Omron TM5M-700 Manuale utente

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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QUICK START GUIDE

Omron TM Collaborative Robot:

Safety Laser Scanner Installation

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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Table of Contents

1. INTRODUCTION..................................................................................................................................................................... 3

2. RELATED MANUALS............................................................................................................................................................... 3

3. HARDWARE CONNECTIONS ................................................................................................................................................... 4

3.1. SAFETY DUAL CHANNELS ON THE TM CONTROL BOX............................................................................................................................ 4

3.1.1. E-Stop............................................................................................................................................................................... 4

3.1.2. Safeguard A ..................................................................................................................................................................... 4

3.1.3. Safeguard B...................................................................................................................................................................... 4

3.2. G9SE RELAY POWER AND RESET/FEEDBACK....................................................................................................................................... 5

3.3. OS32C LASER SCANNER CONNECTIONS............................................................................................................................................. 5

4. OS32C CONFIGURATION TOOL SOFTWARE ............................................................................................................................ 6

4.1. CONNECTING THE SCANNER TO YOUR LAPTOP..................................................................................................................................... 6

4.2. CONFIGURING THE SAFETY ZONE ...................................................................................................................................................... 8

5. APPENDIX A: CONNECTION DIAGRAMS AND PHOTOS.......................................................................................................... 10

Revision History

Ver.

Date

Description

Jun 10, 2019

First edition (HW ver. 3.0, TMflow ver. 1.68.6800)

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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1. Introduction

This manual explains how to set up an Omron OS32C safety laser scanner with any Omron TM collaborative

robot via Omron G9SE-221-T05 safety relay, using the OS32C Configuration Tool software.

For detailed information other aspects of using a TM robot, including but not limited to its hardware installation,

TMflow software, and general safety information, please refer to their respective manuals and quick start

guides.

This manual covers the simplest setting, 2 zones.

About Using the OS32C Safety Laser Scanner

Always take into account the following points when using the OS32C:

Make sure OS32C is handled by a "Responsible Person" who is well aware of and familiar with the machine to be

installed. The term "Responsible Person" used means the person qualified, authorized, and responsible to

secure "safety" in each process of the design, installation, operation, maintenance services, and disposition of

the machine. It is assumed that the OS32C will be used properly according to the installation environment,

performance and function of the machine. A Responsible Person should conduct a risk assessment of the

machine and determine the suitability of this product before installation. Read this guide and “Safety Laser

Scanner OS32C Series User’s Manual” thoroughly and understand its contents.

2. Related Manuals

To ensure system safety, make sure to always read the information provided in all safety precautions and

precautions for safe use of manuals for each device that is used in the system.

Catalog No.

Model

Manual Name

I623-E-02

TM5-700, TM5M-700

TM5-900, TM5M-900

Collaborative Robot Hardware Installation Manual

I624-E-02

TM12, TM12M

TM14, TM14M

Collaborative Robot Hardware Installation Manual

I625-E-02

TM5-700, TM5M-700

TM5-900, TM5M-900

TM12, TM12M

TM14, TM14M

Collaborative Robot Safety Manual

I626-E-02

TM5-700, TM5M-700

TM5-900, TM5M-900

TM12, TM12M

TM14, TM14M

Software Manual TMflow

Z296-E1-11

OS32C

Safety Laser Scanner OS32C Series User’s Manual

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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2. Hardware Connections

Gather the necessary equipment as follows, along with a laptop installed with TMflow and OS32C Configuration

Tool.

Devices

Examples Used in This Guide

Omron TM Collaborative Robot

TM5-900

Omron Safety Laser Scanner

OS32C

Omron Safety Relay

G9SE-221-T05

Set up the TM robot as you normally would according to the Hardware Installation Manual. Be sure to turn the

switch off at the back of the Control Box while you connect the laser scanner and relay.

2.1. Safety Dual Channels on the TM Control Box

The dual channels of the E-Stop, Safeguard A, or Safeguard B connect to the relay. The relay connectors are

shown in Fig. A-1 in Appendix A. 13/14 and 23/24 react instantaneously, while 37/28 and 47/48 has an off-delay.

E-Stop OR Safeguard A OR Safeguard B

Connect to

Top Row 1

G9SE connection 13

Top Row 2

G9SE connection 23

Bottom Row 1

G9SE connection 14

Bottom Row 2

G9SE connection 24

Refer to the following sections to understand the differences between E-Stop, Safeguard A, and Safeguard B. A

photo of these connectors are shown in Fig. A-2 in Appendix A.

2.1.1. E-Stop

When E-Stop (Emergency Stop) is triggered (opened),

•The robot will stop movement within 610 ms

•The system will lower the upper limit of the total drive current from 20 to 3 A

•Category 1 safety function is triggered

2.1.2. Safeguard A

When Safeguard A is triggered (opened), the system goes into the Safeguard Pause state. For example, if an

object crosses a safety curtain that is connected to Safeguard A, then the system will:

1. Come to a controlled stop with power still going to the machine actuators.

2. Pause the project.

2.1.3. Safeguard B

When Safeguard B is triggered, the system goes into the Safeguard Collaborative mode. For example, if a person

steps onto a safety mat that is connected to Safeguard B, then the system will enter a collaborative mode

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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2.2. G9SE Relay Power and Reset/Feedback

Next, connect power and ground to the relay, and set up an auto reset by connecting T31 and T33 to each other

and connecting power to T32. Refer to Figs. A-1 and A-2 in Appendix A for the connection points.

G9SE Connections

Connect to

24 V from the TM Control Box

GND from the TM Control Box

T31

G9SE T33

T32

24 V from the TM Control Box

T33

G9SE T31

2.3. OS32C Laser Scanner Connections

Finally, connect the power, ground, and signals to and from the laser scanner. Refer to Figs. A-1 through A-3 in

Appendix A for the connection points.

Wire Colors

Connect to

white

24 V from the TM Control Box

green

GND from the TM Control Box

white/brown

GND from the TM Control Box

green

GND from the TM Control Box

red

T12 of the G9SE relay

yellow

T22 of the G9SE relay

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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3. OS32C Configuration Tool Software

4.1. Connecting the Scanner to Your Laptop

1. Download and install the OS32C Configuration Tool software from

https://industrial.omron.us/en/products/os32c#downloads.

2. Connect your laptop to the OS32C scanner using the scanner’s Ethernet cable.

3. Set your laptop’s IP on DHCP. To do this, follow these steps.

a. Click the Windows icon, then type “Change Ethernet settings” and press Enter.

b. Click “Change adapter options” on the right-hand column.

c. Double click on the Ethernet icon that the cable is connected to.

d. Click the Properties button.

e. In the list, scroll down to “Internet Protocol Version 4 (TCP/IPv4)” and highlight it.

f. Click the Properties button.

g. Click “Obtain an IP address automatically” and “Obtain DNS server address automatically”.

h. Click OK to close all windows.

4. Turn off all other wireless network cards such as your Wi-Fi, Bluetooth, etc. To do this, follow these

steps.

a. Click the Windows icon, then type “Change Wi-Fi settings”.

b. Turn the Wi-Fi button off.

c. Click the Windows icon, then type “Change Bluetooth and other devices settings”.

d. Turn the Bluetooth button off.

5. Click the Windows icon, type “Command Prompt”, and when the new window opens, type “ipconfig”. It

displays the IPv4 address.

The address shown above in the example will likely not be the same address you will see in your setup.

6. Open OS32C Configuration Tool.

7. Wait for about a minute or two to read the IP addresses of the laptop and scanner.

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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8. In the “Discover Sensors” window, click Continue.

a. This should find the scanner. If it is not there, check your network settings, make sure that you

have an IP address, and that all wireless networks are turned off.

9. Log into the sensor as “Supervisor”, and use “supeusr” as its password.

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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4.2. Configuring the Safety Zone

1. From the menu bar, go to Configuration > Edit Zone.

2. Yellow dots now appear in the main screen. Click and drag it to shape your safety zone. Right click to add

more points.

3. In the right-hand column, set the External Device Monitoring to Disable, and Operating Mode to Automatic

Start.

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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4. Go to Configuration > Send to Sensor > Entire Configuration.

5. When prompted, register your settings to your device, and print your safety checksum and keep it for

future reference.

6. Check that the scanner clicks when there is an object in its safety zone, and also check that the TM is

responding correctly according to which safety inputs the safety relay is connected to.

Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1

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4. Appendix A: Connection Diagrams and Photos

Fig. A-1: The front face of G9SE-221-T05 safety relay

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