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TM Robot Regular Payload Series Hardware Installation Manual

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Table Of Contents

Table of Contents

Table of Contents
Revision History Table
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
Product Dscription
Product Description
How Can I Get Help
Table 1: Manual Title & Description
Safety Information
Overview
Warning and Caution Symbols
Safety Precautions
Table 2: Warning and Caution Symbols
Validation and Liability
Limitations on Liability
General Safety Warning
Risk Assessment
Emergency Stop
Movement Without Drive Power
Figure 1: References of Joints by Models
Labels
Figure 2: Reference of Brake Solenoid by Joints
Table 3: Denotation of Labels
Figure 3: Locations of Labels
Transportation and Storage
System Hardware
Overview
System Overview
Figure 4: System Overview
Robot Arm
Dimension Drawings of Robot
Figure 5: Dimension of TM5-700 / TM5M-700
Figure 6: Dimension of TM5-900 / TM5M-900
Figure 7: Dimension of TM5X-700
Robot Assembly Diagram
Figure 8: Dimension of TM5X-900
Figure 9: Assembly of TM5-700 / TM5M-700
Figure 10: Assembly of TM5-900 / TM5M-900
Figure 11: Assembly of TM5X-700
Range of Motion
Figure 12: Assembly of TM5X-900
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
Figure 14: Pictorial View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range
Robot Hazard Zone Diagram and Operator Position Diagram
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700
Payload and Torque
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-900 / TM5M-900 / TM5X-900
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-700
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-900
Robot Arm Installation
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
Robot End Module
End Module Components
Figure 23: Bottom View of Robot Base
Figure 24: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components
Tm5X-700
Figure 25: References of TM5X-700 / TM5X-900 End Module Components
End Flange Surface
Figure 26: References of End Flange Surface
End Mounting Caution
End Indication Light Ring Table
Control Box
Robot Stick
Figure 27: the Exterior and Diagram of the Control Box
Table 5: Robot Stick Basic Functions
Figure 28: Robot Stick
SEMI Emergency off Box
Table 6: Robot Stick Advanced Functions
Figure 29: the Exterior and Diagram of the SEMI Emergency off Box
Operating Position of TM Robot with AGV/AIV
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
Working Distance and Field of View of TM Robot's EIH Camera
Figure 30: Top View of TM Robot Placed on the AGV/AIV
Table 7: the Relation between the Working Distance and the Field of View
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
Electrical Interface
Overview
Electrical Warnings and Cautions
Control Box
Figure 32: Control Box I/O Configuration (1/2)
Safety Connector
Figure 33: Control Box I/O Configuration (2/2)
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
Figure 34: Safety Connector
Figure 35: the Wiring Diagram Example of Switch Type Safety Device
Power Connector
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
Digital In/Out
Digital Input
Figure 37: Power Connector
Figure 38: Digital Input
Figure 39: Set to Sink Input Type
Digital Output
Figure 40: Set to Source Input Type
Figure 41: Digital Output
Figure 42: Set to Sink Output Type
Analog in
Figure 43: Set to Source Output Type
Analog out
System Remote Power ON/OFF
Figure 44: Analog in
Figure 45: Analog out
Ethercat: for Ethercat Slave I/O Expansion
USB Port
Tool End I/O Interface
I/O Terminals
Figure 46: System Remote Power ON/OFF
Table 8: 8-Pin Digital I/O Connectors of Cable
Table 9: 8-Pin Digital I/O Connector of Robot
Connecting Tool End Digital Output
Table 10: 5-Pin Analog I/O Connector of Cable
Table 11: 5-Pin Analog I/O Connector of Robot
Figure 47: Connecting Tool End Digital Output
Connecting Tool End Digital Input
Connecting Tool End Analog Input
Figure 48: Connecting Tool End Digital Input
Figure 49: Connecting Tool End Analog Input
Control Box Interfaces
Figure 50: Front View of the Control Box
Figure 51: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series
Figure 52: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series
Figure 53: Interfaces of the TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI
SEMI Emergency off Box Interfaces (TM5-700 SEMI and TM5-900 SEMI Exclusive)
Control Box Power Interface and Robot Interface
Control Box Power Interface
Figure 54: Interfaces of the SEMI Emergency off Box
Figure 55: Control Box Power Interfaces
Robot Interface
Table 12: TM5-700 / TM5-900 / TM5X-700 / TM5X-900 Electrical Specifications
Table 13: TM5M-700/ TM5M-900 Series Electrical Specifications
Figure 56: Robot Interface
SEMI Emergency off Interfaces (SEMI Series Exclusive)
TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI Series
The SEMI Emergency off Box
Figure 58: the SEMI Emergency off Box SEMI Emergency off Interface
Unboxing & Installation
Overview
Inspecting the Equipment
Before Unpacking
Upon Unpacking
Unboxing
Carton Types
Contents of each Carton
Figure 59: Robot Arm Carton
Figure 60: SEMI Emergency off Switch Carton
Figure 61: Control Box Carton
Figure 62: SEMI Emergency off Box Carton
Table 14: the Robot Arm Carton Contents
Table 15: the Control Box Carton Contents
Installing Your Robot
Table 16: the SEMI Emergency off Switch Carton Contents
Table 17: the SEMI Emergency off Box Carton Contents
Remove the Control Box
Figure 63: Moving the Control Box (1/2)
Verification before Removal of the Robot Arm
Removal of the Robot Arm and Tightening
Figure 64: Moving the Control Box (2/2)
Figure 65: Moving the Robot Arm (1/2)
Figure 66: Moving the Robot Arm (2/2)
Connect the Robot and the Control Box
Connect the Robot, the Control Box, and the SEMI Emergency off Box
Figure 67: Connecting the Robot and the Control Box
Maintenance and Repair
Table 18: Summary of the Preventive Maintenance Procedures and Guidelines
Warranty Statement
Product Warranty
Disclaimer
Certificates
Appendix A. Technical Specifications
Table 19: Technical Specifications
Tm5X-900
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01

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Regular Payload

Series

Hardware Installation Manual

Corresponding models: TM5 Series

Original Instruction

Hardware Version: 3.1

Document Version: 1.01

Release Date: 2019-06-02

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TM Robot Regular Payload Series Hardware Installation Manual

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