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Omron S Series User Manual
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Omron TM Collaborative R
obot S Series: T
M12S and TM14S Hardware Installati
on Manual
60
The following figure s
hows how to connect the to
ol end
Analog
input:
(Because
AIN
_GND is connected to grou
nd, when
AIN is a dead contact, a pres
sure difference will
occur
,
which is a normal phenom
enon.)
Figure
53
: Con
necting T
ool End
Analog Input
60
62
Table of Contents
Table of Contents
6
Revision History Table
11
Product Description
12
How Can I Get Help
12
Disposal and Environment
12
Safety Information
12
Table 1: Manual Title & Description
12
Overview
13
Warning and Caution Symbols
13
Safety Precautions
13
Table 2: Danger, Warning, and Caution Symbols
13
Validation and Liability
14
Limitations on Liability
14
Statement of Responsibilities for Cyersecurity Threats
14
General Safety Waning
15
Risk Assessment
16
Emergency Stop
16
Joint Movement Without Drive Power
16
Labels
17
Figure 1: Pin Position for Brake Releasing
17
Table 3: Denotation of Labels
18
Figure 2: Locations of Labels
18
Transportation and Storage
19
System Hardware
20
Overview
20
System Overview
20
Robot Arm
20
Dimension Drawings of Robot
20
Figure 3: System Overview
20
Figure 4: Dimension of TM12S / TM12S-M
21
Figure 5: Dimension of TM14S / TM14S-M
22
Figure 6: Dimension of TM12S-X
23
Robot Assembly Diagram
24
Figure 7: Dimension of TM14S-X
24
Range of Motion
25
Figure 8: Side View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
26
Figure 9: Pictorial View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
27
Figure 10: Top View of TM12S / TM12S-M / TM12S-X Movement Range Diagram
27
Figure 11: Side View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
28
Figure 12: Pictorial View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
29
Figure 13: Top View of TM14S / TM14S-M / TM14S-X Movement Range Diagram
29
Payload and Torque
30
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM12S / TM12S-M / TM12S-X
30
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM14S / TM14S-M / TM14S-X
30
Robot Arm Installation
31
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM12S and TM14S Robot Series
31
Figure 16: Bottom View of Robot Base (TM12S / TM14S Series)
32
Figure 17: Grounding Position for the Robot
32
Robot End Module
33
End Module Components
33
Figure 18: References of TM12S / TM12S-M / TM14S / TM14S-M End Module Components
33
Flange Surface of the Robot End
34
Figure 19: References Juof TM12S-X / TM14S-X End Module Components
34
Figure 20: References of the Flange Surface of the Robot End
35
End Mounting Caution
36
End Indication Light Ring Table
36
Control Box
36
Figure 21: the Exterior and Diagram of the Control Box
37
Figure 22: Securing the Ground Wire with Control Box
37
Robot Stick
38
Figure 23: Robot Stick (Front)
38
Figure 24: Robot Stick (Back)
38
Figure 25: Operation of the Enabling Switch
39
TM Screen (Optional)
40
Table 5: Robot Stick Basic Functions
40
Table 6: Robot Stick Advanced Functions
40
Figure 26: TM Teach pendant (Consisting of the TM Screen and Robot Stick)
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Figure 27: Light Module Surface
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
43
Figure 28: Calculation the Torque Load of the Light Module
43
Operating Position of TM Robot with AGV/AIV
44
Table 8: Electrical Specification of the Light Module
44
Figure 29: Electrical Polarity of Fill Light Cable
44
Working Distance and Field of View of TM Robot's EIH Camera
45
Figure 30: Top View of TM Robot Placed on the AGV/AIV
45
Figure 31: 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
46
Electrical Interface
47
Overview
47
Electrical Warnings and Cautions
47
Control Box
47
Figure 32: Control Box I/O Configuration (1/2)
47
Safety Connector
48
Safety Input Connector
48
Figure 33: Safety Input Connector
48
Figure 34: the Wiring Diagram Example of Switch Type Safety Device
49
Figure 35: the Wiring Diagram Example of PNP Output Type Safety Device
49
Safety Output Connector
50
Figure 36: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 37: Safety Output Connector
50
Power Connector
51
Figure 38: Safety Output Connector Wiring Diagram
51
Digital In/Out
52
Digital Input
52
Figure 39: Power Connector
52
Figure 40: Digital Input
52
Figure 41: Set to Sink Input Type
53
Figure 42: Set to Source Input Type
53
Digital Output
54
Figure 43: Digital Output
54
Analog In/Out
55
Figure 44: Set to Sink Output Type
55
Figure 45: Set to Source Output Type
55
System Remote Power ON/OFF
56
Table 10: Analog in & Analog out
56
Figure 46: Analog in
56
Figure 47: Analog out
56
AUTO MODE Play Confirm Port
57
Ethercat: for Ethercat Slave I/O Expansion
57
Figure 48: System Remote Power ON/OFF
57
Figure 49: AUTO MODE Play Confirm Port
57
USB Port
58
COM Port
58
Tool End I/O Interface
58
I/O Terminals
58
Figure 50: Ethercat
58
Table 11: 8-Pin Digital I/O Connectors of Cable
59
Connecting Tool End Digital Output
60
Connecting Tool End Digital Input
60
Connecting Tool End Analog Input
60
Table 12: 8-Pin Digital I/O Connector of Robot
60
Table 13: Analog Input Range
60
Figure 51: Connecting Tool End Digital Output
60
Figure 52: Connecting Tool End Digital Input
60
Figure 53: Connecting Tool End Analog Input
61
Control Box Interfaces
62
Figure 54: Front View of the Control Box (AC)
62
Figure 55: Front View of the Control Box (DC)
62
Figure 56: Side View of the Control Box (DC)
62
Figure 57: Front View of the Control Box (DC SEMI)
63
Figure 58: Side View of the Control Box (DC SEMI)
63
Control Box Power Interface and Robot Interface
64
Control Box Power Interface
64
Figure 59: Interfaces of the TM12S / TM14S / TM12S-X / TM14S-X Series
64
Figure 60: Interfaces of the TM12S-M / TM12S-M SEMI / TM14S-M / TM14S-M SEMI Series
64
Table 14: TM12S / TM14S / TM12S-X / TM14S-X Series Electrical Specifications
65
Figure 61: Control Box Power Interfaces
65
Robot Interface
66
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
Table 15: TM12S-M / TM14S-M Series Electrical Specifications
66
Figure 62: Robot Interface
66
TM12S-M SEMI / TM14S-M SEMI Series
67
Figure 63: the TM12S-M SEMI / TM14S-M SEMI Emergency off Interface
67
Unboxing & Installation
68
Overview
68
Inspecting the Equipment
68
Before Unpacking
68
Upon Unpacking
68
Unboxing
69
Carton Types
69
Figure 64: Robot Arm Carton
69
Figure 65: Control Box Carton (AC)
69
Contents of each Carton
70
Table 16: the Robot Arm Carton Contents
70
Figure 66: Control Box Carton (DC and DC SEMI)
70
Table 17: the Control Box Carton Contents
72
Installing Your Robot
73
Remove the Control Box
73
Table 18: the SEMI Emergency off Switch Carton Contents
73
Verification before Removal of the Robot Arm
74
Figure 67: Moving the Control Box (1/2)
74
Figure 68: Moving the Control Box (2/2)
74
Removal of the Robot Arm and Tightening
75
Figure 69: Moving the Robot Arm (1/2)
75
Figure 70: Moving the Robot Arm (2/2)
75
Connect the Robot and the Control Box
76
Figure 71: Connecting the Robot and the Control Box
76
Mounting Direction
77
Maintenance and Repair
78
Table 19: Summary of the Preventive Maintenance Procedures and Guidelines
78
Figure 72: Air Filter Tray (the Circled Parts)
80
Appendix A. Technical Specifications
81
Table 20: Technical Specifications
81
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Omron S Series Specifications
General
Brand
Omron
Model
S Series
Category
Robotics
Language
English
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