TM Robot Regular Payload Series - Table of Contents

Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01 3
Contents
Revision History Table ....................................................................................................................................................... 9
1. Product Dscription ....................................................................................................................................................... 10
1.1 Product Description ............................................................................................................................................ 10
1.2 How Can I Get Help? ......................................................................................................................................... 10
2. Safety Information ....................................................................................................................................................... 11
2.1 Overview ............................................................................................................................................................ 11
2.2 Warning and Caution Symbols .......................................................................................................................... 11
2.3 Safety Precautions ............................................................................................................................................. 11
2.4 Validation and Liability ....................................................................................................................................... 12
2.5 Limitations on Liability ........................................................................................................................................ 12
2.6 General Safety Warning ..................................................................................................................................... 12
2.7 Risk Assessment ................................................................................................................................................ 13
2.8 Emergency Stop ................................................................................................................................................ 13
2.9 Movement without Drive Power ......................................................................................................................... 13
2.10 Labels .............................................................................................................................................................. 15
3. Transportation and Storage......................................................................................................................................... 17
4. System Hardware ........................................................................................................................................................ 18
4.1 Overview ............................................................................................................................................................ 18
4.2 System Overview ............................................................................................................................................... 18
4.2.1 Robot Arm ................................................................................................................................................... 19
4.2.1.1 Dimension Drawings of Robot .............................................................................................................. 19
4.2.1.2 Robot Assembly Diagram ..................................................................................................................... 22
4.2.1.3 Range of Motion ................................................................................................................................... 26
4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram ............................................................. 30
4.2.1.5 Payload and Torque .............................................................................................................................. 32
4.2.1.6 Robot Arm Installation .......................................................................................................................... 34
4.2.2 Robot End Module....................................................................................................................................... 35
4.2.2.1 End Module Components ..................................................................................................................... 35
4.2.2.2 End Flange Surface .............................................................................................................................. 38
4.2.2.3 End Mounting Caution .......................................................................................................................... 39
4.2.2.4 End Indication Light Ring Table ............................................................................................................ 39
4.2.3 Control Box .................................................................................................................................................. 39
4.2.3.1 Robot Stick ........................................................................................................................................... 39
4.2.3.2 SEMI Emergency OFF Box .................................................................................................................. 41
4.3 Operating Position of TM Robot with AGV/AIV .................................................................................................. 42