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Regular Payload
Omron Regular Payload User Manual
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Regular Payload Series
-
Hardware
Installation Manual
TM5 Series
Hardware V
ers
io
n:
3.
2
55
S
et
t
o sink
output t
ype
Connect D
O_COM
term
inal to th
e m
inus side of
the po
wer s
upply
.
Figure 49
:
Set to
Sink
Output T
ype
S
et
t
o
sourc
e outp
ut t
ype
Connect D
O_COM
term
inal to th
e plus s
ide of the
power
suppl
y
.
54
56
Table of Contents
Default Chapter
3
Table of Contents
3
Revision History Table
9
1 Product Dscription
10
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
2 Safety Information
11
Overview
11
Warning and Caution Symbols
11
Safety Precautions
11
Table 2: Danger, Warning, and Caution Symbols
11
Validation and Liability
12
Limitations on Liability
12
General Safety Warning
12
Risk Assessment
13
Emergency Stop
13
Movement Without Drive Power
13
Figure 1: References of Joints by Models
14
Labels
15
Figure 2: Reference of Brake Solenoid by Joints
15
Table 3: Denotation of Labels
16
Figure 3: Locations of Labels
16
3 Transportation and Storage
17
4 System Hardware
18
Overview
18
System Overview
18
Figure 4: System Overview
18
Robot Arm
19
Dimension Drawings of Robot
19
Figure 5: Dimension of TM5-700 / TM5M-700
19
Figure 6: Dimension of TM5-900 / TM5M-900
20
Figure 7: Dimension of TM5X-700
21
Figure 8: Dimension of TM5X-900
22
Robot Assembly Diagram
22
Figure 9: Assembly of TM5-700 / TM5M-700
23
Figure 10: Assembly of TM5-900 / TM5M-900
24
Figure 11: Assembly of TM5X-700
25
Figure 12: Assembly of TM5X-900
26
Range of Motion
26
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
27
Figure 14: Pictorial View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
28
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range
28
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram
29
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range
29
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range
30
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700
31
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-900 / TM5M-900 / TM5X-900
32
Payload and Torque
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM5-700 / TM5M-700
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM5-900 / TM5M-900
33
Robot Arm Installation
34
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series
34
Robot End Module
35
End Module Components
35
Figure 23: Bottom View of Robot Base
35
Figure 24: Securing the Ground Wire with the Robot
35
Figure 25: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components
36
Tm5X-700
37
Figure 26: References of TM5X-700 / TM5X-900 End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Figure 31: Light Module Surface
42
Install Light Module
42
Light Module Surface
42
Robot Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 32: Calculation the Torque Load of the Light Module
43
Figure 33: Electrical Polarity of Fill Light Cable
43
Table 8: Electrical Specification of the Light Module
43
End Indication Light Ring Table
39
End Mounting Caution
39
Figure 34: Top View of TM Robot Placed on the AGV/AIV
44
Operating Position of TM Robot with AGV/AIV
44
Working Distance and Field of View of TM Robot's EIH Camera
44
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera
45
Table 9: the Relation between the Working Distance and the Field of View
45
5 Electrical Interface
46
Overview
46
Electrical Warnings and Cautions
46
Control Box
46
Figure 36: Control Box I/O Configuration (1/2)
46
Figure 37: Control Box I/O Configuration (2/2)
47
Table 10: Definitions of Safety Connectors
47
Safety Connector
48
Figure 38: Safety Input Connector
48
Safety Input Connector
48
Figure 39: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 40: the Wiring Diagram Example of PNP Output Type Safety Device
49
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Safety Output Connector
50
Figure 42: Safety Output Connector
51
Figure 43: Safety Output Connector Wiring Diagram
51
Digital In/Out
52
Digital Input
52
Figure 44: Power Connector
52
Figure 45: Digital Input
53
Figure 46: Set to Sink Input Type
53
Digital Output
54
Figure 47: Set to Source Input Type
54
Figure 48: Digital Output
54
Figure 49: Set to Sink Output Type
55
Power Connector
52
Analog in
56
Figure 50: Set to Source Output Type
56
Figure 51: Analog in
56
Analog out
57
Figure 52: Analog out
57
Figure 53: System Remote Power ON/OFF
57
System Remote Power ON/OFF
57
Table 11: Analog in & Analog out
57
Ethercat: for Ethercat Slave I/O Expansion
58
USB Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 54: Ethercat
58
Table 12: 8-Pin Digital I/O Connectors of Cable
59
Table 13: 8-Pin Digital I/O Connector of Robot
59
Connecting Tool End Digital Output
60
Table 14: 5-Pin Analog I/O Connector of Cable
60
Table 15: 5-Pin Analog I/O Connector of Robot
60
Figure 55: Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
61
Connecting Tool End Analog Input
61
Table 16: Analog Input Range
61
Figure 56: Connecting Tool End Digital Input
61
Figure 57: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 58: Front View of the Control Box
62
Figure 59: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series
62
Figure 60: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series
63
Figure 61: Interfaces of the TM5M-700 SEMI / TM5M-900 Semiseries
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 62: Control Box Power Interfaces
64
Robot Interface
65
Table 17: TM5-700 / TM5-900 / TM5X-700 / TM5X-900 Electrical Specifications
65
Table 18: TM5M-700/ TM5M-900 Series Electrical Specifications
65
Figure 63: Robot Interface
65
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
TM5M-700 SEMI / TM5M-900 SEMI Series
66
Detachable I/O Panel
66
Figure 64: the TM5M-700 SEMI / TM5M-900 SEMI
66
Figure 65: Detachable I/O Panel
67
6 Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Contents of each Carton
69
Figure 66: Robot Arm Carton
69
Figure 67: Control Box Carton
69
Table 19: the Robot Arm Carton Contents
70
Table 20: the Control Box Carton Contents
71
Installing Your Robot
72
Remove the Control Box
72
Table 21: the SEMI Emergency off Switch Carton Contents
72
Verification before Removal of the Robot Arm
73
Figure 68: Moving the Control Box (1/2)
73
Figure 69: Moving the Control Box (2/2)
73
Removal of the Robot Arm and Tightening
74
Figure 70: Moving the Robot Arm (1/2)
74
Figure 71: Moving the Robot Arm (2/2)
74
Connect the Robot and the Control Box
75
Figure 72: Connecting the Robot and the Control Box
75
7 Maintenance and Repair
76
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
76
Figure 73: Air Filter Tray
77
Appendix A. Technical Specifications
78
Table 23: Technical Specifications
78
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Omron Regular Payload Specifications
General
Brand
Omron
Model
Regular Payload
Category
Robotics
Language
English
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