Related Manuals for Omron Regular Payload Series
Summary of Contents for Omron Regular Payload Series
- Page 1 Regular Payload Series Hardware Installation Manual Corresponding models: TM5 Series I623-E-04 Original Instruction...
- Page 2 This Manual will be reviewed periodically. The Corporation will not be liable for any error or omission. logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the company reserves the ownership of this manual and its copy and its copyrights. Regular Payload Series-Hardware Installation Manual TM5 Series...
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Page 3: Table Of Contents
5.3.2 Power Connector ............................45 5.3.3 Digital In/Out ..............................46 5.3.4 Analog In ..............................50 5.3.5 Analog Out ..............................51 5.3.6 System Remote Power ON/OFF ......................... 51 5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ................... 52 Regular Payload Series-Hardware Installation Manual TM5 Series... - Page 4 Table 6: Robot Stick Advanced Functions ......................40 Table 7: The Relation between the Working Distance and the Field of View ........... 41 Table 8: 8-pin Digital I/O Connectors of Cable ....................53 Regular Payload Series-Hardware Installation Manual TM5 Series...
- Page 5 Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-700 /TM5X-700 ..............................32 Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series...
- Page 6 Figure 54: Robot Interface ..........................59 Figure 55: Control Box EMO (Emergency Off) Interface of the TM5M-700 SEMI / TM5M-900 SEMI Series .. 60 Figure 56: Robot Arm Carton ..........................62 Figure 57: Control Box Carton .......................... 62 Regular Payload Series-Hardware Installation Manual TM5 Series...
- Page 7 Figure 59: Moving the Control Box (2/2) ......................66 Figure 60: Moving the Robot Arm (1/2) ......................67 Figure 61: Moving the Robot Arm (2/2) ......................68 Figure 62: Connecting the Robot and the Control Box ..................69 Regular Payload Series-Hardware Installation Manual TM5 Series...
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Page 8: Revision History Table
December 2018 Updated cover page, minor text fixes July 2019 Minor text fixes. Added cables length. Added Table of Rated Torque and Limit for Repeated Peak Torque. August 2019 Added X Model information. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 9: Product Dscription
Manual Title Description Safety Manual Contains safety information for TM Robots. TMflow Instructions for use of TMflow software. TMvision Instructions for use of TMvision software. Table 1: Manual Title & Description Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 10: Safety Information
All personnel who design the robot system must read the “Hardware installation Manual”, “Software Manual”, and “Safety Manual” according to the software and hardware version of this product, and must comply with Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 11: Validation And Liability
The actual noise measured in a factory setting is about 49.3 dB under without production. (Condition: leave machine body 1m distance and at 1.6m height from the floor and 80% of maximum speed). If the sound Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 12: Risk Assessment
If the robot loses power, and joints need to be moved in order to clear error conditions, you will need to release the brake for each joint as follows: Remove joint cover screws (M3, Torx-T10) and joint cover. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 13: Figure 1: References Of Joints By Mode
TM5-700/ TM5M-700 Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint Upper arm Upper arm Joint Joint Joint Joint Base Base TM5X-700 TM5X-900 Figure 1: References of Joints by Mode Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 14: Labels
Be sure to comply with description and warnings of the labels when operating to keep the manipulator safely. Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 15: Table 3: Denotation Of Labels
Be careful not to be close to the moving parts and nearby areas to avoid collision Do not touch any internal electric parts to avoid electric shock Product label Table 3: Denotation of Labels Figure 3: Locations of Labels Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 16: Transportation And Storage
WARNING: Pay attention to your posture when moving the arm and control box cartons to avoid back injury. Omron will not be liable for any injuries caused during 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 17: System Hardware
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 Figure 4: System Overview Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 18: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot TM5-700 / TM5M-700 Figure 5: Dimension of TM5-700 / TM5M-700 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 19: Figure 6: Dimension Of Tm5-900 / Tm5M-900
TM5-900 / TM5M-900 Figure 6: Dimension of TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 20: Figure 7: Dimension Of Tm5X-700
TM5X-700 Figure 7: Dimension of TM5X-700 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 21: Figure 8: Dimension Of Tm5X-900
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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 22: Figure 9: Assembly Of Tm5-700 / Tm5M-700
TM5-700 / TM5M-700 Figure 9: Assembly of TM5-700 / TM5M-700 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 23: Figure 10: Assembly Of Tm5-900 / Tm5M-900
TM5-900 / TM5M-900 Figure 10: Assembly of TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 24: Figure 11: Assembly Of Tm5X-700
TM5X-700 Figure 11: Assembly of TM5X-700 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 25: Figure 12: Assembly Of Tm5X-900
TM5X-900 Figure 12: Assembly of TM5X-900 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 700 mm for the TM5-700 series and 900 mm for the TM5-900 series. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 26: Figure 13: Side View Of Tm5-700 / Tm5M-700 /Tm5X-700 Movement Range Diagram
TM5-700 / TM5M-700/ TM5MX-700 Movement Range Diagram Figure 13: Side View of TM5-700 / TM5M-700 /TM5X-700 Movement Range Diagram Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 27: Figure 14: Pictorial View Of Tm5-700 / Tm5M-700 /Tm5X-700 Movement Range Diagram
Warning: Risk of collision Warning: Risk of crushing Operator within the operating area of the within the operating area of Position arm. the arm. Figure 15: Top View of TM5-700 / TM5M-700 /TM5X-700 Movement Range Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 28: Figure 16: Side View Of Tm5-900 / Tm5M-900 /Tm5X-900 Movement Range Diagram
TM5-900 / TM5M-900/ TM5MX-900 Movement Range Diagram Figure 16: Side View of TM5-900 / TM5M-900 /TM5X-900 Movement Range Diagram Figure 17: Pictorial Views of TM5-900 / TM5M-900 /TM5X-900 Movement Range Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 29: Figure 18: Top View Of Tm5-900 / Tm5M-900 /Tm5X-900 Movement Range
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. Do not operate the robot while anyone is inside of the hazard zone to avoid safety risks. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 30: Figure 19: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm5-700 / Tm5M-700 /Tm5X-700
Warning: Risk of crushing Operator within within Position the operating area of the arm. the operating area of the arm. Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 /TM5X-700 Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 31: Figure 20: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm5-900 / Tm5M-900 /Tm5X-900
The maximum allowed payload of the robot arm is related to its center of gravity offset, which is defined as the distance from the center point of tool flange to the payload’s center of gravity. The following figure shows the relationship between payload and the center of gravity offset: Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 32: 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 /TM5X-900 Refer the table below for the rated torque and the limit of repeated peak torque of the robot. Exceeding torque may reduce the life of the robot or damage the robot. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 33: Table 4: Rated Torque And Limit For Repeated Peak Torque Of Regular Payload Robot Series
The recommended screw should be M10 x L30 mm, at least 8.8 strength. Do not immerse TM Robot in water. Installation in water or a humid environment will permanently damage the robot. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 34: Figure 23: Bottom View Of Robot Base
Figure 23: Bottom View of Robot Base Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 35: Robot End Module
TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Flange (ISO 9409-1-50-4-M6) Camera module Figure 24: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 36: Tm5X-700
TM5X-700 / TM5X-900 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 25: References of TM5X-700 / TM5X-900 End Module Components Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 37: Figure 26: References Of End Flange Surface
4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Figure 26: References of End Flange Surface Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 38: Control Box
4.2.3.1 Robot Stick The Robot Stick has 6 function buttons, 3 indicator lights, 1 Emergency Switch, and 1 QR-code. Their functions are as follow: Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 39: Table 5: Robot Stick Basic Functions
Once boot up is complete only one will Lights always be on. QR Code Label The content of the SSID is also the robot's name in TCP/IP network. Table 5: Robot Stick Basic Functions Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 40: Operating Position Of Tm Robot With Agv/Aiv
When TM Robot is placed on an AGV/AIV and while the AGV/AIV is in operation, the user should pause the TM Robot and the TM Robot itself should not exceed the footprint of the AGV/AIV. AGV/AIV Footprint Figure 29: Top View of TM Robot Placed on the AGV/AIV Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 41: Working Distance And Field Of View Of Tm Robot's Eih Camera
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 7: The Relation between the Working Distance and the Field of View Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 42: 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 31: Control Box I/O Configuration (1/2) Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 43: Safety Connector
2. Safeguard A Port is a N.C. contact (Normally closed). When Safety A switch is OPEN, the robot enters the Safeguard Pause state. 3. Safeguard B Port is a N.C. contact (Normally closed). When Safety B switch is OPEN, the robot enters the Safeguard Collaborative Mode state. Figure 33: Safety Connector Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 44: Figure 34: The Wiring Diagram Example Of Switch Type Safety Device
“SAFETY_B1 and SAFETY_B2” to trigger the collaborative mode or pause the robot motion. The PNP outputs can also be connected to “ESTOP_A and ESTOP_B” to trigger the emergency stop. The example circuit wiring diagram follows. Figure 34: The Wiring Diagram Example of Switch Type Safety Device. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 45: Power Connector
Mode and disables the 24V output. 3. EX24V provides an external 24V input port. If the load exceeds 1.5A an external power supply can be used instead. The load on EX24V must not exceed 3.5A. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 46: Digital In/Out
Inputs can be set to either sink input or source input by selection. Figure 37: 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 47: Figure 38: Set To Sink Input Type
Figure 38: 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 48: Figure 39: Set To Source Input Type
Figure 39: Set to Source Input Type 5.3.3.2 Digital Output The maximum drive current is 300mA per channel. If the load exceeds 300mA, a relay should be used to drive it. Figure 40: Digital Output Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 49: Figure 41: Set To Sink Output Type
Connect DO_COM terminal to the minus side of the power supply. Figure 41: Set to Sink Output Type Set to source output type Connect DO_COM terminal to the plus side of the power supply. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 50: Analog In
Figure 42: Set to Source Output Type 5.3.4 Analog In Analog In only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 51: Analog Out
Analog Out only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Figure 44: 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 52: Ethercat: For Ethercat Slave I/O Expansion
I/O.. 5.4.1 I/O Terminals The tool end 24V has a maximum output current of 1.5A. If overloaded, overload protection is activated and the robot will turn off the 24V output power. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 53: Table 8: 8-Pin Digital I/O Connectors Of Cable
24V output DI_0 Digital intput0 Orange DI_1 Digital intput1 Yellow DI_2 Digital intput2 Digital Green DO_0 outtput0 Digital Blue DO_1 outtput1 Digital Purple DO_2 outtput2 Black Table 9: 8-pin Digital I/O Connector of Robot Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 54: Connecting Tool End Digital Output
Table 11: 5-pin Analog I/O connector of Robot 5.4.2 Connecting Tool End Digital Output The following figure shows how to connect the tool end digital output: Figure 46: Connecting Tool End Digital Output Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 55: Connecting Tool End Digital Input
The following figure shows how to connect the 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 48: Connecting Tool End Analog Input Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 56: Control Box Interfaces
I/O Interface Air Filter Screw Mic-in COM1 COM3 USB 2.0 *4 Robot Cable Adapter COM2 HDMI USB3.0*2 LAN for GigE Camera*2 Figure 50: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 57: Figure 51: Interfaces Of The Tm5M-700 / Tm5Mx-700 / Tm5M-900 / Tm5Mx-900 Series
Robot Cable Adapter COM2 HDMI LAN for GigE Camera*2 3 0*2 DC IN for External Power Supply External Power Supply Remote Control Figure 52: Interfaces of the TM5M-700 SEMI / TM5M-900 SEMI Series Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 58: Control Box Power Interface And Robot Interface
The power supply should be equipped with the following: • Grounding • Main fuse • Residual current device (RCD) It is recommended to install a master switch on the equipment power supply for robot applications for servicing and inspection. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 59: Robot Interface
5.6.2 Robot Interface The following figure shows the connection interface of the robot. The cables of the robot are connected to the control box through the interface. Figure 54: Robot Interface Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 60: Control Box Emo (Emergency Off) Interface
For SEMI Series, when SEMI Emergency Off Switch is not connected with EMO, the TM Robot cannot be booted. WARNING: When SEMI Emergency Off Switch is pressed, all power will be cut off immediately. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 61: Unboxing & Installation
(Refer to 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 62: Unboxing
Figure 57: Control Box Carton 6.3.2 Contents of Each Carton Each carton has the following contents. Check them when you unpack the cartons for the first time. If any item is missing, contact your corporation support. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 63: Table 14: The Robot Arm Carton Contents
Weight of TM5-900: 22.6 kg SEMI Emergency OFF Switch (SEMI Series only) (1 pack) Cable length: 300 cm Table 14: The Robot Arm Carton Contents The control box carton contains: Control box Weight: 14 kg Regular Payload Series-Hardware Installation Manual TM5 Series... - Page 64 Power cable of the control box (TM5-700 / TM5-900) (4 cable, Type B, I, G, F) Cable length: 180 cm Power cable of the control box (TM5M-700 / TM5M-900) (1 cable) Cable length: 120 cm Regular Payload Series-Hardware Installation Manual TM5 Series...
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Page 65: Installing Your Robot
Remove the power cable of the control box Remove the control box (At least two people should remove the control box from the carton. Refer the figure below for the correct holding positions.) Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 66: Figure 58: Moving The Control Box (1/2)
Figure 59: 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 67: Verification Before Removal Of The Robot Arm
Upper arm, and the other should hold on to the position between the base and 1 Joint as well as the Joint. Until the Robot Base is fastened with screws tightly, the Robot Arm should always be supported to avoid tipping. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 68: Figure 61: Moving The Robot Arm (2/2)
(with the 4 screws completely tightened). One person should continuously support the robot arm while the other person goes to get required parts. Otherwise, the robot arm may tip, result in equipment damage or personal injury. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 69: 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. Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 70: Maintenance And Repair
Make sure that each setting satisfies the original conditions before resuming normal operation, including but not limited to: Safety Software Settings Safety I/O Preset operation project TCP Settings I/O Settings I/O Wiring Regular Payload Series-Hardware Installation Manual TM5 Series... -
Page 71: Appendix A. Technical Specifications
Certification CE, SEMI S2 (optional) Robot Vision Eye in Hand (Built in) 1.2M/5M pixels, 1.2M/5M pixels, color camera color camera Eye to Hand (Optional) Support Maximum 2 GigE cameras Table 17: Technical Specifications Regular Payload Series-Hardware Installation Manual TM5 Series... - Page 72 OMRON AUTOMATION AMERICAS HEADQUARTERS • Chicago, IL USA • 847.843.7900 • 800.556.6766 • automation.omron.com OMRON CANADA, INC. • HEAD OFFICE OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE Toronto, ON, Canada • 416.286.6465 • 866.986.6766 • automation.omron.com São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON ELECTRONICS DE MEXICO •...
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