Release of the new STH, RF and BD Type Yamaha "TRANSERVO" models

February 27, 2013

Yamaha Motor Co., Ltd. has developed three new models for its "TRANSERVO" series of single-axis robots with stepping motors. The new models will be released for sale in late March 2013.

Until now, Yamaha Motor's TRANSERVO series of compact, low-cost industrial robots (actuators) employing stepping motors have been offered in two types: the slider spec "SS Type" and rod spec "SR Type." Now, the new slide-table spec "STH Type," rotary spec "RF Type" and belt spec "BD Type" will fill out the lineup of TRANSERVO models available.

Among the wide range of electric-powered devices required in today's manufacturing facilities, these additions to the lineup will provide solutions for a wider range of customer needs. Because these new models can be coupled with the same "TS-S" robot positioner (controller) used on existing models, they offer the same high levels of operability and control.

Product name	Yamaha TRANSERVO series models STH03/STH04/STH06, RF02/RF03/RF04, BD04/BD05/BD07
Release date	Late March 2013
First year sales target	STH Type: 3,000 units; RF Type: 3,000 units; BD Type 1,000 units

Market Background and Product Outline

In manufacturing facilities until now, the use of pneumatic devices for simple 2-point positioning operations was the mainstream. However, demand for compact, low-cost actuators for this type of use has been increasing year after year due to the advantages of electronic devices like multi-point positioning capability, smooth acceleration and deceleration, operational consistency and lower energy consumption. While the market for pneumatic devices has become saturated with no forecasts of future growth, the market for electronic devices is growing steadily and industry forecasts predict gradual but consistent growth on a global scale.
The new additions to Yamaha Motor's TRANSERVO series lineup will bring greater flexibility in answering customer needs in this growing market. There are also great expectations for usage in new fields like the medicine and food industries in addition to use by the principal clients in the automotive and electric/electronics industries.

Product Features

The new models in the TRANSERVO series lineup

fter the launch of the slider spec "SS Type" TRANSERVO model in April 2009, the rod spec "SR Type" was marketed in September of the following year. These three new types are the first series additions in three years and each comes in three size variations to answer precise customer needs with greater flexibility.

1.: Slide-table spec "STH Type"
Compact with high rigidity. Available in straight and space-saving specs.

2.: Rotary spec "RF Type"
Small revolving axis type that has been often requested. High-precision bearing spec also available.

3.: Belt spec "BD Type"
Usable stroke of up to 2,000 mm despite the compact size

Position detector uses the same resolver as on the high-spec robots

As with the current TRANSERVO models, these new models adopts the same resolver used in Yamaha's high-spec robots. A resolver's structure uses no electronic components that would make it vulnerable to malfunction due to external interference (dust, oil, etc.), and thus, large numbers of them are used in fields where reliability is greatly emphasized like the aircraft, automotive and medical equipment industries. Despite the compact size and low cost of the resolver used on the new TRANSERVO models, it provides the same high levels of resistance to harsh use conditions and reliability as those on our high-spec robots.

Compatible with the dedicated "TS-S" robot positioner

The new models can be used with the same dedicated "TS-S" robot positioner as the current TRANSERVO series models. Operation and control is also the same as that of the "TS-X" and "TS-P" robot positioners used on the Yamaha "FLIP-X" series single-axis robots and linear-drive "PHASER" series robots respectively.
This makes it possible to use the same controller even when selecting a large variety and number of different robots, thus enabling unified operation and control method, while also making it possible to unify it with optional equipment as well.

Basic Specifications

TRANSERVO series "STH Type" actuator

Model		STH03-S		STH03-R/L		STH04-S		STH04-R/L		STH06-S		STH06-R/L
Model type		Straight		Space-saving(Motor installed on right/left		Straight		Space-saving(Motor installed on right/left		Straight		Space-saving(Motor installed on right/left
Motor		20□ step motor		20□ step motor		28□ step motor		28□ step motor		42□ step motor		42□ step motor
Resolution		4096		4096		4096		4096		20480		20480
Repeatability^*1 (mm)		±0.05		±0.05		±0.05		±0.05		±0.05		±0.05
Drive method		Slide screw		Slide screw +belt		Slide screw		Slide screw +belt		Slide screw		Slide screw +belt
Lead (mm)		4	8	4	8	5	10	5	10	8	16	8	16
Maximum speed (mm/sec)^*2		200	400	200	400	200	400	200	400	150	400	150	400
Maximum payload (kg)	Hori.	2	1	2	1	6	4	6	4	9	6	9	6
Maximum payload (kg)	Vert.	0.5	0.25	0.5	0.25	2	1	2	1	4	2	4	2
Stroke (mm)		50/75		50/75		50/100		50/100		50/100/150		50/100/150

TRANSERVO series "RF Type" actuator

Model	RF02		RF03		RF04
Model type	Standard/ High-precision		Standard/ High-precision		Standard/ High-precision
Motor	20□ step motor		28□ step motor		42□ step motor
Resolution	4096		4096		20480
Torque type	Standard	High torque	Standard	High torque	Standard	High torque
Rotational torque (N•m)	0.2	0.3	0.8	1.2	6.6	10
Maximum pushing torque (N•m)	0.1	0.15	0.4	0.6	3.3	5
Repeatability^*1(°)	±0.05		±0.05		±0.05
Backlash(°)	±0.5		±0.5		±0.5
Drive method	Special worm gear + belt		Special worm gear + belt		Special worm gear + belt
Maximum moment of inertia (kg·m²)	0.0018	0.004	0.012	0.027	0.04	0.1
Maximum speed (°/sec)^*3	420	280	420	280	420	280
Rotation area(°)	310		320		320

TRANSERVO series "BD Type" actuator

型式	BD04	BD05	BD07
Motor	28□ step motor	42□ step motor	56□ step motor
Resolution	4096	20480	20480
Repeatability^*1 (mm)	±0.1	±0.1	±0.1
Drive method	Belt	Belt	Belt
Equivalent lead	48	48	48
Maximum speed (mm/sec)^*3	1100	1400	1500
Maximum horizontal payload (kg)	1	5	14
Stroke (mm)	300,500,600,700,800, 900,1000	300,500,600,700,800, 900,1000,1200,1500, 1800,2000	300,500,600,700,800, 900,1000,1200,1500, 1800,2000

*1.: Repeatable positioning accuracy in a single swing/stroke.

*2.: Maximum speed varies with the payload.

*3.: Maximum speed varies with the moment of intertia.

*4.: 50 mm stroke STH-03R/L and STH04-R/L models cannot be fitted with brakes.