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Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2

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4.2.1 Robot Arm

4.2.1.1 Dimension Drawings of Robot

Shown below is the dimension drawing of the robot

Figure 5: Dimension of TM12 / TM12M

*All measures are in mm.

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Содержание TM Robot TM12 Series

Страница 1: ...I624 E 08 Medium Heavy Payload Series Hardware Installation Manual Corresponding models TM12 14 Series Original Instruction...

Страница 2: ...No part of this publication may be reproduced or copied in any way shape or form without prior authorization from the Corporation No information contained herein shall be considered an offer or commit...

Страница 3: ...ement without Drive Power 13 2 10 Labels 15 3 Transportation and Storage 17 4 System Hardware 18 4 1 Overview 18 4 2 System Overview 18 4 2 1 Robot Arm 19 4 2 1 1 Dimension Drawings of Robot 19 4 2 1...

Страница 4: ...ut 55 5 3 4 Analog In 57 5 3 5 Analog Out 58 5 3 6 System Remote Power ON OFF 58 5 3 7 EtherCAT For EtherCAT Slave I O Expansion 59 5 3 8 USB Port 59 5 4 Tool End I O Interface 59 5 4 1 I O Terminals...

Страница 5: ...Functions 41 Table 7 Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module 42 Table 8 Electrical Specification of the Light Module 43 Table 9 The Relation between the Wor...

Страница 6: ...TM14M TM14X Movement Range Diagram 30 Figure 19 Robot Hazard Zone Diagram and Operator Position Diagram of TM12 TM12M TM12X 31 Figure 20 Robot Hazard Zone Diagram and Operator Position Diagram of TM14...

Страница 7: ...Output Type 56 Figure 50 Set to Source Output Type 57 Figure 51 Analog In 57 Figure 52 Analog Out 58 Figure 53 System Remote Power ON OFF 58 Figure 54 EtherCAT 59 Figure 55 Connecting Tool End Digita...

Страница 8: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 8 Figure 72 Connecting the Robot and the Control Box 77 Figure 73 Air Filter Tray 79...

Страница 9: ...mber 2018 Updated cover page minor test fixes 03 August 2019 Minor text fixes Added cables length 04 August 2019 Updated Table of Rated Torque and Limit for Repeated Peak Torque Added X Model informat...

Страница 10: ...ull speed with barriers and operate in collaborative workspace 1 2 How Can I Get Help You can access information sources on the corporate website http www ia omron com Related Manuals This manual cove...

Страница 11: ...e CAUTION Identifies a potentially hazardous situation which if not avoided might result in minor injury moderate injury or property damage Table 2 Danger Warning and Caution Symbols 2 3 Safety Precau...

Страница 12: ...results of the risk assessment Using appropriate software safety features Ensuring Users will not modify any safety measures Ensuring all systems are correctly designed and installed Clearly labeling...

Страница 13: ...em controller When Users presses the Emergency Stop switch the TM Robot will disconnect power from the robot and activate the brakes after the robot motion is stopped The indication light ring of the...

Страница 14: ...n in the following figures TM12 TM12M 1st Joint 2nd Joint 3rd Joint 5th Joint 4th Joint 6th Joint Upper arm Lower arm Base TM14 TM14M 1st Joint 2nd Joint 3rd Joint 5th Joint 4th Joint 6th Joint Upper...

Страница 15: ...NING 1 Due to gravity additional supports are recommended when manually releasing the brake 2 When manually moving each robot joint the movement angle must be within a range of 45 2 10 Labels The foll...

Страница 16: ...tear damage or remove the labels Be very careful if you need to handle the parts where the labels are attached A Do not put your hand or fingers close to moving parts B Be careful not to be close to t...

Страница 17: ...nd control box cartons to avoid back injury The Corporation will not be liable for any injuries caused during transportation WARNING This product must be shipped and stored in a temperature controlled...

Страница 18: ...Series Hardware Version 3 2 18 4 System Hardware 4 1 Overview This chapter introduces the mechanical interface of the TM Robot System 4 2 System Overview TM Robot is made up of the robot arm and contr...

Страница 19: ...Hardware Installation Manual TM12 14 Series Hardware Version 3 2 19 4 2 1 Robot Arm 4 2 1 1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot Figure 5 Dimension of TM12 TM...

Страница 20: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 20 Figure 6 Dimension of TM14 TM14M All measures are in mm...

Страница 21: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 21 Figure 7 Dimension of TM12X All measures are in mm...

Страница 22: ...n 3 2 22 Figure 8 Dimension of TM14X All measures are in mm 4 2 1 2 Robot Assembly Diagram Shown below is an illustration of the robot components To avoid safety risks do not attempt to disassemble an...

Страница 23: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 23 Figure 9 Assembly of TM12 TM12M...

Страница 24: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 24 Figure 10 Assembly of TM14 TM14M...

Страница 25: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 25 Figure 11 Assembly of TM12X...

Страница 26: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 26 Figure 12 Assembly of TM14X...

Страница 27: ...ing manual mode At least one emergency switch is installed outside of the motion range of the robot When no motion limit is set for the robot the motion range of the robot is equal to the maximum moti...

Страница 28: ...Figure 14 Pictorial view of TM12 TM12M TM12X Movement Range Diagram Figure 15 Top view of TM12 TM12M TM12X Movement Range Diagram All measures are in mm Operator Position Warning Risk of crushing with...

Страница 29: ...nual TM12 14 Series Hardware Version 3 2 29 Figure 16 Side view of TM14 TM14M TM14X Movement Range Diagram All measures are in mm Figure 17 Pictorial view of TM14 TM14M TM14X Movement Range Diagram TM...

Страница 30: ...2 1 4 Robot Hazard Zone Diagram and Operator Position Diagram Shown below is an illustration of the robot hazard zone and operator position diagrams Do not operate the robot while anyone is inside of...

Страница 31: ...rdware Version 3 2 31 Figure 19 Robot Hazard Zone Diagram and Operator Position Diagram of TM12 TM12M TM12X All measures are in mm Operator Position Warning Risk of crushing within the operating area...

Страница 32: ...imum allowed payload 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...

Страница 33: ...12M TM12X Figure 22 Relationship between Payload and the Center of Gravity Offset in TM14 TM14M TM14X Refer the table below for the rated torque and the limit of repeated peak torque of the robot Exce...

Страница 34: ...M10 screws and washers The mounting pattern is shown below The recommended tightening torque is 40 Nm Optional Two openings for 6 mm position pins are provided for more secure position mounting Ensur...

Страница 35: ...al substances such as chemical solvents lubricants sanitizers cleansers etc may cause damage to the joint covers or other components of the robot Figure 23 Bottom View of Robot Base All measures are i...

Страница 36: ...t End Module 4 2 2 1 End Module Components Figure 25 References of TM12 TM12M TM14 TM14M End Module Components GRIPPER Button Camera module Flange ISO 9409 1 50 4 M6 Digital I O Indication Light Ring...

Страница 37: ...Manual TM12 14 Series Hardware Version 3 2 37 Figure 26 References of TM12X TM14X End Module Components GRIPPER Button Flange ISO 9409 1 50 4 M6 POINT Button Digital I O Indication Light Ring Analog...

Страница 38: ...avy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 38 4 2 2 2 End Flange Surface Figure 27 References of End Flange Surface All measures are in mm Digital l O Analog l...

Страница 39: ...herwise it may result in short circuits or irreparable damages at the bottom of the flange leading to the relevant parts replacement L Length of the screw to secure tools Unit 8 Depth of the thread in...

Страница 40: ...speed indicator and 1 QR code Their functions are as follow Figure 30 Robot Stick CAUTION When operating the robot stick do not use other objects than fingers to press the robot stick Items Basic Fun...

Страница 41: ...Hold to jog the robot at the HMI robot controller page Hold to Run See Safety Manual for details Lock Unlock press and hold both the button and the button until the mode indicator light flashes then...

Страница 42: ...steadiness Users can replace the light module by applications in demand The choice depends on the torque load of the light module the available load of the robot the possible influence the other light...

Страница 43: ...flange goes with additional applications it is required to generate the equivalent center of gravity for its position and total load from the combination of the light module and the application tool...

Страница 44: ...ng if users replace with the other light modules DANGER Be aware that the tool must be correctly and firmly secured to use with this product otherwise personal injuries or death may occur should the t...

Страница 45: ...of view of TM Robot s EIH camera The field of view of TM Robot s EIH camera varies linearly in accordance with the working distance The minimum working distance is about 100 mm and the maximum working...

Страница 46: ...and Field of View of TM Robot s EIH camera All measures are in mm The relation between the working distance and the field of view is listed below Working distance mm Field of view mm 300 100 Width 28...

Страница 47: ...ntact your supplier 2 Only use the original cables included with the robot If you need longer cables contact your supplier 3 Ensure that the robot is properly grounded If the grounding is not correct...

Страница 48: ...User Connected External Safeguard Output SF11 SI2 1 SI2 2 User Connected External Safeguard Input for Human Machine Safety Settings SF9 SO2 1 SO2 2 User Connected External Safeguard Output for Human...

Страница 49: ...the robot enters the Protective Stop state 3 User Connected External Safeguard Input Port for Human Machine Safety Settings is a N C contact Normally closed When User Connected External Safeguard Inpu...

Страница 50: ...load Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 50 Figure 39 The Wiring Diagram Example of Switch Type Safety Device Figure 40 The Wiring Diagram Example of PNP Output Typ...

Страница 51: ...ser Connected External Safeguard Input the output will be LOW 3 User Connected External Safeguard Output Port for Human Machine Safety Settings When the robot triggers the User Connected External Safe...

Страница 52: ...ety level Failure to do so may result in injury or death due to a malfunction of the safety stop 2 All safety I Os come with dual redundant channel connectors Maintain both redundant channels while pa...

Страница 53: ...24V 2A output 24_EX If the 24V load exceeds 2A it enters Safe Mode and disables the 24V output 3 EX24V provides an external 24V input port If the load exceeds 2A an external power supply can be used i...

Страница 54: ...lation Manual TM12 14 Series Hardware Version 3 2 54 Figure 45 Digital Input Set to sink input type When a device such as a transistor output sensor is connected NPN open collector transistor output c...

Страница 55: ...ansistor output sensor is connected PNP open collector transistor output can be used Figure 47 Set to Source Input Type 5 3 3 2 Digital Output Outputs can be set to either sink output or source output...

Страница 56: ...anual TM12 14 Series Hardware Version 3 2 56 Set to sink output type Connect DO_COM terminal to the minus side of the power supply Figure 49 Set to Sink Output Type Set to source output type Connect D...

Страница 57: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 57 Figure 50 Set to Source Output Type 5 3 4 Analog In Figure 51 Analog In...

Страница 58: ...nalog Out Range Resolution Accuracy Conversion Time Analog In 10 00V 10 00V 11bit 0 2 1 ms Analog Out 10 00V 10 00V 11bit 0 07 1 ms Table 11 Analog In Analog Out 5 3 6 System Remote Power ON OFF The f...

Страница 59: ...devices External storage devices should only be used for the import export functions of TMflow No other device than those listed above should be connected Be noted that the external storage device sh...

Страница 60: ...O_1 Digital Output1 7 Purple DO_2 Digital Output2 8 Black 0V 0v The M8 8PIN connector complies with the regulation of IEC 61076 2 104 Table 12 8 pin Digital I O Connectors of Cable Pin Wire Color Pin...

Страница 61: ...N connector complies with the regulation of IEC 61076 2 104 Table 14 5 pin Analog I O Connector of Cable Pin Wire Color Pin Define 1 Black 24V 24V output 2 Brown DI_3 Digital Input3 3 Red DO_3 Digital...

Страница 62: ...then they should be NPN Figure 56 Connecting Tool End Digital Input 5 4 4 Connecting Tool End Analog Input Range Resolution Accuracy Conversion Time 10 00V 10 00V 11bit 0 2 1 ms Table 16 Analog Input...

Страница 63: ...RCAT interface can only be used to connect ETHERCAT devices Improper connection may cause the robot to stop Figure 59 Interfaces of the TM12 TM14 TM12X TM14X Series Robot Status Display v USB3 0 2 COM...

Страница 64: ...DC IN for External Power Supply USB 3 0 2 COM1 Robot Cable Adapter USB 2 0 4 HDMI LAN for GigE Camera 2 EtherCAT Line out Air Filter Screw Power Remote ON OFF COM2 COM3 LAN Mic in I O Interface PE PE...

Страница 65: ...ces The power supply should be equipped with the following Grounding Main fuse Residual current device RCD It is recommended to install a master switch on the equipment power supply for robot applicat...

Страница 66: ...12M TM14M series defaults to 1500W For appliations with more power consumptions please contact the Corporation to purchase the external power supply DANGER 1 Ensure that the robot is correctly grounde...

Страница 67: ...ipping the box 5 6 3 1 TM12M SEMI TM14M SEMI Series Figure 64 The TM12M SEMI TM14M SEMI SEMI Emergency Off Interface CAUTION For SEMI series when SEMI Emergency Off Switch is not connected with EMO th...

Страница 68: ...nual TM12 14 Series Hardware Version 3 2 68 Figure 65 Detachable I O Panel NOTE The control box comes with the IP32 rating but the Corporation does not guarantee this rating for disassembling detachab...

Страница 69: ...ect each item for external damage as it is removed from its container If any damage is evident contact your corporation support see HOW Can I Get Help on 1 2 Retain all shipping containers and packagi...

Страница 70: ...ton will comes along with the SEMI series For TM12 SEMI or TM14 SEMI there will be an additional carton comes with the SEMI Emergency OFF Box Refer below for the ratio of the cartons The actual sizes...

Страница 71: ...eries Hardware Installation Manual TM12 14 Series Hardware Version 3 2 71 The robot arm carton contains Table 19 The Robot Arm Carton Contents The control box carton contains Robot arm Control box Pro...

Страница 72: ...ye camera One 8 pin digital I O cable and one 5 pin analog I O cable Cable Length 100 cm Two TM Landmarks Peel the protective wrap off before using The TM Landmark comes only with TM robots fitted wit...

Страница 73: ...ng Your Robot The TM Robot arm cannot stand independently after being removed from the carton Therefore prepare the mounting base with the corresponding holes as described in 4 2 1 6 Robot Arm Install...

Страница 74: ...ox carton Remove the Calibration Plates and TM Landmark Remove the power cable of the control box Remove the control box At least two people should remove the control box from the carton Refer the fig...

Страница 75: ...robot to the base near the robot base in advance If the base is designed with corresponding pinholes mount them to the base 6 4 3 Removal of the Robot Arm and Tightening At least two people should re...

Страница 76: ...should always be supported to avoid tipping Figure 71 Moving the Robot Arm 2 2 WARNING When the robot is installed to the base make sure two people work together to install it If it is designed with...

Страница 77: ...re 72 Connecting the Robot and the Control Box For the SEMI series users only connect the SEMI Emergency OFF switch to the EMO interface of the control box WARNING 1 Ensure that all cables are correct...

Страница 78: ...e constantly flashing When the User Connected External Safeguard Input Port for Human Machine Safety Setting is open the purple light will be alternating between the indication light of the current mo...

Страница 79: ...he filter must be changed regularly to maintain efficiency Please contact the Corporation to purchase the filter if in demand Figure 73 Air Filter Tray Removal method 1 Turn of the power and lay the c...

Страница 80: ...ity 0 1 mm Degrees of freedom 6 rotating joints I O ports Control box 16 16 2 1 Tool conn 4 4 1 0 Digital in Digital out Analog in Analog out I O power supply 24V 2 0A for control box and 24V 1 5A for...

Страница 81: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 81...

Страница 82: ...Medium Heavy Payload Series Hardware Installation Manual TM12 14 Series Hardware Version 3 2 82 0820 19888 200 H I624 E 08 Techman Robot Inc 2018 2020 All Rights Reserved...

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