Omron TM12 Series Collaborative Robotics Manuals

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 Collaborative Robotics Manuals

Omron TM12 Series Hardware Installation Manual (79 pages)

Table of Contents

1 Product Dscription

2 Safety Information

3 Transportation and Storage

4 System Hardware

5 Electrical Interface

6 Unboxing & Installation

7 Maintenance and Repair

Appendix A. Technical Specifications

Omron TM12 Series Hardware Installation Manual (80 pages)

Table of Contents

Omron TM12 Series Hardware Installation Manual (80 pages)

Table of Contents

Omron TM12 Series Hardware Installation Manual (65 pages)

Table of Contents

1 Product Dscription

2 Safety Information

3 Transportation and Storage

4 System Hardware

5 Electrical Interface

6 Unboxing & Installation

7 Maintenance and Repair

Appendix A. Technical Specifications

Omron TM12 Series Hardware Installation Manual (68 pages)

Table of Contents

1 Product Description

2 Safety Information

3 Transportation and Storage

4 System Hardware

5 Electrical Interface

6 Unboxing & Installation

7 Maintenance and Repair

Appendix A. Technical Specifications

Omron TM12 Series Quick Start Manual (12 pages)

Table of Contents

1 Introduction

2 Related Manuals

3 Hardware Connections

4 Os32C Configuration Tool Software

5 Appendix A: Connection Diagrams and Photos

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