Related Manuals for Techman Robot TM12S Series
Summary of Contents for Techman Robot TM12S Series
- Page 1 Hardware Installation Manual Corresponding models: TM12S/TM14S Series Original Instruction Hardware Version: 5.02 Document Version: 1.03 Release Date: 2024-05-21...
- 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
Contents Revision History Table ............................... 9 1. Product Description ..............................10 1.1 Product Description ............................10 1.2 How Can I Get Help? ............................10 1.3 Disposal and Environment ..........................10 2. Safety Information ............................... 11 2.1 Overview ................................11 2.2 Warning and Caution Symbols .......................... 11 2.3 Safety Precautions ............................. - Page 4 4.2.4 Robot Light Module ............................. 44 4.2.4.1 Light Module Surface ..........................44 4.2.4.2 Install Light Module ..........................44 4.3 Operating Position of TM AI Cobot with AGV/AIV ..................... 46 4.4 Working distance and field of view of TM AI Cobot’s EIH camera ..............47 5.
- Page 5 6.2 Inspecting the Equipment ..........................71 6.2.1 Before Unpacking ............................71 6.2.2 Upon Unpacking ............................71 6.3 Unboxing ................................72 6.3.1 Carton Types ............................... 72 6.3.2 Contents of Each Carton ..........................73 6.4 Installing Your Robot ............................76 6.4.1 Remove the Control Box ..........................77 6.4.2 Verification Before Removal of the Robot Arm ....................
- Page 6 Table 16: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications ......... 69 Table 17: TM12S-M / TM14S-M Series Electrical Specifications ..............69 Table 18: The Robot Arm Carton Contents ....................... 73 Table 19: The Control Box Carton Contents ..................... 76 Table 20: The SEMI Emergency OFF Switch Carton Contents ................
- Page 7 Figure 25: Waterproof Rubber Plugs of the Control Box .................. 37 Figure 26: Dimensions of the Robot Stick ......................38 Figure 27: Robot Stick (front) ........................... 38 Figure 28: Robot Stick (back) ........................... 39 Figure 29: Operation of the Enabling Switch ....................39 Figure 30: TM Teach Pendant (consisting of the TM Screen and Robot Stick)..........
- Page 8 Figure 60: Side View of the Control Box (DC) ....................65 Figure 61: Front View of the Control Box (DC SEMI) ..................65 Figure 62: Side View of the Control Box (DC SEMI) ..................65 Figure 63: ECO and REMOTE switch positions of DC and DC SEMI Control Boxes ........66 Figure 64: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series ............
-
Page 9: Revision History Table
Revision History Table Revision Date Revised Content 1.00 2023-08-02 Original release 1.01 2023-10-30 Minor details revised 1.02 2024-01-25 Minor details revised 1.03 2024-05-21 Minor details revised... -
Page 10: Product Description
1. Product Description 1.1 Product Description The TM AI Cobot is a six-axis robot with power and force limiting function featuring simple programming, innovative integrated vision capabilities together with the latest safety functionality to run at full speed with barriers and operate in collaborative workspace. 1.2 How Can I Get Help? You can access information sources on the corporate website: http://tm-robot.com/... -
Page 11: Safety Information
2. Safety Information 2.1 Overview Users should read, understand and abide by the safety information provided in this manual before using the TM AI Cobot. 2.2 Warning and Caution Symbols The table below shows the definitions of the warning and caution levels used in this manual. Pay close attention to them when reading the manual, and observe them to avoid personal injuries or equipment damage. -
Page 12: Validation And Liability
⚫ The TM AI Cobot must be used according to its intended use. ⚫ Results of the risk assessment may require the use of additional risk reduction measures. ⚫ Power to the robot and its power supply must be locked out and tagged out or have means to control hazardous energy or implement energy isolation before any maintenance is performed. -
Page 13: Risk Assessment
wear proper ear protection. Environmental Conditions: ⚫ Ambient air temperature: 0˚C ~ +50˚C ⚫ Ambient relative humidity: < 85% ⚫ Transportation & Storage condition: -20˚C ~ +60˚C ⚫ Transportation & Storage humidity: < 75% ⚫ The robot needs to be protected from shock or vibration ⚫... -
Page 14: Labels
To release the brake of each joint manually: 1. Remove joint cover screws (M3, Torx-T10) and joint cover, and 2. Release the brake by pushing the pin on the brake solenoid, as shown in the following figures. joint joint joint Figure 1: Pin position for brake releasing DANGER: There is no force compensation during joint movement without drive power, which... -
Page 15: Table 3: Denotation Of Labels
⚫ Do not touch any internal electric parts to avoid electric shock. ⚫ Arc flash hazard, appropriate PPE required. Failure to comply can result in death or injury. Refer to NFPA 70 ⚫ Risk of fire or electric shock. The door lock is not interlocked with the machine supply circuit disconnect. -
Page 16: Transportation And Storage
3. Transportation and Storage Transport the TM AI Cobot using its original packing materials. If you will need to transport the TM AI Cobot after unpacking, store the packing materials in a dry place. Hold both arms of the TM AI Cobot during transportation. Support the arms while tightening the base screws. -
Page 17: System Hardware
4. System Hardware 4.1 Overview This chapter introduces the mechanical interface of the TM AI Cobot System. 4.2 System Overview TM AI Cobot is made up of the robot arm and control box (including a robot stick). Robot arm Robot Stick Control Box Figure 3: System Overview... -
Page 18: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot Figure 4: Dimension of TM12S / TM12S-M *All measures are in... -
Page 19: Figure 5: Dimension Of Tm14S / Tm14S-M
Figure 5: Dimension of TM14S / TM14S-M *All measures are in... -
Page 20: Figure 6: Dimension Of Tm12S-X
Figure 6: Dimension of TM12S-X *All measures are in... -
Page 21: Robot Assembly Diagram
Figure 7: Dimension of TM14S-X *All measures are in 4.2.1.2 Robot Assembly Diagram Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to disassemble any component on your own. Contact your local corporation support for any service request. -
Page 22: Range Of Motion
3rd Joint Upper arm Upper arm 2nd Joint 1st Joint 2nd Joint 1st Joint Base Base TM14S-X TM12S-X 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 1300 for the TM12S series and 1100 the TM14S series. -
Page 23: Figure 8: Side View Of Tm12S / Tm12S-M / Tm12S-X Movement Range Diagram
DANGER: With the exception of an individual being in full control of robot motion during hand-guiding, personnel shall be outside the safeguarded space when the robot is in motion while in manual mode (i.e. teaching). The emergency stop on the robot stick must be readily accessible during manual mode. At least one emergency switch is installed outside of the motion range of the robot. -
Page 24: Figure 9: Pictorial View Of Tm12S / Tm12S-M / Tm12S-X Movement Range Diagram
Figure 9: Pictorial view of TM12S / TM12S-M / TM12S-X Movement Range Diagram Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 10: Top view of TM12S / TM12S-M / TM12S-X Movement Range Diagram *All measures are in... -
Page 25: Figure 11: Side View Of Tm14S / Tm14S-M / Tm14S-X Movement Range Diagram
TM14S / TM14S-M / TM14S-X Movement Range Diagram Figure 11: Side view of TM14S / TM14S-M / TM14S-X Movement Range Diagram *All measures are in... -
Page 26: Figure 12: Pictorial View Of Tm14S / Tm14S-M / Tm14S-X Movement Range Diagram
Figure 12: Pictorial view of TM14S / TM14S-M / TM14S-X Movement Range Diagram Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram *All measures are in... -
Page 27: Payload And Torque
4.2.1.4 Payload and Torque The maximum allowed payload of the robot arm is related to its center of gravity offset, which is defined as the distance from the center point of the robot end of the flange to the payload’s center of gravity. The following figure shows the relationship between payload and the center of gravity offset: TM12S / TM12S-M / TM12S-X Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X... -
Page 28: Robot Arm Installation
Refer the table below for the rated torque and the limit of repeated peak torque of the robot. Exceeding torque may reduce the life of the robot or damage the robot. Model TM12S Series TM14S Series Limit for repeated Limit for repeated... -
Page 29: Figure 16: Bottom View Of Robot Base (Tm12S / Tm14S Series)
DANGER: The TM AI Cobot must be securely and tightly screwed down before use. The strength of the mounting surface must be sufficient. When operating at high speed, the robot can generate up to 710 N reaction force to the mounting surface and screws. -
Page 30: Robot End Module
4.2.2 Robot End Module 4.2.2.1 End Module Components VISION Button FREE Button (3-position Enabling Switch) Digital I/O POINT Button Indication Light Ring GRIPPER Button Flange (ISO 9409-1-50-4-M6) Light module Camera module Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components... -
Page 31: Figure 19: References Of Tm12S-X / Tm14S-X End Module Components
POINT Button Indication Light Ring Digital I/O FREE Button (3-position Enabling Switch) GRIPPER Flange (ISO 9409-1-50-4-M6) Figure 19: References of TM12S-X / TM14S-X End Module Components NOTE: There are two contacts in the Enabling Switch that are designed to operate independently. -
Page 32: Flange Surface Of The Robot End
4.2.2.2 Flange Surface of the Robot End Digital I/O Camera Figure 20: References of the Flange Surface of the Robot End *All measures are in... -
Page 33: End Mounting Caution
4.2.2.3 End Mounting Caution The TM12/14 Series uses four M6 threaded holes on the robot end of the flange and four M6 screws for mounting tools. The strength of the M6 screw should be 8.8 or above, and the tightening torque of 9 Nm is recommended. -
Page 34: Figure 21: The Exterior And Diagram Of The Control Box
Figure 21: The Exterior and Diagram of the Control Box *All measures are in... -
Page 35: Figure 22: Dimensions Of The Dc Control Box
Figure 22: Dimensions of the DC Control Box *All measures are in... -
Page 36: Figure 23: Dimensions Of The Dc Semi Control Box
Figure 23: Dimensions of the DC SEMI Control Box *All measures are in Use the M4L6 screw to secure the ground wire with the control box as shown below. -
Page 37: Robot Stick
Figure 24: Securing the ground wire with control box CAUTION: ⚫ Before any cable is plugged into the Control Box, replace the waterproof rubber plugs at the base of the box with compatible cable glands. Recommended cable gland: BG-48 (manufactured by KSS) ⚫... -
Page 38: Figure 26: Dimensions Of The Robot Stick
Figure 26: Dimensions of the Robot Stick Emergency Stop Button Power Button Reset Button Speed Indicator MODE Indicator Robot Stick Enable Indicator M/A Button Play Button Pause Button Stop Button - Button + Button Figure 27: Robot Stick (front) -
Page 39: Figure 28: Robot Stick (Back)
Enabling Switch Figure 28: Robot Stick (back) Position 1 (OFF): Release Position 2 (teaching mode): Press gently Position 3 (OFF): Press hard Figure 29: Operation of the Enabling Switch NOTE: ⚫ To ensure the operator’s safety, the Enabling Switch on the Robot Stick can only be activated at Position 2, when the robot enters the teaching mode. - Page 40 CAUTION: There are notable differences in robot stopping behavior between pausing the robot with the Play/Pause Button and stopping the robot with the Stop Button. Please refer to the Safety Manual for more information on the robot’s ESTOP behavior. ⚫ When the Play/Pause Button is used, the robot takes more time to decelerate to a complete stop, allowing for a more smooth transition from the moving state to the paused state.
-
Page 41: Table 6: Robot Stick Basic Functions
Items Basic Function Power initiation (single press)/ Shutdown (long press) Power Button OFF: Switched off (with indicator) Constant: Startup completed Default Emergency Stop button for the robot. Stop robot motion when Emergency Stop button emergency situation occurs. See Safety Manual for details. Default Reset button for the robot. -
Page 42: Tm Screen (Optional)
CAUTION: The Robot Stick can be attached to any hookable surfaces. However, the risk of falling or rotating caused by poor attachment should be taken into account. It is recommended that the Robot Stick Stand (an official accessory) be used to secure the Robot Stick. The Robot Stick Stand should be fixed with screws. - Page 43 1. Plug the TM Screen onto the Robot Stick along its side tracks. 2. Rotate to tighten both thumb screws on the back of the TM Screen to make sure Thumb Screws the module are firmly combined with the Robot Stick. DANGER: When using the TM Teach Pendant, it is forbidden to integrate the robot with Screen/Keyboard/Mouse.
-
Page 44: Robot Light Module
4.2.4 Robot Light Module 4.2.4.1 Light Module Surface Figure 31: Light Module Surface *All measures are in 4.2.4.2 Install Light Module The light module uses 4 of M3 screws to fix, and the recommended tightening torque is 1 Nm. For higher accuracy on usages in demand, use both of the 2 diameter openings with the positioning pins to get the better steadiness. -
Page 45: Table 9: Electrical Specification Of The Light Module
Light Module Figure 32: Calculation the Torque Load of the Light Module *All measures are in The maximum allowed payload of the robot: the weight of the light module must match the relative relationship between the maximum allowed payload and the center of gravity offset distance. If the robot end of the flange goes with additional applications, it is required to generate the equivalent center of gravity for its position and total load from the combination of the light module and the application tool as well as follow 4.2.1.4 Payload and Torque of this manual. -
Page 46: Operating Position Of Tm Ai Cobot With Agv/Aiv
Fill light cable: Figure 33: Electrical Polarity of Fill Light Cable Connector: 2P/1.5 pin pitch. Refer to JST model ZHR-4 series. Dimming mode: PWM control NOTE: The robot comes with the IP54 rating, but the Corporation does not guarantee this rating if users replace with the other light modules. -
Page 47: Working Distance And Field Of View Of Tm Ai Cobot's Eih Camera
AGV/AIV Footprint Figure 34: Top View of TM AI Cobot Placed on the AGV/AIV 4.4 Working distance and field of view of TM AI Cobot’s EIH camera The field of view of TM AI Cobot’s EIH camera varies linearly in accordance with the working distance. The minimum working distance is about 100 and the maximum working distance is about 300 . -
Page 48: Electrical Interface
The relation between the working distance and the field of view is listed below. Working distance (mm) Field of view (mm) Width 281.6 96.9 Height 211.2 72.7 Table 10: The Relation between the Working Distance and the Field of View 5. -
Page 49: Control Box
5.3 Control Box Control Box I/O configuration Figure 36: Control Box I/O Configuration (1/2) 5.3.1 Safety Connector Safety I/O comes with dual redundant channel connector and has to keep both channel input/output the same value simultaneously. Single fault on either one of the single channel will not result in failure of safety functions. -
Page 50: Figure 37: Safety Input Connector
Figure 37: Safety Input Connector Figure 38: The Wiring Diagram Example of Switch Type Safety Device. -
Page 51: Safety Output Connector
Figure 39: The Wiring Diagram Example of PNP Output Type Safety Device Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device 5.3.1.2 Safety Output Connector SO 0-1/ SO 0-2 to SO 7-1/ SO 7-2 are user defined Safety Output Port. Safety functions can be... -
Page 52: Figure 41: Safety Output Connector
assigned to these ports. For details about the safety functions, please refer to the Safety Manual. Figure 41: Safety Output Connector Figure 42: Safety Output Connector Wiring Diagram... -
Page 53: Power Connector
DANGER: Do not connect the safety signals to a non-safety device without the fulfilled safety level. Failure to do so may result in injury or death due to a malfunction of the safety stop. All safety I/Os come with dual redundant channel connectors. Maintain both redundant channels while they are paired and connected, so that any single fault on either channel will not result in failure of safety functions. -
Page 54: Digital In/Out
5.3.3 Digital In/Out Digital input/output each has 16 channels, and its application is connected to the following sections. 5.3.3.1 Digital Input Inputs can be set to either sink input or source input by selection. Figure 44: Digital Input ⚫ Set to sink input type When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used. -
Page 55: Digital Output
Figure 45: Set to Sink Input Type ⚫ Set to Source input type When a device such as a transistor output sensor is connected, PNP open collector transistor output can be used. Figure 46: Set to Source Input Type 5.3.3.2 Digital Output Outputs can be set to either sink output or source output by selection. -
Page 56: Figure 47: Digital Output
The maximum drive current is 300mA per channel. If the voltage generated by a load of over 300 mA or through counter-electromotive force from an external device exceeds what the control box can accommodate and damages the digital output devices, a relay should be used to provide driving force or an isolation mechanism be implemented. -
Page 57: Figure 48: Set To Sink Output Type
Figure 48: Set to Sink Output Type ⚫ Set to source output type Connect DO_COM terminal to the plus side of the power supply. Figure 49: Set to Source Output Type... -
Page 58: Analog In/Out
5.3.4 Analog In/Out Figure 50: Analog In Figure 51: Analog Out Range Resolution Accuracy Conversion Time Analog In +10.00V~-10.00V 11bit ≤ 0.2% 1 ms Analog Out +10.00V~-10.00V 11bit ± 0.07% 1 ms Table 11: Analog In & Analog Out 5.3.5 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. -
Page 59: Auto Mode Play Confirm Port
second. Figure 52: System Remote Power ON/OFF 5.3.6 AUTO MODE Play Confirm Port The AUTO MODE play confirm port “AUT.P” is used for connection to a push button located outside of the safeguarded space to prevent a person from executing any project near the robot under AUTO MODE. -
Page 60: Ethercat: For Ethercat Slave I/O Expansion
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion Figure 54: EtherCAT WARNING: The robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while the robot is on. 5.3.8 USB Port The USB port of the control box is used for connecting the keyboard, mouse and external storage devices. -
Page 61: I/O Terminals
There is one small connector on the tool end of the robot: The 8-pin connector can be used to configure digital I/O, analog Input, and RS485. 5.4.1 I/O Terminals Output specifications of the tool end 24V: Voltage: Typical: 1.5A Max: 2.0A (*) (*Do not output 2A for a duration of >... -
Page 62: Connecting Tool End Digital Output
Wire Color Pin Define Brown +24v 24V output DI_0 Digital intput0 Orange DI_1 Digital intput1 Yellow DI_2 Digital intput2 Digital DO_0 Green Output0 Analog Input Digital DO_1 Blue Output1 RS485- RS485- DO_2 Digital Output Purple RS485+ RS485+ Black Table 13: 8-pin Digital I/O Connector of Robot NOTE: While DO1 and DO2 of the end connector are set to RS485, it is the extension of COM2. -
Page 63: Connecting Tool End Digital Input
5.4.2 Connecting Tool End Digital Input The following figure shows how to connect the tool end digital input: NOTE: If sensors are connected directly then they should be NPN. Figure 56: Connecting Tool End Digital Input 5.4.3 Connecting Tool End Analog Input Range Resolution Accuracy... -
Page 64: Control Box Interfaces
5.5 Control Box Interfaces Power Remote ON/OFF SSD Reset Robot Status Display General I/O Interface Safety I/O Interface EtherCat Figure 58: Front View of the Control Box (AC) SSD Reset Power Remote ON/OFF Robot Status Display General I/O Interface Safety I/O Interface EtherCat Figure 59: Front View of the Control Box (DC) -
Page 65: Figure 60: Side View Of The Control Box (Dc)
Fuse holder DC adapter Robot cable connector Figure 60: Side View of the Control Box (DC) SSD Reset Power Remote ON/OFF Robot Status Display General I/O Interface Safety I/O Interface EtherCat Figure 61: Front View of the Control Box (DC SEMI) DC adapter EMO connector Fuse holder... -
Page 66: Table 15: Descriptions Of The Eco And Remote Modes Of Dc And Dc Semi Control Boxes
IMPORTANT: The ECO and REMOTE modes of DC and DC SEMI Control Boxes are introduced as follows: Switch Position Mode Description ⚫ Zero standby power mode, with power consumption lower than 0.1 W. ⚫ Does not support Remote ON/OFF. ⚫ Low standby power mode, with power REMOTE consumption lower than 15W. -
Page 67: Figure 64: Interfaces Of The Tm12S / Tm14S / Tm12S-X / Tm14S-X Series
Fuse holder AC adapter Line-out Fieldbus (optional) Debug port Mic-in HDMI USB 3.0 *4 COM2 USB2.0*2 Robot cable connector LAN for GigE Camera*2 COM3 Figure 64: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series Line-out Mic-in HDMI USB 3.0 *4 COM3 COM2... -
Page 68: Control Box Power Interface And Robot Interface
NOTE: While DO1 and DO2 of the end connector are set to RS485, it is the extension of COM2. 5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM12S / TM14S / TM12S-X / TM14S-X: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. The AC power switch must be in OFF state before plugging in or out the power cable. -
Page 69: Robot Interface
External mains fuse (220V~240V) Input frequency Table 16: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power Parameters Minimum Value Typical value Maximum value Unit Input voltage V (DC) Power consumption... -
Page 70: Semi Emergency Off Interfaces (Semi Series Exclusive)
3. The cable of the robot is only suitable for a fixed installation. If the applications have the request for flexible or longer cable, contact the corporation. 5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) Refer below for the SEMI Emergency Off interfaces. The SEMI Emergency Off switch is connected with control box through the EMO port. -
Page 71: Unboxing & Installation
6. Unboxing & Installation 6.1 Overview These instructions guide users of the TM AI Cobot through the first set up. Users must thoroughly read and understand this Guide before performing the operations of this Chapter. Fail to do so may cause serious danger. WARNING: If this is your first time using the TM AI Cobot, follow instructions in this chapter to perform installation and initial set up. -
Page 72: Unboxing
6.3 Unboxing 6.3.1 Carton Types The TM AI Cobot product comes with 2 cartons: the robot arm carton, and the control box carton, as shown below. Also, a SEMI Emergency OFF switch carton will comes along with the SEMI series. For TM12S-M SEMI or TM14S-M SEMI, there will be an additional carton comes with the SEMI Emergency OFF Box. -
Page 73: Contents Of Each Carton
Figure 71: Control Box Carton (DC and DC SEMI) 6.3.2 Contents of Each Carton 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. The robot arm carton contains: Robot arm Cable length: 300 cm Table 18: The Robot Arm Carton Contents... - Page 74 Control box Robot Stick Cable length: 390 cm Product Brief Information...
- Page 75 Calibration Plates (Peel the protective wrap off before using.) *The Calibration Plate comes only with TM AI Cobots fitted with the hand-eye camera. IO cables (One 8-pin digital I/O cable) Length: 100 cm TM Landmark (Two TM Landmarks. Peel the protective wrap off before using.) *The TM Landmark comes only with TM AI Cobots fitted with the hand-eye camera.
-
Page 76: Installing Your Robot
Power cable of the control box (TM12S-M / TM14S-M) (1 cable) Length: 120 cm Ground Wire 2 wires Length: 200 cm Table 19: The Control Box Carton Contents The SEMI Emergency OFF Switch carton contains: SEMI Emergency OFF Switch (SEMI series exclusive) (1 pack) Cable length: 300 cm Table 20: The SEMI Emergency OFF Switch Carton Contents... -
Page 77: Remove The Control Box
WARNING: Do not attempt to move any robot links until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage. 6.4.1 Remove the Control Box After checking the contents, remove the contents in order and perform installation. Control box carton: ⚫... -
Page 78: Verification Before Removal Of The Robot Arm
Figure 73: Moving the Control Box (2/2) WARNING: At this stage, do not connect the power cable of the control box to any electrical outlet, or it may cause equipment damage. 6.4.2 Verification Before Removal of the Robot Arm The TM AI Cobot arm cannot stand independently after being removed from the carton. Prepare four screws (M10 *4) that are used to attach the robot to the base near the robot base in advance. -
Page 79: Figure 74: Moving The Robot Arm (1/2)
Figure 74: Moving the Robot Arm (1/2) The Robot Arm itself should be handled with at least two people. One person should carry the Lower arm and Upper arm, and the other should hold on to the position between the base and 1 Joint as well as the Joint. -
Page 80: Connect The Robot And The Control Box
6.4.4 Connect the Robot and the Control Box Connect the cable from the robot to the robot interface of the control box. Connect the power cable between the wall socket and the power interface of the control box. Figure 76: Connecting the Robot and the Control Box IMPORTANT: Please make sure the bend radius of the cable is larger than the specified value above. -
Page 81: Maintenance And Repair
7. Maintenance and Repair The following table gives a summary of the preventive maintenance procedures and guidelines: Items Period Remark Ensure the labels are present and legible. Warning, Safety labels 1 week Replace them if necessary. Check Filter 1 month Replace the filter every 3 months. - Page 82 5. The functional testing of Speed Limit functions 6. The functional testing of Soft Axis Limit functions 7. The functional testing of safety output functions The robot and the system should perform either Category 1 Stop or Category 2 Stop with respect to these different safety functions.
-
Page 83: Figure 77: Air Filter Tray (The Circled Parts)
NOTE: The filter must be replaced regularly to maintain efficiency. Please contact the Corporation to purchase the filter if in demand. Figure 77: Air Filter Tray (the circled parts) How to change the filter: 1. Turn off the power of the control box. 2. -
Page 84: Warranty Statement
8. Warranty Statement 8.1 Product Warranty Users (customers) may request their distributor for after-sales services under any reasonable circumstances. The Corporation represents and warrants that products will be free of defects in material and workmanship within twelve months after delivery. The remedy for the breach of the warranties is to provide, only to the extent of, all necessary spare parts. -
Page 85: Appendix A. Technical Specifications
Appendix A. Technical Specifications Model TM14S TM12S TM14S-M TM12S-M TM14S-X TM12S-X Weight 33 kg 33.3 kg 33 kg 33.3 kg 32.7 kg 33 kg Maximum Payload Reach 1100 1300 1100 1300 1100 1300 J1,J2,J4,J5,J6 +/- 360° Joint Range +/- 159° +/- 162°... -
Page 86: Table 22: Technical Specifications
The data in this table are measured by TM laboratory and the working distance is 100 . It should be noted that in practical applications, the relevant values may be different due to factors such as the on-site ambient light source, object characteristics, and vision programming methods that will affect the change in accuracy. -
Page 87: Appendix B. Certificate Of Compliance And Declaration Of Incorporation
Appendix B. Certificate of Compliance and Declaration of Incorporation...
Need help?
Do you have a question about the TM12S Series and is the answer not in the manual?
Questions and answers