securing cable Contents of option Plate 2 pcs Nut 12 pcs See our robot manuals for additional settings D M3x0 5 Dimensions of attached square nut for T slot 6 pcs Details of T slot Effective stroke 50 100 150 Installed within the T slot range of the main unit L1 212 5 262 5 Hex socket head cap bolt M3x0 5 Length under head 10 Six bolts are required for one plate L 320 5 370 5 Weight kg 24 2 7 Maximum Lead 12 500 speed for each stroke Lead 6 250 mm sec Lead 2 80 53 Note1 It is possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod Note2 For lead 2mm specifications the origin on the non motor side cannot be set Note3 When running the cables secure cables so that any load is not applied to them Note4 Remo
92. rd N No plate STH06 8mm Space saving model B With brake Z No motor side H With plate n T 10mm motor installed on right 3i 5m 16 16mm L Space saving model 10L 10m motor installed on left RF Type Rotary type Limit rotation specification Rotary type Sensor specification poene e __Return to origin method Bearing Torque RFO2 N N_ Stroke end Limit rotation N Standard N Standard torque R From the right N CCW 1L 1m High torque L From the left Z CW 3L 3m RF02 S S Sensor Limitless rotation H High rigidity H RF03 N 5L 5m RF03 S 10L 10m RF04 N RF04 S BD Type Belt type Eo soe oo BD04 48 48mm N With no brake N Standard BD05 Eas Du BD07 5L 5m 10L 10m ll Rod type Bracket plates SR03 SRD03 bracket plates SR04 SRD04 bracket plates SR05 SRD05 bracket plates Lee R Feet horizontal mount Flange vertical mount Feet horizontal mount Flange vertical mount Feet horizontal mount Flange vertical mount Type Model No Type Model No Type Model No Feet 2 plates per set KCU M223F 00 Feet 2 plates per set KCV M223F 00 Feet 2 plates per set KCW M223F 00 Flange 1 piece KCU M224F 00 Flange 1 piece KCV M224F 00 Flange 1 piece KCW M224F 00 Comes with 12 mounting nuts for feet
93. rew thread depth 5 ZONE TS S2 gt 192 TS SH gt 452 TS SD gt 465 119 mum STHO4 CE compliance Origin on the non motor side is selectable Ordering method STHO4 Lj 1 JL J TL 0L IL Modei EES Origin position Bracket plate Cable length ete Robot positioner EEC aaa 05 5mm S Straight model N With no brake N Standard 50 50mm 10 10mm R Space saving model 100 100mm N No plate 1L 1m S2 TS S2 Note 4 NP NPN B With battery 2 B With brake Z Non motor side H With plate 3L 3m SH TS SH PN PNP Absolute gt E motor installed on right 5L 5m CC CC Link N None Zo L Space saving model 10L 10m DN DeviceNet Incremental ES x motor installed on left EP EtherNet IP AJ g Note 1 For the space saving models R and L the specifications with brake are applicable to only 100mm strokes GW No I O board lt e Note 2 Space saving models R and L with the plate cannot be selected O Note 3 The robot cable is flexible and resists bending SD 4 Note 4 See P 460 for DIN rail mounting bracket Note 5 The robot with the brake cannot use the TS SD Note 6 Select this selection when using the gateway function For details see P 453 Robot driver Note 7 Select whether or not the battery is provided only when using the TS SH SD TS SD e E Ba
94. rom the bottom of the main unit Note10 Models with a brake will be 0 2kg heavier Note11 Distance to mechanical stopper ums 116 SINE TS S2 gt 452 TS SH gt 452 TS SD gt 465 SRO5 Space saving model motor installed on right Approx 245 Cable length 45 5 2 Effective stroke 5 Note 8 Note 12 M4x0 7 7 Note 8 3 D er Origin on Dimensions of attached motor side Origin on square nut for T slot 6 pcs non motor side Note 9 j Ball screw greasing port 96 5 M12x1 25 19 7 amp Detail of section B Dimensions of 70 attached nut T slot for M4 8 locations ERAI s oqo1 sixe 9 6uls 4 M5x0 8 Depth 10 90 equal division M4x0 7 Depth 5 Option Horizontal installation plate foot For securing cable UE M4x0 7 Depth 5 For securing cable Contents of option Plate 2 pcs Nut 8 pcs See our robot manuals for additional settings Effective stroke L1 L 377 5 427 5 Weight kg ER Note1 It is possible to apply only the axial load Installed within the T slot range of the main unit Option Vertical installation plate flange Use the external guide together so that any radial load is not applied to the rod Hex socket head cap bolt M4x0 7 Hex socket head cap bolt M5x0 8 Note2 The or
95. rs in show those when the both sides return to origin direction is changed Approx 160 Approx 170 35H8 0 099 Motor cable exit direction Votor cable exit direction Exit from left side Exit from right side 20 Through hole 2 Cross sectional drawing A A Tolerance range 2 M10x1 5 Depth 20 Weight kg 2 4 Note1 This drawing is output under the conditions below High rigidity Standard High torque Note2 The minimum bending radius of the motor cable is R30 ZONE TS S2 gt 192 TS SH gt 452 TS SD gt 465 133 m Rotary type Sensor specification RFO4 S CE compliance Limitless rotation Ordering method RFO4 4 S H Ho S Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH Basic specifications Return to origin method Bearin Cable entry location Rotation direction Cable length Robot positioner 1 0 selection Battery g g M g S Sensor N Standard N Standard torque R From the right N CCW 1L 1m S2 foo S Sensor NP NPN B With battery e 2 Limitless rotation H High rigidity H High torque L From the left Z CW 3L 3m SH TS SH PN PNP Absolute gt e 5L 5m CC CC Link N None
96. ser s Manual and change the origin coordinates 63h8 5 046 co Manual operation screw both sides 2 4 2 4 Approx 180 Approx 180 Motor cable exit direction Exit from left side Motor cable exit direction Exit from right side EE gt 32H8 9 17 Tirough hole Tolerance range Wis Sa YING j i 74 JT N Ken Vth Z 1 N MS WSN es l MS E S Ys MA N M A y 22H8 5 Cross sectional drawing A A Tolerance range Weight kg 1 3 Note1 This drawing is output under the conditions below Approx 300 k Approx 300 Bearing High rigidity Sensor cable exit direction Exit from left side Sensor cable exit direction Exit from right side Standard High torque T Note2 The minimum bending radii of the motor cable and sensor cable are R30 ST TS S2 gt 152 TS SH gt 452 131 mE RFO4 N CE compliance Rotation range 320 Ordering method sek z e oO J 5 X a ae jej er o 2 a sd 2 zZ on ing 9 lt O RF04 ENT EN Return to origin method Rotary type Limit rotation specification Robot positioner N Stroke end Limit rotation N Standard N Standard torque R From the right N CCW 1L 1m S2 TS S2 e N
97. shown on the right For details see P 98 E Motor installation Space saving model GEIB Motor installed on right STHO6 Straight model 2 24 40 CT Z PLZ Z IE fas H CMLL Cross sectional drawing A A Depth 16 Approx 210 pp Cable length without brake with brake Note Overhang at travelling service life of 3000km Service life is calculated for 100mm stroke models Mi Speed vs payload Horizontal D 4 5 8 Lead 8 ET Lead 16 3 S 25 S 9 S RE FEE c 3 a x 1 0 5 0 0 100 200 300 400 500 00 50 100 150 200 250 300 Speed mm s Speed mm s Effective stroke C M6x1 0 Depth 8 6 1001 Depth 6 Note 2 Origin on motor side Note 1 123 with brake Effective stroke 2 M8x1 25 Depth 16 gt E Controller Depth 14 pi Ge 1 0 5 Note 2 Controller Operation method TS S2 I O point trace TS SH Remote command TS SD Pulse train control Note The robot with the brake cannot use the TS SD N Origin on non motor side Note 1 Detailed drawing of installation hole 48 Option Installation plate Contents of option Plate 4 pcs For additional settings contact your distribu
98. shown on the right Speed TS S2 I O point trace TS SD Pulse train control For details see P 98 peed mm s TS SH Remote command SRDO3 Straight model 2 Effective stroke 78 See Note 3 3 eea pje ee Ball screw greasing port 8 M4x0 7 Depth 10 For user tool installation 4 M4x0 7 drill through For main unit installation 1 1 Lo a es 37 5 2 Effective sie oon L non motor side K M3x0 5 Depth 4 M4x0 7 Depth 5 For securing cable Option Horizontal installation plate foot Contents of option Plate 2 pcs See our robot manuals for additional settings Effective stroke 150 L1 261 L 349 H 2 3 4 5 K 6 8 10 12 Weight kg 1 5 1 7 1 9 2 1 Note1 It is possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod Note2 When running the cables secure cables so that any load is not applied to them Note3 Remove the M4 hex socket head cap set bolts and use them to secure the cables Hex socket head cap bolt M3x0 5 Length under head 10 Effective screw thread depth 5 The cable s minimum bend radius is R30 Two bolts are required for one plate Note4 See the bottom installation tap position Note5 Models with a brake will be 0 2kg heavier Note6 Distance
99. sic specifications E Allowable overhang Motor 28 L Step motor A 4096 0 05 c A B C Slide screw B C A B cD l O cable 1 1m ll Static loading moment Resolution Pulse rotation Repeatability mm Straight prive method Space saving Slide screw belt Ball screw lead mm 5 10 Horizontal installation Unit mm Wall installation Unit mm Vertical installation Unit mm Unit N m Maximum speed mm sec 200 400 A B c A B c A C Stroke MY MP MR Maximum payload Horizontal 6 4 o 2kg 1534 611 415 eo 2kg 435 595 1504 9 0 5kg 2000 2000 50mm 26 26 48 kg Vertical 2 1 Y 3kg 949 374 255 3 3kg 263 359 920 3 0 75kg 1558 1558 100mm 43 43 E NE force N 55 30 S 4kg 656 255 175 S 4kgl 177 241 629 J 1kg 1165 1164 roke mm 1534 611 415 435 595 1504 1kg 1165 1164 Maximum outside dimension Straight W45 x H46 i seg ceci S 2 of body cross section mm Space saving W74 5 x H51 z 4kg 656 255 175 e 4kg 177 241 629 S 1 5kg 771 771 Cable length m Standard 1 Option 3 5 10 7 6kg 364 137 95 6kg 91 123 337 2kg 574 574 Note 1 Positioning repeatability in one direction Note Overhang at travelling service life of 3000km Note 2 The maximum speed needs to be changed in accordance with Service life is calculated for 75mm stroke models
100. sions of the specifications with the installation hole brake are common to those shown above The specifications with the brake are applicable to only 100 strokes Models with a brake will be 0 11kg heavier LESS TES i 4 EG N RS NS ZK Q AOC TS S2 gt 452 TS SH gt 452 TS SD gt 465 121 sd gt zZ on ing 9 lt O 2 z e 0 J 5 X a ae jej er 9 2 9 x 122 STHO6 CE compliance Origin on the non motor side is selectable Ordering method STHO6 H H IL JL TL L_ 08 8mm S Straight model N With no brake N Standard N No plate 50 50mm 1L 1m S2 TS S2 Notes NP NPN B With battery 16 16mm R Space saving model B With brake Z Non motor side H With plate 100 100mm IBL 3m SH TS SH PN PNP Absolute motor installed on right 150 150mm 5L 5m CC CC Link N None L Space saving model 10L 10m DN DeviceNet Incremental motor installed on left EP EtherNet IP GW No I O boards Note 1 Space saving models R and L with the plate cannot be selected Note 2 The robot cable is flexible and resists bending Note 3 See P 460 for DIN rail mounting bracket SD 4 Note 4 The robot with the brake cannot use the TS SD
101. te 2 See P 460 for DIN rail mounting bracket Note 3 Select this selection when using the gateway function For details see P 453 Note 4 Select whether or not the battery is provided only when using the TS SH L Basic specifications 1000 1000mm 1200 1200mm 1500 1500mm 1800 1800mm 2000 2000mm E Allowable overhang iid SD Robot driver I O cable SD TS SD 1 1m 1 Motor 42 Step motor A Resolution Pulse rotation 20480 Repeatability mm 0 1 B C A B Drive method Belt Equivalent lead mm 48 Horizontal installation Uni mm Wall installation Unit mm Maximum speed mm sec 1400 A B C A B C Maximum payload kg 5 ikg 9445 2274 1681 1kg 1784 2312 9545 stoke mm rn Mill sc oo ME inn ne 5bkg 1689 385 325 5bkg 331 429 1789 Overall length mm Horizontal installation Stroke 241 8 Note Distance from center of slider upper surface to carrier center of gravity at a guide service life of Maximum outside dimension of body cross section mm W58 x H123 600mm stroke models Cable length m Note 1 Positioning repeatability in one direction Note 2 The maximum speed needs to be changed in accordance with the payload See the Speed vs payload graph shown on the right Standard 1 Option 3 5 10 E Speed vs payload
102. th a brake will be 0 2kg heavier DE S vane 4 Note8 Distance to mechanical stopper MCO 10 A a nee Note9 For lead 2mm specifications the origin on the non motor side cannot be set E 45 5 Note10 This unit can be installed with the motor facing up turned 90 degrees from the drill through position in this drawing Note11 Take great care as the outer case of the motor and cover belt projects from the bottom of the main unit Note12 When the lead is 2 mm this dimension is 27 mm ZONE TS S2 gt 192 TS SH gt 452 TS SD 465 117 m sd 2 zZ on Pm ww lt O e z e oO J 5 x a ae jej o o 2 a CE compliance Ordering method SRD05 LL DL IL JC LOL EN Q Origin on the non motor side is selectable Lead 6 12 CERIA Bracket plate WF i _ Robot positioner EEN Cia eed Note 1 When 2mm lead is selected the origin position cannot be changed to non motor side Note 2 The robot cable is flexible and resists bending Note 3 See P 99 for grease gun nozzles Note 4 See P 460 for DIN rail mounting bracket Note 5 Select this selection when using the gateway function For details see P 453 Note 6 Select whether or not the battery is provided only when using the TS SH coram scm Cable length length te 12 12mm EN model N With n
103. tion Vertical installation plate flange M4x0 7 L3 TT Contents of option Plate 2 pcs Nut 8 pcs Hex socket head cap bolt M5x0 8 R Sa q See our robot manuals for additional settings gs Length under head 14 OD o Ll pI E DY KY 3 Dimensions of attached D square nut for T slot 6 pcs Details of T slot Dimensions of attached nut Effective stroke 50 100 150 200 250 300 Installed within the T slot range of the main unit g L1 183 233 283 333 383 433 Hex socket head cap bolt M4x0 7 L 280 5 330 5 380 5 430 5 480 5 530 5 Length under head 12 Y Four bolts are required for one plate Weight kg 22 2 6 30 33 37 44 Note1 It is possible to apply only the axial load Use the external guide together so that any radial load is not applied to the rod Note2 The orientation of the width across flat part is undefined to the base surface Note3 Use the support guide together to maintain the straightness Note4 For lead 2mm specifications the origin on the non motor side cannot be set Note5 When the lead is 2mm this dimension is 27mm Note6 When running the cables secure cables so that any load is not applied to them Note7 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note8 The cable s minimum bend radius is R30 Note9 Take great care as the outer case of the motor projects f
104. tions are determined by the mechanical stoppers at both ends Lead20 Vertical 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 7kg heavier when equipped with a brake Maximum Lead12 Horizontal speed for each Lead12 Vertical When the stroke is longer than 600mm resonance of the ball screw may occur stroke Lead6 Horizontal mm sec Lead6 Vertical depending on the operation conditions critical speed In this case reduce the speed setting Speed settin on the program by referring to the maximum speeds shown in the table at the below SR03 ex CE compliance A CORR E A side is selectable ZZ GS d SR03 R 9 7 Y s i on f j Ordering method V P SR03 JL JL LOL H i LL 12 12mm S Straight model N With no brake N Standard N No plate 50 to 200 1L 1m S2 TS S2 ee NP NPN B With battery o 06 6mm R Space saving model note2 B With brake Z Non motor side H With plate 50mm pitch 3L 3m SH TS SH PN PNP Absolute E motor installed on right V With flange 5L
105. to oe Depth 6 interfere with the workpiece or equipment around the table 60 equally divided 2 The return to origin position may differ from that shown in this drawing To align with the position shown in this drawing refer to the TS Series User s Manual and change the origin coordinates 3 Manual Bui operation screw both sides Approx 170 Motor cable exit direction Exit from left side re 18H8 507 8 Through hole Tolerance range 15H8 0277 Cross sectional drawing A A Tolerance range Note1 This drawing is output under the conditions below High rigidity Standard High torque Note2 The minimum bending radii of the motor cable and sensor cable are R30 Note3 The motor cable exit direction is only the left side Sensor cable exit direction Exit from left side Weight kg 0 55 j Approx 300 e TS S2 gt 452 TS SH gt 452 127 N F 03 N Rotary type Limit rotation specification CE compliance Rotation range 320 Ordering method RF3 N H H H hO Jj H Robot positioner BEER Battery aa Return to origin method Cable entry location KAER Cable length e N Stroke end Limit rotation N Standard N Standard torque R From the right N CCW 1L 1m S2 To
106. tor 8 207 143 84 98 5 4 4 40 5 88 69 144 5 206 5 284 5 Note1 Controller Note2 Note3 Note4 Note5 Note6 Weight kg mee 2 52 3 27 3 6 Return to origin position Table movable range during return to origin operation The values in show those when the return to origin direction is changed The minimum bending radius of the motor cable is R30 When installing the mechanical main unit using the back facing holes use the hex socket head cap M6 bolts Not mounted on upper surface The installation hole positions of the main unit with the specifications with the brake are common to those shown above Models with a brake will be 0 34kg heavier TS S2 gt 452 TS SH gt 452 TS SD gt 465 STHO6 STHO6 Space saving model motor installed on right 44 3 C M6x1 0 Depth 8 6 3 01 Depth 6 yppedwog ERAI s oqoJ B1 4 zc o U ES 3 M6x1 0 Depth 10 1 0 5 T Note 2 Origin on motor Origin on non motor side side Note 1 Note 1 Effective stroke Effective stroke 50 E M8x1 25 Depth 16 75 48 65 See the cross sectional 4 8 8 drawing of A A 80 44 66 2 4 4 80 88 132 143 207 285 132 196 274 Weight kg 5 2 5 33 426 40 Note1 Return to origin position q 5H9 0520 Depth 5 Note2 Table movable range during return to origin
107. uanannunnunnnsu ncanaonunnussouncunoun 100 SS05 no onosonnpcunacconosonnosncononucoOOScOSOnasnccucOun 102 SS05H Gonanmonnonnnnonaognnnanuonnonacuonoonoonannannanno 104 SGO7 o bnsannocu nococoOnonsnuccnoOnoOooncnono5BnDonaoccOnOn 106 SRO3 panimon bintana npani naroon Onan Anina in 107 SRD03 0c ncBancasoubouDDonnosuconcnouDooODOoopounonbonocnn 110 SROA onusnonunnnoanan bnoo5ncEnnUnncoonoDODoSBnOnOnCnnOnnonGn 112 SRD04 oo0Dn0Bon nBoOBGoOObconDounconGDOODOoOOubonBconnon cao 114 SRO5 ngnuonucannnannunansonnuunon cnonaonbonnncnucnachcucdn 116 SRDO5 ocG sonagn cc ceuoocconosnnoscuncgnucuoonOnconnonccnun 118 STHOA annanponconnnnonaogannannonncnnbpuonoonoonannancnnnno 120 STHO6 ocGanbons ccu6oc cc nconhoncnocc oa nconnon conono 122 RFO2 N aucnonngagunpn cnnc ounonncnunnnobonnunsnnunocndnn 124 Main functions gt P10 97 TRANSERVO SPECIFICATION SHEET Note 1 Maximum payload kg Maximum speed Detailed info Type Model Size mm Lead mm Honzontal Vertical TTE page 2 600 2 1 RD W49 x H59 6 4 2 300 50 to 400 P100 P 101 2 6 4 100 20 4 1000 cM e S505 D W55 x H56 1 600 50 to 800 P102 P103 Straight model 6 10 2 300 Space saving model 1000 600 Horizontal SSOSHLR L W55 x H56 500 Vertical 50 to 800 P104 P105 2S 4 300 Horizontal Z 250 Vertical zc 2G type W65 x H64 ie m 50 to 800 P106 oH i a
108. urn to origin position Note2 Table movable range during return to origin operation The values in show those when the return to origin direction is changed Note3 The minimum bending radius of the motor cable is R30 Note4 When installing the mechanical main unit using the back facing holes use the hex socket head cap M5 bolts Note5 The installation hole positions of the main unit with the specifications with the brake are common to those shown above Note6 Models with a brake will be 0 11kg heavier m 120 E TS 52 gt 452 TS SH gt 452 TS SD 465 STHO4 STHO4 Space saving model motor installed on right 4 3 C M5x0 8 Depth 6 5 5 1001 Depth 5 yppedwog ERAI s oqoJ B1 4 zc o U ES 14 0 5 Note 2 Note 2 Origin on motor side Origin on non motor side Note 1 Note 1 Effective stroke Effective stroke 50 40 6 E M6x1 0 Depth 12 45 See the cross sectional drawing of A A Ss N N DSN IS M RN BENS JIPA WA AN 2 45 116 5 191 5 106 181 Weight kg 8 1 15 1 6 Return to origin position Table movable range during return to origin operation The values in show those when the return to origin direction is changed The minimum bending radius of the motor cable is R30 When installing the mecha
109. ve the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note5 The cable s minimum bend radius is R30 Note6 Models with a brake will be 0 2kg heavier Note7 Distance to mechanical stopper Controller TS S2 452 TS SH gt 452 TS SD gt 465 SRDO4 OQ e 3 D o e z e oO I 5 x a pri 9 er o a P gt zZ on ing wd lt O SRD04 Space saving model motor installed on top 17 M4x0 7 Depth 5 For securing cable Installed within the T slot range of the main unit Approx 245 Cable length 42 5 2 Effective stroke S Note 8 Hex socket head cap bolt M3x0 5 7 Note 8 Origin on Originon Length under head 10 motor side non motor side Note 9 Six bolts are required for one plate 2 6 6 drill through 8 M5x0 8 Depth 12 For user tool installation 4 M5x0 8 drill through For main unit installation Ball screw greasing T slot for M3 port 6 5 4 locations M4x0 7 Depth 5 L1 T slot range For securing cable M3x0 5 M10x1 25 Effective stroke 100 150 300 x 24 L1 212 5 262 5 412 5 i gt 58 3 3 e L 259 5 309 5 459 5 Palio T
110. width across flat part is undefined to the base surface Note3 Use the support guide together to maintain the straightness Note4 When running the cables secure cables so that any load is not applied to them Note5 Remove the M4 hex socket head cap set bolts and use them to secure the cables Effective screw thread depth 5 Note6 The cable s minimum bend radius is R30 Note7 Models with a brake will be 0 2kg heavier Note8 Distance to mechanical stopper Note9 For lead 2mm specifications the origin on the non motor side cannot be set Note10 This unit can be installed with the motor facing up turned 90 degrees from the position in this drawing M4x0 7 Depth 5 9 5 i L 42 5 2 Effective stroke 5 Note 8 For securing cable L1 T slot range j Origin on Origin on a 65 motor side _non motor side Note 9 19 eo N M10x1 25_ 17 9 k e o Dimensions of attached nut Detail of section B T slot for M3 8 locations Width across M10x1 25 2 E Width across 14 Depth 5 flat part MN For securing cable 9 5 90 equal Ontic n Ho izontal installation ENE f 00 1 J 3 division Contents of option Plate 2 pcs Nut 12 pcs See our robot manuals fo

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