1. Manuals
  2. Brands
  3. Techman Robot Manuals
  4. Robotics
  5. TM Palletizing Operator
  6. User manual

Techman Robot TM Palletizing Operator User Manual

Hide thumbs Also See for TM Palletizing Operator:
Table of Contents

Advertisement

Quick Links

TM Palletizing
Operator
User's Manual
Original Instruction
Original Instruction
Corresponding models: TM5 Series
Product Version: 1.1
Document Version: 1.2
Release Date: 2022-04-29

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the TM Palletizing Operator and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Techman Robot TM Palletizing Operator

Summary of Contents for Techman Robot TM Palletizing Operator

  • Page 1 TM Palletizing Operator User’s Manual Original Instruction Original Instruction Corresponding models: TM5 Series Product Version: 1.1 Document Version: 1.2 Release Date: 2022-04-29...
  • 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 Code Date Description 2020-12-21 Official release 2021-10-05 Minor details revised 2022-04-29 Minor details revised TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 5: Table Of Contents

    Contents Preface ................................. 3 Product Version Information ......................... 3 Revision History............................4 1. Product Information ..........................15 TM Palletizing Operator Overview ....................15 Orientations ..........................16 Palletizing Operator Base Dimensions ..................17 Package Contents ......................... 18 Teach Pendant ..........................25 Adjustable Flexible Gripper Overview ....................
  • Page 6 4. Electrical Interface ..........................60 General Electrical Specifications....................60 Electrical Warnings and Cautions ....................60 A Glance inside TM Palletizing Operator ..................60 Electric Switchboard inside the Distribution Box ................61 Palletizing I/O Configuration ......................62 Palletizing I/O Definitions ......................63 Digital Input ..........................
  • Page 7 Connect/Disconnect the Teach Pendant ..................101 Install the Reset Button ........................ 107 SYSLIGHT Connection ........................ 107 Connect Power Supply to TM Palletizing Operator ..............108 Activate/Deactivate TM Palletizing Operator ................110 Install Adjustable Flexible Gripper ....................112 Change Gripper Flange Position ..................113 Install the Gripper on the Robot (for centered position) ............
  • Page 8 Steps to Download TM Palletizing Operator Software Package .......... 120 Set Teach Pendant and TCP Settings in TMflow ................ 120 TMflow Using ........................120 Set Teach Pendant in TMflow ....................120 TCP Setting for the Adjustable Flexible Gripper ..............121 6.
  • Page 9 Table 11: Safety Function SF10~SF16 Definitions ............... 49 Table 12: Stop Category and Action of Fault Detection of SF10~ SF16 ........50 Table 13: AC Input Specifications of TM Palletizing Operator ............60 Table 14: Electric switchboard components .................. 62 Table 15: I/O signals for DIO, Analog I/O, and Safety I/O .............
  • Page 10 Table 20: AC Input Specifications of TM Palletizing Operator ............. 108 Table 21: TM Palletizing Operator Software Configuration Workflow .......... 123 Table 22: Preset Pallet Templates ....................128 Table 23: Icon Functions in Create Pallet Layers ................ 129 Table 24: Shift Box Configurations ..................... 131 Table 25: Snap Items .........................
  • Page 11 Figure 55: Air Unit for External Compressed Air Supply ............... 95 Figure 56: Filter Regulator and Pressure Gauge location ............. 96 Figure 57: TM Palletizing Operator Transportation (1/4) ............... 97 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 12 Figure 58: TM Palletizing Operator Transportation (2/4) ............... 97 Figure 59: TM Palletizing Operator Transportation (3/4) ............... 98 Figure 60: TM Palletizing Operator Transportation (4/4) ............... 99 Figure 61: Using a wrench to Loosen/Tighten Leveling Mounts ..........100 Figure 62: TM Palletizing Operator Anchor Points ..............100 Figure 63: Connect the Cable to the Pendant ................
  • Page 13 Figure 125: Step4_Visual Recognition ..................155 Figure 126: Input Vision Job Name ..................... 155 Figure 127: Calibration ....................... 156 Figure 128: Automatic Calibration ....................156 Figure 129: Workspace Calibration ..................... 157 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 14 Figure 138: Advanced Settings ....................162 Figure 139: Add a Subflow ......................165 Figure 140: Add nodes in the subflow (1/2) ................165 Figure 141: Add nodes in the subflow (2/2) ................166 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 15: Product Information

    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 of how to configure and...

  • Page 16: Orientations

    Mount Figure 2: TM Palletizing Operator Base Overview (2/2) Orientations TM Palletizing Operator system shall be placed as the orientation shown below. Figure 3: TM Palletizing Operator Base Orientation TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 17: Palletizing Operator Base Dimensions

    Palletizing Operator Base Dimensions Unit: ㎜ Applicable to Elongation 500 ㎜ Applicable to Elongation 800 ㎜ TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 18: Package Contents

    Check if all the items listed in this section are included when unpacking the cartons for the first time. If any item is missing, contact your distributor or dealership immediately.  In the Palletizing System wooden shipping crate: TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 19 1 x TM Palletizing Operator Base 1 x Robot Protection Tubing which includes 2 x 6 ㎜ Wave Tube and 2 x Tube Fittings PLJ6  In the Robot Arm carton: TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 20 Robot Arm (TM12) Cable length: 300 cm  In the Control Box carton: Control Box TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 21 (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 Landmark (Two TM Landmarks. Peel the protective wrap off before using.)
  • Page 22 AC power cord of the TM Palletizing Operator Length: 500 cm SYSLIGHT Cable (1 x 5-pin analog system indicator light cable) 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...
  • Page 23 8 x M4X8L type screws 2 x Software license dongle 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...
  • Page 24 4 x M6X12L type screws 4 x M6 washers 4 x 4 ㎜ plugs  In the Teach Pendant carton: 1 x Teach Pendant Display size: 10.1” TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 25: Teach Pendant

    1 x Teach Pendant cable with 1 x seal washer and 1 x screw for ground wire Length: 300 cm Teach Pendant ESTOP Button Mode Switch Stop PLAY/PAUSE +/- Buttons Error Log TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 26 Be noted that the control box can only be in standing pose for the IP32 rating. WARNING:  Do not simultaneously use both pendant and the robot stick to initialize or control the robot. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 27: Adjustable Flexible Gripper Overview

    Adjustable Flexible Gripper Overview TM Palletizing Operator package comes with an Adjustable Flexible Gripper set for box lifting and placement in the palletizing projects. The following will describe the parts and characteristics of the gripper.

  • Page 28: Vacuum Generator Characteristics

    Vacuum Generator Characteristics The diagram below illustrates the relationships among the input compressed air pressure (MPa), the final vacuum, the air consumption, and the suction flow of the vacuum generator. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 29: Vertical Lifting Force Per Suction Cup

    The following diagram illustrates the relation between vertical lifting force and vacuum per suction cup. The vacuum pressure is related to the input compressed air pressure channeled to vacuum generator. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 30: Vacuum Pressure Sensor

    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: 1.1 Document Version: 1.2...

  • Page 31: How Can I Get Help

    Figure 9: Pneumatic Diagram How Can I Get Help? You can access information sources on Techman Robot website: http://tm-robot.com/ Related Documents The table below lists documents related to this manual for more or less. Documents Descriptions TMflow Software Manual Related to Chapter 6 of this manual...

  • Page 32: Safety Information

    This manual is only applicable to the combination of the following product version and TECHMAN ROBOT Safety System as listed in the table below. Users can check the “Techman Robot Product Brief Information” sheet in the control box carton regarding the hardware and software versions of the product.

  • Page 33: Overall Safety Warning

    Before performing maintenance or service record the details of each setting for the robot for normal operation. Make sure that each setting satisfies the original conditions before resuming normal operation, including but not limited to:  Safety Software Settings  Safety I/O TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 34 During the operation of machinery, do not turn off the power supply to prevent possible damage to the system. For the robot noise levels and related environmental conditions, refer to the TM12 & TM 14 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 35: Validation And Liability

    TM Palletizing Operator are intended for use in material palletizing for payloads (including end-effector and workpiece) up to the specified “Maximum Payload”.

  • Page 36: Limitations On Liability

    1.6m above the floor, at 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 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 37: Risk Assessment

    Ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system.  Provide appropriately sized Branch Circuit Protection and Lockout/Tagout Capability in accordance with the National Electrical Code and any local codes. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 38: Pre-Use Assessment

    (category 2 stop) to stop all motion of the robot system when the enabling device is fully released or fully compressed. When the robot system is in Auto Reset, the enabling device has no effect. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 39: Movement Without Driver Power

    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: 1.1 Document Version: 1.2...
  • Page 40 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 41 Do not walk or stand here Prohibit walking or standing on a designated area Connect an earth terminal to the ground An earth terminal must be connected Product label Table 4: Labels TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 42: 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. General Information The following describes common information of the TM Palletizing Operator safety functions.

  • Page 43: Stopping Time And Stopping Distance In The Safety System

    Safety Device Connection Diagram, Input Discrepancy, and Resume Method The safety device connection diagram is shown as below. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 44: Explanation Of Safety Functions

    TM Robot, SF1 Pendant Emergency Stop refers to the built-in Emergency Switch on the Teach Pendant, and the SF2 External Emergency Stop refers to the Emergency Stop Port on the safety control unit, which is applicable to connect additional emergency switches. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 45 Rotate the Emergency Switch to the pop-up state. At this time, the robot arm will be re- powered. The Indication Light Ring will have the light blue light on to indicate the Safe TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 46 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 47: Sf5 Pendant Enabling Device

    Number Category C1 Discrepancy: Cat.2 Stop Pendant Cat.2 stop C2 Discrepancy: Cat.1 Stop Enabling Device Others: Cat.0 stop Table 8: Stop Category and Action of Fault Detection of SF5 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 48: Sf6 Motion Latching Mechanism

    Table 10: Stop Category and Action of Fault Detection of SF7, SF8 and SF9 IMPORTANT: The resume of outputs follows the corresponded inputs. For example, the SF7-Emergency Stop Output would output signal LOW when the SF1-Pendant Emergency Stop is pressed. When the TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 49: Sf10~Sf16 Defined Safety Functions

    When any fault other than discrepancy detected in the safety functions, the system performs a Cat. 0 stop. When Cat. 0 stop occurs, reboot the robot system to recover from Cat.0 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 50 For the robot system recovery from protective stop manually in SF10 – SF16, refer to the relevant sections in Safety Manual (Techman Robot Safety System 3.3). DANGER: When the motion of TM Robot is passing the area near singular space, due to the nature of singularity, the TCP force may be estimated incorrectly.

  • Page 51: Payload And Gravity Offset Consideration

    Safety Distance and Scenario Clearances to avoid quasi-static contact for robot: Reserve a distance of 500 ㎜ around the pallet and around the picking position as shown below. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 52 The box location in this figure indicates the position where the robot will grip the box. 500 ㎜ Conveyor Box location where the robot grips box 500 ㎜ 500 ㎜ 500 ㎜ Figure 14: Palletizing operator clearance with straight conveyor TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 53 Instruction for sideways conveyor layouts had shown as below. Conveyor Safeguarded Safeguard Human- Operating Space Restricted Space Safeguard Pause Space Machine Safety Settings Figure 15: Safeguarded space setup scenario with sideways conveyor layouts TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 54 Full Pause Space b) Full Human-Machine Safety c) Pause & Human-Machine Safety TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 55 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 56: Reset Button Mechanism

    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 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 57: Operation Mode And Mode Switching

    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. The robot is in Auto Mode upon system boot-up.

  • Page 58: Manual Control Mode (Manual Reduced Speed)

    When users have read through and completed the instructions in this and previous chapters, they must conduct the required safety setting instructed in 5.13 Set Teach Pendant and TCP Settings in TMflow. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 59 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: 1.1 Document Version: 1.2...

  • Page 60: Electrical Interface

    4. Electrical Interface General Electrical Specifications TM Palletizing Operator TM Palletizing Distribution Box is supplied by AC power input. Refer to the table below for the general electrical specifications. Parameter Min. Typical Max. Unit Input voltage* External AC fuse (100V – 120V) External AC fuse (220V –...

  • Page 61: Electric Switchboard Inside The Distribution Box

    By default, most of the I/Os on the switchboard are pre-occupied and connected to devices upon shipment. The table below gives a brief description for each component on the board. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 62: Palletizing I/O Configuration

    Palletizing I/O is a comprehensive component integrating DIO (digital input/output), analog input/output, and safety input/out signals. Most of the I/O on these components are reserved for the control box and external devices upon shipment. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 63: Palletizing I/O Definitions

    Digital Inputs can be set to either sink input or source input by selection. The I/O highlighted in red are reserved for the control box upon shipment, while the I/O highlighted in blue come in TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 64  Set to source input type When a device such as a transistor output sensor is connected, PNP open collector transistor output can be used. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 65: Digital Output

    300mA per channel. If the load exceeds 300mA, a relay should be used to drive it. The I/O highlighted in red are reserved for the control box upon shipment, while the I/O highlighted in blue come in both reserved and available I/O. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 66 Set to sink output type Connect DO_COM terminal to the minus side of the power supply.  Set to source output type Connect DO_COM terminal to the plus side of the power supply. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 67: Analog Input/Output

    I/O highlighted in blue come in both reserved and available I/O. AOUT_V AIN_0P AIN_1P REMO+ AOUT_G AIN_0G AIN_1G REMO- AOUT_G AIN_0G AIN_1G REMO- AOUT_V AIN_0P AIN_1P REMO+ Reserved I/O Available I/O TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 68: 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 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 69: Safety Input/Output

    Below are Safety I/O pin assignments. The I/O highlighted in red are internally wired for robot control box by default, while the I/O highlighted in blue come in both reserved and available I/O. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 70: Safety Input

    SI1_1 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 for Pendant Reserved Reserved I/O TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 71: Safety Output

    Safety Controller (G9SP-N20S) I/O Configuration The Safety Controller (G9SP-N20S) provides I/O configurations for 1 set of Emergency Stop and 4 sets for PAUSE function for customers to connect with safety device. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 72 Connected to CR1/CR3 of Safety Relay Cut Pillar Power Trigger SF4 (External Safeguard-Human- SO6/SO7 Connected to SI_2 of robot control box Machine Safety Settings) Table 17: Safety Controller (G9SP) Pin Definitions TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 73: Safety Controller (Sf-C21) I/O Configuration

    The Safety Controller (SF-C21) inputs are pull-high 24V cables by default, but can be used to connect external safety units for robot-collaborative functions, while the outputs are connected to another Safety Controller (G9SP) and available for external robot-collaborative applications. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 74 Assure the following steps when connecting Safety Controller to external safety devices. 1. Power off the system 2. Remove the pull-high 24V cables (IN1/IN2 – IN7/IN8), and then connect to external TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 75: Power Terminal

    IN_03 pin of External I/O (CP1W-20EDT) to GND terminal as shown in the figure below. IMPORTANT: Make sure the reset button module is already installed before powering on the system. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 76: Light Indications

    LED Status Description Pallet Light Red No pallet detected Pallet Light Orange Pallet is empty or stacked fully with boxes Pallet Light Green Normal operation Figure 30: Pallet light indications TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 77 Status Output0 Green System normal Output1 Orange System pause Output2 System emergency stop Table 19: System Light Indicator Signal F_24V EXO1_00 EXO1_01 EXO1_02 Figure 31: System Light Indication I/O TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 78: Unpacking, Installation, And Transportation

    Refer to TM12 & TM14 Hardware Installation Manual (Heavy Payload Series) for details. Unpack the Palletizing Operator TM Palletizing Operator Base is shipped in a large heavy-machinery wooden crate. Figure 32: Palletizing operator base in wooden crate Tools required for unpacking: forklift (i.e. forklift truck) and screwdriver (pneumatic or electric screwdriver are strongly recommended.)

  • Page 79: Assemble Tm Palletizing Operator

    Assemble TM Palletizing Operator Remove 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 ( required both left and right).
  • Page 80 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 35: Unfasten the 4 Screws (Applicable to Pillar Elongation 500 ㎜) TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 81 Figure 36: Unfasten the 4 Screws (Applicable to Pillar Elongation 800 ㎜ & 1200 ㎜) Refer the followings for each pillar drag chain bracket installation. Pillar Elongation 500 ㎜ TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 82: Install Tm Robot

    Elongation 1200 ㎜ Install TM Robot Once the rear housing is removed, the robot can be installed. Secure TM Robot on the fixed plate with 4 of M10 screws. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 83 Place the robot cable in the cable drag chain and seal the cover of the cable drag chain. Use the unfastened screws to reinstall the cable drag chain and pneumatic quick connector. Figure 39: Seal and Reinstall (Applicable to Pillar Elongation 500 ㎜) TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 84 20 ㎜ thick, its flatness should be 0.1 ㎜ or less, its surface roughness TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 85: Install The Control Box

    Figure 41: Remove EX-IO module from control box Secure the control box covert brackets to the legs of the control box. Use 4 x M4 screws for each of the bracket. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 86 Lay the control box down horizontally. Place AC power, 40pin, 44pin, HDMI, and USB cables through the space between the legs and the brackets to plug into their corresponding connectors. Figure 43: Proper Cable Connections TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 87 Simply plug this cable as the shown in the diagram. Figure 44: 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: 1.1 Document Version: 1.2...
  • Page 88 Figure 45: All Cable Firmly Plugged Insert the supplied USB dongle into an available USB port. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 89 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. Figure 46: Secure the Bracket Plates of the Control Box TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 90: Install The Rear Housing

    Figure 47: Place 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: 1.1 Document Version: 1.2...
  • Page 91 Then reinstall the side covers of the rear housing. Figure 49: Reinstall the Side Cover Place the robot stick on the top cover or inner side of the side cover. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 92: Install Cable Protection Conduit

    270 ㎜ Figure 50: Segments Using with Velcro The distance of each segment between the joints and the positions of Velcro: 90 ㎜ 80 ㎜ 90 ㎜ 110 ㎜ TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 93 Figure 51: Distance 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: 1.1 Document Version: 1.2...
  • Page 94 Connect the air tube plug to the gripper plug. Make sure the cable is connected to the corresponding A/B plug. Figure 53: Connect Air Tube Plug to the Gripper Plug TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 95: Connect 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 8 ㎜ compressed air tube.

  • Page 96: Considerations For Connecting External Compressed Air

    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 97 Figure 57: TM Palletizing Operator Transportation (1/4) Figure 58: TM Palletizing Operator Transportation (2/4) For jack lifts narrower than 550 ㎜ (typically 540 ㎜ wide), insert the jack lift into the rear slot to lift the operator. TM Palletizing Operator User’s Manual...
  • Page 98 Figure 59: TM Palletizing Operator Transportation (3/4) Note: When transporting TM Palletizing Operator with the robot on top of the Palletizing Operator Base, it is necessary to tie and surround the robot with durable packing materials to protect it from potential damage.

  • Page 99: Encountering Non-Flat Surfaces

    Figure 60: TM Palletizing Operator Transportation (4/4) 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 it.
  • Page 100 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 62: TM Palletizing Operator Anchor Points TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 101: 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 5.4 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 102 Ground Wire. 4. Assemble the Ground Wire connection in this sequence: screw  Ground Wire O-ring  seal washer. Then align the screw to the screw hole and tighten it. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 103 7. Push the second green ring toward the palletizing operator base. User may need to repeat step 5 and 6 until the cable plug is firmly tightened to the palletizing operator base. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 104 DO NOT twist the black ring to tighten the connection. NOTE: After the connection is secured, there should be three threads visible generally. 8. Teach Pendant cable connection to the palletizing operator base is now complete. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 105 2. Pull the second green ring opposite from the palletizing operator base. User may need to repeat step 1 and 2 until the cable is completely disconnected from the palletizing operator base. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 106 DO NOT twist the black ring to disconnect the cable. 3. Remove the seal washer, screw and Ground Wire O-ring and place the original screw back into the palletizing operator base. Then tighten the screw. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 107: Install The Reset Button

    Install the Reset Button TM Palletizing Operator includes a supplied Reset Button. It is necessary to install the Reset Button before activating the palletizing operator to ensure safety. For installation, connect the Reset Button cable to the “Reset” input of the palletizing operator.

  • Page 108: Connect Power Supply To Tm Palletizing Operator

    External AC fuse (100V – 120V) External AC fuse (220V – 240V) Input frequency Table 20: AC Input Specifications of TM Palletizing Operator IMPORTANT: The robot will automatically limit the total output if an AC 100V-199V power input is used.
  • Page 109 AC IN of the palletizing operator. Keep in mind that the palletizing machine must adopt single- phase AC 100-240V power supply. Figure 70: Power Connection Reference IMPORTANT: The power supply should be designed with the following: Grounding Main fuse TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 110: Activate/Deactivate Tm Palletizing Operator

    Power on the operator machine. Turn the main switch clockwise to the right. Figure 72: Turn the Main Switch Clockwise to Power On If the power is not applied, check the NFB (no fuse breaker) in the Distribution Box TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 111 Power off the robot through TMflow or press and hold the Power Button on the Teach Pendant. Once the robot is completely powered off, turn the Main Switch counter-clockwise to the left to shut down the system. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 112: Install Adjustable Flexible Gripper

    Figure 73: Gripper Flange at Centered Position as Delivered If users wish to change the gripper flange to 10 cm-shifted position, follow the steps in the following sub-sections. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 113: Change Gripper Flange Position

    To change the gripper flange position, simply perform the steps below: Remove the two M6x12L screws with Allen wrench and detach the flange knob from the gripper. Figure 75: Remove Two M6x12L Screws and Detach Flange Knob TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 114 Remove five M6x6L screws with an Allen wrench and detach the position converter from the gripper. Figure 76: Remove Five M6x6L Screws and Detach Position Converter Fasten flange knob to 10cm shifted position and secure it with two M6x12L screws. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 115: Install The Gripper On The Robot (For Centered Position)

    Install the Gripper on the Robot (for centered position) Turn the Main Switch to power on the Robot (see 5.9 for details). Hand-guide the robotic arm to the appropriate or pre-defined posture. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 116 Figure 79: Align Gripper and Screws (for centered position) Connect the 8-pin gripper cable to the I/O connector on the robot. Figure 80: Connect 8-pin Gripper Cable to I/O Connector on Robot (for centered position) TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 117: Install The Gripper On The Robot (For Shifted Position)

    Align the gripper flange to the robot flange, and fasten the gripper with four M6x12L screws. Figure 81: Align Gripper and Screws (for shifted position) Connect the 8-pin gripper cable to the I/O connector on the robot. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 118: Adjust Pallet Sensor

    Figure 83: Adjust Pallet Sensor Horizontally Be noted that the default sensor position is 22 ㎜, as defined to detect standard EPAL  pallet corner, with a range of 17 +4/-2, or smaller size. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 119: Required Software

    Before proceeding to Software Application Setup, which is the next chapter, users (particularly those using TM Palletizing Operator for the first time) have to download TMstudio software and TM Palletizing Operator Software Package from Techman Robot official website and launch TMflow software.

  • Page 120: Steps To Download Tm Palletizing Operator Software Package

    The file location TM_Export\TMPLTZOP\TextFiles will be used to store palletizing  layout text file generated in TMstudio.  For details about TM Palletizing Operator Software package, refer to 6.1 TM Palletizing Operator Software Package Overview. Set Teach Pendant and TCP Settings in TMflow NOTE:...

  • Page 121: Tcp Setting For The Adjustable Flexible Gripper

    Apply when done. TCP values for the Non-Shifted Gripper: X(㎜): Y(㎜): Z(㎜): RX(deg): RY(deg): RZ(deg): 2.065 Mass（㎏）: lxx: 17710 lyy: 16710 lzz: 26133 X(㎜): -8.63 Y(㎜): -1.59 Z(㎜): 3.88 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 122 TCP values for the Shifted Gripper: X(㎜): Y(㎜): Z(㎜): RX(deg): RY(deg): RZ(deg): Mass（㎏）: 1.977 lxx: 28732 lyy: 16540 lzz: 37245 X(㎜): -8.97 Y(㎜): 7.29 Z(㎜): 3.88 RX(deg): RY(deg): RZ(deg): Figure 87: Shifted Gripper Schematic TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 123: Software Application Setup

    6. Software Application Setup TM Palletizing Operator Software Package Overview TM Palletizing Operator Software Package comes with 4 particular programmed components for users to setup quickly.  TMOperator_TMROBOT_TMPLTZOP_V002_Pillar: Pillar Calibration  TMOperator_TMROBOT_TMPLTZOP_V002_Main: Start Palletizing  TMOperator_TMROBOT_TMPLTZOP_V002_Grip: Box Gripping  TMOperator_TMROBOT_TMPLTZOP_V002_Release: Gripper Release...

  • Page 124: Tmstudio Import/Export

    Before using Palletizing Wizard, please use the Import/Export function at top right in TMstudio and select the TM Palletizing Operator Template file with the pillar length 500, 800, or 1200 in the TM Palletizing Operator Software Package folder. Import the files Scene, CAD, TCP, and Palletizing in the TM Palletizing Operator Template to use in TMstudio.

  • Page 125: Gripper Change

    To use the different gripper, click Change Tool to select the applicable gripper. Figure 91: Gripper Change Select Application Type Palletizing Wizard supports Pallet, Depallet, and Change Pallet for respective application types by the users’ needs. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 126: Start Setting Pallet

    Figure 92: Select Application Type Start Setting Pallet After selected the pallet to edit, click Edit to begin editing. Figure 93: Pallet Setting TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 127: Step 1 - Pallet Dimension And Boundary Setting

    EPAL 2 PALLET 1200 x 1000 x 162 (㎜) EPAL EUR 1200 x 800 x 144 (㎜) 1219 x 1016 x 120.7 (㎜) UK standard 1200 x 1000 x 150 (㎜) TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 128: Step 2 - Box Dimension And Label Direction Setting

    Step 3 – Create Pallet Layers In Step 3, users can configure the pallet layers and the box layouts. The case below shows how to create and arrange the layers and the boxes. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 129 Delete Box Table 23: Icon Functions in Create Pallet Layers Users can right-click or tap the box to shift box, delete box, or change the label side of the box. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 130 Odd layer and Even layer, users can check INVERT to set their placements in reverse. Users can click or tap the box to select and shift the box by preferences. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 131 Click and turn to Click and turn to Click and turn to Click and turn to Reverse the direction such turn when clicked. Turn on/off Snap. Table 25: Snap Items TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 132: Step 4 - Create Palletizing Sequence

    Auto Sequence. Auto Sequence has the system set the palletizing sequence automatically. The number denotes the order to stack the box. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 133: Copy The Box

    Table 26: Palletizing Sequence Icons Copy the Box After setting the pallet, the system will return to the previous page and users can plan another pallet setting in sequence. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 134 Note: Once the box of Pallet_0 is copied to Pallet_1, if proceeding to rotate, other than the box placement, the placement vector will be rotated as well. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 135: Palletizing Simulation - Parameter Setting

    Click Parameters Setting to set parameters for palletizing as shown below. Users can input parameters for the simulation. Refer below the descriptions of each parameter. Click Apply when done. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 136: Validate

    Validate User can detect the potential errors such as unreachable points and collisions in space that might happen during stacking, unstacking, and stack changing and estimate the total time TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 137: Simulation

    After making sure all the setting are correct, click Export to generate files required by palletizing. Please save the files in the path: TM_Export\TMPLTZOP\TextFiles on an USB drive labelled TMROBOT. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 138: Configure Palletizing Software Components In Tmflow

    USB drive to the control box, and launch TMflow and proceed with the steps below. In TMflow, click ≡ at top left, and click System > Import/Export。 Figure 97: Import/Export Click Import at top left. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 139 OK. Figure 99: Robot List Click Component, and check all the avalalbie components in the list. After checking all the components, the components will be in Selected Files. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 140 Figure 100: Import Selected Components Figure 101: Import Completed Import the text file generated by Palletizing Wizard to set the palletizing project. Click Text File, check Layout.txt, and click Import at bottom right. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 141 Figure 102: Import Text File Click ≡ and click Setting > Component。 Figure 103: Select Component in Setting TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 142: Set I/O While Project Stop/Error

    In TMflow, click the create a new project icon or the open a project icon. In the project function ment at right, click Set I/O While Project Error > Customized。 In circles below Control Box, set DO0 and DO1 to L。 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 143: Set Tmoperator_Tmrobot_Tmpltzop_V002_Pillar

    Before starting the palletizing project, please calibrate pillar first and connect the USB dongle to the control box. Note: The component will be unavailable if the USB dongle is not connected. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 144 Click the pencil icon on the node. Figure 107: Start Pillar Calibration Click Pillar Calibration to go to Expression Editor Setting. Make sure the bool value is true. Figure 108: Pillar Calibration TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 145 During pillar calibration, make sure the pillar is free of disturbance or collision from external forces.  Please use the pillar calibration project to make sure the correctness of the pillar current and the correspoding height. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 146: Lower The Pillar Height

    The steps are as below. Press the reset button when the button light is on. In TMflow, click ≡ > Setting > Controller。 Figure 111: Controller Click IO tab. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 147: Set Tmoperator_Tmrobot_Tmpltzop_V002_Main

    TMOperator_TMROBOT_TMPLTZOP_V002_Main node to flow editing area. Click the pencil icon on the node. Figure 113: Project_Main This software package comes with 4 quick steps to set the main palletizing tasks. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 148: Step 1 - Import File

    Clic Step1_Import File, and click Variables. Figure 115: Import File Setting After Expression Editor Setting shows, click the filename (Layout.txt by default) of the text file imported in 6.4.1, and click OK. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 149: Step 2 - Check Pillar Height

    500. Figure 117: Check Pillar Height Step 3 – Recognizing Box Position Lower the pillar to the rock bottom. Refer to 6.4.3.1 Lower the Pillar Height for instructions. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 150 Figure 118: Go to Recognizing Box Positions Click Vision Job > TMOperator_TMROBOT_TMPLTZOP_V002_Main_Step2_Recognizing Box Positions. Figure 119: Vision Job In the Vision Job list, click the pencil icon of TMOperator_TMROBOT_TMPLTZOP_V002_Main_Step2_Recognizing Box Positions. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 151 TM Landmark is in the sight of the camera. After the position is set, click Initiate to set the initial position, and iii. click Reset Initial Position to take the position as the initial position. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 152: Step 4 - Teach Gripping Point

    Do NOT move or touch the box during this step, otherwise the recognition may fail. Step 4 – Teach Gripping Point Lower the pillar to the rock bottom. Refer to 6.4.3.1 Lower the Pillar Height for TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 153 FREE button immediately, which will lock the robot joint brakes. IMPORTANT: Do NOT move or touch the box during this step, otherwise the recognition may fail. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 154: Step 5 - Visual Recognition

    Click Step3_Teach Gripping Point > Point Manager > Overwrite new pose to this point to set and record the gripping point. Figure 124: Step 3 – Teach Gripping Point Step 5 – Visual Recognition TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 155 TMOperator_TMROBOT_TMPLTZOP_V002_Main_Step4_Visual_Recognitio ns, and click the + icon at top right. Input the name in the field below Job Name Input, and click OK. Figure 126: Input Vision Job Name TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 156 Users can also choose Auto once to have the robot camera detect and adjust the parameters to shorten the setting process. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 157 Users will be requested to tap PLAY/PAUSE on the teach pendant, and the robot will navigate visually and calibrate automatically. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 158 Make sure TM Landmark remains still. Click OK after the message Success prompts. Figure 132: Set Workspace In Stage 3: Workspace Calibration, tap PLAY/PAUSE on the teach pendant to start visual navigation. The robot will start to celibate the workspace. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 159 In Stage 4: Save Result, click Save after calibration completes. Figure 134: Save Result When the Save Workspace window prompts, input the name in field next to Name for this workspace and click Save. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 160 Figure 135: Save Workspace Back to the Vision Job list, click the pencil icon of TMOperator_TMROBOT_TMPLTZOP_V002_Main_ Step4_Visual Recognition, and click Imitate. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 161: Notice On Sensor Input

    Advanced 2-8, both of the components are applicable. Advanced Palletizing Setting TM Palletizing Operator provides advanced settings for users to use more flexible or more sophisticated applications. Check Advanced in the component bottom for advanced setting. The following describe the details of advanced settings.

  • Page 162: Advanced1_General_Parameters

    N = Height dropped on each retry (㎜) Box1_Weight = {M, N} Box1_Weight Float[] {1,5} M = 1, use TMstudio settings; ignore parameter N M = 0, use TMflo input value N TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 163 Pallet1_Pillar_Height Int[] M = 0, use TMflow input value H H = the relative height (㎜) corresponding to the elevated pillar for each layer placed on the right pallet TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 164 They shall also confirm the air source sensor setting. If the system shows “Air Source Pressure Too Low” message, it will cause PAUSE. When the robot is operating over its joint limit (usually J6), it will cause the robot to TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 165: Advanced2-8

    QR Code scanning. Refer below for the example. Click the + icon to add a subflow. Figure 139: Add a Subflow Add nodes in the subflow. Figure 140: Add nodes in the subflow (1/2) TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 166 This subflow allows users to add extra vision-related applications, such as barcode scanning. Users may refer to TMOperator_TMROBOT_TMPLTZOP_V002_Main_Vision_Mark_Recognition for Advanced8_Further_Vision XYZ coordinates, which will record the relative direction with vision related coordinates. Table 30: Advanced2-8 Definitions TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 167 Box height (㎜) var_Box_Height- Current pillar height (㎜) TMOperator_TMROBOT_TMPLTZOP_V002_Main1_var_pillar_now Current palletizing direction TMOperator_TMROBOT_TMPLTZOP_V002_Main1_var_now_right_left 1: right, 2: left Via Point direction TMOperator_TMROBOT_TMPLTZOP_V002_Main1_var_via_point_way 1: go, 2: return Table 31: Relevant Parameters TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 168: Product Specifications

    Safety Functions SF0 ~SF2, SF7~9, PL=d, Cat.3; SF3~SF6, SF10~SF16, PL=d, Cat.2 10.1” capacitive touch screen, with ESTOP and Enabling Switch, Teach Pendant Cable length: 3m, 2 x USB ports provided TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 169 Operating Pressure (of vacuum 2.0 to 6.0 bar (0.2 to 0.6MPa) generator) Offline programming & Simulation: TMstudio Palletizing Wizard Software Setting and Running: TM Palletizing Operator Software Packages Eye-in-Hand Camera (Built-in) 1.2M/5M pixels, color camera Eye-to-Hand Camera (Optional) Support Maximum 2 GigE cameras...

  • Page 170: Maintenance And Service

    Connected External Safeguard Input Port When the User Connected External Safeguard for Human–Machine Safety Settings Input Port for Human–Machine Safety Settings is open, the purple light will be alternating between TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 171 Check Robot Mounting Screws 3 months Refer to 5.2 Assemble TM Palletizing Operator. Table 32: Summary of the Preventive Maintenance Procedures and Guidelines Only the legal distributor or authorized service center can repair the TM Robot. Users should not repair it by themselves.

  • Page 172: Warranty And Disclaimer

    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: 1.1 Document Version: 1.2...

  • Page 173: Appendix - A: Troubleshooting And Error Messages

    When a discrepancy occurs, the system will enter and get locked in the safety status of Cat. 1 Stop. To resume from the safety status, follow the steps below: Steps: 1) Fix the safety input wirings. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 174 Situation: The project starts with the box on the robot tool. The user has to remove the box on the gripper. Reset Procedure:  Press Stop to stop the project.  Remove the box from the gripper. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 175  Place the box in the picking position.  Press Start to start the project again. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 176: Appendix - B: Vacuum Pressure Sensor Setting

    Pressure setting (single-point setting mode) 1. In measurement mode, press the set button to enter P-1, and use up and down arrow buttons to set pressure value at 0.5 Mpa. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 177 6. Press the set button to enter unit setting. Use up and down arrow buttons to select Mpa (default value). 7. Press the set button to return to measurement mode. TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 178 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: 1.1 Document Version: 1.2...

  • Page 179: Appendix - C: Recommendations On The Minimum Box Packing Units

    The box packing unit is calculated based on the shape of the square. If the box is not a square, please refer to the minimum size. Applicable to Elongation 500 ㎜ Applicable to Elongation 800 ㎜ Applicable to Elongation 1200 ㎜ TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 180: Appendix - D: Declaration Of Incorporation

    Appendix – D: Declaration of Incorporation TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 181: Appendix - E: Certificate Of Compliance

    Appendix – E: Certificate of Compliance TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 182 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 183 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

  • Page 184: Appendix - F: Verification Of Emc Compliance

    Appendix – F: Verification of EMC Compliance TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...
  • Page 185 TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2...

Table of Contents