Omron TM 12 Series Hardware Installation Manual
Medium & heavy payload series
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Summary of Contents for Omron TM 12 Series
- Page 1 Medium & Heavy Payload Series Hardware Installation Manual Corresponding models：TM12/14 Series I624-E-03 Original Instruction...
- 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). No part of this publication may be reproduced or copied in any way, shape or form without prior authorization from the Corporation.
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Page 3: Table Of Contents
Contents Revision History Table ............................... 7 1. Product Dscription ................................. 8 1.1 Product Description .............................. 8 1.2 How Can I Get Help? ............................8 2. Safety Information ................................. 9 2.1 Overview ................................9 2.2 Warning and Caution Symbols ..........................9 2.3 Safety Precautions ............................... - Page 4 5.3.8 USB Port ..............................45 5.4 Tool End I/O Interface ............................45 5.4.1 I/O Terminals ............................... 45 5.4.2 Connecting Tool End Digital Output ......................47 5.4.3 Connecting Tool End Digital Input ....................... 47 5.4.4 Connecting Tool End Analog Input ......................48 5.5 Control Box Interfaces ............................
- Page 5 Table 9: 5-pin Analog I/O Connector of Cable ....................47 Table 10: 5-pin Analog I/O connector of Robot ....................47 Table 11: TM12 / TM14 Series Electrical Specifications ................... 52 Table 12: TM12M / TM14M Series Electrical Specifications................52 Table 13: The Robot Arm Carton Contents ....................... 56 Table 14: The Control Box Carton Contents .....................
- Page 6 Figure 27: Control Box I/O Configuration (2/2) ....................36 Figure 28: Safety Connector ..........................36 Figure 29: The Wiring Diagram Example of Switch Type Safety Device............37 Figure 30: The Wiring Diagram Example of PNP Output Type Safety Device ..........38 Figure 31: Power Connector ..........................
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Page 7: Revision History Table
Revision History Table Revision Date Revised Content October 2018 Original release December 2018 Updated cover page, minor text fixes July 2019 Minor text fixes. Added cables length. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 8: Product Dscription
1.2 How Can I Get Help? You can access information sources on the corporate website: http://www.ia.omron.com/ Related Manuals: This manual covers the hardware installation, operation and user maintenance of TM Robot. See the following table for additional available manuals. -
Page 9: 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 10: Validation And Liability
All personnel who design the robot system must read the “Hardware installation Manual”, “Software Manual”, and “Safety Manual” according to the software and hardware version of this product, and must comply with all local and national safety regulations for the location in which the robot is installed. The TM Robot shall be used according to its intended use. -
Page 11: Risk Assessment
machine body 1m distance and at 1.6m height from the floor and 80% of maximum speed). If the sound pressure is over 80 dB(A) while operating, wear proper ear protection. Environmental Conditions: Ambient air temperature: 0˚C ~ +50˚C Ambient relative humidity: < 85% ... -
Page 12: Figure 1: References Of Joints By Models
brake for each joint as follows: Remove joint cover screws (M3, Torx-T10) and joint cover. Release the brake by pushing the pin on the brake solenoid shown in the following three figures. Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint... -
Page 13: Figure 2: Reference Of Brake Solenoid By Joints
Joint Joint Joint Figure 2: Reference of Brake Solenoid by Joints WARNING: 1. Due to gravity, additional support is recommended when manually releasing the brake. 2. When manually moving each robot joint, the movement angle must be within a range of 。... -
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
3. Transportation and Storage Transport the TM Robot using its original packing materials. If you will need to transport the TM Robot after unpacking, store the packing materials in a dry place. Hold both arms of the TM Robot during transportation. Support the arms while tightening the base screws. -
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 the Robot Stick). Robot arm Control Box Robot Stick Figure 4: System Overview Medium &... -
Page 17: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension diagram of the robot TM12 / TM12M Figure 5: Dimension of TM12 / TM12M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 18: Figure 6: Dimension Of Tm14 / Tm14M
TM14 / TM14M Figure 6: Dimension of TM14 / TM14M 4.2.1.2 Robot Assembly Diagram Shown below is an illustration of the robot components. To avoid safety risks, please do not attempt to disassemble any component on your own. Please contact your local corporation support for any service request. -
Page 19: Figure 7: Assembly Of Tm12 / Tm12M
TM12 / TM12M Figure 7: Assembly of TM12 / TM12M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 20: Figure 8: Assembly Of Tm14 / Tm14M
TM14 / TM14M Figure 8: Assembly of TM14 / TM14M 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 1300 mm for the TM12 series and 1100 mm for the TM14 series. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 21: Figure 9: Side View Of Tm12 / Tm12M Movement Range Diagram
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). The emergency stop on the Robot Stick shall be readily accessible during manual mode. At least one emergency switch is installed outside of the motion range of the robot. -
Page 22: Figure 10: Pictorial View Of Tm12 / Tm12M Movement Range Diagram
Figure 10: Pictorial view of TM12 / TM12M Movement Range Diagram Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Figure 11: Top view of TM12 / TM12M Movement Range Diagram Medium &... -
Page 23: Figure 12: Side View Of Tm14 / Tm14M Movement Range Diagram
TM14 / TM14M Movement Range Diagram Figure 12: Side view of TM14 / TM14M Movement Range Diagram Pictorial view Figure 13: Pictorial view of TM14 / TM14M Movement Range Diagram Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 24: Figure 14: Top View Of Tm14 / Tm14M Movement Range Diagram
Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 14: Top View of TM14 / TM14M Movement Range 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. -
Page 25: Figure 15: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm12 / Tm12M
TM12 / TM12M Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 15: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M Medium &... -
Page 26: Figure 16: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm14 / Tm14M
TM14 / TM14M Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M 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. -
Page 27: Figure 17: Relationship Between Payload And The Center Of Gravity Offset In Tm12 / Tm12M
TM12 / TM12M Center of gravity offset [mm] Figure 17: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M TM14 / TM14M Center of gravity offset [mm] Figure 18: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M WARNING: Use the total weight of the end-effector and the payload to stay within the payload rating of the robot. -
Page 28: Figure 19: Bottom View Of Robot Base
4.2.1.6 Robot Arm Installation The robot can be secured to another surface with the use of (4) M10 screws and washers. The mounting pattern is shown below. The recommended tightening torque is 40 Nm. Optional - Two openings for 6 mm position pins are provided for more secure position mounting. Ensure the strength of the mounting surface and its surround area before installations for upside down mounting and side mounting such as on the ceiling or the wall. -
Page 29: Robot End Module
4.2.2 Robot End Module 4.2.2.1 End Module Components TM12 / TM12M / TM14 / TM14M 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) Figure 20: References of TM12 / TM12M / TM14 / TM14M End Module Components Medium &... -
Page 30: Figure 21: References Of End Flange Surface
4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Figure 21: References of End Flange Surface Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 31: Control Box
4.2.2.3 End Mounting Caution The TM12/14 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. DANGER: Tools must be properly tightened when using this product. -
Page 32: Table 4: Robot Stick Basic Functions
Power Button Mode Indicator Lights Power Indicator M/A Mode Switch Button + Button QR Code Label Stop Button - Button Emergency Switch Play/Pause Button Figure 23: Robot Stick CAUTION: When operating the Robot Stick, do not use other objects than fingers to press the Robot Stick. -
Page 33: Operating Position Of Tm Robot With Agv/Amr
Items Advanced Function - Press and release, and then wait for 3 seconds to enter Safe Start up Emergency Switch Mode. - Press and release to enter Safe Start up Mode while booting. Play/Pause Button Play/pause visual calibration operation (single press) Stop Button Stop visual calibration operation (single press) - Hold to jog the robot at the HMI robot controller page (Hold to Run). -
Page 34: 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 35: 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 36: Safety Connector
Figure 27: Control Box I/O Configuration (2/2) 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. -
Page 37: Figure 29: The Wiring Diagram Example Of Switch Type Safety Device
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 direct connection between safety device and safety connector on the TM Robot is preferred, use a safety device with PNP outputs. -
Page 38: Power Connector
Figure 30: The Wiring Diagram Example of PNP Output Type Safety Device 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. -
Page 39: Digital In/Out
Figure 31: Power Connector 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. Figure 32: Digital Input Set to sink input type ... -
Page 40: Figure 33: Set To Sink Input Type
Figure 33: Set to Sink Input Type Set to Source input type When a device such as a transistor output type sensor is connected, PNP open collector transistor output can be used. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 41: Figure 34: Set To Source Input Type
Figure 34: Set to Source Input Type 5.3.3.2 Digital Output: The maximum drive current is 300mA per channel. If the load exceeds 300mA, a relay should be used to drive it. Figure 35: Digital Output Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 42: Figure 36: Set To Sink Output Type
Outputs can be set to either sink output or source output by selection. Set to sink output type. Connect DO_COM terminal to the minus side of the power supply. Figure 36: Set to Sink Output Type Set to source output type. ... -
Page 43: Analog In
Figure 37: Set to Source Output Type 5.3.4 Analog In Analog In only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series... -
Page 44: Analog Out
Figure 38: Analog In 5.3.5 Analog Out Analog Out only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Figure 39: Analog Out 5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Medium &... -
Page 45: Ethercat: For Ethercat Slave I/O Expansion
Remote ON/OFF Figure 40: System Remote Power 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. 5.3.8 USB Port The USB port of the control box is used for connecting the keyboard, mouse and external storage devices. -
Page 46: Table 7: 8-Pin Digital I/O Connectors Of Cable
Wire color Pin define Brown +24v 24V output DI_0 Digital Input0 Orange DI_1 Digital Input1 Yellow DI_2 Digital Input2 Digital Green DO_0 Output0 Digital Blue DO_1 Output1 Digital Purple DO_2 Output2 Black Table 7: 8-pin Digital I/O Connectors of Cable Wire Color Pin Define Brown... -
Page 47: Connecting Tool End Digital Output
Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3 DO_3 Digital Output3 Orange AI Analog Input Yellow Table 9: 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... -
Page 48: Connecting Tool End Analog Input
NOTE: If sensors are connected directly then they should be of the NPN type. Figure 42: Connecting Tool End Digital Input 5.4.4 Connecting Tool End Analog Input Input range of -10.00 V ~ +10.00 V. The following figure shows how to connect the tool end Analog input: (Because AIN_GND is connected to ground, when AIN is a dead contact, a pressure difference will occur, which is a normal phenomenon.) Figure 43: Connecting Tool End Analog Input... -
Page 49: Control Box Interfaces
5.5 Control Box Interfaces Robot Status Display Figure 44: Front View of the Control Box 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... -
Page 50: Figure 46: Interfaces Of The Tm12M / Tm14M Series
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 LAN for GigE Camera*2 3.0*2 DC IN for External Power Supply External Power Supply Remote Control Figure 46: Interfaces of the TM12M / TM14M Series Power Remote ON/OFF EtherCAT... -
Page 51: Control Box Power Interface And Robot Interface
5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM12 / TM14: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. TM12M / TM14M: The power cable of the control box has Hirose (HRS) DF60 series connector. -
Page 52: Robot Interface
Parameters Minimum value Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (220V~240V) Input frequency Table 11: TM12 / TM14 Series Electrical Specifications *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power Parameters Minimum Value Typical value... -
Page 53: Control Box Emo (Emergency Off) Interface (Semi Series Only)
WARNING: 1. When the robot is turned on, do not disconnect cables of the robot. When cables of the robot are not connected to the connection interface, do not turn on the robot. 2. Do not extend or modify the original cables of the robot. 3. -
Page 54: Unboxing & Installation
6. Unboxing & Installation 6.1 Overview These instructions guide the user of the TM Robot through the first setup. The user must thoroughly read and understand this Guide before performing the operations of this Chapter. Fail to do so may cause serious danger. WARNING: If this is your first time using the TM Robot, please follow instructions in this chapter to perform installation and initial set up. -
Page 55: 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. Figure 51: Robot Arm Carton Figure 52: Control Box Carton 6.3.2 Contents of Each Carton Each carton has the following contents. -
Page 56: Table 13: The Robot Arm Carton Contents
The robot arm carton contains: Robot arm Cable length of the Robot Stick: 300 cm Weight of TM12: 33.3 kg Weight of TM14: 32.6 kg SEMI Emergency OFF Switch (SEMI Series only) (1 pack) Cable length: 300 cm Table 13: The Robot Arm Carton Contents The control box carton contains: Control box Weight: 14 kg... - Page 57 Calibration Plates (Contains one large and one small calibration plate) IO cables (2 packs) 8-pin digital I/O, 5-pin analog I/O Cable length: 100 cm TM Landmark (Contains two TM Landmark) Power cable of the control box (TM12 / TM14) (4 cables, Type B, I, G, F) Cable length: 180 cm Power cable of the control box (TM12M / TM14M)
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Page 58: Installing Your Robot
Ground Wire (1 pack) Cable length: 300 cm Jumper Wire (1 pair) Wire length: 3 cm Table 14: The Control Box Carton Contents 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”... -
Page 59: Figure 53: Moving The Control Box (1/2)
Connect the power cable to the control box Place the control box near the robot base Figure 53: Moving the Control Box (1/2) The control box should be carried by at least two people. One should hold on to the control box handles, while the other should hold the foot stands. -
Page 60: 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. Place four screws (M10 *4) to be used to attach the bottom of the robot near the mounting surface in advance. If the mounting surface has alignment holes, insert the alignment pins into these holes. -
Page 61: Figure 56: Moving The Robot Arm (2/2)
Figure 56: Moving the Robot Arm (2/2) 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 62: 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. Figure 57: Connecting the Robot and the Control Box WARNING: 1. -
Page 63: Maintenance And Repair
7. Maintenance and Repair The following table gives a summary of the preventive maintenance procedures and guidelines: Item Period Remark Ensure labels are present and legible. Warning, Safety labels 1 week Replace them if necessary. Check Filter (on the control box) 1 month Please replace every 3 months. -
Page 64: Appendix A. Technical Specifications
Appendix A. Technical Specifications Model TM14 TM12 TM14M TM12M Weight 32.6Kg 33.3Kg 32.6Kg 33.3Kg Maximum Payload 14kg 12kg 14kg 12kg Reach 1100mm 1300mm 1100mm 1300mm Typical Speed 1.1m/s 1.3m/s 1.1m/s 1.3m/s J1,J6 +/- 270° Joint J2,J4,J5 +/- 180° ranges +/- 163° +/- 166°... - Page 65 I624-E-02 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series 0719 (1018) I624-E-03 19888-200 C...
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