Related Manuals for Omron S Series
Summary of Contents for Omron S Series
- Page 1 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual Original Instruction I687-E-01...
- Page 2 TECHMAN ROBOT INC. in Taiwan and other countries and the company reserves the ownership of this manual and its copy and its copyrights. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
- Page 3 Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
- Page 4 LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
- Page 5 Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron representative at any time to confirm actual specifications of purchased Product.
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Page 6: Table Of Contents
4.2.2.4 End Indication Light Ring Table ......................35 4.2.3 Control Box ..............................35 4.2.3.1 Robot Stick ............................37 4.2.3.2 TM Screen (Optional) ........................... 39 4.2.4 Robot Light Module ............................. 41 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... - Page 7 5.6.3.1 TM12S-M SEMI / TM14S-M SEMI Series .................... 66 6. Unboxing & Installation ............................... 67 6.1 Overview ................................67 6.2 Inspecting the Equipment ..........................67 6.2.1 Before Unpacking ............................67 6.2.2 Upon Unpacking ............................67 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
- Page 8 Table 19: Summary of the Preventive Maintenance Procedures and Guidelines ..........77 Table 20: Technical Specifications ........................80 Figures Figure 1: Pin position for brake releasing ......................16 Figure 2: Locations of Labels ........................... 17 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
- Page 9 Figure 35: The Wiring Diagram Example of PNP Output Type Safety Device ..........48 Figure 36: The Wiring Diagram Example of PNP Output Type Safety Device ..........49 Figure 37: Safety Output Connector ......................... 49 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
- Page 10 Figure 70: Moving the Robot Arm (2/2) ......................74 Figure 71: Connecting the Robot and the Control Box ..................75 Figure 72: Air Filter Tray (the circled parts) ...................... 79 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
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Page 11: Revision History Table
Revision History Table Revision Date Revised Content June, 2023 Original release Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 12: Product Description
Europe RoHS directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI, polybrominated biphenyls, and polyborminated diphenyl ethers. The following symbols are affixed on the respective manuals to indicate conformity with the above legislation. 2. Safety Information Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 13: Overview
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 Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 14: Validation And Liability
• Scan USB drives or other external storage devices before connecting them to control systems and equipment. Security measures to prevent unauthorized network access Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 15: General Safety Waning
Transportation & Storage humidity: < 75% The robot needs to be protected from shock or vibration Observe ESD precautions when installing or removing robot Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 16: Risk Assessment
1. Remove joint cover screws (M3, Torx-T10) and joint cover, and 2. Release the brake by pushing the pin on the brake solenoid, as shown in the following figures. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 17: Labels
Risk of fire or electric shock. The door lock is not interlocked with the machine supply circuit disconnect. An unlocking or opening of doors does not de-energize Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 18: Table 3: Denotation Of Labels
Product label Table 3: Denotation of Labels Figure 2: Locations of Labels Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 19: Transportation And Storage
The product must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the package on its side or any other non-upright position. This could damage the product. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 20: System Hardware
TM Robot is made up of the robot arm and control box (including a robot stick). Robot arm Robot Stick Control Box Figure 3: System Overview 4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 21: Figure 4: Dimension Of Tm12S / Tm12S-M
Figure 4: Dimension of TM12S / TM12S-M *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 22: Figure 5: Dimension Of Tm14S / Tm14S-M
Figure 5: Dimension of TM14S / TM14S-M *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 23: Figure 6: Dimension Of Tm12S-X
Figure 6: Dimension of TM12S-X *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 24: 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. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 25: Range Of Motion
TM14S-X TM12S-X 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 1300 ㎜ for the TM12S series and 1100 ㎜ for the TM14S series. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 26: Figure 8: Side View Of Tm12S / Tm12S-M / Tm12S-X Movement Range Diagram
TM12S / TM12S-M / TM12S-X Movement Range Diagram Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 27: Figure 9: Pictorial View Of Tm12S / Tm12S-M / Tm12S-X Movement Range Diagram
Figure 10: Top view of TM12S / TM12S-M / TM12S-X Movement Range Diagram *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 28: Figure 11: Side View Of Tm14S / Tm14S-M / Tm14S-X Movement Range Diagram
TM14S / TM14S-M / TM14S-X Movement Range Diagram Figure 11: Side view of TM14S / TM14S-M / TM14S-X Movement Range Diagram *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 29: Figure 12: Pictorial View Of Tm14S / Tm14S-M / Tm14S-X Movement Range Diagram
Warning: Risk of collision Operator within within the operating area of Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 30: Payload And Torque
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X Refer the table below for the rated torque and the limit of repeated peak torque of the robot. Exceeding Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 31: Robot Arm Installation
Ensure the strength of the mounting surface and its surround area before installations for upside down mounting and side mounting such as on the ceiling or the wall. Wherever the installation takes place, the robot setting remains equivalent. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 32: Figure 16: Bottom View Of Robot Base (Tm12S / Tm14S Series)
*All measures are in ㎜. Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. Figure 17: Grounding position for the robot Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 33: Robot End Module
POINT Button Indication Light Ring GRIPPER Button Flange (ISO 9409-1-50-4-M6) Light module Camera module Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 34: Flange Surface Of The Robot End
A safety protection mechanism will be initiated after the discrepancy occurs. Users are required to resume following the instruction log from HMI. 4.2.2.2 Flange Surface of the Robot End Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 35: Figure 20: References Of The Flange Surface Of The Robot End
Digital I/O Camera Figure 20: References of the Flange Surface of the Robot End *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 36: End Mounting Caution
The Indication Light Ring of the TM Robot has several colors which represent different modes and error status. Refer to the Software Manual for the definition of the light colors. 4.2.3 Control Box Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 37: Figure 21: The Exterior And Diagram Of The Control Box
*All measures are in ㎜. Use the M4L6 screw to secure the ground wire with the control box as shown below. Figure 22: Securing the ground wire with control box Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 38: Robot Stick
Robot Stick Enable Indicator M/A Button Play Button Pause Button Stop Button - Button + Button Figure 23: Robot Stick (front) Enabling Switch Figure 24: Robot Stick (back) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 39: Figure 25: Operation Of The Enabling Switch
Play project (single press) Pause Button Pause project (single press) Stop Button Stop project (single press) M/A Button Default MODE switch function for the robot. See Safety Manual for details. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 40: Tm Screen (Optional)
Pay extra attention to environments with conductive dust (such as metal particles). Be noted that the control box can only be placed in the standing posture to meet the IP54 rating. 4.2.3.2 TM Screen (Optional) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 41: Figure 26: Tm Teach Pendant (Consisting Of The Tm Screen And Robot Stick)
Figure 26: TM Teach Pendant (consisting of the TM Screen and Robot Stick) The installation of the TM Teach Pendant is described as follows: 1. Plug the TM Screen onto the Robot Stick along its side tracks. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 42: Robot Light Module
The system integrator is responsible for ensuring that the robot is under only one control source. 4.2.4 Robot Light Module 4.2.4.1 Light Module Surface Figure 27: Light Module Surface *All measures are in ㎜. 4.2.4.2 Install Light Module Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 43: Table 7: Reference Of The Symbol And Unit In Calculation The Torque Load Of The Light Module
4.2.1.4 Payload and Torque of this manual. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 44: Operating Position Of Tm Robot With Agv/Aiv
4.3 Operating Position of TM Robot with AGV/AIV When TM Robot is placed on an AGV/AIV in operation, the TM Robot should be paused and should not exceed the footprint of the AGV/AIV. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 45: Working Distance And Field Of View Of Tm Robot's Eih Camera
44.76 ㎜ in front of the flange surface and right behind the center of the protection lens. Figure 31: Working Distance and Field of View of TM Robot’s EIH camera Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 46: Table 9: The Relation Between The Working Distance And The Field Of View
The relation between the working distance and the field of view is listed below. Working distance (mm) Field of view (mm) Width 281.6 96.9 Height 211.2 72.7 Table 9: The Relation between the Working Distance and the Field of View Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 47: Electrical Interface
Except for USB ports, other interfaces have to be installed while arm is powered off. Do not install while arm is on to avoid abnormal shutdown. Control Box I/O configuration Figure 32: Control Box I/O Configuration (1/2) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 48: Safety Connector
3. SI 2-1/ SI 2-2 to SI 7-1/ SI 7-2 are user defined Safety Input Port. Safety functions can be assigned to these ports. For details about the safety functions, please refer to the Safety Manual. Figure 33: Safety Input Connector Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 49: Figure 34: The Wiring Diagram Example Of Switch Type Safety Device
Figure 34: The Wiring Diagram Example of Switch Type Safety Device. Figure 35: The Wiring Diagram Example of PNP Output Type Safety Device Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 50: Safety Output Connector
SO 0-1/ SO 0-2 to SO 7-1/ SO 7-2 are user defined Safety Output Port. Safety functions can be assigned to these ports. For details about the safety functions, please refer to the Safety Manual. Figure 37: Safety Output Connector Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 51: Power Connector
3. EX24V provides an external 24V input port. If the load exceeds 2A an external power supply can be used instead. The load on EX24V must not exceed 3.5A. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 52: Digital In/Out
Digital input/output each has 16 channels, and its application is connected to the following sections. 5.3.3.1 Digital Input Inputs can be set to either sink input or source input by selection. Figure 40: Digital Input Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 53: Figure 41: Set To Sink Input Type
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 42: Set to Source Input Type Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 54: Digital Output
The maximum drive current is 300mA per channel. If the load exceeds 300mA, a relay should be used to drive it. Figure 43: Digital Output Set to sink output type Connect DO_COM terminal to the minus side of the power supply. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 55: Analog In/Out
Figure 44: Set to Sink Output Type Set to source output type Connect DO_COM terminal to the plus side of the power supply. Figure 45: Set to Source Output Type 5.3.4 Analog In/Out Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 56: System Remote Power On/Off
The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. To power on or shut down the system, the user should trigger this function and hold it for at least one second. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 57: Auto Mode Play Confirm Port
Users are still required to ensure all persons are outside the safeguarded space before activating the automatic mode and operation. 5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 58: Usb Port
There is one small connector on the tool end of the robot: The 8-pin connector can be used to configure digital I/O, analog Input, and RS485. 5.4.1 I/O Terminals Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 59: Table 11: 8-Pin Digital I/O Connectors Of Cable
Pin Define Brown +24v 24V output DI_0 Digital intput0 Orange DI_1 Digital intput1 Yellow DI_2 Digital intput2 Digital DO_0 Green Output0 Analog Input Digital DO_1 Blue Output1 RS485+ RS485+ Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 60: Connecting Tool End Digital Output
Figure 52: Connecting Tool End Digital Input 5.4.4 Connecting Tool End Analog Input Range Resolution Accuracy Conversion Time +10.00V~-10.00V 11bit ≤ 0.2% 1 ms Table 13: Analog Input Range Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 61: Figure 53: Connecting Tool End Analog Input
(Because AIN_GND is connected to ground, when AIN is a dead contact, a pressure difference will occur, which is a normal phenomenon.) Figure 53: Connecting Tool End Analog Input Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 62: Control Box Interfaces
Safety I/O Interface EtherCat Figure 55: Front View of the Control Box (DC) Fuse holder DC adapter Robot cable connector Figure 56: Side View of the Control Box (DC) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 63: Figure 57: Front View Of The Control Box (Dc Semi)
Figure 58: Side View of the Control Box (DC SEMI) CAUTION: The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause the robot to stop. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 64: Control Box Power Interface And Robot Interface
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. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 65: Table 14: Tm12S / Tm14S / Tm12S-X / Tm14S-X Series Electrical Specifications
Input frequency Table 14: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 66: Robot Interface
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. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 67: Tm12S-M Semi / Tm14S-M Semi Series
When SEMI Emergency Off Switch is pressed, all power will be cut off immediately. This action impacts on the motion of the robot. Users should take with caution. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 68: Unboxing & Installation
(see 1.2 How Can I Get Help?). Retain all shipping containers and packaging materials. These items may be necessary to settle claims or at a later date, to relocate equipment. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 69: Unboxing
Refer below for the ratio of the cartons. The actual sizes of the cartons may differ from measurements Figure 64: Robot Arm Carton Figure 65: Control Box Carton (AC) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 70: Contents Of Each Carton
The robot arm carton contains: Robot arm Cable length: 300 cm Table 16: The Robot Arm Carton Contents The control box carton contains: Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... - Page 71 (Peel the protective wrap off before using.) *The Calibration Plate comes only with TM Robots fitted with the hand-eye camera. IO cables (One 8-pin digital I/O cable) Length: 100 cm Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
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Page 72: Table 17: The Control Box Carton Contents
(TM12S-M / TM14S-M) (1 cable) Length: 120 cm Ground Wire （2 wires） Length: 200 cm Jumper Wire (1 pair) Wire Length: 3 cm Table 17: The Control Box Carton Contents Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 73: Installing Your Robot
Mount the control box in any direction (as long as the box is securely mounted), with a spacing of at least 50 cm for the vents on both sides to facilitate cooling Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 74: Verification Before Removal Of The Robot Arm
(M10 *4) that are used to attach the robot to the base near the robot base in advance. If the base is designed with corresponding pinholes, mount them to the base. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 75: Removal Of The Robot Arm And Tightening
Joint as well as the Joint. Before the Robot Base is fastened with screws tightly, the Robot Arm should always be supported to avoid tipping. Figure 70: Moving the Robot Arm (2/2) Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 76: Connect The Robot And The Control Box
When the robot is turned on, do not disconnect cables of the robot. When cables of the robot are not connected to the connection interface, do not turn on the robot. Do not extend or modify the original cables of the robot. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 77: Mounting Direction
For instructions on how to set the three angles of the base frame, please refer to 3.3.7 Mounting Direction in Software Manual TMflow. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 78: Maintenance And Repair
3. The functional testing of Enabling Switch functions 4. The functional testing of Force and Torque Limit functions 5. The functional testing of Speed Limit functions 6. The functional testing of Soft Axis Limit functions Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... - Page 79 For details about the stop categories, trigger and resume method of the safety functions mentioned above, see the corresponding safety system version of the Safety Manual. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...
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Page 80: Figure 72: Air Filter Tray (The Circled Parts)
2. Slide the lid out of the track. 3. Remove the filter. 4. Install the new filter. 5. Align the lid on both sides of the track and slide down the lid until it stops. Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual... -
Page 81: Appendix A. Technical Specifications
Eye to Hand (Optional) Support Maximum 2 GigE 2D cameras *Refer to the official website of TM Plug&Play for camera models compatible to TM Robot. Table 20: Technical Specifications Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual...