Techman Robot TM Palletizing Operator - Page 7

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 7
4.6 Safety Input/Output ..................................................................................................................................... 63
4.6.1 Safety Input ......................................................................................................................................... 64
4.6.2 Safety Output ...................................................................................................................................... 65
4.7 Safety Controller (G9SP-N20S) I/O Configuration ...................................................................................... 66
4.8 Safety Controller (SF-C21) I/O Configuration ............................................................................................. 68
4.9 Power Terminal ............................................................................................................................................ 69
4.10 External I/O (CP1W-20EDT) and Reset Button Setting .............................................................................. 70
4.11 Light Indications .......................................................................................................................................... 71
5 Unpacking, Installation and Transportation .............................................................................................................. 72
5.1 Unpacking Procedures ................................................................................................................................ 72
5.1.1 Unpacking the Control Box ................................................................................................................. 72
5.1.2 Unpacking the Robot ........................................................................................................................... 72
5.1.3 Unpacking the Palletizing Operator ..................................................................................................... 72
5.2 Assembling TM Palletizing Operator ........................................................................................................... 73
5.2.1 Removing the Rear Housing ............................................................................................................... 73
5.2.2 Installing TM Robot ............................................................................................................................. 75
5.2.3 Installing the Control Box .................................................................................................................... 77
5.2.4 Installing the Rear Housing ................................................................................................................. 82
5.2.5 Installing Adjustable Flexible Gripper .................................................................................................. 84
5.2.5.1 Changing Gripper Flange Position .................................................................................................. 85
5.2.5.2 Installing the Gripper onto the Robot (for centered position) .......................................................... 87
5.2.5.3 Installing the Gripper onto the Robot (for shifted position) ............................................................. 88
5.2.6 Installing Cable Protection Conduit ..................................................................................................... 89
5.3.1 Considerations for Connecting External Compressed Air ................................................................... 93
5.4 Installing the Reset Button .......................................................................................................................... 94
5.5 TM Palletizing Operator Transportation ...................................................................................................... 94
5.5.1 Encountering Non-Flat Surfaces ......................................................................................................... 96
5.5.2 Relocation and Storage Considerations.............................................................................................. 98
5.6 Installing Teach Pendant ............................................................................................................................. 98
5.7 Adjusting Pallet Sensor ............................................................................................................................... 99
5.8 Connecting Power Supply to TM Palletizing Operator .............................................................................. 100
5.9 Activating/Deactivating TM Palletizing Operator ....................................................................................... 102
5.10 Required Software Installation and Safety Configuration ......................................................................... 104
5.10.1 Downloading TMflow and TMstudio Software ................................................................................... 104
5.10.2 Entering TMflow Software ................................................................................................................. 104
5.10.3 Setting Teach Pendant in TMflow ...................................................................................................... 104