User Manuals: TM Robot TM5M-900 Collaborative Arm

Manuals and User Guides for TM Robot TM5M-900 Collaborative Arm. We have 1 TM Robot TM5M-900 Collaborative Arm manual available for free PDF download: Hardware Installation Manual

TM Robot TM5M-900 Hardware Installation Manual (81 pages)

Brand: TM Robot | Category: Robotics | Size: 6 MB

Table of Contents
3
Revision History Table
9
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
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: 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 TM5-700 / TM5M-700
19
Figure 6: Dimension of TM5-900 / TM5M-900
20
Figure 7: Dimension of TM5X-700
21
Robot Assembly Diagram
22
Figure 8: Dimension of TM5X-900
22
Figure 9: Assembly of TM5-700 / TM5M-700
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Figure 10: Assembly of TM5-900 / TM5M-900
24
Figure 11: Assembly of TM5X-700
25
Range of Motion
26
Figure 12: Assembly of TM5X-900
26
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
27
Figure 14: Pictorial View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
28
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range
28
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
29
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range
29
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700
31
Payload and Torque
32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-900 / TM5M-900 / TM5X-900
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-700
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-900
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: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components
36
Tm5X-700
37
Figure 25: References of TM5X-700 / TM5X-900 End Module Components
37
End Flange Surface
38
Figure 26: References of End Flange Surface
38
End Mounting Caution
39
End Indication Light Ring Table
39
Control Box
39
Robot Stick
39
Figure 27: the Exterior and Diagram of the Control Box
39
Table 5: Robot Stick Basic Functions
40
Figure 28: Robot Stick
40
SEMI Emergency off Box
41
Table 6: Robot Stick Advanced Functions
41
Figure 29: the Exterior and Diagram of the SEMI Emergency off Box
41
Operating Position of TM Robot with AGV/AIV
42
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
42
Working Distance and Field of View of TM Robot's EIH Camera
42
Figure 30: Top View of TM Robot Placed on the AGV/AIV
42
Table 7: the Relation between the Working Distance and the Field of View
43
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera
43
Electrical Interface
44
Overview
44
Electrical Warnings and Cautions
44
Control Box
44
Figure 32: Control Box I/O Configuration (1/2)
44
Safety Connector
45
Figure 33: Control Box I/O Configuration (2/2)
45
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
45
Figure 34: Safety Connector
45
Figure 35: the Wiring Diagram Example of Switch Type Safety Device
46
Power Connector
47
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
47
Digital In/Out
48
Digital Input
48
Figure 37: Power Connector
48
Figure 38: Digital Input
48
Figure 39: Set to Sink Input Type
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Digital Output
50
Figure 40: Set to Source Input Type
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Figure 41: Digital Output
50
Figure 42: Set to Sink Output Type
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Analog in
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Figure 43: Set to Source Output Type
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Analog out
53
System Remote Power ON/OFF
53
Figure 44: Analog in
53
Figure 45: Analog out
53
Ethercat: for Ethercat Slave I/O Expansion
54
USB Port
54
Tool End I/O Interface
54
I/O Terminals
54
Figure 46: System Remote Power ON/OFF
54
Table 8: 8-Pin Digital I/O Connectors of Cable
55
Table 9: 8-Pin Digital I/O Connector of Robot
55
Connecting Tool End Digital Output
56
Table 10: 5-Pin Analog I/O Connector of Cable
56
Table 11: 5-Pin Analog I/O Connector of Robot
56
Figure 47: Connecting Tool End Digital Output
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Connecting Tool End Digital Input
57
Connecting Tool End Analog Input
57
Figure 48: Connecting Tool End Digital Input
57
Figure 49: Connecting Tool End Analog Input
57
Control Box Interfaces
58
Figure 50: Front View of the Control Box
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Figure 51: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series
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Figure 52: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series
59
Figure 53: Interfaces of the TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI
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SEMI Emergency off Box Interfaces (TM5-700 SEMI and TM5-900 SEMI Exclusive)
60
Control Box Power Interface and Robot Interface
60
Control Box Power Interface
60
Figure 54: Interfaces of the SEMI Emergency off Box
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Figure 55: Control Box Power Interfaces
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Robot Interface
61
Table 12: TM5-700 / TM5-900 / TM5X-700 / TM5X-900 Electrical Specifications
61
Table 13: TM5M-700/ TM5M-900 Series Electrical Specifications
61
Figure 56: Robot Interface
62
SEMI Emergency off Interfaces (SEMI Series Exclusive)
63
TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI Series
63
The SEMI Emergency off Box
63
Figure 58: the SEMI Emergency off Box SEMI Emergency off Interface
63
Unboxing & Installation
64
Overview
64
Inspecting the Equipment
64
Before Unpacking
64
Upon Unpacking
64
Unboxing
65
Carton Types
65
Contents of each Carton
65
Figure 59: Robot Arm Carton
65
Figure 60: SEMI Emergency off Switch Carton
65
Figure 61: Control Box Carton
65
Figure 62: SEMI Emergency off Box Carton
65
Table 14: the Robot Arm Carton Contents
66
Table 15: the Control Box Carton Contents
67
Installing Your Robot
68
Table 16: the SEMI Emergency off Switch Carton Contents
68
Table 17: the SEMI Emergency off Box Carton Contents
68
Remove the Control Box
69
Figure 63: Moving the Control Box (1/2)
69
Verification before Removal of the Robot Arm
70
Removal of the Robot Arm and Tightening
70
Figure 64: Moving the Control Box (2/2)
70
Figure 65: Moving the Robot Arm (1/2)
71
Figure 66: Moving the Robot Arm (2/2)
71
Connect the Robot and the Control Box
72
Connect the Robot, the Control Box, and the SEMI Emergency off Box
72
Figure 67: Connecting the Robot and the Control Box
72
Maintenance and Repair
74
Table 18: Summary of the Preventive Maintenance Procedures and Guidelines
74
Warranty Statement
75
Product Warranty
75
Disclaimer
75
Certificates
76
Appendix A. Technical Specifications
80
Table 19: Technical Specifications
80
Tm5X-900
80
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01
81

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User Manuals: TM Robot TM5M-900 Collaborative Arm

TM Robot TM5M-900 Hardware Installation Manual (81 pages)

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