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Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 23

Figure 9: Assembly of TM12 / TM12M

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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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