Omron Techman Robot TM12 Series Hardware Installation Manual 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 ......................................................................... 45
5. Electrical Interface ....................................................................................................................................................... 47
5.1 Overview ............................................................................................................................................................ 47
5.2 Electrical Warnings and Cautions ...................................................................................................................... 47
5.3 Control Box ........................................................................................................................................................ 47
5.3.1 Safety Connector ......................................................................................................................................... 49
5.3.1.1 Safety Input Connector ......................................................................................................................... 49
5.3.1.2 Safety Output Connector ...................................................................................................................... 51
5.3.2 Power Connector ......................................................................................................................................... 53
5.3.3 Digital In/Out ................................................................................................................................................ 53
5.3.3.1 Digital Input ........................................................................................................................................... 53
5.3.3.2 Digital Output ........................................................................................................................................ 55
5.3.4 Analog In ..................................................................................................................................................... 57
5.3.5 Analog Out ................................................................................................................................................... 58
5.3.6 System Remote Power ON/OFF ................................................................................................................. 58
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................................... 59
5.3.8 USB Port ..................................................................................................................................................... 59
5.4 Tool End I/O Interface ........................................................................................................................................ 59
5.4.1 I/O Terminals ............................................................................................................................................... 59
5.4.2 Connecting Tool End Digital Output ............................................................................................................ 61
5.4.3 Connecting Tool End Digital Input ............................................................................................................... 62
5.4.4 Connecting Tool End Analog Input .............................................................................................................. 62
5.5 Control Box Interfaces ....................................................................................................................................... 63
5.6 Control Box Power Interface and Robot Interface ............................................................................................. 65
5.6.1 Control Box Power Interface ....................................................................................................................... 65
5.6.2 Robot Interface ............................................................................................................................................ 66
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) ........................................................................... 67
5.6.3.1 TM12M SEMI / TM14M SEMI Series ................................................................................................... 67
5.6.4 Detachable I/O Panel .................................................................................................................................. 67
6. Unboxing & Installation ............................................................................................................................................... 69
6.1 Overview ............................................................................................................................................................ 69
6.2 Inspecting the Equipment .................................................................................................................................. 69
6.2.1 Before Unpacking ........................................................................................................................................ 69
6.2.2 Upon Unpacking .......................................................................................................................................... 69
Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2
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