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Omron TM12 Series manuals available for free PDF download: Hardware Installation Manual, Quick Start Manual, Manual
Omron TM12 Series Hardware Installation Manual (79 pages)
Brand:
Omron
| Category:
Robotics
| Size: 8.44 MB
Table of Contents
Table of Contents
3
Revision History Table
9
1 Product Dscription
10
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
2 Safety Information
11
Overview
11
Warning and Caution Symbols
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
Limitations on Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Movement Without Drive Power
13
Figure 1: References of Joints by Models
14
Labels
15
Figure 2: Reference of Brake Solenoid by Joints
15
Table 3: Denotation of Labels
16
Figure 3: Locations of Labels
16
3 Transportation and Storage
17
4 System Hardware
18
Overview
18
System Overview
18
Figure 4: System Overview
18
Robot Arm
19
Dimension Drawings of Robot
19
Figure 5: Dimension of TM5-700 / TM5M-700
19
Figure 6: Dimension of TM5-900 / TM5M-900
20
Figure 7: Dimension of TM5X-700
21
Figure 8: Dimension of TM5X-900
22
Robot Assembly Diagram
22
Figure 9: Assembly of TM5-700 / TM5M-700
23
Figure 10: Assembly of TM5-900 / TM5M-900
24
Figure 11: Assembly of TM5X-700
25
Figure 12: Assembly of TM5X-900
26
Range of Motion
26
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
27
Figure 14: Pictorial View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
28
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range
28
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
29
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range
29
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range
30
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700
31
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-900 / TM5M-900 / TM5X-900
32
Payload and Torque
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-700
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-900
33
Robot Arm Installation
34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
34
Robot End Module
35
End Module Components
35
Figure 23: Bottom View of Robot Base
35
Figure 24: Securing the Ground Wire with the Robot
35
Figure 25: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components
36
Tm5X-700
37
Figure 26: References of TM5X-700 / TM5X-900 End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Figure 31: Light Module Surface
42
Install Light Module
42
Light Module Surface
42
Robot Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 32: Calculation the Torque Load of the Light Module
43
Figure 33: Electrical Polarity of Fill Light Cable
43
Table 8: Electrical Specification of the Light Module
43
End Indication Light Ring Table
39
End Mounting Caution
39
Figure 34: Top View of TM Robot Placed on the AGV/AIV
44
Operating Position of TM Robot with AGV/AIV
44
Working Distance and Field of View of TM Robot's EIH Camera
44
Figure 35: 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
45
5 Electrical Interface
46
Overview
46
Electrical Warnings and Cautions
46
Control Box
46
Figure 36: Control Box I/O Configuration (1/2)
46
Figure 37: Control Box I/O Configuration (2/2)
47
Table 10: Definitions of Safety Connectors
47
Safety Connector
48
Figure 38: Safety Input Connector
48
Safety Input Connector
48
Figure 39: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
49
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Safety Output Connector
50
Figure 42: Safety Output Connector
51
Figure 43: Safety Output Connector Wiring Diagram
51
Digital In/Out
52
Digital Input
52
Figure 44: Power Connector
52
Figure 45: Digital Input
53
Figure 46: Set to Sink Input Type
53
Digital Output
54
Figure 47: Set to Source Input Type
54
Figure 48: Digital Output
54
Figure 49: Set to Sink Output Type
55
Power Connector
52
Analog in
56
Figure 50: Set to Source Output Type
56
Figure 51: Analog in
56
Analog out
57
Figure 52: Analog out
57
Figure 53: System Remote Power ON/OFF
57
System Remote Power ON/OFF
57
Table 11: Analog in & Analog out
57
Ethercat: for Ethercat Slave I/O Expansion
58
USB Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 54: Ethercat
58
Table 12: 8-Pin Digital I/O Connectors of Cable
59
Table 13: 8-Pin Digital I/O Connector of Robot
59
Connecting Tool End Digital Output
60
Table 14: 5-Pin Analog I/O Connector of Cable
60
Table 15: 5-Pin Analog I/O Connector of Robot
60
Figure 55: Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
61
Connecting Tool End Analog Input
61
Table 16: Analog Input Range
61
Figure 56: Connecting Tool End Digital Input
61
Figure 57: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 58: Front View of the Control Box
62
Figure 59: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series
62
Figure 60: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series
63
Figure 61: Interfaces of the TM5M-700 SEMI / TM5M-900 Semiseries
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 62: Control Box Power Interfaces
64
Robot Interface
65
Table 17: TM5-700 / TM5-900 / TM5X-700 / TM5X-900 Electrical Specifications
65
Table 18: TM5M-700/ TM5M-900 Series Electrical Specifications
65
Figure 63: Robot Interface
65
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
TM5M-700 SEMI / TM5M-900 SEMI Series
66
Detachable I/O Panel
66
Figure 64: the TM5M-700 SEMI / TM5M-900 SEMI
66
Figure 65: Detachable I/O Panel
67
6 Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Contents of each Carton
69
Figure 66: Robot Arm Carton
69
Figure 67: Control Box Carton
69
Table 19: the Robot Arm Carton Contents
70
Table 20: the Control Box Carton Contents
71
Installing Your Robot
72
Remove the Control Box
72
Table 21: the SEMI Emergency off Switch Carton Contents
72
Verification before Removal of the Robot Arm
73
Figure 68: Moving the Control Box (1/2)
73
Figure 69: Moving the Control Box (2/2)
73
Removal of the Robot Arm and Tightening
74
Figure 70: Moving the Robot Arm (1/2)
74
Figure 71: Moving the Robot Arm (2/2)
74
Connect the Robot and the Control Box
75
Figure 72: Connecting the Robot and the Control Box
75
7 Maintenance and Repair
76
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
76
Figure 73: Air Filter Tray
77
Appendix A. Technical Specifications
78
Table 23: Technical Specifications
78
Advertisement
Omron TM12 Series Hardware Installation Manual (80 pages)
Medium & Heavy Payload
Brand:
Omron
| Category:
Robotics
| Size: 8.83 MB
Table of Contents
Table of Contents
3
Revision History Table
9
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
Safety Information
11
Overview
11
Warning and Caution Symbols
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
Limitations on Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Movement Without Drive Power
13
Figure 1: References of Joints by Models
14
Labels
15
Figure 2: Reference of Brake Solenoid by Joints
15
Table 3: Denotation of Labels
16
Figure 3: Locations of Labels
16
Transportation and Storage
17
System Hardware
18
Overview
18
System Overview
18
Figure 4: System Overview
18
Robot Arm
19
Dimension Drawings of Robot
19
Figure 5: Dimension of TM12 / TM12M
19
Figure 6: Dimension of TM14 / TM14M
20
Figure 7: Dimension of TM12X
21
Robot Assembly Diagram
22
Figure 8: Dimension of TM14X
22
Figure 9: Assembly of TM12 / TM12M
23
Figure 10: Assembly of TM14 / TM14M
24
Figure 11: Assembly of TM12X
25
Figure 12: Assembly of TM14X
26
Range of Motion
27
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram
27
Figure 14: Pictorial View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 15: Top View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 16: Side View of TM14 / TM14M / TM14X Movement Range Diagram
29
Figure 17: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram
29
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X
31
Payload and Torque
32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X
33
Robot Arm Installation
34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
34
Robot End Module
35
End Module Components
35
Figure 23: Bottom View of Robot Base
35
Figure 24: Securing the Ground Wire with the Robot
35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components
36
Figure 26: References of TM12X / TM14X End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
End Mounting Caution
39
End Indication Light Ring Table
39
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Robot Stick
40
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 31: Light Module Surface
42
Table 8: Electrical Specification of the Light Module
43
Figure 32: Calculation the Torque Load of the Light Module
43
Figure 33: Electrical Polarity of Fill Light Cable
43
Operating Position of TM Robot with AGV/AIV
44
Working Distance and Field of View of TM Robot's EIH Camera
44
Figure 34: Top View of TM Robot Placed on the AGV/AIV
44
Table 9: the Relation between the Working Distance and the Field of View
45
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera
45
Electrical Interface
46
Overview
46
Electrical Warnings and Cautions
46
Control Box
46
Figure 36: Control Box I/O Configuration (1/2)
46
Table 10: Definitions of Safety Connectors
47
Figure 37: Control Box I/O Configuration (2/2)
47
Safety Connector
48
Safety Input Connector
48
Figure 38: Safety Input Connector
48
Figure 39: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
49
Safety Output Connector
50
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 42: Safety Output Connector
51
Figure 43: Safety Output Connector Wiring Diagram
51
Power Connector
52
Digital In/Out
52
Digital Input
52
Figure 44: Power Connector
52
Figure 45: Digital Input
53
Figure 46: Set to Sink Input Type
53
Digital Output
54
Figure 47: Set to Source Input Type
54
Figure 48: Digital Output
54
Figure 49: Set to Sink Output Type
55
Analog in
56
Figure 50: Set to Source Output Type
56
Figure 51: Analog in
56
Analog out
57
System Remote Power ON/OFF
57
Table 11: Analog in & Analog out
57
Figure 52: Analog out
57
Figure 53: System Remote Power ON/OFF
57
Ethercat: for Ethercat Slave I/O Expansion
58
USB Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 54: Ethercat
58
Table 12: 8-Pin Digital I/O Connectors of Cable
59
Table 13: 8-Pin Digital I/O Connector of Robot
59
Connecting Tool End Digital Output
60
Table 14: 5-Pin Analog I/O Connector of Cable
60
Table 15: 5-Pin Analog I/O Connector of Robot
60
Figure 55: Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
61
Connecting Tool End Analog Input
61
Table 16: Analog Input Range
61
Figure 56: Connecting Tool End Digital Input
61
Figure 57: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 58: Front View of the Control Box
62
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series
62
Figure 60: Interfaces of the TM12M / TM14M Series
63
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 62: Control Box Power Interfaces
64
Robot Interface
65
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications
65
Table 18: TM12M / TM14M Series Electrical Specifications
65
Figure 63: Robot Interface
65
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
TM12M SEMI / TM14M SEMI Series
66
Detachable I/O Panel
66
Figure 64: the TM12M SEMI / TM14M SEMI
66
Figure 65: Detachable I/O Panel
67
Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Contents of each Carton
69
Figure 66: Robot Arm Carton
69
Figure 67: Control Box Carton
69
Table 19: the Robot Arm Carton Contents
70
Installing Your Robot
72
Table 20: the Control Box Carton Contents
72
Table 21: the SEMI Emergency off Switch Carton Contents
72
Remove the Control Box
73
Figure 68: Moving the Control Box (1/2)
73
Verification before Removal of the Robot Arm
74
Removal of the Robot Arm and Tightening
74
Figure 69: Moving the Control Box (2/2)
74
Figure 70: Moving the Robot Arm (1/2)
75
Figure 71: Moving the Robot Arm (2/2)
75
Connect the Robot and the Control Box
76
Maintenance and Repair
77
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
77
Appendix A. Technical Specifications
79
Table 23: Technical Specifications
79
Omron TM12 Series Hardware Installation Manual (80 pages)
Brand:
Omron
| Category:
Robotics
| Size: 5.79 MB
Table of Contents
Table of Contents
3
Revision History Table
9
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
Safety Information
11
Overview
11
Warning and Caution Symbols
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
Limitations on Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Movement Without Drive Power
13
Figure 1: References of Joints by Models
14
Labels
15
Figure 2: Reference of Brake Solenoid by Joints
15
Table 3: Denotation of Labels
16
Figure 3: Locations of Labels
16
Transportation and Storage
17
System Hardware
18
Overview
18
System Overview
18
Figure 4: System Overview
18
Robot Arm
19
Dimension Drawings of Robot
19
Figure 5: Dimension of TM12 / TM12M
19
Figure 6: Dimension of TM14 / TM14M
20
Figure 7: Dimension of TM12X
21
Robot Assembly Diagram
22
Figure 8: Dimension of TM14X
22
Figure 9: Assembly of TM12 / TM12M
23
Figure 10: Assembly of TM14 / TM14M
24
Figure 11: Assembly of TM12X
25
Figure 12: Assembly of TM14X
26
Range of Motion
27
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram
27
Figure 14: Pictorial View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 15: Top View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 16: Side View of TM14 / TM14M / TM14X Movement Range Diagram
29
Figure 17: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram
29
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X
31
Payload and Torque
32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X
33
Robot Arm Installation
34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
34
Robot End Module
35
End Module Components
35
Figure 23: Bottom View of Robot Base
35
Figure 24: Securing the Ground Wire with the Robot
35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components
36
Figure 26: References of TM12X / TM14X End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
End Mounting Caution
39
End Indication Light Ring Table
39
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Robot Stick
40
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 31: Light Module Surface
42
Table 8: Electrical Specification of the Light Module
43
Figure 32: Calculation the Torque Load of the Light Module
43
Figure 33: Electrical Polarity of Fill Light Cable
43
Operating Position of TM Robot with AGV/AIV
44
Working Distance and Field of View of TM Robot's EIH Camera
44
Figure 34: Top View of TM Robot Placed on the AGV/AIV
44
Table 9: the Relation between the Working Distance and the Field of View
45
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera
45
Electrical Interface
46
Overview
46
Electrical Warnings and Cautions
46
Control Box
46
Figure 36: Control Box I/O Configuration (1/2)
46
Table 10: Definitions of Safety Connectors
47
Figure 37: Control Box I/O Configuration (2/2)
47
Safety Connector
48
Safety Input Connector
48
Figure 38: Safety Input Connector
48
Figure 39: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
49
Safety Output Connector
50
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 42: Safety Output Connector
51
Figure 43: Safety Output Connector Wiring Diagram
51
Power Connector
52
Digital In/Out
52
Digital Input
52
Figure 44: Power Connector
52
Figure 45: Digital Input
53
Figure 46: Set to Sink Input Type
53
Digital Output
54
Figure 47: Set to Source Input Type
54
Figure 48: Digital Output
54
Figure 49: Set to Sink Output Type
55
Analog in
56
Figure 50: Set to Source Output Type
56
Figure 51: Analog in
56
Analog out
57
System Remote Power ON/OFF
57
Table 11: Analog in & Analog out
57
Figure 52: Analog out
57
Figure 53: System Remote Power ON/OFF
57
Ethercat: for Ethercat Slave I/O Expansion
58
USB Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 54: Ethercat
58
Table 12: 8-Pin Digital I/O Connectors of Cable
59
Table 13: 8-Pin Digital I/O Connector of Robot
59
Connecting Tool End Digital Output
60
Table 14: 5-Pin Analog I/O Connector of Cable
60
Table 15: 5-Pin Analog I/O Connector of Robot
60
Figure 55: Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
61
Connecting Tool End Analog Input
61
Table 16: Analog Input Range
61
Figure 56: Connecting Tool End Digital Input
61
Figure 57: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 58: Front View of the Control Box
62
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series
62
Figure 60: Interfaces of the TM12M / TM14M Series
63
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 62: Control Box Power Interfaces
64
Robot Interface
65
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications
65
Table 18: TM12M / TM14M Series Electrical Specifications
65
Figure 63: Robot Interface
65
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
TM12M SEMI / TM14M SEMI Series
66
Detachable I/O Panel
66
Figure 64: the TM12M SEMI / TM14M SEMI
66
Figure 65: Detachable I/O Panel
67
Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Contents of each Carton
69
Figure 66: Robot Arm Carton
69
Figure 67: Control Box Carton
69
Table 19: the Robot Arm Carton Contents
70
Installing Your Robot
72
Table 20: the Control Box Carton Contents
72
Table 21: the SEMI Emergency off Switch Carton Contents
72
Remove the Control Box
73
Figure 68: Moving the Control Box (1/2)
73
Verification before Removal of the Robot Arm
74
Removal of the Robot Arm and Tightening
74
Figure 69: Moving the Control Box (2/2)
74
Figure 70: Moving the Robot Arm (1/2)
75
Figure 71: Moving the Robot Arm (2/2)
75
Connect the Robot and the Control Box
76
Maintenance and Repair
77
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
77
Appendix A. Technical Specifications
79
Table 23: Technical Specifications
79
Advertisement
Omron TM12 Series Hardware Installation Manual (65 pages)
Medium & Heavy Payload Series
Brand:
Omron
| Category:
Robotics
| Size: 11.83 MB
Table of Contents
Table of Contents
3
Revision History Table
7
1 Product Dscription
8
Product Description
8
How Can I Get Help
8
Table 1: Manual Title & Description
8
2 Safety Information
9
Overview
9
Warning and Caution Symbols
9
Safety Precautions
9
Table 2: Warning and Caution Symbols
9
Validation and Liability
10
Limitations on Liability
10
General Safety Warning
10
Risk Assessment
11
Emergency Stop
11
Movement Without Drive Power
11
Figure 1: References of Joints by Models
12
Figure 2: Reference of Brake Solenoid by Joints
13
Labels
14
Table 3: Denotation of Labels
14
Figure 3: Locations of Labels
14
3 Transportation and Storage
15
4 System Hardware
16
Overview
16
System Overview
16
Figure 4: System Overview
16
Figure 5: Dimension of TM12 / TM12M
17
Robot Arm
17
Figure 6: Dimension of TM14 / TM14M
18
Figure 7: Assembly of TM12 / TM12M
19
Figure 8: Assembly of TM14 / TM14M
20
Figure 9: Side View of TM12 / TM12M Movement Range Diagram
21
Figure 10: Pictorial View of TM12 / TM12M Movement Range Diagram
22
Figure 11: Top View of TM12 / TM12M Movement Range Diagram
22
Figure 12: Side View of TM14 / TM14M Movement Range Diagram
23
Figure 13: Pictorial View of TM14 / TM14M Movement Range Diagram
23
Figure 14: Top View of TM14 / TM14M Movement Range Diagram
24
Figure 15: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M
25
Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M
26
Figure 17: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M
27
Figure 18: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M
27
Figure 19: Bottom View of Robot Base
28
Figure 20: References of TM12 / TM12M / TM14 / TM14M End Module Components
29
Robot End Module
29
Figure 21: References of End Flange Surface
30
Control Box
31
Figure 22: the Exterior and Diagram of the Control Box
31
Figure 23: Robot Stick
32
Table 4: Robot Stick Basic Functions
32
Operating Position of TM Robot with AGV/AMR
33
Table 5: Robot Stick Advanced Functions
33
Figure 24: Top View of TM Robot Placed on the AGV/AMR
33
Working Distance and Field of View of TM Robot's EIH Camera
34
Table 6: the Relation between the Working Distance and the Field of View
34
Figure 25: Working Distance and Field of View of TM Robot's EIH Camera
34
5 Electrical Interface
35
Overview
35
Electrical Warnings and Cautions
35
Control Box
35
Figure 26: Control Box I/O Configuration (1/2)
35
Figure 27: Control Box I/O Configuration (2/2)
36
Figure 28: Safety Connector
36
Safety Connector
36
Figure 29: the Wiring Diagram Example of Switch Type Safety Device
37
Figure 30: the Wiring Diagram Example of PNP Output Type Safety Device
38
Power Connector
38
Digital In/Out
39
Figure 31: Power Connector
39
Figure 32: Digital Input
39
Figure 33: Set to Sink Input Type
40
Figure 34: Set to Source Input Type
41
Figure 35: Digital Output
41
Figure 36: Set to Sink Output Type
42
Analog in
43
Figure 37: Set to Source Output Type
43
Analog out
44
Figure 38: Analog in
44
Figure 39: Analog out
44
System Remote Power ON/OFF
44
Ethercat: for Ethercat Slave I/O Expansion
45
USB Port
45
Tool End I/O Interface
45
I/O Terminals
45
Figure 40: System Remote Power ON/OFF
45
Table 7: 8-Pin Digital I/O Connectors of Cable
46
Table 8: 8-Pin Digital I/O Connector of Robot
46
Connecting Tool End Digital Output
47
Connecting Tool End Digital Input
47
Table 9: 5-Pin Analog I/O Connector of Cable
47
Table 10: 5-Pin Analog I/O Connector of Robot
47
Figure 41: Connecting Tool End Digital Output
47
Connecting Tool End Analog Input
48
Figure 42: Connecting Tool End Digital Input
48
Figure 43: Connecting Tool End Analog Input
48
Control Box Interfaces
49
Figure 44: Front View of the Control Box
49
Figure 45: Interfaces of the TM12 / TM14 Series
49
Figure 46: Interfaces of the TM12M / TM14M Series
50
Figure 47: Interfaces of the TM12M SEMI / TM14M SEMI Series
50
Control Box Power Interface and Robot Interface
51
Control Box Power Interface
51
Figure 48: Control Box Power Interfaces
51
Robot Interface
52
Table 11: TM12 / TM14 Series Electrical Specifications
52
Table 12: TM12M / TM14M Series Electrical Specifications
52
Figure 49: Robot Interface
52
Control Box EMO (Emergency Off) Interface (SEMI Series Only)
53
Figure 50: the TM12M SEMI / TM14M SEMI Series Control Box EMO (Emergency Off) Interface
53
6 Unboxing & Installation
54
Overview
54
Inspecting the Equipment
54
Before Unpacking
54
Upon Unpacking
54
Unboxing
55
Carton Types
55
Contents of each Carton
55
Figure 51: Robot Arm Carton
55
Figure 52: Control Box Carton
55
Table 13: the Robot Arm Carton Contents
56
Installing Your Robot
58
Remove the Control Box
58
Table 14: the Control Box Carton Contents
58
Figure 53: Moving the Control Box (1/2)
59
Figure 54: Moving the Control Box (2/2)
59
Verification before Removal of the Robot Arm
60
Removal of the Robot Arm and Tightening
60
Figure 55: Moving the Robot Arm (1/2)
60
Figure 56: Moving the Robot Arm (2/2)
61
Connect the Robot and Control Box
62
Figure 57: Connecting the Robot and the Control Box
62
7 Maintenance and Repair
63
Table 15: Summary of the Preventive Maintenance Procedures and Guidelines
63
Appendix A. Technical Specifications
64
Table 16: Technical Specifications
64
Omron TM12 Series Hardware Installation Manual (68 pages)
Collaborative Robot
Brand:
Omron
| Category:
Robotics
| Size: 6.3 MB
Table of Contents
Table of Contents
3
1 Product Description
7
How Can I Get Help
7
2 Safety Information
8
Overview
8
Warning and Caution Symbols
8
Safety Precautions
9
Validation and Liability
9
Limitations on Liability
10
General Safety Warning
10
Risk Assessment
10
Emergency Stop
11
Movement Without Drive Power
12
Labels
14
3 Transportation and Storage
15
4 System Hardware
16
Overview
16
System Overview
16
Robot Arm
17
Dimension Drawings of Robot
17
Robot Assembly Diagram
19
Range of Motion
21
Robot Hazard Zone Diagram and Operator Position Diagram
25
Payload
27
Robot Arm Installation
28
Robot End Module
29
End Module Components
29
End Flange Surface
30
End Mounting Caution
31
End Indication Light Ring Table
31
Control Box
32
Robot Stick
32
Operating Position of TM Robot with AGV
34
Working Distance and Field of View of TM Robot's EIH Camera
35
5 Electrical Interface
36
Overview
36
Electrical Warnings and Cautions
36
Control Box
37
Safety Connector
38
Power Connector
41
Digital In/Out
42
Digital Input
42
Digital Output
43
Analog in
46
Analog out
46
System Remote Power ON/OFF
47
Ethercat: for Ethercat Slave I/O Expansion
47
USB Port
47
Tool End I/O Interface
48
I/O Terminals
48
Connecting Tool End Digital Output
50
Connecting Tool End Digital Input
50
Connecting Tool End Analog Input
50
Control Box Interfaces
51
Control Box Power Interface and Robot Interface
53
Control Box Power Interface
53
Robot Interface
55
Control Box EMO (Emergency off ) Interface
55
6 Unboxing & Installation
56
Overview
56
Inspecting the Equipment
56
Before Unpacking
56
Upon Unpacking
56
Unboxing
57
Carton Types
57
Contents of each Carton
58
Installing Your Robot
61
Remove the Control Box
61
Verification before Removal of the Robot Arm
63
Removal of the Robot Arm and Tightening
63
Connect the Robot and Control Box
65
7 Maintenance and Repair
66
Appendix A. Technical Specifications
67
Omron TM12 Series Quick Start Manual (12 pages)
Collaborative Robot. Safety Laser Scanner Installation.
Brand:
Omron
| Category:
Robotics
| Size: 0.66 MB
Table of Contents
Table of Contents
2
1 Introduction
3
2 Related Manuals
3
3 Hardware Connections
4
Safety Dual Channels on the Tm Control Box
4
E-Stop
4
Safeguard a
4
Safeguard B
4
G9SE Relay Power and Reset/Feedback
5
Os32C Laser Scanner Connections
5
4 Os32C Configuration Tool Software
6
Connecting the Scanner to Your Laptop
6
Configuring the Safety Zone
8
5 Appendix A: Connection Diagrams and Photos
10
Omron TM12 Series Manual (12 pages)
Brand:
Omron
| Category:
Robotics
| Size: 2.12 MB
Table of Contents
Specifications
4
Safety Precautions
9
Warranty
9
Related Products
12
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