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Summary of Contents for Omron TM Robot S Series
- Page 1 Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual Original Instruction I686-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: TM5S and TM7S 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
4.2.2.2 Flange Surface of the Robot End 4.2.2.3 End Mounting Caution 4.2.2.4 End Indication Light Ring Table 4.2.3 Control Box 4.2.3.1 Robot Stick 4.2.3.2 TM Screen (Optional) 4.2.4 Robot Light Module Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... - Page 7 5.6.3.1 TM5S-M SEMI / TM7S-M SEMI Series 6. Unboxing & Installation ............................... 67 6.1 Overview ................................67 6.2 Inspecting the Equipment ..........................67 6.2.1 Before Unpacking 6.2.2 Upon Unpacking Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual...
- Page 9 Figure 36: The Wiring Diagram Example of PNP Output Type Safety Device ..........49 Figure 37: Safety Output Connector ......................... 49 Figure 38: Safety Output Connector Wiring Diagram ..................50 Figure 39: Power Connector ..........................51 Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S 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: TM5S and TM7S 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 2.1 Overview Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 13: Warning And Caution Symbols
• Set strong password policies and monitor for compliance frequently. Data input and output protection • Backup data and keep the data up-to-date periodically to prepare for data loss. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 14: Safety Precautions
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: TM5S and TM7S Hardware Installation Manual... -
Page 15: Validation And Liability
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 Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 17: Labels
Risk of fire or electric shock. The door lock is not interlocked with the machine supply circuit disconnect. And unlocking or opening of doors does not de-energize exposed live parts. Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 20: System Hardware
4.2 System Overview TM Robot is made up of the robot arm and control box (including the Robot Stick). Robot arm Robot Stick Control Box Figure 3: System Overview Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 21: 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 4: Dimension of TM5S / TM5S-M *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 22: Figure 5: Dimension Of Tm7S / Tm7S-M
Figure 5: Dimension of TM7S / TM7S-M *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 23: Figure 6: Dimension Of Tm5S-X
Figure 6: Dimension of TM5S-X *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 25: Range Of Motion
TM7S-X TM5S-X 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 900 ㎜ for the TM5S series and 700 ㎜ for the TM7S series. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 26: Figure 8: Side View Of Tm5S / Tm5S-M / Tm5S-X Movement Range Diagram
TM5S / TM5S-M / TM5S-X Movement Range Diagram Figure 8: Side View of TM5S / TM5S-M / TM5S-X Movement Range Diagram *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 27: Figure 9: Pictorial View Of Tm5S / Tm5S-M / Tm5S-X Movement Range Diagram
Position arm. the arm. Figure 10: Top View of TM5S / TM5S-M / TM5S-X Movement Range *All measures are in ㎜. TM7S / TM7S-M / TM7S-X Movement Range Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 28: Figure 11: Side View Of Tm7S / Tm7S-M / Tm7S-X Movement Range Diagram
Figure 11: Side View of TM7S / TM7S-M / TM7S-X Movement Range Diagram *All measures are in ㎜. Figure 12: Pictorial View of TM7S / TM7S-M / TM7S-X Movement Range Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 29: Payload And Torque
The following figure shows the relationship between payload and the center of gravity offset: Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 30: Figure 14: Relationship Between Payload And The Center Of Gravity Offset In Tm5S / Tm5S-M / Tm5S-X
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. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 31: Robot Arm Installation
The recommended screw should be M10 x L30 ㎜, at least 8.8 strength. Do not immerse TM Robot in water. Installation in water or a humid environment will permanently damage the robot. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 32: Robot End Module
Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. Figure 17: Grounding position for the robot 4.2.2 Robot End Module 4.2.2.1 End Module Components Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 33: Figure 18: References Of Tm5S / Tm5S-M / Tm7S / Tm7S-M End Module Components
POINT Button Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 18: References of TM5S / TM5S-M / TM7S / TM7S-M End Module Components Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 34: Figure 19: References Of Tm5S-X / Tm7S-X End Module Components
A safety protection mechanism will be initiated after the discrepancy occurs. Users are required to resume following the instruction log from HMI. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 35: Flange Surface Of The Robot End
4.2.2.2 Flange Surface of the Robot End Digital Camera Figure 20: References of the Flange Surface of the Robot End *All measures are in ㎜. Omron TM Collaborative Robot S Series: TM5S and TM7S 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. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 37: Control Box
*All measures are in ㎜. Use the M4L6 screw to secure the ground wire with the control box as shown below. Figure 22: Grounding position for the control box Omron TM Collaborative Robot S Series: TM5S and TM7S 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 (3 positions) Figure 24: Robot Stick (back) Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 39: Figure 25: Operation Of The Enabling Switch
This could lead to high torque on the joints, especially with higher speed and payload. Items Basic Function Power Button Power initiation (single press)/ Shutdown (long press) (with indicator) OFF: Switched off Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 40: Table 5: Robot Stick Basic Functions
- button until the Robot Stick Enable Indicator flashes, then follow the sequence "-, +, -, -, +" to lock/unlock the 6 function buttons of Robot Stick. Table 6: Robot Stick Advanced Functions Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 41: Tm Screen (Optional)
Screen after the assembly, but the 6 buttons will be displayed on the UI. Function Buttons Figure 26: TM Teach Pendant (consisting of the TM Screen and Robot Stick) The installation of the TM Teach Pendant is described as follows: Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... - Page 42 When using the TM Teach Pendant, it is forbidden to integrate the robot with Screen/Keyboard/Mouse. This may cause the robot under multi-control situation. The system integrator is responsible for ensuring that the robot is under only one control source. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual...
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Page 43: Robot Light Module
The weight of the light module The center of gravity of the light module Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 44: Table 8: Electrical Specification Of The Light Module
Voltage: Current (only for TM Robot’s light module): < 100 mA Current (for light modules from other < 900mA manufacturers): Table 8: Electrical Specification of the Light Module Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 45: Figure 29: Electrical Polarity Of Fill Light Cable
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. AGV/AIV Footprint Figure 30: Top View of TM Robot Placed on the AGV/AIV Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 47: Figure 32: Control Box I/O Configuration
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 Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 48: Figure 33: Safety Input 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: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 50: Figure 36: The Wiring Diagram Example Of Pnp Output Type Safety Device
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: TM5S and TM7S Hardware Installation Manual... -
Page 51: Figure 38: Safety Output Connector Wiring Diagram
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: TM5S and TM7S Hardware Installation Manual... -
Page 52: Figure 39: Power Connector
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 Set to sink input type Omron TM Collaborative Robot S Series: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 54: Figure 43: Digital Output
Figure 43: Digital Output Set to sink output type Connect DO_COM terminal to the minus side of the power supply. Figure 44: Set to Sink Output Type Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 55: Figure 45: Set To Source 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 Figure 46: Analog In Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 56: Table 10: Analog In & Analog Out
Figure 48: System Remote Power ON/OFF 5.3.6 AUTO MODE Play Confirm Port Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 57: Figure 49: Auto Mode Play Confirm Port
The USB port of the control box is used for connecting a keyboard, mouse and external storage device. External storage devices should only be used for the import/export functions of TMflow. No other device Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... - Page 58 Be noted that the external storage device should be labelled TMROBOT. 5.3.9 COM Port Type: DB9 Female BAUD: 300 to 115200 RS-232 RS-485/422 RS-485 Number Full Duplex Half Duplex Data- Data+ Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual...
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Page 59: Table 11: 8-Pin Digital I/O Connectors Of Cable
Output1 RS485+ RS485+ DO_2 Digital Output Purple RS485- RS485- Black *The M8/8PIN connector complies with the regulation of IEC 61076-2-104. Table 11: 8-pin Digital I/O Connectors of Cable Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 60: Table 12: 8-Pin Digital I/O Connector Of Robot
Table 12: 8-pin Digital 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 51: Connecting Tool End Digital Output Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 61: Table 13: Analog Input Range
(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: TM5S and TM7S Hardware Installation Manual... -
Page 62: Figure 54: Front View Of The Control Box (Ac)
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: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual... -
Page 64: Figure 59: Interfaces Of The Tm5S / Tm5S-X / Tm7S / Tm7S-X Series
USB 3.0 *4 COM3 COM2 USB 2.0*2 LAN for GigE Camera*2 Figure 60: Interfaces of the TM5S-M / TM5S-MX / TM5S-M SEMI / TM7S-M / TM7S-M SEMI Series Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 65: Table 14: Tm5S / Tm7S / Tm5S-X / Tm7S-X Electrical Specifications
Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (220V~240V) Input frequency Table 14: TM5S / TM7S / TM5S-X / TM7S-X Electrical Specifications Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 66: Table 15: Tm5S-M / Tm7S-M Series Electrical Specifications
2. Do not extend or modify the original cable of robot. 3. The cable of the robot is only suitable for a fixed installation. If the applications have the request for flexible or longer cable, contact the corporation. Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 67: Figure 63: The Tm5S-M Semi / Tm7S-M Semi Emergency Off Interface
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: TM5S and TM7S Hardware Installation Manual... - Page 68 (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: TM5S and TM7S Hardware Installation Manual...
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Page 69: Carton Types
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: TM5S and TM7S 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: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual...
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Page 72: Table 17: The Control Box Carton Contents
(TM5S-M / TM7S-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: TM5S and TM7S 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: TM5S and TM7S 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. 6.4.3 Removal of the Robot Arm and Tightening Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... -
Page 75: Figure 69: Moving The Robot Arm (1/2)
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: TM5S and TM7S Hardware Installation Manual... -
Page 76: Connect The Robot And The Control Box
Do not extend or modify the original cables of the robot. 6.4.5 Mounting Direction Once the robot is positioned, users should, according to its application, determine its mounting direction Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual... - Page 77 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: TM5S and TM7S Hardware Installation Manual...
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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: TM5S and TM7S 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: TM5S and TM7S 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: TM5S and TM7S 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: TM5S and TM7S Hardware Installation Manual...
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