Omron TM Robot TM12 Series Manuals

Manuals and User Guides for Omron TM Robot TM12 Series. We have 1 Omron TM Robot TM12 Series manual available for free PDF download: Hardware Installation Manual

Omron TM Robot TM12 Series Hardware Installation Manual (82 pages)

Medium & Heavy Payload Series

Brand: Omron | Category: Robotics | Size: 9.06 MB

Table of Contents
3
Revision History Table
9
Product Dscription
10
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
Safety Information
11
Overview
11
Warning and Caution Symbols
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
Limitations on Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Movement Without Drive Power
13
Figure 1: References of Joints by Models
14
Labels
15
Figure 2: Reference of Brake Solenoid by Joints
15
Table 3: Denotation of Labels
16
Figure 3: Locations of Labels
16
Transportation and Storage
17
System Hardware
18
Overview
18
System Overview
18
Figure 4: System Overview
18
Robot Arm
19
Dimension Drawings of Robot
19
Figure 5: Dimension of TM12 / TM12M
19
Figure 6: Dimension of TM14 / TM14M
20
Figure 7: Dimension of TM12X
21
Robot Assembly Diagram
22
Figure 8: Dimension of TM14X
22
Figure 9: Assembly of TM12 / TM12M
23
Figure 10: Assembly of TM14 / TM14M
24
Figure 11: Assembly of TM12X
25
Figure 12: Assembly of TM14X
26
Range of Motion
27
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram
27
Figure 14: Pictorial View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 15: Top View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 16: Side View of TM14 / TM14M / TM14X Movement Range Diagram
29
Figure 17: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram
29
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X
31
Payload and Torque
32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X
33
Robot Arm Installation
34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
34
Figure 23: Bottom View of Robot Base
35
Figure 24: Securing the Ground Wire with the Robot
35
Robot End Module
36
End Module Components
36
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components
36
Figure 26: References of TM12X / TM14X End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
End Mounting Caution
39
End Indication Light Ring Table
39
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Robot Stick
40
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 31: Light Module Surface
42
Table 8: Electrical Specification of the Light Module
43
Figure 32: Calculation the Torque Load of the Light Module
43
Operating Position of TM Robot with AGV/AIV
44
Figure 33: Electrical Polarity of Fill Light Cable
44
Working Distance and Field of View of TM Robot's EIH Camera
45
Figure 34: Top View of TM Robot Placed on the AGV/AIV
45
Table 9: the Relation between the Working Distance and the Field of View
46
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera
46
Electrical Interface
47
Overview
47
Electrical Warnings and Cautions
47
Control Box
47
Figure 36: Control Box I/O Configuration (1/2)
47
Table 10: Definitions of Safety Connectors
48
Figure 37: Control Box I/O Configuration (2/2)
48
Safety Connector
49
Safety Input Connector
49
Figure 38: Safety Input Connector
49
Figure 39: the Wiring Diagram Example of Switch Type Safety Device
50
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
50
Safety Output Connector
51
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
51
Figure 42: Safety Output Connector
52
Figure 43: Safety Output Connector Wiring Diagram
52
Power Connector
53
Digital In/Out
53
Digital Input
53
Figure 44: Power Connector
53
Figure 45: Digital Input
54
Figure 46: Set to Sink Input Type
54
Digital Output
55
Figure 47: Set to Source Input Type
55
Figure 48: Digital Output
55
Figure 49: Set to Sink Output Type
56
Analog in
57
Figure 50: Set to Source Output Type
57
Figure 51: Analog in
57
Analog out
58
System Remote Power ON/OFF
58
Table 11: Analog in & Analog out
58
Figure 52: Analog out
58
Figure 53: System Remote Power ON/OFF
58
Ethercat: for Ethercat Slave I/O Expansion
59
USB Port
59
Tool End I/O Interface
59
I/O Terminals
59
Figure 54: Ethercat
59
Table 12: 8-Pin Digital I/O Connectors of Cable
60
Table 13: 8-Pin Digital I/O Connector of Robot
60
Connecting Tool End Digital Output
61
Table 14: 5-Pin Analog I/O Connector of Cable
61
Table 15: 5-Pin Analog I/O Connector of Robot
61
Figure 55: Connecting Tool End Digital Output
61
Connecting Tool End Digital Input
62
Connecting Tool End Analog Input
62
Table 16: Analog Input Range
62
Figure 56: Connecting Tool End Digital Input
62
Figure 57: Connecting Tool End Analog Input
62
Control Box Interfaces
63
Figure 58: Front View of the Control Box
63
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series
63
Figure 60: Interfaces of the TM12M / TM14M Series
64
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series
64
Control Box Power Interface and Robot Interface
65
Control Box Power Interface
65
Figure 62: Control Box Power Interfaces
65
Robot Interface
66
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications
66
Table 18: TM12M / TM14M Series Electrical Specifications
66
Figure 63: Robot Interface
66
SEMI Emergency off Interfaces (SEMI Series Exclusive)
67
TM12M SEMI / TM14M SEMI Series
67
Detachable I/O Panel
67
Figure 64: the TM12M SEMI / TM14M SEMI SEMI Emergency off Interface
67
Figure 65: Detachable I/O Panel
68
Unboxing & Installation
69
Overview
69
Inspecting the Equipment
69
Before Unpacking
69
Upon Unpacking
69
Unboxing
70
Carton Types
70
Contents of each Carton
70
Figure 66: Robot Arm Carton
70
Figure 67: Control Box Carton
70
Table 19: the Robot Arm Carton Contents
71
Installing Your Robot
73
Table 20: the Control Box Carton Contents
73
Table 21: the SEMI Emergency off Switch Carton Contents
73
Remove the Control Box
74
Figure 68: Moving the Control Box (1/2)
74
Verification before Removal of the Robot Arm
75
Removal of the Robot Arm and Tightening
75
Figure 69: Moving the Control Box (2/2)
75
Figure 70: Moving the Robot Arm (1/2)
76
Figure 71: Moving the Robot Arm (2/2)
76
Connect the Robot and the Control Box
77
Maintenance and Repair
78
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
78
Appendix A. Technical Specifications
80
Table 23: Technical Specifications
80

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