Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
409
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
Basic specications
Item Model TS-SD
Basic specications
Number of controllable axes Single-axis
Controllable robots TRANSERVO series
Maximum power consumption 70 to 110VA
Dimensions W30 × H162 × D82mm
Weight Approx. 0.2kg
Input power
supply
Control power supply DC24V +/-10%
Main power supply DC24V +/-10%
Axis control
Operating method Pulse train control
Control method Closed loop vector control method
Position detection method Resolver
Resolution 20480 P/rev
Origin search method Incremental
External input/output
Pulse train command input
Line driver method : 500 kpps or less
Open collector method : 100 kpps or less (DC5 to 24V +/- 10%)
Input Servo ON (SERVO), reset (RESET) origin search (ORG)
Output
Servo status (SRV-S), alarm (/ALM), positioning
completion (IN-POS), return-to-origin end status (ORG-S)
External communications RS-232C 1CH
Options
Support software for PC TS-Manager
General specications
Operating temperature 0°C to 40°C
Storage temperature -10°C to 65°C
Operating humidity 35% to 85%RH (non-condensing)
Storage humidity 10% to 85%RH (non-condensing)
Atmosphere
Indoor location not exposed to direct sunlight. No
corrosive , ammable gases, oil mist, or dust particles
Anti-vibration
All XYZ directions 10 to 57Hz unidirectional amplitude
0.075mm 57 to 150Hz 9.8m/s
2
Protective functions
Position detection error, overheat, overload, overvoltage,
low voltage, position deviation, control power voltage drop,
overcurrent, motor current error, CPU error, motor line
disconnection, command speed over, pulse frequency over
I/O signal table
No.
Signal Name
Description
1 +COM
I/O power supply input (DC 24V +/- 10%)
2 OPC Open collector power supply input
3 PULS1 Command pulse input 1
4 PULS2 Command pulse input 2
5 DIR1 Command direction input 1
6 DIR2 Command direction input 2
7 ORG Return-to-origin
8 NC Prohibited to use this signal.
9 RESET Reset
10 SERVO Servo ON
11 ORG-S Return-to-origin end status
12 IN-POS Positioning completion
13 /ALM Alarm
14 -COM I/O power supply input (0V)
15 SRV-S Servo status
16 FG Ground
I/O connector
15
13
11
9
7
5
3
1
16
14
12
10
8
6
4
2
I/O signal list
Type Signal Name Open collector Line driver Description
Inputs
OPC
Open collector power supply input (Connection prohibited.
Note 2
) Input the power supply for the open collector. (DC5 to 24V +/- 10%)
PULS1 (Connection prohibited.
Note 1
) Command pulse input (+)
Input terminal for pulse train input commands. Select from 3
command forms by changing parameters.
• Phase A/Phase B input
• Pulse/Sign input
• CW/CCW input
DIR1 (Connection prohibited.
Note 1
) Command direction input (+)
PULS2 Command pulse input Command pulse input (-)
DIR2 Command direction input Command direction input (-)
ORG Return-to-origin
Starts return-to-origin when ON and stops it when OFF.
RESET Reset
Alarm reset
SREVO Servo ON
ON: servo on; OFF: servo off.
Outputs
ORG-S Return-to-origin end status
ON at return-to-origin end.
IN-POS Positioning completion
ON when accumulated pulse in deviation counter are within
specied value range.
/ALM Alarm
ON when normal. OFF when alarm occurs.
SRV-S Servo status
ON when servo is on.
Note 1. When using the open collector specications, do not connect any signal to the PULS1 and DIR1 terminals. Doing so may cause the driver to malfunction or breakdown.
Note 2. When using the line driver specications, do not connect any signal to the OPC terminal. Doing so may cause the driver to malfunction or breakdown.
Input / output signal connection diagram
[open collector]
Connection example
Connection prohibited.
Connection prohibited.
OPC
PULS1
PULS2
DIR1
DIR2
+COM
-COM
ORG
RESET
SERVO
ORG-S
/ALM
SRV-S
INPOS
NC
TS-SD
Pulse
generator
5V to 24V
Shielded cable
24V
2m or less
Ground
Input / output signal connection diagram
[line driver]
Connection example
OPC
PULS1
PULS2
DIR1
DIR2
+COM
-COM
ORG
RESET
SERVO
ORG-S
/ALM
SRV-S
INPOS
NC
TS-SD
Line driver
(AM26LS31 or equivalent)
Shielded cable
24V
SG
Ground
Connection prohibited.
TS-SD
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/