Omron TM Robot TM12 Series

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I624-E-08

Medium &

Heavy Payload Series

Hardware Installation Manual

Corresponding models: TM12/14 Series

Original Instruction

Main Page

Table of Contents3
Revision History Table9
Product Dscription10
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
Figure 23: Bottom View of Robot Base35
Figure 24: Securing the Ground Wire with the Robot35
Robot End Module36
End Module Components36
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
Operating Position of TM Robot with AGV/AIV44
Figure 33: Electrical Polarity of Fill Light Cable44
Working Distance and Field of View of TM Robot's EIH Camera45
Figure 34: Top View of TM Robot Placed on the AGV/AIV45
Table 9: the Relation between the Working Distance and the Field of View46
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera46
Electrical Interface47
Overview47
Electrical Warnings and Cautions47
Control Box47
Figure 36: Control Box I/O Configuration (1/2)47
Table 10: Definitions of Safety Connectors48
Figure 37: Control Box I/O Configuration (2/2)48
Safety Connector49
Safety Input Connector49
Figure 38: Safety Input Connector49
Figure 39: the Wiring Diagram Example of Switch Type Safety Device50
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device50
Safety Output Connector51
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device51
Figure 42: Safety Output Connector52
Figure 43: Safety Output Connector Wiring Diagram52
Power Connector53
Digital In/Out53
Digital Input53
Figure 44: Power Connector53
Figure 45: Digital Input54
Figure 46: Set to Sink Input Type54
Digital Output55
Figure 47: Set to Source Input Type55
Figure 48: Digital Output55
Figure 49: Set to Sink Output Type56
Analog in57
Figure 50: Set to Source Output Type57
Figure 51: Analog in57
Analog out58
System Remote Power ON/OFF58
Table 11: Analog in & Analog out58
Figure 52: Analog out58
Figure 53: System Remote Power ON/OFF58
Ethercat: for Ethercat Slave I/O Expansion59
USB Port59
Tool End I/O Interface59
I/O Terminals59
Figure 54: Ethercat59
Table 12: 8-Pin Digital I/O Connectors of Cable60
Table 13: 8-Pin Digital I/O Connector of Robot60
Connecting Tool End Digital Output61
Table 14: 5-Pin Analog I/O Connector of Cable61
Table 15: 5-Pin Analog I/O Connector of Robot61
Figure 55: Connecting Tool End Digital Output61
Connecting Tool End Digital Input62
Connecting Tool End Analog Input62
Table 16: Analog Input Range62
Figure 56: Connecting Tool End Digital Input62
Figure 57: Connecting Tool End Analog Input62
Control Box Interfaces63
Figure 58: Front View of the Control Box63
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series63
Figure 60: Interfaces of the TM12M / TM14M Series64
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series64
Control Box Power Interface and Robot Interface65
Control Box Power Interface65
Figure 62: Control Box Power Interfaces65
Robot Interface66
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications66
Table 18: TM12M / TM14M Series Electrical Specifications66
Figure 63: Robot Interface66
SEMI Emergency off Interfaces (SEMI Series Exclusive)67
TM12M SEMI / TM14M SEMI Series67
Detachable I/O Panel67
Figure 64: the TM12M SEMI / TM14M SEMI SEMI Emergency off Interface67
Figure 65: Detachable I/O Panel68
Unboxing & Installation69
Overview69
Inspecting the Equipment69
Before Unpacking69
Upon Unpacking69
Unboxing70
Carton Types70
Contents of each Carton70
Figure 66: Robot Arm Carton70
Figure 67: Control Box Carton70
Table 19: the Robot Arm Carton Contents71
Installing Your Robot73
Table 20: the Control Box Carton Contents73
Table 21: the SEMI Emergency off Switch Carton Contents73
Remove the Control Box74
Figure 68: Moving the Control Box (1/2)74
Verification before Removal of the Robot Arm75
Removal of the Robot Arm and Tightening75
Figure 69: Moving the Control Box (2/2)75
Figure 70: Moving the Robot Arm (1/2)76
Figure 71: Moving the Robot Arm (2/2)76
Connect the Robot and the Control Box77
Maintenance and Repair78
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines78
Appendix A. Technical Specifications80
Table 23: Technical Specifications80

Brand	Omron
Model	TM Robot TM12 Series
Category	Robotics
Language	English

Omron TM Robot TM12 Series - User Manual

Table of Contents

Omron TM Robot TM12 Series Specifications

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