Omron S Series

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

4.2.1.3 Range of Motion

The working spherical (radius) range from the base is 1300 ㎜ for the TM12S series and 1100 ㎜ for

the TM14S series.

Base

2nd Joint

Lower arm

3rd Joint

1st Joint

Upper arm

TM12S / TM12S-M

5th

Joint

6th Joint

1st Joint

Lower arm

6th Joint

3rd Joint

5th Joint

2nd Joint

Upper arm

TM14S / TM14S-M

Base

4th

Joint

Upper arm

TM12S-X

1st Joint

Lower arm

4th Joint

6th Joint

5th Joint

Base

2nd Joint

3rd Joint

1st Joint

Lower arm

4th

Joint

6th Joint

5th Joint

Upper arm

TM14S-X

Base

3rd Joint

2nd Joint

4th Joint

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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