Hardware Connections; Safety Dual Channels On The Tm Control Box; E-Stop; Safeguard A - Omron TM5M-700 Quick Start Manual

2. Hardware Connections

Gather the necessary equipment as follows, along with a laptop installed with TMflow and OS32C Configuration
Tool.
Set up the TM robot as you normally would according to the Hardware Installation Manual. Be sure to turn the
switch off at the back of the Control Box while you connect the laser scanner and relay.

2.1. Safety Dual Channels on the TM Control Box

The dual channels of the E-Stop, Safeguard A, or Safeguard B connect to the relay. The relay connectors are
shown in Fig. A-1 in Appendix A. 13/14 and 23/24 react instantaneously, while 37/28 and 47/48 has an off-delay.
Refer to the following sections to understand the differences between E-Stop, Safeguard A, and Safeguard B. A
photo of these connectors are shown in Fig. A-2 in Appendix A.

2.1.1. E-Stop

When E-Stop (Emergency Stop) is triggered (opened),
The robot will stop movement within 610 ms
•
• The system will lower the upper limit of the total drive current from 20 to 3 A
• Category 1 safety function is triggered

2.1.2. Safeguard A

When Safeguard A is triggered (opened), the system goes into the Safeguard Pause state. For example, if an
object crosses a safety curtain that is connected to Safeguard A, then the system will:
1. Come to a controlled stop with power still going to the machine actuators.
2. Pause the project.

2.1.3. Safeguard B

When Safeguard B is triggered, the system goes into the Safeguard Collaborative mode. For example, if a person
steps onto a safety mat that is connected to Safeguard B, then the system will enter a collaborative mode
Devices
Omron TM Collaborative Robot
Omron Safety Laser Scanner
Omron Safety Relay
E-Stop OR Safeguard A OR Safeguard B
Top Row 1
Top Row 2
Bottom Row 1
Bottom Row 2
Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1
Omron Automation │©2019 Omron. All rights reserved. │automation.omron.com
Examples Used in This Guide
TM5-900
OS32C
G9SE-221-T05
Connect to
G9SE connection 13
G9SE connection 23
G9SE connection 14
G9SE connection 24
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