Techman Robot TM5 Series Manual Book
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Techman Robot TM5 Series Manual Book

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Hardware Version: 1.00
Software Version: 1.66

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Anonymous
February 18, 2025

We wish to repackage our Techman robot to move it to a different location and can't see how to get it back in the packaging and in which order the packaging components fit together - do you have a photograph or video of it boxed or being unboxed?

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Summary of Contents for Techman Robot TM5 Series

  • Page 1 Hardware Version: 1.00 Software Version: 1.66...
  • Page 2 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.

  • Page 3: Table Of Contents

    I Hardware Installation Manual I Hardware Installation Manual ........................i 1. Safety Information ............................ 1 1.1 Overview ............................1 1.2 Validation and Liability ........................1 1.3 Limitations on Liability........................1 1.4 Warning and Caution Symbols......................2 1.5 General Safety Warning........................3 1.6 Scope of Use ...........................
  • Page 4 4.1 Overview ............................29 4.2 System Overview ........................... 29 4.2.1 Robot Arm ..........................30 4.2.1.1 Robot Range of Motion ..................... 30 4.2.1.2 Robot Arm Maximum Allowed Payload ................34 4.2.1.3 Robot Arm Installation ....................... 35 4.2.2 Robot End Module ........................36 4.2.2.1 End Module Components ....................
  • Page 5 7.2 Disclaimer ............................61 Appendix A. Stop Time and Distance ......................62 Appendix B. Technical Specifications ......................63...

  • Page 6: I Hardware Installation Manual

    Hardware Installation Manual...

  • Page 7: Safety Information

    1. Safety Information 1.1 Overview This chapter describes important safety information about the Techman Robot. The users and system integrators of the Techman Robot should carefully read and understand this chapter before using this robot. 1.2 Validation and Liability The information contained herein neither includes how to design, install, and operate a complete robotic arm system, nor involves the peripherals which may affect the safety of the complete system.

  • Page 8: Warning And Caution Symbols

    1.4 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. Danger Warning Note...

  • Page 9: General Safety Warning

    1.5 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 5. Before the robot begins operations, make sure that each part is secured in place to prevent any accidents due to the robot being improperly secured during operation. 6. Before the robot begins operations, always make sure that no personnel or obstacles are within its range of motion.

  • Page 11: Scope Of Use

    1.6 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. The design of the TM Robot focuses on the safety of the human-machine collaboration. However, the collaborative robot is intended only for the applications for which risk assessment has been conducted without any hazards identified.

  • Page 12: Risk Assessment

    1.7 Risk Assessment Before using and installing this product, the user must perform the necessary risk assessments based on the conditions of use. Refer to the regulations specified in the documentation, such as ISO-10218-2, ISO-12100, and ISO-15066 for details. The purpose of the risk assessment is to predict possible accidents during the operation, and prevent the occurrence of accidents or reduce the severity of injuries effectively with appropriate protective measures.

  • Page 13: Joint Rotation Without Drive Power

    When an emergency button is pressed, the robot system issues a command to stop the robot, and stops supplying sufficient power to its joint actuators for an effect Warning equivalent to disconnecting the power for the actuation of the robot. In this case, the braking device at each joint automatically locks the joint.

  • Page 14: Safety Functions And Interface

    2. Safety Functions and Interface 2.1 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 15: 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 Warning force applied to the center point of the tool estimated by the robot system exceeds this setting value, the event "Exceed Limit of Force Applied to Tool Endpoint"...

  • Page 16: Safety-Related Limiting Mechanisms

    When this happens, restart the system according to standard procedure, or contact the distributor for servicing. Operating on the periphery of the non-working area of the Techman robot or if the range of motion passes through the non-working area (Jacobian matrix is unstable near singularities)
  • Page 17 Inner singularity : In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of cylindrical 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 18 Maximum working space Extended singularity space 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.
  • Page 19 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. If J4 and J6 with identical axis angle, please refer to the second point as below. 1.

  • Page 20: Safety Setting

    2.5 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 consumption, TCP speed, TCP force, joint position, joint speed and joint torque in Safety Stop page. Min./ Max.
  • Page 21 Min/Max Joint Position Setting: If you set the Min/Max position of first joint with 270˚ and -270˚, then the angle range in 270˚~ 271˚and -270˚~ -271˚ will become reducing range as the blue area showed in the picture. When the first joint move into this range the basic moving speed of the robot will be switched to 250mm/sec for path motion and 5% for PTP motion, to forming an angle buffer region to prevent possible overshoot to the joint limit.
  • Page 22 Safety IO Setting : Safety IO Setting (Please refer to description in 5.3.1) compose two modes: Pause and collaboration mode. User can choose either pause or collaboration mode in safety IO setting. Pause: Setting the configuration of the safety IO of TM Robot with risk evaluation, user can choose either “manual reset”...

  • Page 23: Operating Position

    2.5.1 Operating Position Except for Hand Guide Mode, for correct operating positions, the user should stay outside of the motion range of the robot to perform operations. At least one emergency switch is installed outside of the motion range of the robot. When no motion limit is set for the robot, the motion range of the robot is equal to the maximum motion range of the robot arm (refer to Section 4.2.1).

  • Page 24: Operating Mode

    2.6 Operating Mode TM Robot comes with two operating modes: Manual Mode and Auto Mode. Current mode can be determined visually via the mode indicator (see Section 4.2.3.1) on the Robot Stick, and the color of the Indication Light Ring on the robot's end module (see Section 4.2.2.4). The robot starts in Auto Mode. 2.6.1 Auto Mode When the robot is in Auto Mode the Indication Light Ring on the end module is blue and the mode indicator on the Robot Stick is in the Auto position.

  • Page 25: Changing The Operating Mode

    2.6.3 Changing the Operating Mode To change the operating mode of the robot, please use the Mode Switch Button on the robot control to cycle between Auto/Manual mode. The system cannot be changed from Auto to Manual mode while the robot is running a project in Auto mode. The robot must be stopped by pressing the Stop Button on the Robot Stick before it can be switched to Manual mode.

  • Page 26: Collaborative Mode And Safety Zone Setup

    2.8 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 27 For hazard configuration, user can define the locations with risk of robot contact with the human body within the collaborative space. The robot’s operating speed in collaborative mode and other data will be shown on the right side of the interface. The settings can be saved once they are confirmed by the user.

  • Page 28: Collaborative Space Configuration For Safety

    2.8.2 Collaborative Space Configuration for Safety TM Robot offers two ways of configuring the safety space attributes: Planar and Cubic. If the robot enters the safety space during operation, it will switch to collaborative mode. Planar attributes allow the user to set either safety plane or stop plane. Cubic can only be used to define safety spaces.
  • Page 29 The collaborative space configuration functions are as shown below. Delete Selected Delete Add Plane Attribute Set Point Add Cube Reset Attributes Set Start Reduce Plane chareacters Reverse Stop Space Distance Safety Plane Switch to Safety Plane Safety Plane Switch to Stop Plane Previously defined attributes will be shown in the list.
  • Page 30 Press the Add Plane button or select a planar attribute then click on the Reset Attribute button to enter 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 31 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 32 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. The Intelligent Slowdown function will be activated if the position of the TCP start point is in the full speed area and the TCP end point is in the collaboration area.
  • Page 33 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 34: 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.

  • Page 35: System Hardware

    4. System Hardware 4.1 Overview This chapter introduces the mechanical interface of the Techman Robot System. 4.2 System Overview Techman Robot is made up of the robot arm and control box (including a robot stick). Control Box Robot Stick Robot arm...

  • Page 36: Robot Arm

    4.2.1 Robot Arm 4.2.1.1 Robot Range of Motion 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 37 Warning: Risk of collision Warning: Risk of crushing Operator Position within the operating area of within the operating area of the arm. the arm. I Hardware Installation Manual 4. System Hardware...
  • Page 38 TM5-900 Series Movement Range Diagram Warning: Risk of crushing Warning: Risk of collision within Operator Position within the operating area of the operating area of the arm. the arm. I Hardware Installation Manual 4. System Hardware...
  • Page 39 I Hardware Installation Manual 4. System Hardware...

  • Page 40: Robot Arm Maximum Allowed Payload

    4.2.1.2 Robot Arm Maximum Allowed Payload The maximum allowed payload of the robot arm is related to its center of gravity offset, which is defined as the distance from the center point of tool flange to the payload’s center of gravity.

  • Page 41: Robot Arm Installation

    1. The Techman Robot must be securely and tightly screwed down before use. The mounting surface should have sufficient strength. 2. Do not immerse the Techman Robot in water. Installation in the water or a humid Danger environment may lead to damage.

  • Page 42: Robot End Module

    4.2.2 Robot End Module 4.2.2.1 End Module Components TM5/ TM5M Series End Module Components VISION button POINT button FREE button Analog I/O Digital I/O Indication Light GRIPPER button Flange (ISO 9409-1-50-4-M6) Camera module I Hardware Installation Manual 4. System Hardware...
  • Page 43 TM5X Series End Module Components FREE button Indication Light 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 44: End Flange Surface

    4.2.3 End Flange Surface Digital l/O Analog l/O Camera I Hardware Installation Manual 4. System Hardware...

  • Page 45: End Mounting Caution

    4.2.4 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。 Tools must be appropriately and securely tightened when using this product.
  • Page 46 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 following table for the definition of each status: Mode Standby/running Space...

  • Page 47: Control Box

    4.2.5 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 4.2.5.1 Robot Stick The Robot Sticks has 6 function buttons, 3 indicator lights, 1 emergency button, and 1 QR-code.
  • Page 48 Item Basic Function Emergency Default emergency button for the robot Button Power Button Bootup (single press)/ Shutdown (long press) Mode Switch Cycle Manual/Auto Mode (single press). See Section 2.6 for details. Button Play/Pause button Play/Pause Project (press once) Stop button Stop Project (press once) Add/Subtract Adjust project speed (press once) under Manual Trial Run Mode.
  • Page 49 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 Note using 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 50: 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 51: 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 52 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 53: 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 54: Digital In/Out

    5.3.3 Digital In/Out Digital In/Out have 16 Channel each, it should be connected as follows: Digital Input: If sensors are connected directly then they should be of the NPN type. I Hardware Installation Manual 5. Electrical Interface...
  • Page 55 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 56: Analog In

    5.3.4 Analog In Analog In only supports voltage mode and detection range of -10.00 V ~ +10.00 V. 5.3.5 Analog Out Analog Out only supports voltage mode and detection range of -10.00 V ~ +10.00 V. I Hardware Installation Manual 5. Electrical Interface...

  • Page 57: Ethercat: For Ethercat Slave I/O Expansion

    5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion Robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while robot is on. Warning 5.3.7 USB Port The USB port of the control box is used for connecting the keyboard, mouse and external storage devices.

  • Page 58: 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 59 5-pin analog I/O connector of Cable Wire Color Pin Define Black AI Analog Input Brown Reserve Reserve Orange Yellow 5-pin analog I/O connector of Robot Wire Color Pin Define Black AI Analog Input Brown Reserve Reserve Orange Yellow I Hardware Installation Manual 5. Electrical Interface...

  • Page 60: 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: A) If sensors are connected directly then they should be of the NPN type. I Hardware Installation Manual 5.

  • Page 61: 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 I Hardware Installation Manual 5. Electrical Interface...
  • Page 62 The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause stopping of the robot. Note TM5/ TM5X Series TM5M Series I Hardware Installation Manual 5. Electrical Interface...

  • Page 63: Control Box Power Interface And Robot Interface

    5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM5/ TM5X Series: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. TM5M Series: The power cable of the control box has Hirose (HRS) DF60 series connector. TM5/ TM5X Series TM5M Series Black：24V DC-in Connector...
  • Page 64 TM5/ TM5X Series: The table below shows the electrical specifications: Parameters Minimum value Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (200V~240V) Input frequency TM5M Series electrical specifications as below: Parameters Minimum Typical Maximum Unit value value...

  • Page 65: Robot Interface

    2. Do not extend or modify the original cables of the robot. 3. The cables of the robot are only suitable for fix installation. If you require a flexible installation, please contact Techman Robot. I Hardware Installation Manual 5. Electrical Interface...

  • Page 66: Maintenance And Repair

    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. The user should not repair it himself or herself.

  • Page 67: Warranty Statement

    The warranty cannot be extended, even if it is the initial warranty. Techman Robot reserves the right to charge customers for replacement or service costs, as long as no warranty terms are violated.
  • Page 68 Appendix A. Stop Time and Distance Stop Time and Distance Table Axis 1 Axis 2 Axis 3 Stop Stop Axis speed Stop time Stop Stop Stop distance Load (kg) time time (˚/sec) (ms) distance (˚) distance (˚) (˚) (ms) (ms) 600.44 6.912 7.25...
  • Page 69 Appendix B. Technical Specifications Technical Specifications TM5- TM5- TM5X- TM5X- TM5M- TM5M- TM5M- TM5M- Model 700-24 900-24 700-48 900-48 Weight 22kg 22.2kg 21.7kg 21.9kg 22kg 22.2kg 22kg 22.2kg Payload Reach 700mm 900mm 700mm 900mm 700mm 900mm 700mm 900mm Max Speed 1.1m/s 1.4m/s 1.1m/s...
  • Page 70 tm-robot.com...

This manual is also suitable for:

Tm5-900Tm5-700Tm5m-700-24Tm5m-900-24Tm5m-700-48Tm5m-900-48 ... Show all

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