Omron TM5 Regular Payload Series Hardware Installation Manual
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Omron TM5 Regular Payload Series Hardware Installation Manual

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Hardware Installation Manual
Corresponding models: TM5 Regular Payload Series
Original Instruction
I623-E-02

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Summary of Contents for Omron TM5 Regular Payload Series

  • Page 1 Collaborative Robot Hardware Installation Manual Corresponding models: TM5 Regular Payload Series Original Instruction I623-E-02...
  • Page 2 This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation) and shall not be reproduced in whole or in part without prior authorization from the Corporation. No information contained herein shall be considered an offer or commitment.

  • Page 3: Table Of Contents

    Contents 1. Product Description ............................... 7 1.1 Product Description .............................. 7 1.2 How Can I Get Help? ............................7 2. Safety Information ................................. 8 2.1 Overview ................................8 2.2 Warning and Caution Symbols ..........................8 2.3 Safety Precautions ............................... 9 2.4 Validation and Liability ............................
  • Page 4 4.4 Working distance and field of view of TM Robot’s EIH camera ................. 35 5. Electrical Interface ............................... 36 5.1 Overview ................................36 5.2 Electrical Warnings and Cautions ........................36 5.3 Control Box ................................ 37 5.3.1 Safety Connector ............................38 5.3.2 Power Connector ............................
  • Page 5 6.4.3 Removal of the Robot Arm and Tightening ....................63 6.4.4 Connect the Robot and Control Box ......................65 7. Maintenance and Repair ............................. 66 Appendix A. Technical Specifications ..........................67 Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 6 Revision History Table Revision Date Revised Content October 2018 Original release December 2018 Updated cover page, minor text fixes Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 7: Product Description

    1.2 How Can I Get Help? Additional information and resources are available at: www.adept.com/omron-adept-cobot-manuals Related Manuals This manual covers the hardware installation, operation and user maintenance of TM Robot. See the following table for additional available manuals.

  • Page 8: Safety Information

    2. Safety Information 2.1 Overview The user shall read, understand and abide by the safety information provided in this manual before using the TM Robot. 2.2 Warning and Caution Symbols The Table below shows the definitions of the warning and caution levels described in each paragraph of this Manual.

  • Page 9: Safety Precautions

    2.3 Safety Precautions DANGER: This product can cause serious injury or death, or damage to itself and other equipment, if the following safety precautions are not observed. All personnel who install, operate, teach, program, or maintain the system must read the “Hardware ...

  • Page 10: Limitations On Liability

    Before installing or using this product, the user must first carry out the necessary risk assessment based on the conditions of use; meanwhile also closely study the potential remaining risk addressed by OMRON. Refer to and abide by the relevant chapters in Safety Manual in accordance with its’ software and hardware version.

  • Page 11: Emergency Stop

    2.8 Emergency Stop If any accidents occur during the operation of the robot, the user can stop all movement by pressing the Emergency Switch. When the robot stops, the user must ensure that all fault conditions are eliminated before manually restarting the robot. The Emergency Switch is only used in critical conditions. To stop the robot during normal operations use the Stop Button on the system controller.

  • Page 12: Movement Without Drive Power

    2.9 Movement without Drive Power Robot without Drive Power could be found in three circumstances: Emergency stop, when disengaging packaging posture to initial booting, and power loss. The first two could enter Safe Start up Mode by means of releasing the Emergency Switch;...
  • Page 13 Joint Joint WARNING: 1. Additional supports may be needed when manually releasing the brake due to gravity. 2. When manually moving each robot joint, the movement angle must be within a range of 。 +/- 45 Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 14: Labels

    2.10 Labels The following labels, especially the warning ones, are attached to the locations where specific dangers may occur. Be sure to comply with description and warnings of the labels when operating to keep the manipulator safely. Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached.

  • Page 15: Transportation And Storage

    WARNING: Pay attention to your posture when moving the arm and control box cartons to avoid back injury. OMRON will not be liable for any injuries cased during transportation. WARNING: This product must be shipped and stored in a temperature-controlled environment, within the range -20°C to 60°C (-4°F to 140°F).

  • Page 16: System Hardware

    4. System Hardware 4.1 Overview This chapter introduces the mechanical interface of the TM Robot System. 4.2 System Overview TM Robot is made up of the robot arm and control box (including a robot stick). Robot arm Control Box Robot Stick Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 17: Robot Arm

    4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below are the three-view dimension drawings of the robot TM5-700 / TM5M-700 Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 18 TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 19: Robot Assembly Diagram

    4.2.1.2 Robot Assembly Diagram Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to disassemble any component on your own. Contact your local OMRON support for any service request. TM5-700 / TM5M-700 Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 20 TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 21: Range Of Motion

    4.2.1.3 Range of Motion The working spherical (radius) range from the base is 700 mm for the TM5-700 series and 900 mm for the TM5-900 series. DANGER: With the exception of an individual being in full control of robot motion during hand-guiding, personnel shall be outside the safeguarded space when the robot is in motion while in manual mode (i.e.teaching).
  • Page 22 Pictorial view Top View Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 23 TM5-900 / TM5M-900 Movement Range Side View Pictorial view Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 24 Top View Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 25: Robot Hazard Zone Diagram And Operator Position Diagram

    4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram Shown below is an illustration of the robot hazard zone and operator position diagrams. Do not operate the robot while anyone is inside of the hazard zone to avoid safety risks. TM5-700 / TM5M-700 Warning: Risk of collision within Warning: Risk of crushing within...
  • Page 26 TM5-900 / TM5M-900 Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 27: Payload

    4.2.1.5 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. The following figure shows the relationship between payload and the center of gravity offset: TM5-700 / TM5M-700 Center of gravity offset [mm] TM5-900 / TM5M-900...

  • Page 28: Robot Arm Installation

    WARNING: Use the total weight of the end-effector and the payload to stay within the payload rating of the robot. Ensure that the system never exceeds that maximum payload. You should perform a full risk assessment that includes the end-effector and payload samples, to ensure the safety of the entire system.

  • Page 29: Robot End Module

    4.2.2 Robot End Module 4.2.2.1 End Module Components TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Flange (ISO 9409-1-50-4-M6) Camera module Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 30: End Flange Surface

    4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 31: End Mounting Caution

    4.2.2.3 End Mounting Caution The TM5 series uses four M6 threaded holes on the end flange and four M6 screws for mounting tools. A tightening torque of 9 Nm is recommended. If your application requires higher precision, you can use two positioning pins with a diameter of 6 mm for a more secure mounting.

  • Page 32: Control Box

    4.2.3 Control Box CAUTION: The control box can be placed on the floor or in your working cell. Note that 5 cm clearance should be left at both sides for air flow. 4.2.3.1 Robot Stick The Robot Stick has 6 function buttons, 3 indicator lights, 1 Emergency Switch, and 1 QR-code. Their functions are as follow: Power Button Mode Indicator Lights...
  • Page 33 Items Basic Function Emergency Default emergency button for the robot Switch Power Button Power initiation (single press)/ Shutdown (long press) M/A Mode Switch Toggle Manual/Auto Mode (single press). See Safety Manual for details. Button Play/Pause Play/Pause Project (single press) Button Stop Button Press this button to stop any project.

  • Page 34: Operating Position Of Tm Robot With Agv

    CAUTION: The robot stick is magnetic so that it can be attached to iron or steel surfaces. However, the risk of falling or rotating caused by poor attachment should be taken into account. It is recommended using the Robot Stick Stand (official accessory) to secure the robot stick. The Robot Stick Stand should be fix with screws.

  • Page 35: Working Distance And Field Of View Of Tm Robot's Eih Camera

    4.4 Working distance and field of view of TM Robot’s EIH camera The field of view of TM Robot’s EIH camera varies linearly in accordance with the working distance. The minimum working distance is about 100 mm and the maximum working distance is about 300 mm. The zero working distance point is approximately 49 mm in front of the flange surface and right behind the center of the protection lens.

  • Page 36: 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 following warnings. DANGER: 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier.

  • Page 37: Control Box

    5.3 Control Box WARNING: Except for USB ports, other interfaces have to be installed while arm is powered off. Do not install while arm is on to avoid abnormal shutdown. Control Box I/O configuration Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 38: Safety Connector

    5.3.1 Safety Connector Provides extension ports for Emergency Stop (ESTOP) & Safeguard Port. 1. ESTOP is a N.C. contact (Normally closed). When any connected ESTOP switch is OPEN, the robot enters the Emergency STOP state. 2. Safeguard A Port is a N.C. contact (Normally closed). When Safety A switch is OPEN, the robot enters the Safeguard Pause state.
  • Page 39 Application settings of the arm safety device If the safety device is used to work with the safety connectors on the TM Robot, the safety relay can be connected to the safety connector to work as the normally closed switch triggered by the safety device. If a direct connection between safety device and safety connector on TM Robot is preferred, use a safety device with PNP outputs.
  • Page 40 The wiring diagram shows the example of PNP output type safety device. Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 41: Power Connector

    5.3.2 Power Connector 1. During boot, the control box will check for an external 24V input. If none is found, then it will switch to the internal 24V supply. 2. 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 42: Digital In/Out

    5.3.3 Digital In/Out Digital input/output each has 16 channels, and its application is connected to the following sections. 5.3.3.1 Digital Input Inputs can be set to either sink input or source input by selection. Set to sink input type  When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used.

  • Page 43: Digital Output

    Set to Source input type  When a device such as a transistor output sensor is connected, PNP open collector transistor output can be used. 5.3.3.2 Digital Output: Outputs can be set to either sink output or source output by selection. The maximum drive current is 300mA per channel.
  • Page 44 Set to sink output type.  Connect DO_COM terminal to the minus side of the power supply. Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 45 Set to source output type.  Connect DO_COM terminal to the plus side of the power supply. Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 46: Analog In

    5.3.4 Analog In Analog In only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. 5.3.5 Analog Out Analog Out only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 47: System Remote Power On/Off

    5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Remote ON/OFF 5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion WARNING: The robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while the robot is on.

  • Page 48: Tool End I/O Interface

    5.4 Tool End I/O Interface There are two small connectors on the tool end of the robot: The 8-pin connector is for digital I/O The 5-pin connector is for analog I/O.. 5.4.1 I/O Terminals The tool end 24V has a maximum output current of 1.5A. If overloaded, overload protection is activated and the robot will turn off the 24V output power.
  • Page 49 5-pin analog I/O connector of Cable Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3 DO_3 Digital Output3 Orange AI Analog Input Yellow 5-pin analog I/O connector of Robot Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3...

  • Page 50: Connecting Tool End Digital Output

    5.4.2 Connecting Tool End Digital Output The following figure shows how to connect the tool end digital output: 5.4.3 Connecting Tool End Digital Input The following figure shows how to connect the tool end digital input: NOTE: If sensors are connected directly then they should be NPN. 5.4.4 Connecting Tool End Analog Input Input range of -10.00 V ~ +10.00 V.

  • Page 51: Control Box Interfaces

    5.5 Control Box Interfaces Robot Status Display CAUTION: The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause the robot to stop. AC Adapter EtherCAT Power Remote ON/OFF AC Power Switch Line-out I/O Interface Air Filter Screw Mic-in COM1 COM3...
  • Page 52 EtherCAT Power Remote ON/OFF DC IN Power Line-out DC Power Switch I/O Interface Air Filter Screw Mic-in USB 2.0 *4 COM1 COM3 Robot Cable Adapter COM2 HDMI USB 3.0*2 LAN for GigE Camera*2 DC IN for External Power Supply External Power Supply Remote Control TM5M-700 / TM5M-900 Series Power Remote ON/OFF EtherCAT...

  • Page 53: Control Box Power Interface And Robot Interface

    TM5-700 / TM5-900 AC Adapter：IEC plug DC IN Power Connector： （HRS）DF60-3EP-10.16C DC IN for External Power Supply Connector ： Contact OMRON for purchasing External Power Supply Remote Control Connector：Contact OMRON for purchasing The power supply should be equipped with the following: •...
  • Page 54 TM5-700 / TM5-900 electrical specifications: Parameters Minimum value Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (220V~240V) Input frequency TM5M-700/ TM5M-900 Series electrical specifications: Parameters Minimum Value Typical value Maximum value Unit Input voltage V (DC) Power consumption 1500...

  • Page 55: Robot Interface

    2. Do not extend or modify the original cables of the robot. 3. The cables of the robot are only suitable for a fixed installation. If you require a flexible installation, contact OMRON. 5.6.3 Control Box EMO (Emergency Off ) Interface Control Box EMO (SEMI Series only) interface is as below，SEMI Emergency Off Switch is connected with...

  • Page 56: Unboxing & Installation

    OMRON support as soon as possible. If the items received do not match your order, contact your OMRON support immediately. Inspect each item for external damage as it is removed from its container. If any damage is evident, contact your OMRON support (see HOW Can I Get Help? on 1.2)

  • Page 57: Unboxing

    6.3 Unboxing 6.3.1 Carton Types The TM Robot product is packed in 2 cartons: the robot arm carton and the control box carton, as shown below: Robot arm carton: Control box carton: Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 58: Contents Of Each Carton

    6.3.2 Contents of Each Carton Each carton has the following contents. Check them when you unpack the cartons for the first time. If any item is missing, contact your vendor. The robot arm carton contains: Robot arm Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 59 The control box carton contains: Control box Calibration Plates (Contains one large and one small calibration plate) IO cables (2 packs) 8-pin digital I/O, 5-pin analog I/O TM Landmark (Contains two TM Landmark) Regular Payload Series-Hardware Installation Manual TM5 Series...
  • Page 60 Power cable of the control box (TM5-700 / TM5-900) (4 cables, Type B, I, G, F) Power cable of the control box (TM5M-700 / TM5M-900) (1 cable) Ground Wire (1 pack) SEMI Emergency OFF Switch (SEMI Series only) (1 pack) Regular Payload Series-Hardware Installation Manual TM5 Series...

  • Page 61: Installing Your Robot

    6.4 Installing Your Robot The TM Robot arm cannot stand independently after being removed from the carton. Therefore, prepare the mounting base with the corresponding holes as described in Subsection 4.2.1.6 "Robot Arm Installation" in this Guide in advance. Then follow these instructions to install the robot. WARNING: At the installation site, at least two people should simultaneously perform installation of the robot, otherwise you risk robot arm damage or personal injury.
  • Page 62 The control box should be carried by at least two people. One should hold on to the control box handles, while the other should carry the foot stands. Before handling, the cable of the robot stick should not be pulled to avoid any performance degradation. WARNING: At this stage, do not connect the power cable of the control box to any electrical outlet, or it may cause equipment damage.

  • Page 63: Verification Before Removal Of The Robot Arm

    6.4.2 Verification Before Removal of the Robot Arm The TM Robot arm cannot stand independently after being removed from the carton. Prepare four screws (M10 *4) that used to attach the robot to the base near the robot base in advance. If the base is designed with corresponding pinholes, mount them to the base.
  • Page 64 WARNING: When the robot is installed to the base, make sure two people work together to install it. If it is designed with pinholes, pay attention to your safety to avoid pinching. If you do not have connection parts at hand, such as the connecting pins, screws do not leave the robot without completely tightening it (with the 4 screws completely tightened).

  • Page 65: Connect The Robot And Control Box

    6.4.4 Connect the Robot and Control Box Connect the power cable from the control box to the robot, and then connect the power cable from AC power to the control box to boot up the controller. WARNING: 1. Ensure that all cables are correctly connected before the control box is energized. Always use genuine power cables correctly.

  • Page 66: Maintenance And Repair

    7. Maintenance and Repair The following table gives a summary of the preventive maintenance procedures and guidelines: Items Period Remark Ensure labels are present and legible. Warning, Safety labels 1 week Replace them if necessary. Check Filter 1 month Replace filter every 3 months. Press the Emergency Switch and the IO Check Emergency Switch 1 month...

  • Page 67: Appendix A. Technical Specifications

    Appendix A. Technical Specifications Model TM5-700 TM5-900 TM5M-700 TM5M-900 Weight 22.1 kg 22.6 kg 22.1 kg 22.6 kg Payload 6 kg 4 kg 6 kg 4 kg Reach 700 mm 900 mm 700 mm 900 mm Typical Speed 1.1 m/s 1.4 m/s 1.1 m/s 1.4 m/s...
  • Page 68 I623-E-02 1218 (1018) 19888-100 B...

This manual is also suitable for:

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