Omron S Series Manuals

Manuals and User Guides for Omron S Series. We have 2 Omron S Series manuals available for free PDF download: Hardware Installation Manual, Installation Manual

Omron S Series Hardware Installation Manual (93 pages)

TM Collaborative Robot

Brand: Omron | Category: Robotics | Size: 7 MB

Terms and Conditions Agreement
3
Table of Contents
6
Revision History Table
12
Product Description
13
How Can I Get Help
13
Disposal and Environment
13
Table 1: Manual Title & Description
13
Safety Information
14
Overview
14
Warning and Caution Symbols
14
Limitations on Liability
14
Statement of Responsibilities for Cybersecurity Threats
14
Table 2: Danger, Warning, and Caution Symbols
14
Safety Precautions
15
Validation and Liability
16
General Safety Warning
16
Risk Assessment
17
Emergency Stop
17
Joint Movement Without Drive Power
17
Figure 1: Pin Position for Brake Releasing
18
Figure 2: External Brake Release Setup (Using the Control Box Connector)
19
Table 3: Recommended Power Supply Units for External Brake Release
20
Figure 3: External Brake Release Setup (Using the Robot Base)
20
Labels
21
Table 4: Denotation of Labels
22
Figure 4: Locations of Labels
22
Transportation and Storage
23
System Hardware
24
Overview
24
System Overview
24
Figure 5: System Overview
24
Robot Arm
25
Dimension Drawings of Robot
25
Figure 6: Dimension of TM25S / TM25S-M
25
Robot Assembly Diagram
26
Figure 7: Dimension of TM25S-X
26
Range of Motion
27
Figure 8: Side View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
28
Figure 9: Pictorial View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
28
Figure 10: Top View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
29
Payload and Torque
30
Table 5: Rated Torque and Limit for Repeated Peak Torque of TM25S Robot Series
30
Figure 11: Relationship between Payload and the Center of Gravity Offset in TM25S / TM25S-M / TM25S-X
30
Robot Arm Installation
31
Figure 12: Description of TM Robot's Moments and Directions
31
Table 6: Force and Moment that Acts on the Robot Base under Different Conditions
32
Figure 13: Bottom View of Robot Base (TM25S Series)
32
Figure 14: Grounding Position for the Robot
32
Robot End Module
33
End Module Components
33
Figure 15: References of TM25S / TM25S-M End Module Components
33
Figure 16: References of TM25S-X End Module Components
34
Flange Surface of the Robot End
35
End Mounting Caution
35
Figure 17: References of the Flange Surface of the Robot End
35
End Indication Light Ring Table
36
Control Box
36
Figure 18: the Exterior and Diagram of the Control Box
36
Figure 19: Dimensions of the DC Control Box
37
Robot Stick
38
Table 7: Specifications of the Robot Stick
38
Figure 20: Securing the Ground Wire with Control Box
38
Figure 21: Waterproof Rubber Plugs of the Control Box
38
Figure 22: Dimensions of the Robot Stick
39
Figure 23: Robot Stick (Front)
40
Figure 24: Robot Stick (Back)
40
Figure 25: Operation of the Enabling Switch
41
Table 8: Robot Stick Basic Functions
42
Table 9: Robot Stick Advanced Functions
43
TM Screen (Optional)
44
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
44
Robot Light Module
46
Light Module Surface
46
Install Light Module
46
Table 10: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
46
Figure 27: Light Module Surface
46
Table 11: Electrical Specification of the Light Module
47
Figure 28: Calculation the Torque Load of the Light Module
47
Operating Position of TM Robot with AGV/AIV
48
Figure 29: Electrical Polarity of Fill Light Cable
48
Figure 30: Top View of TM Robot Placed on the AGV/AIV
48
Working Distance and Field of View of TM Robot's EIH Camera
49
Table 12: the Relation between the Working Distance and the Field of View
49
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
49
Electrical Interface
50
Overview
50
Electrical Warnings and Cautions
50
Control Box
50
Safety Connector
50
Figure 32: Control Box I/O Configuration
50
Safety Input Connector
51
Figure 33: Safety Input Connector
51
Figure 34: the Wiring Diagram Example of Switch Type Safety Device
52
Figure 35: the Wiring Diagram Example of PNP Output Type Safety Device (1/2)
52
Safety Output Connector
53
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device (2/2)
53
Figure 37: Safety Output Connector
53
Power Connector
54
Figure 38: Safety Output Connector Wiring Diagram
54
Digital In/Out
55
Digital Input
55
Figure 39: Power Connector
55
Figure 40: Digital Input
55
Figure 41: Set to Sink Input Type
56
Figure 42: Set to Source Input Type
56
Digital Output
57
Figure 43: Digital Output
57
Figure 44: Set to Sink Output Type
57
Analog In/Out
58
Figure 45: Set to Source Output Type
58
Figure 46: Analog in
58
System Remote Power ON/OFF
59
Table 13: Analog in & Analog out
59
Figure 47: Analog out
59
Figure 48: System Remote Power ON/OFF
59
AUTO MODE Play Confirm Port
60
Ethercat: for Ethercat Slave I/O Expansion
60
Figure 49: AUTO MODE Play Confirm Port
60
Figure 50: Ethercat
60
USB Port
61
COM Port
61
Tool End I/O Interface
61
I/O Terminals
61
Connecting Tool End Digital Output
62
Table 14: 8-Pin Digital I/O Connectors of Cable
62
Table 15: 8-Pin Digital I/O Connector of Robot
62
Connecting Tool End Digital Input
63
Connecting Tool End Analog Input
63
Table 16: Analog Input Range
63
Figure 51: Connecting Tool End Digital Output
63
Figure 52: Connecting Tool End Digital Input
63
Control Box Interfaces
64
Figure 53: Connecting Tool End Analog Input
64
Figure 54: Front View of the Control Box (AC)
64
Figure 55: Front View of the Control Box (DC)
64
Table 17: Descriptions of the ECO and REMOTE Modes of DC Control Boxes
65
Figure 56: Side View of the Control Box (DC)
65
Figure 57: ECO and REMOTE Switch Positions of DC Control Boxes
66
Figure 58: Interfaces of the TM25S / TM25S-X Series
67
Figure 59: Interfaces of the TM25S-M Series
67
Control Box Power Interface and Robot Interface
68
Control Box Power Interface
68
Figure 60: Control Box Power Interfaces
68
Table 18: TM25S / TM25S-X Series Electrical Specifications
69
Table 19: Configuration of the AC Power Cord
69
Table 20: TM25S-M Series Electrical Specifications
69
Robot Interface
71
Figure 61: Robot Interface
71
Unboxing & Installation
72
Overview
72
Inspecting the Equipment
72
Before Unpacking
72
Upon Unpacking
72
Unboxing
73
Carton Types
73
Contents of each Carton
73
Figure 62: Robot Arm Carton (1/2)
73
Figure 63: Robot Arm Carton (2/2)
73
Figure 64: Control Box Carton (AC, DC)
73
Table 21: the Robot Arm Carton Contents
74
Installing Your Robot
77
Removing the Control Box
77
Table 22: the Control Box Carton Contents
77
Figure 65: Moving the Control Box (1/2)
78
Figure 66: Moving the Control Box (2/2)
78
Moving the Packaged Robot
79
Verification before Removal of the Robot Arm
79
Removing and Tightening the Robot
79
Installation Procedure
79
Figure 67: Moving TM Robot through a Forklift
79
Horizontal
80
Wall-Mounted
81
Inverted
84
Preparing the Robot for Wall-Mounted/Inverted Installation
88
Connect the Robot and the Control Box
88
Table 23: Recommended Angles for All Robot Joints before Wall Mounting or Inverted Mounting
88
Figure 68: Recommended Robot Posture before Wall Mounting or Inverted Mounting
88
Mounting Direction
89
Figure 69: Connecting the Robot and the Control Box
89
Maintenance and Repair
90
Table 24: Summary of the Preventive Maintenance Procedures and Guidelines
90
Figure 70: Air Filter Tray (the Circled Parts)
91
Appendix A. Technical Specifications
92
Table 25: Technical Specifications
92

Omron S Series Installation Manual (82 pages)

TM Collaborative Robot

Brand: Omron | Category: Robotics | Size: 5 MB

Table of Contents
6
Revision History Table
11
Product Description
12
How Can I Get Help
12
Disposal and Environment
12
Safety Information
12
Table 1: Manual Title & Description
12
Overview
13
Warning and Caution Symbols
13
Safety Precautions
13
Table 2: Danger, Warning, and Caution Symbols
13
Validation and Liability
14
Limitations on Liability
14
Statement of Responsibilities for Cyersecurity Threats
14
General Safety Waning
15
Risk Assessment
16
Emergency Stop
16
Joint Movement Without Drive Power
16
Labels
17
Figure 1: Pin Position for Brake Releasing
17
Table 3: Denotation of Labels
18
Figure 2: Locations of Labels
18
Transportation and Storage
19
System Hardware
20
Overview
20
System Overview
20
Robot Arm
20
Dimension Drawings of Robot
20
Figure 3: System Overview
20
Figure 4: Dimension of TM12S / TM12S-M
21
Figure 5: Dimension of TM14S / TM14S-M
22
Figure 6: Dimension of TM12S-X
23
Robot Assembly Diagram
24
Figure 7: Dimension of TM14S-X
24
Range of Motion
25
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
26
Figure 9: Pictorial View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
27
Figure 10: Top View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
27
Figure 11: Side View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
28
Figure 12: Pictorial View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
29
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
29
Payload and Torque
30
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X
30
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X
30
Robot Arm Installation
31
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM12S and TM14S Robot Series
31
Figure 16: Bottom View of Robot Base (TM12S / TM14S Series)
32
Figure 17: Grounding Position for the Robot
32
Robot End Module
33
End Module Components
33
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components
33
Flange Surface of the Robot End
34
Figure 19: References Juof TM12S-X / TM14S-X End Module Components
34
Figure 20: References of the Flange Surface of the Robot End
35
End Mounting Caution
36
End Indication Light Ring Table
36
Control Box
36
Figure 21: the Exterior and Diagram of the Control Box
37
Figure 22: Securing the Ground Wire with Control Box
37
Robot Stick
38
Figure 23: Robot Stick (Front)
38
Figure 24: Robot Stick (Back)
38
Figure 25: Operation of the Enabling Switch
39
TM Screen (Optional)
40
Table 5: Robot Stick Basic Functions
40
Table 6: Robot Stick Advanced Functions
40
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Figure 27: Light Module Surface
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
43
Figure 28: Calculation the Torque Load of the Light Module
43
Operating Position of TM Robot with AGV/AIV
44
Table 8: Electrical Specification of the Light Module
44
Figure 29: Electrical Polarity of Fill Light Cable
44
Working Distance and Field of View of TM Robot's EIH Camera
45
Figure 30: Top View of TM Robot Placed on the AGV/AIV
45
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
45
Table 9: the Relation between the Working Distance and the Field of View
46
Electrical Interface
47
Overview
47
Electrical Warnings and Cautions
47
Control Box
47
Figure 32: Control Box I/O Configuration (1/2)
47
Safety Connector
48
Safety Input Connector
48
Figure 33: Safety Input Connector
48
Figure 34: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 35: the Wiring Diagram Example of PNP Output Type Safety Device
49
Safety Output Connector
50
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 37: Safety Output Connector
50
Power Connector
51
Figure 38: Safety Output Connector Wiring Diagram
51
Digital In/Out
52
Digital Input
52
Figure 39: Power Connector
52
Figure 40: Digital Input
52
Figure 41: Set to Sink Input Type
53
Figure 42: Set to Source Input Type
53
Digital Output
54
Figure 43: Digital Output
54
Analog In/Out
55
Figure 44: Set to Sink Output Type
55
Figure 45: Set to Source Output Type
55
System Remote Power ON/OFF
56
Table 10: Analog in & Analog out
56
Figure 46: Analog in
56
Figure 47: Analog out
56
AUTO MODE Play Confirm Port
57
Ethercat: for Ethercat Slave I/O Expansion
57
Figure 48: System Remote Power ON/OFF
57
Figure 49: AUTO MODE Play Confirm Port
57
USB Port
58
COM Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 50: Ethercat
58
Table 11: 8-Pin Digital I/O Connectors of Cable
59
Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
60
Connecting Tool End Analog Input
60
Table 12: 8-Pin Digital I/O Connector of Robot
60
Table 13: Analog Input Range
60
Figure 51: Connecting Tool End Digital Output
60
Figure 52: Connecting Tool End Digital Input
60
Figure 53: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 54: Front View of the Control Box (AC)
62
Figure 55: Front View of the Control Box (DC)
62
Figure 56: Side View of the Control Box (DC)
62
Figure 57: Front View of the Control Box (DC SEMI)
63
Figure 58: Side View of the Control Box (DC SEMI)
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 59: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series
64
Figure 60: Interfaces of the TM12S-M / TM12S-M SEMI / TM14S-M / TM14S-M SEMI Series
64
Table 14: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications
65
Figure 61: Control Box Power Interfaces
65
Robot Interface
66
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
Table 15: TM12S-M / TM14S-M Series Electrical Specifications
66
Figure 62: Robot Interface
66
TM12S-M SEMI / TM14S-M SEMI Series
67
Figure 63: the TM12S-M SEMI / TM14S-M SEMI Emergency off Interface
67
Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Figure 64: Robot Arm Carton
69
Figure 65: Control Box Carton (AC)
69
Contents of each Carton
70
Table 16: the Robot Arm Carton Contents
70
Figure 66: Control Box Carton (DC and DC SEMI)
70
Table 17: the Control Box Carton Contents
72
Installing Your Robot
73
Remove the Control Box
73
Table 18: the SEMI Emergency off Switch Carton Contents
73
Verification before Removal of the Robot Arm
74
Figure 67: Moving the Control Box (1/2)
74
Figure 68: Moving the Control Box (2/2)
74
Removal of the Robot Arm and Tightening
75
Figure 69: Moving the Robot Arm (1/2)
75
Figure 70: Moving the Robot Arm (2/2)
75
Connect the Robot and the Control Box
76
Figure 71: Connecting the Robot and the Control Box
76
Mounting Direction
77
Maintenance and Repair
78
Table 19: Summary of the Preventive Maintenance Procedures and Guidelines
78
Figure 72: Air Filter Tray (the Circled Parts)
80
Appendix A. Technical Specifications
81
Table 20: Technical Specifications
81

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