TM Robot TM16X Manuals

Manuals and User Guides for TM Robot TM16X. We have 2 TM Robot TM16X manuals available for free PDF download: Service Manual, Hardware Installation Manual

TM Robot TM16X Hardware Installation Manual (80 pages)

Brand: TM Robot | Category: Robotics | Size: 4 MB

Table of Contents
3
Revision History Table
8
Product Description
9
How Can I Get Help
9
Disposal and Environment
9
Table 1: Manual Title & Description
9
Safety Information
10
Overview
10
Warning and Caution Symbols
10
Safety Precautions
10
Table 2: Danger, Warning, and Caution Symbols
10
Validation and Liability
11
Statement of Responsibilities for Cybersecurity Threats
11
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 TM16 / TM16M
18
Figure 5: Dimension of TM20 / TM20M
19
Figure 6: Dimension of TM16X
20
Robot Assembly Diagram
21
Figure 7: Dimension of TM20X
21
Range of Motion
22
Figure 8: References of Joints by Models
22
Figure 9: Side View of TM20 / TM20M / TM20X Movement Range Diagram
23
Figure 10: Pictorial View of TM20 / TM20M / TM20X Movement Range Diagram
24
Figure 11: Top View of TM20 / TM20M / TM20X Movement Range Diagram
24
Figure 12: Side View of TM16 / TM16M / TM16X Movement Range Diagram
25
Figure 13: Pictorial View of TM16 / TM16M / TM16X Movement Range Diagram
25
Robot Hazard Zone Diagram and Operator Position Diagram
26
Figure 14: Top View of TM16 / TM16M / TM16X Movement Range Diagram
26
Figure 15: the Definition of R
26
Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM20 / TM20M / TM20X
27
Payload and Torque
28
Figure 17: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M / TM16X
28
Figure 18: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M / TM16X
29
Figure 19: Relationship between Payload and the Center of Gravity Offset in TM20 / TM20M / TM20X
29
Robot Arm Installation
30
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
30
Figure 20: Bottom View of Robot Base
31
Figure 21: Securing the Ground Wire with the Robot
31
Robot End Module
32
End Module Components
32
Figure 22: References of TM16 / TM16M End Module Components
32
Figure 23: References of TM20 / TM20M End Module Components
33
Figure 24: References of TM16X End Module Components
34
Figure 25: References of TM20X End Module Components
35
End Flange Surface
36
Figure 26: References of End Flange Surface
36
End Mounting Caution
37
End Indication Light Ring Table
37
Control Box
37
Figure 27: the Exterior and Diagram of the Control Box
37
Robot Stick
38
Figure 28: Securing the Ground Wire with Control Box
38
Figure 29: Robot Stick
38
Table 5: Robot Stick Basic Functions
39
Table 6: Robot Stick Advanced Functions
39
Robot Light Module
40
Light Module Surface
40
Install Light Module
40
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
40
Figure 30: Light Module Surface
40
Table 8: Electrical Specification of the Light Module
41
Figure 31: Calculation the Torque Load of the Light Module
41
Operating Position of TM Robot with AGV/AIV
42
Figure 32: Electrical Polarity of Fill Light Cable
42
Working Distance and Field of View of TM Robot's EIH Camera
43
Figure 33: Top View of TM Robot Placed on the AGV/AIV
43
Table 9: the Relation between the Working Distance and the Field of View
44
Figure 34: Working Distance and Field of View of TM Robot's EIH Camera
44
Electrical Interface
45
Overview
45
Electrical Warnings and Cautions
45
Control Box
45
Figure 35: Control Box I/O Configuration (1/2)
45
Table 10: Definitions of Safety Connectors
46
Figure 36: Control Box I/O Configuration (2/2)
46
Safety Connector
47
Safety Input Connector
47
Figure 37: Safety Input Connector
47
Figure 38: the Wiring Diagram Example of Switch Type Safety Device
48
Figure 39: the Wiring Diagram Example of PNP Output Type Safety Device
48
Safety Output Connector
49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
49
Figure 41: Safety Output Connector
50
Figure 42: Safety Output Connector Wiring Diagram
50
Power Connector
51
Digital In/Out
51
Digital Input
51
Figure 43: Power Connector
51
Figure 44: Digital Input
52
Figure 45: Set to Sink Input Type
52
Digital Output
53
Figure 46: Set to Source Input Type
53
Figure 47: Digital Output
53
Figure 48: Set to Sink Output Type
54
Analog in
55
Analog out
55
Figure 49: Set to Source Output Type
55
Figure 50: Analog in
55
System Remote Power ON/OFF
56
Ethercat: for Ethercat Slave I/O Expansion
56
Table 11: Analog in & Analog out
56
Figure 51: Analog out
56
Figure 52: System Remote Power ON/OFF
56
USB Port
57
Tool End I/O Interface
57
I/O Terminals
57
Figure 53: Ethercat
57
Table 12: 8-Pin Digital I/O Connectors of Cable
58
Table 13: 8-Pin Digital I/O Connector of Robot
58
Connecting Tool End Digital Output
59
Table 14: 5-Pin Analog I/O Connector of Cable
59
Table 15: 5-Pin Analog I/O Connector of Robot
59
Figure 54: Connecting Tool End Digital Output
59
Connecting Tool End Digital Input
60
Connecting Tool End Analog Input
60
Table 16: Analog Input Range
60
Figure 55: Connecting Tool End Digital Input
60
Figure 56: Connecting Tool End Analog Input
60
Control Box Interfaces
61
Figure 57: Front View of the Control Box
61
Figure 58: Interfaces of the TM16 / TM20 / TM16X / TM20X Series
61
Figure 59: Interfaces of the TM16M / TM20M Series
62
Figure 60: Interfaces of the TM16M SEMI / TM20M SEMI Series
62
Control Box Power Interface and Robot Interface
63
Control Box Power Interface
63
Figure 61: Control Box Power Interfaces
63
Robot Interface
64
Table 17: TM20 / TM16 / TM16X / TM20X Series Electrical Specifications
64
Table 18: TM16M Series Electrical Specifications
64
Table 19: TM20M Series Electrical Specifications
64
SEMI Emergency off Interfaces (SEMI Series Exclusive)
65
TM16M SEMI / TM20M SEMI Series
65
Figure 62: Robot Interface
65
Figure 63: the TM16M SEMI / TM20M SEMI SEMI Emergency off Interface
65
Detachable I/O Panel
66
Figure 64: Detachable I/O Panel
66
Unboxing & Installation
67
Overview
67
Inspecting the Equipment
67
Before Unpacking
67
Upon Unpacking
67
Unboxing
68
Carton Types
68
Contents of each Carton
68
Figure 65: Robot Arm Carton
68
Figure 66: Control Box Carton
68
Table 20: the Robot Arm Carton Contents
69
Installing Your Robot
71
Table 21: the Control Box Carton Contents
71
Table 22: the SEMI Emergency off Switch Carton Contents
71
Remove the Control Box
72
Figure 67: Moving the Control Box (1/2)
72
Verification before Removal of the Robot Arm
73
Removal of the Robot Arm and Tightening
73
Figure 68: Moving the Control Box (2/2)
73
Figure 69: Moving the Robot Arm (1/2)
74
Figure 70: Moving the Robot Arm (2/2)
74
Connect the Robot and the Control Box
75
Figure 71: Moving the SEMI Emergency off Box
75
Figure 72: Connecting the Robot and the Control Box
75
Maintenance and Repair
76
Table 23: Summary of the Preventive Maintenance Procedures and Guidelines
76
Figure 73: Air Filter Tray
77
Appendix A. Technical Specifications
78

TM Robot TM16X Service Manual (145 pages)

Brand: TM Robot | Category: Robotics | Size: 18 MB

Table of Contents
3
Components of Different TM Robot Models
5
Preventive Maintenance
13
Visual Inspection
13
Robot Cable
14
Joint Cover
15
Led Light
19
Internal Connection
23
External Connection
25
Power Supply
25
Tool List
26
Dissembling and Assembling the Robot
31
Calibrate the Robot in Maintenance Mode
45
Disassemble/Assemble the Control Box
60
Circuit Diagram
88
Indication Light
90
Lcm
92
Software Application
108
Troubleshooting
115

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TM Robot TM16X Hardware Installation Manual (80 pages)

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