Related Manuals for Omron Medium Series
Summary of Contents for Omron Medium Series
- Page 1 Medium & Heavy Payload Series Hardware Installation Manual Corresponding models: TM12/14 Series Original Instruction I624-E-07...
- Page 2 This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot).The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without prior authorization from the Corporation.
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Page 3: Table Of Contents
Contents Revision History Table ............................... 9 1. Product Description ..............................10 1.1 Product Description ............................10 1.2 How Can I Get Help? ............................10 2. Safety Information ............................... 11 2.1 Overview ................................11 2.2 Warning and Caution Symbols .......................... 11 2.3 Safety Precautions ............................. - Page 4 4.2.4.2 Install Light Module ..........................42 4.3 Operating Position of TM Robot with AGV/AIV ....................44 4.4 Working distance and field of view of TM Robot’s EIH camera ................. 44 5. Electrical Interface ............................... 46 5.1 Overview ................................46 5.2 Electrical Warnings and Cautions ........................46 5.3 Control Box ................................
- Page 5 6.3 Unboxing ................................69 6.3.1 Carton Types ............................... 69 6.3.2 Contents of Each Carton ..........................69 6.4 Installing Your Robot ............................72 6.4.1 Remove the Control Box ..........................73 6.4.2 Verification Before Removal of the Robot Arm .................... 74 6.4.3 Removal of the Robot Arm and Tightening ....................74 6.4.4 Connect the Robot and the Control Box .....................
- Page 6 Figures Figure 1: References of Joints by Models ......................14 Figure 2: Reference of Brake Solenoid by Joints ..................... 15 Figure 3: Locations of Labels ........................... 16 Figure 4: System Overview ..........................18 Figure 5: Dimension of TM12 / TM12M ......................19 Figure 6: Dimension of TM14 / TM14M ......................
- Page 7 Figure 36: Control Box I/O Configuration (1/2) ....................46 Figure 37: Control Box I/O Configuration (2/2) ....................47 Figure 38: Safety Input Connector ........................48 Figure 39: The Wiring Diagram Example of Switch Type Safety Device............49 Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device ..........49 Figure 41: The Wiring Diagram Example of PNP Output Type Safety Device ..........
- Page 8 Figure 72: Connecting the Robot and the Control Box ..................76 Figure 73: Air Filter Tray ........................... 78 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2...
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Page 9: Revision History Table
Revision History Table Revision Date Revised Content October 2018 Original release December 2018 Updated cover page, minor test fixes August 2019 Minor text fixes. Added cables length Updated Table of Rated Torque and Limit for Repeated Peak Torque. August 2019 Added X Model information. -
Page 10: Product Description
1.2 How Can I Get Help? You can access information sources on the corporate website: http://www.ia.omron.com/ Related Manuals This manual covers the hardware installation, operation and user maintenance of TM Robot. See the following table for additional available manuals. -
Page 11: Safety Information
2. Safety Information 2.1 Overview Users should read, understand and abide by the safety information provided in this manual before using the TM Robot. 2.2 Warning and Caution Symbols The Table below shows the definitions of the warning and caution levels used in this manual. Pay close attention to them when reading the manual, and observe them to avoid personal injuries or equipment damage. -
Page 12: Validation And Liability
Results of the risk assessment may require the use of additional risk reduction measures. Power to the robot and its power supply must be locked out and tagged out or have means to control hazardous energy or implement energy isolation before any maintenance is performed. Dispose of the product in accordance with the relevant rules and regulations of the country or area ... -
Page 13: Risk Assessment
Ambient air temperature: 0˚C ~ +50˚C Ambient relative humidity: < 85% Transportation & Storage condition: -20˚C ~ +60˚C Transportation & Storage humidity: < 75% The robot needs to be protected from shock or vibration Observe ESD precautions when installing or removing robot ... -
Page 14: Figure 1: References Of Joints By Models
Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint Upper arm Upper arm Joint Joint Joint Joint Base Base TM12 / TM12M TM14 / TM14M Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint Upper arm Upper arm Joint... -
Page 15: Labels
Joint Joint Joint Figure 2: Reference of Brake Solenoid by Joints WARNING: 1. Due to gravity, additional supports are recommended when manually releasing the brake. 2. When manually moving each robot joint, the movement angle must be within a range of 。... -
Page 16: Table 3: Denotation Of Labels
Be sure to comply with description and warnings of the labels when operating to avoid accidents. Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached. Do not put your hand or fingers close to moving parts Be careful not to be close to the moving parts and nearby areas to avoid impact Do not touch any internal electric parts to avoid electric... -
Page 17: Transportation And Storage
3. Transportation and Storage Transport the TM Robot using its original packing materials. If you will need to transport the TM Robot after unpacking, store the packing materials in a dry place. Hold both arms of the TM Robot during transportation. Support the arms while tightening the base screws. -
Page 18: System Hardware
4. System Hardware 4.1 Overview This chapter introduces the mechanical interface of the TM Robot System. 4.2 System Overview TM Robot is made up of the robot arm and control box (including a robot stick). Robot arm Control Box Robot Stick Medium &... -
Page 19: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot Figure 5: Dimension of TM12 / TM12M *All measures are in mm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 20: Figure 6: Dimension Of Tm14 / Tm14M
Figure 6: Dimension of TM14 / TM14M *All measures are in mm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 21: Figure 7: Dimension Of Tm12X
Figure 7: Dimension of TM12X *All measures are in mm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 22: Robot Assembly Diagram
Figure 8: Dimension of TM14X *All measures are in mm. 4.2.1.2 Robot Assembly Diagram Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to disassemble any component on your own. Contact your local corporation support for any service request. -
Page 23: Figure 9: Assembly Of Tm12 / Tm12M
Figure 9: Assembly of TM12 / TM12M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 24: Figure 10: Assembly Of Tm14 / Tm14M
Figure 10: Assembly of TM14 / TM14M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 25: Figure 11: Assembly Of Tm12X
Figure 11: Assembly of TM12X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 26: Figure 12: Assembly Of Tm14X
Figure 12: Assembly of TM14X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 27: Range Of Motion
4.2.1.3 Range of Motion The working spherical (radius) range from the base is 1300 mm for the TM12 series and 1100 mm for the TM14 series. DANGER: With the exception of an individual being in full control of robot motion during hand-guiding, personnel shall be outside the safeguarded space when the robot is in motion while in manual mode (i.e. -
Page 28: Figure 14: Pictorial View Of Tm12 / Tm12M / Tm12X Movement Range Diagram
Figure 14: Pictorial view of TM12 / TM12M / TM12X Movement Range Diagram Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Figure 15: Top view of TM12 / TM12M / TM12X Movement Range Diagram *All measures are in mm. -
Page 29: Figure 16: Side View Of Tm14 / Tm14M / Tm14X Movement Range Diagram
TM14 / TM14M / TM14X Movement Range Diagram Figure 16: Side view of TM14 / TM14M / TM14X Movement Range Diagram *All measures are in mm. Pictorial view Figure 17: Pictorial view of TM14 / TM14M / TM14X Movement Range Diagram Medium &... -
Page 30: Robot Hazard Zone Diagram And Operator Position Diagram
Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram *All measures are in mm. 4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram Shown below is an illustration of the robot hazard zone and operator position diagrams. -
Page 31: Figure 19: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm12 / Tm12M / Tm12X
Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X *All measures are in mm. -
Page 32: Payload And Torque
TM14 / TM14M / TM14X Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X *All measures are in mm. -
Page 33: Figure 21: Relationship Between Payload And The Center Of Gravity Offset In Tm12 / Tm12M / Tm12X
TM12 / TM12M / TM12X Center of gravity offset [mm] Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X TM14 / TM14M / TM14X Center of gravity offset [mm] Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X Refer the table below for the rated torque and the limit of repeated peak torque of the robot. -
Page 34: Robot Arm Installation
Model TM12 Series TM14 Series Limit for repeated Limit for repeated Item Rated torque Rated torque peak torque peak torque Unit: Nm Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series WARNING: Use the total weight of the end-effector and the payload to stay within the payload rating of the robot. -
Page 35: Robot End Module
Figure 23: Bottom View of Robot Base *All measures are in mm. Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. Figure 24: Securing the ground wire with the robot 4.2.2 Robot End Module 4.2.2.1 End Module Components Medium &... -
Page 36: Figure 25: References Of Tm12 / Tm12M / Tm14 / Tm14M End Module Components
TM12 / TM12M / TM14 / TM14M End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components Medium &... -
Page 37: Figure 26: References Of Tm12X / Tm14X End Module Components
TM12X / TM14X End Module Components FREE Button Indication Light Ring Analog I/O Digital I/O POINT Button GRIPPER Button Flange (ISO 9409-1-50-4-M6) Figure 26: References of TM12X / TM14X End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 38: End Flange Surface
4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Figure 27: References of End Flange Surface *All measures are in mm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 39: End Mounting Caution
4.2.2.3 End Mounting Caution The TM12/14 Series uses four M6 threaded holes on the end flange and four M6 screws for mounting tools. The strength of the M6 screw should be 8.8 or above, and the tightening torque of 9 Nm is recommended. -
Page 40: Robot Stick
Figure 29: Securing the ground wire with control box 4.2.3.1 Robot Stick The Robot Stick has 6 function buttons, 3 indicator lights, 1 Emergency Switch, 1 set of speed indicator, and 1 QR-code. Their functions are as follow: Power Button Mode Indicator Lights Power Indicator M/A Mode Switch Button... -
Page 41: Table 5: Robot Stick Basic Functions
Lights robot's current operating mode. Once boot up is complete only one will always be on. Display the current project speed. Lit in green for 5% and in blue for Speed Indicator 10% such as 4 in blue and 1 in green equals to 45%. QR Code Label The content of the SSID is also the robot's name in TCP/IP network. -
Page 42: Robot Light Module
4.2.4 Robot Light Module 4.2.4.1 Light Module Surface Figure 31: Light Module Surface *All measures are in mm. 4.2.4.2 Install Light Module The light module uses 4 of M3 screws to fix, and the recommended tightening torque is 1 Nm. For higher accuracy on usages in demand, use both of the 2 mm diameter openings with the positioning pins to get the better steadiness. -
Page 43: Table 8: Electrical Specification Of The Light Module
Light Module Figure 32: Calculation the Torque Load of the Light Module The maximum allowed payload of the robot: the weight of the light module must match the relative relationship between the maximum allowed payload and the center of gravity offset distance. If the tool end flange goes with additional applications, it is required to generate the equivalent center of gravity for its position and total load from the combination of the light module and the application tool as well as follow 4.2.1.5 Payload and Torque of this manual. -
Page 44: Operating Position Of Tm Robot With Agv/Aiv
2P/1.5 mm pin pitch. Refer to JST model ZHR-4 series. Connector: PWM control Dimming mode: NOTE: The robot comes with the IP54 rating, but the Corporation does not guarantee this rating if users replace with the other light modules. DANGER: Be aware that the tool must be correctly and firmly secured to use with this product;... -
Page 45: Table 9: The Relation Between The Working Distance And The Field Of View
46.5 Working distance = 0 Figure 35: Working Distance and Field of View of TM Robot’s EIH camera *All measures are in mm. The relation between the working distance and the field of view is listed below. Working distance (mm) Field of view (mm) 281.6 96.9... -
Page 46: Electrical Interface
5. Electrical Interface 5.1 Overview This chapter introduces all electrical interfaces of the robot arm and control box. 5.2 Electrical Warnings and Cautions The application design and installation of the robot should comply with the following warnings. DANGER: 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier. -
Page 47: Table 10: Definitions Of Safety Connectors
Figure 37: Control Box I/O Configuration (2/2) Input Output Safety Safety Definition SF Input Definition SF Output Connector Connector SI0-1 User Connected SO0-1 Robot ESTOP SF10 SI0-2 ESTOP Input SO0-2 Output User Connected User Connected SI1-1 SO1-1 External Safeguard External Safeguard SF11 SI1-2 SO1-2... -
Page 48: Safety Connector
5.3.1 Safety Connector Safety I/O comes with dual redundant channel connector and has to keep both channel input/output the same value simultaneously. Single fault on either one of the single channel will not result in failure of safety functions. 5.3.1.1 Safety Input Connector User Connected ESTOP Input Port is a N.C. -
Page 49: Figure 39: The Wiring Diagram Example Of Switch Type Safety Device
Figure 39: The Wiring Diagram Example of Switch Type Safety Device. Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 50: Safety Output Connector
Figure 41: The Wiring Diagram Example of PNP Output Type Safety Device 5.3.1.2 Safety Output Connector Robot ESTOP Output Port. When the robot triggers the Robot (stick) Emergency Stop signal, the output will be LOW. User Connected External Safeguard Output Port. When the robot triggers the User Connected External Safeguard Input, the output will be LOW. -
Page 51: Figure 42: Safety Output Connector
Figure 42: Safety Output Connector Figure 43: Safety Output Connector Wiring Diagram DANGER: Do not connect the safety signals to a non-safety device without the fulfilled safety level. Failure to do so may result in injury or death due to a malfunction of the safety stop. All safety I/Os come with dual redundant channel connectors. -
Page 52: Power Connector
5.3.2 Power Connector 1. During boot, the control box will check for an external 24V input. If none is found, then it will switch to the internal 24V supply. 2. The control box itself offers a 24V/2A output (24_EX). If the 24V load exceeds 2A, it enters Safe Mode and disables the 24V output. -
Page 53: Figure 45: Digital Input
Figure 45: Digital Input Set to sink input type When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used. Figure 46: Set to Sink Input Type Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 54: Digital Output
Set to Source input type When a device such as a transistor output sensor is connected, PNP open collector transistor output can be used. Figure 47: Set to Source Input Type 5.3.3.2 Digital Output Outputs can be set to either sink output or source output by selection. The maximum drive current is 300mA per channel. -
Page 55: Figure 49: Set To Sink Output Type
Set to sink output type Connect DO_COM terminal to the minus side of the power supply. Figure 49: Set to Sink Output Type Set to source output type Connect DO_COM terminal to the plus side of the power supply. Medium &... -
Page 56: Analog In
Figure 50: Set to Source Output Type 5.3.4 Analog In Figure 51: Analog In Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 57: Analog Out
5.3.5 Analog Out Figure 52: Analog Out Range Resolution Accuracy Conversion Time Analog In +10.00V~-10.00V 11bit ≤ 0.2% 1 ms Analog Out +10.00V~-10.00V 11bit ± 0.07% 1 ms Table 11: Analog In & Analog Out 5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. -
Page 58: Ethercat: For Ethercat Slave I/O Expansion
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion Figure 54: EtherCAT WARNING: The robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while the robot is on. 5.3.8 USB Port The USB port of the control box is used for connecting the keyboard, mouse and external storage devices. External storage devices should only be used for the import/export functions of TMflow. -
Page 59: Table 12: 8-Pin Digital I/O Connectors Of Cable
Wire color Pin define Brown +24v 24V output DI_0 Digital Input0 Orange DI_1 Digital Input1 Yellow DI_2 Digital Input2 Digital Green DO_0 Output0 Digital Blue DO_1 Output1 Digital Purple DO_2 Output2 Black *The M8/8PIN connector complies with the regulation of IEC 61076-2-104. Table 12: 8-pin Digital I/O Connectors of Cable Wire Color Pin Define... -
Page 60: Connecting Tool End Digital Output
Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3 Digital DO_3 Output3 Orange AI Analog Input Yellow *The M8/5PIN connector complies with the regulation of IEC 61076-2-104. Table 14: 5-pin Analog I/O Connector of Cable Wire Color Pin Define Black +24V... -
Page 61: Connecting Tool End Digital Input
5.4.3 Connecting Tool End Digital Input The following figure shows how to connect the tool end digital input: NOTE: If sensors are connected directly then they should be NPN. Figure 56: Connecting Tool End Digital Input 5.4.4 Connecting Tool End Analog Input Range Resolution Accuracy... -
Page 62: Control Box Interfaces
5.5 Control Box Interfaces Robot Status Display Figure 58: Front View of the Control Box CAUTION: The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause the robot to stop. AC Adapter Power Remote ON/OFF EtherCAT AC Power Switch I/O Interface... -
Page 63: Figure 60: Interfaces Of The Tm12M / Tm14M Series
EtherCAT Power Remote ON/OFF DC IN Power Line-out DC Power Switch I/O Interface Air Filter Screw Mic-in USB 2.0 *4 COM1 COM3 Robot Cable Adapter HDMI LAN for GigE Camera*2 COM2 3.0*2 DC IN for External Power Supply External Power Supply Remote Control Figure 60: Interfaces of the TM12M / TM14M Series EtherCAT Power Remote ON/OFF... -
Page 64: Control Box Power Interface And Robot Interface
5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM12 / TM14 / TM12X / TM14X: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. The AC power switch must be in OFF state before plugging in or out the power cable. -
Page 65: Robot Interface
External mains fuse (220V~240V) Input frequency Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power Parameters Minimum Value Typical value Maximum value Unit Input voltage V (DC) Power consumption... -
Page 66: Semi Emergency Off Interfaces (Semi Series Exclusive)
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) Refer below for the SEMI Emergency Off interfaces. The SEMI Emergency Off switch is connected with control box through the EMO port. Please remove the padlock on the power interface for the power cable or the power switch, and secure the padlock back to the box with the screws for shipping the box. -
Page 67: Figure 65: Detachable I/O Panel
screw screw Figure 65: Detachable I/O Panel NOTE: The control box comes with the IP32 rating, but the Corporation does not guarantee this rating for disassembling detachable I/O panel from its original location. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... -
Page 68: Unboxing & Installation
6. Unboxing & Installation 6.1 Overview These instructions guide Users of the TM Robot through the first set up. Users must thoroughly read and understand this Guide before performing the operations of this Chapter. Fail to do so may cause serious danger. WARNING: If this is your first time using the TM Robot, follow instructions in this chapter to perform installation and initial set up. -
Page 69: Unboxing
6.3 Unboxing 6.3.1 Carton Types The TM Robot product comes with 2 cartons: the robot arm carton, and the control box carton, as shown below. Also, a SEMI Emergency OFF switch carton will comes along with the SEMI series. For TM12 SEMI or TM14 SEMI,, there will be an additional carton comes with the SEMI Emergency OFF Box. -
Page 70: Table 19: The Robot Arm Carton Contents
Robot arm Table 19: The Robot Arm Carton Contents The control box carton contains: Control box Product Brief Information Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2... - Page 71 Calibration Plates (One large calibration plate and one small calibration plate. Peel the protective wrap off before using.) *The Calibration Plate comes only with TM Robots fitted with the hand-eye camera. No Calibration Plate includes in the following series: TM5X-700 / TM5X-900 IO cables (One 8-pin digital I/O cable and one 5-pin analog I/O cable)
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Page 72: Installing Your Robot
Ground Wire (2 wires) Cable Length: 300 cm Jumper Wire (1 pair) Wire Length: 3 cm Table 20: The Control Box Carton Contents The SEMI Emergency OFF Switch carton contains: SEMI Emergency OFF Switch (SEMI series exclusive) (1 pack) Cable length: 300 cm Table 21: The SEMI Emergency OFF Switch Carton Contents 6.4 Installing Your Robot The TM Robot arm cannot stand independently after being removed from the carton. -
Page 73: Remove The Control Box
WARNING: Do not attempt to move any robot links until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage. 6.4.1 Remove the Control Box After checking the contents, remove the contents in order and perform installation. Control box carton: Remove the Calibration Plates and TM Landmark ... -
Page 74: Verification Before Removal Of The Robot Arm
Figure 69: Moving the Control Box (2/2) WARNING: At this stage, do not connect the power cable of the control box to any electrical outlet, or it may cause equipment damage. 6.4.2 Verification Before Removal of the Robot Arm The TM Robot arm cannot stand independently after being removed from the carton. Prepare four screws (M10 *4) that used to attach the robot to the base near the robot base in advance. -
Page 75: Figure 70: Moving The Robot Arm (1/2)
Figure 70: Moving the Robot Arm (1/2) The Robot Arm itself should be handled with at least two people. One person should carry the Lower arm and Upper arm, and the other should hold on to the position between the base and 1 Joint as well as the Joint. -
Page 76: Connect The Robot And The Control Box
6.4.4 Connect the Robot and the Control Box Connect the cable from the robot to the robot interface of the control box. Connect the power cable between the wall socket and the power interface of the control box. Figure 72: Connecting the Robot and the Control Box For the SEMI series users only, connect the SEMI Emergency OFF switch to the EMO interface of the control box. -
Page 77: Maintenance And Repair
7. Maintenance and Repair The following table gives a summary of the preventive maintenance procedures and guidelines: Items Period Remark Ensure labels are present and legible. Warning, Safety labels 1 week Replace them if necessary. Check Filter 1 month Replace filter every 3 months. Press the Emergency Switch and the IO Check Emergency Switch 1 month... - Page 78 Safety I/O Preset operation project TCP Settings I/O Settings I/O Wiring NOTE: The filter must be changed regularly to maintain efficiency. Please contact the Corporation to purchase the filter if in demand. screw rubber edge trim tray Figure 73: Air Filter Tray Removal method:...
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Page 79: Appendix A. Technical Specifications
Appendix A. Technical Specifications Model TM14 TM12 TM14X TM12X TM14M TM12M TM14MX TM12MX 32.6Kg 33.3Kg 32.3Kg 33Kg 32.6Kg 33.3Kg 32.3Kg 33Kg Weight 14kg 12kg 14kg 12kg 14kg 12kg 14kg 12kg Maximum Payload 1100mm 1300mm 1100mm 1300mm 1100mm 1300mm 1100mm 1300mm Reach 1.1m/s 1.3m/s... - Page 80 Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 OMRON ASIA PACIFIC PTE. LTD. OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4225 Hacienda Drive, Pleasanton C A 94588 U.S.A. In the interest of product improvement,...