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Omron TM12S Installation Manual

Tm collaborative robot

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Table Of Contents

Table of Contents

Table of Contents
Revision History Table
Product Description
How Can I Get Help
Disposal and Environment
Safety Information
Table 1: Manual Title & Description
Overview
Warning and Caution Symbols
Safety Precautions
Table 2: Danger, Warning, and Caution Symbols
Validation and Liability
Limitations on Liability
Statement of Responsibilities for Cyersecurity Threats
General Safety Waning
Risk Assessment
Emergency Stop
Joint Movement Without Drive Power
Labels
Figure 1: Pin Position for Brake Releasing
Table 3: Denotation of Labels
Figure 2: Locations of Labels
Transportation and Storage
System Hardware
Overview
System Overview
Robot Arm
Dimension Drawings of Robot
Figure 3: System Overview
Figure 4: Dimension of TM12S / TM12S-M
Figure 5: Dimension of TM14S / TM14S-M
Figure 6: Dimension of TM12S-X
Robot Assembly Diagram
Figure 7: Dimension of TM14S-X
Range of Motion
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
Figure 9: Pictorial View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
Figure 10: Top View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
Figure 11: Side View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
Figure 12: Pictorial View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
Payload and Torque
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X
Robot Arm Installation
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM12S and TM14S Robot Series
Figure 16: Bottom View of Robot Base (TM12S / TM14S Series)
Figure 17: Grounding Position for the Robot
Robot End Module
End Module Components
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components
Flange Surface of the Robot End
Figure 19: References Juof TM12S-X / TM14S-X End Module Components
Figure 20: References of the Flange Surface of the Robot End
End Mounting Caution
End Indication Light Ring Table
Control Box
Figure 21: the Exterior and Diagram of the Control Box
Figure 22: Securing the Ground Wire with Control Box
Robot Stick
Figure 23: Robot Stick (Front)
Figure 24: Robot Stick (Back)
Figure 25: Operation of the Enabling Switch
TM Screen (Optional)
Table 5: Robot Stick Basic Functions
Table 6: Robot Stick Advanced Functions
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
Robot Light Module
Light Module Surface
Install Light Module
Figure 27: Light Module Surface
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
Figure 28: Calculation the Torque Load of the Light Module
Operating Position of TM Robot with AGV/AIV
Table 8: Electrical Specification of the Light Module
Figure 29: Electrical Polarity of Fill Light Cable
Working Distance and Field of View of TM Robot's EIH Camera
Figure 30: Top View of TM Robot Placed on the AGV/AIV
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
Table 9: the Relation between the Working Distance and the Field of View
Electrical Interface
Overview
Electrical Warnings and Cautions
Control Box
Figure 32: Control Box I/O Configuration (1/2)
Safety Connector
Safety Input Connector
Figure 33: Safety Input Connector
Figure 34: the Wiring Diagram Example of Switch Type Safety Device
Figure 35: the Wiring Diagram Example of PNP Output Type Safety Device
Safety Output Connector
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
Figure 37: Safety Output Connector
Power Connector
Figure 38: Safety Output Connector Wiring Diagram
Digital In/Out
Digital Input
Figure 39: Power Connector
Figure 40: Digital Input
Figure 41: Set to Sink Input Type
Figure 42: Set to Source Input Type
Digital Output
Figure 43: Digital Output
Analog In/Out
Figure 44: Set to Sink Output Type
Figure 45: Set to Source Output Type
System Remote Power ON/OFF
Table 10: Analog in & Analog out
Figure 46: Analog in
Figure 47: Analog out
AUTO MODE Play Confirm Port
Ethercat: for Ethercat Slave I/O Expansion
Figure 48: System Remote Power ON/OFF
Figure 49: AUTO MODE Play Confirm Port
USB Port
COM Port
Tool End I/O Interface
I/O Terminals
Figure 50: Ethercat
Table 11: 8-Pin Digital I/O Connectors of Cable
Connecting Tool End Digital Output
Connecting Tool End Digital Input
Connecting Tool End Analog Input
Table 12: 8-Pin Digital I/O Connector of Robot
Table 13: Analog Input Range
Figure 51: Connecting Tool End Digital Output
Figure 52: Connecting Tool End Digital Input
Figure 53: Connecting Tool End Analog Input
Control Box Interfaces
Figure 54: Front View of the Control Box (AC)
Figure 55: Front View of the Control Box (DC)
Figure 56: Side View of the Control Box (DC)
Figure 57: Front View of the Control Box (DC SEMI)
Figure 58: Side View of the Control Box (DC SEMI)
Control Box Power Interface and Robot Interface
Control Box Power Interface
Figure 59: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series
Figure 60: Interfaces of the TM12S-M / TM12S-M SEMI / TM14S-M / TM14S-M SEMI Series
Table 14: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications
Figure 61: Control Box Power Interfaces
Robot Interface
SEMI Emergency off Interfaces (SEMI Series Exclusive)
Table 15: TM12S-M / TM14S-M Series Electrical Specifications
Figure 62: Robot Interface
TM12S-M SEMI / TM14S-M SEMI Series
Figure 63: the TM12S-M SEMI / TM14S-M SEMI Emergency off Interface
Unboxing & Installation
Overview
Inspecting the Equipment
Before Unpacking
Upon Unpacking
Unboxing
Carton Types
Figure 64: Robot Arm Carton
Figure 65: Control Box Carton (AC)
Contents of each Carton
Table 16: the Robot Arm Carton Contents
Figure 66: Control Box Carton (DC and DC SEMI)
Table 17: the Control Box Carton Contents
Installing Your Robot
Remove the Control Box
Table 18: the SEMI Emergency off Switch Carton Contents
Verification before Removal of the Robot Arm
Figure 67: Moving the Control Box (1/2)
Figure 68: Moving the Control Box (2/2)
Removal of the Robot Arm and Tightening
Figure 69: Moving the Robot Arm (1/2)
Figure 70: Moving the Robot Arm (2/2)
Connect the Robot and the Control Box
Figure 71: Connecting the Robot and the Control Box
Mounting Direction
Maintenance and Repair
Table 19: Summary of the Preventive Maintenance Procedures and Guidelines
Figure 72: Air Filter Tray (the Circled Parts)
Appendix A. Technical Specifications
Table 20: Technical Specifications

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Omron TM Collaborative

Robot S Series: TM12S

and TM14S Hardware

Installation Manual

Original Instruction

I687-E-01

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