Omron TM25S-M Manuals

Manuals and User Guides for Omron TM25S-M. We have 1 Omron TM25S-M manual available for free PDF download: Hardware Installation Manual

Omron TM25S-M 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

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