Name: TM Robot Omron Medium & Heavy Payload Series
Brand: TM Robot
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I678-E-02

Medium &

Heavy Payload Series

Hardware Installation Manual

Corresponding models: TM16/20 Series

Original Instruction

Table of Contents3
Revision History Table8
Product Description9
How Can I Get Help9
Disposal and Environment9
Table 1: Manual Title & Description9
Safety Information10
Overview10
Warning and Caution Symbols10
Safety Precautions10
Table 2: Danger, Warning, and Caution Symbols10
Validation and Liability11
Statement of Responsibilities for Cybersecurity Threats11
Limitations on Liability12
General Safety Warning12
Risk Assessment13
Emergency Stop13
Movement Without Drive Power13
Figure 1: Reference of Brake Solenoid by Joints14
Labels15
Table 3: Denotation of Labels15
Figure 2: Locations of Labels15
Transportation and Storage16
System Hardware17
Overview17
System Overview17
Figure 3: System Overview17
Robot Arm18
Dimension Drawings of Robot18
Figure 4: Dimension of TM16 / TM16M18
Figure 5: Dimension of TM20 / TM20M19
Figure 6: Dimension of TM16X20
Robot Assembly Diagram21
Figure 7: Dimension of TM20X21
Range of Motion22
Figure 8: References of Joints by Models22
Figure 9: Side View of TM20 / TM20M / TM20X Movement Range Diagram23
Figure 10: Pictorial View of TM20 / TM20M / TM20X Movement Range Diagram24
Figure 11: Top View of TM20 / TM20M / TM20X Movement Range Diagram24
Figure 12: Side View of TM16 / TM16M / TM16X Movement Range Diagram25
Figure 13: Pictorial View of TM16 / TM16M / TM16X Movement Range Diagram25
Robot Hazard Zone Diagram and Operator Position Diagram26
Figure 14: Top View of TM16 / TM16M / TM16X Movement Range Diagram26
Figure 15: the Definition of R26
Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM20 / TM20M / TM20X27
Payload and Torque28
Figure 17: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M / TM16X28
Figure 18: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M / TM16X29
Figure 19: Relationship between Payload and the Center of Gravity Offset in TM20 / TM20M / TM20X29
Robot Arm Installation30
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series30
Figure 20: Bottom View of Robot Base31
Figure 21: Securing the Ground Wire with the Robot31
Robot End Module32
End Module Components32
Figure 22: References of TM16 / TM16M End Module Components32
Figure 23: References of TM20 / TM20M End Module Components33
Figure 24: References of TM16X End Module Components34
Figure 25: References of TM20X End Module Components35
End Flange Surface36
Figure 26: References of End Flange Surface36
End Mounting Caution37
End Indication Light Ring Table37
Control Box37
Figure 27: the Exterior and Diagram of the Control Box37
Robot Stick38
Figure 28: Securing the Ground Wire with Control Box38
Figure 29: Robot Stick38
Table 5: Robot Stick Basic Functions39
Table 6: Robot Stick Advanced Functions39
Robot Light Module40
Light Module Surface40
Install Light Module40
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module40
Figure 30: Light Module Surface40
Table 8: Electrical Specification of the Light Module41
Figure 31: Calculation the Torque Load of the Light Module41
Operating Position of TM Robot with AGV/AIV42
Figure 32: Electrical Polarity of Fill Light Cable42
Working Distance and Field of View of TM Robot's EIH Camera43
Figure 33: Top View of TM Robot Placed on the AGV/AIV43
Table 9: the Relation between the Working Distance and the Field of View44
Figure 34: Working Distance and Field of View of TM Robot's EIH Camera44
Electrical Interface45
Overview45
Electrical Warnings and Cautions45
Control Box45
Figure 35: Control Box I/O Configuration (1/2)45
Table 10: Definitions of Safety Connectors46
Figure 36: Control Box I/O Configuration (2/2)46
Safety Connector47
Safety Input Connector47
Figure 37: Safety Input Connector47
Figure 38: the Wiring Diagram Example of Switch Type Safety Device48
Figure 39: the Wiring Diagram Example of PNP Output Type Safety Device48
Safety Output Connector49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device49
Figure 41: Safety Output Connector50
Figure 42: Safety Output Connector Wiring Diagram50
Power Connector51
Digital In/Out51
Digital Input51
Figure 43: Power Connector51
Figure 44: Digital Input52
Figure 45: Set to Sink Input Type52
Digital Output53
Figure 46: Set to Source Input Type53
Figure 47: Digital Output53
Figure 48: Set to Sink Output Type54
Analog in55
Analog out55
Figure 49: Set to Source Output Type55
Figure 50: Analog in55
System Remote Power ON/OFF56
Ethercat: for Ethercat Slave I/O Expansion56
Table 11: Analog in & Analog out56
Figure 51: Analog out56
Figure 52: System Remote Power ON/OFF56
USB Port57
Tool End I/O Interface57
I/O Terminals57
Figure 53: Ethercat57
Table 12: 8-Pin Digital I/O Connectors of Cable58
Table 13: 8-Pin Digital I/O Connector of Robot58
Connecting Tool End Digital Output59
Table 14: 5-Pin Analog I/O Connector of Cable59
Table 15: 5-Pin Analog I/O Connector of Robot59
Figure 54: Connecting Tool End Digital Output59
Connecting Tool End Digital Input60
Connecting Tool End Analog Input60
Table 16: Analog Input Range60
Figure 55: Connecting Tool End Digital Input60
Figure 56: Connecting Tool End Analog Input60
Control Box Interfaces61
Figure 57: Front View of the Control Box61
Figure 58: Interfaces of the TM16 / TM20 / TM16X / TM20X Series61
Figure 59: Interfaces of the TM16M / TM20M Series62
Figure 60: Interfaces of the TM16M SEMI / TM20M SEMI Series62
Control Box Power Interface and Robot Interface63
Control Box Power Interface63
Figure 61: Control Box Power Interfaces63
Robot Interface64
Table 17: TM20 / TM16 / TM16X / TM20X Series Electrical Specifications64
Table 18: TM16M Series Electrical Specifications64
Table 19: TM20M Series Electrical Specifications64
SEMI Emergency off Interfaces (SEMI Series Exclusive)65
TM16M SEMI / TM20M SEMI Series65
Figure 62: Robot Interface65
Figure 63: the TM16M SEMI / TM20M SEMI SEMI Emergency off Interface65
Detachable I/O Panel66
Figure 64: Detachable I/O Panel66
Unboxing & Installation67
Overview67
Inspecting the Equipment67
Before Unpacking67
Upon Unpacking67
Unboxing68
Carton Types68
Contents of each Carton68
Figure 65: Robot Arm Carton68
Figure 66: Control Box Carton68
Table 20: the Robot Arm Carton Contents69
Installing Your Robot71
Table 21: the Control Box Carton Contents71
Table 22: the SEMI Emergency off Switch Carton Contents71
Remove the Control Box72
Figure 67: Moving the Control Box (1/2)72
Verification before Removal of the Robot Arm73
Removal of the Robot Arm and Tightening73
Figure 68: Moving the Control Box (2/2)73
Figure 69: Moving the Robot Arm (1/2)74
Figure 70: Moving the Robot Arm (2/2)74
Connect the Robot and the Control Box75
Figure 71: Moving the SEMI Emergency off Box75
Figure 72: Connecting the Robot and the Control Box75
Maintenance and Repair76
Table 23: Summary of the Preventive Maintenance Procedures and Guidelines76
Figure 73: Air Filter Tray77
Appendix A. Technical Specifications78

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TM Robot Omron Medium & Heavy Payload Series Specifications

General

Brand	TM Robot
Model	Omron Medium & Heavy Payload Series
Category	Robotics
Language	English

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