Omron TM12 Series - Page 4

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 4
4.2.4.2 Install Light Module ............................................................................................................................... 42
4.3 Operating Position of TM Robot with AGV/AIV .................................................................................................. 44
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 ......................................................................................................................................... 48
5.3.1.1 Safety Input Connector ......................................................................................................................... 48
5.3.1.2 Safety Output Connector ...................................................................................................................... 50
5.3.2 Power Connector ......................................................................................................................................... 52
5.3.3 Digital In/Out ................................................................................................................................................ 52
5.3.3.1 Digital Input ........................................................................................................................................... 52
5.3.3.2 Digital Output ........................................................................................................................................ 54
5.3.4 Analog In ..................................................................................................................................................... 56
5.3.5 Analog Out ................................................................................................................................................... 57
5.3.6 System Remote Power ON/OFF ................................................................................................................. 57
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................................... 58
5.3.8 USB Port ..................................................................................................................................................... 58
5.4 Tool End I/O Interface ........................................................................................................................................ 58
5.4.1 I/O Terminals ............................................................................................................................................... 58
5.4.2 Connecting Tool End Digital Output ............................................................................................................ 60
5.4.3 Connecting Tool End Digital Input ............................................................................................................... 61
5.4.4 Connecting Tool End Analog Input .............................................................................................................. 61
5.5 Control Box Interfaces ....................................................................................................................................... 62
5.6 Control Box Power Interface and Robot Interface ............................................................................................. 64
5.6.1 Control Box Power Interface ....................................................................................................................... 64
5.6.2 Robot Interface ............................................................................................................................................ 65
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) ........................................................................... 66
5.6.3.1 TM12M SEMI / TM14M SEMI Series ................................................................................................... 66
5.6.4 Detachable I/O Panel .................................................................................................................................. 66
6. Unboxing & Installation ............................................................................................................................................... 68
6.1 Overview ............................................................................................................................................................ 68
6.2 Inspecting the Equipment .................................................................................................................................. 68
6.2.1 Before Unpacking ........................................................................................................................................ 68
6.2.2 Upon Unpacking .......................................................................................................................................... 68