TM Robot Medium Series Collaborative Manuals

Manuals and User Guides for TM Robot Medium Series Collaborative. We have 2 TM Robot Medium Series Collaborative manuals available for free PDF download: Hardware Installation Manual

TM Robot Medium Series Hardware Installation Manual (87 pages)

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

Table of Contents
3
Revision History Table
9
Product Dscription
10
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
SEMI Emergency off Box
41
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
Figure 31: the Exterior and Diagram of the SEMI Emergency off Box
42
Figure 32: Light Module Surface
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
43
Table 8: Electrical Specification of the Light Module
43
Figure 33: Calculation the Torque Load of the Light Module
43
Operating Position of TM Robot with AGV/AIV
44
Figure 34: Electrical Polarity of Fill Light Cable
44
Working Distance and Field of View of TM Robot's EIH Camera
45
Figure 35: Top View of TM Robot Placed on the AGV/AIV
45
Table 9: the Relation between the Working Distance and the Field of View
46
Figure 36: Working Distance and Field of View of TM Robot's EIH Camera
46
Electrical Interface
47
Overview
47
Electrical Warnings and Cautions
47
Control Box
47
Figure 37: Control Box I/O Configuration (1/2)
47
Table 10: Definitions of Safety Connectors
48
Figure 38: Control Box I/O Configuration (2/2)
48
Safety Connector
49
Safety Input Connector
49
Figure 39: Safety Input Connector
49
Figure 40: the Wiring Diagram Example of Switch Type Safety Device
50
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Safety Output Connector
51
Figure 42: the Wiring Diagram Example of PNP Output Type Safety Device
51
Figure 43: Safety Output Connector
52
Figure 44: Safety Output Connector Wiring Diagram
52
Power Connector
53
Digital In/Out
53
Digital Input
53
Figure 45: Power Connector
53
Figure 46: Digital Input
54
Figure 47: Set to Sink Input Type
54
Digital Output
55
Figure 48: Set to Source Input Type
55
Figure 49: Digital Output
55
Figure 50: Set to Sink Output Type
56
Analog in
57
Figure 51: Set to Source Output Type
57
Figure 52: Analog in
57
Analog out
58
System Remote Power ON/OFF
58
Table 11: Analog in & Analog out
58
Figure 53: Analog out
58
Figure 54: System Remote Power ON/OFF
58
Ethercat: for Ethercat Slave I/O Expansion
59
USB Port
59
Tool End I/O Interface
59
I/O Terminals
59
Figure 55: Ethercat
59
Table 12: 8-Pin Digital I/O Connectors of Cable
60
Table 13: 8-Pin Digital I/O Connector of Robot
60
Connecting Tool End Digital Output
61
Table 14: 5-Pin Analog I/O Connector of Cable
61
Table 15: 5-Pin Analog I/O Connector of Robot
61
Figure 56: Connecting Tool End Digital Output
61
Connecting Tool End Digital Input
62
Connecting Tool End Analog Input
62
Table 16: Analog Input Range
62
Figure 57: Connecting Tool End Digital Input
62
Figure 58: Connecting Tool End Analog Input
62
Control Box Interfaces
63
Figure 59: Front View of the Control Box
63
Figure 60: Interfaces of the TM12 / TM14 / TM12X / TM14X Series
63
Figure 61: Interfaces of the TM12M / TM14M Series
64
Figure 62: Interfaces of the TM12M SEMI / TM14M SEMI Series
64
SEMI Emergency off Box Interfaces (TM12 SEMI and TM14 SEMI Exclusive)
65
Control Box Power Interface and Robot Interface
65
Control Box Power Interface
65
Figure 63: Interfaces of the SEMI Emergency off Box
65
Figure 64: Control Box Power Interfaces
65
Robot Interface
66
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications
66
Table 18: TM12M / TM14M Series Electrical Specifications
66
SEMI Emergency off Interfaces (SEMI Series Exclusive)
67
TM12M SEMI / TM14M SEMI Series
67
The SEMI Emergency off Box
67
Figure 65: Robot Interface
67
Figure 66: the TM12M SEMI / TM14M SEMI SEMI Emergency off Interface
67
Detachable I/O Panel
68
Figure 67: the SEMI Emergency off Box SEMI Emergency off Interface
68
Figure 68: Detachable I/O Panel
68
Unboxing & Installation
69
Overview
69
Inspecting the Equipment
69
Before Unpacking
69
Upon Unpacking
69
Unboxing
70
Carton Types
70
Contents of each Carton
70
Figure 69: Robot Arm Carton
70
Figure 70: SEMI Emergency off Switch Carton
70
Figure 71: Control Box Carton
70
Figure 72: SEMI Emergency off Box Carton
70
Table 19: the Robot Arm Carton Contents
71
Table 20: the Control Box Carton Contents
72
Installing Your Robot
73
Table 21: the SEMI Emergency off Switch Carton Contents
73
Table 22: the SEMI Emergency off Box Carton Contents
73
Remove the Control Box
74
Figure 73: Moving the Control Box (1/2)
74
Verification before Removal of the Robot Arm
75
Removal of the Robot Arm and Tightening
75
Figure 74: Moving the Control Box (2/2)
75
Figure 75: Moving the Robot Arm (1/2)
76
Figure 76: Moving the Robot Arm (2/2)
76
Connect the Robot and the Control Box
77
Connect the Robot, the Control Box, and the SEMI Emergency off Box
77
Figure 77: Moving the SEMI Emergency off Box
77
Figure 78: Connecting the Robot and the Control Box
77
Figure 79: Connecting the Robot, the Control Box, and the SEMI Emergency off Box
78
Maintenance and Repair
79
Table 23: Summary of the Preventive Maintenance Procedures and Guidelines
79
Figure 80: Air Filter Tray
80
Warranty Statement
81
Product Warranty
81
Disclaimer
81
Declaration of Incorporation
82
Appendix A. Technical Specifications
86
Table 24: Technical Specifications
86

TM Robot Medium Series Hardware Installation Manual (72 pages)

Brand: TM Robot | Category: Robotics | Size: 5 MB

Table of Contents
3
Revision History Table
9
Medium & Heavy Payload Series-Hardware Installation Manual TM16 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: 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
Robot Assembly Diagram
19
Figure 5: Dimension of TM16 / TM16M SEMI
19
Range of Motion
20
Figure 6: Assembly of TM16 / TM16M SEMI
20
Figure 7: Side View of TM16 / TM16M SEMI Movement Range Diagram
21
Robot Hazard Zone Diagram and Operator Position Diagram
22
Figure 8: Pictorial View of TM16 / TM16M SEMI Movement Range Diagram
22
Figure 9: Top View of TM16 / TM16M SEMI Movement Range Diagram
22
Payload and Torque
23
Figure 10: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M SEMI
23
Robot Arm Installation
24
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
24
Figure 11: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M SEMI
24
Figure 12: Bottom View of Robot Base
25
Robot End Module
26
End Module Components
26
Figure 13: Securing the Ground Wire with the Robot
26
Figure 14: References of TM16 / TM16M SEMI End Module Components
26
End Flange Surface
27
Figure 15: References of End Flange Surface
27
End Mounting Caution
28
End Indication Light Ring Table
28
Control Box
28
Figure 16: the Exterior and Diagram of the Control Box
28
Robot Stick
29
Figure 17: Securing the Ground Wire with Control Box
29
Figure 18: Robot Stick
29
Table 5: Robot Stick Basic Functions
30
Table 6: Robot Stick Advanced Functions
30
SEMI Emergency off Box
31
Robot Light Module
31
Light Module Surface
31
Install Light Module
31
Figure 19: the Exterior and Diagram of the SEMI Emergency off Box
31
Figure 20: Light Module Surface
31
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
32
Table 8: Electrical Specification of the Light Module
32
Figure 21: Calculation the Torque Load of the Light Module
32
Operating Position of TM Robot with AGV/AIV
33
Figure 22: Electrical Polarity of Fill Light Cable
33
Figure 23: Top View of TM Robot Placed on the AGV/AIV
33
Working Distance and Field of View of TM Robot's EIH Camera
34
Figure 24: Working Distance and Field of View of TM Robot's EIH Camera
34
Table 9: the Relation between the Working Distance and the Field of View
35
Electrical Interface
36
Overview
36
Electrical Warnings and Cautions
36
Control Box
36
Figure 25: Control Box I/O Configuration (1/2)
36
Table 10: Definitions of Safety Connectors
37
Figure 26: Control Box I/O Configuration (2/2)
37
Safety Connector
38
Safety Input Connector
38
Figure 27: Safety Input Connector
38
Figure 28: the Wiring Diagram Example of Switch Type Safety Device
39
Figure 29: the Wiring Diagram Example of PNP Output Type Safety Device
39
Safety Output Connector
40
Figure 30: the Wiring Diagram Example of PNP Output Type Safety Device
40
Figure 31: Safety Output Connector
41
Figure 32: Safety Output Connector Wiring Diagram
41
Power Connector
42
Digital In/Out
42
Digital Input
42
Figure 33: Power Connector
42
Figure 34: Digital Input
43
Figure 35: Set to Sink Input Type
43
Digital Output
44
Figure 36: Set to Source Input Type
44
Figure 37: Digital Output
44
Figure 38: Set to Sink Output Type
45
Analog in
46
Figure 39: Set to Source Output Type
46
Figure 40: Analog in
46
Analog out
47
System Remote Power ON/OFF
47
Table 11: Analog in & Analog out
47
Figure 41: Analog out
47
Figure 42: System Remote Power ON/OFF
47
Ethercat: for Ethercat Slave I/O Expansion
48
USB Port
48
Tool End I/O Interface
48
I/O Terminals
48
Figure 43: Ethercat
48
Table 12: 8-Pin Digital I/O Connectors of Cable
49
Table 13: 8-Pin Digital I/O Connector of Robot
49
Connecting Tool End Digital Output
50
Table 14: 5-Pin Analog I/O Connector of Cable
50
Table 15: 5-Pin Analog I/O Connector of Robot
50
Figure 44: Connecting Tool End Digital Output
50
Connecting Tool End Digital Input
51
Connecting Tool End Analog Input
51
Table 16: Analog Input Range
51
Figure 45: Connecting Tool End Digital Input
51
Figure 46: Connecting Tool End Analog Input
51
Control Box Interfaces
52
Figure 47: Front View of the Control Box
52
Figure 48: Interfaces of the TM16 Series
52
SEMI Emergency off Box Interfaces (TM16 SEMI Exclusive)
53
Control Box Power Interface and Robot Interface
53
Control Box Power Interface
53
Figure 50: Interfaces of the TM16M SEMI Series
53
Figure 51: Interfaces of the SEMI Emergency off Box
53
Table 17: TM16 Series Electrical Specifications
54
Figure 52: Control Box Power Interfaces
54
Robot Interface
55
SEMI Emergency off Interfaces (SEMI Series Exclusive)
55
Table 18: TM16M SEMI Series Electrical Specifications
55
Figure 53: Robot Interface
55
TM16M SEMI Series
56
The SEMI Emergency off Box
56
Detachable I/O Panel
56
Figure 54: the TM16M SEMI SEMI Emergency off Interface
56
Figure 55: the SEMI Emergency off Box SEMI Emergency off Interface
56
Figure 56: Detachable I/O Panel
57
Unboxing & Installation
58
Overview
58
Inspecting the Equipment
58
Before Unpacking
58
Upon Unpacking
58
Unboxing
59
Carton Types
59
Contents of each Carton
59
Figure 57: Robot Arm Carton
59
Figure 58: SEMI Emergency off Switch Carton
59
Figure 59: Control Box Carton
59
Figure 60: SEMI Emergency off Box Carton
59
Table 19: the Robot Arm Carton Contents
60
Table 20: the Control Box Carton Contents
62
Table 21: the SEMI Emergency off Switch Carton Contents
62
Installing Your Robot
63
Remove the Control Box
63
Table 22: the SEMI Emergency off Box Carton Contents
63
Verification before Removal of the Robot Arm
64
Figure 61: Moving the Control Box (1/2)
64
Figure 62: Moving the Control Box (2/2)
64
Removal of the Robot Arm and Tightening
65
Figure 63: Moving the Robot Arm (1/2)
65
Connect the Robot and the Control Box
66
Connect the Robot, the Control Box, and the SEMI Emergency off Box
67
Maintenance and Repair
68
Table 23: Summary of the Preventive Maintenance Procedures and Guidelines
68
Warranty Statement
70
Product Warranty
70
Disclaimer
70
Appendix A. Technical Specifications
71
Table 24: Technical Specifications
71
Medium & Heavy Payload Series-Hardware Installation Manual TM16 Series Hardware Version: 3.2 Document Version
72

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