Techman Robot TM5 Series - Default Chapter; Table of Contents

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I Hardware Installation Manual
I Hardware Installation Manual ...................................................................................................................... i
1. Safety Information .................................................................................................................................... 1
1.1 Overview ......................................................................................................................................... 1
1.2 Validation and Liability ..................................................................................................................... 1
1.3 Limitations on Liability...................................................................................................................... 1
1.4 Warning and Caution Symbols......................................................................................................... 2
1.5 General Safety Warning................................................................................................................... 3
1.6 Scope of Use ................................................................................................................................... 5
1.7 Risk Assessment ............................................................................................................................. 6
1.8 Emergency Stop .............................................................................................................................. 6
1.9 Joint Rotation without Drive Power .................................................................................................. 7
2. Safety Functions and Interface ................................................................................................................. 8
2.1 Overview ......................................................................................................................................... 8
2.2 Safe Stop Time ................................................................................................................................ 9
2.3 Safety-related Limiting Mechanisms .............................................................................................. 10
2.4 Singularity/Singular Point ............................................................................................................... 10
2.5 Safety setting ................................................................................................................................. 14
2.5.1 Operating Position................................................................................................................... 17
2.5.2 Operating Position of TM Robot with AGV ............................................................................... 17
2.6 Operating Mode ............................................................................................................................. 18
2.6.1 Auto Mode ............................................................................................................................... 18
2.6.2 Manual Mode .......................................................................................................................... 18
2.6.2.1 Manual Control Mode ....................................................................................................... 18
2.6.2.2 Manual Trial Run Mode ..................................................................................................... 18
2.6.3 Changing the Operating Mode ................................................................................................ 19
2.7 Hold to Run ................................................................................................................................... 19
2.8 Collaborative Mode and Safety Zone Setup ................................................................................... 20
2.8.1 Collaborative Mode and Parameter Configuration ................................................................... 20
2.8.2 Collaborative Space Configuration for Safety .......................................................................... 22
3. Transportation......................................................................................................................................... 28
4. System Hardware ................................................................................................................................... 29