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TM Robot TM5S Series Hardware Installation Manual

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Hardware Installation Manual
Corresponding models: TM5S/TM7S Series
Original Instruction
Hardware Version: 5.02
Document Version: 1.04
Release Date: 2024-07-08

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Summary of Contents for TM Robot TM5S Series

  • Page 1 Hardware Installation Manual Corresponding models: TM5S/TM7S Series Original Instruction Hardware Version: 5.02 Document Version: 1.04 Release Date: 2024-07-08...
  • 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 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 Limitations on Liability ............................
  • Page 4 4.2.4.2 Install Light Module ..........................43 4.3 Operating Position of TM AI Cobot with AGV/AIV ..................... 45 4.4 Working distance and field of view of TM AI Cobot’s EIH camera ..............46 5. Electrical Interface ............................... 48 5.1 Overview ................................48 5.2 Electrical Warnings and Cautions ........................
  • Page 5 6.3.1 Carton Types ............................... 71 6.3.2 Contents of Each Carton ..........................72 6.4 Installing Your Robot ............................75 6.4.1 Remove the Control Box ..........................76 6.4.2 Verification Before Removal of the Robot Arm .................... 77 6.4.3 Removal of the Robot Arm and Tightening ....................77 6.4.4 Connect the Robot and the Control Box .....................
  • Page 6 Table 22: Technical Specifications ........................85 Figures Figure 1: Pin position for brake releasing ......................14 Figure 2: Locations of Labels ........................... 15 Figure 3: System Overview..........................17 Figure 4: Dimension of TM5S / TM5S-M ......................18 Figure 5: Dimension of TM7S / TM7S-M ......................19 Figure 6: Dimension of TM5S-X ........................
  • Page 7 Figure 35: Working Distance and Field of View of TM AI Cobot’s EIH camera ..........46 Figure 36: Control Box I/O Configuration ......................48 Figure 37: Safety Input Connector ........................49 Figure 38: The Wiring Diagram Example of Switch Type Safety Device............50 Figure 39: The Wiring Diagram Example of PNP Output Type Safety Device (1/2).........
  • Page 8 Figure 70: Control Box Carton (AC) ......................... 71 Figure 71: Control Box Carton (DC and DC SEMI) ..................72 Figure 72: Moving the Control Box (1/2) ......................76 Figure 73: Moving the Control Box (2/2) ......................77 Figure 74: Moving the Robot Arm (1/2) ......................78 Figure 75: Moving the Robot Arm (2/2) ......................
  • Page 9 Revision History Table Revision Date Revised Content 1.00 2023-08-02 Original release 1.01 2023-10-31 Minor details revised 1.02 2024-01-25 Minor details revised 1.03 2024-05-21 Minor details revised 1.04 2024-07-08 Minor details revised Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 10 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.
  • Page 11 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 ⚫ All personnel who design the robot system must read the Hardware installation Manual, Software Manual, and Safety Manual according to the software and hardware version of this product, and must comply with all local and national safety regulations for the location in which the robot is installed. ⚫...
  • Page 13 ⚫ 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 ⚫ Observe ESD precautions when installing or removing robot 2.7 Risk Assessment Before installing or using this product, users must first carry out the necessary risk assessment based on the conditions of use, and pay attention to the potential remaining risk addressed by the Corporation.
  • Page 14 joint joint Figure 1: Pin position for brake releasing DANGER: There is no force compensation during joint movement without drive power, which means more force is required to move each joint directly against the motor drive. WARNING: Users should be well trained and pay attention to moving the robot without drive power during any emergency and abnormal situations.
  • Page 15 interlocked with machine supply circuit disconnect. An unlocking or opening of doors does not de-energize exposed live parts. Product label Table 3: Denotation of Labels Figure 2: Locations of Labels Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 16 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 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 the Robot Stick). Robot arm Robot Stick Control Box Figure 3: System Overview Hardware Installation Manual: TM5S/TM7S series...
  • Page 18 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 TM5S / TM5S-M *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No.
  • Page 19 Figure 5: Dimension of TM7S / TM7S-M *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 20 Figure 6: Dimension of TM5S-X *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 21 Figure 7: Dimension of TM7S-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 Base Base TM7S-X TM5S-X 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 946 for the TM5S series and 758 for the TM7S series. Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 23 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 TM5S / TM5S-M / TM5S-X Movement Range Diagram Warning: Risk of collision Warning: Risk of crushing Operator within the operating area of the within the operating area of Position arm. the arm. Figure 10: Top View of TM5S / TM5S-M / TM5S-X Movement Range *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02...
  • Page 25 TM7S / TM7S-M / TM7S-X Movement Range Figure 11: Side View of TM7S / TM7S-M / TM7S-X Movement Range Diagram *All measures are in Figure 12: Pictorial View of TM7S / TM7S-M / TM7S-X Movement Range Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 26 Warning: Risk of collision Warning: Risk of crushing Operator within the operating area of the within the operating area of Position arm. the arm. Figure 13: Top View of TM7S / TM7S-M / TM7S-X Movement Range *All measures are in 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.
  • Page 27 TM5S / TM5S-M / TM5S-X Figure 14: Relationship between Payload and the Center of Gravity Offset in TM5S / TM5S-M / TM5S-X TM7S / TM7S-M / TM7S-X Figure 15: Relationship between Payload and the Center of Gravity Offset in TM7S / TM7S-M / TM7S-X Refer the table below for the rated torque and the limit of repeated peak torque of the robot.
  • Page 28 Model TM5S & TM7S Series Item Rated torque Limit for repeated peak torque Unit: Nm Table 4: Rated Torque and Limit for Repeated Peak Torque of TM5S and TM7S Robot Series WARNING: Use the total weight of the end-effector and the payload to stay within the payload rating of the robot.
  • Page 29 WARNING: In contact with liquids with chemical substances such as chemical solvents, lubricants, sanitizers, cleansers, etc. may cause damage to the joint covers or other components of the robot. Figure 16: Bottom View of Robot Base (TM5S / TM7S series) *All measures are in Use the M4L5 pan head screw to secure the ground wire with the robot as shown below.
  • Page 30 VISION Button FreeBot Button (3-position Enabling Switch) Digital I/O POINT Button Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 18: References of TM5S / TM5S-M / TM7S / TM7S-M End Module Components Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 31 POINT Button Indication Light Ring Digital I/O FreeBot Button (3-position Enabling Switch) GRIPPER Flange (ISO 9409-1-50-4-M6) Figure 19: References of TM5S-X / TM7S-X End Module Components NOTE: There are two contacts in the Enabling Switch that are designed to operate independently.
  • Page 32 4.2.2.2 Flange Surface of the Robot End Digital l/O Camera Figure 20: References of the Flange Surface of the Robot End *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 33 4.2.2.3 End Mounting Caution The TM5S & TM7S Series use 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 4.2.3 Control Box Figure 21: The Exterior and Diagram of the Control Box *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 35 Figure 22: Dimensions of the DC Control Box *All measures are in Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 36 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. Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 37 Figure 24: Grounding position for the 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 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) Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 39 Enabling Switch (3 positions) 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 press). See Software Manual for details. Lock/Unlock 6 function buttons of Robot Stick: press and hold the - button until the Robot Stick Enable Indicator flashes, then follow the sequence "-, +, -, -, +" to lock/unlock the 6 function buttons of Robot Stick.
  • Page 42 Function Buttons Figure 30: TM Teach Pendant (consisting of the TM Screen and Robot Stick) The installation of the TM Teach Pendant is described as follows: 1. Plug the TM Screen onto the Robot Stick along its side tracks. Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 43 2. Rotate to tighten both thumb screws on the back of the TM Screen to Thumb Screws make sure 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 accuracy on usages in demand, use both of the 2 diameter openings with the positioning pins to get the better steadiness. Users can replace the light module by applications in demand. The choice depends on the torque load of the light module, the available load of the robot, the possible influence the other light module made to the camera's field of view, and the electrical specifications.
  • Page 45 Electrical Specification of the Light Module Voltage: Current (only for TM AI Cobot’s light module): < 100 mA Current (for light modules from other < 900 mA manufacturers): Table 9: Electrical Specification of the Light Module Fill light cable: Figure 33: Electrical Polarity of Fill Light Cable Connector: 2P/1.5 pin pitch.
  • Page 46 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 47 *All measures are in 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 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04...
  • Page 48 5. Electrical Interface 5.1 Overview This chapter introduces all electrical interfaces of the robot arm and control box. 5.2 Electrical Warnings and Cautions The application design and installation of the robot should comply with the following warnings. DANGER: 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier.
  • Page 49 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. 5.3.1.1 Safety Input Connector 1.
  • Page 50 Figure 38: The Wiring Diagram Example of Switch Type Safety Device. Figure 39: The Wiring Diagram Example of PNP Output Type Safety Device (1/2) Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 51 Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device (2/2) 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 assigned to these ports. For details about the safety functions, please refer to the Safety Manual.
  • Page 52 Figure 42: Safety Output Connector Wiring Diagram 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.
  • Page 53 Figure 43: Power Connector 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 ⚫...
  • Page 54 When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used. 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.
  • Page 55 5.3.3.2 Digital Output Outputs can be set to either sink output or source output by selection. 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 56 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 5.3.4 Analog In/Out Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC.
  • Page 57 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 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04...
  • Page 58 The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. To power on or shut down the system, the user should trigger this function and hold it for at least one second. Figure 52: System Remote Power ON/OFF 5.3.6 AUTO MODE Play Confirm Port The AUTO MODE play confirm port “AUT.P”...
  • Page 59 users will not execute the project near the robot. Users are still required to ensure all persons are outside the safeguarded space before activating the automatic mode and operation. 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.
  • Page 60 5.4 Tool End I/O Interface 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...
  • Page 61 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 62 Figure 56: Connecting Tool End Digital Input 5.4.4 Connecting Tool End Analog Input Range Resolution Accuracy Conversion Time +10.00V~-10.00V 11bit ≤ 0.2% 1 ms Table 14: Analog Input Range The following figure shows how to connect the tool end Analog input: (Because AIN_GND is connected to ground, when AIN is a dead contact, a pressure difference will occur, which is a normal phenomenon.) Figure 57: Connecting Tool End Analog Input...
  • Page 63 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) Fuse holder...
  • Page 64 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 Robot cable connector Figure 62: Side View of the Control Box (DC SEMI) Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04...
  • Page 65 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 66 Fuse holder Line-out AC adapter 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 TM5S / TM5S-X / TM7S / TM7S-X Series Line-out Mic-in HDMI USB 3.0 *4 COM3 COM2...
  • Page 67 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 TM5S / TM7S / TM5S-X / TM7S-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 68 Parameters Minimum value Typical value Maximum value Unit Input voltage* External mains fuse (100V~120V) External mains fuse (220V~240V) Input frequency Table 16: TM5S / TM7S / TM5S-X / TM7S-X Electrical Specifications Parameters Minimum Value Typical value Maximum value Unit Input voltage** V (DC) Power consumption 1500...
  • Page 69 2. Do not extend or modify the original cable of robot. 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.
  • Page 70 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. Failure to do so may cause serious danger.
  • Page 71 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 TM5S-M SEMI or TM7S-M SEMI, there will be an additional carton comes with the SEMI Emergency OFF Box.
  • Page 72 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 73 Control Box Robot Stick Cable length: 390 cm Product Brief Information Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 74 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 75 Power cable of the control box (TM5S-M / TM7S-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 76 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: ⚫ Remove the TM Landmarks ⚫...
  • Page 77 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 78 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 79 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 80 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 81 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 concerning these different safety functions. For details about the stop categories, trigger and resume method of the safety functions mentioned above, see the corresponding safety system version of the Safety Manual.
  • Page 82 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 83 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 84 Appendix A. Technical Specifications Model TM5S TM7S TM5S-M TM7S-M TM5S-X TM7S-X 23.6 kg 22.6 kg Weight 23.9 kg 22.9 kg 23.9 kg 22.9 kg Maximum Payload Reach J1, J2, J4, Joint +/- 360° J5, J6 Range +/- 158° +/- 152° +/- 158°...
  • Page 85 ~ ∞ Working distance 100 Eye to Hand Support Maximum 2×GigE 2D cameras (Optional) or 1×GigE 2D Camera + 1×3D Camera* 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 86 Appendix B. Certificate of Compliance and Declaration of Incorporation Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 87 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 88 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 89 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...
  • Page 90 Hardware Installation Manual: TM5S/TM7S series Hardware version: 5.02 Document version: 1.04 TECHMAN ROBOT INC. 5F., No. 58-2, Huaya 2nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan...

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