Techman Robot TM30S-M Manuals

Manuals and User Guides for Techman Robot TM30S-M. We have 1 Techman Robot TM30S-M manual available for free PDF download: Hardware Installation Manual

Techman Robot TM30S-M Hardware Installation Manual (102 pages)

Brand: Techman Robot | Category: Robotics | Size: 11 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
Limitations on Liability
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Joint Movement Without Drive Power
13
Figure 1: Pin Position for Brake Releasing
14
Figure 2: External Brake Release Setup (Using the Control Box Connector)
15
Table 3: Recommended Power Supply Units for External Brake Release
16
Figure 3: External Brake Release Setup (Using the Robot Base)
16
Labels
17
Table 4: Denotation of Labels
18
Figure 4: Locations of Labels
18
Transportation and Storage
19
System Hardware
20
Overview
20
System Overview
20
Figure 5: System Overview
20
Robot Arm
21
Dimension Drawings of Robot
21
Figure 6: Dimension of TM25S / TM25S-M
21
Figure 7: Dimension of TM30S / TM30S-M
22
Figure 8: Dimension of TM25S-X
23
Robot Assembly Diagram
24
Figure 9: Dimension of TM30S-X
24
Range of Motion
25
Figure 10: Side View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
27
Figure 11: Pictorial View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
27
Figure 12: Top View of TM25S / TM25S-M / TM25S-X Movement Range Diagram
28
Figure 13: Side View of TM30S / TM30S-M / TM30S-X Movement Range Diagram
29
Figure 14: Pictorial View of TM30S / TM30S-M / TM30S-X Movement Range Diagram
29
Payload and Torque
30
Figure 15: Top View of TM30S / TM30S-M / TM30S-X Movement Range Diagram
30
Figure 16: Relationship between Payload and the Center of Gravity Offset in TM25S / TM25S-M / TM25S-X
31
Figure 17: Relationship between Payload and the Center of Gravity Offset in TM30S / TM30S-M / TM30S-X
31
Robot Arm Installation
32
Table 5: Rated Torque and Limit for Repeated Peak Torque of TM25S/TM30S Robot Series
32
Table 6: Force and Moment that Acts on the Robot Base under Different Conditions
33
Figure 18: Description of TM AI Cobot's Moments and Directions
33
Figure 19: Bottom View of Robot Base (TM25S / TM30S Series)
34
Figure 20: Grounding Position for the Robot
34
Robot End Module
35
End Module Components
35
Figure 21: References of TM25S / TM25S-M / TM30S / TM30S-M End Module Components
35
Figure 22: References of TM25S-X / TM30S-X End Module Components
36
Flange Surface of the Robot End
37
End Mounting Caution
37
Figure 23: References of the Flange Surface of the Robot End
37
End Indication Light Ring Table
38
Control Box
38
Figure 24: the Exterior and Diagram of the Control Box
38
Figure 25: Dimensions of the DC Control Box
39
Figure 26: Dimensions of the DC SEMI Control Box
40
Robot Stick
41
Table 7: Specifications of the Robot Stick
41
Figure 27: Securing the Ground Wire with Control Box
41
Figure 28: Waterproof Rubber Plugs of the Control Box
41
Figure 29: Dimensions of the Robot Stick
42
Figure 30: Robot Stick (Front)
43
Figure 31: Robot Stick (Back)
43
Figure 32: Operation of the Enabling Switch
44
Table 8: Robot Stick Basic Functions
45
Table 9: Robot Stick Advanced Functions
45
TM Screen (Optional)
46
Figure 33: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
46
Robot Light Module
48
Light Module Surface
48
Install Light Module
48
Table 10: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
48
Figure 34: Light Module Surface
48
Table 11: Electrical Specification of the Light Module
49
Figure 35: Calculation the Torque Load of the Light Module
49
Operating Position of TM AI Cobot with AGV/AIV
50
Figure 36: Electrical Polarity of Fill Light Cable
50
Working Distance and Field of View of TM AI Cobot's EIH Camera
51
Figure 37: Top View of TM AI Cobot Placed on the AGV/AIV
51
Figure 38: Working Distance and Field of View of TM AI Cobot's EIH Camera
51
Table 12: the Relation between the Working Distance and the Field of View
52
Electrical Interface
53
Overview
53
Electrical Warnings and Cautions
53
Control Box
53
Safety Connector
53
Figure 39: Control Box I/O Configuration
53
Safety Input Connector
54
Figure 40: Safety Input Connector
54
Figure 41: the Wiring Diagram Example of Switch Type Safety Device
55
Figure 42: the Wiring Diagram Example of PNP Output Type Safety Device (1/2)
55
Safety Output Connector
56
Figure 43: the Wiring Diagram Example of PNP Output Type Safety Device (2/2)
56
Figure 44: Safety Output Connector
56
Power Connector
57
Figure 45: Safety Output Connector Wiring Diagram
57
Digital In/Out
58
Digital Input
58
Figure 46: Power Connector
58
Figure 47: Digital Input
58
Figure 48: Set to Sink Input Type
59
Figure 49: Set to Source Input Type
59
Digital Output
60
Figure 50: Digital Output
60
Figure 51: Set to Sink Output Type
60
Analog In/Out
61
Figure 52: Set to Source Output Type
61
Figure 53: Analog in
61
System Remote Power ON/OFF
62
Table 13: Analog in & Analog out
62
Figure 54: Analog out
62
Figure 55: System Remote Power ON/OFF
62
AUTO MODE Play Confirm Port
63
Ethercat: for Ethercat Slave I/O Expansion
63
USB Port
63
Figure 56: AUTO MODE Play Confirm Port
63
Figure 57: Ethercat
63
COM Port
64
Tool End I/O Interface
64
I/O Terminals
64
Table 14: 8-Pin Digital I/O Connectors of Cable
65
Table 15: 8-Pin Digital I/O Connector of Robot
65
Connecting Tool End Digital Output
66
Connecting Tool End Digital Input
66
Connecting Tool End Analog Input
66
Table 16: Analog Input Range
66
Figure 58: Connecting Tool End Digital Output
66
Figure 59: Connecting Tool End Digital Input
66
Control Box Interfaces
67
Figure 60: Connecting Tool End Analog Input
67
Figure 61: Front View of the Control Box (AC)
67
Figure 62: Front View of the Control Box (DC)
67
Figure 63: Side View of the Control Box (DC)
68
Figure 64: Front View of the Control Box (DC SEMI)
68
Figure 65: Side View of the Control Box (DC SEMI)
68
Table 17: Descriptions of the ECO and REMOTE Modes of DC and DC SEMI Control Boxes
69
Figure 66: ECO and REMOTE Switch Positions of DC and DC SEMI Control Boxes
69
Figure 67: Interfaces of the TM25S / TM30S / TM25S-X / TM30S-X Series
70
Figure 68: Interfaces of the TM25S-M / TM25S-M SEMI / TM30S-M / TM30S-M SEMI Series
70
Control Box Power Interface and Robot Interface
71
Control Box Power Interface
71
Figure 69: Control Box Power Interfaces
71
Table 18: TM25S / TM30S / TM25S-X / TM30S-X Series Electrical Specifications
72
Table 19: Configuration of the AC Power Cord
72
Table 20: TM25S-M / TM30S-M Series Electrical Specifications
72
Robot Interface
74
SEMI Emergency off Interfaces (SEMI Series Exclusive)
74
Figure 70: Robot Interface
74
TM25S-M SEMI / TM30S-M SEMI Series
75
Figure 71: the TM25S-M SEMI / TM30S-M SEMI Emergency off Interface
75
Unboxing & Installation
76
Overview
76
Inspecting the Equipment
76
Before Unpacking
76
Upon Unpacking
76
Unboxing
77
Carton Types
77
Contents of each Carton
77
Figure 72: Robot Arm Carton (1/2)
77
Figure 73: Robot Arm Carton (2/2)
77
Figure 74: Control Box Carton (AC, DC, and DC SEMI)
77
Table 21: the Robot Arm Carton Contents
78
Installing Your Robot
81
Table 22: the Control Box Carton Contents
81
Table 23: the SEMI Emergency off Switch Carton Contents
81
Removing the Control Box
82
Figure 75: Moving the Control Box (1/2)
82
Moving the Packaged Robot
83
Verification before Removal of the Robot Arm
83
Figure 76: Moving the Control Box (2/2)
83
Figure 77: Moving TM AI Cobot through a Forklift
83
Removing and Tightening the Robot
84
Installation Procedure
84
Horizontal
84
Wall-Mounted
85
Inverted
88
Preparing the Robot for Wall-Mounted/Inverted Installation
92
Connect the Robot and the Control Box
92
Table 24: Recommended Angles for All Robot Joints before Wall Mounting or Inverted Mounting
92
Figure 78: Recommended Robot Posture before Wall Mounting or Inverted Mounting
92
Mounting Direction
93
Figure 79: Connecting the Robot and the Control Box
93
Maintenance and Repair
94
Table 25: Summary of the Preventive Maintenance Procedures and Guidelines
94
Figure 80: Air Filter Tray (the Circled Parts)
96
Warranty Statement
97
Product Warranty
97
Disclaimer
97
Appendix A. Technical Specifications
98
Table 26: Technical Specifications
98
Appendix B. Certificate of Compliance and Declaration of Incorporation
99
Document Version: 1.00
100
Document Version: 1.00
101
Document Version: 1.00
102

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Techman Robot TM30S-M Hardware Installation Manual (102 pages)

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