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Techman Robot Medium Series Hardware Installation Manual

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Medium &
Heavy Payload
Hardware Installation Manual
Corresponding models:
TM12 / TM14 / TM16 / TM20 Series
Original Instruction
Series
Hardware Version: 3.2
Document Version: 1.01
Release Date: 2024-03-25

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Summary of Contents for Techman Robot Medium Series

  • Page 1 Medium & Heavy Payload Series Hardware Installation Manual Corresponding models: TM12 / TM14 / TM16 / TM20 Series Original Instruction Hardware Version: 3.2 Document Version: 1.01 Release Date: 2024-03-25...
  • Page 2 This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM AI Cobot).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

    4.2.3.2 SEMI Emergency OFF Box ........................51 4.2.4 Robot Light Module ............................. 51 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 4 6.1 Overview ................................79 6.2 Inspecting the Equipment ..........................79 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 5 Table 18: TM12M / TM14M / TM16M Series Electrical Specifications ............. 75 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 6 Figure 26: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X ..38 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 7 Figure 62: System Remote Power ON/OFF ..................... 67 Figure 63: EtherCAT ............................68 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 8 Figure 87: Connecting the Robot, the Control Box, and the SEMI Emergency OFF Box ........ 88 Figure 88: Air Filter Tray ........................... 90 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 9: Revision History Table

    1.00 2023-08-08 Original release 1.01 2024-03-25 Minor details revised Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 10: Product Description

    The following symbols are affixed on the respective manuals to indicate conformity with the above legislation. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 11: Safety Information

    The TM AI Cobot must be used according to its intended use. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 12: Validation And Liability

    Environmental Conditions: ⚫ Ambient air temperature: 0˚C ~ +50˚C Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 13: Risk Assessment

    Release the brake by pushing the pin on the brake solenoid shown in the following figures. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 14: Figure 1: Reference Of Brake Solenoid By Joints

    2. When manually moving each robot joint, the movement angle must be within a range of 。 +/- 45 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 15: Labels

    Table 3: Denotation of Labels Figure 2: Locations of Labels Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 16: Transportation And Storage

    Do not lay the package on its side or any other non-upright position. This could damage the product. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 17: System Hardware

    TM AI Cobot is made up of the robot arm and control box (including a robot stick). Robot arm Control Box Robot Stick Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 18: Robot Arm

    Figure 4: Dimension of TM12 / TM12M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 19: Figure 5: Dimension Of Tm14 / Tm14M

    Figure 5: Dimension of TM14 / TM14M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 20: Figure 6: Dimension Of Tm16 / Tm16M

    Figure 6: Dimension of TM16 / TM16M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 21: Figure 7: Dimension Of Tm20 / Tm20M

    Figure 7: Dimension of TM20 / TM20M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 22: Figure 8: Dimension Of Tm12X

    Figure 8: Dimension of TM12X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 23: Figure 9: Dimension Of Tm14X

    Figure 9: Dimension of TM14X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 24: Figure 10: Dimension Of Tm16X

    Figure 10: Dimension of TM16X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 25: Robot Assembly Diagram

    Contact your local corporation support for any service request. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 26 Joint Joint Joint Base Base TM12 / TM12M TM12X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 27 Joint Joint Joint Base Base TM14X TM14 / TM14M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 28: Range Of Motion

    1100 ㎜ for the TM14 series, and 917 ㎜ for the TM16 Series. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 29: Figure 12: Side View Of Tm12 / Tm12M / Tm12X / Tm20 / Tm20M / Tm20X Movement Range Diagram

    Figure 12: Side View of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X Movement Range Diagram *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 30: Figure 13: Pictorial View Of Tm12 / Tm12M / Tm12X / Tm20 / Tm20M / Tm20X Movement Range Diagram

    Figure 14: Top view of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X Movement Range Diagram *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 31: Figure 15: Side View Of Tm14 / Tm14M / Tm14X Movement Range Diagram

    Figure 16: Pictorial view of TM14 / TM14M / TM14X Movement Range Diagram Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 32: Figure 17: Top View Of Tm14 / Tm14M / Tm14X Movement Range Diagram

    Figure 17: Top View of TM14 / TM14M / TM14X Movement Range Diagram *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 33: Figure 18: Side View Of Tm16 / Tm16M / Tm16X Movement Range Diagram

    Figure 19: Pictorial view of TM16 / TM16M / TM16X Movement Range Diagram *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 34: Robot Hazard Zone Diagram And Operator Position Diagram

    Shown below is an illustration of the robot hazard zone and operator position diagrams. Do not operate Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 35: Figure 22: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm12 / Tm12M / Tm12X / Tm20

    Figure 22: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 36: Figure 23: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm14 / Tm14M / Tm14X

    Figure 23: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 37: Payload And Torque

    The following figure shows the relationship between payload and the center of gravity offset: Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 38: Figure 25: Relationship Between Payload And The Center Of Gravity Offset In Tm12 / Tm12M / Tm12X

    Figure 26: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 39: Figure 27: Relationship Between Payload And The Center Of Gravity Offset In Tm16 / Tm16M / Tm16X

    Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 40: Robot Arm Installation

    Wherever the installation takes place, the robot setting remains equivalent. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 41: Figure 29: Bottom View Of Robot Base

    Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 42: Figure 30: Securing The Ground Wire With The Robot

    Figure 30: Securing the ground wire with the robot Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 43: Robot End Module

    Figure 31: References of TM12 / TM12M / TM14 / TM14M / TM16 / TM16M End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 44: Figure 32: References Of Tm20 / Tm20M End Module Components

    Figure 32: References of TM20 / TM20M End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 45: Figure 33: References Of Tm12X / Tm14X / Tm16X End Module Components

    Figure 33: References of TM12X / TM14X / TM16X End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 46: Figure 34: References Of Tm20X End Module Components

    Flange (ISO 9409-1-50-4-M6) Figure 34: References of TM20X End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 47: End Flange Surface

    Figure 35: References of End Flange Surface *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 48: End Mounting Caution

    Figure 36: The Exterior and Diagram of the Control Box Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 49: Robot Stick

    Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 50: Table 5: Robot Stick Basic Functions

    Robot Stick Stand should be fixed with screws. Always attach the robot stick when it is not in Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 51: Semi Emergency Off Box

    Figure 40: Light Module Surface *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 52: Install Light Module

    Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 53: Operating Position Of Tm Ai Cobot With Agv/Aiv

    When TM AI Cobot is placed on an AGV/AIV in operation, the TM AI Cobot should be paused and should not exceed the footprint of the AGV/AIV. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 54: Working Distance And Field Of View Of Tm Ai Cobot's Eih Camera

    46.5 ㎜ in front of the flange surface and right behind the center of the protection lens. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 55: Table 9: The Relation Between The Working Distance And The Field Of View

    Table 9: The Relation between the Working Distance and the Field of View Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 56: Electrical Interface

    Control Box I/O configuration Figure 45: Control Box I/O Configuration (1/2) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 57: Table 10: Definitions Of Safety Connectors

    For details about safety functions, please refer to the Safety Manual. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 58: Safety Connector

    ESTOP Input Port above, but it does not trigger the function of Robot ESTOP output. Figure 47: Safety Input Connector Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 59: Figure 48: The Wiring Diagram Example Of Switch Type Safety Device

    Figure 49: The Wiring Diagram Example of PNP Output Type Safety Device Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 60: Safety Output Connector

    For details about the safety functions, please refer to the Safety Manual. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 61: Figure 51: Safety Output Connector

    Before putting to use the robot, be sure to check the safety functions and schedule to check the safety functions for a regular basis. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 62: Power Connector

    Inputs can be set to either sink input or source input by selection. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 63: Figure 54: Digital Input

    Figure 55: Set to Sink Input Type ⚫ Set to Source input type Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 64: Digital Output

    Figure 57: Digital Output ⚫ Set to sink output type Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 65: Figure 58: Set To Sink Output Type

    Connect DO_COM terminal to the plus side of the power supply. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 66: Analog In

    Figure 59: Set to Source Output Type 5.3.4 Analog In Figure 60: Analog In Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 67: Analog Out

    The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Figure 62: System Remote Power ON/OFF Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 68: Ethercat: For Ethercat Slave I/O Expansion

    24V output power. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 69: Table 12: 8-Pin Digital I/O Connectors Of Cable

    Black Table 13: 8-pin Digital I/O Connector of Robot Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 70: Connecting Tool End Digital Output

    The following figure shows how to connect the tool end digital output: Figure 64: Connecting Tool End Digital Output Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 71: Connecting Tool End Digital Input

    Figure 66: Connecting Tool End Analog Input Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 72: Control Box Interfaces

    Figure 68: Interfaces of the TM12 / TM14 / TM16 / TM20 / TM12X / TM14X / TM16X / TM20X Series Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 73: Figure 69: Interfaces Of The Tm12M / Tm14M / Tm16M / Tm20M Series

    Figure 70: Interfaces of the TM12M SEMI / TM14M SEMI / TM16M SEMI / TM20M SEMI Series Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 74: Semi Emergency Off Box Interfaces (Tm12 Semi / Tm14 Semi / Tm16 Semi / Tm20 Semi Exclusive)74

    The power supply should be equipped with the following: • Grounding Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 75: Table 17: Tm12 / Tm14 / Tm16 / Tm20 / Tm12X / Tm14X / Tm16X / Tm20X Series Electrical Specifications

    2. Ensure that the input current of the control box is protected by the Residual Current Device (RCD) and appropriate fuses. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 76: Robot Interface

    Figure 74: The TM12M SEMI / TM14M SEMI / TM16M SEMI / TM20M SEMI SEMI Emergency Off Interface Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 77: The Semi Emergency Off Box

    Figure 76: Detachable I/O Panel Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 78 I/O panel from its original location. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 79: Unboxing & Installation

    Retain all shipping containers and packaging materials. These items may be necessary to settle claims or at a later date, to relocate equipment. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 80: Unboxing

    Each carton has the following contents. Check them when you unpack the cartons for the first time. If any item is missing, contact your vendor. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 81: Table 20: The Robot Arm Carton Contents

    Robot Stick Cable length: 300 cm Product Brief Information Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 82 (TM12M / TM14M / TM16M / TM20M) (1 cable) Length: 120 cm Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 83: Table 21: The Control Box Carton Contents

    The SEMI Emergency OFF Box carton contains: SEMI Emergency OFF Box Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 84: Installing Your Robot

    ⚫ Place the control box near the robot base Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 85: Verification Before Removal Of The Robot Arm

    Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 86: Removal Of The Robot Arm And Tightening

    Figure 84: Moving the Robot Arm (2/2) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 87: Connect The Robot And The Control Box

    For the SEMI series users only, connect the SEMI Emergency OFF switch to the EMO interface of the Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 88: Connect The Robot, The Control Box, And The Semi Emergency Off Box

    Do not extend or modify the original cables of the robot. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 89: Maintenance And Repair

    ⚫ Safety Software Settings Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 90: Figure 88: Air Filter Tray

    Pull out the air filter tray and replace the filter with a new one. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 91: Warranty Statement

    Manual but will not liable for any erroneous or omitted information. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 92: Declaration Of Incorporation

    9. Declaration of Incorporation Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 93 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 94 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 95 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 96: Appendix A. Technical Specifications

    TM Landmark 3D Positioning (Working Point away from Landmark 100/200/300 ㎜): 0.24/0.53/1.00 ㎜* Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 97: Table 25: Technical Specifications (Tm12 / Tm12 X / Tm12M / Tm14 / Tm14X/ Tm14M)

    Table 25: Technical Specifications (TM12 / TM12X / TM12M / TM14 / TM14X / TM14M) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 98 TM Landmark 3D Positioning (Working Point away from Landmark 100/200/300 ㎜): 0.24/0.53/1.00 ㎜ Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 99: Table 26: Technical Specifications (Tm16 / Tm16 X / Tm16M / Tm20 / Tm20X/ Tm20M)

    Table 26: Technical Specifications (TM16 / TM16X / TM16M / TM20 / TM20X / TM20M) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

  • Page 100: Medium & Heavy Payload Series-Hardware Installation Manual Tm12/14/16/20 Series Hardware Version: 3.2 Document Version

    Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version: 1.01 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

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