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Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual

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).

Figure 3: System Overview

4.2.1 Robot Arm

4.2.1.1 Dimension Drawings of Robot

Shown below is the dimension drawing of the robot

Control Box

Robot Stick

Robot arm

Main Page

Table of Contents6
Revision History Table11
Product Description12
How Can I Get Help12
Disposal and Environment12
Safety Information12
Table 1: Manual Title & Description12
Overview13
Warning and Caution Symbols13
Safety Precautions13
Table 2: Danger, Warning, and Caution Symbols13
Validation and Liability14
Limitations on Liability14
Statement of Responsibilities for Cyersecurity Threats14
General Safety Waning15
Risk Assessment16
Emergency Stop16
Joint Movement Without Drive Power16
Labels17
Figure 1: Pin Position for Brake Releasing17
Table 3: Denotation of Labels18
Figure 2: Locations of Labels18
Transportation and Storage19
System Hardware20
Overview20
System Overview20
Robot Arm20
Dimension Drawings of Robot20
Figure 3: System Overview20
Figure 4: Dimension of TM12S / TM12S-M21
Figure 5: Dimension of TM14S / TM14S-M22
Figure 6: Dimension of TM12S-X23
Robot Assembly Diagram24
Figure 7: Dimension of TM14S-X24
Range of Motion25
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram26
Figure 9: Pictorial View of TM12S / TM12S-M / TM12S-X Movement Range Diagram27
Figure 10: Top View of TM12S / TM12S-M / TM12S-X Movement Range Diagram27
Figure 11: Side View of TM14S / TM14S-M / TM14S-X Movement Range Diagram28
Figure 12: Pictorial View of TM14S / TM14S-M / TM14S-X Movement Range Diagram29
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram29
Payload and Torque30
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X30
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X30
Robot Arm Installation31
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM12S and TM14S Robot Series31
Figure 16: Bottom View of Robot Base (TM12S / TM14S Series)32
Figure 17: Grounding Position for the Robot32
Robot End Module33
End Module Components33
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components33
Flange Surface of the Robot End34
Figure 19: References Juof TM12S-X / TM14S-X End Module Components34
Figure 20: References of the Flange Surface of the Robot End35
End Mounting Caution36
End Indication Light Ring Table36
Control Box36
Figure 21: the Exterior and Diagram of the Control Box37
Figure 22: Securing the Ground Wire with Control Box37
Robot Stick38
Figure 23: Robot Stick (Front)38
Figure 24: Robot Stick (Back)38
Figure 25: Operation of the Enabling Switch39
TM Screen (Optional)40
Table 5: Robot Stick Basic Functions40
Table 6: Robot Stick Advanced Functions40
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)41
Robot Light Module42
Light Module Surface42
Install Light Module42
Figure 27: Light Module Surface42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module43
Figure 28: Calculation the Torque Load of the Light Module43
Operating Position of TM Robot with AGV/AIV44
Table 8: Electrical Specification of the Light Module44
Figure 29: Electrical Polarity of Fill Light Cable44
Working Distance and Field of View of TM Robot's EIH Camera45
Figure 30: Top View of TM Robot Placed on the AGV/AIV45
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera45
Table 9: the Relation between the Working Distance and the Field of View46
Electrical Interface47
Overview47
Electrical Warnings and Cautions47
Control Box47
Figure 32: Control Box I/O Configuration (1/2)47
Safety Connector48
Safety Input Connector48
Figure 33: Safety Input Connector48
Figure 34: the Wiring Diagram Example of Switch Type Safety Device49
Figure 35: the Wiring Diagram Example of PNP Output Type Safety Device49
Safety Output Connector50
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device50
Figure 37: Safety Output Connector50
Power Connector51
Figure 38: Safety Output Connector Wiring Diagram51
Digital In/Out52
Digital Input52
Figure 39: Power Connector52
Figure 40: Digital Input52
Figure 41: Set to Sink Input Type53
Figure 42: Set to Source Input Type53
Digital Output54
Figure 43: Digital Output54
Analog In/Out55
Figure 44: Set to Sink Output Type55
Figure 45: Set to Source Output Type55
System Remote Power ON/OFF56
Table 10: Analog in & Analog out56
Figure 46: Analog in56
Figure 47: Analog out56
AUTO MODE Play Confirm Port57
Ethercat: for Ethercat Slave I/O Expansion57
Figure 48: System Remote Power ON/OFF57
Figure 49: AUTO MODE Play Confirm Port57
USB Port58
COM Port58
Tool End I/O Interface58
I/O Terminals58
Figure 50: Ethercat58
Table 11: 8-Pin Digital I/O Connectors of Cable59
Connecting Tool End Digital Output60
Connecting Tool End Digital Input60
Connecting Tool End Analog Input60
Table 12: 8-Pin Digital I/O Connector of Robot60
Table 13: Analog Input Range60
Figure 51: Connecting Tool End Digital Output60
Figure 52: Connecting Tool End Digital Input60
Figure 53: Connecting Tool End Analog Input61
Control Box Interfaces62
Figure 54: Front View of the Control Box (AC)62
Figure 55: Front View of the Control Box (DC)62
Figure 56: Side View of the Control Box (DC)62
Figure 57: Front View of the Control Box (DC SEMI)63
Figure 58: Side View of the Control Box (DC SEMI)63
Control Box Power Interface and Robot Interface64
Control Box Power Interface64
Figure 59: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series64
Figure 60: Interfaces of the TM12S-M / TM12S-M SEMI / TM14S-M / TM14S-M SEMI Series64
Table 14: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications65
Figure 61: Control Box Power Interfaces65
Robot Interface66
SEMI Emergency off Interfaces (SEMI Series Exclusive)66
Table 15: TM12S-M / TM14S-M Series Electrical Specifications66
Figure 62: Robot Interface66
TM12S-M SEMI / TM14S-M SEMI Series67
Figure 63: the TM12S-M SEMI / TM14S-M SEMI Emergency off Interface67
Unboxing & Installation68
Overview68
Inspecting the Equipment68
Before Unpacking68
Upon Unpacking68
Unboxing69
Carton Types69
Figure 64: Robot Arm Carton69
Figure 65: Control Box Carton (AC)69
Contents of each Carton70
Table 16: the Robot Arm Carton Contents70
Figure 66: Control Box Carton (DC and DC SEMI)70
Table 17: the Control Box Carton Contents72
Installing Your Robot73
Remove the Control Box73
Table 18: the SEMI Emergency off Switch Carton Contents73
Verification before Removal of the Robot Arm74
Figure 67: Moving the Control Box (1/2)74
Figure 68: Moving the Control Box (2/2)74
Removal of the Robot Arm and Tightening75
Figure 69: Moving the Robot Arm (1/2)75
Figure 70: Moving the Robot Arm (2/2)75
Connect the Robot and the Control Box76
Figure 71: Connecting the Robot and the Control Box76
Mounting Direction77
Maintenance and Repair78
Table 19: Summary of the Preventive Maintenance Procedures and Guidelines78
Figure 72: Air Filter Tray (the Circled Parts)80
Appendix A. Technical Specifications81
Table 20: Technical Specifications81

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