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Techman Robot TM Palletizing Operator User Manual

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TM Palletizing
Operator
User's Manual
Original Instruction
Corresponding models: TM5 Series
Original Instruction
Product Version: 1.0
Document Version: 1.0
Release Date: 2020-04-27

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Summary of Contents for Techman Robot TM Palletizing Operator

  • Page 1 TM Palletizing Operator User’s Manual Original Instruction Corresponding models: TM5 Series Original Instruction Product Version: 1.0 Document Version: 1.0 Release Date: 2020-04-27...
  • 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.

  • Page 3: Preface

    Preface Techman Robot Inc. assumes no responsibility for any damage or injury arising from the improper use of the palletizing operator and the robot. The following symbols indicate the definitions of the warning and caution levels used in this manual. Pay close attention to these symbols when reading the manual and using the system to avoid personal injuries or equipment damage.

  • Page 4: Revision History

    Revision History Revision Date Revised Content 2020-04-22 Official release TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 5: Table Of Contents

    3-Position Enabling Device ......................... 35 2.13 Movement without Drive Power ........................35 2.14 Labels ................................35 Safety Function ................................ 38 General Information............................. 38 3.1.1 Safety Function Definitions ......................... 38 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 6 Considerations for Sensor Connections ..................58 4.5.3 Digital Outputs ............................. 59 4.5.3.1 Considerations for Terminal ......................60 4.5.4 Analog Input/Output ..........................61 4.5.4.1 Analog Input ............................ 62 4.5.4.2 Analog Output ..........................62 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 7 Required Software Installation and Safety Configuration ................. 104 5.10.1 Downloading TMflow and TMstudio Software ................... 104 5.10.2 Entering TMflow Software ......................... 104 5.10.3 Setting Teach Pendant in TMflow ...................... 104 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 8 Product Specifications ............................159 Maintenance and Repair ............................161 Warranty Statement ............................... 163 Product Warranty............................163 Disclaimer ..............................163 Appendix – A: Troubleshooting and Error Messages ....................164 Troubleshooting ..............................164 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 9 Table 19: Safety controller (G9SP) pin definition ....................67 Table 20: Safety controller (SF-C21) I/O I/O ..................... 69 Table 21: System Light Indicator ........................71 Table 22: AC Input Specifications of TM Palletizing Operator ................ 100 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 10 Figure 20: Electric switchboard diagram ......................55 Figure 21: Palletizing I/O ..........................56 Figure 22: Set to Sink/Source Input Type ......................59 Figure 23: Set to Sink/Source Output Type ...................... 60 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 11 Figure 57: Align gripper and apply screws (for shifted position) ............... 88 Figure 58: Connect 8-pin gripper cable to I/O connector on robot (for shifted position) ........88 Figure 59: Segments for Velcro use ......................... 89 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 12 Figure 92: TCP values for non-shifted gripper ....................110 Figure 93: Example of non-shifted gripper ..................... 111 Figure 94: TCP values for shifted gripper ....................... 111 Figure 95: Example of shifted gripper ......................111 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 13 Figure 128: Input the file ..........................137 Figure 129: Go to Step 2 ..........................137 Figure 130: Vision job ............................. 138 Figure 131: Select “Step 2” ..........................138 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 14 Figure 153: Advanced setting ......................... 152 Figure 154: Add a subflow ..........................155 Figure 155: Add nodes in the subflow ......................156 Figure 156: Add nodes in the subflow ......................156 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 15: Product Introduction

    TM Palletizing Operator contains a medium/heavy-payload collaborative robot TM12, a palletizing operator base, and TM Palletizing Operator Software Package as a turnkey solution to shorten deployment process for customers. This manual will provide a walkthrough about how to initiate palletizing applications.

  • Page 16: Orientations

    1.1.1 Orientations TM Palletizing Operator system shall be placed as the orientation shown below. Figure 3: TM Palletizing Operator Base Orientation 1.1.2 Palletizing Operator Base Dimensions Unit: mm Figure 4: Palletizing Operator Base dimensions TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 17: Package Contents

    In the Palletizing System wooden shipping crate: 1 x TM Palletizing Operator Base 1 x Flexible holder system Cable (FHS-C) set, including 1 x 6mm tube and 2 x Tube Fittings PLJ6 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 18 In the Robot Arm Carton: Robot arm (TM12) Cable length: 300 cm In the Control Box Carton: TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 19 (One 8-pin digital I/O cable and one 5-pin analog I/O cable) Length: 100 cm *The IO cables are not used in the standard assembly of TM Palletizing Operator, but supplied for connection with customized end-effector. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 20 In the bracket and accessory carton: AC power cord of the TM Palletizing Operator Length: 500 cm 4 x M10X25L type screws 2 x Control box convert brackets 4 x M6X12L type screws TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 21  TMstudio Palletizing Wizard  TM Palletizing Operator Software Package 1 x Reset Button (w/ cable) at 500cm In the gripper set carton: 1 x Adjustable Flexible Gripper TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 22 4 x M6X12L type screws 4 x M6 washers 4 x 4mm plugs In the Teach Pendant carton: 1 x Teach Pendant Dimensions: 536mm x 404mm x 446mm TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 23: Teach Pendant

    1 x Teach Pendant Holder 1 x Teach Pendant cable Length: 300 cm 1.3 Teach Pendant ESTOP Button Mode Switch Error Log Stop PLAY/PAUSE +/- Buttons TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 24: Table 3: Teach Pendant Basic Functions

    Do not simultaneously use both pendant and stick to initial or to control robot motion. When using a teach pendant, user is responsible for ensuring that the stick is immediately stored out of sight and reach of personnel working on the robot. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 25: Adjustable Flexible Gripper Overview

    1.4 Adjustable Flexible Gripper Overview TM Palletizing Operator package provides an Adjustable Flexible Gripper set for box lifting and placement in your palletizing projects. The following will describe the parts and characteristics of the gripper. Figure 5: Adjustable Flexible Gripper Overview 1.4.1 Dimensions of Adjustable Flexible Gripper...

  • Page 26: Vacuum Generator Characteristics

    The operating conditions may affect the frequency of the replacement of vacuum cups. Therefore, users may determine the frequency of replacing vacuum cups based on their first-time use. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 27: Vertical Lifting Force Per Suction Cup

    1.4.5 Pneumatic Diagram The diagram below describes how the compressed air is used to provide motion for the gripping device. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 28: How Can I Get Help

    1.5.1 Related Documentations to this Manual The documentations listed in the table below have more or less relation to this user manual. For details, consult with Techman Robot personnel if you’d like to obtain the related documents. Documents Descriptions...

  • Page 29: Safety Information

    2.1 Overview This chapter describes the comprehensive important safety information of TM Palletizing Operator. The user and system integrator of TM Palletizing Operator must read and fully understand this chapter before using this robot. 2.2 Applicable Product Version This document is only applicable to the combination of the following software and hardware versions of system.

  • Page 30: Overall Safety Warning

    Make sure that each setting satisfies the original conditions before resuming normal operation, including but not limited to:  Safety Software Settings  Safety I/O  Preset operation project  TCP Settings  I/O Settings  I/O Wiring TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 31: Validation And Liability

    This includes but is not limited to:  Risk assessment of the entire system TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 32: Intended Use

    The Corporation will not be liable for any injury or damage arise. The Corporation thus clearly specifies that the following uses are not appropriate for the TM Palletizing Operator. The list is subject to addition without prior notice.

  • Page 33: Limitations On Liability

    (i.e. sensing components, emergency stop devices, fences or railings, etc.) as well as the parameter settings of safety functions in the operating system, to reduce TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 34: Pre-Use Assessment

    Test the Reset Button function to reset safety state when safety devices are triggered.  Test the Safeguard Output function to test the safeguard output when safety devices are triggered. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 35: Emergency Stop

    Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 36: Figure 10: Locations Of Safety Warning And Product Labels

    Figure 10: Locations of safety warning and product labels TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 37: Table 6: Denotations Of Labels

    Prohibit walking or standing on a designated area Connect an earth terminal to the ground An earth terminal must be connected Product label Table 6: Denotations of labels TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 38: Safety Function

    3 Safety Function TM Palletizing Operator comes with a series of built-in safety functions as well as safety inputs and outputs (I/O) for signal controls from other protective devices and to other machine’s electrical interface. 3.1 General Information The following describes common information of the TM Palletizing Operator safety functions.

  • Page 39: Stopping Time And Stopping Distance In The Safety System

    A represents the safety device, for example, an emergency button or safety area scanner.  B indicates the safety controller (For details, refer to sections 4.7 and 4.8)  C is the control box of the robot. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 40: Explanation Of Safety Functions

    External Emergency Cat. 1 stop C2 Discrepancy: Cat.1 Stop Stop Others: Cat. 0 stop Table 8: Stop Category and Action of Fault Detection of SF0, SF1 and SF2 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 41 WARNING: For TM Palletizing Operator, the suction cup will remain the vacuum to keep the workpiece during an Emergency Stop condition. If the system was integrated with user-customized power I/O enabled end effector, the emergency stop condition may cause the workpiece to be dropped.

  • Page 42: Sf3 External Safeguard-Pause And Sf4 External Safeguard-Human-Machine Safety Settings

    External Human-Machine Safety Settings Safeguard-Human-Machine C2 Discrepancy: Cat.1 Stop Safety Settings Others: Cat. 0 stop Table 9: Stop Category and Action of Fault Detection of SF3 and SF4 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 43: Sf5 Pendant Enabling Device

    Safety Definition of Output signal Signal in Output when Action of Function Name Triggered of Triggered Regular System Cat. 1 Fault Detection Number Status Status Status Stop Occurs TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 44: Sf10~Sf15 Defined Safety Functions

    Each joint’s motion speed range can be set. When the robot SF12 Joint Speed Limit exceeds its set value, it will trigger a protective stop. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 45: Table 13: Safety Function Sf10~Sf15 Definitions

    Regarding methods to recover the robot system from protective stop manually from SF10 – SF15, refer to the relevant sections in Safety Manual (Techman Robot Safety System 3.2). TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 46 TM12 robot arm can safely pick up or put down a heavy workpiece up to 12Kg within 100mm of gravity offset distance. If the distance is extended to 600mm, it is safer that TM12 robot arm picks up or puts down a workpiece at approximately 4Kg. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 47: Safety Distance And Scenario

    Figure 13 Palletizing operator clearance with sideways conveyor It is necessary to reserve a distance of 500 mm from the outer boundary of the picking item and around the TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 48: Figure 14: Palletizing Operator Clearance With Straight Conveyor

    Instruction for sideways conveyor layouts had shown as below: Conveyor Operating Space Restricted Space Safeguarded space Safeguard Pause Safeguard Human-Machine Safety Settings Figure 15 Safeguarded space setup scenario with sideways conveyor layouts TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 49 ISO13857 and other required standards), and should also consider the safeguard device response time, robot moving speed, stopping distance, stopping time and other factors. a) Full Pause Space b) Full Human-Machine c) Pause & Human-Machine Safety Space Safety Space TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 50: Figure 16: Safeguarded Space With Different Setup Scenario

    The safeguarded space with multi-palletizing operator set up scenario shown as below: When more than one TM Palletizing Operator is used in the space, user should still define the operation space and restricted space. The safeguarded space is still defined by the perimeter of user connected safeguard device sensing area, and the safeguarded space should cover all of the TM Palletizing Operator in the space.

  • Page 51: Reset Button Mechanism

    Reset by default. For details about Manual/Auto Reset setting, refer to 4.10 External I/O (CP1W-20EDT) and Reset Button Setting While the system has been set into Manual Reset, it is necessary to press the Reset Button from outside the TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 52: Operation Mode And Mode Switching

    3.7 Operation Mode and Mode Switching TM Palletizing Operator supports two main operation modes: Manual Mode (reduced speed and high speed) and Auto Mode. The modes are visually distinguishable by the color of the Indication Light Ring on the robot’s end module.

  • Page 53: Manual Control Mode (Manual Reduced Speed)

    DANGER: Users have to properly set the safety parameters and instruct the safety devices according to users' risk assessment before start running the robot or the task program. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 54: Electrical Interface

    Table 15: AC Input Specifications of TM Palletizing Operator 4.2 Electrical Warnings and Cautions The application design and installation of the TM Palletizing Operator should comply with the following safety. DANGER: 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier.

  • Page 55: Electric Switchboard Inside The Distribution Box

    The IN_03 can be used to connect to GND to set auto/manual reset. Safety controller Safety input/output I/O. • (G9SP-N20S) By default, SI0/SI1 are connected to T0/T1 for emergency stop TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 56: Palletizing I/O Configuration

    COM, and safety input/out signals. Most of the I/O on this I/O components are reserved for the control box and external devices upon shipment. Palletizing I/O Figure 21: Palletizing I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 57: Palletizing I/O Pin Definitions

    DI_01 DI_03 DI_05 DI_07 DI_09 DI_11 DI_13 DI_15 DI_01 DI_03 DI_05 DI_07 DI_09 DI_11 DI_13 DI_15 DI_00 DI_02 DI_04 DI_06 DI_08 DI_10 DI_12 DI_14 Available I/O Reserved I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 58: Considerations For Sensor Connections

    NPN sensors are sometimes referred as “sinking sensors” because they sink ground to the output. In NPN, connect I_COM to F_24V while connecting O_COM to F_0V It is the opposite for PNP mode. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 59: Digital Outputs

    DO_01 DO_03 DO_05 DO_07 DO_09 DO_11 DO_13 DO_15 DO_01 DO_03 DO_05 DO_07 DO_09 DO_11 DO_13 DO_15 DO_00 DO_02 DO_04 DO_06 DO_08 DO_10 DO_12 DO_14 Available I/O Reserved I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 60: Considerations For Terminal

    The term “LOAD” indicates the device or sensor powers. The load could be a lamp, pneumatic valve, relay or PLC input Figure 23: Digital Out and LOAD schematics TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 61: Analog Input/Output

    Techman Robot personnel regarding possible changes in TMflow software. Analog Pin Symbols:  AOUT_V = Analog Output_Voltage  AOUT_G = Analog Output_Ground  AIN_xP = Analog Input_xPositive  AIN-xG = Analog Input_xGround  REMO+/- = Reserved TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 62: Analog Input

    Analog Output only supports a certain voltage mode and the detectable range is between -10.00V and +10.00V. Red = device is connected to AOUT_V Black = device is connected to AOUT_G Figure 25: Analog_OUT application TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 63: Safety Input/Output

    Internal Protective Stop Output SI4-1 Internally wired to ESTOP Input SO4-1 Internally wired for Robot SI4-2 without Robot ESTOP Output SO4-2 Encoder Standstill Output Table 18: Definitions of Safety I/O connectors TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 64: Safety Input

    SI1_2 SI2_1 SI2_2 SI3_1 SI3_2 SI4_1 SI4_2 SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ SAFE+ Reserved for Safety Controller G9SP Reserved Reserved for Pendant Reserved I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 65: Safety Output

    Available I/O Reserved I/O The available Safety Output I/O can be used to connect safety sensors/devices. For details, consult with Techman Robot personnel regarding possible changes in TMflow software. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 66: Safety Controller (G9Sp-N20S) I/O Configuration

    Connected to Teach Pendant Emergency SI12/SI13 Stop SI14/SI15 Connected to SF_13 of the robot SI16/SI17 Connected to SF_14 of the robot SI18/SI19 Connected to Test Signal of the pillar TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 67: Table 19: Safety Controller (G9Sp) Pin Definition

    2. Free the I/O by unplugging SI2/SI3 – SI8/SI9 from the pull-high 24V wire. 3. Apply isolation measure to prevent short-circuit and the emergent stop of the machine. Figure 27: Connecting Safety Devices TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 68: Safety Controller (Sf-C21) I/O Configuration

    • IN5/IN6 Users may connect it to external safeguard device Connected to 24V by default • IN7/IN8 Users may connect it to external safeguard device Safety Output TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 69: Power Terminal

    The power terminal +24V block and +0V (GND) block offer 24V/5A total capacity. These terminals are used for external and internal device. +24V +0V (GND) Figure 29: Power terminal (+24V/+0V) TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 70: External I/O (Cp1W-20Edt) And Reset Button Setting

    Make sure the reset button module is already installed before powering on the system. Figure 30: Switch to Auto Reset for Reset Button To resume Manual Reset, simply disconnect the wiring to Ground. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 71: Light Indications

    Signal Color Indication Status Output0 Green System normal Output1 Orange System pause Output2 System emergency stop Table 21: System Light Indicator Figure 32: System light indication I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 72: Unpacking, Installation And Transportation

    Refer to TM12 & TM14 Hardware Installation Manual (Heavy Payload Series) for details. 5.1.3 Unpacking the Palletizing Operator TM Palletizing Operator Base is shipped in a large heavy-machinery wooden crate. Figure 33: Palletizing operator base in wooden crate Tools required for unpacking: forklift (i.e. forklift truck) and screwdriver (pneumatic or electric screwdriver are strongly recommended) TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 73: Assembling Tm Palletizing Operator

    5.2 Assembling TM Palletizing Operator 5.2.1 Removing the Rear Housing Before installing TM Palletizing Operator, it is necessary to remove the rear housing first. Unlatch the side cover hinge of the rear housing, then remove the cover (both left and right).

  • Page 74: Figure 35: Remove The 6 Screws

    Unfasten the 4 screws shown in the diagram to detach the pneumatic quick connector, and then disassemble the drag chain. Remember to keep the screws in a safe place. Figure 36: Unfasten the 4 screws TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 75: Installing Tm Robot

    Figure 38: Open the covers of the cable drag chain Place the robot cable in the cable drag chain and seal the cover of the cable drag chain. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 76: Figure 39: Seal And Reinstall

    0.1 mm or less, its surface roughness should be Rz25 or less. The recommended screw should be M10 x L30 mm, at least 8.8 strength. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 77: Installing The Control Box

    Secure the control box covert brackets to the legs of the control box. Use 4 x M4 screws for each. Figure 41: Secure the covert brackets to the legs of the control box TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 78: Figure 42: Proper Cable Connections

    Note that the robot connector cable does not go through the space between the legs and the brackets. Simply plug this cable as the shown in the diagram. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 79: Figure 43: Proper Connections For Robot Connector Cable

    Figure 43: Proper connections for robot connector cable Make sure all the cables are firmly plugged. Also ensure the cables align the notch of the connectors. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 80: Figure 44: All Cables Are Firmly Plugged

    Secure the bracket plates of the control box onto the base. Apply 4 x M6 screws to tighten the plates so that the control box is securely fixed. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 81: Figure 45: Secure The Bracket Plates Of The Control Box

    Figure 45: Secure the bracket plates of the control box TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 82: Installing The Rear Housing

    DANGER: Screws must be properly tightened when using this product. Improper tightening may cause the tool or part to fall out, or even cause personal injury and death. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 83: Figure 47: Wire The Robot Cable Through Notch

    Do NOT simultaneously use both pendant and stick to initialize or to control robot motion. When using a teach pendant, user is responsible for ensuring that the stick is immediately stored out of sight and reach of personnel working on the robot. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 84: Installing Adjustable Flexible Gripper

    Figure 49: Gripper flange at centered position as delivered If users wish to change the gripper flange to 10cm-shifted position, follow the steps in the following sub-sections. Figure 50: Gripper flange at shifted position TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 85: Changing Gripper Flange Position

    Figure 51: Remove two M6x12L screws and detach flange knob 2. Remove five M6x6L screws with Allen wrench and detach the position converter from the gripper. Figure 52: Remove five M6x6L screws and detach position converter TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 86: Figure 53: Fasten The Flange Knob To Shifted Position

    3. Fasten flange knob to 10cm shifted position and secure it with two M6x12L screws. Figure 53: Fasten the flange knob to shifted position 4. The figure below shows that the flange position change is completed. Figure 54: Flange position change completed TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 87: Installing The Gripper Onto The Robot (For Centered Position)

    Figure 55: Align gripper and apply screws (for centered position) Connect the 8-pin gripper cable to the I/O connector on the robot. Figure 56: Connect 8-pin gripper cable to I/O connector on robot (for centered position) TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 88: Installing The Gripper Onto The Robot (For Shifted Position)

    Figure 57: Align gripper and apply screws (for shifted position) Connect the 8-pin gripper cable to the I/O connector on the robot. Figure 58: Connect 8-pin gripper cable to I/O connector on robot (for shifted position) TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 89: Installing Cable Protection Conduit

    The length of each segment on the conduit:    S1: 330mm S3: 600mm S5: 160mm   S2: 250mm S4: 270mm Figure 59: Segments for Velcro use TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 90: Figure 60: Distance Intervals Of Each Segment

    D3:80mm   D2:90mm D4:110mm Figure 60: Distance intervals of each segment Penetrate the air tubes through the space between the camera module and the flange as shown. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 91: Figure 61: Penetrate The Air Tubes And Connectors (Example By Centered Gripper Position)

    Connect the air tube plug to the gripper plug. Make sure the cable is connected to the corresponding A/B plug. Figure 62: Connect air tube plug to the gripper plug TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 92: Figure 63: Connection Completed

    5.3 Connecting External Compressed Air Supply Before connecting external compressed air supply, make sure the ON/OFF valve is switched “OFF” (2-3) position. The external compressed air supply is connected to the air unit of TM Palletizing Operator Base through an 8mm compressed air tube.

  • Page 93: Considerations For Connecting External Compressed Air

     The operating pressure (of vacuum generator) is between 2.0 and 6.0 bar. Pressure Detect Sensor Filter Regulator Pressure Gauge Figure 65: Filter Regulator and Pressure Gauge location TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 94: Installing The Reset Button

    Figure 66: Installing Reset Button 5.5 TM Palletizing Operator Transportation Use jack lifts or forklifts to transport TM Palletizing Operator. The base of the TM Palletizing Operator allows lifting from either direction. The illustration below shows the alignments the slots and the base, along with relative lengths and widths.

  • Page 95: Figure 68: Tm Palletizing Operator Transportation (2/4)

    For jack lifts narrower than 550mm (typically 540mm wide), insert the jack lift into the rear slot to lift the operator. Figure 69: TM Palletizing Operator Transportation (3/4) When transporting TM Palletizing Operator with robot arm remaining on top of the Palletizing Operator Base, it is necessary to tie and surround the robot arm with durable packing materials to protect it from potential damage.

  • Page 96: Encountering Non-Flat Surfaces

    WARNING: 1. Avoid transporting the palletizing operator through damp environment. 2. Remove all of the external I/O connections of the TM Palletizing Operator. 3. Remove all air lines or external power lines connected to the equipment before transporting 4. Remove all of the connections to external devices / external storage devices through any interface.

  • Page 97: Figure 71: Using Wrench To Loosen/Tighten Leveling Mounts

    If the operator is not relocated frequently, it can be fixed to the floor using anchor points. The following diagram provides a dimensional reference for anchor points. Figure 72: TM Palletizing Operator anchor points TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 98: Relocation And Storage Considerations

    If the robot and/or control box is disassembled from the palletizing operator, store them in their original packaging prior to any relocation or storage process.  When transporting TM Palletizing Operator as a complete set to a new location, users must adhere to the instructions in Section 5.5 TM Palletizing Operator 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 99: Adjusting Pallet Sensor

    5.7 Adjusting Pallet Sensor Unfasten two M4 screws. Adjust the sensor module position horizontally. Fasten the two M4 screws back. Figure 75: Adjust pallet sensor horizontally TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 100: Connecting Power Supply To Tm Palletizing Operator

    Typical Max. Unit Input voltage External AC fuse (100V – 120V) External AC fuse (220V – 240V) Input frequency Table 22: AC Input Specifications of TM Palletizing Operator TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 101: Figure 78: Power Connection Reference

    2. It is strongly recommended that the following steps are performed by skilled and trained professionals. Confirm if your primary AC power supply meets the AC Input Specifications of TM Palletizing Operator. For details about Primary Power Input, refer to the figures below.

  • Page 102: Activating/Deactivating Tm Palletizing Operator

    Power on the operator machine. Turn the main switch to the right in a clockwise direction. Figure 80: Turn the Main Switch in a clockwise direction to power on TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 103 The below Shutdown methods are prohibited: 1. Unplug the power plug directly 2. Loosen the power cord of Control Box directly 3. Loosen the power of robot body directly TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 104: Required Software Installation And Safety Configuration

    TMflow: a PC-based graphical HMI software allowing users to open and edit their robot workflows. For palletizing application, users will import and run the 4 software components by TM Palletizing Operator Software Package under TMflow to enable quick-start for their palletizing applications.

  • Page 105: Figure 82: I/O Setup For Pendant

    Click “User Defined I/O” and then 13 channel setting under Control Box Input to set “Stick Stop button”. Then click “Save”. Figure 83: Setting in User Defined I/O TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 106: Figure 84: Go To "Safety" Setting

    “Manual Reset’ has been ticked in both “Resume Setting of [User Connected External Safeguard Input Port” and “Resume Setting of [User Connected External Safeguard Input Port for Human-Machine Safety Settings]”. Then click “Save”. Figure 85: Enable device setting TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 107: Figure 86: Set Pendant As Display Device

    It is recommended to test the functions of the Teach Pendant. For example, press the Error Log button on the pendant and the log history will be displayed on the screen. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 108: Reset Button Setting In Tmflow

    For safety considerations, it is necessary to set the TCP values for the Adjustable Flexible Gripper due to safety concerns. To set the TCP values, please see the steps below: 1. Click the Menu and go to “Setting (Robot Setting)  “TCP Setting. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 109: Figure 89: Go To Tcp Setting

    Figure 89: Go to TCP setting 2. Select “Manual Input Parameters of TCP” Figure 90: Select “Manual Input Parameters of TCP” TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 110: Figure 91: Import The Pallet Tool

    4. Enter the appropriate TCP values depending on whether your gripper is shifted or not. Click “Apply” when all the appropriate values are entered. Non-shifted Gripper: Figure 92: TCP values for non-shifted gripper TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 111: Figure 93: Example Of Non-Shifted Gripper

    Figure 93: Example of non-shifted gripper Shifted Gripper: Figure 94: TCP values for shifted gripper Figure 95: Example of shifted gripper TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 112: Application Software Setup

    TM Palletizing Operator Software Package includes four software components programmed purposely to accelerate palletizing setup and a file path for user-generated text file to enable quick setup for users (details about downloading this software package will be discussed in Section 6.3 Downloading TM Palletizing Operator Software Package) ...

  • Page 113: Downloading Tm Palletizing Operator Software Package

    6.3 Downloading TM Palletizing Operator Software Package The software installation can be performed in your personal computers, and save the generated file Download the TM Palletizing Operator Software Packages.zip from Techman Robot official website. Unzip the downloaded file. Go to “TM Palletizing Operator Software Packages”  “TM Palletizing Operator Software Packages”...

  • Page 114: Step 1 - Setting Box Size And Label Direction

    When you enable Z Direction Clearance, you will be able to set the layer in Step 3. For further information, refer to Step 3 – Create Pallet Layers and Advanced5_Interval_Between_Layers in Section 6.6.2 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 115: Step 2 - Choose/Set Pallet

    1200 x 800 x 144 (mm) 1219 x 1016 x 120.7 (mm) UK standard 1200 x 1000 x 150 (mm) Table 24: Default Pallet Templates by drop-down menu TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 116: Step 3 - Create Pallet Layers

    Icon Function Icon Function Add Box Layer Add Box Add Z Direction Clearance Rotate Box Before Placing Copy Box Layer Change Box Label Side TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 117: Table 25: Functional Icons For Pallet Layers

    Users may right-click (on a mouse) or tap (via Teach Pendant) to shift box, delete box or change label for the box.  Users may click (on a mouse) or tap (via Teach Pendant) the “Auto Layout” icon to TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 118: Figure 101: Shift Box

    Shift the box(es) to the direction of the Arrow by defined Box Shift Step  If a box is selected, clicking/tapping on this Arrow will shift the selected box by defined shift step. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 119: Step 4 - Create Palletizing Sequence

    Selecting “Auto Sequence” will allow the program to automatically detect the sequence for the box  palletizing. The numbers indicate the sequence of the boxes to be placed. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 120: Table 27: Functional Icons For Palletizing Sequence

    Icon Function Icon Function Copy Box Sequence Auto Sequence Paste Box Sequence Add Box Sequence Undo Table 27: Functional icons for palletizing sequence TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 121: Step 5 - Palletizing Simulation

    Click or tap Play to start running. The progress will show in percentages. If a collision is notified during the simulation, users may use Play to resume to the state before collision occurs. Figure 103: Palletizing simulation TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 122: Figure 104: Change Gripper

    Click or tap Apply when done.  The default pillar height of TM robotic system is 500 mm, and the total time consumed of the simulated palletizing is 20 seconds. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 123: Figure 105: Parameter Setting

    Users may click on this option if required. The robot will Floor Distance Compensation attempt to adjust pillar height to place boxes. The TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 124: Table 28: Parameter Descriptions

    *Z-direction height is considered as a layer Figure 106: Palletizing parameter illustration If all the settings are confirmed, click “EXPORT” to export the palletizing layout file. Figure 107: Export the file TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 125: Step 6 - Export File

    6.5.1 Importing Components and Text File into TMflow Insert the USB drive named “TMROBOT” into the USB port of the control box (supposedly done during Chapter 5) and launch TMflow. Then, perform the following steps: TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 126: Figure 109: Import/Export

    In TMflow, click ≡ , and click or tap System  Import/Export. Figure 109: Import/Export Click or tap Import. Figure 110: Import file TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 127: Figure 111: Robot List

    On Robot List, select your robot name and click or tap OK. Figure 111: Robot list Click or tap Compoent and select the components as listed. Figure 112: Import selected components TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 128: Figure 113: Import Completed

    Next, import “Text File”. The text file (.txt) is generated from “Palletizing Wizard” and will be used to set palletizing project. Select the “.txt” file and the layout file will be switched to “Selected files”. Then click “Import”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 129: Figure 114: Import Text File

    Figure 114: Import text file Go to “Setting”  Components” Figure 115: Select “Component” in Setting TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 130: Setting I/O While Project Stop/Error

    1. Start a new project or open an existing project. Go to the top left corner of TMflow and click “New” (for those using TM Palletizing Operator the first time) to create a new project or “Open” (for those with experience using TMflow) to open an existing project.

  • Page 131: Figure 117: Set I/O While Project Error

    Figure 117: Set I/O while project error 3. Go to “Set I/O while Project Stop” and click “Customized”. Under Control Box, set DO0 and DO1 as “Low”. Figure 118: Set I/O while project stop TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 132: Setting Tmoperator_Tmrobot_Tmpltzop_V001_Pillar

    Click or tap on “Pillar Calibration” and “Variables” to access setting options. The Expression Editor Setting will appear. You may select an Expression item to edit for your preferred applications. Figure 120: Pillar calibration TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 133: Figure 121: "Bool" Value Must Be True

    Test the calibration. Press the “PLAY/PAUSE” button on the pendant to test-run pillar calibration. If the testing is successful, the screen will show “Calibration OK” message with related voltage information. Press “Stop” button if you wish to exit. Figure 122: Calibration test TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 134: Lowering The Pillar Height

    1. Press the Reset Button when the button light is on. 2. In TMflow, go to “Robot Setting”  “Controller” Figure 123: Go to “Controller” 3. When entering the Controller screen, click “IO”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 135: Setting Tmoperator_Tmrobot_Tmpltzop_V001_Main

    This component is the main setting for palletizing projects. *Make sure the USB dongle is connected to the Control Box. Click or tap and drag the TMOperator_TMROBOT_TMPLTZOP_V001_Main to the Project screen. Figure 125: Project_Main TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 136: Step 1 - Import File

    Click or tap on the icon to set the steps. TM Palletizing Operator package provide four quick steps to set the main palletizing tasks  Step 1 – Import File  Step 2 – Recognizing Box Position  Step 3 – Teach Gripping Point ...

  • Page 137: Step 2 - Recognizing Box Position

    6.5.4.2 Step 2 – Recognizing Box Position Lower the pillar to the minimum height. For instructions, see 6.5.3.1 Lowering the Pillar Height Go to “Step2_Recognizing Box Positions”. Figure 129: Go to Step 2 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 138: Figure 130: Vision Job

    Guide the robot to its initial position. When entering the screen below, press and hold “+” button on the teach pendant until the robotic arm reaches its initial position. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 139: Figure 132: Guide Robot To Initial Position

     In the “Initiate” step, reset the initial point. Once the robot recognizes the TM Landmark, click “Save” at the upper right corner. Figure 133: Recognizing TM Landmark TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 140: Step 3 - Teach Gripping Point

    FREE button immediately, which will lock the robot joint brakes. Hand-guide or use Controller in TMflow to move the robot arm to the box until the gripper can grip the box. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 141: Figure 134: Move The Robot To Grip The Box

    Go to “Step3_Teach Gripping Point” to set gripping points. Figure 135: Go to “Step 3” Click on “Point Manager” to set overwrite, as the robot has already been guided about the gripping point. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 142: Step 4 - Visual Recognition

    It is suggested to test-run the project. To test the project, press “PLAY/PAUSE” button the pendant. 6.5.4.4 Step 4 – Visual Recognition Lower the pillar to the minimum height. For instructions, see 6.5.3.1 Lowering the Pillar Height Go to “Step4_Visual Recognition”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 143: Figure 138: Step4_Visual Recognition

    In real world palletizing applications, changes to boxes or workspace may occur at times. Therefore, if users wish to reset workspace, please continue with the following instructions: Enter “Vision Job” again and select “Step4_Visual Recognition”. Then, click “+” at the top right corner. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 144: Figure 140: Click "+" For Step4_Visual Recognition

    Enter a name for “Job Name Input”. Figure 141: Job Name Input When entering a vision job, place the supplied Calibration Board under the camera lens of the robot and click “Calibration”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 145: Figure 142: Calibration

    To shorten the setting process, users may click “Auto once” to have the robot set the optimal properties based on its vision detection. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 146: Figure 144: Configurations To Set Workspace

    Figure 144: Configurations to set workspace In “Step 1: Tilt-Correction”, make sure the instructions are followed and. Then, click “Next”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 147: Figure 145: Tilt Correction

    Figure 146: Tilt Correction_Yes/No If users click “No”, users will be required to press and hold the PLAY/PAUSE button on the Pendant TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 148: Figure 147: Set Workspace

    In “Step 3: Workspace Calibration”, press and hold the “Play/Pause” key on the Teach Pendant to start visual navigation. The robot will automatically adjust itself to the initial position based on calibrated workspace. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 149: Figure 148: Workspace Calibration

    Figure 148: Workspace calibration In “Step 4: Save Result”, once all the calibrations are set, simply click “Save” to proceed”. Figure 149: Save Result TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 150: Figure 150: Save Workspace

    Then click “Save’. Figure 150: Save Workspace 11. Return to “Vision Job” and click the pencil icon to load the new workspace. Upon entering “Step4_Visual Recognition”, click “Initiate”. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 151: Figure 151: Initial The Visual Recognition Process

    Figure 151: Initial the visual recognition process 12. Click “Reset Workspace”. When “Load Workspace” window appears on the screen, select your workspace and click “Load”. Figure 152: Load Workspace TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 152: Sensor Input Considerations

    Setting. 6.6 Advanced Palletizing Setting TM Palletizing Operator also provides advanced setting options for users to achieve more flexible or more sophisticated applications. Select the checkbox named “Advanced” in the component bottom to start advanced setting. The following describe the related functions of advanced setting.
  • Page 153 X, Y, Z = The approach vector X, Y, Z (mm) upon box placement Elevated_Height_Before_Placing = {M, N} 10 Elevated_Height_Before_Placing Float[] {1,20} M = 1, use TMstudio settings; ignore parameter N M = 0, use TMflow input value N TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 154 If Movement_Protection = True, the detection will be Movement_Protection_Layer triggered when the current pallet is being stacked to a certain number of layers TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 155: Advanced2-8

    In general, users can create new subflows with Advanced2-8. The following provides an example: Click “+” icon to add a subflow. Figure 154: Add a subflow TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 156: Figure 155: Add Nodes In The Subflow

    Advanced3_Release This subflow allows users to define release commands for the gripper. This subflow allows users to input conveyor-waiting sensor signal to ensure Advanced4_Waitfor_Input proper placement of boxes. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 157: Table 31: Definitions Of Advanced2-8

    TMOperator_TMROBOT_TMPLTZOP_V001_Main_Vision_Mark_Recognition for XYZ coordinates, which will record the relative direction with vision related coordinates. Table 31: Definitions of Advanced2-8 WARNING: Make sure Approaching Vector Z is higher box. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 158: Table 32: Relevant Parameters

    Current pillar height (mm) Main1_var_pillar_now Current palletizing direction TMOperator_TMROBOT_TMPLTZOP_V001_Main1_var_now_ 1: right right_left 2: left Via Point direction TMOperator_TMROBOT_TMPLTZOP_V001_Main1_var_via_p 1: go oint_way 2: return Table 32: Relevant parameters TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 159: Product Specifications

    Safety input: Emergency Stop: 1 x dual channel input Safeguard Pause: 4 x dual channel inputs Safety Interface Safeguard Human-Machine Safety Setting: 4 x dual channel inputs Safety output: TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 160 1,200 mm. Differences in box size, box layout and gripper might affect actual stack height. **The payload at robot flange is 12kg. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 161: Maintenance And Repair

    Manual Trial Run mode, the Project Speed will always automatically return to 5%. • Be noticed that Open or Close of this safety input will not affect the operation in Auto TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 162: Table 33: Summary Of The Preventive Maintenance Procedures And Guidelines

    Make sure that each setting satisfies the original conditions before resuming normal operation, including but not limited to:  Safety Software Settings  Safety I/O  Preset operation project  TCP Settings  I/O Settings  I/O Wiring TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 163: Warranty Statement

    The Corporation has verified the accuracy and correctness of this Manual but will not liable for any erroneous or omitted information. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 164: Appendix - A: Troubleshooting And Error Messages

    Set DO_6 as “H”(high) about 0.5 second and then set DO_6 as “L”(low)  Set DO_0 as “L” to lower the pillar, or “H” to raise the pillar  Set DO_1 as “H” TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 165: Recovering From Emergency Stop

    Situation: The project paused to prevent robot from hitting the opposite working pallet boxes. Reset Procedure: Clear the full state of the pallet and press “Start” to continue. 3. “No box detected on gripper, cause PAUSE” TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 166 Press “Stop” to stop the project.  Remove the box from the gripper.  Place the box in the picking position.  Press “Start” to start the project again. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 167: Appendix - B: Vacuum Pressure Sensor Setting

    5. Press “Set” button to switch response time sequence: 2.5ms  SoG (Backlight Control). 6. Press “Set” button to enter unit setting. Use up and down arrow buttons to select Mpa (default value). TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 168: Pressure Setting (Single-Point Setting Mode)

    1. Under measurement mode, press and hold “Set” button (the blue button) for approximately 3 seconds to enter OUT1 operating mode. 2. Under OUT1 operating mode, use up and down arrows to select oPS mode (single-point setting mode). TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 169: Pressure Setting (Single-Point Setting Mode)

    1. Under measurement mode, press “Set” button to enter P-1, and use up and down arrow buttons to set pressure value at -40 Kpa (default value). 2. Press “Set” button to return to measurement mode. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 170 4. Users may adjust the detected pressure value based on the workpieces to be gripped. 5. Avoid setting the pressure value lower than -60Kpa. If the vacuum pressure is too high, the suction cup may damage the corrugated surface of boxes. TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 171: Appendix - C: Declaration Of Incorporation

    Appendix – C: Declaration of Incorporation TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 172: Appendix - D: Certificate Of Compliance

    Appendix – D: Certificate of Compliance TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 173 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 174 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

  • Page 175: Appendix - E: Verification Of Emc Compliance

    Appendix – E: Verification of EMC Compliance TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...
  • Page 176 TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0...

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