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TM Robot TM30S Service Manual

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Service Manual
TM25S / TM30S
Hardware Version: 5.02
Document version: 0
Release Date: 2024-07-23
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Summary of Contents for TM Robot TM30S

  • Page 1 Service Manual TM25S / TM30S Hardware Version: 5.02 Document version: 0 Release Date: 2024-07-23...
  • Page 2 This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without prior authorization from the Corporation.

  • Page 3: Table Of Contents

    1. Handling components that are sensitive to electrostatic discharge (ESD) ..............3 2. Safety information ................................. 3 3. Description of Robot and control box parts ........................4 4. TM25 Maintenance Notes............................12 5. Tool list ..................................12 6. Assembly and Disassembly Guide for Robot ....................... 17 7.

  • Page 4: Handling Components That Are Sensitive To Electrostatic Discharge (Esd)

    1. Handling components that are sensitive to electrostatic discharge (ESD) To prevent ESD-sensitive components (e.g., printed circuit boards) from being damaged, please handle the components in the following steps:  Wear an anti-static wrist strap before replacing ESD sensitive components and make sure the bracket is always connected to ground when replacing components.

  • Page 5: Description Of Robot And Control Box Parts

    3. Description of Robot and control box parts TM25S/TM30S：Robot Spare parts Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 6 TM25SX/TM30SX：Robot Spare parts Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 7 A01 Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 8 800 Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 9 500 Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 10 200L Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 11 End module Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 12 Control Box Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

  • Page 13: Tm25 Maintenance Notes

    4. TM25S/TM30S Maintenance Notes When performing lifting, dismantling, maintenance, and calibration operations, it is recommended to place the robot in a spacious area. The following are the suggested space requirements: For lifting or transporting robots, please refer to the "Moving the package robot" section in the hardware manual.
  • Page 14 Name Physical Reference Specification Model Remarks Used for Magnetic torx installation and removal A01 Series Joint Used to protect Features anti-slip Cut-Resistant personnel's hands and cut-resistant Gloves and provide anti- protection slip functionality Used to protect the head of Soft Shell Cap maintenance personnel Used to protect...
  • Page 15 Name Physical Reference Specification Model Remarks Used for operating a robot without Refer to Hardware drive power. Refer 48V PSU DC48V & 4A manual to hardware manual for settle the power souce. Used for Torque screw TOHNICHI assembling A01 6 – 26 kgf‧cm driver 26RTD Series joint cover...
  • Page 16 Name Physical Reference Specification Model Remarks Bit 2.5mm x length Used for outer cover Hex bit 100mm of camera module Used for Base and Hex wrenches M1.5–M10 Control box 1/4 inch Extension bit At least 150mm Used for internal Holder magnet type is box's fixed screws..
  • Page 17 Name Physical Reference Specification Model Remarks 1-cm Plate Used for camera 20 cm × 15 cm Techman Robot calibration calibration Used for Kinematic TM Landmark Techman Robot calibration and Hand-eye calibration Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

  • Page 18: Assembly And Disassembly Guide For Robot

    6. Assembly and Disassembly Guide for Robot Quick maintance quide To ensure operational safety, disassembly of Joint 1 and Joint 2 requires the collaborative effort of at least three people. Disassembly of other components requires a minimum of two people working together. Before disassembly, ensure that the robot is completely powered off completely and that both the external power cord and robot cable have been disconnected.
  • Page 19 Remove Joint Rubber: Remove the Rubber with tweezers and open the white anti-dust cover to reveal the 200 Series / 500 Series / 800 Series Joint Screws. Reverse the previous steps to install the dust cover and Rubber. Removal of A01 Series Joint rubber: Use a flathead screwdriver to pry open the Rubber upward, revealing the screws for the A01 Series Joint.
  • Page 20 Disassembly and assembly Joint cable A01 Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 21 800 Series Joint 500 Series Joint Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 22 200L Series Joint Camera Cable location Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 23 Disassembly and Assembly Joint screw CAUTION: Before remove Joint screws, ensure the Joint cables and connectors are disconnected; failure to disconnect the cable may result in damage to the Joint cable or components due to pulling or interference when removing the Joint. Before remove Joint screws, remove Joint Cover and Joint Rubber.
  • Page 24 DANGER: Repeated use of disassembled screws is prohibited, as the screw adhesive on the screws will become ineffective, and the repeated use will increase unforeseen risks. DANGER: Tighten the joint screws according to the specified torque value provided below. Torque specifications for Joint screws Joint Type Screw Type Torque Value (Kgf.cm)
  • Page 25 Disassembly and Assembly of Base and Robot Cable Before removing the Base cover, loosen the corresponding screws and disconnect the wiring between the Robot cable and Joint 1. Remove the connector screws. When assembling the Base and Robot cable, please follow the reverse steps of the previous procedure. Disassembly and assembly A01 Series Joint –...
  • Page 26 Install the lifting jig, secure the lifting rope to the auxiliary tool, and adjust the lifting rope slightly tight to prevent the Joint from tilting in other directions after the Joint connection screws are removed. Remove the connection screws between Joint 1 and the Base, and take off Joint 1. Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 27 When assembling Joint 1, align the Key and Slot of the A01 Series Joint in the figure below and follow the previous steps in reverse.。 When assembling the A01 series joints, make sure that the A01 series joint key is Caution: securely attached to the slot to prevent abnormal operation of the arm controller or unexpected errors.
  • Page 28 Disassembly and assembly A01 Series Joint – Joint 2 Before disassembling Joint 2, disassemble Upper arm to the End Module. Rotate Joint 2 to the home position and ensure that all joint screws are visible. Remove the Joint Cover of Joint 2 Remove the Joint cable of Joint 2.
  • Page 29 Install the jig, secure the lifting rope to the auxiliary tool, and adjust the lifting rope slightly tight to prevent the Joint from tilting in other directions after the Joint connection screws are removed. Remove the connecting screws between Joint 2 and Joint 1, and take off Joint. Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 30 When assembling Joint 2, align the Key and Slot of the A01 Series Joint in the figure below and follow the previous steps in reverse.。 When assembling the A01 series joints, make sure that the A01 series joint key is Caution: securely attached to the slot to prevent abnormal operation of the arm controller or unexpected errors...
  • Page 31 Disassembly and assembly 800 Series Joint Remove the Joint cover and Joint rubber. Remove the Joint cable from the Joint. Remove the screws connecting the Joint to other Joints or the Arm, then detach the Joint. During assembly, follow the reverse steps of the previously mentioned procedure. Disassembly and assembly 500 Series Joint Remove the Joint cover and Joint rubber.
  • Page 32 (Please refer Arm figure below) After removing the Upper arm, use needle-nose pliers to compress the bracket at location A, then extract the bracket from the groove. Next, remove the wiring and plastic bushing at location B. During Upper assembly, follow the reverse steps of the previously mentioned procedure. When replacing the MII cable, camera cable, and S48V cable from Joint 2 to Joint 3, there is no need to disassemble the Arm tube.
  • Page 33 (Please refer Arm figure below) After removing the Upper arm, use needle-nose pliers to compress the bracket at location A, then extract the bracket from the groove. Next, remove the wiring and plastic bushing at location B. During Lower arm assembly, follow the reverse steps of the previously mentioned procedure. When replacing the MII cable, camera cable, and S48V cable from Joint 4 to Joint 5, there is no need to disassemble the Arm tube.
  • Page 34 Disassembly and assembly Light module Refer to the picture below to remove the four screws securing the camera light source module. Unplug the power cable of the light source module and remove the light source module, being careful not to let the O-ring fall off. During the assembly of the End module, please follow the reverse steps of the previously mentioned procedure.
  • Page 35 After removing the camera module, take off the three M3L6 screws securing the TRI camera. The torque during assembly is 10 kgf·cm After removing the TRI camera unit (refer to the below picture), replace it directly with a new TRI camera. Do not perform any disassembly or modifications on the components of the unit.
  • Page 36 DIP Switch Setting After replacing or rearranging Joints, use pliers to move the Joint DIP switch to the corresponding position according to the following specifications: CAUTION: Failure to set the DIP switch on the Joint to the specified position may trigger Error Code 0x0000004E or other unexpected errors.
  • Page 37 Software Update After replacing the hardware components, perform the relevant software updates and calibrations according to the chart below. Accessing Windows: In the powered-off state, press the emergency stop switch and install the Maintenance Dongle on the control box. After turning on, an error code will be displayed on the TM Flow screen due to the emergency stop switch cutting off the power between the control box and the robot.
  • Page 38 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 39 UpdateFW: After entering Windows, execute the file "UpdateFW" in the path "D:\Techman Robot\TM Flow\ModuleRelease". After completion, it is necessary to completely turn off the power to the control box and the robot before restarting. It is recommended to unplug the external power cord after shutdown and then reconnect it before turning the power back on, ensuring a complete power shutdown.
  • Page 40 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

  • Page 41: Control Boxdisassembly /Assembly Control Box

    7. Control BoxDisassembly /Assembly Control Box Quick maintance guide To ensure operational safety, at least two persons are required to collaborate in the disassembly process. Before disassembly, place the control box on a soft surface (such as a blanket or sponge pad) for disassembly.
  • Page 42 Disassembly/Assembly of IPC Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover. Refer to the diagram below to remove the connectors, and if necessary, cut cable ties. Loosen the four screws securing the IPC. During installation, follow the reverse steps of the above procedure.
  • Page 43 Disassembly/Assembly of the Patriot Power Board Replacing the Patriot power board will reset the Safety settings in the TM flow, Caution: please refer to the Safety settings section in the software manual for saving and recovery. Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover. Refer to the diagram below to remove the connectors, and if necessary, cut cable ties: Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 44 Remove cover Loosen the 12 screws securing the Patriot Power Board. During installation, follow the reverse steps of the above procedure. If cable ties were cut, secure the wires again in the original manner Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 45 Disassembly/Assembly Relay board Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover. Refer to the diagram below to remove the connectors, and if necessary, cut cable ties Loosen the 6 screws securing the Relay Board. During installation, follow the reverse steps of the above procedure.
  • Page 46 Disassembly/Assembly Stick Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover Refer to the diagram below to remove the Stick connector, and if necessary, cut cable ties: Refer to the diagram to sequentially loosen Stick securing nut A and wire securing nut B: Refer to the diagram to gently bend the Stick connector slightly, and sequentially thread it through the Stick securing nut (Figure A) and the control box (Figure B) to remove the Stick.
  • Page 47 Disassembly/Assembly of Robot Connector and Internal Composite Cable Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover Refer to "Disassembly/Assembly Patriot power board” to remove" Robot connector (Servo 48V)" Refer to "Disassembly/Assembly Patriot power board” to remove" Robot connector (Motor 48V)”. Refer to "Disassembly/Assembly Patriot power board”...
  • Page 48 Disassembly/Assembly of Inner Casing Refer to "Open the Control Box Outer Casing" to open the outer casing cover and inner casing cover Refer to "Disassembly/Assembly of Robot Connector and Internal Composite Cable" to remove the Robot connector and internal composite cable. Refer to "Disassembly/Assembly of the Patriot Power Board"...
  • Page 49 Disassembly/Assembly Power eater board Refer to "Disassembly/Assembly of Inner Casing" to remove the inner casing Refer to the diagram below to remove the connectors "To Patriot power board A" and "To Patriot power board B". After removing the four securing screws, take out the Power Eater Board. During installation, follow the reverse steps of the above procedure.
  • Page 50 Refer to the diagram below to remove the six securing screws and take out the 48V PSU with the bracket. Refer to the diagram above to remove the four securing screws and take out the 48V PSU with the bracket. During installation, reverse the above steps.
  • Page 51 Refer to the diagram below to remove the four securing screws and one grounding wire screw. Refer to the diagram below to disconnect the wiring and take out the 24V PSU with the bracket. Refer to the diagram below to remove the six bracket securing screws and take out the 24V PSU. During installation, follow the reverse steps of the above procedure.
  • Page 52 Disassembly/Assembly of Filter Slide the tray upward along the tray slide to remove it Remove the filter and replace it with a new one. Reinstall the tray. Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

  • Page 53: Indication Light

    8. Indication Light Power board Light Indication LED Position LED Name LED Status Description Off = External 24V On = Internal 24V 24V Source 100ms/100ms Rapid Blink = Internal 24V Error 500ms/500ms Blink = Internal 24V Current Exceeded Off = PSU off 48V PSU On = (Reserved) 500ms/500ms Blink = PSU on...
  • Page 54 LED Position LED Name LED Status Description 500ms/500ms Blink = 24V Warning Off = Normal On = PCB & Eater Warning Temperature Alarm 100ms/100ms Rapid Blink = PCB Warning 500ms/500ms Blink = Eater Warning Off = Normal On = Packet Loss Warning EtherCAT Alarm 100ms/100ms Rapid Blink = InvalidFrame or RxErr or PUErr counted 500ms/500ms Blink = PDIErr counted...
  • Page 55 End module Indication Light Ring Special Light Indication Initializing: Alternating between Red and Light Off equally Power On with STO status: Failed to finish booting up and Light Off (Buzzer no beep) Power On with SOS status: Finished booting up and the light indicated as the tables below. Robot in STO status: Light Off (Buzzer no beep) Robot in SOS status:...
  • Page 56 Trigger Human-Machine Green (90%) Purple (10%) Safety Settings Normal Green (50%) Light Off (50%) Error Green (50%) (50%) Project is running In Recovery Mode Green (50%) Yellow (50%) Trigger Maintenance Green (50%) Blue (50%) Operation Operation Mode Auxiliary Light Running status Space/Status Mode Light Indication...
  • Page 57 Normal White (10%) Light Off (90%) Error White (50%) (50%) Paused in Project or In Recovery Mode White (50%) Yellow (50%) system under SOS Trigger Maintenance White (10%) Blue (90%) status Settings Trigger Human-Machine White (10%) Purple (90%) Safety Settings Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 58 Joint LED Indication LED Indicator Locations on the Arm Mainboard Assembly Status Servo LED (Green) Error LED (Red) MCU power on Error Slow Blink Flashes with Error code Error (Refer to the explanation below) (Refer to the explanation below) Bootstrap Flashes: Off/On (0.042/0.042 sec) FW integrity Fail FW integrity Fail...

  • Page 59: Other Software For Support Functions

    9. Other Software for support functions Debug port Tool list Item Description Laptop Used for installing Tera term and CP2102 deriver Used for connecting control box and laptop. Type C to Type A is recommended USB cable *Need data transfer function To ensure that the laptop correctly detects the debug port CP2102 Recommended download link:...
  • Page 60 Choose “Setup” and then select “Serial Port” Choose the port as indicated in step 2; set the speed to 926100, and then click on "New open" Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 61 Following screen indicates a successful connection. Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 62 System recovery This function is used to restore Disk C to the factory settings, while Disk D (e.g., projects, HMI configurations, etc.) will remain unchanged. Press the Del key during startup to enter the BIOS. Open the outer casing of the control box, and press and hold the black button on the SSD for more than 5 seconds.
  • Page 63 Arm Exchange: This function is designed for situations where either the arm or the control box experiences abnormalities. In cases of urgency, where the customer needs to quickly resume production on the assembly line, arm exchange can be performed to avoid production line downtime. As illustrated below, if Arm A is damaged, this feature facilitates the exchange of Arm A with the available Arm B in stock, enabling the production line to continue operations.
  • Page 64 Joint type When the arm FW is version 2.14, but the spare control box's HMI version is 2.12, the user can only upgrade the control box's HMI to match the FW. The main reason is that older versions of software or firmware may not recognize the new Joint type.
  • Page 65 The flowchart below showing the process that the system will follow in the background after swapping the arm with the control box. If there are no errors or anomalies during the process, it is considered a successful interchange. For troubleshooting in case of abnormal situations, please refer to the Appendix. Replacement robot/ control Boot up...
  • Page 66 Appendix 1 • This issue indicates that the arm and control box combination may not support interchangeability. Please double-check the compatibility list to ensure that the combination is valid. If it is a valid combination and you still encounter this problem, it is recommended to contact the headquarters' engineers for further assistance. Appendix 2 •...
  • Page 67 Appendix 3 • The error message "Data comparison error prompts a special page and logs 0x00045240 (download failed or data error) or 0xF0000180 (version comparison failed). Please export the logs and contact the headquarters maintenance personnel for assistance Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC.
  • Page 68 Appendix 4 If all the above criteria are met, but the data on the arm side differs from the data on the control box side, switch to this special page after turning on the machine. Cancel : Do not make any changes. Click to initiate the shutdown procedure. SKIP：No changes needed.

  • Page 69: Calibration Guide

    10. Calibration guide Reference the order of images in the following sections for calibration. Before Calibration Tool list and Space requirement Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 70 Setting Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 71 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 72 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 73 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 74 Dynamic calibration & Hand-guide calibration Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 75 Camera Calibration Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 76 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 77 Kinematic Calibration Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 78 Hand-eye Calibration & Verification Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 79 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 80 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 81 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 82 Barcode setting Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 83 Save the calibration data Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 84 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

  • Page 85: Trouble Shooting

    11. Trouble shooting Camera disconnection Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 86 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 87 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 88 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 89 Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 90 Camera won’t focus Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 91 Point offset Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 92 Control box fails to boot up Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 93 Encoder Error Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 94 Robot arm does not activate Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 95 TM Safe error Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 96 Torque error Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...
  • Page 97 Kinematic calibration failed Hardware Version : 5.02 Document Version : 0 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan Techman Confidential...

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