Omron Medium Series

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Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 18

4. System Hardware

4.1 Overview

This chapter introduces the mechanical interface of the TM Robot System.

4.2 System Overview

TM Robot is made up of the robot arm and control box (including a robot stick).

Robot arm

Control Box

Robot Stick

Main Page

Table of Contents3
Revision History Table9
Product Description10
How Can I Get Help10
Table 1: Manual Title & Description10
Safety Information11
Overview11
Warning and Caution Symbols11
Safety Precautions11
Table 2: Danger, Warning, and Caution Symbols11
Validation and Liability12
Limitations on Liability12
General Safety Warning12
Risk Assessment13
Emergency Stop13
Movement Without Drive Power13
Figure 1: References of Joints by Models14
Labels15
Figure 2: Reference of Brake Solenoid by Joints15
Table 3: Denotation of Labels16
Figure 3: Locations of Labels16
Transportation and Storage17
System Hardware18
Overview18
System Overview18
Figure 4: System Overview18
Robot Arm19
Dimension Drawings of Robot19
Figure 5: Dimension of TM12 / TM12M19
Figure 6: Dimension of TM14 / TM14M20
Figure 7: Dimension of TM12X21
Robot Assembly Diagram22
Figure 8: Dimension of TM14X22
Figure 9: Assembly of TM12 / TM12M23
Figure 10: Assembly of TM14 / TM14M24
Figure 11: Assembly of TM12X25
Figure 12: Assembly of TM14X26
Range of Motion27
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram27
Figure 14: Pictorial View of TM12 / TM12M / TM12X Movement Range Diagram28
Figure 15: Top View of TM12 / TM12M / TM12X Movement Range Diagram28
Figure 16: Side View of TM14 / TM14M / TM14X Movement Range Diagram29
Figure 17: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram29
Robot Hazard Zone Diagram and Operator Position Diagram30
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X31
Payload and Torque32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X33
Robot Arm Installation34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series34
Robot End Module35
End Module Components35
Figure 23: Bottom View of Robot Base35
Figure 24: Securing the Ground Wire with the Robot35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components36
Figure 26: References of TM12X / TM14X End Module Components37
End Flange Surface38
Figure 27: References of End Flange Surface38
End Mounting Caution39
End Indication Light Ring Table39
Control Box39
Figure 28: the Exterior and Diagram of the Control Box39
Robot Stick40
Figure 29: Securing the Ground Wire with Control Box40
Figure 30: Robot Stick40
Table 5: Robot Stick Basic Functions41
Table 6: Robot Stick Advanced Functions41
Robot Light Module42
Light Module Surface42
Install Light Module42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module42
Figure 31: Light Module Surface42
Table 8: Electrical Specification of the Light Module43
Figure 32: Calculation the Torque Load of the Light Module43
Figure 33: Electrical Polarity of Fill Light Cable43
Operating Position of TM Robot with AGV/AIV44
Working Distance and Field of View of TM Robot's EIH Camera44
Figure 34: Top View of TM Robot Placed on the AGV/AIV44
Table 9: the Relation between the Working Distance and the Field of View45
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera45
Electrical Interface46
Overview46
Electrical Warnings and Cautions46
Control Box46
Figure 36: Control Box I/O Configuration (1/2)46
Table 10: Definitions of Safety Connectors47
Figure 37: Control Box I/O Configuration (2/2)47
Safety Connector48
Safety Input Connector48
Figure 38: Safety Input Connector48
Figure 39: the Wiring Diagram Example of Switch Type Safety Device49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device49
Safety Output Connector50
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device50
Figure 42: Safety Output Connector51
Figure 43: Safety Output Connector Wiring Diagram51
Power Connector52
Digital In/Out52
Digital Input52
Figure 44: Power Connector52
Figure 45: Digital Input53
Figure 46: Set to Sink Input Type53
Digital Output54
Figure 47: Set to Source Input Type54
Figure 48: Digital Output54
Figure 49: Set to Sink Output Type55
Analog in56
Figure 50: Set to Source Output Type56
Figure 51: Analog in56
Analog out57
System Remote Power ON/OFF57
Table 11: Analog in & Analog out57
Figure 52: Analog out57
Figure 53: System Remote Power ON/OFF57
Ethercat: for Ethercat Slave I/O Expansion58
USB Port58
Tool End I/O Interface58
I/O Terminals58
Figure 54: Ethercat58
Table 12: 8-Pin Digital I/O Connectors of Cable59
Table 13: 8-Pin Digital I/O Connector of Robot59
Connecting Tool End Digital Output60
Table 14: 5-Pin Analog I/O Connector of Cable60
Table 15: 5-Pin Analog I/O Connector of Robot60
Figure 55: Connecting Tool End Digital Output60
Connecting Tool End Digital Input61
Connecting Tool End Analog Input61
Table 16: Analog Input Range61
Figure 56: Connecting Tool End Digital Input61
Figure 57: Connecting Tool End Analog Input61
Control Box Interfaces62
Figure 58: Front View of the Control Box62
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series62
Figure 60: Interfaces of the TM12M / TM14M Series63
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series63
Control Box Power Interface and Robot Interface64
Control Box Power Interface64
Figure 62: Control Box Power Interfaces64
Robot Interface65
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications65
Table 18: TM12M / TM14M Series Electrical Specifications65
Figure 63: Robot Interface65
SEMI Emergency off Interfaces (SEMI Series Exclusive)66
TM12M SEMI / TM14M SEMI Series66
Detachable I/O Panel66
Figure 64: the TM12M SEMI / TM14M SEMI66
Figure 65: Detachable I/O Panel67
Unboxing & Installation68
Overview68
Inspecting the Equipment68
Before Unpacking68
Upon Unpacking68
Unboxing69
Carton Types69
Contents of each Carton69
Figure 66: Robot Arm Carton69
Figure 67: Control Box Carton69
Table 19: the Robot Arm Carton Contents70
Installing Your Robot72
Table 20: the Control Box Carton Contents72
Table 21: the SEMI Emergency off Switch Carton Contents72
Remove the Control Box73
Figure 68: Moving the Control Box (1/2)73
Verification before Removal of the Robot Arm74
Removal of the Robot Arm and Tightening74
Figure 69: Moving the Control Box (2/2)74
Figure 70: Moving the Robot Arm (1/2)75
Figure 71: Moving the Robot Arm (2/2)75
Connect the Robot and the Control Box76
Maintenance and Repair77
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines77
Appendix A. Technical Specifications79
Table 23: Technical Specifications79

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