Omron S Series

Omron TM Collaborative Robot S Series: TM12S and TM14S Hardware Installation Manual
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Figure 3: System Overview............................................................................................................................... 19
Figure 4: Dimension of TM12S / TM12S-M ...................................................................................................... 20
Figure 5: Dimension of TM14S / TM14S-M ...................................................................................................... 21
Figure 6: Dimension of TM12S-X ..................................................................................................................... 22
Figure 7: Dimension of TM14S-X ..................................................................................................................... 23
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram ......................................... 25
Figure 9: Pictorial view of TM12S / TM12S-M / TM12S-X Movement Range Diagram ................................... 26
Figure 10: Top view of TM12S / TM12S-M / TM12S-X Movement Range Diagram ......................................... 26
Figure 11: Side view of TM14S / TM14S-M / TM14S-X Movement Range Diagram ....................................... 27
Figure 12: Pictorial view of TM14S / TM14S-M / TM14S-X Movement Range Diagram ................................. 28
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram ........................................ 28
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X
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Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X
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Figure 16: Bottom View of Robot Base (TM12S / TM14S series) .................................................................... 31
Figure 17: Grounding position for the robot ...................................................................................................... 31
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components ....................... 32
Figure 19: References Juof TM12S-X / TM14S-X End Module Components .................................................. 33
Figure 20: References of the Flange Surface of the Robot End ...................................................................... 34
Figure 21: The Exterior and Diagram of the Control Box ................................................................................. 36
Figure 22: Securing the ground wire with control box ...................................................................................... 36
Figure 23: Robot Stick (front) ........................................................................................................................... 37
Figure 24: Robot Stick (back) ........................................................................................................................... 37
Figure 25: Operation of the Enabling Switch .................................................................................................... 38
Figure 26: TM Teach Pendant (consisting of the TM Screen and Robot Stick)................................................ 40
Figure 27: Light Module Surface ...................................................................................................................... 41
Figure 28: Calculation the Torque Load of the Light Module ............................................................................ 42
Figure 29: Electrical Polarity of Fill Light Cable ................................................................................................ 43
Figure 30: Top View of TM Robot Placed on the AGV/AIV ............................................................................... 44
Figure 31: Working Distance and Field of View of TM Robot’s EIH camera .................................................... 44
Figure 32: Control Box I/O Configuration (1/2) ................................................................................................. 46
Figure 33: Safety Input Connector .................................................................................................................... 47
Figure 34: The Wiring Diagram Example of Switch Type Safety Device. ......................................................... 48
Figure 35: The Wiring Diagram Example of PNP Output Type Safety Device ................................................. 48
Figure 36: The Wiring Diagram Example of PNP Output Type Safety Device ................................................. 49
Figure 37: Safety Output Connector ................................................................................................................. 49