Linear Servos

YAMAHA Single-Axis Actuators
Stepping Servo (SS04 / SSC04 / SS05 / SSC05 / SS05H / SSC05H)
The TRANSERVO by YAMAHA!

Stepper motor single-axis actuator
that breaks all the old rules!
TRANSERVO01
www.yamaharobotics.com
YAMAHA S series single-axis ball screw driven robots
TRANSERVO SERIES
Closed loop stepper motor single-axis robot available in class 10 cleanroom.
Available in three sizes, with up to 800 mm of travel.
No payload limitations due to high speed usage

Robot can operate at high speed with heavy loads
Easy selection and installation time
Standard type
Low cost!
Basic operation is the same as a servo motor, but with the

lower cost of a stepper motor.
Resolver is used for position feedback
Position detection is stable even in harsh environments with

dust particles, oil mist, etc.
SS05H
SS05
SS04
Cleanroom type
Utilizes a 4-row circular arc groove

rail guide
Ideal for handling large moment loads
while maintaining high rigidity.
SSC05H
SSC05
SSC04
TS-S Robot
Positioner
TS-S is a single axis, incremental, BCD digital I/O

controlled robot controller for the Transervo series
actuators. Teaching the TS controller is simple using
TS-Manager software allowing the user to save up to
255 positions in a point table. BCD digital I/O input
from a master controller such as a PLC can be used
to move the robot to these predefined points. The
TS-S is capable of position or torque based motion
profiles, which are executed closed-loop.
TRANSERVO easy selection table

Type
Standard type /
Maximum speed
(mm/sec)
Stroke (mm)
600
300
100
50 to 400
1
2
1000
600
300
50 to 800
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
50 to 800
Lead (mm)
W49 H59
12
6
2
W55 H56
20
12
6
4
6
10
20
12
Cleanroom type
W55 H56
Transervo Catalog-
Maximum payload (kg)

Horizontal Vertical
2
1
4
2
6
4
Size (mm)
12
Model
Detailed info page
P. 5
Standard type: SS04
Standard type
Cleanroom type: SSC04
Cleanroom type P. 8
Standard type: SS05
Standard type
Cleanroom type: SSC05
Cleanroom type P. 9
Standard type: SS05H
Standard type
P. 6
P. 7
Cleanroom type: SSC05H Cleanroom type P. 10
The Yamaha TRANSERVO Benefits

1
New control method combines the best features of servo and stepping motors!
Stepper motors provide great features such as low cost, yet they
have a drastic drop in torque at high speeds and heavy current
consumption when stopped. The TRANSERVO by YAMAHA
eliminates all these problems by adopting an innovative vector
control method. In effect, the TRANSERVO delivers the same
functions of a servomotor but using a lower cost stepper motor.
Stepping motor
Servo Motors
Smooth movement
Constant torque at
all speed range
Simple design & low cost

No vibration
while stopped
Combines the best features of both types!

High-pitched operating
noise
Drop in torque at high-speed
Vibrations when
stopped
Cost is higher
High-speed operation slashes production time!

The TRANSERVO moves heavy payloads faster than
typical steppers with conventional controls.
TRANSERVO
Must use only

small payloads
during high speeds
200
400
600
Speed (mm/s)
800
Payload
Payload
Ordinary type
Payload is always
constant!
200
400
600
800
Speed (mm/s)
Energy saver!
Control is basically the same as a servo motor so power consumption is kept to a minimum, which saves energy.
Environmentally rugged resolver provides closed loop control
The resolver used for detecting the motor position is the

same reliable resolver as used in our high-end robots.
Resolvers offer stable position detection even in harsh
environments containing dust or oil, etc. Additionally,
the resolution of the resolver is 20,480 pulses per one
revolution.
Resolver
The resolver is a magnetic position detector. Its

structure is simple with no electronic component
and no optical elements. One great feature
compared to ordinary optical encoders is that there
are very few points where a failure might occur.
Resolvers are used in fields like aviation and the
automobile industry where reliability is essential
and also because they are suitable in harsh
environments.
Ideal 4-row circular-groove guide provides long service life
A newly developed rail guide is employed, with a 4-row

circular-groove guide system, built into a very compact
actuator.
The guide maintains a satisfactory rolling movement with
minimal ball differential slip. The rugged design ensures
long life.
2-row gothic-arch-groove
Ordinary model
4-row circular-arc-groove
TRANSERVO
Transervo Catalog-
TRANSERVO SPECIFICATION SHEET

Model
SS04
SSC04
SS05
SSC05
SS05H
SSC05H
Payload (kg)
Stroke (mm) and maximum speed (mm/sec)
Lead
(mm)
Horizontal
Vertical
12
600
300
100
20
1000
933
833
733
633
12
600
560
500
440
380
10
300
280
250
220
190
20
1000
933
833
733
633
600
560
500
440
380
440
380
12
220
190
220
190
12
6
50
100
150
200
250
300
350
400
450
500
550
600
650
700
500
300
280
250
250
750
800
Robot ordering method description

In the order format for the YAMAHA single-axis robots TRANSERVO series, the notation (letters/numbers) for the mechanical section is
shown linked to the controller section notation.
[Example]
Mechanical
SS05
Lead
Type
Brake
Origin position
Controller
6mm
Straight
Yes
Standard
Grease
Standard
Stroke
600mm
Cable length 1m
TS-S
Input /Output selection NPN
Ordering Method
SS05 06SB NN 600 1L SNP

Mechanical section
Controller section
To find detailed controller information see the controller page.
TS-S
P. 11
Robot ordering method terminology

Model
Enter the robot unit model.
Lead
Select the ball screw lead.
Type
Brake
Show the robot type by the motor installation position.

(Only the straight type is currently available.)
Select Brake or No-brake.
Horizontal Operation: No-brake
Vertical Operation: With Brake
Origin position
Origin point position can be changed.
Grease option
Cleanroom grease can be selected.
Stroke
Select the stroke for the robot operating range.
Cable length
Select the robot cable length for connecting the robot to the controller.
1L: 1m (standard)
3L: 3m
5L: 5m
Controller
Controller for Transervo is TS-S.
I/O
Select the type of I/O desired or the field bus required.

NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Transervo Catalog-
SS04
CE compliance
Ordering method
SS04
S
Lead
12: 12mm
6: 6mm
2: 2mm
Model
Type
S: Straight
Brake
B: With brake
N: With no brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Stroke
50 to 400
(50mm pitch)
Cable length Note 1

1L: 1m
3L: 3m
5L: 5m
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
1. The robot cable is flexible and resists bending.
Basic specifications
Allowable overhang Note
W49 H59
Cable length (m)
Standard: 1 / Option: 3, 5
Horizontal installation (Unit: mm)

1kg
2kg
2kg
3kg
4kg
4kg
6kg
807
667
687
556
567
869
863
218
107
116
76
56
61
40
292
152
169
112
84
92
60
Wall installation
1kg
2kg
2kg
3kg
4kg
4kg
6kg
A
(Unit: mm)
274
133
149
92
63
72
39
204
93
102
62
43
48
29
776
611
656
516
507
829
789
Vertical installation (Unit: mm)

A
Lead 2 Lead 6 Lead 12
Maximum outside dimension

of body cross-section (mm)
Static loading moment
Step motor
+/-0.02
Ball screw 8 (Class C10)
0.27
12
6
2
600
300
100
2
4
6
1
2
4
45
90
150
50 to 400 (50mm pitch)
Stroke+216
Stroke+261
42
Motor
Repeatability Note 1 (mm)
Deceleration mechanism
Maximum motor torque (N.m)
Ball screw lead (mm)
Maximum speed (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
0.5kg
1kg
1kg
2kg
2kg
4kg
407
204
223
107
118
53
(Unit: N.m)
MY
16
MR
408
17
204
223
Controller
107
118 Controller Operation method
I/O point trace (BCD)
53 TS-S
C
MP
19
1. 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).
1. Positioning repeatability in one direction.
SS04
Approx. 200 (Cable length)
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
(55: When origin is on motor side)

55+/-2: When origin is on non-motor side
Effective stroke
2-3H7 Depth 6
4-M4 x 0.7 Depth 8
23+/-1 (Note 1)
59
58
32
L
L+45 (with brake)
15
49
50
A x 50
B-M5 x 0.8 Depth8
R
182.5 (with brake)

137.5
41
25
45
206+/-2 (with brake): When origin is on motor side

(206 with brake: When origin is on non-motor side)
51 (Slider top face)
174+/-1 (with brake) (Note 1)
12.5
33
(between knocks +/-0.02)
24
40.5
8 20.5
15
30.5
13
Effective stroke
L
A
B
C
Weight (kg) Note 4
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
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
4H7 ( +0.012
) Depth6
0
2
4 +0.02
Depth6
0
162.5
207.5 (with brake)
1. Stop positions are determined by the mechanical stoppers at both ends.

2. Secure the cable with a tie-band 100mm or less from units end face to prevent
the cable from being subjected to excessive loads.
3. The cables minimum bend radius is R30.
4. These are the weights without a brake. The weights are 0.2kg heavier when
equipped with a brake.
Transervo Catalog-
SS05
High lead: Lead 20
CE compliance
Ordering method
SS05
S
Lead
20: 20mm
12: 12mm
6: 6mm
Model
S
Brake Note 1
B: With brake
N: With no brake
Type
S: Straight
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Cable length Note 2

1L: 1m
3L: 3m
5L: 5m
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
Cable length (m)
W55 H56
4kg
6kg
4kg
8kg
10kg
413
334
347
335
503
332
344
139
67
72
47
78
37
29
218
120
139
95
165
79
62
2kg
4kg
4kg
6kg
4kg
6kg
8kg
A
(Unit: mm)
192
92
109
63
134
76
47
123
51
57
31
63
35
22
372
265
300
263
496
377
355

Lead 6 Lead 12
4kg
Wall installation

2kg

Motor
42 Step motor
+/-0.02
0.27
20
12
6
Maximum speed Note 2 (mm/sec) 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical
1
2
27
45
90
Stroke (mm)
Stroke+230
(mm)
Vertical
Stroke+270
0.5kg
1kg
1kg
2kg
578
286
312
148
579
286
312
148
(Unit: N.m)
MY
25
MP
33
MR
30
Controller
Controller Operation method
TS-S

2. When the stroke is longer than 650mm, 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.
SS05

140+/-1 (Note 1)
34

14+/-1 (Note 1)
Effective stroke
2-4H7 Depth 6
4-M4 x 0.7 Depth8
24
56
70
42
24
55
50
34
51

12.5
42
40.5
8 20.5
15
30.5
13
L
L+40 (with brake)
141.5 (with brake)
101.5
B-M6 x 1 Depth8
50
A x 50
4H7 ( +0.012
) Depth6
0
126.5
166.5 (with brake)
Effective stroke
50
L
280
A
3
B
4
C
100
Weight (kg) Note 3
2.1
Lead20
Maximum
speed for each Lead12
stroke Note 4
Lead6
(mm/sec) Speed setting
Transervo Catalog-
100
330
4
5
150
2.3
150
380
5
6
200
2.5
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
4 +0.02
0 Depth6
Note 1. Stop positions are determined by the

650 700 750 800
mechanical stoppers at both ends.
880 930 980 1030 Note 2. Secure the cable with a tie-band
100mm or less from units end face to
15
16
17
18
prevent the cable from being subjected
16
17
18
19
to excessive loads.
500 500 500 500 Note 3. The cables minimum bend radius is
4.4
4.6
4.8
5.0
R30.
933 833 733 633 Note 4. These are the weights without a brake.
The weights are 0.2kg heavier when
560 500 440 380
equipped with a brake.
280 250 220 190 Note 5. When the stroke is longer than 650mm,
resonance of the ball screw may occur
93% 83% 73% 63%
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.
SS05H
High lead: Lead 20
CE compliance
Ordering method
SS05H
S
Lead
20: 20mm
12: 12mm
6: 6mm
Model
Type
S: Straight
S
Brake Note 1
B: With brake
N: With no brake
Origin position
N: Standard
Z: Non-motor side
Grease option
N: Standard grease
C: Cleanroom grease
Cable length Note 2

1L: 1m
3L: 3m
5L: 5m
Stroke
50 to 800
(50mm pitch)
I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S
1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
6kg
8kg
6kg
8kg
10kg
12kg
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
2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg
(Unit: mm)
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
Lead 6 Lead 12
4kg
C
Lead 20
6kg
Lead 12
4kg
Wall installation
Lead 6
Lead 20
Lead 12
2kg
W55 H56

Lead 6

Cable length (m)
Motor
42 Step motor
+/-0.02
0.47
20
12
6
600
300
Maximum speed Note 2 Horizontal 1000
(mm/sec)
Vertical
500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical
2
4
36
60
120
Stroke (mm)
50 to 800 (50pitch)
Stroke+286
(mm)
Vertical
Stroke+306
1kg
2kg
2kg
4kg
458
224
244
113
459
224
245
113
(Unit: N.m)
MY
32
MP
38
MR
34
Controller
TS-S
SS05H
223.5: When origin is on motor side

(223.5: When origin is on non-motor side)
175.5+/-1 (Note 1)
43
14.5+/-1 (Note 1)
24
(62.5: When origin is on motor side)

62.5+/-2: When origin is on non-motor side
Effective stroke
2-4H7 Depth6
4-M5 x 0.8 Depth10
24
55
52
34
51
56
90
53
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
43
40.5
8 20.5
15
30.5
13
L
L+20 (with brake)
161.5 (with brake)
141.5
A x 50
B-M6 x 1 Depth8
R
50
Effective stroke
50
L
336
A
3
B
4
C
100
Note 4
Weight (kg)
2.4
Lead20

Maximum Lead12 (Horizontal)
speed for each
Lead12 (Vertical)
stroke Note 4
Lead6 (Horizontal)
(mm/sec)
Lead6 (Vertical)
100
386
4
5
150
2.6
150
436
5
6
200
2.8
200
486
6
7
250
3.0
250
536
7
8
300
3.2
300
586
8
9
350
3.4
350
636
9
10
400
3.6
1000
600
500
300
250
400
686
10
11
450
3.8
450
736
11
12
500
4.0
500
786
12
13
500
4.2
550
836
13
14
500
4.4
600
886
14
15
500
4.5
4 +0.02
0 Depth6
4H7 ( +0.012
) Depth6
0
166.5
186.5 (with brake)
650
936
15
16
500
4.7
933
560
700
986
16
17
500
4.9
833
500
280
250
Note 1. Stop positions are determined by

the mechanical stoppers at both
ends.
750 800 Note 2. Secure the cable with a tie-band
100mm or less from units end face
1036 1086
to prevent the cable from being
17
18
subjected to excessive loads.
18
19 Note 3. The cables minimum bend radius is
500 500
R30.
5.1
5.3 Note 4. These are the weights without
a brake. The weights are 0.2kg
733 633
heavier when equipped with a
440 380
brake.
440 380 Note 5. When the stroke is longer than
650mm, resonance of the ball
220 190
screw may occur depending on the
220 190
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.
Transervo Catalog-
SSC04
Cleanroom type
CE compliance
Ordering method
SSC04
S
Lead
Model
Type
12: 12mm
6: 6mm
2: 2mm
Brake
S: Straight
Direction of air
coupler installation
RJ: Right (Standard)
LJ: Left
B: With brake
N: With no brake
Origin position
Cable length Note 1
Stroke
N: Standard
Z: Non-motor side
50 to 400
(50mm pitch)
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
1L: 1m
3L: 3m
5L: 5m
S: TS-S
W49 H59
Cable length (m)

Degree of cleanliness
CLASS 10 Note 2
50
30
15
Intake air (N /min)
1.
4kg
807
667
687
556
567
869
218
107
116
76
56
61
292
152
169
112
84
92
6kg
863
40
60
2kg
2kg
3kg
4kg
Wall installation
(Unit: mm)
4kg
274
133
149
92
63
72
204
93
102
62
43
48
776
611
656
516
507
829
6kg
39
29
789
1kg
2kg
2kg
3kg
4kg
(Unit: N.m)


1kg

Motor
42 Step motor
+/-0.02
0.27
12
6
2
Maximum speed (mm/sec)
600
300
100
Horizontal
2
4
6
Maximum
payload (kg)
Vertical
1
2
4
45
90
150
Stroke (mm)
Stroke+216
(mm)
Vertical
Stroke+261
0.5kg
1kg
1kg
2kg
2kg
4kg
407
204
223
107
118
53
408
204
223
107
118
53
MY
16
MP
19
MR
17
Controller
TS-S
Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of

2. Per 1cf (0.1m base), when suction blower is used.
SSC04

124+/-1 (Note 1)
21

18+/-1 (Note1)
Effective stroke
24
2-3H7 Depth6
4-M4 x 0.7 Depth8

12.5
176 (with brake)

131
Mounting
direction: LJ
68
35
4)
(3
45
34.5
59
2-6 Suction air joint

Mounting direction:
RJ (Note 2)
15
49
(15)

0.5
33
40.5
8 20.5
15
30.5
13
41
25
L
L+45 (with brake)
182.5 (with brake)
137.5
A x 50
B-M5 x 0.8 Depth8
50
4H7( +0.012
) Depth 6
0
162.5
207.5 (with brake)
Effective stroke 50
L
266
A
2
B
C
Weight (kg) Note 5
3
50
1.5
100
316
3
150
366
4
200
416
5
250
466
6
300
516
7
350
566
8
400
616
9
4
100
1.6
5
150
1.7
6
200
1.8
7
250
2.0
8
300
2.1
9
350
2.2
10
400
2.3
Transervo Catalog-
4 +0.02
0 Depth 6
1. Stop positions are determined by the mechanical stoppers at both ends.

2. Either right or left can be selected for the suction air joint mounting direction.
This drawing shows the RJ (standard) direction.
3. Secure the cable with a tie-band 100mm or less from units end face to prevent the cable from
being subjected to excessive loads.
5. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
SSC05
Cleanroom type
CE compliance
Ordering method
SSC05
S
Lead
Model
20: 20mm
12: 12mm
6: 6mm
Type
Brake
S: Straight
Direction of air
LJ: Left
B: With brake
N: With no brake
Origin position
Cable length Note 1
Stroke
N: Standard
Z: Non-motor side
50 to 800
(50mm pitch)
1L: 1m
3L: 3m
5L: 5m
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
Controller
S: TS-S

A
Cable length (m)

W55 H56
4kg
4kg
6kg
4kg
8kg
10kg
413
334
347
335
503
332
344
139
67
72
47
78
37
29
218
120
139
95
165
79
62
Wall installation
2kg
4kg
4kg
6kg
4kg
6kg
8kg
A
(Unit: mm)
192
92
109
63
134
76
47
123
51
57
31
63
35
22
372
265
300
263
496
377
355

Lead 6 Lead 12

2kg
CLASS 10 Note 3
80
50
30
Intake air (N /min)
Motor
42 Step motor
+/-0.02
0.27
20
12
6
Maximum speed (mm/sec) Note 2 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical
1
2
27
45
90
Stroke (mm)
Stroke+230
(mm)
Vertical
Stroke+270
0.5kg
1kg
1kg
2kg
578
286
312
148
579
286
312
148
(Unit: N.m)
MY
25
MP
33
MR
30
Controller
TS-S
1. Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of

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.
SSC05
30.5
13

140+/-1 (Note 1)
2-4H7 Depth6
4-M4 x 0.7 Depth8
24
14+/-1(Note 1)
Mounting
direction: LJ
4)
(3
51
36
(17)
56

Mounting direction:
RJ (Note 2)

178 (with brake)
138
70
42
24
55

(0.5)
12.5
42 (between
knocks +/-0.02)
40.5
15
34
8 20.5

Effective stroke
53
50
34
L
L+40 (with brake)
141.5 (with brake)
101.5
50
A x 50
B-M6 x 1 Depth8
4H7 ( +0.012
) Depth 6
0
126.5
166.5 (with brake)
Effective stroke
50
L
280
A
3
B
4
C
100
Weight (kg) Note 5
2.1
Maximum speed Lead 20
for each stroke Lead 12
(mm/sec) Note 6 Lead 6
100
330
4
5
150
2.3
150
380
5
6
200
2.5
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
4 +0.02
0 Depth 6
450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
680 730 780 830 880 930 980 1030
Note 2. Either right or left can be selected for suction air
11
12
13
14
15
16
17
18
joint mounting direction. This drawing shows the RJ
(standard) direction.
12
13
14
15
16
17
18
19
500 500 500 500 500 500 500 500 Note 3. Secure the cable with a tie-band 100mm or less
from units end face to prevent the cable from being
3.6 3.8 4.0 4.2 4.4 4.6 4.8 5.0
subjected to excessive loads.
933 833 733 633 Note 4. The cables minimum bend radius is R30.
560 500 440 380 Note 5. These are the weights without a brake. The weights
are 0.2kg heavier when equipped with a brake.
280 250 220 190
Note 6. When the stroke is longer than 650mm, 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.
Transervo Catalog-
SSC05H
Cleanroom type
High lead: Lead 20
CE compliance
Ordering method
SSC05H
S
Lead
Model
Type
20: 20mm
12: 12mm
6: 6mm
Brake
S: Straight
Direction of air
LJ: Left
B: With brake
N: With no brake
Origin position
Cable length Note 1
Stroke
N: Standard
Z: Non-motor side
50 to 800
(50mm pitch)
Controller
1L: 1m
3L: 3m
5L: 5m
S: TS-S
Input/Output
selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNet
4kg
6kg
8kg
Lead 6
6kg
8kg
10kg
12kg
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
2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg
A
(Unit: mm)
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

Lead 6 Lead 12
6kg
Lead 20
4kg
Wall installation
Lead 12
Lead 12
Lead 20

2kg
Lead 6
Motor
42 Step motor
+/-0.02
0.47
20
12
6
600
300
Maximum speed Note 2 Horizontal 1000
(mm/sec)
Vertical
500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical
2
4
36
60
120
Stroke (mm)
Stroke+286
(mm)
Vertical
Stroke+306
W55 H56
Cable length (m)
CLASS 10 Note 3
Intake air (N /min)
80
50
30
1kg
2kg
2kg
4kg
458
224
244
113
459
224
245
113
(Unit: N.m)
MY
32
MP
38
MR
34
Controller
TS-S
1. Distance from center of slider upper surface to conveyor center-of-gravity at a guide service life of

SSC05H
223.5+/-2: When origin is on motor side

(223.5: When origin is on non-motor side)
Effective stroke
175.5+/-1 (Note 1)
2-4H7 Depth6
4-M5 x 0.8 Depth10
14.5+/-1 (Note 1)
24
43
(62.5 When origin is on motor side)

62.5+/-2: When origin is on non-motor side
43 (between
knocks +/-0.02)
40.5
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)
90
53
36
51
56

Mounting direction:
RJ (Note 2)
(17)
24
55

(0.5)
214 (with brake)

194
Mounting
direction: LJ
12.5
(
34
8 20.5
15
30.5
13
55
52
34
L
L+20 (with brake)
161.5 (with brake)
141.5
A x 50
B-M6 x 1 Depth8
50
4H7 ( +0.012
) Depth6
0
166.5
186.5 (with brake)
Effective stroke
L
A
50
336
3
100
386
4
150
436
5
200
486
6
250
536
7
300
586
8
350
636
9
B
4
C
100
Note 5
Weight (kg)
2.4
Lead 20

Maximum speed Lead 12 (Horizontal)
for each stroke Lead 12 (Vertical)
(mm/sec) Note 6 Lead 6 (Horizontal)
Lead 6 (Vertical)
5
150
2.6
6
200
2.8
7
250
3.0
8
300
3.2
9
350
3.4
10
11
400 450
3.6 3.8
1000
600
500
300
250
Transervo Catalog- 10
400
686
10
450
736
11
500
786
12
550
836
13
600
886
14
650
936
15
700 750 800

986 1036 1086
16
17
18
12
13
14
15
16
17
18
500 500 500 500 500 500 500
4.0 4.2 4.4 4.5 4.7 4.9 5.1
933 833 733
560 500 440
440
280 250 220
220
4 +0.02
0
Depth 6
19
500
5.3
633
380
380
190
190
1. Stop positions are determined by the

mechanical stoppers at both ends.
2. Either right or left can be selected for the
suction air joint mounting direction. This
drawing shows the RJ (standard) direction.
3. Secure the cable with a tie-band 100mm or
less from units end face to prevent the cable
from being subjected to excessive loads.
5. These are the weights without a brake. The
weights are 0.2kg heavier when equipped with
a brake.
6. When the stroke is longer than 650mm,
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.
TS-S

Robot Positioner
TS series
Dedicated I/O point tracing
TS-S is a single axis, incremental, BCD digital I/O controlled robot controller for the Transervo series
actuators. Teaching the TS controller is simple using TS-Manager software allowing the user to save up
to 255 positions in a point table. BCD digital I/O input from a master controller such as a PLC can be used
to move the robot to these predefined points. The TS-S is capable of position or torque based motion
profiles, which are executed closed-loop.
Features
1 Main operation patterns
Position
Current position
P1
Moves from the current position

to a distance specif ied in point
data and completes positioning.
P1
Pushing starts after decelerating

at a distance equal to Near width
(N) from the target position.
Setting items
2 Position
3 Speed
4 Accel.
5 Decel.
6 Push
7 Zone (-)
8 Zone (+)
9 Near width
10 Jump
11 Flag
P2
Settings such as acceleration, deceleration, zone output

range, and position margin zone can be set for each point.
Different operations can be easily specified by combining
these settings with the above operation patterns.
1 Run type
P1
Moves to multiple points in

succession. If different speeds were
set, then the speeds are changed
without decelerating and stopping to
continue point-to-point operation.
Decelerates and then

pushes
2 Detailed data can be set for each point
Setting item
Changes speed with no

deceleration
Description
Specifies motion profiles such as ABS, INC,
positioning, push, and point-to-point merging.
Specifies position or distance to move.
Specifies maximum speed during operation.
Specifies acceleration during operation.
Specifies deceleration during operation
(Percentage of acceleration)
Specifies motor current limitation during
pushing operation.
Specifies upper and lower limits of personal
zone for each point data.
Specifies position margin zone where near
width output should turn on.
Specifies next movement destination after positioning
or merging destination for point-to-point operation.
Specifies stop mode and others.
Note:Acceleration and deceleration can be set in easy-to-understand percentage (%) units

(standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time.
Output turns ON when a

specified zone is entered
ON
OFF
P1
Zone for external I/O output can

be set for each point.
Near width output
P1
Moves while pushing at a preset

push force.
Pushing after decelerating
Pushing operation
Pushes at a fixed thrust
Moves a specified distance

from the current position
Output pattern
Zone output
P1
Moves to the target position relative

to the origin point and completes
positioning.
INC (incremental) operation
Speed
ABS (absolute) operation
Moves to a specified
coordinate position.
Merge operation
Merge operation
Normal operation
Specify position margin

zone.
P1
Near width output zone can be set for

each point as a position margin zone where
positioning complete signal is to be output.
3 Maximum acceleration auto setting

Acceleration is a critical parameter that determines how
long the robot can continue operating (or service life).
In worst cases, setting the acceleration too high may
cause the robot to breakdown after a short time.
On the TS series, the maximum acceleration is finely set by
taking into account the service life span of the motor output and
the guide for each robot model and payload. This eliminates
any worry about setting the acceleration too high by mistake.
4 Full range of monitor functions

The TS-Manager software developed exclusively for the
TS series not only does data write, edit, backup tasks and
parameter settings but also comes loaded with cycle-time
motion simulator, and four channel oscilloscope.
A run-distance monitor for maintenance use is provided
as a standard unit feature. Design emphasizes easy,
user-friendly operation.
Typical Oscilloscope
Feedback
Position
Speed
Current
Load factor
Voltage
Temperature
Input information
Output information
TS-S Robot Positioner

Instruction manuals can be downloaded from our company website.
http://www.yamaharobotics.com/Business/robot/Manuals
Model Overview
Name
Power
Operating method
Maximum number of controllable axes
Position detection method
Controllable robot
Support software for PC
TS-S
DC24V +/-10%
I/O point tracing (BCD)
Single-axis
Incremental
Compact single-axis robot TRANSERVO
TS-Manager
Ordering method
TS-S
TS-S
Controller
I/O
NP: NPN
PN: PNP
CC: CC-LINK
DN: DeviceNet
General specifications Options External input/output
Points
Axis control
TS-S basic specifications

Item
Model
Number of controllable axes
Controllable robots
Maximum power consumption
Dimensions
Weight
Input power Control power supply
supply
Motor power supply
Operating method
Operation types
Position detection method
Resolution
Origin search method
Points
External communications
Safety circuit
TS-S
Single-axis
TRANSERVO series
70VA
W30 H162 D82mm
Approx. 0.2kg
DC24V +/-10%
DC24V +/-10%
I/O point tracing (BCD)
Positioning, merge-positioning, push, and jog operations
Resolver
20480 Pulses/Revolutions
Incremental
255 points
(1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
(2) Custom setting: Set speed and acceleration in SI units.
Manual data input (coordinates input), Teaching, Direct teaching
Selectable from the following: NPN, PNP, CC-Link, DeviceNet
Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), manual
mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+),
Point number selection (PIN0 to PIN7)
Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY),
control outputs (OUT0 to 3), Point number output 0 to 7 (POUT0 to POUT7)
RS-232C 1CH (for programming only)
Emergency stop input (2 contact points), main power supply ready output
Handy terminal
HT1, HT1-D (with enable switch)
Support software for PC
TS-Manager
Operating temperature
Storage temperature
Operating humidity
0C to 40C
-10C to 65C
35% to 85%RH (non-condensing)
Indoor location not exposed to direct sunlight. No corrosive , flammable gases, oil mist, or dust
particles
All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
Positioning detection error, power module error, temperature abnormality, overload, overvoltage,
low voltage, gross position error
Point type setting

Point teaching method
I/O interface
Input
Output
Atmosphere
Anti-vibration
Protective functions
Robot Positioner TS-S

TS-S part names
TS-S dimensions
5
Controller
Status indicator lamps

(PWR, ERR)
The controller status is indicated
by LED lamps.
Communication
connector 2 (COM2)
Not used at present
(for future expansion)
30
(70)
82
25
4.5
152
Robot I/O connector (ROB I/O)

Dedicated connector for robot I/O
signals such as position signals
and origin sensor signals, etc.
152
Communication connector 1
(COM1)
Connector for connection to HT1
or a personal computer.
162
Serial No.
I/O connector (I/O)

Selectable at time of purchase as:
NPN,PNP, CC-LINK or DeviceNet.
NPN type input / output wiring diagram
PNP type input / output wiring diagram
TS-S
TS-S
Controller
I/O(NPN)
+COM
Emergency stop contact 1

Emergency stop contact 2
Emergency stop READY signal
Main power input
Control power input 24V DC
ES1
ES2
ESMP24V
CP24V
Power supply 0V
Frame ground
0V
FG
PIN0
PIN 0 to 7
Point No. selection
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
JOG movement (+)

JOG movement (-)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
-COM
I/O power common
Control outputs
OUT 0 to 3
Operation-in-progress
End-of-operation
Alarm
Servo status
Point No. outputs

POUT 0 to 7
POUT7
OUT0
OUT3
BUSY
END
/ALM
SERVO-S
DC24V
I/O power + common
POUT0
Power connector
4.5
Rating nameplate
(on side face of unit body)
Power supply connector

Connector for main power and
control power input.
Emergency stop circuit example

TS-S (power connector and host unit connection example)
Controller
COM1
Handy Terminal
External
emergency stop
External 24V
ES1
ES2
ES-
ES
Status
MP24V
CP24V
0V
RY
External 0V
FG
Internal
GND
External 0V
TS-S Robot Positioner

Instruction manuals can be downloaded from our company website.
http://www.yamaharobotics.com/Business/robot/Manuals
I/O Specifications
NPN type I/O circuit details
Item
Input circuit
Description
Input 16 points, 24VDC +/-10%, 5.1mA/point, positive common

NPN
Output 16 points, 24VDC +/-10%, 50mA/point, sink type
Input 16 points, 24VDC +/-10%, 5.5mA/point, minus common
PNP
Output 16 points, 24VDC +/-10%, 50mA/point, source type
CC-Link
CC-Link Ver.1.10 compatible, Remote station device (1 node)
DeviceNet DeviceNet Slave 1 node
+COM
DC24V
4.7k
Input
Internal
circuit
Logic
circuit
-COM
I/O signals (NPN / PNP)
+COM
NC
NC
PIN0
PIN1
PIN2
PIN3
PIN4
PIN5
PIN6
PIN7
JOG+
JOGMANUAL
ORG
/LOCK
START
RESET
SERVO
POUT0
POUT1
POUT2
POUT3
POUT4
POUT5
POUT6
POUT7
OUT0
OUT1
OUT2
OUT3
BUSY
END
/ALM
SRV-S
NC
NC
-COM
Description
Input power + common (Not internally
connected, apply power to both pins)
Type : DC input (plus common type)

Photo-coupler isolation format
Load : 24VDC +/- 10%, 5.1mA
OFF voltage : 19.6Vmin (1.0mA)
ON voltage : 4.9Vmax (4.0mA)
Use prohibited
Output circuit
+COM
Point No. select (BCD)
Output
Internal
circuit
Logic
circuit
Load
DC24V
Inputs
Signal name
-COM
JOG movement (+ direction)

JOG movement (- direction)
MANUAL mode
Return-to-origin
Interlock
Start
Reset
Servo ON
Type : NPN open collector output

(Minus common type)
Load : 24VDC, 50mA/point
PNP type I/O circuit details

Input circuit
+COM
Point No. outputs (BCD)
Input
Internal
circuit
Logic
circuit
DC24V
Outputs
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
4.7k
-COM
Control outputs
Type : DC input (minus common type)

Load : 24VDC +/- 10%, 5.5mA
ON voltage : 19.6Vmin (4.5mA)
OFF voltage : 4.9Vmax (1.1mA)
Operation-inprogress
Operation-end
Alarm
Servo status
Output circuit
Use prohibited
Input power - common (Not internally
connected, apply power to both pins)
+COM
DC24V
Internal
circuit
Logic
circuit
Output
-COM
Type : PNP open collector output

(Plus common type)
Load : 24VDC, 50mA/point
Load
Robot Positioner TS-S

Accessories and part options
Standard accessories
Power connector
Dummy connector
I/O cables (2m)
Model
Model
Model
KCC-M4421-00
KCA-M5163-00
KCA-M4421-20
Options
Teach Pendant HT1 / HT1-D
Support software TS-Manager
Has graphic LCD display with backlight for easy viewing. Besides data writing, editing and backup functions,
the TS-Manager also offers cycle time simulation
and various types of monitor functions.
HT1
Data cables
TS-Manager data cable.
Select from USB cable or D-sub cable.
HT1-D
USB
HT1
HT1-D
Model
KCA-M5110-0E KCA-M5110-1E
Model
Enable
switch
CE marking Not supported
KCA-M4966-00
Model
D-Sub
USB type (5m)

KCA-M538F-A0
D-Sub type (5m) KCA-M538F-00
3-position
Applicable
P. 16
TS-Manager environment
OS
CPU
Memory
Hard disk
Communication port
Applicable controllers
Microsoft Windows 2000/XP/Windows Vista/Windows 7

Exceeding the environment recommended by the OS being used
Exceeding the environment recommended by the OS being used
Vacant capacity of more than 20MB in the installation destination drive
Serial (RS-232C), USB
TS-S
1. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
P. 17
HT1/HT1-D
TS-S
TS-X
TS-P
This Teach Pendant is a device that can perform any operation such as robot manual operation, point data edit, teaching, and parameter
setting, etc. Has graphic LCD display with backlight for easy viewing.
HT1 / HT1-D basic specifications

Name
HT1
HT1-D
External view
Japanese specifications
Model
English specifications
Display
Operation keys
Emergency stop button
Enable switch
Safety connector
CE marking
Operating temperature
Operating humidity
Dimensions
Weight
Cable length
TS-S, TS-X, TS-P

KCA-M5110-0J
KCA-M5110-1J
KCA-M5110-0E
KCA-M5110-1E
Dot matrix monochrome display (with backlighting) 32 characters 10 lines
Mechanical switch
Normally closed contact point (with lock function)
3-position
15 pin D-sub connector (male)
Not supported
Applicable
0C to 40C
35% to 85%RH (non-condensing)
W88 H191 D45mm (Emergency stop button not included.)
260g (not including cable)
300g (not including cable)
3.5m
Part names and function
HT1-D rear side
Strap holder
Attaching a short strap
or necklace strap here
prevents dropping the
HT1 while operating it
or installing it onto
equipment.
LCD screen
This is a liquid crystal
display (LCD) screen
with 32 characters 10
lines (pixel display),
showing the operation
menus and various
types of information.
Data edit keys

Use these keys to
select menus and edit
various data.
Connector cable
This cable connects to
the controller. One end
of this cable is
terminated with an 8-pin
MD connector (male).
Plug this cable into the
COM1 connector on the
controller front panel.
Safety connector
(only on HT1-D)
Emergency stop button
Pressing this button
during operation
immediately stops robot
movement. To release
this button, turn it
clockwise.
Releasing this button
also cancels
emergency stop.
Run/stop keys
Use these keys to
operate the robot for
teaching or positioning,
or to stop operation.
The
and
keys are
also provided to move
the robot in jog mode.
Enable switch
(only on HT1-D)
Use with remote safety

circuits triggered by the
emergency stop button or
enable switch.
This switch is effective for

use with remote safety
circuits. This switch cuts off
the circuit when pressed or
released but allows circuit
operation when in the
middle position.
TS-Manager
TS-S
TS-X
TS-P
Besides basic functions, such as point data edit and backup, support software TS-Manager incorporates various convenient functions for
analysis and debugging the system efficiently. The TS-Manager helps you with application motion profiles, system setup and saving system
parameters.
Features
1 Basic functions
Detailed settings by point, such as the position information, operation pattern, speed, acceleration, and deceleration settings, and robot parameter
settings can be set, edited, and backed up. Additionally, the basic operation of the robot, such as JOG movement or inching operation can also be
controlled through the TS-Manager.
JOG movement, inching

operation, and current position
acquisition buttons.
Only clicking relevant icon will

show the operation panel or I/O
monitor.
Turns ON or OFF the operation

point monitoring.
Shows the data in easy-to-read
tabular format.
Exchanging data with a
spreadsheet application, such
as Excel is also easy.
Shows the servo or emergency

stop status, and operation mode.
Shows the current position at
real-time.
Operation panel for servo status,

brake ON/OFF, and stop.
Note. Excel is a registered trademark of Microsoft Corporation in the United States and/or other countries.
2 Four Channel Oscilloscope (Real-time trace)

This function traces the current position, speed, load factor, current
value, and voltage value at real-time. Additionally, as trigger conditions
are set, data can be automatically obtained when these conditions are
satisfied. Furthermore, as a zone is specified from the monitor results,
the maximum value, minimum value, and average value can be calculated. These values are useful for the analysis if a trouble occurs.
Specify a zone
for calculation.
Real-time traceable items (up to four items)

Voltage value
Current value
Motor load factor
Command speed
Current speed
Internal temperature
Command current value Present current value Input/output I/O status
Word input/output status
Traces data at real-time.
3 Various monitor functions and detailed error logs

The robot operation status (operation mode or servo status) and I/O status can be monitored.
Additionally, the Alarm Log screen also displays the input/output I/O
status in addition to the carrier position, speed, operation status, current
value, and voltage value in case of an alarm. This greatly contributes to
the status analysis.
I/O status monitor panel
Detailed status monitor panel
Calculates the
maximum value,
minimum value,
average value,
and root mean
square value in
a specified zone.
4 Operation simulation
As the operation condition data or point data is input, a period of time
necessary for operation is simulated.
Use of this function makes it possible to select an optimal model before
purchase and simulate the speed and acceleration/deceleration settings
without use of actual machine.
It is also possible to link this operation simulation function with the TSManager main software. This easily affects the point data you have edited in the actual machine.
Point data list
Operation setting list
Displays the detailed simulation

results graphically.
Result display list
Field network system with minimal wiring

Field network system with minimal wiring
NETWORK
TS-S
TS-X
TS-P
Network modules CC-Link

Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S .
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to save wiring of the entire system, which contributes to
efficient wiring work, reduction of installation and maintenance costs, etc.
16 input/outputs usable as I/O.
Operation occurs as a CC-Link remote device station,
on a one-unit to one-station basis.
Basic specifications for network modules CC-Link

Item
Version supporting CC-Link
Remote node type
Number of occupied nodes
Node number setting
Communication speed setting
No. of CC-Link inputs/outputs
Shortest distance between nodesNote1
Overall extension distanceNote1
Remote commands can read or write point data and

load each type of status.
Monitor LED
Network modules CC-Link

TS-S, TS-X, TS-P
Ver. 1.10
Remote device node
1 node
1 to 64
10Mbps, 5Mbps, 2.5Mbps, 625Kbps, 125Kbps
Input 16 points , Output 16 points
0.2m or more
100m/10Mbps, 160m/5Mbps, 400m/2.5Mbps, 900m/625Kbps,
1200m/156Kbps
L RUN, L ERR, SD, RD
1. These values apply when a cable that supports CC-Link Ver.1.10 is used.
Network modules DeviceNet

Option unit with networking functions that can be incorporated in YAMAHA robot controllers, TS-S .
As connection of the robot system and the sequencer
requires only one (4-wire) dedicated cable, it is possible
to reduce wiring of the entire system, which contributes
to efficient wiring work, reduction of installation and
maintenance costs, etc.
16 input/outputs usable as I/O.
Operate as slave stations, with each unit occupying 6
input and 6 output channels.
Remote commands can read or write point data and
load each type of status.
Basic specifications for network modules DeviceNet

Item
Applicable DeviceNet specifications
Device type
Number of occupied CH
MAC ID setting
Communication speed setting
DeviceNet inputs/outputs
Overall extension distance
Network Branch length
length
Overall branch length
Monitor LED
Network modules DeviceNet

TS-S, TS-X, TS-P
Volume 1 Release2.0/Volume 2 Release2.0
Generic Device (device number 0)
Input 6ch, Output 6ch
0 to 63
500Kbps, 250Kbps, 125Kbps
Input 16 points, Output 16 points
100m/500Kbps, 250m/250Kbps, 500m/125Kbps
6m or less
39m or less/500Kbps, 78m or less/250Kbps,
156m or less/125Kbps
Module, Network
Other Yamaha Robots compatible with TS-Manager Software Support
FLIP-X SERIES
YAMAHA X series single-axis ball screw & timing belt driven robots
This single-axis robot series includes many models of 7 types and 37 variations for a wide
range of applications. Each model incorporates space-saving design and uses a built-in
direct drive motor. A battery backup is included to retain the absolute resolver feedback
position when the robot is powered down. Cleanroom units are also available.
RAIL TYPE,
COMPACT SIZE
T4H
T5H
T6
T9 (Shown)
CLEANROOM
C4H
C5H
C6
C8/C8L/C8LH
C10
C14 (Shown)/C14H
C17/C17L
C20
ROTATION AXIS
R5
R10 (Shown)
R20
NUT ROTATION
N15/N15D (Shown)
N18/N18D
PHASER SERIES
FRAME TYPE,
HIGH PAYLOAD
F8/F8L/F8LH
F10 (Shown)
F14/F14H
F17/F17L
F20/F20N
TS-X
Single axis
absolute
robot positioner
TIMING BELT DRIVE

B10 (Shown)
B14/B14H
YAMAHA linear motor single-axis robots

PHASER series robots use a compact-size linear motors which provides high
thrust, high performance, +/-5 m repeatability, 3G maximum acceleration and
2500 mm/sec maximum speed.
ALL MODELS SUPPORT INDIVIDUALLY-DRIVEN, DOUBLE-CARRIAGE OPTIONS
MR
ROUND CORE LINEAR

MOTOR, COMPACT SIZE
MR12/MR12D
MR16/MR16D
MR20/MR20D
MR25/MR25D
TS-P
Single axis
semi-absolute
robot positioner
MF
FLAT CORE LINEAR MOTOR,

LONG TRAVEL, HIGH POWER
MF15/MF15D
MF20/MF20D
MF30/MF30D
MF50/MR50D
OTHER YAMAHA ROBOTS
Phaser Series
MF Type
SCARA Robots
YK-XG Series
Flip-X Series
Pick & Place Robots

YP-X Series
Cartesian Robots
Series XY-X
Specifications and appearance are subject to change without prior notice. (July 2010)
qty -? 5/10 8094

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Linear Servos

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Available Formats

YAMAHA Single-Axis Actuators

Stepping Servo (SS04 / SSC04 / SS05 / SSC05 / SS05H / SSC05H)

The TRANSERVO by YAMAHA!

YAMAHA S series single-axis ball screw driven robots

No payload limitations due to high speed usage

Basic operation is the same as a servo motor, but with the

Resolver is used for position feedback

Position detection is stable even in harsh environments with

Utilizes a 4-row circular arc groove

TS-S is a single axis, incremental, BCD digital I/O

TRANSERVO easy selection table

Maximum payload (kg)

Detailed info page

Standard type: SS04

Cleanroom type: SSC04

Standard type: SS05

Cleanroom type: SSC05

Standard type: SS05H

Cleanroom type: SSC05H Cleanroom type P. 10

The Yamaha TRANSERVO Benefits

Simple design & low cost

Combines the best features of both types!

High-speed operation slashes production time!

Must use only

Environmentally rugged resolver provides closed loop control

The resolver used for detecting the motor position is the

The resolver is a magnetic position detector. Its

Ideal 4-row circular-groove guide provides long service life

A newly developed rail guide is employed, with a 4-row

TRANSERVO SPECIFICATION SHEET

Stroke (mm) and maximum speed (mm/sec)

Robot ordering method description

Input /Output selection NPN

SS05 06SB NN 600 1L SNP

To find detailed controller information see the controller page.

Robot ordering method terminology

Enter the robot unit model.

Select the ball screw lead.

Show the robot type by the motor installation position.

Origin point position can be changed.

Cleanroom grease can be selected.

Select the stroke for the robot operating range.

Controller for Transervo is TS-S.

Select the type of I/O desired or the field bus required.

Cable length Note 1

1. The robot cable is flexible and resists bending.

Allowable overhang Note

Cable length (m)

Horizontal installation (Unit: mm)

Vertical installation (Unit: mm)

Maximum outside dimension

Static loading moment

Lead 2 Lead 6 Lead 12

Lead 2 Lead 6 Lead 12

1. Positioning repeatability in one direction.

161+/-2: When origin is on motor side

(55: When origin is on motor side)

182.5 (with brake)

206+/-2 (with brake): When origin is on motor side

51 (Slider top face)

174+/-1 (with brake) (Note 1)

1. Stop positions are determined by the mechanical stoppers at both ends.

High lead: Lead 20

Cable length Note 2