Omron TM Robot S Series Hardware Installation Manual page 9

Figure 3: System Overview............................................................................................................................... 19
Figure 4: Dimension of TM5S / TM5S-M .......................................................................................................... 20
Figure 5: Dimension of TM7S / TM7S-M .......................................................................................................... 21
Figure 6: Dimension of TM5S-X ....................................................................................................................... 22
Figure 7: Dimension of TM7S-X ....................................................................................................................... 23
Figure 8: Side View of TM5S / TM5S-M / TM5S-X Movement Range Diagram ............................................... 25
Figure 9: Pictorial view of TM5S / TM5S-M / TM5S-X Movement Range Diagram.......................................... 26
Figure 10: Top View of TM5S / TM5S-M / TM5S-X Movement Range ............................................................. 26
Figure 11: Side View of TM7S / TM7S-M / TM7S-X Movement Range Diagram ............................................. 27
Figure 12: Pictorial View of TM7S / TM7S-M / TM7S-X Movement Range ...................................................... 27
Figure 13: Top View of TM7S / TM7S-M / TM7S-X Movement Range ............................................................. 28
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM5S / TM5S-M / TM5S-X .... 29
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM7S / TM7S-M / TM7S-X .... 29
Figure 16: Bottom View of Robot Base (TM5S / TM7S series) ........................................................................ 31
Figure 17: Grounding position for the robot ...................................................................................................... 31
Figure 18: References of TM5S / TM5S-M / TM7S / TM7S-M End Module Components ............................... 32
Figure 19: References of TM5S-X / TM7S-X End Module Components .......................................................... 33
Figure 20: References of the Flange Surface of the Robot End ...................................................................... 34
Figure 21: The Exterior and Diagram of the Control Box ................................................................................. 36
Figure 22: Grounding position for the control box ............................................................................................ 36
Figure 23: Robot Stick (front) ........................................................................................................................... 37
Figure 24: Robot Stick (back) ........................................................................................................................... 37
Figure 25: Operation of the Enabling Switch .................................................................................................... 38
Figure 26: TM Teach Pendant (consisting of the TM Screen and Robot Stick)................................................ 40
Figure 27: Light Module Surface ...................................................................................................................... 42
Figure 28: Calculation the Torque Load of the Light Module ............................................................................ 43
Figure 29: Electrical Polarity of Fill Light Cable ................................................................................................ 44
Figure 30: Top View of TM Robot Placed on the AGV/AIV ............................................................................... 44
Figure 31: Working Distance and Field of View of TM Robot's EIH camera .................................................... 45
Figure 32: Control Box I/O Configuration ......................................................................................................... 46
Figure 33: Safety Input Connector .................................................................................................................... 47
Figure 34: The Wiring Diagram Example of Switch Type Safety Device. ......................................................... 48
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
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 8