Techman Robot TM12S Series Manuals

Manuals and User Guides for Techman Robot TM12S Series. We have 1 Techman Robot TM12S Series manual available for free PDF download: Hardware Installation Manual

Techman Robot TM12S Series Hardware Installation Manual (91 pages)

Brand: Techman Robot | Category: Robotics | Size: 7 MB

Table of Contents
3
Revision History Table
9
Product Description
10
How Can I Get Help
10
Disposal and Environment
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
Joint Movement Without Drive Power
13
Labels
14
Figure 1: Pin Position for Brake Releasing
14
Table 3: Denotation of Labels
15
Figure 2: Locations of Labels
15
Transportation and Storage
16
System Hardware
17
Overview
17
System Overview
17
Figure 3: System Overview
17
Robot Arm
18
Dimension Drawings of Robot
18
Figure 4: Dimension of TM12S / TM12S-M
18
Figure 5: Dimension of TM14S / TM14S-M
19
Figure 6: Dimension of TM12S-X
20
Robot Assembly Diagram
21
Figure 7: Dimension of TM14S-X
21
Range of Motion
22
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
23
Figure 9: Pictorial View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
24
Figure 10: Top View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
24
Figure 11: Side View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
25
Figure 12: Pictorial View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
26
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
26
Payload and Torque
27
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X
27
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X
27
Robot Arm Installation
28
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM12S and TM14S Robot Series
28
Figure 16: Bottom View of Robot Base (TM12S / TM14S Series)
29
Figure 17: Grounding Position for the Robot
29
Robot End Module
30
End Module Components
30
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components
30
Figure 19: References of TM12S-X / TM14S-X End Module Components
31
Flange Surface of the Robot End
32
Figure 20: References of the Flange Surface of the Robot End
32
End Mounting Caution
33
End Indication Light Ring Table
33
Control Box
33
Figure 21: the Exterior and Diagram of the Control Box
34
Figure 22: Dimensions of the DC Control Box
35
Figure 23: Dimensions of the DC SEMI Control Box
36
Robot Stick
37
Table 5: Specifications of the Robot Stick
37
Figure 24: Securing the Ground Wire with Control Box
37
Figure 25: Waterproof Rubber Plugs of the Control Box
37
Figure 26: Dimensions of the Robot Stick
38
Figure 27: Robot Stick (Front)
38
Figure 28: Robot Stick (Back)
39
Figure 29: Operation of the Enabling Switch
39
Table 6: Robot Stick Basic Functions
41
Table 7: Robot Stick Advanced Functions
41
TM Screen (Optional)
42
Figure 30: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
42
Robot Light Module
44
Light Module Surface
44
Install Light Module
44
Table 8: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
44
Figure 31: Light Module Surface
44
Table 9: Electrical Specification of the Light Module
45
Figure 32: Calculation the Torque Load of the Light Module
45
Operating Position of TM AI Cobot with AGV/AIV
46
Figure 33: Electrical Polarity of Fill Light Cable
46
Working Distance and Field of View of TM AI Cobot's EIH Camera
47
Figure 34: Top View of TM AI Cobot Placed on the AGV/AIV
47
Figure 35: Working Distance and Field of View of TM AI Cobot's EIH Camera
47
Electrical Interface
48
Overview
48
Electrical Warnings and Cautions
48
Table 10: the Relation between the Working Distance and the Field of View
48
Control Box
49
Safety Connector
49
Safety Input Connector
49
Figure 36: Control Box I/O Configuration (1/2)
49
Figure 37: Safety Input Connector
50
Figure 38: the Wiring Diagram Example of Switch Type Safety Device
50
Safety Output Connector
51
Figure 39: the Wiring Diagram Example of PNP Output Type Safety Device
51
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
51
Figure 41: Safety Output Connector
52
Figure 42: Safety Output Connector Wiring Diagram
52
Power Connector
53
Figure 43: Power Connector
53
Digital In/Out
54
Digital Input
54
Figure 44: Digital Input
54
Digital Output
55
Figure 45: Set to Sink Input Type
55
Figure 46: Set to Source Input Type
55
Figure 47: Digital Output
56
Figure 48: Set to Sink Output Type
57
Figure 49: Set to Source Output Type
57
Analog In/Out
58
System Remote Power ON/OFF
58
Table 11: Analog in & Analog out
58
Figure 50: Analog in
58
Figure 51: Analog out
58
AUTO MODE Play Confirm Port
59
Figure 52: System Remote Power ON/OFF
59
Figure 53: AUTO MODE Play Confirm Port
59
Ethercat: for Ethercat Slave I/O Expansion
60
USB Port
60
COM Port
60
Tool End I/O Interface
60
Figure 54: Ethercat
60
I/O Terminals
61
Table 12: 8-Pin Digital I/O Connectors of Cable
61
Connecting Tool End Digital Output
62
Table 13: 8-Pin Digital I/O Connector of Robot
62
Figure 55: Connecting Tool End Digital Output
62
Connecting Tool End Digital Input
63
Connecting Tool End Analog Input
63
Table 14: Analog Input Range
63
Figure 56: Connecting Tool End Digital Input
63
Figure 57: Connecting Tool End Analog Input
63
Control Box Interfaces
64
Figure 58: Front View of the Control Box (AC)
64
Figure 59: Front View of the Control Box (DC)
64
Figure 60: Side View of the Control Box (DC)
65
Figure 61: Front View of the Control Box (DC SEMI)
65
Figure 62: Side View of the Control Box (DC SEMI)
65
Table 15: Descriptions of the ECO and REMOTE Modes of DC and DC SEMI Control Boxes
66
Figure 63: ECO and REMOTE Switch Positions of DC and DC SEMI Control Boxes
66
Figure 64: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series
67
Figure 65: Interfaces of the TM12S-M / TM12S-MX / TM12S-M SEMI / TM12S-MX SEMI / TM14S-M
67
Control Box Power Interface and Robot Interface
68
Control Box Power Interface
68
Figure 66: Control Box Power Interfaces
68
Robot Interface
69
Table 16: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications
69
Table 17: TM12S-M / TM14S-M Series Electrical Specifications
69
Figure 67: Robot Interface
69
SEMI Emergency off Interfaces (SEMI Series Exclusive)
70
TM12S-M SEMI / TM14S-M SEMI Series
70
Figure 68: the TM12S-M SEMI / TM14S-M SEMI Emergency off Interface
70
Unboxing & Installation
71
Overview
71
Inspecting the Equipment
71
Before Unpacking
71
Upon Unpacking
71
Unboxing
72
Carton Types
72
Figure 69: Robot Arm Carton
72
Figure 70: Control Box Carton (AC)
72
Contents of each Carton
73
Table 18: the Robot Arm Carton Contents
73
Figure 71: Control Box Carton (DC and DC SEMI)
73
Installing Your Robot
76
Table 19: the Control Box Carton Contents
76
Table 20: the SEMI Emergency off Switch Carton Contents
76
Remove the Control Box
77
Figure 72: Moving the Control Box (1/2)
77
Verification before Removal of the Robot Arm
78
Removal of the Robot Arm and Tightening
78
Figure 73: Moving the Control Box (2/2)
78
Figure 74: Moving the Robot Arm (1/2)
79
Figure 75: Moving the Robot Arm (2/2)
79
Connect the Robot and the Control Box
80
Mounting Direction
80
Figure 76: Connecting the Robot and the Control Box
80
Maintenance and Repair
81
Table 21: Summary of the Preventive Maintenance Procedures and Guidelines
81
Figure 77: Air Filter Tray (the Circled Parts)
83
Warranty Statement
84
Product Warranty
84
Disclaimer
84
Appendix A. Technical Specifications
85
Table 22: Technical Specifications
86
Appendix B. Certificate of Compliance and Declaration of Incorporation
87

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Techman Robot TM12S Series Hardware Installation Manual (91 pages)

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