Techman Robot TM5 Series Manual Book Download

Page: 1 / 70

Hardware Version: 1.00

Software Version: 1.66

Summary of Contents for TM5 Series

Page 1: ...Hardware Version 1 00 Software Version 1 66 ...

Page 2: ...orization from the Corporation No information contained herein shall be considered an offer or commitment It may be subject to change without notice This Manual should be reviewed periodically The Corporation will not be liable for any error or omission and logos are the registered trademark of TECHMAN ROBOT INC and the company reserves the ownership of this manual and its copy and its copyrights ...

Page 3: ...w 8 2 2 Safe Stop Time 9 2 3 Safety related Limiting Mechanisms 10 2 4 Singularity Singular Point 10 2 5 Safety setting 14 2 5 1 Operating Position 17 2 5 2 Operating Position of TM Robot with AGV 17 2 6 Operating Mode 18 2 6 1 Auto Mode 18 2 6 2 Manual Mode 18 2 6 2 1 Manual Control Mode 18 2 6 2 2 Manual Trial Run Mode 18 2 6 3 Changing the Operating Mode 19 2 7 Hold to Run 19 2 8 Collaborative ...

Page 4: ...trical Warnings and Cautions 44 5 3 Control Box 45 5 3 1 Safety Connector 45 5 3 2 Power Connector 47 5 3 3 Digital In Out 48 5 3 4 Analog In 50 5 3 5 Analog Out 50 5 3 6 EtherCAT For EtherCAT Slave I O Expansion 51 5 3 7 USB Port 51 5 4 Tool End I O Interface 52 5 4 1 I O Terminals 52 5 4 2 Connecting Tool End Digital Out 54 5 4 3 Connecting Tool End Digital In 54 5 4 4 Connecting Tool End Analog...

Page 5: ...iii 7 2 Disclaimer 61 Appendix A Stop Time and Distance 62 Appendix B Technical Specifications 63 ...

Page 6: ...i Hardware Installation Manual I ...

Page 7: ...hould understand the safety laws and regulations in their countries and prevent major hazards from occurring in the complete system This includes but is not limited to Risk assessment of the whole system Adding other machines and additional safety mechanisms based on the results of the risk assessment Building appropriate safety mechanisms in the software Ensuring the user will not modify any safe...

Page 8: ...ention to them when reading each paragraph and observe them to avoid personal injuries or equipment damage This symbol indicates that failure to observe these instructions will lead to death or serious injuries This symbol indicates that failure to observe these instructions may lead to injuries This symbol indicates that failure to observe these instructions may lead to equipment damage Danger Wa...

Page 9: ...en equipment and personnel due to improper parameter settings 1 Before using this product make sure that there is at least 1 or more emergency stop device on the machine to stop the movement of the robot in case of accidents Always make sure that the devices are functioning properly 2 Prior to assembly and disassembly or servicing and maintenance of this product make sure that the power is disconn...

Page 10: ...ate this product in order to prevent any possibility of personal injury or damage to the machine caused by improper operation 8 Do not install or operate this product in dangerous environments e g in the presence of a strong magnetic field dangerous gases fire or flammables to avoid dangers which may occur due to external conditions during operation 1 Personnel approaching or operating the robot s...

Page 11: ...t and the related peripherals as well as environment The risk assessment has been performed for any use or application and no hazard is found The use of the robot for any purpose other than the intended is prohibited The Corporation shall not in any event be liable for any conditions including but not limited to the following Use in a potentially hazardous environment Use in any applications that ...

Page 12: ... in the fingers being caught between the rear end of the camera module and the 5th joint module 2 The palm or fingers may get caught between the end module and the body of the robot during robot motion or Hand Guide Instruction 3 Injuries due to collision with the robot 4 Injuries due to being hit crushed or pinched between the robot and a hard surface 5 Injuries caused by loose screws which are u...

Page 13: ...ss the FREE button on the end module to release the braking device at the joint The user can move the joint by pushing it When an emergency button is pressed the robot system issues a command to stop the robot and stops supplying sufficient power to its joint actuators for an effect equivalent to disconnecting the power for the actuation of the robot In this case the braking device at each joint a...

Page 14: ...the safety related functions is triggered protection stop is activated Stop time is provided in Appendix A and this time should be considered as part of the task risk assessment The Techman Robot System limits physical values such as offset speed force or even momentum and power for the robot arm tool end and each movable axis These are monitored and protected by dozens of safety related protectio...

Page 15: ...tting must not be mistakenly used as a basis to assess the force of collision between human and machine 2 2 Safe Stop Time The safe stop time is defined as the period from the moment when the Emergency Stop button is pressed or any safety related function is triggered to the moment when the robot comes to a complete stop In this system pressing the Emergency Stop Button is a Category 1 Stop while ...

Page 16: ...e Indication Light Ring on the end of the robot will change to a solid red light and the system will signal a long beep When this happens restart the system according to standard procedure or contact the distributor for servicing Operating on the periphery of the non working area of the Techman robot or if the range of motion passes through the non working area Jacobian matrix is unstable near sin...

Page 17: ...istance between center of J1 and J6 Once robot arm close the inner singularity robot arm will stop and sent out a warning The doffset is 122 3 mm Joint coordinate system and doffset definition Extended singularity In the outer singularity the wrist root point is located at the limit of its work envelope Namely J3 is almost in zero degree Robot arm stop and send out a warning when end effector beyo...

Page 18: ...6 line up each other In this case these joints will try and spin 180 degrees instantaneously There is an infinite number of possible for J4 and J6 with identical axis angle Once situation mentioned occur robot arm will stop and send out a warning There is an infinite number of solution space when axes J4 and J6 with identical axis angle Maximum working space Extended singularity space Parallel ...

Page 19: ... user can press the FREE bottom to get rid of warning Please reconsider the position of the points or change the trajectory between the points Please avoid the robot trajectory between the points cross the inner singularity When robot trajectory passes through inner singularity it will send out a warning 2 While robot arm send out a warning because of wrist axis singularity user can press the FREE...

Page 20: ... mode Safety Stop Criteria User can modify the maximum allowable values of robot momentum power consumption TCP speed TCP force joint position joint speed and joint torque in Safety Stop page Min Max Setting of each Item Below are the maximum values of each item setting If user set the value which exceed the max value then the setting cannot be saved and a warning would be signaled ...

Page 21: ...joint move into this range the basic moving speed of the robot will be switched to 250mm sec for path motion and 5 for PTP motion to forming an angle buffer region to prevent possible overshoot to the joint limit At the same time the angle range in 271 274 and 271 274 is the 2nd buffer range for joint limit as the red area in the picture When the joint angle arrives this area robot will stop movin...

Page 22: ...or automatic reset to manually restart or automatically restart the project when the project is previously paused by safety IO triggered Collaboration mode Setting the configuration of the safety IO of TM Robot with risk evaluation user can utilize the collaboration mode to switch the project from full speed mode to collaboration mode when safety IO triggered Collaboration Mode setting Parameter c...

Page 23: ...r to Section 4 2 1 When the user sets a limit for the TM Robot he she can avoid the situation whereby all operations have to be out of the maximum motion range of the robot arm The robot stick should be placed in an area that the robot cannot reach The user should also make sure that the movement of the robot will not be within any area where personnel will enter to press any buttons on the robot ...

Page 24: ...to Manual Control mode and Manual Trial Run Mode The user can tell the difference using the status of the green Indication Light Ring on the end module as well Constant green light indicates Manual Control mode while flashing green light indicates Manual Trial Run Mode 2 6 2 1 Manual Control Mode In Manual Mode if the robot is not moving then it is in Manual Control mode Press the FREE button on t...

Page 25: ...ove functions a hold to run design was adopted by TM Robot for enhanced safety There are two types of hold to run in the TM Robot system For operations with a higher level risk the Robot Stick should be used to carry out different types of hold to run functions Type 1 is holding down the add subtract buttons on the Robot Stick to keep the robot moving Type 2 is holding down the software buttons on...

Page 26: ...ent based on the robot s operating environment and conditions before use TM Robot explicitly states that serious residual risk may exist in the following scenarios Improper configuration of safety space or running incorrect project may lead to the risk of the robot colliding with the human body at full speed When the TM Flow Compliance function is used within the safety zone the robot will run the...

Page 27: ...robot and the human body will be larger than or equal to the surface area being confirmed In this function the robot speed is calculated according to the durable force and pressure on medical reports which conform to ISO TS15066 In addition to the body parts showed in the figure other vulnerable body parts such as spine hindbrain and etc should be taking into consideration for risk assessment to a...

Page 28: ... from entering the full speed area Please note that the functions described in this chapter are only intended to provide user a clear view of the safety space setting in 3D space during teaching mode and programming Also the safety planes and spaces setup for collaboration are only intended to assist user recognizing the setup of collaboration area and full speed area The safety planes and spaces ...

Page 29: ...e the 3D simulator in the middle will display the selected attribute in a transparent blue color The user can then delete or reset the selected attribute The window for setting start reduce distance will appear after the Start Reduce Distance setting button pressed and the user can set the distance for the collaboration area and stop space separately The robot will start to reduce the motion speed...

Page 30: ...nding colored spheres will appear in the 3D simulator Once all 3 points have been set then a transparent blue virtual plane will appear Now click on the Confirm button to create the plane Please note that the virtual plane will not appear if there are common points or the points are collinear In this case clicking on Confirm will not create a plane The button functions are as shown below Add Edit ...

Page 31: ... appear if there are common points or the points are collinear In this case clicking on Confirm will not create a cube The button functions are as shown below The safety space setting is achieved by complex algorithms Under specific settings the setting result may not be as expected User is responsible for assuring the result shown in 3D figure is correct Improper configuration of safety space or ...

Page 32: ...th located in the full speed area even though the motion path passes through the collaboration area Please access the safety setting via the collapsible on the right side of the project page When preview button is pressed the 3D simulator will show the bound safety space with the chosen safety setting and binding base Edit function allows the user to modify the safety space shown in 3D simulator U...

Page 33: ...eds to be modified then click on the Edit button below Step 2 and modify it in the setting page If the modification is complete click on the Save button at the top to save and leave this page If you do not need to modify you can click on the X button at the top right corner and return to the settings page without save ...

Page 34: ...he packing materials in a dry place Hold both arms of the Techman Robot during transportation Support the arms before tightening the base screws Transport the control box by its handles Store the cables before transportation Pay attention to your posture when moving the arm and control box cartons to avoid back injury Techman Robot will not be liable for any injuries cased during transportation Wa...

Page 35: ...e 29 4 System Hardware 4 1 Overview This chapter introduces the mechanical interface of the Techman Robot System 4 2 System Overview Techman Robot is made up of the robot arm and control box including a robot stick Control Box Robot Stick Robot arm ...

Page 36: ...Motion Techman Robot s working range is a spherical space with a 700mm radius at the base for TM5 900 it is a 900mm radius Due to the limitations of configuration try to avoid moving the center of the tool to the cylindrical space below and above the base TM5 700 Series Movement Range Diagram ...

Page 37: ...I Hardware Installation Manual 4 System Hardware 31 Operator Position Warning Risk of crushing within the operating area of the arm Warning Risk of collision within the operating area of the arm ...

Page 38: ...allation Manual 4 System Hardware 32 TM5 900 Series Movement Range Diagram Operator Position Warning Risk of crushing within the operating area of the arm Warning Risk of collision within the operating area of the arm ...

Page 39: ...I Hardware Installation Manual 4 System Hardware 33 ...

Page 40: ...ayload of the robot arm is related to its center of gravity offset which is defined as the distance from the center point of tool flange to the payload s center of gravity The following figure shows the relationship between payload and the center of gravity offset TM5 700 TM5X 700 TM5M 700 TM5 900 TM5X 900 TM5M 900 ...

Page 41: ...d on the strength of the bolts used is recommended If your application requires more precision you can use two positioning pins with a diameter of 6mm for a more secure mounting 1 The Techman Robot must be securely and tightly screwed down before use The mounting surface should have sufficient strength 2 Do not immerse the Techman Robot in water Installation in the water or a humid environment may...

Page 42: ...em Hardware 36 4 2 2 Robot End Module 4 2 2 1 End Module Components TM5 TM5M Series End Module Components GRIPPER button Camera module Flange ISO 9409 1 50 4 M6 Digital I O Indication Light Analog I O FREE button VISION button POINT button ...

Page 43: ...I Hardware Installation Manual 4 System Hardware 37 TM5X Series End Module Components GRIPPER button Flange ISO 9409 1 50 4 M6 POINT button Digital I O Indication Light Analog I O FREE button ...

Page 44: ...I Hardware Installation Manual 4 System Hardware 38 Camera Digital l O Analog l O 4 2 3 End Flange Surface ...

Page 45: ...t paused in Manual Mode N A Alternating between Green Red light with buzzer 2 beeping Manual Mode Error Press the FREE button to troubleshoot the error Solid blue light Standby status in Auto Mode N A Flashing blue light Project running in Auto Mode N A Short Flashing Blue light Project paused in Auto Mode N A Alternating between Blue Red light with buzzer 2 beeping Auto Mode Error After switching...

Page 46: ...peed Space Solid green light Collaboration Space Alternating between Green 9 Purple 1 Stop Space Alternating between Green Red Project running Full speed Space Flash green light Collaboration Space Alternating between Purple Red Stop Space Alternating between Green Red Auto Mode Standby status Full speed Space Solid blue light Collaboration Space Alternating between Blue 9 Purple 1 Stop Space Alte...

Page 47: ...ack Note that 5cm clearance should be left at both sides for air flow 4 2 5 1 Robot Stick The Robot Sticks has 6 function buttons 3 indicator lights 1 emergency button and 1 QR code There functions are as follow When operating the robot stick please do not use other objects than fingers to press the control panel Note Note ...

Page 48: ...ode Indicator Lights The two lights are Manual and Auto They show the robot s current operating mode Once bootup is complete only one will always be on QR Code Label Shows the SSID of the robot s own software AP The content of the SSID is also the robot s name in TCP IP network Item Advanced Function Emergency Button Hold down before bootup to enter Safe Startup Mode Play Pause button Play pause v...

Page 49: ...be fixed with screws Do not freely place the robot stick when it is not fixed The robot stick should be placed in a way that the signal cables are routed properly to avoid damage caused by pulling 1 The control box cables power signal cables and robot stick cannot be used when any of them is in contact with liquids This may result in personal injury or death 2 The control box has an IP20 rating so...

Page 50: ...he I O cables used for the link between the control box and other equipment should not be longer than 30 meters unless testing shows that longer cables are feasible 1 Ensure all pieces of the equipment are kept dry If water enters the equipment disconnect the power and contact your supplier 2 Only use the original cables included with the robot If you need longer cables contact your supplier 3 Ens...

Page 51: ...arm is on to avoid abnormal shutdown 5 3 1 Safety Connector Provides expansion ports for Emergency Stop ESTOP Safety Stop A ESTOP is a N C contact Normally closed When ESTOP SW is OPEN the robot arm enters the Emergency STOP state B Safety A B is a N C contact Normally closed When Safety SW is OPEN the robot arm enters the Pause state Warning Front control box configuration ...

Page 52: ...Installation Manual 5 Electrical Interface 46 The factory safety settings are shown below Operations can be performed without addition of safety devices as shown below Application settings of the arm safety device ...

Page 53: ... none is available then it will switch to the internal 24V supply B The control box itself offers a 24V1 5A output 24_EX If the 24V load exceeds 1 5A it enters Safe Mode and disables the 24V output C EX24V provides an external 24V input port If the load exceeds 1 5A an external power supply can be used instead The load on EX24V must not exceed 3 5A ...

Page 54: ...llation Manual 5 Electrical Interface 48 5 3 3 Digital In Out Digital In Out have 16 Channel each it should be connected as follows A Digital Input If sensors are connected directly then they should be of the NPN type ...

Page 55: ...I Hardware Installation Manual 5 Electrical Interface 49 A Digital Output The maximum drive current is 100mA per channel If the load exceeds 100mA a relay should be used to drive it ...

Page 56: ...ion Manual 5 Electrical Interface 50 5 3 4 Analog In Analog In only supports voltage mode and detection range of 10 00 V 10 00 V 5 3 5 Analog Out Analog Out only supports voltage mode and detection range of 10 00 V 10 00 V ...

Page 57: ... be used for the import export functions of TM Flow No USB devices other than those listed above should be connected The large differences in the specifications of external storage devices on the market may interfere with high speed vision transmission while the robot is in operation so do not use your own external storage devices while the robot is running TM Robot s vision image storage function...

Page 58: ...er 8 pin digital I O connector of Cable 8 pin digital I O connector of Robot Pin Wire color Pin define 1 Brown 24v 24V output 2 Red DI_0 Digital Input0 3 Orange DI_1 Digital Input1 4 Yellow DI_2 Digital Input2 5 Green DO_0 Digital Output0 6 Blue DO_1 Digital Output1 7 Purple DO_2 Digital Output2 8 Black 0V 0v Pin Wire Color Pin Define 1 Brown 24v 24V output 2 Red DI_0 Digital intput0 3 Orange DI_1...

Page 59: ...f Cable 5 pin analog I O connector of Robot Pin Wire Color Pin Define 1 Black AI Analog Input 2 Brown RSV Reserve 3 Red RSV Reserve 4 Orange GND GND 5 Yellow GND GND Pin Wire Color Pin Define 1 Black AI Analog Input 2 Brown RSV Reserve 3 Red RSV Reserve 4 Orange GND GND 5 Yellow GND GND ...

Page 60: ...ing Tool End Digital Out The following figure shows how to connect the tool end digital output 5 4 3 Connecting Tool End Digital In The following figure shows how to connect the tool end digital input A If sensors are connected directly then they should be of the NPN type ...

Page 61: ...I Hardware Installation Manual 5 Electrical Interface 55 5 4 4 Connecting Tool End Analog In The following figure shows how to connect the tool end Analog input 5 5 Control Box Interfaces ...

Page 62: ...rdware Installation Manual 5 Electrical Interface 56 The ETHERCAT interface can only be used to connect ETHERCAT devices Improper connection may cause stopping of the robot TM5 TM5X Series TM5M Series Note ...

Page 63: ...C plug TM5M Series The power cable of the control box has Hirose HRS DF60 series connector TM5 TM5X Series TM5M Series Black 24V DC in Connector HRS DF60 3EP 10 16C Grey 48V DC in Connector HRS DF60R 3EP 10 16C The power supply should be equipped with the following devices Grounding Main fuse Residual current device RCD It is recommended to install a main switch on the equipment power supply for r...

Page 64: ...Hz Parameters 24V Minimum value Typical value Maximum value Unit Input voltage 20 32 V DC Power consumption 1000 W Parameters 48V Minimum value Typical value Maximum value Unit Input voltage 36 60 V DC Power consumption 1300 W 1 Ensure that the robot is correctly grounded electrical grounding 2 Ensure that the input current of the control box is protected by the Residual Current Device RCD and app...

Page 65: ...trol box through the interface 1 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 2 Do not extend or modify the original cables of the robot 3 The cables of the robot are only suitable for fix installation If you require a flexible installation please contact Techman Robot Warning ...

Page 66: ... Only the legal distributor or authorized service center should repair the Techman Robot The user should not repair it himself or herself When the robot finishes a job and enters maintenance or servicing status the user should record the details of each setting for the job after repairing and installing it to the work position the user must make sure that each setting satisfies the original condit...

Page 67: ...are the property of Techman Robot This warranty does not cover other requests directly or indirectly related to equipment No conditions of this warranty shall attempt to limit or exclude customer s statutory rights or manufacturer s responsibility for personal injury or death due to negligence The warranty cannot be extended even if it is the initial warranty Techman Robot reserves the right to ch...

Page 68: ...44 593 07 27 438 597 56 27 876 600 68 27 95 180 594 94 33 28 600 84 34 006 598 36 34 95 4 36 602 25 6 86 598 82 7 148 600 16 7 114 72 600 31 13 71 600 04 14 222 600 5 14 27 108 600 55 20 51 600 02 21 012 600 74 21 076 144 601 08 27 346 601 3 27 862 598 96 28 082 180 594 44 33 834 598 82 34 972 601 72 34 976 6 36 600 14 6 83 598 976 7 194 599 56 7 162 72 599 64 13 616 598 3 14 19 601 68 14 186 108 ...

Page 69: ...Speed J1 J3 180 s J4 J6 225 s Repeatability 0 05 mm Degrees of freedom 6 rotating joints I O ports Control box 16 16 2 1 Tool conn 3 3 1 0 Digital in Digital out Analog in Analog out I O power supply 24V 2A for control box and 24V 600 mA for tool IP classification IP54 Power consumption Max 1300 watts Temperature The robot can work in a temperature range of 0 50 C Power supply 100 240 VAC 50 60 Hz...

Page 70: ...tm robot com ...

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