Robot Positioner TS-S2 Industrial Robots | Robot Controller

Robot Positioner TS-S2
Multi I/O


01 Available for all TRANSERVO series models.

02 Main operation patterns

03 Detailed data can be set for each point

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.

Setting items
Setting item Description
1 Run type Specifies operation pattern such as ABS, INC, positioning, push, and point-to-point link.
2 Position Specifies position or distance to move.
3 Speed Specifies maximum speed during operation.
4 Accel. Specifies acceleration during operation.
5 Decel. Specifies deceleration during operation (Percentage of acceleration)
6 Push Specifies motor current limitation during pushing operation.
7 Zone (−) Specifies upper and lower limits of "personal zone" for each point data.
8 Zone (+)
9 Near width Specifies position margin zone where "near width" output should turn on.
10 Jump Specifies next movement destination after positioning or linked destination for point-to-point operation.
11 Flag Specifies stop mode and others.

* 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.

04 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.

05 Applicable to EtherNet/IP.

Select from the following I/O types to match the host controller specifications. All hardware is built into the positioner unit so cabling and wire hookups are easy.

Item Description
NPN Input: 16 points, 24VDC +/- 10%, 5.1mA/point, positive common
Output: 16 points, 24VDC +/- 10%, 50mA/point, sink type
PNP Input: 16 points, 24VDC +/- 10%, 5.1mA/point, negative common
Output: 16 points, 24VDC +/- 10%, 50mA/point, source type
CC-Link Supports CC-Link Ver. 1.10, remote device station (1 station)
DeviceNet DeviceNet slave node
EtherNet/IP* EtherNet/IP adapter (2 port)

06 Up to 16 controllers can be connected. (Daisy chain function)

As the TS series controllers are connected through the daisy chain, the data designing or monitoring of a desired controller can be made through one personal computer or handy terminal. Since the daisy chain is applicable to not only "TS-S2" and "TS-SD" dedicated to the TRANSERVO, but also "TS-X" and "TS-P" applicable to higher-grade models, it can be connected to all YAMAHA single axis robots. This is very convenient when many more robots are used. * "TS-SD" cannot use the HT1 and touch panel display "Pro-face".

07 Support software common to the TS series "TS-Manager"

TS series not only does data write, edit, backup tasks and parameter settings but also comes loaded with cycle-time, simulator, and monitor functions of all types. A run-distance monitor for maintenance use is provided as a standard unit feature. Design emphasizes easy, user-friendly operation.


Model TS-S2
Basic Specification
Number of controllable axes Single-axis
Controllable robots TRANSERVO series (ALL models)
Power capacity 70 to 110VA
Dimensions W30 x H162 x D82mm
Weight Αρρrox. 0.2Kg
Input power supply Control power supply DC24V +/-10% maximum
Motor power supply DC24V +/-10% maximum
Axis control
Control method Closed loop vector control method
Operating method I/O point tracing (Positioning operation by specifying point number) / Remote command
Operation types Positioning, merge-positioning, push, and jog operations
Position detection method Resolver
Resolution 4096P/rev, 20480 P/rew*1
Origin search method Incremental
Points 255 points
Point type setting (1) Standard setting: Set speed and acceleration in percent of the respective maximum settings.
(2) Custom setting: Set speed and acceleration in SI units.
Point teaching method Manual data input (coordinates input), Teaching, Direct teaching
External input/output
I/O interface Selectable from the following: NPN, PNP, CC-Link, DeviceNet, EtherNet/IP*2
Pulse train command input -
Input Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK) origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog motion + (JOG+), Point number selection (PINO to PIN7)
Output Servo status (SRV-S), alarm (/ALM), operation end (END), operation in-progress (BUSY), control outputs (OUTO to 3), Point number output 0 to 7 (POUTO to POUT7)
External communications RS-232C 1CH
Safety circuit Emergency stop input, emergency stop contact output (1 system: When the HT1 is used.)
Handy terminal HT1, HT1-D (with enable switch)
Support software for PC TS-Manager
General specifications
Operating temperature / Operating humidity 0°C to 40°C, 35% to 85%RH (non-condensing)
Storage temperature / Storage humidity -10°C to 65°C, 10% to 85%RH (non-condensing)
Atmosphere Indoor location not exposed to direct sunlight. No corrosive, flammable gases, oil mist, or dust particles
Anti-vibration All XYZ directions 10 to 57Hz unidirectional amplitude 0.075mm 57 to 150Hz 9.8m/s2
Protective functions Positioning detection error, power module error, temperature abnormality,
overload, overvoltage, low voltage, gross position error

*1 Resolution is different each model.
*2 EtherNet/IP will be supported from August, 2013.

Robot Positioner TS-S2 | Industrial Robots | Robot Controller