Single Axis Positioner TS-SH Industrial Robots | Robot Controller

Single Axis Positioner TS-SH
Daisy Chain
16 units
Auto Max


01 Long-awaited model applicable to the absolute is released in the robot positioners dedicated to the TRANSERVO Series.

Easy positioning operation can be performed only by specifying a point number and inputting the start command. As the absolute specifications are selected, no return-to-origin is needed. This reduces a period of time until the equipment starts after turning on the power.

02 Available for all TRANSERVO series models.

  • TSH Robot Positioner
  • STH Type (Slider table type)
  • RF type (rotary type)
  • BD Type (Belt type)
  • SS Type (Slider Type)
  • SR Type (Rod Type)

03 Main operation patterns

04 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.

05 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.

06 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)

* EtherNet/IP will be supported from August, 2013.

07 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".

08 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.

  • Real-time trace
  • Various monitor functions and detailed error logs
  • Operation simulation


Controllable robot TRANSERVO series
Consumption current Rating 3.5A (Max. 6.5A)
Dimensions W30 x H162 x D123mm
Main unit weight Approx. 0.3kg
Control power supply DC24V +/-10%
Main power supply DC24V +/-10%
Control method Closed loop vector control method
Position detection method Resolver with multi-turn absolute function (resolution: 20480 P/r) *1
Operation method Positioning operation by specifying point number, direct positioning command
Operation type Positioning operation, positioning linked operation, pushing operation, jog operation
Number of points 255 points
Point type setting (1) Standard setting: Set a ratio (%) to the maximum level for the speed or acceleration.
(2) Custom setting: Set the speed or acceleration in the SI unit sy stem.
Point teaching method Manual data input (coordinate value input), teaching, direct teaching
I/O interface Select a desired interface from NPN, PNP, CC-Link, DeviceNet, and EtherNet/IP.
Input Servo ON (SERVO), reset (RESET), start (START), interlock (/LOCK), return-to-origin (ORG), manual mode (MANUAL), jig movement - (JOG-), jog movement + (JOG+), point number selection (PIN0 to PIN7)
Output Servo state (SRV-S), alarm (/ALM), operation end (END), operation executing (BUSY), control output (OUT0 to 3), point number output 0 to 7 (POUT0 to POUT7)
Communication RS-232C 1CH
Emergency stop circuit Emergency stop input, emergency stop contact output (1 system: HT1 is used.)
Protection function Position detection error, temperature error, overload, overvoltage, low voltage, excessive position deviation, overcurrent, motor current error, motor faulty wiring, excitation power failure error
Operating ambient temperature and humidity 0 to 40°C, 35 to 85%RH (No dew condensation allowed.)
Storage ambient temperature and humidity -10 to 65°C, 10 to 85%RH (No dew condensation allowed.)
Atmosphere Indoor place where the positioner is not exposed to the direct sunlight.
There shall be no corrosive and flammable gas, oil mist, and dust.
Vibration resistance In each of X, Y, and Z directions 10 to 57Hz, half amplitude 0.075mm,
57 to 150Hz, 9.8m/s2
Absolute backup battery Lithium battery
Absolute backup period Approx. 1 year (non-energizing state)

*1 This value may vary depending on the model.

External View

External View

Single Axis Positioner TS-SH | Industrial Robots | Robot Controller