User Manuals: Omron TM Robot TM5S Collaborative

Manuals and User Guides for Omron TM Robot TM5S Collaborative. We have 1 Omron TM Robot TM5S Collaborative manual available for free PDF download: Hardware Installation Manual

Omron TM Robot TM5S Hardware Installation Manual (82 pages)

Brand: Omron | Category: Robotics | Size: 6 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
Overview
12
Table 1: Manual Title & Description
12
Warning and Caution Symbols
13
Limitations on Liability
13
Statement of Responsibilities for Cyersecurity Threats
13
Table 2: Danger, Warning, and Caution Symbols
13
Safety Precautions
14
Validation and Liability
15
General Safety Warning
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
Figure 3: System Overview
20
Robot Arm
21
Dimension Drawings of Robot
21
Figure 4: Dimension of TM5S / TM5S-M
21
Figure 5: Dimension of TM7S / TM7S-M
22
Figure 6: Dimension of TM5S-X
23
Robot Assembly Diagram
24
Figure 7: Dimension of TM7S-X
24
Range of Motion
25
Figure 8: Side View of TM5S / TM5S-M / TM5S-X Movement Range Diagram
26
Figure 9: Pictorial View of TM5S / TM5S-M / TM5S-X Movement Range Diagram
27
Figure 10: Top View of TM5S / TM5S-M / TM5S-X Movement Range
27
Figure 11: Side View of TM7S / TM7S-M / TM7S-X Movement Range Diagram
28
Figure 12: Pictorial View of TM7S / TM7S-M / TM7S-X Movement Range
28
Payload and Torque
29
Figure 13: Top View of TM7S / TM7S-M / TM7S-X Movement Range
29
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM5S / TM5S-M / TM5S-X
30
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM7S / TM7S-M / TM7S-X
30
Robot Arm Installation
31
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM5S and TM7S Robot Series
31
Robot End Module
32
End Module Components
32
Figure 16: Bottom View of Robot Base (TM5S / TM7S Series)
32
Figure 17: Grounding Position for the Robot
32
Figure 18: References of TM5S / TM5S-M / TM7S / TM7S-M End Module Components
33
Figure 19: References of TM5S-X / TM7S-X End Module Components
34
Flange Surface of the Robot End
35
Figure 20: References of the Flange Surface of the Robot End
35
End Mounting Caution
36
End Indication Light Ring Table
36
Control Box
37
Figure 21: the Exterior and Diagram of the Control Box
37
Figure 22: Grounding Position for the 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
Table 5: Robot Stick Basic Functions
40
Table 6: Robot Stick Advanced Functions
40
TM Screen (Optional)
41
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
41
Robot Light Module
43
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
43
Figure 27: Light Module Surface
43
Table 8: Electrical Specification of the Light Module
44
Figure 28: Calculation the Torque Load of the Light Module
44
Figure 29: Electrical Polarity of Fill Light Cable
45
Figure 30: Top View of TM Robot Placed on the AGV/AIV
45
Table 9: the Relation between the Working Distance and the Field of View
46
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
46
Figure 32: Control Box I/O Configuration
47
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
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 37: Safety Output Connector
50
Figure 38: Safety Output Connector Wiring Diagram
51
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
Figure 43: Digital Output
54
Figure 44: Set to Sink Output Type
54
Figure 45: Set to Source Output Type
55
Figure 46: Analog in
55
Table 10: Analog in & Analog out
56
Figure 47: Analog out
56
Figure 48: System Remote Power ON/OFF
56
Figure 49: AUTO MODE Play Confirm Port
57
Figure 50: Ethercat
57
Table 11: 8-Pin Digital I/O Connectors of Cable
59
Table 12: 8-Pin Digital I/O Connector of Robot
60
Figure 51: Connecting Tool End Digital Output
60
Table 13: Analog Input Range
61
Figure 52: Connecting Tool End Digital Input
61
Figure 53: Connecting Tool End Analog Input
61
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
Figure 59: Interfaces of the TM5S / TM5S-X / TM7S / TM7S-X Series
64
Figure 60: Interfaces of the TM5S-M / TM5S-MX / TM5S-M SEMI / TM7S-M / TM7S-M SEMI Series
64
Table 14: TM5S / TM7S / TM5S-X / TM7S-X Electrical Specifications
65
Figure 61: Control Box Power Interfaces
65
Table 15: TM5S-M / TM7S-M Series Electrical Specifications
66
Figure 62: Robot Interface
66
Figure 63: the TM5S-M SEMI / TM7S-M SEMI Emergency off Interface
67
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
Removal of the Robot Arm and Tightening
74
Figure 67: Moving the Control Box (1/2)
74
Figure 68: Moving the Control Box (2/2)
74
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
Mounting Direction
76
Figure 71: Connecting the Robot and the Control Box
76
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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