Download Stepping motor single axis robots

TR A NSE R V O
Seri e s
Product Lineup
CLOSED LOOP STEPPING MOTOR
SINGLE-AXIS ROBOTS
Excellent characteristics of both stepping motor
and servomotor were combined.
Stepping motor single-axis robots "TRANSERVO"
series breaking through existing conventions.
P.452
Robot positioner TS-S2/TS-SH
This robot positioner is specialized for the I/O
point trace input. The positioning or pushing operation can be performed using simple operation,
only by specifying a point number from the host
control unit and inputting the START signal.
Applicable
models:
SS
SGNote
RF
BD
Note. SG07 is only applicable to TS-SH.
10
SR
P.465
Robot driver TS-SD
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.
STH
Applicable
models:
TS-S2
TS-SH
SS
SR
STHNote RFNote
BD
Note. Except for STH vertical specifications and RF sensor specifications.
TS-SD
Newly developed vector control method provides functions
and performance similar to servomotors.
SS type (Slider type)
SG type (Slider type)
P.100
Straight model
Space-saving model
(Side mounted motor model)
P.101
P.106
Straight model
NEW
SS05H-S
SG07
SS05H-R (L)
SR type (Rod type standard)
P.107
Straight model
SR05-S
SR04-S
P.108
Space-saving model (Side mounted motor model)
SR03-S
SR05-R (L)
SR04-R (L)
SR03-R (L)
SR type (Rod type with support guide)
P.110
Straight model
SRD05-S
SRD04-S
SS type
(Slider type)
Straight model/
Space-saving model
SG type
(Slider type)
SR type
(Rod type standard)
Straight model/
Space-saving model
SR type
(Rod type
with support guide)
Straight model/
Space-saving model
SRD03-S
Model
Size (mm) Note 1
SS04-S
SS04-R (L)
W49 × H59
SS05-S
SS05-R (L)
W55 × H56
Type
SS05H-S
SS05H-R (L)
W55 × H56
SG07
W65 × H64
SR03-S
SR03-R(L)
SR03-U
W48 × H56.5
SR04-S
SR04-R(L)
W48 × H58
SR05-S
SR05-R(L)
W56.4 × H71
SRD03-S
SRD03-U
W105 × H56.5
SRD04-S
SRD04-U
W135 × H58
SRD05-S
SRD05-U
W157 × H71
NEW
Lead
(mm)
P.111
Space-saving model (Side mounted motor model)
SRD05-U
SRD04-U
Maximum payload (kg)Note 2 Maximum speed
(mm/sec.) Note 3
Horizontal
Vertical
12
6
2
20
12
6
20
2
4
6
4
6
10
6
1
2
4
1
2
-
12
8
2
6
12
4
20
12
6
36
43
46
4
12
20
600
300
100
1000
600
300
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
1200
800
350
12
10
4
500
6
20
8
250
12
6
2
12
6
2
12
6
12
6
2
12
6
2
25
40
45
50
55
60
10
20
25
40
45
50
55
60
5
12
25
10
20
30
3.5
7.5
4
11
24
8.5
18.5
28.5
500
250
80
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 detailed page of relevant model.
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.
150
50
500
250
500
250
80
300
150
50
Stroke
(mm)
50 to 400
50 to 800
SRD03-U
Page
SS04-S: SS05-S: P.102
SS05-R (L): P.103
SS05H-S: 50 to 800
P.100
SS04-R (L): P.101
P.104
SS05H-R (L):P.105
50 to 800
SG07: 50 to 200
SR03-S: P.107
SR03-R(L): P.108
SR03-U: P.109
50 to 300
50 to 300
50 to 200
50 to 300
50 to 300
SR04-S: P.106
P.112
SR04-R(L): P.113
SR05-S: P.116
SR05-R(L): P.117
SRD03-S: SRD03-U: P.110
P.111
SRD04-S: P.114
SRD04-U: P.115
SRD05-S: P.118
SRD05-U: P.119
■ Allowable ambient temperature for robot installation
SS/SR type 0 to 40 °C
11
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)
P.120
Straight model
P.121
Space-saving model
STH04-S
STH06-S
STH04-R(L)
STH06-R(L)
Lead
(mm)
Maximum payload (kg)Note 2 Maximum speed Stroke
(mm/sec.)Note 3
(mm)
Horizontal
Vertical
Type
Model
Size (mm) Note 1
STH type
(Slide table type)
STH04-S
W45 × H46
5
6
2
200
STH04-R(L) Note 4
W73 × H51
10
4
1
400
STH06
W61 × H65
8
9
2
150
STH06-R(L)
W106 × H70
16
6
4
400
Straight model/
Space-saving model
Page
STH04-S: 50 to 100
P.120
STH04-R(L): P.121
STH06: 50 to 150
P.122
STH06-R(L): P.123
RF type (Rotary type)
P.124
Standard model
P.125
High rigidity model
RF02
RF03
RF04
Type
RF type
(Rotary type)
Standard/High rigidity
Rotation Maximum pushing Maximum speed
torque (N • m) torque (N • m)
(mm/sec.)Note 3
Model
Height (mm)
Torque type
RF02-N
RF02-S
42 (Standard)
49 (High rigidity)
N: Standard
0.22
0.11
420
H: High torque
0.32
0.16
280
RF03-N
RF03-S
53 (Standard)
62 (High rigidity)
N: Standard
0.8
0.4
420
H: High torque
1.2
0.6
280
RF04-N
RF04-S
68 (Standard)
78 (High rigidity)
N: Standard
6.6
3.3
420
H: High torque
10
5
280
Rotation
range (°)
Page
310(RF02-N)
360(RF02-S)
RF02-N: P.124
RF02-S: P.127
320(RF03-N)
360(RF03-S)
RF03-N: P.128
RF03-S: P.131
320(RF04-N)
360(RF04-S)
RF04-N: P.132
RF04-S: P.135
Stroke
(mm)
Page
BD type (Belt type)
P.136
Straight model
BD04
BD05
BD07
Type
BD type
(Belt type)
Model
Size (mm) Note 1
Lead
(mm)
Maximum payload (kg)Note 2 Maximum speed
(mm/sec.)Note 3
Horizontal
Vertical
BD04
W40 × H40
48
1
-
1100
300 to 1000
BD04: P.136
BD05
W58 × H48
48
5
-
1400
300 to 2000
BD05: P.137
BD07
W70 × H60
48
14
-
1500
300 to 2000
BD07: P.138
Note 1.The size shows approximate maximum cross sectional size.
■ 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.
Note 3.The maximum speed may vary depending on the transfer weight or stroke length. For details, refer to the detailed page STH/RF/BD type 5 to 40 °C
of relevant model.
Note 4.STH04-R (L) with 50-stroke and brake is not supported.
12
Com m on fe atur es of TRANSRVO Ser i es
POINT 1
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
positional deviation due to step-out occurs (in the open loop
mode), the torque decreases greatly in the high speed area, and
the power consumption is large during stopping. As YAMAHA’s
TRANSERVO uses the closed loop control, this ensures
complete "no step-out". Furthermore, use of a newly developed
vector control method ensures less torque decrease in the high
speed area, energy saving, and low noise. The function and
performance equivalent to the servomotor are achieved at a low
cost even using the stepping motor.
Energy saving
Stepping motor
Servomotor
• Simple & low cost
• No vibration
during stopping
• Smooth movement
• Constant torque at
any time
• Energy saving
• High-pitched operation noise
• Great torque decrease in high
speed area
• Large power consumption
during stopping
• Tiny vibration during stopping
• High cost
T R A N S E RVO c o m b i n e s b o t h m e r i t s .
No hunting during stopping
As the basic control is the same as the servomotor, waste power consumption is suppressed. This greatly contributes to the energy saving
and CO2 reduction.
Stop mode without hunting can be set in the same manner as the
general stepping motor. So, select this mode as required.
POINT 2
Closed loop control using excellent environment resistant resolver
A resolver with excellent reliability is used to detect the motor
position in the same manner as YAMAHA’s upper model.
The stable position detection can be made even in a poor
environment where fine particle dusts or oil mists exist.
Additionally, a high resolution of 20480 pulses per revolution is
provided.
This resolver is a magnetic position detector. The
resolver features a simple structure without using
electronic components and optical elements, and
less potential failure factors when compared to
general optical encoders.
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.
POINT 3
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.
Speed
High resolution (4096, 20480 pulse/rev)
TRANSERVO
Conventional model
× Speed stability: Poor
Adverse effect on settling time
Speed stability: Good
Time
Settling ability: Good
×
Settling ability: Poor
POINT 4
Return-to-origin is not needed to shorten the start-up time.
NEW
New type robot positioner TS-SH applicable to the high power
was newly developed.
This robot positioner is applicable to the absolute position
system and does not need any return-to-origin.
The work can be started quickly to shorten the start-up time.
TS-SH
13
TRANSERVO Series
Product Lineup
SS type (Slider type) Straight model/Space-saving model
POINT
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.
Conventional model
TRANSERVO (SS type)
■ 2-row gothic arch groove type
4-point contact guide
■ 4-row circular arc groove type
2-point contact guide
If a large moment load is applied or the
installation surface precision is poor, a
large differential slip may occur easily.
Differential slip is small due to its
structure and service life is long.
POINT
Tact is shortened by high-speed movement.
Payload
Payload
decreases
in high-speed
range.
0
200
400
600
Payload is
always
constant.
800
0
200
400
600
800
Speed (mm/s)
Speed (mm/s)
Note. SS05-S/SS05H-S with 20 mm-lead specifications
NEW
TRANSERVO (SS type)
Payload
Conventional model
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.Note which is faster than
any single-axis servo motor.
SG type (Slider type)
POINT
Maximum payload is 46 kg. A maximum
payload of 20 kg is supported even with the
vertical specifications.
SS05H
SG07
Maximum payload
12 kg
Maximum payload
Payload is
increased
about 4 times.
As rigid table slide and 56
motor are adopted, the payload is
increased greatly. A maximum payload of 46 kg is achieved.
Up to 20 kg can be transferred even with the vertical specifications.
46kg
POINT
Maximum speed is 1200 mm/sec.
current model
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.
SS05H
Maximum speed 1000 mm/sec
SG07
Maximum speed 1200 mm/sec
Maximum
speed
of the current
model is
increased
1.2 times.
SR type (Rod type) Standard model/Model with support guide
POINT
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
maintenance-free operationNote .
Note. The maintenance-free period is within the running life of the robot.
14
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
■ Tip nozzle for grease application
The lubrication system is environment-friendly as it uses a high
density fiber net and supplies an adequate amount of oil to appropriate locations to eliminate waste lubrication.
When applying the grease to the ball screw of the SR type space-saving
model SR03-UB or SRD03-UB, use a grease gun with the tip bent.
Model
KCU-M3861-00
Note.YAMAHA's recommended product. This tip nozzle can be attached to a generally
available grease gun.
Prevention of foreign object entry
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 the inside and
troubles caused by foreign objects. Additionally, oleo-synthetic foam
rubber with a self-lubricating function ensures low-friction resistance.
(29)
(ф5)
(120)
(PT1/8)
STH type (Slide table type) Straight model/Space-saving model
POINT
Use of a circulation type linear guide achieves the high rigidity and high accuracy.
lGuide rail is integrated with the table.
Positioning pin hole
lTable deflection amount is small.
Workpiece installation reproducibility is improved.
lUse of a circulation type linear guide achieves the high
rigidity and high accuracy.
lSTH06 provides an allowable overhang exceeding that
of FLIP-X series T9.
lSpace-saving model with the motor built-into the body is
also added to the product lineup.
lSuitable for precision assembly.
Body installation through hole
Installation is possible from the top surface.
Workpiece installation tap
Guide rail is integrated with the table.
RF type (Rotary type) Standard model/High rigidity model
POINT
Rotation axis model, first in TRANSERVO series
Use of highly rigid bearing makes it possible
to reduce displacement amount in the radial
thrust direction of the table.
lRotation axis model, first in TRANSERVO series
lThin and compact
lCan be secured from the top or bottom surface.
lHollow hole, through which the tool wiring is passed, is prepared.
lWorkpiece can be attached easily.
lMotor is built-into the body to achieve the space-saving.
lStandard model or high rigidity model can be selected.
Standard model
High rigidity model
BD type (Belt type) Straight model
POINT
Belt type applicable to long stroke
lApplicable to up to 2000 mm-stroke.
lHigh speed movement at a speed of up to 1500 mm/sec. can be made.
lMaximum payload 14 kg
lMain body can be installed without disassembling the robot.
lShutter is provided as standard equipment. This prevents grease
scattering or entry of foreign object.
Shutter is provided as standard
equipment.
This shutter covers the guide, ball screw, and belt.
The shutter prevents grease scattering or entry of
external foreign object.
15
APPLICATION
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SERIES
FLIP-X
TRANSERVO
Single-axis robots
NEW CONCEPT IN STEPPING MOTOR
SINGLE-AXIS ROBOTS
SCARA
robots
YK-X
RF03-N··················································· 128
RF03-S··················································· 130
RF04-N··················································· 132
RF04-S··················································· 134
BD04······················································ 136
■■Rod type:
Grease gun nozzle tube for
space-saving models············· 99
BD07······················································ 138
BD05······················································ 137
■■Rod type:
Running life distance to life
time conversion example······· 99
TRANSERVO
CONTROLLER INFORMATION
■■Rod type: Bracket plates······· 99
CLEAN
■■Robot ordering method
description······························ 99
RF02-S··················································· 126
YP-X
■■TRANSERVO SPECIFICATION
SHEET······································ 98
Pick & place
robots
CONTENTS
SS04······················································· 100
SS05······················································· 102
SS05H···················································· 104
SG07······················································ 106
SR03······················································ 107
SRD03···················································· 110
SR04······················································ 112
SRD04···················································· 114
SR05······················································ 116
SRD05···················································· 118
STH04···················································· 120
STH06···················································· 122
RF02-N··················································· 124
Main functions P.10
97
APPLICATION
TRANSERVO SPECIFICATION SHEET
Type
Linear conveyor
modules
LCM100
SS type
(Slide type)
Straight model/
Space-saving model
Compact
single-axis robots
TRANSERVO
SG type
(Slide type)
Single-axis robots
FLIP-X
SR Type
(Rod type)
Straight model/
Space-saving model
PHASER
Linear motor
single-axis robots
SR Type
(Rod type with support
guide)
Straight model/
Space-saving model
Cartesian
robots
XY-X
STH Type
(Slide table type)
Straight model/
Space-saving model
Model
Size (mm) Note 1
SS04-S
SS04-R (L)
W49 × H59
SS05-S
SS05-R (L)
W55 × H56
SS05H-S
SS05H-R (L)
W55 × H56
12
8
2
6
12
4
20
12
6
12
36
43
46
10
4
12
20
4
6
20
8
250
12
6
2
12
6
2
12
6
12
6
2
12
6
2
5
10
8
16
25
40
45
50
55
60
10
20
25
40
45
50
55
60
6
4
9
6
5
12
25
10
20
30
3.5
7.5
4
11
24
8.5
18.5
28.5
2
1
2
4
500
250
80
300
150
50
500
250
500
250
80
300
150
50
200
400
150
400
12
6
2
20
12
6
20
SG07
W65 × H64
SR03-S
SR03-R (L)
SR03-U
W48 × H56.5
SR04-S
SR04-R (L)
W48 × H58
SR05-S
SR05-R (L)
W56.4 × H71
SRD03-S
SRD03-U
W105 × H56.5
SRD04-S
SRD04-U
W135 × H58
SRD05-S
SRD05-U
W157 × H71
STH04-S
STH04-R (L) Note 4
STH06
STH06-R (L)
W45 × H46
W73 × H51
W61 × H65
W106 × H70
SCARA
robots
YK-X
Type
Model
High (mm)
Torque type
RF Type
(Rotary type)
Standard model/
High rigidity model
RF02-N
RF02-S
RF03-N
RF03-S
RF04-N
RF04-S
42 (Standard)
49 (High rigidity)
53 (Standard)
62 (High rigidity)
68 (Standard)
78 (High rigidity)
N:Standard
H:High torque
N:Standard
H:High torque
N:Standard
H:High torque
Pick & place
robots
YP-X
Type
Model
Size (mm) Note 1
BD Type
(Belt type)
BD04
BD05
BD07
W40 × H40
W58 × H48
W70 × H60
CLEAN
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
detailed page of relevant model.
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.
Note 4. STH04-R (L) with 50-stroke and brake is not supported.
Maximum payload (kg) Note 2
Horizontal
Vertical
2
1
4
2
6
4
4
6
1
10
2
6
-
Maximum speed
(mm/sec) Note 3
600
300
100
1000
600
300
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
1200
800
350
500
Lead (mm)
Stroke (mm)
Detailed info
page
50 to 400
P.100 - P.101
50 to 800
P.102 - P.103
50 to 800
P.104 - P.105
50 to 800
P.106
50 to 200
P.107 - P.109
50 to 300
P.112 - P.113
50 to 300
P.116 - P.117
50 to 200
P.110 - P.111
50 to 300
P.114 - P.115
50 to 300
P.118 - P.119
50 to 100
P.120 - P.121
50 to 150
P.122 - P.123
Rotational torque Maximum pushing Maximum speed
Rotation range (°)
(N • m)
torque (N • m)
(mm/sec)Note 3
0.22
0.11
420
310 (RF02-N)
360 (RF02-S)
0.32
0.16
280
0.8
0.4
420
320 (RF03-N)
360 (RF03-S)
1.2
0.6
280
6.6
3.3
420
320 (RF04-N)
360 (RF04-S)
10
5
280
Lead
(mm)
48
48
48
Maximum payload(kg)
Horizontal
Vertical
1
5
14
Note 2
Maximum speed
(mm/sec) Note 3
1100
1400
1500
Stroke
(mm)
300 to 1000
300 to 2000
300 to 2000
Detailed info
page
P.124 - P.127
P.128 - P.131
P.132 - P.135
Detailed info
page
P.136
P.137
P.138
w Precautions for use
■ Handling
Fully understand the contents stated in the "TRANSERVO
User's Manual" and strictly observe the handling
precautions during operation.
■ Allowable installation ambient temperature
[SS/SR type] 0 to 40 ºC
[STH/RF/BD type] 5 to 40 ºC
SR/SRD/STH type Speed vs. payload table
CONTROLLER INFORMATION
SR03
SRD03
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
10
450
90
5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
20
225
90
15
237.5
95
10
250
100
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
10
450
90
5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
20
225
90
15
237.5
95
10
250
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
4
300
60
2
432
86
1
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
8
150
60
5
200
80
2
250
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
3.5
300
60
1.5
432
86
0.5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
7.5
150
60
4.5
200
80
1.5
250
100
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
25
320
64
20
363
72
15
407
81
5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
40
200
80
30
225
90
20
250
100
Lead 2
Payload (kg) Speed (mm/sec ) %
45
80
100
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
25
320
64
20
363
72
15
407
81
5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
40
200
80
30
225
90
20
250
100
Lead 2
Payload (kg) Speed (mm/sec ) %
45
80
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
5
200
40
2
350
70
1
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
12
125
50
5
200
80
2
250
100
Lead 2
Payload (kg) Speed (mm/sec ) %
25
60
75
5
80
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
4
200
40
3
250
50
0.5
500
100
Lead 6
Payload (kg) Speed (mm/sec ) %
11
120
48
4
200
80
1
250
100
Lead 2
Payload (kg) Speed (mm/sec ) %
24
60
75
14
70
87
4
80
100
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
50
168
56
40
198
66
30
249
83
20
300
100
Lead 6
Payload (kg) Speed (mm/sec ) %
55
135
90
40
150
100
Lead 2
Payload (kg) Speed (mm/sec ) %
60
50
100
Horizontal
Lead 12
Payload (kg) Speed (mm/sec ) %
50
168
56
40
198
66
30
249
83
20
300
100
Lead 6
Payload (kg) Speed (mm/sec ) %
55
135
90
40
150
100
Lead 2
Payload (kg) Speed (mm/sec ) %
60
50
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
10
69
23
5
168
56
1
300
100
Lead 6
Payload (kg) Speed (mm/sec ) %
20
48
32
15
75
50
2
150
100
Lead 2
Payload (kg) Speed (mm/sec ) %
30
30
60
5
50
100
Vertical
Lead 12
Payload (kg) Speed (mm/sec ) %
8.5
90
30
5.5
138
46
0.5
300
100
Lead 6
Payload (kg) Speed (mm/sec ) %
18.5
48
32
8.5
102
68
0.5
150
100
Lead 2
Payload (kg) Speed (mm/sec ) %
28.5
30
60
5
50
100
SR04
SRD04
SR05
SRD05
STH04
98
STH06
Horizontal
Lead 10
Payload (kg) Speed (mm/sec ) %
4
400
100
2
400
100
1
400
100
Lead 5
Payload (kg) Speed (mm/sec ) %
6
200
100
3
200
100
1
200
100
Horizontal
Lead 16
Payload (kg) Speed (mm/sec ) %
6
400
100
3
400
100
1
400
100
Lead 8
Payload (kg) Speed (mm/sec ) %
9
150
100
5
150
100
1
150
100
Vertical
Lead 10
Payload (kg) Speed (mm/sec ) %
1
220
62
0.75
220
62
0.3
350
100
Lead 5
Payload (kg) Speed (mm/sec ) %
2
150
75
1
150
75
0.5
200
100
Vertical
Lead 16
Payload (kg) Speed (mm/sec ) %
2
200
80
1.5
200
80
1
250
100
Lead 8
Payload (kg) Speed (mm/sec ) %
4
100
66
3
100
66
2
140
93
1
150
100
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.
SS05
Controller
• Grease
Standard
• Stroke
600mm
• Cable length 1m
TS-S2
• Input /Output selection NPN
Ordering Method
FLIP-X
Mechanical section
Controller section
● SS type / SG type (Slider type)
Model
Lead
Model
Brake
N With no brake
B With brake
S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)
Origin position
Grease option
Stroke
Cable length
N Standard
N Standard grease
Z No-motor side C Clean room grease
1L
3L
5L
10L
1m
3m
5m
10m
PHASER
2mm
6mm
12mm
20mm
Linear motor
single-axis robots
02
06
12
20
SS04
SS05
SS05H
SG07
● SR type (Rod type)
Model
Brake
N With no brake
B With brake
S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)
Space-saving model
U
(motor installed on top)
Origin position
Bracket plate
Stroke
Cable length
N Standard
N No plate
Z No-motor side H With plate
V With flange
1L
3L
5L
10L
1m
3m
5m
10m
Cartesian
robots
Lead
02 2mm
06 6mm
12 12mm
XY-X
Model
SR03
SRD03
SR04
SRD04
SR05
SRD05
Single-axis robots
To find detailed controller information see the controller page.
TS-S2 P.452 , TS-SH P.452 , TS-S D P.465
SS05 06SB NN 600 1L SNP
Compact
single-axis robots
6mm
Straight
Yes
Standard
TRANSERVO
• Lead
• Model
• Brake
• Origin position
LCM100
Mechanical
Linear conveyor
modules
[Example]
APPLICATION
Robot ordering method description
● STH Type (Slide table type)
Model
Lead
Model
Brake
N With no brake
B With brake
S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)
Origin position
Bracket plate
Stroke
Cable length
N Standard
N No plate
Z No-motor side H With plate
1L
3L
5L
10L
1m
3m
5m
10m
SCARA
robots
5mm
8mm
10mm
16mm
YK-X
05
08
10
16
STH04
STH06
● RF Type (Rotary type / Limit rotation specification, Rotary type / Sensor specification)
Model
Return-to-origin method
Bearing
Torque
N Standard
H High rigidity
N Standard torque
H High torque
Cable entry location
Rotation direction
R From the right
L From the left
N CCW
Z CW
Cable length
1L
3L
5L
10L
Pick & place
robots
Stroke end (Limit rotation)
Sensor (Limitless rotation)
1m
3m
5m
10m
YP-X
N
S
RF02-N
RF02-S
RF03-N
RF03-S
RF04-N
RF04-S
● BD Type (Belt type)
Lead
Brake
48 48mm
N With no brake
Origin position
Stroke
N Standard
CLEAN
Model
BD04
BD05
BD07
Cable length
1L
3L
5L
10L
1m
3m
5m
10m
SR03/SRD03 bracket plates
Feet (horizontal mount)
Type
Flange (vertical mount)
SR04/SRD04 bracket plates
Feet (horizontal mount)
Flange (vertical mount)
SR05/SRD05 bracket plates
Feet (horizontal mount)
Flange (vertical mount)
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.
Rod type: Grease gun nozzle tube for space-saving models
When greasing the ball screw in the SR03-UB or SRD03-UB (motor installed
on top / with brake), use a grease gun with a bent nozzle tube as shown below.
■ Grease gun nozzle tube (YAMAHA recommended nozzle tube)
(ф5)
(120)
Model
(29)
(PT1/8)
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
space around the grease port.
For example, when the SR04 or SR05 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.
SR03-UB and
SRD03-UB
CONTROLLER INFORMATION
Rod type: Bracket plates
* Comes with 8 mounting nuts for feet.
Rod type: Running life distance to life time conversion example
This is an example of life time converted from the running life distance
listed on each model page for the SR type.
Model
SR04-02SB, Vertical mount, 25 kg payload
Life time : Approx. 3 years
Life distance
500 km
Operating conditions 100mm back-and-forth movement, shuttle time
16 seconds (duty: 20%)
Word conditions
16 hours per day
Work days
240 days per year
Note. Make sure that the rod is not subjected to a radical load.
99
APPLICATION
SS04
CE compliance
Slider type
Origin on the non-motor side is selectable
SS04-S
SS04-R
Linear conveyor
modules
LCM100
Ordering method
SS04
Model
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
02: 2mm
Model
S:Straight model
R:Space-saving model
(motor installed on right)
L:Space-saving model
(motor installed on left)
Brake
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Clean room grease
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 400
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
SD
I/O cable
1: 1m
Allowable overhang Note
MY
Horizontal installation (Unit: mm)
1kg
2kg
2kg
3kg
4kg
4kg
6kg
B
A
C
B
A
B
C
807
667
687
556
567
869
863
218
107
116
76
56
61
40
292
152
169
112
84
92
60
C
Wall installation
1kg
2kg
2kg
3kg
4kg
4kg
6kg
C
A
(Unit: mm)
A
B
C
274
133
149
92
63
72
39
204
93
102
62
43
48
29
776
611
656
516
507
829
789
MR
MP
Vertical installation (Unit: mm)
Lead 2 Lead 6 Lead 12
Cartesian
robots
XY-X
Note 1. Positioning repeatability in one direction.
Static loading moment
A
Lead 2 Lead 6 Lead 12
PHASER
Linear motor
single-axis robots
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
12
6
2
Maximum speed (mm/sec)
600
300
100
Horizontal
2
4
6
Maximum
payload (kg)
Vertical
1
2
4
Max. pressing force (N)
45
90
150
Stroke (mm)
50 to 400 (50mm pitch)
Stroke+216
Overall length Horizontal
(mm)
Vertical
Stroke+261
Maximum outside dimension
W49 × H59
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
Lead 2 Lead 6 Lead 12
FLIP-X
Single-axis robots
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.
Basic specifications
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
0.5kg
1kg
1kg
2kg
2kg
4kg
A
C
407
204
223
107
118
53
408
204
223
107
118
53
(Unit: N.m)
MY
16
MP
19
MR
17
Controller
Controller
TS-S2
TS-SH
TS-SD
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 400mm stroke models).
Operation method
I/O point trace /
Remote command
Pulse train control
SCARA
robots
YK-X
Motor installation (Space-saving model)
R type Motor installed on right
L type Motor installed on left
Pick & place
robots
YP-X
SS04 Straight model
161+/-2: When origin is on motor side
(161: When origin is on non-motor side)
Cable securing position (Note 2)
129+/-1 (Note 1)
21
23+/-1 (Note 1)
206+/-2 (with brake): When origin is on motor side
(206 with brake: When origin is on non-motor side)
59
58
32
41
25
45
174+/-1 (with brake) (Note 1)
12.5
33
(between knocks +/-0.02)
24
40.5
15
CONTROLLER INFORMATION
8 20.5
(55: When origin is on motor side)
55+/-2: When origin is on non-motor side
Effective stroke
2-ϕ3H7 Depth 6
4-M4 x 0.7 Depth 8
51 (Slider top face)
CLEAN
Approx. 200 (Cable length)
30.5
13
L
L+45 (with brake)
15
49
182.5 (with brake)
137.5
A x 50
B-M5 x 0.8 Depth8
R
50
Effective stroke
L
A
B
C
Weight (kg) Note 4
100
50
266
2
3
50
1.5
100
316
3
4
100
1.6
150
366
4
5
150
1.7
200
416
5
6
200
1.8
Controller
250
466
6
7
250
2.0
300
516
7
8
300
2.1
350
566
8
9
350
2.2
400
616
9
10
400
2.3
ϕ4H7 ( +0.012
) Depth6
0
2
C
4 +0.02
Depth6
0
162.5
207.5 (with brake)
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.
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
APPLICATION
SS04
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
Pick & place
robots
YP-X
SS04 Space-saving model
CLEAN
49
(108)
Motor
50 +/-1
(Note 1)
(88.5)
(82 +/-2: When origin is on motor side)
SS04-L Specifications
(82: When origin is on non-motor side)
21
4-M4×0.7 Depth 8
2-ϕ3H7 Depth 6
23 +/-1 (Note 1)
(55: When origin is on motor side)
55 +/-2: When origin is on non-motor side
41
25
Effective stroke
(40)
50
(24)
51 (Slider top face)
58
32
(31)
(15)
101
110
(Note 2)
Cable securing position
Approx. 245 (Cable length)
15
CONTROLLER INFORMATION
56.5
88.5
33
(Tolerance between
knocks +/-0.02)
128.5 (with brake)
L
58.5
A×50
B-M5×0.8 Depth 12
ϕ4H7 +0.012
Depth 6
0
2
38
Effective stroke
L
A
B
C
Weight (kg) Note 4
50
187
2
3
100
1.2
100
237
3
4
150
1.4
150
287
4
5
200
1.5
200
337
5
6
250
1.6
250
387
6
7
300
1.7
300
437
7
8
350
1.8
Controller
350
487
8
9
400
1.9
400
537
9
10
450
2.1
C
4 +0.02
Depth 6
0
R
50
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. 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.
Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
Note 5. The belt cover’s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the
cover cannot be attached.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
101
High lead: Lead 20
Slider type
SS05-S
CE compliance
Origin on the non-motor side is selectable
SS05-R
Linear conveyor
modules
LCM100
Ordering method
SS05
Model
Compact
single-axis robots
TRANSERVO
Lead
20: 20mm
12: 12mm
06: 6mm
Model
S:Straight model
R:Space-saving model
(motor installed on right)
L:Space-saving model
(motor installed on left)
Brake Note 1
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Clean room grease
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 4
I/O cable
1: 1m
Allowable overhang Note
MY
B
C
2kg
413
139
218
4kg
334
67
120
4kg
347
72
139
6kg
8kg
335
503
332
47
78
37
95
165
79
10kg
344
29
62
Wall installation
2kg
(Unit: mm)
A
B
C
192
123
372
4kg
92
51
265
4kg
109
57
300
6kg
6kg
63
134
76
31
63
35
263
496
377
8kg
47
22
355
4kg
C
A
MR
MP
Vertical installation (Unit: mm)
A
C
Lead 12
A
C
0.5kg
578
579
1kg
286
286
Lead 6
Horizontal installation (Unit: mm)
4kg
B
A
C
B
Lead 12 Lead 20
Cartesian
robots
XY-X
SCARA
robots
YK-X
Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Static loading moment
A
Lead 6
PHASER
Linear motor
single-axis robots
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Note 1
(mm)
+/-0.02
Repeatability
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
20
12
6
Note 2
Maximum speed
(mm/sec) 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical
–
1
2
Max. pressing force (N)
27
45
90
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+230
Overall length Horizontal
(mm)
Vertical
Stroke+270
Maximum outside dimension
W55 × H56
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
Battery Note 5
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
Lead 12 Lead 20
FLIP-X
Single-axis robots
Basic specifications
Robot positioner
S2: TS-S2 Note 3
SH: TS-SH
SD
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.
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.
Lead 6
APPLICATION
SS05
1kg
312
312
2kg
148
148
(Unit: N.m)
MY
25
MP
33
MR
30
Controller
Controller
TS-S2
TS-SH
TS-SD
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
Operation method
I/O point trace /
Remote command
Pulse train control
Motor installation (Space-saving model)
R type Motor installed on right
L type Motor installed on left
Pick & place
robots
YP-X
SS05 Straight model
178+/-2: When origin is on motor side
(178: When origin is on non-motor side)
140+/-1 (Note 1)
34
(52: When origin is on motor side)
52+/-2: When origin is on non-motor side
14+/-1 (Note 1)
24
Effective stroke
2-ϕ4H7 Depth 6
4-M4 x 0.7 Depth8
40.5
56
70
42
24
55
50
34
51
180+/-1 (with brake) (Note 1)
218+/-2 (with brake): When origin is on motor side
(218 with brake: When origin is on non-motor side)
12.5
57 (Slider top face)
15
CONTROLLER INFORMATION
8 20.5
Cable securing position (Note 2)
42
(between knocks +/-0.02)
CLEAN
Approx. 200 (Cable length)
30.5
13
L
L+40 (with brake)
141.5 (with brake)
101.5
A x 50
B-M6 x 1 Depth8
50
ϕ4H7 ( +0.012
) Depth6
0
126.5
166.5 (with brake)
Effective stroke
L
A
B
C
Weight (kg) Note 4
Lead20
Maximum
speed for each Lead12
Note 5
stroke
Lead6
(mm/sec) Speed setting
102
50
280
3
4
100
2.1
100
330
4
5
150
2.3
150
380
5
6
200
2.5
Controller
200
430
6
7
250
2.7
250
480
7
8
300
2.8
300 350
530 580
8
9
9
10
350 400
3.0 3.2
1000
600
300
–
400
630
10
11
450
3.4
450
680
11
12
500
3.6
500
730
12
13
500
3.8
550
780
13
14
500
4.0
600
830
14
15
500
4.2
650
880
15
16
500
4.4
933
560
280
93%
700
930
16
17
500
4.6
833
500
250
83%
2
C
750
980
17
18
500
4.8
733
440
220
73%
TS-S2 u 452 TS-SH u 452 TS-SD
800
1030
18
19
500
5.0
633
380
190
63%
u
4 +0.02
0 Depth6
R
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.
Note 5. When the stroke is longer than 600mm, resonance of
the ball screw may occur depending on the operation
conditions (critical speed). In this case, reduce the
speed setting on the program by referring to the
maximum speeds shown in the table at the left.
465
APPLICATION
SS05
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
Pick & place
robots
YP-X
SS05 Space-saving model
55
42
(Tolerance between
knocks +/-0.02)
56.5
(113)
(88.5)
SS05-L Specifications
94.5 +/-2: When origin is on motor side
(94.5: When origin is on non-motor side)
56.5 +/-1
(Note 1)
34
4-M4×0.7 Depth 8
2-ϕ4H7 Depth 6
14 +/-1 (Note 1)
(52: When origin is on motor side)
52 +/-2: When origin is on non-motor side
50
34
Effective stroke
(31)
(40)
55
(24)
57 (Slider top face)
70
42
(15)
104
113
24
(Note 2)
Cable securing position
Approx. 245 (Cable length)
CONTROLLER INFORMATION
Motor
CLEAN
128.5 (with brake)
88.5
L
68
A×50
B-M6×1.0 Depth 12
R
50
C
Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
196.5 246.5 296.5 346.5 396.5 446.5 496.5 546.5 596.5 646.5 696.5 746.5 796.5 846.5 896.5 946.5
A
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
B
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
Weight (kg) Note 4
1.6 1.8 2.0 2.2 2.4 2.6 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.1 4.3 4.5
Lead20
1000
933 833 733 633
Maximum
Lead12
600
560 500 440 380
speed for each
stroke Note 5
Lead6
300
280 250 220 190
(mm/sec) Speed setting
–
93% 83% 73% 63%
Controller
4 0
2
42
+0.02
Depth 6
ϕ4H7 +0.012
Depth 6
0
Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
Note 2. 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.
Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights
are 0.2kg heavier when equipped with a brake.
Note 5. When the stroke is longer than 600mm, resonance of
the ball screw may occur depending on the operation
conditions (critical speed). In this case, reduce the
speed setting on the program by referring to the
maximum speeds shown in the table at the left.
Note 6. The belt cover’s left and right sides are asymmetrical.
Therefore, if the motor mounting orientation is
changed, the cover cannot be attached.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
103
High lead: Lead 20
Slider type
CE compliance
SS05H-S
Origin on the non-motor side is selectable
SS05H-R
Linear conveyor
modules
LCM100
Ordering method
SS05H
Model
Compact
single-axis robots
TRANSERVO
Lead
20: 20mm
12: 12mm
06: 6mm
Model
S:Straight model
R:Space-saving model
(motor installed on right)
L:Space-saving model
(motor installed on left)
Brake Note 1
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Clean room grease
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 4
I/O cable
1: 1m
Allowable overhang Note
MY
2kg
6kg
8kg
6kg
8kg
10kg
12kg
A
B
C
599
366
352
500
399
403
573
480
442
465
225
109
71
118
79
56
83
61
47
39
291
148
104
179
118
88
136
100
78
64
C
Wall installation
2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg
C
A
(Unit: mm)
A
B
C
262
118
71
146
85
55
101
64
43
28
203
88
49
96
55
34
62
39
26
17
554
309
262
449
334
305
519
413
355
338
MR
MP
Vertical installation (Unit: mm)
Lead 6 Lead 12
Horizontal installation (Unit: mm)
4kg
6kg
4kg
B
A
C
B
Lead 12 Lead 20
Cartesian
robots
XY-X
SCARA
robots
YK-X
Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Static loading moment
A
Lead 6
PHASER
Linear motor
single-axis robots
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Note 1
(mm)
+/-0.02
Repeatability
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Maximum motor torque (N.m)
0.47
Ball screw lead (mm)
20
12
6
Note 2
Horizontal
1000
600
300
Maximum speed
(mm/sec)
Vertical
–
500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical
–
2
4
Max. pressing force (N)
36
60
120
Stroke (mm)
50 to 800 (50pitch)
Stroke+286
Overall length Horizontal
(mm)
Vertical
Stroke+306
Maximum outside dimension
W55 × H56
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
Battery Note 5
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
Lead 12 Lead 20
FLIP-X
Single-axis robots
Basic specifications
Robot positioner
S2: TS-S2 Note 3
SH: TS-SH
SD
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.
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.
Lead 6
APPLICATION
SS05H
1kg
2kg
2kg
4kg
A
C
458
224
244
113
459
224
245
113
(Unit: N.m)
MY
32
MP
38
MR
34
Controller
Controller
TS-S2
TS-SH
TS-SD
Operation method
I/O point trace /
Remote command
Pulse train control
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
Motor installation (Space-saving model)
R type Motor installed on right
L type Motor installed on left
Pick & place
robots
YP-X
SS05H Straight model
175.5+/-1 (Note 1)
(62.5: When origin is on motor side)
62.5+/-2: When origin is on non-motor side
Effective stroke
2-ϕ4H7 Depth6
4-M5 x 0.8 Depth10
14.5+/-1 (Note 1)
24
43
40.5
56
90
53
24
55
52
34
51
195.5+/-1 (with brake) (Note 1)
243.5+/-2 (with brake): When origin is on motor side
(243.5 with brake: When origin is on non-motor side)
12.5
60 (Slider top face)
15
CONTROLLER INFORMATION
8 20.5
Cable securing position (Note 2)
223.5+/-2: When origin is on motor side
(223.5: When origin is on non-motor side)
43
(between knocks +/-0.02)
CLEAN
Approx. 200 (Cable length)
30.5
13
L
L+20 (with brake)
161.5 (with brake)
141.5
A x 50
B-M6 x 1 Depth8
166.5
186.5 (with brake)
ϕ4H7 ( +0.012
) Depth6
0
2
C
Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
336 386 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086
A
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
B
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
Weight (kg) Note 4
2.4 2.6 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.5 4.7 4.9 5.1 5.3
Lead20
1000
933 833 733 633
560 500 440 380
Maximum Lead12(Horizontal) 600
440 380
speed for each Lead12( Vertical) 500
stroke Note 5 Lead6(Horizontal) 300
280 250 220 190
(mm/sec) Lead6(Vertical) 250
220 190
Speed setting
–
93% 83% 73% 63%
104
Controller
TS-S2 u 452 TS-SH u 452 TS-SD
u
4 +0.02
0 Depth6
R
50
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.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
on the operation conditions (critical speed).
In this case, reduce the speed setting on the
program by referring to the maximum speeds
shown in the table at the left.
465
APPLICATION
SS05H
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
Pick & place
robots
YP-X
SS05H Space-saving model
55
(88.5)
SS05H-L Specifications
100 +/-2: When origin is on motor side
(100: When origin is on non-motor side)
(31)
52 +/-1
(Note 1)
43
4-M5×0.8 Depth 10
2-ϕ4 H7 Depth 6
14.5 +/-1 (Note 1)
(62.5: When origin is on motor side)
62.5 +/-2: When origin is on non-motor side
52
34
Effective stroke
(40)
55
(24)
60 (Slider top face)
90
53
(15)
104
113
24
(Note 2)
Cable securing position
Approx. 245 (Cable length)
50
L
A×50
B-M6×1.0 Depth 12
2
42
C
Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
212.5 262.5 312.5 362.5 412.5 462.5 512.5 562.5 612.5 662.5 712.5 762.5 812.5 862.5 912.5 962.5
A
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
B
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
1.7 1.9 2.1 2.3 2.5 2.7 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.6
Weight (kg) Note 4
Lead20
1000
933 833 733 633
600
560 500 440 380
Maximum Lead12 (Horizontal)
500
440 380
speed for each Lead12(Vertical)
stroke Note 5 Lead6 (Horizontal)
300
280 250 220 190
(mm/sec)
Lead6(Vertical)
250
220 190
Speed setting
–
93% 83% 73% 63%
Controller
+0.02
Depth 6
4 0
+0.012
ϕ4 H7 0
Depth 6
R
68
CONTROLLER INFORMATION
Motor
43
(Tolerance between
knocks +/-0.02)
56.5
(113)
88.5
CLEAN
128.5 (with brake)
Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
Note 2. 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.
Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights
are 0.2kg heavier when equipped with a brake.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
on the operation conditions (critical speed).
In this case, reduce the speed setting on the
program by referring to the maximum speeds
shown in the table at the left.
Note 6. The belt cover’s left and right sides are
asymmetrical. Therefore, if the motor mounting
orientation is changed, the cover cannot be
attached.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
105
High lead: Lead 20
Slider type
CE compliance
Origin on the non-motor side is selectable.
Linear conveyor
modules
LCM100
Ordering method
SG07
SH
Compact
single-axis robots
TRANSERVO
Lead
20: 20mm
12: 12mm
06: 6mm
Model
S:Straight model
Brake
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Clean room grease
Stroke
50 to 800
(50mm pitch)
Note 1. The robot cable is flexible and resists bending.
Note 2. Select this selection when using the gateway function. For details, see P.453.
Basic specifications
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 2
Robot
positioner
SH: TS-SH
Allowable overhang Note
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
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.
MY
Horizontal installation (Unit: mm)
A
10kg 3572
25kg 2971
36kg 3150
15kg 3703
1962
1430
3853
2105
1500
B
A
C
B
30kg
43kg
15kg
30kg
46kg
Battery
B: With battery
(Absolute)
N: None
(Incremental)
Static loading moment
A
B
C
458
220
140
363
172
114
363
172
106
486
245
160
406
196
131
414
197
122
C
10kg
25kg
36kg
15kg
30kg
43kg
15kg
30kg
46kg
C
A
Wall installation
Lead 6 Lead 12 Lead 20
FLIP-X
Single-axis robots
Motor
56 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 Note 3 (mm/sec) 1200
800
350
Maximum
Horizontal
36
43
46
Vertical
4
12
20
payload (kg)
Max. pressing force (N)
60
100
225
Stroke (mm)
50 to 800 (50pitch)
Overall length Horizontal
Stroke+288
Vertical
Stroke+328
(mm)
Maximum outside dimension
W65×H64
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
(Unit: mm)
A
B
450
117
98
351
134
68
353
134
58
402
155
85
307
117
59
307
117
50
C
A
3261
2943
2520
3403
1663
1070
3541
1752
1100
MR
MP
Vertical installation (Unit: mm)
Lead 6 Lead 12 Lead 20
Model
Lead 6 Lead 12 Lead 20
APPLICATION
SG07
(Unit: N.m)
C
MY
101
2kg 2303 2303
4kg 1147 1147
4kg 1386 1386
12kg 442 442
7kg
20kg
781
252
781
252
MP
114
MR
101
Controller
Controller Operation method
I/O point trace /
TS-SH
Remote command
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
10,000 km (Service life is calculated for 600mm stroke models).
Note. Calculated by the speed corresponding to the payload.
Speed vs. payload
50
45
40
35
30
25
20
15
10
5
0
Quick reference
Vertical
CLEAN
Lead 20
Lead 12
Lead 6
Payload Speed % Payload Speed % Payload Speed %
Lead 12
(kg) (mm/sec)
(kg) (mm/sec)
(kg) (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
Lead 20
10
800 66
15
420 52
25
245 70
9
900 75
10
500 62
15
270 77
Lead 6
8
950 79
9
600 75
15
300 85
7
1000
83
8
615
76
10
325 92
0
200 400 600 800 1000 1200 1400
6 1020 85
7
635 79
9
330 94
Speed (mm/s)
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
25
20
Payload (kg)
Pick & place
robots
Lead 6
15
10
Lead 12
5
0
Lead 20
0
200
400
600
Speed (mm/s)
800
1000
Lead 20
Lead 12
Lead 6
Payload Speed % Payload Speed % Payload Speed %
(kg) (mm/sec)
(kg) (mm/sec)
(kg) (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
SG07 Straight model
(31)
Effective stroke
40
(between
knocks +/-0.02)
CONTROLLER INFORMATION
Approx. 200 (Cable length) 201+/-3: When origin is on motor side
(Approx. 160: with brake)
(201:When origin is on non-motor side)
45
30+/-0.02
Cable securing position
140+/-1 (Note 1)
26+/-1 (Note 1)
(40)
(24)
(Note 2)
(87: When origin is on motor side)
87+/-3: When origin is on non-motor side
4-M5×0.8 Depth 10
+ 0.010
2-ϕ3 H7 ( 0
) Depth 6
65
L
L+40 (with brake)
A×100
B-M6×1.0 Depth 8
100
+ 0.012
ϕ4H7 0
Depth 6
145
185 (with brake)
(R)
C
2
Depth 6
175 (with brake)
135
Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
338 388 438 488 538 588 638 688 738 788 838 888 938 988 1038 1088
A
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
B
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
C
100 100 100 100 100 100 400 400 400 400 400 400 700 700 700 700
Weight (kg) Note 4
2.9 3.2 3.4 3.6 3.9 4.1 4.3 4.6 4.8 5.0 5.3 5.5 5.7 5.9 6.1 6.3
1020
Lead20 (Horizontal)
1200
900 780 720
Lead20
(Vertical)
1000
1000
Maximum
Lead12 (Horizontal)
800
speed for each
578 510 442 408
Lead12 (Vertical)
600
stroke Note 5
Lead6 (Horizontal)
350
298 263 228 210
(mm/sec)
Lead6 (Vertical)
320
Speed setting
–
85% 75% 65% 60%
106
Controller
TS-SH u 452
(58.2)
48
32
64 (Slider top face)
(116)
60
72
241+/-3 (with brake):
When origin is on motor side
50.4
180+/-1 (with brake) (Note 1)
(15)
+ 0.05
4 0
YP-X
Payload (kg)
SCARA
robots
YK-X
Quick reference
Horizontal
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 0.7kg heavier when equipped with
a brake.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur
depending on the operation conditions (critical
speed). In this case, reduce the speed setting
on the program by referring to the maximum
speeds shown in the table at the below.
CE compliance
APPLICATION
SR03
Rod type
Origin on the non-motor side is selectable
SR03-S
SR03-R
Linear conveyor
modules
LCM100
Ordering method
SR03
Model
Brake
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Bracket plate
N: No plate
H: With plate
V: With flange
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 200
(50mm pitch)
Robot positioner
S2: TS-S2 Note 3
SH: TS-SH
5
0
0
100
400
500
600
300
400
500
0
0
1
2
Payload (kg)
3
4
600
Speed (mm/s)
Controller
Motor installation (Space-saving model)
Pick & place
robots
Controller Operation method
TS-SD
Pulse train control
YP-X
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
U type Motor installed on top
L type Motor installed on left
R type Motor installed on right
1000
SCARA
robots
200
2000
YK-X
100
3000
Note. See P.99 for running life distance to life time conversion example.
Lead 12
0
4000
Cartesian
robots
Lead 6
5000
XY-X
Payload (kg)
300
Speed (mm/s)
Vertical
9
8
7
6
5
4
3
2
1
0
200
Lead 12
6000
Running life (km)
Payload (kg)
Lead 12
10
PHASER
Vertical
15
Linear motor
single-axis robots
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.
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.
Lead 6
20
1: 1m
Running life
Horizontal
25
I/O cable
FLIP-X
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
+/-0.02
Repeatability (mm)
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Ball screw lead (mm)
12
6
Maximum speed Note 1 (mm/sec)
500
250
Horizontal
10
20
Maximum
payload (kg)
Vertical
4
8
Max. pressing force (N)
75
100
Stroke (mm)
50 to 200 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-1.0
Stroke+236.5
Overall length Horizontal
(mm)
Vertical
Stroke+276.5
Maximum outside dimension
W48 × H56.5
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
1
Robot driver
SD: TS-SD
Speed vs. payload
Battery Note 5
B: With battery
(Absolute)
N: None
(Incremental)
Single-axis robots
SD
Note 1. The robot cable is flexible and resists bending.
Note 2. See P.99 for grease gun nozzles.
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.
Basic specifications
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 4
Compact
single-axis robots
Model
S:Straight model
R:Space-saving model Note 2
(motor installed on right)
L:Space-saving model Note 2
(motor installed on left)
U:Space-saving model Note 2
(motor installed on top)
TRANSERVO
Lead
12: 12mm
06: 6mm
SR03 Straight model
68.5
Ball screw greasing port (φ6.5)
7.5 (Width across flat part)
M8×1.25
Origin on
non-motor side
.29
φ16
Effective stroke
(5)
.D
10
(7)
Origin on
motor side
37.5±2
L1
38.5
21
15
M4x0.7 Depth 5
10
(For securing cable)
L
L+40 (with brake)
48
4-M3×0.5 Depth 10
(90°-equal division)
45°
(21)
(0.5)
56.5
(10) 27.5
8 18
50
H×50
K-M3×0.5 Depth 4
View A
Option: Horizontal installation plate (foot)
Option: Vertical installation plate (flange)
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.
34
24
10 (21)
Hex. socket head cap bolt (M3×0.5),
Length under head 14
64
Hex. socket head cap bolt (M3×0.5), Length under head 10
* Two bolts are required for one plate.
52
(25)
15
2-φ5.5
41
(41)
* See the bottom installation tap position.
Controller
10
(37.5)
4-φ4.5
drill-through
(21)
(15)
M4×0.7 Depth 5
(For securing cable)
Dimensions of attached nut
11
(Width across flat)
25
M8×1.25
35
P.C
27
13
5
CONTROLLER INFORMATION
Approx. 250 (Cable length)
11 (Width across flat)
6
9.5
CLEAN
A
See Note 5.
45
55
Effective stroke
L1
L
H
K
Weight (kg) Note 7
50
161
249
2
6
1.1
100
211
299
3
8
1.3
150
261
349
4
10
1.4
200
311
399
5
12
1.6
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. 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.
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
107
APPLICATION
SR03
SR03 Space-saving model (motor installed on right)
Ball screw greasing port (ф6.5)
M8×1.25
6
37.5+/-2
L
Effective stroke
PHASER
Linear motor
single-axis robots
10
L1
H×50
10
M4×0.7 Depth 5
(For securing cable)
41
50
53
45°
38.5
21
ф16
15
42
M4×0.7 Depth 5
(For securing cable)
94
(0.5)
(31)
M8×1.25
97
20
.29
P.C.D
FLIP-X
Single-axis robots
(15)
See Note 5.
Dimensions of
attached nut
(5(Note 8))
48
56.5
Approx. 245 (Cable length)
(24)
68.5
Origin on
non-motor side
11(Width across flat)
Compact
single-axis robots
TRANSERVO
(40)
9.5
Origin on
motor side
(7(Note 8))
5
13
(15)
LCM100
Linear conveyor
modules
128 (with brake)
88
7.5
8 18 (Width across flat part)
4-M3×0.5 Depth 10
(10) 27.5
(90°-equal division)
11(Width across flat)
35
48
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.
25
6
Option: Horizontal installation plate (foot)
10 (21)
XY-X
Cartesian
robots
K-M3×0.5 Depth 4
Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.
15
Pick & place
robots
YP-X
Hex. socket head cap bolt (M3×0.5),
Length under head 14
34
24
(21)
(41)
* See the bottom installation tap position.
10
(37.5)
4-ф4.5
drill-through
100
211
254
3
8
150
261
304
4
10
200
311
354
5
12
Weight (kg) Note 7
1.5
1.6
1.8
1.3
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. 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.
Option: Vertical installation plate (flange)
25
52
64
SCARA
robots
YK-X
2-ф5.5
drill-through
Effective stroke 50
L1
161
L
204
H
2
K
6
45
55
SR03 Space-saving model (motor installed on left)
CLEAN
A
9.5
See Note 5.
68.5
Ball screw greasing port (ф6.5)
6
27
10
M4×0.7 Depth 5
(For securing cable)
Dimensions of attached nut
(5(Note 8))
37.5+/-2
Effective stroke
(15)
(31)
97
53
20
45°
Option: Horizontal installation plate (foot)
25
6
10 (21)
M4×0.7 Depth 5
(For securing cable)
50
H×50
10
108
Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M3×0.5),
Length under head 14
24
34
(21)
(41)
* See the bottom installation tap position.
Controller
41
L1
25
52
64
2-ф5.5
drill-through
35
11
(Width
across flat)
K-M3×0.5 Depth 4
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.
Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.
21
38.5
7.5
48
8 18 (Width across flat part)
4-M3×0.5
Depth
10
(10) 27.5
(90°-equal division)
94
15
56.5
48
42
ф16
M8×1.25
(0.5)
L
.29
11(Width across flat)
Approx. 245 (Cable length)
(24)
(7(Note 8))
P.C.D
88
128 (with brake)
5
(15)
CONTROLLER INFORMATION
View A
(40)
M8×1.25 13
Origin on
non-motor side
Origin on
motor side
10 (37.5)
4-ф4.5
drill-through
45
55
Effective stroke 50
L1
161
L
204
H
2
K
6
Note 7
Weight (kg)
1.3
100
211
254
3
8
1.5
150
261
304
4
10
1.6
200
311
354
5
12
1.8
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. 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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
APPLICATION
SR03
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
Pick & place
robots
YP-X
SR03 Space-saving model (motor installed on top)
Approx. 245 (Cable length)
10
L
37.5+/-2 Effective stroke (5(Note 8))
Origin on
Origin on
Ball screw greasing
(7(Note
8))
non-motor side
motor side
port (ф6.5)
27
111.5
CLEAN
A
M4×0.7 Depth 5
(For securing cable)
CONTROLLER INFORMATION
5
(15)
M8×1.25 13
View A
Dimensions of attached nut
(15)
56.5
48
128 (with brake)
21
M4×0.7 Depth 5
(For securing cable)
10
(41)
* See the bottom installation tap position.
10 (37.5)
Controller
38.5 (0.5)
98
53
35
25
H×50
L1
10
Hex. socket head cap bolt (M3×0.5),
Length under head 14
(21)
2-ф5.5
drill-through
50
Option: Vertical installation plate (flange)
25
52
64
15
Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.
M4×0.7 Depth 5
(For securing cable)
34
24
10 (21)
6
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.
4-ф4.5
drill-through
45
55
41
Effective stroke 50
L1
161
L
204
H
2
K
6
Weight (kg) Note 7 1.3
11(Width across flat)
ф16
Option: Horizontal installation plate (foot)
.D.29
P.C
7.5
8 18 (Width across flat part)
4-M3×0.5 Depth 10
(90°-equal division)
(10) 27.5
11(Width across flat)
K-M3×0.5 Depth 4
15
1
42
45°
M8×1.25
(31)
21
94
(24)
48
(40)
88
100
211
254
3
8
1.5
150
261
304
4
10
1.6
200
311
354
5
12
1.8
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. 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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
109
CE compliance
Rod type (With support guide)
Origin on the non-motor side is selectable: Lead 6, 12
SRD03-S
SRD03-U
Linear conveyor
modules
LCM100
Ordering method
SRD03
Model
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
Model
S:Straight model
U:Space-saving model Note 2
(motor installed on top)
Brake
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Bracket plate
N: No plate
H: With plate
Robot positioner
S2: TS-S2 Note 3
SH: TS-SH
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 200
(50mm pitch)
Lead 12
0
0
100
200
300
400
500
600
Cartesian
robots
XY-X
Speed (mm/s)
Running life (km)
Payload (kg)
6000
5
Vertical
SCARA
robots
YK-X
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.
Lead 12
Vertical
10
Payload (kg)
PHASER
Linear motor
single-axis robots
Lead 6
15
8
7
6
5
4
3
2
1
0
1: 1m
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.
25
20
I/O cable
Running life
Horizontal
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Ball screw lead (mm)
12
6
Maximum speed Note 1 (mm/sec)
500
250
Horizontal
10
20
Maximum
payload (kg)
Vertical
3.5
7.5
Max. pressing force (N)
75
100
Stroke (mm)
50 to 200 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-0.05
Stroke+236.5
Overall length Horizontal
(mm)
Vertical
Stroke+276.5
Maximum outside dimension
W48 × H56.5
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
1
Robot driver
SD: TS-SD
Speed vs. payload
Battery Note 5
B: With battery
(Absolute)
N: None
(Incremental)
5000
4000
3000
2000
1000
0
0
1
2
Payload (kg)
3
4
Note. See P.99 for running life distance to life time conversion example.
Lead 6
Lead 12
Controller
0
100
200
300
400
500
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
600
Speed (mm/s)
Controller Operation method
TS-SD
Pulse train control
Pick & place
robots
YP-X
SRD03
SR03 Straight model
Effective stroke+78
35.5
A
See Note 3.
35
6
CLEAN
35
FLIP-X
Single-axis robots
SD
Note 1. The robot cable is flexible and resists bending.
Note 2. See P.99 for grease gun nozzles.
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.
Basic specifications
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 4
φ15
φ8
APPLICATION
SRD03
Ball screw
greasing port
(φ6.5)
68.5
9.5
CONTROLLER INFORMATION
Approx. 250 (Cable length)
23
97
23
8-M4×0.7 Depth 10
(For user tool installation)
4-M4×0.7 drill-through
(For main unit installation)
23
(0.5)
18
(7)
15
M4×0.7 Depth 5
10
(For securing cable)
48
L1
Origin on
motor side
37.5±2 Effective stroke
L
L+40 (with brake)
22
27
30
35
(21)
38.5
21
56.5
10
(5)
Origin on
non-motor side
35
83
105
25
27
10
K-M3×0.5 Depth 4
Option: Horizontal installation plate (foot)
H×50
* Contents of option: Plate, 2 pcs.
50
View A
41
M4×0.7 Depth 5
(For securing cable)
Effective stroke
L1
L
H
K
Weight (kg) Note 5
64
52
(25)
10 21
See our robot manuals for additional settings.
Hex. socket head cap bolt (M3×0.5), Length under head 10
15
(41)
* Two bolts are required for one plate.
* See the bottom installation tap position.
2-φ5.5
110
Controller
50
161
249
2
6
1.5
100
211
299
3
8
1.7
150
261
349
4
10
1.9
200
311
399
5
12
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.
(Effective screw thread depth 5)
Note4. The cable’s minimum bend radius is R30.
Note5. Models with a brake will be 0.2kg heavier.
Note6. Distance to mechanical stopper.
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
APPLICATION
SRD03
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
YP-X
Pick & place
robots
SRD03 Space-saving model (motor installed on top)
A
Approx. 245 (Cable length)
M4×0.7 Depth 5
(For securing cable)
37.5+/-2 Effective stroke
Origin on
motor side
L
(7(Note 8))
Origin on non-motor side
35
35
27
(5(Note 8))
CLEAN
111.5
Ball screw greasing port
(ф6.5)
10
128 (with brake)
88
(40)
ф15
35.5 10
Effective stroke+78
(15)
18
56.5
48
21
22
27
30
35
53
(0.5)
21
38.5
1
15
94
(24)
48
(31)
42
M4×0.7 Depth 5
(For securing cable)
10
4-M4×0.7 drill-through
(For main unit installation)
Option: Horizontal installation plate (foot)
8-M4x0.7 Depth 10
(For user tool installation)
Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.
M4×0.7 Depth 5
(For securing cable)
K-M3×0.5
Depth 4
25
52
64
2-ф5.5
drill-through
(41)
* See the bottom installation tap position.
Controller
23
50
161
204
2
6
1.7
100
211
254
3
8
1.9
50
H×50
L1
10
Effective stroke
L1
L
H
K
Weight (kg) Note 7
35
23
83
97
105
25
6
10 (21)
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.
15
23
CONTROLLER INFORMATION
ф8
View A
150
261
304
4
10
2.1
200
311
354
5
12
2.3
41
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. 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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
111
CE compliance
Rod type
Origin on the non-motor side is selectable: Lead 6, 12
SR04-S
SR04-R
Linear conveyor
modules
LCM100
Ordering method
SR04
Model
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
02: 2mm
Model
S:Straight model
R:Space-saving model Note 3
(motor installed on right)
L:Space-saving model Note 3
(motor installed on left)
Origin position Note 1
N: Standard
Z: Non-motor side
Brake
N: With no brake
B: With brake
Bracket plate
N: No plate
H: With plate
V: With flange
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 300
(50mm pitch)
Robot positioner
S2: TS-S2 Note 4
SH: TS-SH
42
Cartesian
robots
XY-X
Step motor
20480
+/-0.02
Ball screw ϕ8 Ball screw ϕ10
(Class C10)
(Class C10)
12
6
2
500
250
80
25
40
45
5
12
25
150
300
600
50 to 300 (50pitch)
0.1mm or less
+/-1.0
Stroke+263
Stroke+303
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 1 (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Lost motion
Rotating backlash (°)
Overall length Horizontal
(mm)
Vertical
Maximum outside dimension
W48 × H58
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
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.
Lead 2
40
Lead 12
10
0
100
Vertical
200
300
400
500
Speed (mm/s)
600
30
25
3000
2000
1000
5
10
15
Payload (kg)
20
4000
3000
2000
1000
0
25
0
1
2
3
Payload (kg)
4
SCARA
robots
YK-X
0
100
200
300
400
Speed (mm/s)
500
600
Controller
Motor installation (Space-saving model)
Pick & place
robots
YP-X
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
L type Motor installed on left
Controller Operation method
TS-SD
Pulse train control
CLEAN
SR04 Straight model
A
See Note 5.
67.5
M4×0.7 Depth 5
(For securing cable)
Ball screw greasing port (φ6.5)
9.5
(10) 32.5
9 22
8.5 (Width across flat part)
14
(Width across flat)
6
View A
Hex. socket head cap bolt (M4×0.7),
Length under head 14
57
(25)
71
20
10 Installed within the T-slot range of the
main unit.
Hex. socket head cap bolt (M3×0.5),
Length under head 10
*Six bolts are required for one plate.
10
(42.5)
4-φ6.6
T-slot for M3 (8 locations)
(22.5)
60
73
3.5
5
25
45
.53
14
(Width across
flat)
Origin on non-motor side
M3×0.5
Dimensions of attached
square nut for T-slot (6 pcs.)
45
34
10 (22.5)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.
2-φ6.6
2.4
Option: Vertical installation plate (flange)
5.
Option: Horizontal installation plate (foot)
(5)
(7.8)
(7)
Origin on
motor side
42.5±2 Effective stroke
L1(T-slot range)
L
L+40 (with brake)
P.C
.D
4-M4×0.7 Depth 10
(90°-equal division)
1.5
16.5
M4×0.7 Depth 5
(For securing cable) 9.5
φ20
(22.5)
45
25
58
45°
M10×1.25
5.8
3.3
Details of T-slot
6
17 M10×1.25
(19.6)
CONTROLLER INFORMATION
28.5
9.5
Approx. 250 (Cable length)
48
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
Weight (kg) Note 8
1.4
1.7
1.9
2.2
2.4
2.7
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
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. 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 a
pplied 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. M odels with a brake will be 0.2kg heavier.
Note9. Distance to mechanical stopper.
112
Controller
5
Lead 12
5
0
0
5000
Note. See P.99 for running life distance to life time conversion example.
Lead 6
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.
R type Motor installed on right
4000
20
15
6000
5000
0
Lead 2
Lead 12
Vertical
6000
20
0
Lead 2
Vertical
Lead 6
30
1: 1m
Running life
Horizontal
50
1
I/O cable
Running life (km)
PHASER
Linear motor
single-axis robots
Motor
Resolution (Pulse/rotation)
Repeatability (mm)
SD
Speed vs. payload
Battery Note 6
B: With battery
(Absolute)
N: None
(Incremental)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 5
Robot driver
SD: TS-SD
Running life (km)
Basic specifications
Payload (kg)
FLIP-X
Single-axis robots
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.
Payload (kg)
APPLICATION
SR04
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
SR04 Space-saving model (motor installed on right)
5
6
45
25
ф20
45
M3x0.5 2.4
5
102.5
(7.8)
5.
0.5
16.5
44
9.5
Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M4×0.7),
Length under head 14 73
4-ф6.6
60
drill-through
(22.5)
SCARA
robots
Pick & place
robots
YP-X
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. 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).
YK-X
(25)
57
71
10
45
34
(42.5)
Effective stroke
50
100
150
200
250
300
L1
162.5 212.5 262.5 312.5 362.5 412.5
L
209.5 259.5 309.5 359.5 409.5 459.5
Weight (kg) Note 7
1.6
1.9
2.1
2.4
2.6
2.9
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
53
Cartesian
robots
10 (22.5)
6
Dimensions of attached
square nut for T-slot (6 pcs.)
XY-X
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
* Six bolts are required for one plate.
4-M4x0.7
Depth 10
(90°-equal
division)
48
25
PHASER
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.
2-ф6.6
20
drill-through
10
9.5
M4×0.7 Depth 5
(For securing cable)
Option: Horizontal installation plate (foot)
8.5
9 22 (Width across 14
flat part)
(Width across
(10) 32.5
flat)
Linear motor
single-axis robots
M4×0.7 Depth 5
(For securing cable)
FLIP-X
0.5
100
B
Single-axis robots
M10×1.25
56
T-slot for M3
(8 locations)
45°
48
56.5
L1(T-slot range)
Dimensions of
attached nut
P.C
.D.
53
9.5
14(Width across flat)
Ball screw
greasing port (ф6.5)
67.5
(31)
(15)
See Note 5.
Compact
single-axis robots
Detail of section B
(24)
6
TRANSERVO
(40)
17
(19.6)
1.5
M10x1.25
LCM100
5.8
3.3
Linear conveyor
modules
42.5+/-2 Effective stroke (5(Note 8))
(7(Note 8))
Origin on
Origin on
motor side non-motor side (Note 9)
L
152 (with brake)
112
1.5
Approx. 245 (Cable length)
APPLICATION
SR04
SR04 Space-saving model (motor installed on left)
9.5
Approx. 245 (Cable length)
42.5+/-2 Effective stroke (5(Note 8))
L
L1(T-slot range)
67.5
Ball screw greasing
port (ф6.5)
(7(Note 8))
Origin on
motor side
Origin on
non-motor side (Note 9)
17
6
(31)
5.8
Detail of section B
56
45°
B
M4×0.7 Depth 5
(For securing cable)
2.4
(7.8)
6
(22.5)
Dimensions of attached
square nut for T-slot (6 pcs.)
10
Option: Vertical installation plate (flange)
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
(42.5)
* Six bolts are required for one plate.
Hex. socket head cap bolt (M4×0.7),
Length under head 14
73
4-ф6.6 drill-through
60
(22.5)
10
(25)
57
71
M3x0.5
5.
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.
20
2-ф6.6
drill-through 10
9.5
5
Option: Horizontal installation plate (foot)
8.5
9 22 (Width across
flat part)
Controller
(10) 32.5
25
45
56.5
48
1.5
100
34
45
0.5
0.5
44
ф20
M10×1.25
T-slot for M3
(8 locations)
P.C
.D.
5
14 3
(Width across
flat)
Dimensions of attached nut
112
152 (with brake)
3.3
5
(19.6)
(24)
(15)
(40)
M10x1.25
1.5
View A
CONTROLLER INFORMATION
6
28.5
9.5
See
Note 5.
CLEAN
A
M4×0.7 Depth 5
(For securing cable)
4-M4x0.7
Depth 10
(90°-equal
division)
48
102.5
25
14
(Width across flat)
45
Effective stroke
50
100
150
200
250
300
L1
162.5 212.5 262.5 312.5 362.5 412.5
L
209.5 259.5 309.5 359.5 409.5 459.5
Weight (kg) Note 7
1.6
1.9
2.1
2.4
2.6
2.9
Maximum Lead 12
500
440
320
speed for each Lead 6
250
220
160
stroke
Lead 2
80
72
53
(mm/sec)
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. 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).
TS-S2 u 452 TS-SH u 452 TS-SD u 465
113
CE compliance
Rod type (With support guide)
Origin on the non-motor side is selectable: Lead 6, 12
SRD04-S
SRD04-U
Linear conveyor
modules
LCM100
Ordering method
SRD04
Model
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
02: 2mm
Model
S:Straight model
U:Space-saving model Note 3
(motor installed on top)
Origin position Note 1
N: Standard
Z: Non-motor side
Brake
N: With no brake
B: With brake
Bracket plate
N: No plate
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 300
(50mm pitch)
H: With plate
Robot positioner
S2: TS-S2 Note 4
SH: TS-SH
Cartesian
robots
XY-X
Step motor
20480
+/-0.02
Ball screw ϕ8 Ball screw ϕ10
(Class C10)
(Class C10)
12
6
2
500
250
80
25
40
45
4
11
24
150
300
600
50 to 300 (50pitch)
0.1mm or less
+/-0.05
Stroke+263
Stroke+303
Ball screw lead (mm)
Maximum speed Note 1 (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Lost motion
Rotating backlash (°)
Overall length Horizontal
(mm)
Vertical
Maximum outside dimension
W48 × H58
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
SCARA
robots
YK-X
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.
Lead 2
40
Lead 12
10
0
100
200
300
400
500
600
Speed (mm/s)
Lead 12
6000
5000
4000
3000
2000
1000
0
Vertical
0
5
30
10
15
Payload (kg)
20
5000
4000
3000
2000
1000
25
0
0
1
2
3
Payload (kg)
4
20
15
Lead 6
10
0
Controller
Lead 12
5
0
100
200
300
400
500
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
600
Speed (mm/s)
Controller Operation method
TS-SD
Pulse train control
Pick & place
robots
YP-X
SRD04 Straight model
Effective stroke+100.5
45
See Note 3.
A
CONTROLLER INFORMATION
9.5
45
45
6
45
CLEAN
Ball screw
greasing port
(φ6.5)
Approx. 250 (Cable length)
8-M5×0.8
Depth 12
(For user tool
installation)
67.5
22
30
126
30
30
4-M5×0.8
drill-through
(For main unit
installation)
9.5
(7)
L1(T-slot range)
Origin on
motor side
42.5±2
L
L+40 (with brake)
T-slot for M3
(4 locations)
Effective stroke
Origin on
non-motor side
Installed within the T-slot range of the main unit.
Hex. socket head cap bolt (M3×0.5), Length under head 10
* Six bolts are required for one plate.
57
(25)
20
10
114
3.5
5.8
1.5
10 (22.5)
M3×0.5
Dimensions of attached
square nut for T-slot (6 pcs.)
71
2-φ6.6
(7.8)
5.
2.4
5
Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.
20
34
(5)
3.3
Details of T-slot
Effective stroke
L1
L
Weight (kg) Note 6
Maximum Lead 12
speed for each
Lead 6
stroke
(mm/sec)
Lead 2
25
105
135
M4×0.7 Depth 5
(For securing cable)
9.5
28.5
M4×0.7 Depth 5
(For securing cable)
16.5
(22.5)
45
30
58
10.5
48
View A
50
100
150
200
250
300
162.5 212.5 262.5 312.5 362.5 412.5
270.5 320.5 370.5 420.5 470.5 520.5
2.0
2.4
2.7
3.0
3.3
3.7
500
440
320
250
220
160
80
72
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 a
pplied to them.
Note4. Remove 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
5
Note. See P.99 for running life distance to life time conversion example.
Lead 2
25
Vertical
6000
20
0
Lead 2
Vertical
Lead 6
30
1: 1m
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.
Horizontal
50
1
I/O cable
Running life
Running life (km)
42
Payload (kg)
Deceleration mechanism
Speed vs. payload
Payload (kg)
PHASER
Linear motor
single-axis robots
Motor
Resolution (Pulse/rotation)
Repeatability (mm)
SD
Robot driver
SD: TS-SD
Running life (km)
Basic specifications
φ19
FLIP-X
Single-axis robots
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.
Battery Note 6
B: With battery
(Absolute)
N: None
(Incremental)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 5
φ10
APPLICATION
SRD04
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
APPLICATION
SRD04
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
YP-X
Pick & place
robots
SRD04 Space-saving model (motor installed on top)
Option: Horizontal installation plate (foot)
M4×0.7 Depth 5
(For securing cable)
10 (22.5)
42.5+/-2 Effective stroke
(7(Note 8)) Origin on
motor side
L
45
20
10
(5(Note 8))
Origin on
non-motor side (Note 9)
ф19
25
57
71
ф10
45
2-ф6.6
drill-through
9.5
Approx. 245 (Cable length)
CONTROLLER INFORMATION
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
* Six bolts are required for one plate.
CLEAN
6
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.
(15)
(40)
152 (with brake)
112
45
10.5
Effective stroke+100.5
22
56.5
48
1
21
102.5
56
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.
Controller
M3x0.5
2.4
M10x1.25
5
(7.8)
3.3
5.8
Dimensions of attached
Detail of
square nut for T-slot (6 pcs.) section B
1.5
Effective stroke
50
100
150
200
250
300
L1
162.5 212.5 262.5 312.5 362.5 412.5
L
209.5 259.5 309.5 359.5 409.5 459.5
Weight (kg) Note 7
2.2
2.6
2.9
3.2
3.5
3.9
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
53
T-slot for M3
(4 locations)
L1(T-slot range)
9.5
9.5
5
M4×0.7 Depth 5
(For securing cable)
5.
45
Ball screw greasing
port (ф6.5)
67.5
17
6
30
B 25
30
105
126
135
30
(19.6)
See
Note 5.
44
16.5
0.5
22.5
20
30
34
45
6
100
(24)
48
(31)
8-M5×0.8
Depth 12
(For user tool
installation)
4-M5×0.8
drill-through
(For main unit
installation)
Dimensions of
attached nut
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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
115
CE compliance
Rod type
Origin on the non-motor side is selectable: Lead 6, 12
SR05-S
SR05-R
Linear conveyor
modules
LCM100
Ordering method
SR05
Model
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
02: 2mm
Model
S:Straight model
R:Space-saving model Note 3
(motor installed on right)
L:Space-saving model Note 3
(motor installed on left)
Origin position Note 1
N: Standard
Z: Non-motor side
Brake
N: With no brake
B: With brake
Bracket plate
N: No plate
H: With plate
V: With flange
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 300
(50mm pitch)
Robot positioner
S2: TS-S2 Note 4
SH: TS-SH
Speed vs. payload
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
Motor
56 Step motor
Resolution (Pulse/rotation)
20480
+/-0.02
Repeatability (mm)
Deceleration mechanism Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed Note 1 (mm/sec)
300
150
50
Horizontal
50
55
60
Maximum
payload (kg)
Vertical
10
20
30
Max. pressing force (N)
250
550
900
Stroke (mm)
50 to 300 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-1.0
Stroke+276
Overall length Horizontal
(mm)
Vertical
Stroke+316
Maximum outside dimension
W56.4 × H71
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
Vertical
SCARA
robots
YK-X
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.
35
30
25
20
15
10
5
0
Lead 6
Vertical
Lead 12
50
100 150 200 250 300 350
Speed (mm/s)
Lead 2
Lead 2
6000
5000
4000
3000
2000
1000
0
0
5
Lead 6
10
15
20
25
30
Payload (kg)
Note. See P.99 for running life distance to life time conversion example.
Lead 12
0
50
100 150 200 250 300 350
Speed (mm/s)
Controller
Motor installation (Space-saving model)
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
L type Motor installed on left
R type Motor installed on right
1: 1m
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.
Lead 2
0
1
I/O cable
Running life
Horizontal
70
60
50
40
30
20
10
0
Battery Note 6
B: With battery
(Absolute)
N: None
(Incremental)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 5
SD
Robot driver
SD: TS-SD
Running life (km)
Basic specifications
Payload (kg)
FLIP-X
Single-axis robots
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.
Payload (kg)
APPLICATION
SR05
Controller Operation method
TS-SD
Pulse train control
Pick & place
robots
YP-X
SR05 Straight model
A
CLEAN
9.5
78
M4×0.7 Depth 5
(For securing cable)
Ball screw greasing port
(φ6.5)
9.5
18
9.5
See Note 5.
.6
5
main unit.
Hex. socket head cap bolt (M4×0.7),
Length under head 12
* Four bolts are required for one plate.
55
30
3.2
(45.5)
4-φ6.6
7.3
M4×0.7
7
17
(Width
across flat)
30
55
19
M12×1.25
Dimensions of attached
square nut for T-slot (6 pcs.)
4.3
Dimensions of attached nut
(27.5)
Details of T-slot
(21.9)
(9.9)
Hex. socket head cap bolt (M5×0.8),
Length under head 14
10
4-M5×0.8 Depth 10
(90°-equal division)
T-slot for M4
Origin on
(8 locations)
non-motor side
7
Option: Vertical installation plate (flange)
55
40
12 (27.5)
80
20
10 Installed within the T-slot range of the
(5)
Origin on
motor side
45.5±2 Effective stroke
L+40 (with brake)
Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.
φ25
(7)
L1(T-slot range)
1.5 4.5
0.7
28.2
9.5
L
70
83
Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
280.5 330.5 380.5 430.5 480.5 530.5
Weight (kg) Note 10 2.2
2.6
3.0
3.3
3.7
4.1
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. 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 from the bottom of the
main unit.
Note10. Models with a brake will be 0.2kg heavier.
Note11. Distance to mechanical stopper.
68
(30)
116
17 (Width across flat)
.D
37
71
56.4
2-φ6.6
P.
C
View A
9.5 (Width across flat part)
M12×1.25
45°
(28.2)
(10) 35.5
10 24
M4×0.7 Depth 5
(For securing cable)
(Note7)
CONTROLLER INFORMATION
Approx. 250 (Cable length)
Controller
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
SR05 Space-saving model (motor installed on right)
45.5+/-2
L
Effective stroke (5(Note 8,Note 12))
(9.9)
Dimensions of attached
Origin on
square nut for T-slot (6 pcs.)
non-motor side (Note 9)
6
9.5
M4×0.7 Depth 5
(For securing cable)
10 24
M4×0.7 Depth 5
9.5 (For securing cable)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.
(10) 35.5
56.4
9.5
55
40
(30)
68
80
(28.2)
70
83
SCARA
robots
10 (45.5)
4-ф6.6 drill-through
YK-X
Pick & place
robots
YP-X
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. 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).
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.
Cartesian
robots
12 (27.5)
30
55
Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
Weight (kg) Note 7 2.4
2.8
3.2
3.5
3.9
4.3
Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M5×0.8),
Length under head 14
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.
17
(Width across flat)
XY-X
20
2-ф6.6
drill-through 10
28.2
56.5
71
55
30
37
56.5
Option: Horizontal installation plate (foot)
(Width across flat part)
9.5
PHASER
0.7
(Note 11)
9.5
Linear motor
single-axis robots
127.5
B
FLIP-X
M12×1.25
P.C.D
.65
L1(T-slot range)
17 (Width
across flat)
(31)
9.5
Dimensions of
attached nut
70
T-slot for M4
(8 locations)
45°
Single-axis robots
(15)
4-M5x0.8 Depth 10
(90°-equal division)
78
28.5
Compact
single-axis robots
Detail of section B
(24)
7
19
M12x1.25
TRANSERVO
7.3
4.3
(21.9)
Ball screw greasing
port (ф6.5)
See Note 5.
3.2
7
Linear conveyor
modules
Origin on
motor side
(40)
M4x0.7
(7(Note 8))
LCM100
146 (with brake)
106
1.5
Approx. 245 (Cable length)
APPLICATION
SR05
See
Note 5.
L1(T-slot range)
9.5
78
3.2
M4x0.7
(9.9)
9.5
Dimensions of attached
square nut for T-slot (6 pcs.)
M12x1.25
6
70
(31)
(15)
Dimensions of
attached nut
45.5+/-2 Effective stroke (5(Note 8,Note 12))
L
(24)
Detail of section B
(7(Note 8))
28.5
.65
P.C.D
45°
9.5 M4×0.7 Depth 5
(For securing cable)
10 24
12 (27.5)
9.5
(10) 35.5
Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M5×0.8),
Length under head 14
(27.5)
(30)
68
80
10 (45.5)
Controller
4-ф6.6
drill-through
70
83
30
55
17
(Width across
flat)
Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
Note 7
Weight (kg)
2.4
2.8
3.2
3.5
3.9
4.3
40
55
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.
9.5
56.4
(Width across
4-M5x0.8 Depth 10
flat part)
(90°-equal division)
30
55
56.5
127.5
20
2-ф6.6
drill-through 10
B
T-slot for M4
(8 locations)
71
56.5
28.2
M12×1.25
Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.
7
(Width
across
flat)
106
146 (with brake)
Approx. 245 (Cable length)
19
(21.9)
1.5
7.3
4.3
17
Origin on
non-motor side (Note 9)
CONTROLLER INFORMATION
Origin on
motor side
Ball screw greasing
port (ф6.5)
View A
(40)
CLEAN
A
M4×0.7 Depth 5
9.5 (For securing cable)
7
18 0.7(Note 11)
SR05 Space-saving model (motor installed on left)
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. 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).
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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
117
CE compliance
Rod type (With support guide)
Origin on the non-motor side is selectable: Lead 6, 12
SRD05-S
SRD05-U
Linear conveyor
modules
LCM100
Ordering method
SRD05
Model
Model
S:Straight model
U:Space-saving model Note 3
(motor installed on top)
Origin position Note 1
N: Standard
Z: Non-motor side
Brake
N: With no brake
B: With brake
Bracket plate
N: No plate
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50 to 300
(50mm pitch)
H: With plate
Robot positioner
S2: TS-S2 Note 4
SH: TS-SH
SD
Speed vs. payload
70
Lead 6
Payload (kg)
50
30
20
10
0
50
100
150
200
Lead 2
Vertical
Lead 12
40
0
250
300
350
6000
5000
4000
3000
2000
1000
0
Vertical
0
5
10
15
Payload (kg)
30
20
25
30
Note. See P.99 for running life distance to life time conversion example.
Lead 2
20
Lead 6
15
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.
0
Controller
Lead 12
5
0
50
100
150
200
250
300
350
Speed (mm/s)
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command
Controller Operation method
TS-SD
Pulse train control
Effective stroke+107
47
CONTROLLER INFORMATION
Ball screw
greasing port
(φ6.5)
55
9.5
A
CLEAN
See Note 3.
9.5
Approx. 250 (Cable length)
8-M6×1.0
Depth 15
(For user tool
installation)
78
10.5
24
40
(Note5)
9.5
147
40
40
55
40
37
56.4
0.7
28.2
(28.2)
71
M4×0.7 Depth 5
(For securing cable)
(7)
L
L1(T-slot range)
(5)
Origin on
motor side
T-slot for M4
(4 locations)
45.5±2 Effective stroke
L+40 (with brake)
Origin on non-motor side
30
130
157
9.5
7.3
M4×0.7
3.2
M4×0.7 Depth 5
(For securing cable)
(9.9)
1.5 4.5
7
Option: Horizontal installation plate (foot)
4-M6×1.0
drill-through
(For main unit
installation)
30
44
Pick & place
robots
YP-X
SRD05 Straight model
52
SCARA
robots
YK-X
10
52
Cartesian
robots
XY-X
Speed (mm/s)
25
1: 1m
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.
Lead 2
60
I/O cable
Running life
Horizontal
Payload (kg)
PHASER
Linear motor
single-axis robots
Motor
56 Step motor
Resolution (Pulse/rotation)
20480
Repeatability (mm)
+/-0.02
Deceleration mechanism Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed Note 1 (mm/sec)
300
150
50
Horizontal
50
55
60
Maximum
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
Stroke+276
Overall length Horizontal
(mm)
Vertical
Stroke+316
Maximum outside dimension
W56.4 × H71
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10
1
Robot driver
SD: TS-SD
Running life (km)
Basic specifications
φ21
FLIP-X
Single-axis robots
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.
Battery Note 6
B: With battery
(Absolute)
N: None
(Incremental)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 5
18
Compact
single-axis robots
TRANSERVO
Lead
12: 12mm
06: 6mm
02: 2mm
φ12
APPLICATION
SRD05
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.
12 (27.5)
Dimensions of attached
square nut for T-slot (6 pcs.)
2-φ6.6
20
80
Installed within the T-slot range of the main unit.
Hex. socket head cap bolt (M4×0.7), Length under head 12
68
(30)
* Four bolts are required for one plate.
10
118
Controller
Effective stroke
L1
L
Weight (kg) Note 8
4.3
Details of T-slot (2:1)
View A
50
100
150
200
250
300
183
233
283
333
383
433
280.5 330.5 380.5 430.5 480.5 530.5
3.1
3.6
4.1
4.5
5.0
5.5
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 the lead is 2mm, this dimension is 27mm.
Note4. When running the cables, secure cables so that any load is not a
pplied 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. Take great care as the outer case of the motor projects from the bottom of the main unit.
Note8. M odels with a brake will be 0.2kg heavier.
Note9. Distance to mechanical stopper.
TS-S2 u 452 TS-SH u 452 TS-SD
u
465
APPLICATION
SRD05
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
YP-X
Approx. 245 (Cable length)
Pick & place
robots
SRD05 Space-saving model (motor installed on top)
45.5+/-2 Effective stroke (5(Note 8,Note 11))
Origin on
Origin on
(7(Note 8))
motor side non-motor side (Note 9)
L
A
55
CLEAN
M4×0.7 Depth 5
(For securing cable)
ф12
ф21
View A
(15)
47 10.5
Effective stroke +107
24
70.9
56.4
56.4
(40)
146 (with brake)
106
(31)
M4×0.7 Depth 5
(For securing cable)
30
40
44
55
9.5
3.2
M4x0.7
40
7.3
Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.
Dimensions of attached
square nut for T-slot (6 pcs.)
6
4.3
40
130
147
157
40
Detail of section B
Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
Weight (kg) Note 7 3.3
3.8
4.3
4.7
5.2
5.7
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. 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)
Controller
30
1.5
(9.9)
10
(27.5) 9.5
12 (27.5)
20
(30)
68
80
2-ф6.6
drill-through
B
T-slot for M4
(4 locations)
L1
9.5
7
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.
78
See Note 5.
Option: Horizontal installation plate (foot)
1 (Note 10)
56.5
28.5
(1)
(28.5) 9.5
70
127.5
(24)
Ball screw greasing
port (ф6.5)
8-M6×1.0
Depth 15
(For user tool
installation)
4-M6×1.0
drill-through
(For main unit
installation)
CONTROLLER INFORMATION
52
18
52
9.5
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 nonmotor side cannot be set.
Note10. Take great care as the outer case of the cover belt
projects from the bottom of the main unit.
Note11. When the lead is 2 mm, this dimension is 27 mm.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
119
CE compliance
Slide table type
Origin on the non-motor side is selectable
Linear conveyor
modules
LCM100
Ordering method
STH04
Model
Compact
single-axis robots
TRANSERVO
Lead
05: 5mm
10: 10mm
Model
S:Straight model
R:Space-saving model
(motor installed on right)
L:Space-saving model
(motor installed on left)
Brake Note 1
N: With no brake
B: With brake
Origin position
N: Standard
Z: Non-motor side
Bracket plate Note 2
N: No plate
H: With plate
Cable length Note 3
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50: 50mm
100: 100mm
Robot positioner
S2: TS-S2 Note 4
SH: TS-SH
Basic specifications
SD
1
1: 1m
Static loading moment
A
MY
Lead 5
611
374
255
611
255
137
415
255
175
415
175
95
Wall installation
2kg
3kg
4kg
2kg
4kg
6kg
A
B
435
263
177
435
177
91
595 1504
359 920
241 629
595 1504
241 629
123 337
MR
MP
Vertical installation (Unit: mm)
(Unit: mm)
C
A
(Unit: N.m)
Stroke
C
0.5kg 2000 2000
50mm
0.75kg 1558 1558
100mm
MY
26
43
MP
26
43
MR
48
1kg 1165 1164
1kg 1165 1164
771
574
1.5kg
2kg
771
574
Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 75mm stroke models.)
SCARA
robots
YK-X
Speed vs. payload
Motor installation (Space-saving model)
Controller
Vertical
Horizontal
7
L type Motor installed on left
5
Lead 10
4
3
2
Lead 5
1.5
YP-X
Pick & place
robots
2
1
0
Controller
TS-S2
TS-SH
TS-SD Note
2.5
Lead 5
6
Payload (kg)
Cartesian
robots
XY-X
949
656
2kg 1534
4kg 656
6kg 364
3kg
4kg
C
C
A
Lead 10
Lead 10
2kg 1534
B
C
Lead 5
Horizontal installation (Unit: mm)
A
B
A
C
B
Payload (kg)
PHASER
Linear motor
single-axis robots
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.
For details, see P. 98.
Battery Note 7
B: With battery
(Absolute)
N: None
(Incremental)
I/O cable
Allowable overhang Note
Motor
28 Step motor
Resolution (Pulse/rotation)
4096
Note 1
Repeatability
(mm)
+/-0.05
Straight
Slide screw
Drive method
Space-saving
Slide screw + belt
Ball screw lead (mm)
5
10
Maximum speed Note 2 (mm/sec)
200
400
6
4
Maximum payload Horizontal
(kg)
Vertical
2
1
Max. pressing force (N)
55
30
Stroke (mm)
50/100
W45 × H46
Maximum outside dimension Straight
of body cross-section (mm) Space-saving
W74.5 × H51
Cable length (m)
Standard: 1 / Option: 3, 5, 10
R type Motor installed on right
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 6
Robot driver
SD: TS-SD Note 5
Lead 10
FLIP-X
Single-axis robots
Note 1. For the space saving models (R and L), the specifications with brake are applicable to only 100mm strokes.
Note 2. Space-saving models (R and L) with the plate cannot be selected.
Note 3. The robot cable is flexible and resists bending.
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.
Note 7. Select whether or not the battery is provided only when using the TS-SH.
Lead 5
APPLICATION
STH04
1
Lead 10
100
200
300
400
500
0
0
100
200
300
Pulse train control
Note. The robot with the brake cannot
use the TS-SD.
0.5
0
Operation method
I/O point trace /
Remote command
400
Speed (mm/s)
Speed (mm/s)
STH04 Straight model
5
Depth 5
C-M5x0.8 Depth 6.5
20
(C/2-1)xB
+0.03
B
6
+0.03
+0.01
ф5 +0.01 Depth 5
R
(40)
2-M5x0.8
Depth 8
9
41.5
(Note 2)
11.5
(2.1)
Origin on non-motor side
(Note 1)
(Note 1)
Effective stroke
E
G
9
2-M6x1.0 Depth 12
* Not mounted on upper surface
28
4-ф5.3
60
74
Controller
8.3
ф5.5
50
40
6
116.5
65
39.5
122
1.25
100
44
8
191.5
85
88.5
191
1.7
5
4H9( +0.030
)
0
Depth 5
Option: Installation plate
Effective stroke
B
C
D
E
G
L
Weight (kg) Note 6
R
A
4-M6x1.0
Depth 12
Contents of option: Plate, 4 pcs.
* For additional settings, contact your distributor.
25
40
(Note 2)
Origin on motor side
A
Detailed drawing of installation hole
120
L
86
149.5(with brake)
25.5
Cross-sectional
drawing A-A
29
[1+/- 0.5]
1+/-0.5
7
45
46 +/-0.3
37
0.3
(31)
D
17
(15)
(24)
4-ф9.5(Note 4)
CONTROLLER INFORMATION
24
CLEAN
Approx. 200
(Cable length without brake)
Approx. 180
(Cable length with brake)
ф4H9(
45
+0.030
)Depth
0
5
15.5
Note1. Return-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. M odels with a brake will be 0.11kg heavier.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
STH04 Space-saving model (motor installed on right)
Linear conveyor
modules
(C/2-1)xB
LCM100
19
B
+0.03
5 +0.01
Depth 5
6
C-M5x0.8 Depth 6.5
+0.03
ф5 +0.01 Depth 5
R
24
2.5
3-M5x0.8
Depth 8
45
51 +/-0.3
(31)
FLIP-X
37
13
5.5
8
Single-axis robots
G
17.2
35
0.3
29
(24)
(15)
Compact
single-axis robots
TRANSERVO
Ap
(Ca prox.
b
1
Ap le len 60
gth
(Ca prox.
wit
ble 12
hou
len 0
t br
gth
ake
wit
)
hb
rak
e)
Effective stroke
L
18
(25)
40
(M6)
ф5.3
+0.030
)
ф9.5
F
4H9( 0
Depth 4
Cross-sectional
drawing A-A
A
ф4H9(
+0.030
)
0
Depth 4
Detailed drawing of
installation hole
Pick & place
robots
YP-X
Note1. Return-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, push the slider toward the
origin position on the motor side and insert the
hex socket head cap (M5) bolt.
Note5. The dimensions of the specifications with the
brake are common to those shown above.
Note6. The specifications with the brake are applicable
to only 100 strokes.
Note7. Models with a brake will be 0.11kg heavier.
SCARA
robots
5
100
44
8
44
4
88
191.5
181
1.6
YK-X
35.5
50
40
6
45
2
45
116.5
106
1.15
Cartesian
robots
A
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 7
XY-X
ф10.5(Note 4)
D
E-M6x1.0 Depth 12
See the cross-sectional
drawing of A-A.
(2)
72.5
Origin on non-motor side (Note 1)
Origin on motor side
R
9
(Note 2)
(Note 1)
(E-1)xD
(12)
[1+/- 0.5]
(Note 2)
PHASER
13
(2.3)
1+/-0.5
Linear motor
single-axis robots
(40)
16.5
APPLICATION
STH04
STH04 Space-saving model (motor installed on left)
24
CLEAN
)
ake
t br
u
itho
R
60 w
x. 1 gth
ke)
pro len
bra
Ap able
ith
0
2
w
(C
x. 1 gth
pro len
Ap able
(C
+0.03
Depth 5
+0.03
5 +0.01
C-M5x0.8 Depth 6.5
6
B
(C/2-1)xB
3-M5x0.8
Depth 8
19
51+/-0.3
(31)
(15)
(Note 2)
13
Effective stroke
4H9( +0.030
)
0
Depth 4
+0.030
ф4H9( 0 )
F
5
Depth 4
A
R
40
(M6)
E-M6x1.0 Depth 12
See the cross-sectional
drawing of A-A.
Detailed drawing of
installation hole
Controller
A
D
(E-1)xD
(25)
ф5.3
35.5
ф9.5
Origin on motor side
L
18
72.5
(Note 2)
(Note 1)
16.5
ф10.5(Note 4)
[1+/- 0.5] (2)
1 +/-0.5
(2.3)
Cross-sectional
drawing A-A
5.5
13
0.3
35
17.2
8
37
G
(40)
(12)
2.5
29
(24)
9
45
CONTROLLER INFORMATION
ф5 +0.01 Depth 5
Origin on non-motor side (Note 1)
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 7
50
40
6
45
2
45
116.5
106
1.15
100
44
8
44
4
88
191.5
181
1.6
Note1. Return-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, push the slider toward the
origin position on the motor side and insert the
hex socket head cap (M5) bolt.
Note5. The dimensions of the specifications with the
brake are common to those shown above.
Note6. The specifications with the brake are applicable
to only 100 strokes.
Note7. Models with a brake will be 0.11kg heavier.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
121
CE compliance
Slide table type
Origin on the non-motor side is selectable
Linear conveyor
modules
LCM100
Ordering method
STH06
Model
Compact
single-axis robots
TRANSERVO
Lead
08: 8mm
16: 16mm
Model
S:Straight model
R:Space-saving model
(motor installed on right)
L:Space-saving model
(motor installed on left)
Brake
N: With no brake
B: With brake
Bracket plate Note 1
N: No plate
H: With plate
Origin position
N: Standard
Z: Non-motor side
Cable length Note 2
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
50: 50mm
100: 100mm
150: 150mm
Robot positioner
S2: TS-S2 Note 3
SH: TS-SH
Basic specifications
Allowable overhang Note
1: 1m
Static loading moment
Wall installation
C
A
2kg 3000 2123 1436
4kg 2493 1001
680
428
932
428
260
6kg 1571
627
3kg 3000 1375
6kg 1571 627
9kg 956 378
B
C
A
710 975 2443
440 603 1524
979 1347 3000
440 603 1524
260 355 912
6kg
3kg
6kg
9kg
MR
MP
Vertical installation (Unit: mm)
(Unit: mm)
2kg 1500 2091 3000
4kg
C
A
Lead 16
B
C
C
1kg 3000 3000
1.5kg 2458 2457
2kg 1837 1837
(Unit: N.m)
Stroke
MY
50mm 77
100mm 112
150mm 155
MP
77
112
155
MR
146
177
152
2kg 1837 1837
Lead 8
Lead 16
A
B
A
C
Horizontal installation (Unit: mm)
3kg 1217 1216
907
4kg
906
Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 100mm stroke models.)
L type Motor installed on left
Speed vs. payload
Controller
Vertical
Horizontal
Pick & place
robots
YP-X
10
9
8
7
6
5
4
3
2
1
0
Lead 8
Payload (kg)
SCARA
robots
YK-X
Motor installation (Space-saving model)
R type Motor installed on right
1
MY
B
Lead 8
Cartesian
robots
XY-X
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.
For details, see P. 98.
Battery Note 6
B: With battery
(Absolute)
N: None
(Incremental)
I/O cable
A
Payload (kg)
PHASER
Linear motor
single-axis robots
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Note 1
Repeatability
(mm)
+/-0.05
Straight
Slide screw
Drive method
Space-saving
Slide screw + belt
Ball screw lead (mm)
8
16
Maximum speed Note 2 (mm/sec)
150
400
9
6
Maximum payload Horizontal
(kg)
Vertical
4
2
Max. pressing force (N)
180
100
Stroke (mm)
50/100/150
W61 × H65
Maximum outside dimension Straight
of body cross-section (mm) Space-saving
W108 × H70
Cable length (m)
Standard: 1 / Option: 3, 5, 10
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 5
SD
Robot driver
SD: TS-SD Note 4
Lead 16
FLIP-X
Single-axis robots
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.
Note 4. The robot with the brake cannot use the TS-SD.
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.
Lead 8
APPLICATION
STH06
Lead 16
0
100
200
300
400
500
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Controller
TS-S2
TS-SH
TS-SD Note
Lead 8
Lead 16
Operation method
I/O point trace /
Remote command
Pulse train control
Note. The robot with the brake cannot
use the TS-SD.
0
100
50
150
200
250
300
Speed (mm/s)
Speed (mm/s)
STH06 Straight model
+0.03
(C/2-1)xB
6 +0.01
Depth 6
CLEAN
Approx. 210
(Cable length without brake/with brake)
29
B
C-M6x1.0 Depth 8
ф6 +0.03
+0.01 Depth 6
R
7
36
CONTROLLER INFORMATION
(31)
D
2-M6x1.0
Depth 14
57
1+/- 0.5
(Note 2)
16.5
(2.2)
82
123(with brake)
L
Effective stroke
(Note 2)
Origin on non-motor side
(Note 1)
2-M8x1.25 Depth 16
* Not mounted on upper surface
A
Option: Installation plate
Contents of option: Plate, 4 pcs.
* For additional settings, contact your distributor.
12
ф6.6
81
99
Controller
50
75
4
143
84
4
40.5
144.5
2.52
100
48
8
207
98.5
4
88
206.5
3.27
150
65
8
285
126.5
6
69
284.5
3.6
6
Depth 5
Detailed drawing of installation hole
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 6
R
A
5H9 (+0.030
)
0
38
F-ф6.8
F-ф11
[1+/- 0.5]
12
E
G
F-M8x1.25
Cross-sectional Depth 16
drawing A-A
122
Origin on motor side
(Note 1)
(F/2-1)xG
8 39.5
30
49
61
44
65 +/- 0.3
55
0.5
14
60
22
ф5H9 ( +0.030
) Depth5
0
Note1. Return-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 M6 bolts.
Note5. The installation hole positions of the main unit with the specifications with the brake are common to those shown above.
Note6. M odels with a brake will be 0.34kg heavier.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
23.5
(40)
(15)
(24)
STH06 Space-saving model (motor installed on right)
+0.03
6 +0.01
Depth 6
C-M6x1.0 Depth 8
7
+0.03
ф6 +0.01 Depth 6
36
Compact
single-axis robots
0.5
16.5
6.5
21
52
(31)
(37)
56
(16)
ф6.8
ф11
A
6
5H9 ( 0
Depth 5
Detailed drawing of
installation hole
SCARA
robots
Cross-sectional
drawing A-A
150
65
8
66
4
132
285
274
4.26
Pick & place
robots
YP-X
Note1. Return-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, push the slider toward the
origin position on the motor side and insert the hex
socket head cap (M6) bolt.
Note5. The dimensions of the specifications with the
brake are common to those shown above.
Note6. M odels with a brake will be 0.34kg heavier.
ф5H9 (+0.030
) Depth 5
0
A
F
100
48
8
44
4
88
207
196
3.3
YK-X
+0.030
)
50.5
50
75
4
80
2
80
143
132
2.5
Cartesian
robots
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 6
24.5
D
R
ф12 (Note 4)
(Note 1)
XY-X
(M8)
(E-1)xD
E-M8x1.25 Depth 16
See the cross-sectional
drawing of A-A.
Origin on non-motor side
Origin on motor
side (Note 1)
Effective stroke
L
PHASER
19.5
(2)
106
(Note 2)
Linear motor
single-axis robots
(Note 2)
16.5
FLIP-X
[1+/- 0.5]
1+/- 0.5
(2.2)
Single-axis robots
3-M6x1.0
Depth 10
61
44
48
70 +/- 0.3
6.5
10
(40)
11.5
TRANSERVO
R
(15)
25
B
G
(24)
Linear conveyor
modules
Ap
(Ca prox.
b
Ap le len 150
(Ca prox. gth w
ble 110 itho
ut b
len
rak
gth
e)
wit
hb
rak
e)
LCM100
(C/2-1) xB
APPLICATION
STH06
STH06 Space-saving model (motor installed on left)
CLEAN
R
)
36
ake
6 +0.01
Depth 6
ф6 +0.03
+0.01 Depth 6
+0.03
7
C-M6x1.0 Depth 8
B
(C/2-1)xB
25
3-M6x1.0 Depth 10
52
(15)
(31)
(40)
(2.2)
16.5
F
6
A
1+/- 0.5
[1+/- 0.5]
Origin on motor
side (Note 1)
Effective stroke
Origin on non-motor side
(Note 2)
ф5H9 ( +0.030
)
0
Depth 5
R
50.5
(37)
56
(16)
(M8)
ф6.8
ф11
ф12 (Note 4)
11.5
L
5H9 (+0.030
)
0
Depth 5
19.5
Cross-sectional
drawing A-A
Detailed drawing of
installation hole
E-M8x1.25 Depth 16
See the cross-sectional
drawing of A-A.
Controller
A
D
(E-1)xD
61
44
70 +/- 0.3
48
0.5
21
10
G
(24)
CONTROLLER INFORMATION
50 with
e)
rak
x. 1 gth
pro le len 10 with b
p
A ab
1 th
.
x
(C pro leng
Ap able
(C
24.5
(Note 2)
(2)
6.5
6.5
16.5
br
out
106
(Note 1)
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 6
50
75
4
80
2
80
143
132
2.5
100
48
8
44
4
88
207
196
3.3
150
65
8
66
4
132
285
274
4.26
Note1. Return-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, push the slider toward the
origin position on the motor side and insert the hex
socket head cap (M6) bolt.
Note5. The dimensions of the specifications with the
brake are common to those shown above.
Note6. M odels with a brake will be 0.34kg heavier.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
123
APPLICATION
RF02-N
CE compliance
Rotary type / Limit rotation specification
Rotation range : 310°
Linear conveyor
modules
LCM100
Ordering method
N
Model
Return-to-origin method
N: Stroke end (Limit rotation)
Compact
single-axis robots
TRANSERVO
RF02
L
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
L: From the left
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Rotation direction
N: CCW
Z: CW
PHASER
Linear motor
single-axis robots
2
Moment of inertia: I (kg • m )
1: 1m
Effective torque vs. speed
0.0045
0.35
Effective torque : T (N•m)
FLIP-X
Single-axis robots
I/O cable
0.0040
High torque
0.0035
0.0030
0.0025
0.0020
0.0015
Standard
0.0010
0.0005
0.0000
100
1000
2
0.25
0.20
Acceleration/deceleration: ώ (°/s )
Standard
0.15
0.10
0.05
0.00
10000
High torque
0.30
0
100
200
300
Speed: ω (°/s)
Cartesian
robots
XY-X
Allowable load
Allowable radial load (N)
SCARA
robots
YK-X
Standard
model
78
High
rigidity
model
86
Standard
model
400
500
Controller
（a）
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.
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
Moment of inertia Acceleration/deceleration
Motor
20 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
0.22
0.32
Max. pushing torque (N•m)
0.11
0.16
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.0018
0.004
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
310
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
SD
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.
Basic specifications
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
（b）
Allowable thrust load (N)
(a)
(b)
High
High
Standard
rigidity
rigidity
model
model
model
74
78
107
Allowable moment
(N•m)
High
rigidity
model
2.4
2.9
Controller
TS-S2
TS-SH
TS-SD
Operation method
I/O point trace /
Remote command
Pulse train control
Standard
model
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
Pick & place
robots
YP-X
3H
De 8( +0.
pt 0 014
h
3. )
8
45°
d i r e c ti o n
°
ti o n
A
CW
di r
ec
A
27
51
*1
310
30°
CC W
6-M4x0.7 Depth 6
(60° equally divided.)
0
ф43h8(-0.039 )
0
ф42h8(-0.039 )
6
(24)
(31)
(40)
16
32
10
Manual
Origin mark
operation screw
(both sides)
P.C.D.32
52
42
*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
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.
(2.1)
(15)
51
+0.027
)
0
Cross-sectional drawing A-A
7
(Tolerance range)
ф15H8(
2-M6x1.0 Depth 12
Weight (kg)
2
14
52
Controller
(2.1)
)
+0.027
ф18H8 ( 0 )
ф8 (Through-hole)
85
Approx. 170
(Motor cable exit direction:
Exit from left side)
3H8( 0
Depth 4
2
(Tolerance range)
76
+0.014
65.8
124
2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5
3.5
5°+/-1
)
2
15
42
2
CONTROLLER INFORMATION
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
014
+0.0
CLEAN
Origin mark
8(
3H th 4
p
De
[5°
+/-
1]
Stroke end
Origin position in
CW rotation direction
[Origin] *3
0.49
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ 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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
APPLICATION
RF02-N
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF02-NH Limit rotation specification – High rigidity model
Pick & place
robots
YP-X
1]
+/[5°
3H
De 8( +0.
pt 0 014
h
3. )
8
45°
°
A
CW
6-M4x0.7 Depth 6
(60° equally divided.)
42
0
ф43h8(-0.039 )
0
ф42h8(-0.039 )
(40)
16
32
17
10.5
6
(24)
(31)
P.C.D.32
52
*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
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.
Origin mark
Manual
operation screw
(both sides)
2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5
di r
ec
27
ti o n
51
*1
310
A
2
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
CONTROLLER INFORMATION
CC W
30°
d i r e c ti o n
)
5°+/-1
014
+0.0
2
15
42
8(
3H th 4
p
De
Origin mark
CLEAN
Stroke end
Origin position in
CW rotation direction
[Origin] *3
51
+0.027
)
0
Cross-sectional drawing A-A
7
(Tolerance range)
ф15H8(
2-M6x1.0 Depth 12
Weight (kg)
2
14
52
Controller
(2.1)
)
+0.027
)
0
ф8 (Through-hole)
85
Approx. 170
(Motor cable exit direction:
Exit from left side)
3H8( 0
Depth 4
2
(Tolerance range)
ф18H8(
(2.1)
(15)
76
+0.014
65.8
0.52
Note1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ 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.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
125
CE compliance
Rotary type / Sensor specification
Limitless rotation
Linear conveyor
modules
LCM100
Ordering method
Compact
single-axis robots
TRANSERVO
RF02
S
Model
Return-to-origin method
S:Sensor
(Limitless rotation)
S
L
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
L: From the left
Rotation direction
N: CCW
Z: CW
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.
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
Moment of inertia Acceleration/deceleration
PHASER
Linear motor
single-axis robots
Motor
20 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
0.22
0.32
Max. pushing torque (N•m)
0.11
0.16
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.0018
0.004
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360
Cartesian
robots
XY-X
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.
2
Moment of inertia: I (kg • m )
FLIP-X
Single-axis robots
Basic specifications
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Type
S: Sensor
I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
Effective torque vs. speed
0.0045
0.35
Effective torque : T (N•m)
APPLICATION
RF02-S
0.0040
High torque
0.0035
0.0030
0.0025
0.0020
0.0015
Standard
0.0010
0.0005
0.0000
100
1000
2
0.25
0.20
Standard
0.15
0.10
0.05
0.00
10000
High torque
0.30
Acceleration/deceleration: ώ (°/s )
0
100
200
Allowable load
SCARA
robots
YK-X
Standard
model
High
rigidity
model
78
86
400
500
Controller
（a）
Allowable radial load
(N)
300
Speed: ω (°/s)
（b）
Allowable thrust load (N)
(a)
(b)
High
rigidity
model
Standard
model
Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command
Allowable moment
(N•m)
Standard
model
High
rigidity
model
Standard
model
High
rigidity
model
78
107
2.4
2.9
74
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
014 )
+0.
8( 0
3H th 4
p
De
Pick & place
robots
YP-X
2
A
A
2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5
CONTROLLER INFORMATION
CW
d
51
ir e c t i o n
*1
360°
30°
CLEAN
C C W dir e
c ti o
n
15
P.C.D.32
52
6-M4x0.7 Depth 6
(60° equally divided.)
42
*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
User's Manual and change the origin coordinates.
16
(40)
(20)
32
10
6
0
)
ф42h8(-0.039
(24)
4.8
Manual
operation screw
(both sides)
3.5
0
)
ф43h8(-0.039
(31)
65.8
Approx. 170
(Motor cable exit direction: Exit from left side)
Cross-sectional drawing A-A
Weight (kg)
2
0.51
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ 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.
126
2-M6x1.0 Depth 12
Controller
Approx. 300
(Sensor cable exit direction: Exit from left side)
TS-S2 u 452 TS-SH u 452
14
52
72
11
ф15H8(+0.027
)
0
7
(Tolerance range)
51
ф8 (Through-hole)
(2.1)
+0.014
2
(Tolerance range)
ф18H8(+0.027
)
0
85
(2.1)
(15)
76
3H8( 0 )
Depth 4
(15)
APPLICATION
RF02-S
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF02-SH Sensor specification – High rigidity model
n
c ti o
51
*1
ir e c t i o n
2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5
P.C.D.32
52
6-M4x0.7 Depth 6
(60° equally divided.)
0
ф43h8(-0.039
)
6
76
ф18H8(
+0.027
)
0
(2.1)
(15)
85
Approx. 170
(Motor cable exit direction: Exit from left side)
(2.1)
+0.027
)
0
Cross-sectional drawing A-A
2-M6x1.0 Depth 12
2
Weight (kg)
0.55
Note1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ 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.
Approx. 300
(Sensor cable exit direction: Exit from left side)
Controller
14
11
ф15H8(
7
(Tolerance range)
51
ф8 (Through-hole)
(40)
65.8
3H8( +0.014
)
0
Depth 4
(15)
2
(Tolerance range)
16
(20)
32
17
10.5
(24)
0
ф42h8(-0.039
)
CONTROLLER INFORMATION
CW
d
A
CLEAN
360°
30°
C C W dir e
)
(31)
11.8
Pick & place
robots
014
+0.
A
42
*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
User's Manual and change the origin coordinates.
Manual
operation screw
(both sides)
YP-X
0
8(
3H
4
pth
De
2
15
52
72
TS-S2 u 452 TS-SH u 452
127
APPLICATION
RF03-N
CE compliance
Rotary type / Limit rotation specification
Rotation range : 320°
Linear conveyor
modules
LCM100
Ordering method
N
Model
Return-to-origin method
N: Stroke end (Limit rotation)
Compact
single-axis robots
TRANSERVO
RF03
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
R:From the right
L:From the left
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Rotation direction
N: CCW
Z: CW
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
SD
Moment of inertia Acceleration/deceleration
0.030
0.025
1: 1m
1.4
High torque
0.020
0.015
0.010
I/O cable
Effective torque vs. speed
2
Moment of inertia: I (kg • m )
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
Motor
28 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
0.8
1.2
Max. pushing torque (N•m)
0.4
0.6
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.012
0.027
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
320
Standard
0.005
0.000
100
1000
2
1.2
0.8
Standard
0.6
0.4
0.2
0.0
10000
High torque
1.0
0
100
200
Acceleration/deceleration: ώ (°/s )
300
SCARA
robots
YK-X
Standard
model
196
High
rigidity
model
233
500
Controller
（a）
Allowable radial load (N)
400
Speed: ω (°/s)
Allowable load
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.
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
Effective torque : T (N•m)
FLIP-X
Single-axis robots
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.
Basic specifications
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
（b）
Allowable thrust load (N)
(a)
(b)
High
High
Standard
rigidity
rigidity
model
model
model
197
363
398
Controller
TS-S2
TS-SH
TS-SD
Allowable moment
(N•m)
High
rigidity
model
5.3
6.4
Standard
model
Operation method
I/O point trace /
Remote command
Pulse train control
Standard
model
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
Pick & place
robots
YP-X
A
2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
45°
ec
39
66
ti o n
A
CW
di r
5°+
4H
De 8( +0
pt 0 .018
h
4. )
8
/-1]
d i r e c ti o n
*1
CC W
30°
320°
42
2
CONTROLLER INFORMATION
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
2
)
5°+/-1 [
23
018
+0.0
CLEAN
Origin mark
8(
4H th 5
p
De
Stroke end
Origin position in
CW rotation direction
[Origin] *3
P.C.D.48
75
6-M5x0.8 Depth 8
(60° equally divided.)
58
*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
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.
0
ф64h8(-0.046 )
0
40
13
4.5
8
(24)
+0.039
)
0
(2.4)
107
(2.4)
Approx. 180
(Motor cable exit direction:
Exit from right side)
ф22H8(
+0.033
)
0
Cross-sectional drawing A-A
128
Controller
8
(Tolerance range)
66
ф17 (Through-hole)
Approx. 180
(Motor cable exit direction:
Exit from left side)
+0.018
2
(Tolerance range)
(15)
4H8( 0 )
Depth 5
88.2
102
ф32H8(
ф63h8(-0.046 )
(40)
20
Manual
operation screw
(both sides)
(31)
Origin mark
Weight (kg)
2-M8x1.25 Depth 16
2
25
75
1.1
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note2. The minimum bending radius of the motor cable is
R30.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
APPLICATION
RF03-N
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF03-NH Limit rotation specification – High rigidity model
Pick & place
robots
YP-X
23
45°
42
320°
*1
2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
CW
dir
e ct
io n
A
39
66
A
2
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
P.C.D.48
75
*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
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.
0
ф64h8(-0.046)
0
8
40
22
13.5
ф63h8(-0.046)
(24)
(31)
(40)
20
88.2
102
2
(Tolerance range)
(15)
+0.039
ф32H8( 0 )
107
(2.4)
Approx. 180
(Motor cable exit direction:
Exit from right side)
ф22H8(
+0.033
)
0
Cross-sectional drawing A-A
8
(Tolerance range)
66
ф17 (Through-hole)
(2.4)
Approx. 180
(Motor cable exit direction:
Exit from left side)
4H8( +0.018
)
0
Depth 5
Manual
operation screw
(both sides)
Origin mark
6-M5x0.8 Depth 8
(60° equally divided.)
56
CONTROLLER INFORMATION
CC W
30°
d i r e c ti o n
)
Origin mark
CLEAN
4H
De 8( +0
pt 0 .018
h
4. )
8
]
2
018
+0.
0
5°+/-1 [
5°+
/-1
8(
4H th 5
p
De
Stroke end
Origin position in
CW rotation direction
[Origin] *3
Weight (kg)
2-M8x1.25 Depth 16
Controller
2
25
75
1.2
Note1. This drawing is output under the conditions below.
Bearing ...................... High rigidity
Torque........................ Standard/High torque
Note2. The minimum bending radius of the motor cable is
R30.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
129
CE compliance
Rotary type / Sensor specification
Limitless rotation
Linear conveyor
modules
LCM100
Ordering method
Compact
single-axis robots
TRANSERVO
RF03
S
Model
Return-to-origin method
S:Sensor
(Limitless rotation)
S
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
R:From the right
L:From the left
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Rotation direction
N: CCW
Z: CW
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.
Moment of inertia Acceleration/deceleration
PHASER
Linear motor
single-axis robots
Motor
28 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
0.8
1.2
Max. pushing torque (N•m)
0.4
0.6
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.012
0.027
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360
Cartesian
robots
XY-X
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.
Type
S: Sensor
I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
Effective torque vs. speed
0.030
1.4
2
Moment of inertia: I (kg • m )
FLIP-X
Single-axis robots
Basic specifications
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
0.025
Effective torque : T (N•m)
APPLICATION
RF03-S
High torque
0.020
0.015
0.010
Standard
0.005
0.000
100
1000
2
1.2
0.8
Standard
0.6
0.4
0.2
0.0
10000
High torque
1.0
0
100
200
Acceleration/deceleration: ώ (°/s )
Allowable load
SCARA
robots
YK-X
Standard
model
High
rigidity
model
196
233
400
500
Controller
（a）
Allowable radial load
(N)
300
Speed: ω (°/s)
（b）
Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command
Allowable thrust load (N)
(a)
(b)
High
rigidity
model
Standard
model
Allowable moment
(N•m)
Standard
model
High
rigidity
model
Standard
model
High
rigidity
model
363
398
5.3
6.4
197
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-SN Sensor specification – Standard model
2
360°
*1
30°
CLEAN
C C W di
r ect
ion
018 )
+0.
8( 0
4H th 5
p
De
Pick & place
robots
YP-X
23
A
66
ir e c t i o n
A
CONTROLLER INFORMATION
CW
d
2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
P.C.D.48
75
*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
User's Manual and change the origin coordinates.
6-M5x0.8 Depth 8
(60° equally divided.)
88.2
102
ф32H8(
(2.4)
(15)
2
(Tolerance range)
(15)
+0.039
)
0
Approx. 180
(Motor cable exit direction: Exit from left side)
(2.4)
Approx. 180
(Motor cable exit direction: Exit from right side)
+0.033
)
0
Cross-sectional drawing A-A
Weight (kg)
2
1.2
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note2. The minimum bending radii of the motor cable and sensor cable are R30.
130
2-M8x1.25 Depth 16
Controller
Approx. 300
(Sensor cable exit direction: Exit from left side)
TS-S2 u 452 TS-SH u 452
25
11
ф22H8(
8
(Tolerance range)
66
ф17 (Through-hole)
107
4H8( +0.018
)
0
Depth 5
20
(40)
40
(20)
13
4.5
8
0
ф63h8(-0.046)
(24)
(31)
7.8
Manual operation screw
(both sides)
58
0
ф64h8(-0.046)
75
94
Approx. 300
(Sensor cable exit direction: Exit from right side)
APPLICATION
RF03-S
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF03-SH Sensor specification – High rigidity model
2
30°
C C W di
r ect
ion
Pick & place
robots
YP-X
018 )
+0.
8( 0
4H th 5
p
De
23
360°
*1
CLEAN
A
66
ir e c t i o n
A
P.C.D.48
75
6-M5x0.8 Depth 8
(60° equally divided.)
8
22
13.5
0
ф63h8(-0.046)
(24)
(31)
58
0
ф64h8(-0.046)
(2.4)
)
Approx. 180
(Motor cable exit direction: Exit from right side)
Cross-sectional drawing A-A
Weight (kg)
2-M8x1.25 Depth 16
2
1.3
Note1. This drawing is output under the conditions below.
Bearing ...................... High rigidity
Torque........................ Standard/High torque
Note2. The minimum bending radii of the motor cable and sensor cable are R30.
Approx. 300
(Sensor cable exit direction: Exit from left side)
Controller
11
)
ф22H8( +0.033
0
8
(Tolerance range)
66
ф17 (Through-hole)
107
Approx. 180
(Motor cable exit direction: Exit from left side)
+0.018
)
ф32H8( +0.039
0
(2.4)
(15)
4H8( 0
Depth 5
88.2
102
(15)
2
(Tolerance range)
20
(40)
40
(20)
Manual operation screw
(both sides)
16.8
*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
User's Manual and change the origin coordinates.
CONTROLLER INFORMATION
CW
d
2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
25
75
94
Approx. 300
(Sensor cable exit direction: Exit from right side)
TS-S2 u 452 TS-SH u 452
131
CE compliance
Rotary type / Limit rotation specification
Rotation range : 320°
Linear conveyor
modules
LCM100
Ordering method
Compact
single-axis robots
TRANSERVO
RF04
N
Model
Return-to-origin method
N: Stroke end (Limit rotation)
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
R:From the right
L:From the left
Rotation direction
N: CCW
Z: CW
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
Moment of inertia Acceleration/deceleration
Cartesian
robots
XY-X
SCARA
robots
YK-X
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.
1: 1m
12
0.12
0.10
I/O cable
Effective torque vs. speed
Effective torque : T (N•m)
PHASER
Linear motor
single-axis robots
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
6.6
10
Max. pushing torque (N•m)
3.3
5
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.04
0.1
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
320
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
1
Robot driver
SD: TS-SD
2
FLIP-X
Single-axis robots
Basic specifications
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
SD
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.
Moment of inertia: I (kg • m )
APPLICATION
RF04-N
High torque
0.08
0.06
0.04
Standard
0.02
0.00
100
1000
10
6
4
2
0
10000
2
Acceleration/deceleration: ώ (°/s )
High torque
8
Standard
0
100
200
300
Allowable load
Standard
model
314
High
rigidity
model
378
500
Controller
（a）
Allowable radial load (N)
400
Speed: ω (°/s)
（b）
Allowable thrust load (N)
(a)
(b)
High
High
Standard
rigidity
rigidity
model
model
model
296
398
517
Controller
TS-S2
TS-SH
TS-SD
Allowable moment
(N•m)
High
rigidity
model
9.7
12.0
Standard
model
Operation method
I/O point trace /
Remote command
Pulse train control
Standard
model
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.
RF04-NN Limit rotation specification – Standard model
Pick & place
robots
C C W d ir e c ti o n
A
A
2
*1
45
n
c ti o
6-M6x1.0 Depth 10
(60° equally divided.)
Origin mark
0
ф76h8 ( -0.046 )
0
ф74h8 ( -0.046 )
(40)
26
52
16
10
(31)
(24)
Manual
operation screw
(both sides)
5.5
CW
dir
e
90
*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
*3 Values and characters in [ ] show those when the
return-to-origin direction is changed.
2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
P.C.D.55
114.2
133
(3)
(3)
127
Approx. 160
(Motor cable exit direction:
Exit from left side)
Approx. 170
(Motor cable exit direction:
Exit from right side)
)
ф26H8 ( +0.033
0
11
(Tolerance range)
85
2
(Tolerance range)
+0.039
ф35H8 ( 0 )
ф20 (Through-hole)
(15)
5H8 ( +0.018
)
0
Depth 5.5
CONTROLLER INFORMATION
320°
30°
45°
70
85
1]
2
)
5°+/-1 [5°
+/-
018
+0.0
Origin mark
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
5
26.
8(
5H th 5.5
p
De
CLEAN
5H
De 8 ( +
pt 0 0.01
h
8
5.
3 )
YP-X
Stroke end
Origin position in
CW rotation direction
[Origin] *3
Cross-sectional drawing A-A
2-M10x1.5 Depth 20
2
30
90
Weight (kg)
2.2
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note2. The minimum bending radius of the motor cable is R30.
132
Controller
TS-S2 u 452 TS-SH u 452 TS-SD u 465
APPLICATION
RF04-N
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF04-NH Limit rotation specification – High rigidity model
Pick & place
robots
5H
De 8 ( +
pt 0 0.01
h
8
5.
3 )
45°
85
*1
45
c ti o
n
P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)
dir
e
90
CW
2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
70
0
ф76h8 (-0.046 )
Origin mark
127
(3)
52
26
(24)
ф74h8 ( -0.046 )
10
0
(31)
Manual
operation screw
(both sides)
(40)
26
114.2
133
(3)
Approx. 160
(Motor cable exit direction:
Exit from left side)
Approx. 170
(Motor cable exit direction:
Exit from right side)
ф26H8 ( +0.033
)
0
11
(Tolerance range)
85
ф20 (Through-hole)
(15)
2
(Tolerance range)
ф35H8
)
(+0.039
0
5H8 ( +0.018
)
0
Depth 5.5
*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
*3 Values and characters in [ ] show those when the
return-to-origin direction is changed.
15.5
320°
A
CONTROLLER INFORMATION
C C W d ir e c ti o n
5°+/-1 [5
°+/-
30°
A
CLEAN
)
1]
YP-X
018
+0.0
2
5
26.
2
Origin *2
Origin position in CCW
rotation direction
[Stroke end]
8(
5H th 5.5
p
De
Origin mark
Stroke end
Origin position in
CW rotation direction
[Origin] *3
Cross-sectional drawing A-A
2-M10x1.5 Depth 20
2
30
90
Weight (kg)
2.4
Note1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
Note2. The minimum bending radius of the motor cable is R30.
Controller
TS-S2 u 452 TS-SH u 452 TS-SD u 465
133
CE compliance
Rotary type / Sensor specification
Limitless rotation
Linear conveyor
modules
LCM100
Ordering method
Compact
single-axis robots
TRANSERVO
RF04
S
Model
Return-to-origin method
S:Sensor
(Limitless rotation)
S
Bearing
N: Standard
H: High rigidity
Torque
N: Standard torque
H: High torque
Cable entry location
R:From the right
L:From the left
Rotation direction
N: CCW
Z: CW
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.
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
Moment of inertia Acceleration/deceleration
Type
S: Sensor
12
2
0.10
High torque
0.08
0.06
PHASER
Linear motor
single-axis robots
0.04
Standard
0.02
0.00
100
1000
10
6
4
2
0
10000
High torque
8
Standard
0
100
2
Acceleration/deceleration: ώ (°/s )
200
Cartesian
robots
XY-X
SCARA
robots
YK-X
Standard
model
High
rigidity
model
314
378
400
500
Controller
（a）
Allowable radial load
(N)
300
Speed: ω (°/s)
Allowable load
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.
Battery Note 4
B: With battery
(Absolute)
N: None
(Incremental)
I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
Effective torque vs. speed
0.12
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
6.6
10
Max. pushing torque (N•m)
3.3
5
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.04
0.1
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360
Moment of inertia: I (kg • m )
FLIP-X
Single-axis robots
Basic specifications
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Effective torque : T (N•m)
APPLICATION
RF04-S
（b）
Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command
Allowable thrust load (N)
(a)
(b)
Standard
model
High
rigidity
model
Allowable moment
(N•m)
Standard
model
High
rigidity
model
Standard
model
High
rigidity
model
398
517
9.7
12.0
296
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.
RF04-SN Sensor specification – Standard model
Pick & place
robots
018 )
+0.
8( 0
5H th 5.5
p
De
YP-X
2
5
360°
*1
30°
CLEAN
C C W di
r ect
ion
26.
85
A
CW
d
P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)
90
70
0
)
ф74h8(-0.046
(40)
52
(20)
16
10
(31)
0
)
ф76h8( -0.046
(24)
10.8
*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
User's Manual and change the origin coordinates.
Manual operation screw
(both sides)
2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
5.5
CONTROLLER INFORMATION
ir e c t i o n
A
+0.039
)
0
(3)
Approx. 170
(Motor cable exit direction: Exit from right side)
ф26H8 (
+0.033
)
0
Cross-sectional drawing A-A
2.3
Note1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note2. The minimum bending radii of the motor cable and sensor cable are R30.
134
2-M10x1.5 Depth 20
Controller
2
Approx. 300
(Sensor cable exit direction: Exit from left side)
TS-S2 u 452 TS-SH u 452
30
12
Weight (kg)
11
(Tolerance range)
85
ф20 (Through-hole)
127
(3)
Approx. 160
(Motor cable exit direction: Exit from left side)
+0.018
2
(Tolerance range)
ф35H8 (
(15)
5H8( 0 )
Depth 5.5
114.2
133
26
(15)
90
113
Approx. 300
(Sensor cable exit direction: Exit from right side)
APPLICATION
RF04-S
Linear conveyor
modules
LCM100
Compact
single-axis robots
TRANSERVO
FLIP-X
Single-axis robots
PHASER
Linear motor
single-axis robots
Cartesian
robots
XY-X
SCARA
robots
YK-X
RF04-SH Sensor specification – High rigidity model
Pick & place
robots
YP-X
A
P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)
90
70
(40)
52
(20)
26
(31)
15.5
0
ф74h8 (-0.046 )
10
0
)
ф76h8 (-0.046
(24)
20.8
*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
User's Manual and change the origin coordinates.
Manual operation screw
(both sides)
2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
CONTROLLER INFORMATION
CW
d
85
ir e c t i o n
A
CLEAN
360°
*1
30°
C C W di
r ect
ion
018 )
+0.
8( 0
5H h 5.5
pt
De
2
5
26.
127
(3)
Approx. 160
(Motor cable exit direction: Exit from left side)
(3)
Approx. 170
(Motor cable exit direction: Exit from right side)
+0.033
)
0
Cross-sectional drawing A-A
Weight (kg)
2.5
Note1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
Note2. The minimum bending radii of the motor cable and sensor cable are R30.
2-M10x1.5 Depth 20
2
Approx. 300
(Sensor cable exit direction: Exit from left side)
Controller
30
90
113
12
ф26H8 (
11
(Tolerance range)
85
+0.018
+0.039
)
0
ф20 (Through-hole)
2
(Tolerance range)
ф35H8 (
(15)
5H8( 0 )
Depth 5.5
114.2
133
26
(15)
Approx. 300
(Sensor cable exit direction: Exit from right side)
TS-S2 u 452 TS-SH u 452
135
APPLICATION
BD04
Belt type
CE compliance
Linear conveyor
modules
LCM100
Ordering method
BD04
Model
48
Compact
single-axis robots
TRANSERVO
Lead
48: 48mm
N
N
Brake
N: With no brake
Origin position
N: Standard
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
FLIP-X
Single-axis robots
SD
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.
Basic specifications
PHASER
Linear motor
single-axis robots
Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)
Stroke (mm)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
Battery Note 4
B: With battery (Absolute)
N: None (Incremental)
1
Robot driver
SD: TS-SD
I/O cable
1: 1m
Allowable overhang Note
Static loading moment
A
28
Step motor
4096
+/-0.1
Belt
48
1100
1
300/500/600/700/800/
900/1000
MY
B
A
C
B
C
Horizontal installation (Unit: mm) Wall installation
A
B
8036
1kg 3933
1950
968
0.5kg
A
1504
747
0.5kg
1kg
B
1614
798
MP
(Unit: N.m)
MY
10
C
1942 8013
961 3969
MP
10
MR
20
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
600mm stroke models.)
Speed vs. payload
SCARA
robots
YK-X
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.
Controller
Horizontal
Quick reference
Payload
Speed
(kg)
(mm/sec)
1
900
0.5
950
0
1000
1.2
Payload (kg)
Cartesian
robots
XY-X
Overall length (mm)
Stroke + 195.5
(Horizontal installation)
Maximum outside dimension
W40 × H101.9
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
C
MR
(Unit: mm)
1
0.8
0.6
%
90
95
100
Controller
TS-S2
TS-SH
TS-SD
Operation method
I/O point trace /
Remote command
Pulse train control
0.4
Pick & place
robots
YP-X
0.2
0
0
200
400
600
800
Speed (mm/s)
1000 1200
BD04
CLEAN
Approx. 230 (Cable length)
L
Effective stroke
92.5+/-1
(103)
24
+0.025
)Depth
0
63(Note 1)
40
3.5
ф3H9(
(40)
(2.4)
(15)
(24)
(31)
+0.025
)Depth
0
3
40
(1.5)
4-M4x0.7 Depth 6.4
Main unit installation reference surface (Note 2)
(72)
45.3
39.4
(35.4)
27
33
20
6
40
99.7
5.5
(Effective stroke+135)
53.5
8
20
3H9(+0.025
)
0
Depth 3
Mx150
150
7
M4x0.7
Depth 8
(For grounding terminal)
N-ф3.4
R
34
4
CONTROLLER INFORMATION
R
3
28
3H9(
54.5(Note 1)
Effective stroke
L
M
N
Weight (kg)
136
300
495.5
2
6
1.19
500
695.5
4
10
1.45
600
795.5
4
10
1.58
Controller
700
895.5
5
12
1.71
800
995.5
6
14
1.84
900
1095.5
6
14
1.97
1000
1195.5
7
16
2.1
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 cable is R30.
TS-S2 u 452 TS-SH u 452 TS-SD u 465
APPLICATION
BD05
Belt type
CE compliance
Linear conveyor
modules
BD05
Model
48
N
N
Origin position
N: Standard
Basic specifications
SD
Robot driver
SD: TS-SD
Battery Note 4
B: With battery (Absolute)
N: None (Incremental)
1
I/O cable
1: 1m
Allowable overhang Note
Static loading moment
A
42
Step motor
20480
+/-0.1
Belt
48
1400
5
300/500/600/700/800/900/
1000/1200/1500/1800/2000
MY
B
A
C
B
C
Horizontal installation (Unit: mm) Wall installation
A
B
9445
3kg 2982
5kg 1689
2274
702
385
1kg
A
1681
553
325
1kg
3kg
5kg
B
1784
573
331
MP
(Unit: N.m)
MY
27
C
2312 9545
743 3082
429 1789
MP
27
MR
52
Cartesian
robots
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
600mm stroke models.)
XY-X
Overall length (mm)
Stroke + 241.8
(Horizontal installation)
Maximum outside dimension
W58 × H123
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
C
MR
(Unit: mm)
Speed vs. payload
Controller
Horizontal
Payload (kg)
5
4
3
2
%
39
50
71
100
Operation method
I/O point trace /
Remote command
Pulse train control
Pick & place
robots
0
500
1000
YP-X
1
0
SCARA
robots
Quick reference
Payload
Speed
(kg)
(mm/sec)
5
550
3
700
1
1000
0
1400
6
Controller
TS-S2
TS-SH
TS-SD
YK-X
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.
PHASER
Stroke (mm)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
Linear motor
single-axis robots
Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
FLIP-X
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.
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Single-axis robots
Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm
Compact
single-axis robots
Brake
N: With no brake
TRANSERVO
Lead
48: 48mm
LCM100
Ordering method
1500
Speed (mm/s)
BD05
L
Effective stroke
118.8+/-1
45
3H9
(123)
Depth 3
58
38
68 (Note 1)
(1.5)
4-M5x0.8 Depth 8.5
64
(102)
Main unit installation reference surface (Note 2)
56.8
50
38
(Effective stroke+167)
10
25
6
M4x0.7 Depth 8
(For grounding
terminal)
Mx170
170
N-ф4.5
4
3H9 ( +0.025
)
0
Depth 3
10
6.5
64.8
24
38.5
(41.5)
120.8
48
(2.4)
(40)
(31)
(24)
(15)
) Depth 3
ф3H9 (+0.025
0
CONTROLLER INFORMATION
R
3.5
65.8 (Note 1)
)
( +0.025
0
CLEAN
Approx. 230 (Motor cable length)
48
R
Effective stroke
L
M
N
Weight (kg)
300
541.8
2
6
2.39
500
741.8
3
8
2.85
600
841.8
4
10
3.08
700
941.8
4
10
3.31
800
1041.8
5
12
3.54
900
1141.8
6
14
3.77
1000
1241.8
6
14
4
1200
1441.8
7
16
4.46
1500
1741.8
9
20
5.15
1800
2041.8
11
24
5.84
2000
2241.8
12
26
6.3
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 cable is R30.
Controller
TS-S2 u 452 TS-SH u 452 TS-SD u 465
137
APPLICATION
BD07
Belt type
CE compliance
Linear conveyor
modules
LCM100
Ordering method
BD07
Model
48
N
Compact
single-axis robots
TRANSERVO
Lead
48: 48mm
N
Brake
N: With no brake
Origin position
N: Standard
FLIP-X
Single-axis robots
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.
Basic specifications
PHASER
Linear motor
single-axis robots
Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)
Stroke (mm)
Cable length Note 1
1L: 1m
3L: 3m
5L: 5m
10L: 10m
Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm
Robot positioner
S2: TS-S2 Note 2
SH: TS-SH
SD
Robot driver
SD: TS-SD
Battery Note 4
B: With battery (Absolute)
N: None (Incremental)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
GW: No I/O board Note 3
1
I/O cable
1: 1m
Allowable overhang Note
Static loading moment
A
56
Step motor
20480
+/-0.1
Belt
48
1500
14
300/500/600/700/800/900/
1000/1200/1500/1800/2000
MY
B
A
C
B
C
Horizontal installation (Unit: mm) Wall installation
A
3kg
8kg
14kg
5767
1839
829
C
1353
399
154
A
1247
458
254
B
1324
474
255
3kg
8kg
14kg
MP
(Unit: N.m)
MY
46
C
1354 5588
399 1658
151
643
MP
46
MR
101
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
600mm stroke models.)
Speed vs. payload
SCARA
robots
YK-X
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.
Controller
Horizontal
Quick reference
Payload
Speed
(kg)
(mm/sec)
14
50
9
525
4
1000
1
1400
0.5
1500
16
Payload (kg)
Cartesian
robots
XY-X
Overall length (mm)
Stroke + 285.6
(Horizontal installation)
Maximum outside dimension
W70 × H147.5
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)
B
MR
(Unit: mm)
14
12
10
8
6
Pick & place
robots
4
YP-X
2
0
0
500
1000
1500
Controller
TS-S2
TS-SH
TS-SD
%
3
35
66
93
100
Operation method
I/O point trace /
Remote command
Pulse train control
2000
Speed (mm/s)
BD07
CLEAN
Approx. 230 (Motor cable length)
L
Effective stroke
150.6+/-1
(135)
5H9 (+0.030
) Depth 5
0
70 (Note 1)
R
44
87.6 (Note 1)
CONTROLLER INFORMATION
70
5.5
42
(1.5)
70
(122)
4-M6x1.0 Depth 8.5
Main unit installation reference surface (Note 2)
78.6
60
48
(Effective stroke+189)
86.6
25
10
7.5
Mx200
)
200
N-ф5.5
6
+0.030
5H9 ( 0
Depth 5
15
6.5
46.8
(49.8)
30
145.3
60
(15)
(40)
(31)
(24)
(2.4)
) Depth 5
ф5H9 ( +0.030
0
M4x0.7 Depth 8
(For grounding
terminal)
60
R
Effective stroke
L
M
N
Weight (kg)
300
585.6
2
6
4.12
500
785.6
3
8
4.8
600
885.6
3
8
5.14
700
985.6
4
10
5.48
800
1085.6
4
10
5.82
900
1185.6
5
12
6.16
1000
1285.6
5
12
6.5
1200
1485.6
6
14
7.18
1500
1785.6
8
18
8.2
1800
2085.6
9
20
9.22
2000
2285.6
10
22
9.9
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 cable is R30.
138
Controller
TS-S2 u 452 TS-SH u 452 TS-SD u 465