Omron Techman Robot TM12 Series Hardware Installation Manual page 6

Figures
Figure 1: References of Joints by Models ........................................................................................................ 14
Figure 2: Reference of Brake Solenoid by Joints ............................................................................................. 15
Figure 3: Locations of Labels ........................................................................................................................... 16
Figure 4: System Overview............................................................................................................................... 18
Figure 5: Dimension of TM12 / TM12M ............................................................................................................ 19
Figure 6: Dimension of TM14 / TM14M ............................................................................................................ 20
Figure 7: Dimension of TM12X ......................................................................................................................... 21
Figure 8: Dimension of TM14X ......................................................................................................................... 22
Figure 9: Assembly of TM12 / TM12M .............................................................................................................. 23
Figure 10: Assembly of TM14 / TM14M ............................................................................................................ 24
Figure 11: Assembly of TM12X ......................................................................................................................... 25
Figure 12: Assembly of TM14X......................................................................................................................... 26
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram ................................................ 27
Figure 14: Pictorial view of TM12 / TM12M / TM12X Movement Range Diagram ........................................... 28
Figure 15: Top view of TM12 / TM12M / TM12X Movement Range Diagram .................................................. 28
Figure 16: Side view of TM14 / TM14M / TM14X Movement Range Diagram ................................................. 29
Figure 17: Pictorial view of TM14 / TM14M / TM14X Movement Range Diagram ........................................... 29
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram .................................................. 30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X ........... 31
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X ........... 32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X ........ 33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X ........ 33
Figure 23: Bottom View of Robot Base ............................................................................................................ 35
Figure 24: Securing the ground wire with the robot .......................................................................................... 35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components ................................... 36
Figure 26: References of TM12X / TM14X End Module Components ............................................................. 37
Figure 27: References of End Flange Surface ................................................................................................. 38
Figure 28: The Exterior and Diagram of the Control Box ................................................................................. 39
Figure 29: Securing the ground wire with control box ...................................................................................... 40
Figure 30: Robot Stick ...................................................................................................................................... 40
Figure 31: Light Module Surface ...................................................................................................................... 42
Figure 32: Calculation the Torque Load of the Light Module ............................................................................ 43
Figure 33: Electrical Polarity of Fill Light Cable ................................................................................................ 44
Figure 34: Top View of TM Robot Placed on the AGV/AIV ............................................................................... 45
Figure 35: Working Distance and Field of View of TM Robot's EIH camera .................................................... 46
Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2
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