Techman Robot TM16M Manuals

Manuals and User Guides for Techman Robot TM16M. We have 1 Techman Robot TM16M manual available for free PDF download: Hardware Installation Manual

Techman Robot TM16M Hardware Installation Manual (100 pages)

Brand: Techman Robot | Category: Robotics | Size: 8 MB

Table of Contents
3
Revision History Table
9
Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version
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
Movement Without Drive Power
13
Figure 1: Reference of Brake Solenoid by Joints
14
Labels
15
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 TM12 / TM12M
18
Figure 5: Dimension of TM14 / TM14M
19
Figure 6: Dimension of TM16 / TM16M
20
Figure 7: Dimension of TM20 / TM20M
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Figure 8: Dimension of TM12X
22
Figure 9: Dimension of TM14X
23
Figure 10: Dimension of TM16X
24
Robot Assembly Diagram
25
Figure 11: Dimension of TM20X
25
Range of Motion
28
Figure 12: Side View of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X Movement Range Diagram
29
Figure 13: Pictorial View of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X Movement Range Diagram
30
Figure 14: Top View of TM12 / TM12M / TM12X / TM20 / TM20M / TM20X Movement Range Diagram
30
Figure 15: Side View of TM14 / TM14M / TM14X Movement Range Diagram
31
Figure 16: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram
31
Figure 17: Top View of TM14 / TM14M / TM14X Movement Range Diagram
32
Figure 18: Side View of TM16 / TM16M / TM16X Movement Range Diagram
33
Figure 19: Pictorial View of TM16 / TM16M / TM16X Movement Range Diagram
33
Robot Hazard Zone Diagram and Operator Position Diagram
34
Figure 20: Top View of TM16 / TM16M / TM16X Movement Range Diagram
34
Figure 21: the Definition of R Offset
34
Figure 22: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X / TM20
35
Figure 23: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X
36
Payload and Torque
37
Figure 24: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M / TM16X
37
Figure 25: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X
38
Figure 26: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X
38
Figure 27: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M / TM16X
39
Figure 28: Relationship between Payload and the Center of Gravity Offset in TM20 / TM20M / TM20X
39
Robot Arm Installation
40
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
40
Figure 29: Bottom View of Robot Base
41
Figure 30: Securing the Ground Wire with the Robot
42
Robot End Module
43
End Module Components
43
Figure 31: References of TM12 / TM12M / TM14 / TM14M / TM16 / TM16M End Module Components
43
Figure 32: References of TM20 / TM20M End Module Components
44
Figure 33: References of TM12X / TM14X / TM16X End Module Components
45
Figure 34: References of TM20X End Module Components
46
End Flange Surface
47
Figure 35: References of End Flange Surface
47
End Mounting Caution
48
End Indication Light Ring Table
48
Control Box
48
Figure 36: the Exterior and Diagram of the Control Box
48
Robot Stick
49
Figure 37: Securing the Ground Wire with Control Box
49
Figure 38: Robot Stick
49
Table 5: Robot Stick Basic Functions
50
Table 6: Robot Stick Advanced Functions
50
SEMI Emergency off Box
51
Robot Light Module
51
Light Module Surface
51
Figure 39: the Exterior and Diagram of the SEMI Emergency off Box
51
Figure 40: Light Module Surface
51
Install Light Module
52
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
52
Figure 41: Calculation the Torque Load of the Light Module
52
Operating Position of TM AI Cobot with AGV/AIV
53
Table 8: Electrical Specification of the Light Module
53
Figure 42: Electrical Polarity of Fill Light Cable
53
Working Distance and Field of View of TM AI Cobot's EIH Camera
54
Figure 43: Top View of TM AI Cobot Placed on the AGV/AIV
54
Table 9: the Relation between the Working Distance and the Field of View
55
Figure 44: Working Distance and Field of View of TM AI Cobot's EIH Camera
55
Electrical Interface
56
Overview
56
Electrical Warnings and Cautions
56
Control Box
56
Figure 45: Control Box I/O Configuration (1/2)
56
Table 10: Definitions of Safety Connectors
57
Figure 46: Control Box I/O Configuration (2/2)
57
Safety Connector
58
Safety Input Connector
58
Figure 47: Safety Input Connector
58
Figure 48: the Wiring Diagram Example of Switch Type Safety Device
59
Figure 49: the Wiring Diagram Example of PNP Output Type Safety Device
59
Safety Output Connector
60
Figure 50: the Wiring Diagram Example of PNP Output Type Safety Device
60
Figure 51: Safety Output Connector
61
Figure 52: Safety Output Connector Wiring Diagram
61
Power Connector
62
Digital In/Out
62
Digital Input
62
Figure 53: Power Connector
62
Figure 54: Digital Input
63
Figure 55: Set to Sink Input Type
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Digital Output
64
Figure 56: Set to Source Input Type
64
Figure 57: Digital Output
64
Figure 58: Set to Sink Output Type
65
Analog in
66
Figure 59: Set to Source Output Type
66
Figure 60: Analog in
66
Analog out
67
System Remote Power ON/OFF
67
Table 11: Analog in & Analog out
67
Figure 61: Analog out
67
Figure 62: System Remote Power ON/OFF
67
Ethercat: for Ethercat Slave I/O Expansion
68
USB Port
68
Tool End I/O Interface
68
I/O Terminals
68
Figure 63: Ethercat
68
Table 12: 8-Pin Digital I/O Connectors of Cable
69
Table 13: 8-Pin Digital I/O Connector of Robot
69
Connecting Tool End Digital Output
70
Table 14: 5-Pin Analog I/O Connector of Cable
70
Table 15: 5-Pin Analog I/O Connector of Robot
70
Figure 64: Connecting Tool End Digital Output
70
Connecting Tool End Digital Input
71
Connecting Tool End Analog Input
71
Table 16: Analog Input Range
71
Figure 65: Connecting Tool End Digital Input
71
Figure 66: Connecting Tool End Analog Input
71
Control Box Interfaces
72
Figure 67: Front View of the Control Box
72
Figure 68: Interfaces of the TM12 / TM14 / TM16 / TM20 / TM12X / TM14X / TM16X / TM20X Series
72
Figure 69: Interfaces of the TM12M / TM14M / TM16M / TM20M Series
73
Figure 70: Interfaces of the TM12M SEMI / TM14M SEMI / TM16M SEMI / TM20M SEMI Series
73
SEMI Emergency off Box Interfaces (TM12 SEMI / TM14 SEMI / TM16 SEMI / TM20 SEMI Exclusive)74
74
Control Box Power Interface and Robot Interface
74
Control Box Power Interface
74
Figure 71: Interfaces of the SEMI Emergency off Box
74
Figure 72: Control Box Power Interfaces
74
Table 17: TM12 / TM14 / TM16 / TM20 / TM12X / TM14X / TM16X / TM20X Series Electrical Specifications
75
Table 18: TM12M / TM14M / TM16M Series Electrical Specifications
75
Table 19: TM20M Series Electrical Specifications
75
Robot Interface
76
SEMI Emergency off Interfaces (SEMI Series Exclusive)
76
TM12M SEMI / TM14M SEMI / TM16M SEMI / TM20M SEMI Series
76
Figure 73: Robot Interface
76
The SEMI Emergency off Box
77
Detachable I/O Panel
77
Figure 75: the SEMI Emergency off Box SEMI Emergency off Interface
77
Figure 76: Detachable I/O Panel
77
Unboxing & Installation
79
Overview
79
Inspecting the Equipment
79
Before Unpacking
79
Upon Unpacking
79
Unboxing
80
Carton Types
80
Contents of each Carton
80
Figure 77: Robot Arm Carton
80
Figure 78: SEMI Emergency off Switch Carton
80
Figure 79: Control Box Carton
80
Figure 80: SEMI Emergency off Box Carton
80
Table 20: the Robot Arm Carton Contents
81
Table 21: the Control Box Carton Contents
83
Table 22: the SEMI Emergency off Switch Carton Contents
83
Installing Your Robot
84
Remove the Control Box
84
Table 23: the SEMI Emergency off Box Carton Contents
84
Verification before Removal of the Robot Arm
85
Figure 81: Moving the Control Box (1/2)
85
Figure 82: Moving the Control Box (2/2)
85
Removal of the Robot Arm and Tightening
86
Figure 83: Moving the Robot Arm (1/2)
86
Figure 84: Moving the Robot Arm (2/2)
86
Connect the Robot and the Control Box
87
Figure 85: Moving the SEMI Emergency off Box
87
Figure 86: Connecting the Robot and the Control Box
87
Connect the Robot, the Control Box, and the SEMI Emergency off Box
88
Figure 87: Connecting the Robot, the Control Box, and the SEMI Emergency off Box
88
Maintenance and Repair
89
Table 24: Summary of the Preventive Maintenance Procedures and Guidelines
89
Figure 88: Air Filter Tray
90
Warranty Statement
91
Product Warranty
91
Disclaimer
91
Declaration of Incorporation
92
Appendix A. Technical Specifications
96
Table 25: Technical Specifications (TM12 / TM12 X / TM12M / TM14 / TM14X/ TM14M)
97
Table 26: Technical Specifications (TM16 / TM16 X / TM16M / TM20 / TM20X/ TM20M)
99
Medium & Heavy Payload Series-Hardware Installation Manual TM12/14/16/20 Series Hardware Version: 3.2 Document Version
100
58-2, Huaya 2Nd Rd., Guishan Dist., Taoyuan City, 333411 , Taiwan
100

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Techman Robot TM16M Hardware Installation Manual (100 pages)

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