TM Robot Regular Payload Series

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Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version:3.1 Document Version:1.01 73

WARNING:

1. Ensure that all cables are correctly connected before the control box is energized. Always

use genuine power cables correctly.

2. When the robot is turned on, do not disconnect cables of the robot. When cables of the robot

are not connected to the connection interface, do not turn on the robot.

3. Do not extend or modify the original cables of the robot.

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 - Page 73

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