TM Robot Regular Payload Series - Robot End Module; End Module Components; Figure 23: Bottom View of Robot Base

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Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01 35

Figure 23: Bottom View of Robot Base

4.2.2 Robot End Module

4.2.2.1 End Module Components

Main Page

Table of Contents3
Revision History Table9
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.019
Product Dscription10
Product Description10
How Can I Get Help10
Table 1: Manual Title & Description10
Safety Information11
Overview11
Warning and Caution Symbols11
Safety Precautions11
Table 2: Warning and Caution Symbols11
Validation and Liability12
Limitations on Liability12
General Safety Warning12
Risk Assessment13
Emergency Stop13
Movement Without Drive Power13
Figure 1: References of Joints by Models14
Labels15
Figure 2: Reference of Brake Solenoid by Joints15
Table 3: Denotation of Labels16
Figure 3: Locations of Labels16
Transportation and Storage17
System Hardware18
Overview18
System Overview18
Figure 4: System Overview18
Robot Arm19
Dimension Drawings of Robot19
Figure 5: Dimension of TM5-700 / TM5M-70019
Figure 6: Dimension of TM5-900 / TM5M-90020
Figure 7: Dimension of TM5X-70021
Robot Assembly Diagram22
Figure 8: Dimension of TM5X-90022
Figure 9: Assembly of TM5-700 / TM5M-70023
Figure 10: Assembly of TM5-900 / TM5M-90024
Figure 11: Assembly of TM5X-70025
Range of Motion26
Figure 12: Assembly of TM5X-90026
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram27
Figure 14: Pictorial View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram28
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range28
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram29
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range29
Robot Hazard Zone Diagram and Operator Position Diagram30
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-70031
Payload and Torque32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-900 / TM5M-900 / TM5X-90032
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-70033
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-90033
Robot Arm Installation34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series34
Robot End Module35
End Module Components35
Figure 23: Bottom View of Robot Base35
Figure 24: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components36
Tm5X-70037
Figure 25: References of TM5X-700 / TM5X-900 End Module Components37
End Flange Surface38
Figure 26: References of End Flange Surface38
End Mounting Caution39
End Indication Light Ring Table39
Control Box39
Robot Stick39
Figure 27: the Exterior and Diagram of the Control Box39
Table 5: Robot Stick Basic Functions40
Figure 28: Robot Stick40
SEMI Emergency off Box41
Table 6: Robot Stick Advanced Functions41
Figure 29: the Exterior and Diagram of the SEMI Emergency off Box41
Operating Position of TM Robot with AGV/AIV42
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.0142
Working Distance and Field of View of TM Robot's EIH Camera42
Figure 30: Top View of TM Robot Placed on the AGV/AIV42
Table 7: the Relation between the Working Distance and the Field of View43
Figure 31: Working Distance and Field of View of TM Robot's EIH Camera43
Electrical Interface44
Overview44
Electrical Warnings and Cautions44
Control Box44
Figure 32: Control Box I/O Configuration (1/2)44
Safety Connector45
Figure 33: Control Box I/O Configuration (2/2)45
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.0145
Figure 34: Safety Connector45
Figure 35: the Wiring Diagram Example of Switch Type Safety Device46
Power Connector47
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device47
Digital In/Out48
Digital Input48
Figure 37: Power Connector48
Figure 38: Digital Input48
Figure 39: Set to Sink Input Type49
Digital Output50
Figure 40: Set to Source Input Type50
Figure 41: Digital Output50
Figure 42: Set to Sink Output Type51
Analog in52
Figure 43: Set to Source Output Type52
Analog out53
System Remote Power ON/OFF53
Figure 44: Analog in53
Figure 45: Analog out53
Ethercat: for Ethercat Slave I/O Expansion54
USB Port54
Tool End I/O Interface54
I/O Terminals54
Figure 46: System Remote Power ON/OFF54
Table 8: 8-Pin Digital I/O Connectors of Cable55
Table 9: 8-Pin Digital I/O Connector of Robot55
Connecting Tool End Digital Output56
Table 10: 5-Pin Analog I/O Connector of Cable56
Table 11: 5-Pin Analog I/O Connector of Robot56
Figure 47: Connecting Tool End Digital Output56
Connecting Tool End Digital Input57
Connecting Tool End Analog Input57
Figure 48: Connecting Tool End Digital Input57
Figure 49: Connecting Tool End Analog Input57
Control Box Interfaces58
Figure 50: Front View of the Control Box58
Figure 51: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series58
Figure 52: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series59
Figure 53: Interfaces of the TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI59
SEMI Emergency off Box Interfaces (TM5-700 SEMI and TM5-900 SEMI Exclusive)60
Control Box Power Interface and Robot Interface60
Control Box Power Interface60
Figure 54: Interfaces of the SEMI Emergency off Box60
Figure 55: Control Box Power Interfaces60
Robot Interface61
Table 12: TM5-700 / TM5-900 / TM5X-700 / TM5X-900 Electrical Specifications61
Table 13: TM5M-700/ TM5M-900 Series Electrical Specifications61
Figure 56: Robot Interface62
SEMI Emergency off Interfaces (SEMI Series Exclusive)63
TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI Series63
The SEMI Emergency off Box63
Figure 58: the SEMI Emergency off Box SEMI Emergency off Interface63
Unboxing & Installation64
Overview64
Inspecting the Equipment64
Before Unpacking64
Upon Unpacking64
Unboxing65
Carton Types65
Contents of each Carton65
Figure 59: Robot Arm Carton65
Figure 60: SEMI Emergency off Switch Carton65
Figure 61: Control Box Carton65
Figure 62: SEMI Emergency off Box Carton65
Table 14: the Robot Arm Carton Contents66
Table 15: the Control Box Carton Contents67
Installing Your Robot68
Table 16: the SEMI Emergency off Switch Carton Contents68
Table 17: the SEMI Emergency off Box Carton Contents68
Remove the Control Box69
Figure 63: Moving the Control Box (1/2)69
Verification before Removal of the Robot Arm70
Removal of the Robot Arm and Tightening70
Figure 64: Moving the Control Box (2/2)70
Figure 65: Moving the Robot Arm (1/2)71
Figure 66: Moving the Robot Arm (2/2)71
Connect the Robot and the Control Box72
Connect the Robot, the Control Box, and the SEMI Emergency off Box72
Figure 67: Connecting the Robot and the Control Box72
Maintenance and Repair74
Table 18: Summary of the Preventive Maintenance Procedures and Guidelines74
Warranty Statement75
Product Warranty75
Disclaimer75
Certificates76
Appendix A. Technical Specifications80
Table 19: Technical Specifications80
Tm5X-90080
Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.0181

TM Robot Regular Payload Series - Robot End Module; End Module Components; Figure 23: Bottom View of Robot Base

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