1. Manuals
  2. Brands
  3. TM Robot Manuals
  4. Robotics
  5. TM5
  6. Manual book

TM Robot TM5 Manual Book

Hide thumbs Also See for TM5:
Table of Contents

Advertisement

Quick Links

Download this manual
TM5
Guide Book
Hardware Version: 1.00
Software Version: 1.64

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the TM5 and is the answer not in the manual?

Questions and answers

Related Manuals for TM Robot TM5

Summary of Contents for TM Robot TM5

  • Page 1 Guide Book Hardware Version: 1.00 Software Version: 1.64...
  • Page 2 Release Date : 2017-10-01...
  • Page 3 The information contained herein is the property of Techman Robot Corporation (hereinafter referred to as the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without prior authorization from the Corporation. No information contained herein shall be considered an offer or commitment. It may be subject to change without notice.

  • Page 4: Table Of Contents

    I Hardware Installation Manual 1. Safety Information 1.1 Overview 1.2 Validation and Liability 1.3 Limitations on Liability 1.4 Warning and Caution Symbols 1.5 General Safety Warning 1.6 Scope of Use 1.7 Risk Assessment 1.8 Emergency Stop 1.9 Joint Rotation without Drive Power 2.
  • Page 5 5. Electrical Interface 5.1 Overview 5.2 Electrical Warnings and Cautions 5.3 Control Box 5.3.1 Safety Connector 5.3.2 Power Connector 5.3.3 Digital In/Out 5.3.4 Analog In 5.3.5 Analog Out 5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion 5.3.7 USB Port 5.4 Tool End I/O Interface 5.4.1 I/O Terminals 5.4.2 Connecting Tool End Digital Out 5.4.3 Connecting Tool End Digital In...
  • Page 6 Hardware Installation Manual Hardware Version: 1.00 Software Version: 1.64...

  • Page 7: Safety Information

    • Collecting all documents into the technology folder, including the risk assessment, and this Manual. Limitations on Liability No safety-related information shall be considered a guarantee by Techman Robot that TM5 will not cause personnel injury or property damage. I Hardware Installation Manual 1. Safety Information...

  • Page 8: Warning And Caution Symbols

    Warning and Caution Symbols The Table below shows the definitions of the warning and caution levels described in each paragraph of this Manual. Pay close attention to them when reading each paragraph, and observe them to avoid personal injuries or equipment damage. Note Warning Danger...

  • Page 9: General Safety Warning

    General Safety Warning The following shows the general warnings and cautions. Note that there may be related warnings and cautions listed in the remaining sections, in addition to the ones described in this section. Read them carefully as well. Danger: 1.

  • Page 10: Scope Of Use

    3. Do not turn off power to the machine while it is in motion unless absolutely necessary. Scope of Use The TM Robot is a collaborative robot with a built-in vision system. The dedicated HMI simplifies robot deployment and increases its operational flexibility, making it suitable able for the production and manufacturing industries.

  • Page 11: Emergency Stop

    5. Injuries caused by loose screws which are used to fix the robot to the base. 6. TM Robot explicitly states that serious residual risk may exist in the following scenarios: There is a risk that improper configuration of the collaborative zone or safety space, as well as the running of incorrect projects, may lead to the robot colliding at full speed with the human body within the collaborative space.
  • Page 12 2. If the robot needs to be moved when the power is disconnected (e.g. disengaging packaging posture), the user can first press the Emergency Stop button while there is no power, then press the Power Button on the controller to supply power to the system. When the control system is turned on, the light blue indicator light on the end module will blink.

  • Page 13: Safety Functions And Interface

    2. Safety Functions and Interface Overview The control system of the Techman Robot features a series of built-in safety-related functions, and provides an interface for connecting with external safety devices. For human-machine collaborative tasks, the user or system integrator must configure the safety- related parameters based on the results of the risk assessment.

  • Page 14: Safe Stop Time

    The "Force Applied to Tool Endpoint" is the external force which is applied at the center point of the tool, and estimated by models. It is not the protection value for the force externally applied by the robot system to the center point of the tool. When the external force applied to the center Warning point of the tool estimated by the robot system exceeds this setting value, the event "Exceed Limit of Force Applied to Tool Endpoint"...

  • Page 15: Safety-Related Limiting Mechanisms

    Safety-related Limiting Mechanisms All safety-related functions described in Section 2.1 are monitored and controlled by a dedicated safety thread (with a cycle of 10ms) at system level, which provides a trigger signal to another dedicated motion thread (with a cycle of 1ms) to make related responses. In this dedicated safety thread, all physical quantities used for calculation of the required information about each robot axis (angle, angular velocity, torque, etc.) are also updated every 1ms.
  • Page 16 Inner singularity In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of cylin- drical radius , is distance between center of J1 and J6. Once robot arm close the inner singularity, robot arm will stop and sent out a warning.
  • Page 17 The workspace explanation when J3 is almost in zero degree. Wrist axis singularity In the wrist singularity position, the J4 and J6 line up each other. In this case, these joints will try and spin 180 degrees instantaneously. There is an infinite number of possible for J4 and J6 with identical axis angle. Once situation mentioned occur, robot arm will stop and send out a warning.
  • Page 18 When encountered singularity When the robot reports the error code 0x09 or 0x14, it may be caused by singularity, please confirm robot pose. If robot trajectory passes through inner Cylinders like picture as below, please refer to the first point as below.

  • Page 19: Safety Setting

    Safety setting Safety setting of TM Robot is divided to Safety Stop Criteria, Safety IO Setting and Collaboration mode. Safety Stop Criteria : User can modify the maximum allowable values of robot momentum, power con- sumption, TCP speed, TCP force, joint position, joint speed and joint torque in Safety Stop page.
  • Page 20 User can choose either pause or collaboration mode in safety IO setting. ause: Setting the configuration of the safety IO of TM Robot with risk evaluation, user can choose either “manual reset” or “automatic reset” to manually restart or automatically restart the project when the project is previously paused by safety IO triggered.

  • Page 21: Operating Position

    (refer to Section 4.2.1). When the user sets a limit for the TM Robot, he/she can avoid the situation whereby all operations have to be out of the maximum motion range of the robot arm.

  • Page 22: Changing The Operating Mode

    In all of the above functions, a hold to run design was adopted by TM Robot for enhanced safety. There are two types of hold to run in the TM Robot system. For operations with a higher level risk, the Robot Stick should be used to carry out different types of hold to run functions.

  • Page 23: Collaborative Mode And Safety Zone Setup

    Collaborative Mode and Safety Zone Setup TM Robot can run in standard mode or collaborative mode. In collaborative mode, the robot will run at a slower speed and use a lower torque based on the user settings. The robot status light will add purple light display to let the user know whether the robot is in collaborative mode.
  • Page 24 Danger eration for risk assessment to avoid any possible of collision with TM robot. Please note that while the values for some calculated data can be modified by the user, only smaller values can be used.

  • Page 25: Collaborative Space Configuration For Safety

    Except for defining the safety space setting as all safety space setting as all safety space, the TM Robot safety space cannot be utilized as a safety device solely. User must conduct a full risk assessment based on the robot’ s operating environment and conditions before use. User can...
  • Page 26 The collaborative space configuration functions are as shown below. Delete Add Plane Delete Selected Attribute Add Cube Set Point Reset Attributes Plane chareacters Set Start Reduce Distance Reverse Stop Space Safety Plane Switch to Safety Plane Stop Plane Switch to Stop Plane Previously defined attributes will be shown in the list.
  • Page 27 Press the Add Plane button or select a planar attribute then click on the Reset Attribute button to en- ter the Add/Edit Plane page. In this page, the user can use TCP to define 3 points and create a plane. The 3 points can be defined in any order and corresponding colored spheres will appear in the 3D simulator.
  • Page 28 Press the Add Cube button or select a cubic attribute then click on the Reset Attribute button to enter the Add/Edit Cube page. In this page, the user can use TCP to define 4 points and create a cube. The 4 points can be defined in any order and corresponding colored spheres will appear in the 3D simulator, but it should follow the indicated rules.
  • Page 29 Intelligent Slowdown function can force the robot to slow down before exiting the full speed area to collaboration area. The motion of TM ROBOT when applying Intelligent Slowdown is in accordance with the position of the start point and the end point and the type of motion setting.
  • Page 30 Click on the preview button. If the safety space needs to be modified, then click on the Edit button below Step 2 and modify it in the setting page. If the modification is complete, click on the Save button at the top to save and leave this page. If you do not need to modify, you can click on the X button at the top right corner and return to the settings page without save.

  • Page 31: Transportation

    3. Transportation Transport the Techman Robot using its original packing materials. If you will need to transport the Techman Robot after unpacking, store the packing materials in a dry place. Hold both arms of the Techman Robot during transportation. Support the arms before tightening the base screws. Transport the control box by its handles.

  • Page 32: System Hardware

    4. System Hardware Overview This chapter introduces the mechanical interface of the Techman Robot System. System Overview Techman Robot is made up of the robot arm and control box (including a robot stick). Control Box Robot Stick Robot arm I Hardware Installation Manual 4. System Hardware...

  • Page 33: Robot Arm

    Techman Robot's working range is a spherical space with a 700mm radius at the base (for TM5-900, it is a 900mm radius). Due to the limitations of configuration, try to avoid moving the center of the tool to the cylindrical space below and above the base.
  • Page 34 Warning: Risk of collision within Warning: Risk of crushing Operator Position the operating area of the arm. within the operating area of the arm. I Hardware Installation Manual 4. System Hardware...
  • Page 35 TM5-900 Movement Range Diagram Warning: Risk of crushing Warning: Risk of collision within within the operating area of the the operating area of the arm. Operator Position arm. I Hardware Installation Manual 4. System Hardware...
  • Page 36 I Hardware Installation Manual 4. System Hardware...

  • Page 37: Robot Arm Maximum Allowed Payload

    The following figure shows the relationship between payload and the center of gravity offset: TM5-700/TM5X-700 TM5-900/TM5X-900 I Hardware Installation Manual 4. System Hardware...

  • Page 38: Robot Arm Installation

    4.2.1.3 Robot Arm Installation The TM5 is secured by four holes with a diameter of 11mm on the base and four M10 screws. A tightening torque of 35Nm (can be adjusted based on the strength of the bolts used) is recommended.

  • Page 39: Robot End Module

    4.2.2 Robot End Module 4.2.2.1 End Module Components VISION button POINT button FREE button Analog I/O Digital I/O Indication Light Ring GRIPPER button Camera module Flange (ISO 9409-1-50-4-M6) I Hardware Installation Manual 4. System Hardware...
  • Page 40 TM5X End Module Components FREE button Indication Light Ring Analog I/O Digital I/O POINT button GRIPPER button Flange (ISO 9409-1-50-4-M6) I Hardware Installation Manual 4. System Hardware...

  • Page 41: End Flange Surface

    4.2.2.2 End Flange Surface I Hardware Installation Manual 4. System Hardware...

  • Page 42: End Mounting Caution

    4.2.2.3 End Mounting Caution The TM5 uses four M6 threaded holes on the end flange and four M6 screws for mounting tools. A tightening torque of 9Nm is recommended. If your application requires higher precision, you can use two positioning pins with a diameter of 6mm for a more secure mounting.
  • Page 43 When the user sets the safety space and the robot moves into the safety space, the robot will enter the collaborative mode. At this time, the purple light will be added. Please refer to the fol- lowing table for the definition of each status: Mode Standby/running Space...

  • Page 44: Control Box

    4.2.3 Control Box The control box can be placed on the floor or on a rack. Note that 5cm clearance should be left at both sides for air flow. Note 4.2.3.1 Robot Stick The Robot Sticks has 6 function buttons, 3 indicator lights, 1 emergency button, and 1 QR- code.
  • Page 45 Item Basic Function Emergency Button Default emergency button for the robot Power Button Bootup (single press)/ Shutdown (long press) Mode Switch Button Cycle Manual/Auto Mode (single press). See Section 2.6 for details. Play/Pause button Play/Pause Project (press once) Stop button Stop Project (press once) Add/Subtract button Adjust project speed (press once) under Manual Trial Run Mode.
  • Page 46 The robot stick is magnetic so that it can be attached to magnetic surfaces. However, the risk of falling or rotating caused by poor attachment should be taken into account. It is recommended us- ing the official Robot Stick Stand (official accessasory) to secure the robot stick. In that case, the Robot Stick Stand should be fixed with screws.

  • Page 47: Electrical Interface

    5. Electrical Interface 5.1 Overview This chapter introduces all electrical interfaces of the robot arm and control box. 5.2 Electrical Warnings and Cautions The application design and installation of the robot should comply with the warnings and cautions below. 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier.

  • Page 48: Control Box

    5.3 Control Box Except for USB ports, other interfaces have to be installed while arm is shutdown. Do not install while arm is on to avoid abnormal shutdown. Warning Front control box configuration 5.3.1 Safety Connector Provides expansion ports for Emergency Stop(ESTOP) & Safety Stop. A) ESTOP is a N.C.
  • Page 49 The factory safety settings are shown below. Operations can be performed without addition of safety devices, as shown below. Application settings of the arm safety device I Hardware Installation Manual 5. Electrical Interface...

  • Page 50: Power Connector

    5.3.2 Power Connector A) During boot, the control box will check for an external 24V input. If none is available then it will switch to the internal 24V supply. B) The control box itself offers a 24V1.5A output (24_EX). If the 24V load exceeds 1.5A, it enters Safe Mode and disables the 24V output.
  • Page 51 B) Digital Output: The maximum drive current is 100mA per channel. If the load exceeds 100mA, a relay should be used to drive it. I Hardware Installation Manual 5. Electrical Interface...

  • Page 52: Analog In

    5.3.4 Analog In Analog In only supports voltage mode and detection range of -10.00 V ~ +10.00 V. I Hardware Installation Manual 5. Electrical Interface...

  • Page 53: Analog Out

    TM Robot's vision image storage function is a Note value-added function that can only be used with the dedicated SSD kit sold through the TM Robot website. Interested buyers should contact the TM Robot website.

  • Page 54: Tool End I/O Interface

    5.4 Tool End I/O Interface There are two small connectors on the tool end of the robot: a 8-pin connector and a 5-pin connector. 5.4.1 I/O Terminals The tool end 24V has a maximum output current 1.5A. If overloading, overload protection is activated and the robot will turn off the 24V output power.
  • Page 55 5-pin analog I/O connector of Cable ﾠ Wire color Pin define Black AI Analog Input Brown Reserve Reserve Orange Yellow 5-pin analog I/O connector of Robot ﾠ Wire color Pin define Black AI Analog Input Brown Reserve Reserve Orange Yellow I Hardware Installation Manual 5.

  • Page 56: Connecting Tool End Digital Out

    5.4.2 Connecting Tool End Digital Out The following figure shows how to connect the tool end digital output: 5.4.3 Connecting Tool End Digital In The following figure shows how to connect the tool end digital input: type. A) If sensors are connected directly then they should be of the NPN I Hardware Installation Manual 5.

  • Page 57: Connecting Tool End Analog In

    5.4.4 Connecting Tool End Analog In The following figure shows how to connect the tool end Analog input: 5.5 Control Box Interfaces Adjustable Wi-Fi Antenna ETHERCAT USB2.0 Robot Status Display USB2.0 USB2.0 USB2.0 Robot Controller Stick Cable I Hardware Installation Manual 5. Electrical Interface...

  • Page 58: Control Box Power Interface And Robot Interface

    The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause stopping of the robot. Note Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug.

  • Page 59: Robot Interface

    The table below shows the electrical specifications: Typical value ﾠMaximum value Parameters Minimum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (200V~240V) Input frequency 1. Ensure that the robot is correctly grounded (electrical grounding). 2. Ensure that the input current of the control box is protected by the Residual Current Device (RCD) and appropriate fuses.

  • Page 60: Maintenance And Repair

    6. Maintenance and Repair Maintenance of Techman Robot: Clean the exterior of the Techman Robot periodically, and keep the moving joints clean. The filter of the control box must be cleaned or replaced periodically (determine how often the filter is cleaned or replaced depending on the cleanliness of surroundings). Only the legal distributor or authorized service center should repair the Techman Robot.

  • Page 61: Disclaimer

    Disclaimer Techman Robot will continuously improve the reliability and performance of the product. Therefore, we reserve the right to upgrade the product without prior notice. Techman Robot has verified the accuracy and correctness of this Manual, but will not liable for any erroneous or omitted information. I Hardware Installation Manual 6 ~ 7...

  • Page 62: Appendix A. Stop Time And Distance

    Appendix A. Stop Time and Distance Stop Time and Distance Table Axis 1 Axis 2 Axis 3 Load (kg) Axis speed Stop time Stop distance Stop time Stop distance Stop time Stop distance (˚/sec) (ms) (˚) (ms) (˚) (ms) (˚) 600.44 6.912 7.25...

  • Page 63: Appendix B. Technical Specifications

    Appendix B. Technical Specifications Technical Specifications Model TM5-700 TM5-900 TM5X-700 TM5X-900 Weight 22kg 22.2kg 21.7kg 21.9kg Payload Reach 700mm 900mm 700mm 900mm +/- 270˚ J2,J4,J5: +/- 180˚ Joint ranges: +/- 155˚ +/- 270˚ J1~J3: 180˚/s. Speed: J4~J6: 225˚/s. Repeatability +/- 0.05 mm...
  • Page 64 Appendix...

Table of Contents