Omron S Series

Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual
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4.2.4.1 Light Module Surface ............................................................................................................................ 41
4.2.4.2 Install Light Module ............................................................................................................................... 41
4.3 Operating Position of TM Robot with AGV/AIV .................................................................................................. 43
4.4 Working distance and field of view of TM Robot’s EIH camera ......................................................................... 44
5. Electrical Interface ....................................................................................................................................................... 46
5.1 Overview ............................................................................................................................................................ 46
5.2 Electrical Warnings and Cautions ...................................................................................................................... 46
5.3 Control Box ........................................................................................................................................................ 46
5.3.1 Safety Connector ......................................................................................................................................... 47
5.3.1.1 Safety Input Connector ......................................................................................................................... 47
5.3.1.2 Safety Output Connector ...................................................................................................................... 49
5.3.2 Power Connector ......................................................................................................................................... 50
5.3.3 Digital In/Out ................................................................................................................................................ 51
5.3.3.1 Digital Input ........................................................................................................................................... 51
5.3.3.2 Digital Output ........................................................................................................................................ 53
5.3.4 Analog In/Out ............................................................................................................................................... 54
5.3.5 System Remote Power ON/OFF ................................................................................................................. 55
5.3.6 AUTO MODE Play Confirm Port ................................................................................................................. 56
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................................... 56
5.3.8 USB Port ..................................................................................................................................................... 57
5.3.9 COM Port .................................................................................................................................................... 57
5.4 Tool End I/O Interface ........................................................................................................................................ 57
5.4.1 I/O Terminals ............................................................................................................................................... 57
5.4.2 Connecting Tool End Digital Output ............................................................................................................ 59
5.4.3 Connecting Tool End Digital Input ............................................................................................................... 59
5.4.4 Connecting Tool End Analog Input .............................................................................................................. 59
5.5 Control Box Interfaces ....................................................................................................................................... 61
5.6 Control Box Power Interface and Robot Interface ............................................................................................. 63
5.6.1 Control Box Power Interface ....................................................................................................................... 63
5.6.2 Robot Interface ............................................................................................................................................ 65
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) ........................................................................... 65
5.6.3.1 TM12S-M SEMI / TM14S-M SEMI Series ............................................................................................ 66
6. Unboxing & Installation ............................................................................................................................................... 67
6.1 Overview ............................................................................................................................................................ 67
6.2 Inspecting the Equipment .................................................................................................................................. 67
6.2.1 Before Unpacking ........................................................................................................................................ 67
6.2.2 Upon Unpacking .......................................................................................................................................... 67