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TM12 Series
Omron TM12 Series User Manual
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Medium & Heavy Payload Series-
Hardware Installation Manual TM12/14 Series
Hardware V
ersi
on:
3.
2
31
Figure 19
:
Robot Ha
zard Zone Diagram
and Operator P
osition Diagram
of
T
M12 / TM12
M
/ TM12
X
*All measures are in mm.
Operator Posit
ion
W
arning: Risk of crushing within
the operating area of t
he arm.
W
arning: Risk of collision within
the operating area of t
he arm.
30
32
Table of Contents
Table of Contents
3
Revision History Table
9
Product Description
10
How Can I Get Help
10
Table 1: Manual Title & Description
10
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
Transportation and Storage
17
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 TM12 / TM12M
19
Figure 6: Dimension of TM14 / TM14M
20
Figure 7: Dimension of TM12X
21
Robot Assembly Diagram
22
Figure 8: Dimension of TM14X
22
Figure 9: Assembly of TM12 / TM12M
23
Figure 10: Assembly of TM14 / TM14M
24
Figure 11: Assembly of TM12X
25
Figure 12: Assembly of TM14X
26
Range of Motion
27
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram
27
Figure 14: Pictorial View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 15: Top View of TM12 / TM12M / TM12X Movement Range Diagram
28
Figure 16: Side View of TM14 / TM14M / TM14X Movement Range Diagram
29
Figure 17: Pictorial View of TM14 / TM14M / TM14X Movement Range Diagram
29
Robot Hazard Zone Diagram and Operator Position Diagram
30
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram
30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X
31
Payload and Torque
32
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X
32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X
33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X
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 TM12 / TM12M / TM14 / TM14M End Module Components
36
Figure 26: References of TM12X / TM14X End Module Components
37
End Flange Surface
38
Figure 27: References of End Flange Surface
38
End Mounting Caution
39
End Indication Light Ring Table
39
Control Box
39
Figure 28: the Exterior and Diagram of the Control Box
39
Robot Stick
40
Figure 29: Securing the Ground Wire with Control Box
40
Figure 30: Robot Stick
40
Table 5: Robot Stick Basic Functions
41
Table 6: Robot Stick Advanced Functions
41
Robot Light Module
42
Light Module Surface
42
Install Light Module
42
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module
42
Figure 31: Light Module Surface
42
Table 8: Electrical Specification of the Light Module
43
Figure 32: Calculation the Torque Load of the Light Module
43
Figure 33: Electrical Polarity of Fill Light Cable
43
Operating Position of TM Robot with AGV/AIV
44
Working Distance and Field of View of TM Robot's EIH Camera
44
Figure 34: Top View of TM Robot Placed on the AGV/AIV
44
Table 9: the Relation between the Working Distance and the Field of View
45
Figure 35: Working Distance and Field of View of TM Robot's EIH Camera
45
Electrical Interface
46
Overview
46
Electrical Warnings and Cautions
46
Control Box
46
Figure 36: Control Box I/O Configuration (1/2)
46
Table 10: Definitions of Safety Connectors
47
Figure 37: Control Box I/O Configuration (2/2)
47
Safety Connector
48
Safety Input Connector
48
Figure 38: 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
Safety Output Connector
50
Figure 41: the Wiring Diagram Example of PNP Output Type Safety Device
50
Figure 42: Safety Output Connector
51
Figure 43: Safety Output Connector Wiring Diagram
51
Power Connector
52
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
Analog in
56
Figure 50: Set to Source Output Type
56
Figure 51: Analog in
56
Analog out
57
System Remote Power ON/OFF
57
Table 11: Analog in & Analog out
57
Figure 52: Analog out
57
Figure 53: System Remote Power ON/OFF
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 TM12 / TM14 / TM12X / TM14X Series
62
Figure 60: Interfaces of the TM12M / TM14M Series
63
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series
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: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications
65
Table 18: TM12M / TM14M Series Electrical Specifications
65
Figure 63: Robot Interface
65
SEMI Emergency off Interfaces (SEMI Series Exclusive)
66
TM12M SEMI / TM14M SEMI Series
66
Detachable I/O Panel
66
Figure 64: the TM12M SEMI / TM14M SEMI
66
Figure 65: Detachable I/O Panel
67
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
Installing Your Robot
72
Table 20: the Control Box Carton Contents
72
Table 21: the SEMI Emergency off Switch Carton Contents
72
Remove the Control Box
73
Figure 68: Moving the Control Box (1/2)
73
Verification before Removal of the Robot Arm
74
Removal of the Robot Arm and Tightening
74
Figure 69: Moving the Control Box (2/2)
74
Figure 70: Moving the Robot Arm (1/2)
75
Figure 71: Moving the Robot Arm (2/2)
75
Connect the Robot and the Control Box
76
Maintenance and Repair
77
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines
77
Appendix A. Technical Specifications
79
Table 23: Technical Specifications
79
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Omron TM12 Series Specifications
General
Brand
Omron
Model
TM12 Series
Category
Robotics
Language
English
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