TM Robot Omron Medium & Heavy Payload Series Istruzioni per il montaggio

I678-E-02

Medium &

Heavy Payload Series

Hardware Installation Manual

Corresponding models: TM16/20 Series

Original Instruction

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 2

This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot).The

information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation). 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 commitment. It may be subject to change

without notice. This Manual will be reviewed periodically. The Corporation will not be liable for any error or omission.

logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the company

reserves the ownership of this manual and its copy and its copyrights.

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 3

Contents

Revision History Table.......................................................................................................................................................8

1. Product Description.......................................................................................................................................................9

1.1 Product Description..............................................................................................................................................9

1.2 How Can I Get Help?...........................................................................................................................................9

1.3 Disposal and Environment...................................................................................................................................9

2. Safety Information.......................................................................................................................................................10

2.1 Overview............................................................................................................................................................10

2.2 Warning and Caution Symbols ..........................................................................................................................10

2.3 Safety Precautions.............................................................................................................................................10

2.4 Validation and Liability .......................................................................................................................................11

2.5 Statement of Responsibilities for Cybersecurity Threats...................................................................................11

2.6 Limitations on Liability........................................................................................................................................12

2.7 General Safety Warning.....................................................................................................................................12

2.8 Risk Assessment................................................................................................................................................13

2.9 Emergency Stop ................................................................................................................................................13

2.10 Movement without Drive Power.......................................................................................................................13

2.11 Labels...............................................................................................................................................................15

3. Transportation and Storage.........................................................................................................................................16

4. System Hardware........................................................................................................................................................17

4.1 Overview............................................................................................................................................................17

4.2 System Overview...............................................................................................................................................17

4.2.1 Robot Arm ...................................................................................................................................................18

4.2.1.1 Dimension Drawings of Robot..............................................................................................................18

4.2.1.2 Robot Assembly Diagram.....................................................................................................................21

4.2.1.3 Range of Motion ...................................................................................................................................22

4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram.............................................................26

4.2.1.5 Payload and Torque..............................................................................................................................28

4.2.1.6 Robot Arm Installation ..........................................................................................................................30

4.2.2 Robot End Module.......................................................................................................................................32

4.2.2.1 End Module Components.....................................................................................................................32

4.2.2.2 End Flange Surface..............................................................................................................................36

4.2.2.3 End Mounting Caution..........................................................................................................................37

4.2.2.4 End Indication Light Ring Table............................................................................................................37

4.2.3 Control Box..................................................................................................................................................37

4.2.3.1 Robot Stick ...........................................................................................................................................38

4.2.4 Robot Light Module.....................................................................................................................................40

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 4

4.2.4.1 Light Module Surface............................................................................................................................40

4.2.4.2 Install Light Module...............................................................................................................................40

4.3 Operating Position of TM Robot with AGV/AIV..................................................................................................42

4.4 Working distance and field of view of TM Robot’s EIH camera.........................................................................43

5. Electrical Interface.......................................................................................................................................................45

5.1 Overview............................................................................................................................................................45

5.2 Electrical Warnings and Cautions......................................................................................................................45

5.3 Control Box ........................................................................................................................................................45

5.3.1 Safety Connector.........................................................................................................................................47

5.3.1.1 Safety Input Connector.........................................................................................................................47

5.3.1.2 Safety Output Connector......................................................................................................................49

5.3.2 Power Connector.........................................................................................................................................51

5.3.3 Digital In/Out................................................................................................................................................51

5.3.3.1 Digital Input...........................................................................................................................................51

5.3.3.2 Digital Output........................................................................................................................................53

5.3.4 Analog In .....................................................................................................................................................55

5.3.5 Analog Out...................................................................................................................................................55

5.3.6 System Remote Power ON/OFF.................................................................................................................56

5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ...........................................................................................56

5.3.8 USB Port .....................................................................................................................................................57

5.4 Tool End I/O Interface........................................................................................................................................57

5.4.1 I/O Terminals ...............................................................................................................................................57

5.4.2 Connecting Tool End Digital Output ............................................................................................................59

5.4.3 Connecting Tool End Digital Input...............................................................................................................60

5.4.4 Connecting Tool End Analog Input..............................................................................................................60

5.5 Control Box Interfaces .......................................................................................................................................61

5.6 Control Box Power Interface and Robot Interface.............................................................................................63

5.6.1 Control Box Power Interface.......................................................................................................................63

5.6.2 Robot Interface............................................................................................................................................64

5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive)...........................................................................65

5.6.3.1 TM16M SEMI / TM20M SEMI Series ...................................................................................................65

5.6.4 Detachable I/O Panel..................................................................................................................................66

6. Unboxing & Installation ...............................................................................................................................................67

6.1 Overview............................................................................................................................................................67

6.2 Inspecting the Equipment ..................................................................................................................................67

6.2.1 Before Unpacking........................................................................................................................................67

6.2.2 Upon Unpacking..........................................................................................................................................67

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 5

6.3 Unboxing............................................................................................................................................................68

6.3.1 Carton Types...............................................................................................................................................68

6.3.2 Contents of Each Carton.............................................................................................................................68

6.4 Installing Your Robot..........................................................................................................................................71

6.4.1 Remove the Control Box.............................................................................................................................72

6.4.2 Verification Before Removal of the Robot Arm............................................................................................73

6.4.3 Removal of the Robot Arm and Tightening .................................................................................................73

6.4.4 Connect the Robot and the Control Box .....................................................................................................75

7. Maintenance and Repair.............................................................................................................................................76

Appendix A. Technical Specifications..............................................................................................................................78

Tables

Table 1: Manual Title & Description....................................................................................................................9

Table 2: Danger, Warning, and Caution Symbols.............................................................................................10

Table 3: Denotation of Labels...........................................................................................................................15

Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series......................30

Table 5: Robot Stick Basic Functions...............................................................................................................39

Table 6: Robot Stick Advanced Functions........................................................................................................39

Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module ....................40

Table 8: Electrical Specification of the Light Module ........................................................................................41

Table 9: The Relation between the Working Distance and the Field of View...................................................44

Table 10: Definitions of Safety Connectors.......................................................................................................46

Table 11: Analog In & Analog Out.....................................................................................................................56

Table 12: 8-pin Digital I/O Connectors of Cable ...............................................................................................58

Table 13: 8-pin Digital I/O Connector of Robot.................................................................................................58

Table 14: 5-pin Analog I/O Connector of Cable................................................................................................59

Table 15: 5-pin Analog I/O connector of Robot.................................................................................................59

Table 16: Analog Input Range ..........................................................................................................................60

Table 17: TM20 / TM16 / TM16X / TM20X Series Electrical Specifications .....................................................64

Table 18: TM16M Series Electrical Specifications............................................................................................64

Table 19: TM20M Series Electrical Specifications............................................................................................64

Table 20: The Robot Arm Carton Contents.......................................................................................................69

Table 21: The Control Box Carton Contents.....................................................................................................71

Table 22: The SEMI Emergency OFF Switch Carton Contents........................................................................71

Table 23: Summary of the Preventive Maintenance Procedures and Guidelines............................................76

Figures

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 6

Figure 1: Reference of Brake Solenoid by Joints.............................................................................................14

Figure 2: Locations of Labels ...........................................................................................................................15

Figure 3: System Overview...............................................................................................................................17

Figure 4: Dimension of TM16 / TM16M............................................................................................................18

Figure 5: Dimension of TM20 / TM20M............................................................................................................19

Figure 6: Dimension of TM16X.........................................................................................................................20

Figure 7: Dimension of TM20X.........................................................................................................................21

Figure 8: References of Joints by Models........................................................................................................22

Figure 9: Side View of TM20 / TM20M / TM20X Movement Range Diagram ..................................................23

Figure 10: Pictorial view of TM20 / TM20M / TM20X Movement Range Diagram...........................................24

Figure 11: Top view of TM20 / TM20M / TM20X Movement Range Diagram...................................................24

Figure 12: Side view of TM16 / TM16M / TM16X Movement Range Diagram.................................................25

Figure 13: Pictorial view of TM16 / TM16M / TM16X Movement Range Diagram...........................................25

Figure 14: Top View of TM16 / TM16M / TM16X Movement Range Diagram..................................................26

Figure 15: The Definition of Roffset.....................................................................................................................26

Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM20 / TM20M / TM20X ...........27

Figure 17: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M / TM16X ...........28

Figure 18: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M / TM16X........29

Figure 19: Relationship between Payload and the Center of Gravity Offset in TM20 / TM20M / TM20X........29

Figure 20: Bottom View of Robot Base ............................................................................................................31

Figure 21: Securing the ground wire with the robot..........................................................................................31

Figure 22: References of TM16 / TM16M End Module Components...............................................................32

Figure 23: References of TM20 / TM20M End Module Components...............................................................33

Figure 24: References of TM16X End Module Components............................................................................34

Figure 25: References of TM20X End Module Components............................................................................35

Figure 26: References of End Flange Surface.................................................................................................36

Figure 27: The Exterior and Diagram of the Control Box.................................................................................37

Figure 28: Securing the ground wire with control box......................................................................................38

Figure 29: Robot Stick......................................................................................................................................38

Figure 30: Light Module Surface ......................................................................................................................40

Figure 31: Calculation the Torque Load of the Light Module............................................................................41

Figure 32: Electrical Polarity of Fill Light Cable................................................................................................42

Figure 33: Top View of TM Robot Placed on the AGV/AIV...............................................................................43

Figure 34: Working Distance and Field of View of TM Robot’s EIH camera....................................................44

Figure 35: Control Box I/O Configuration (1/2).................................................................................................45

Figure 36: Control Box I/O Configuration (2/2).................................................................................................46

Figure 37: Safety Input Connector....................................................................................................................47

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 7

Figure 38: The Wiring Diagram Example of Switch Type Safety Device..........................................................48

Figure 39: The Wiring Diagram Example of PNP Output Type Safety Device.................................................48

Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device.................................................49

Figure 41: Safety Output Connector.................................................................................................................50

Figure 42: Safety Output Connector Wiring Diagram.......................................................................................50

Figure 43: Power Connector.............................................................................................................................51

Figure 44: Digital Input......................................................................................................................................52

Figure 45: Set to Sink Input Type .....................................................................................................................52

Figure 46: Set to Source Input Type.................................................................................................................53

Figure 47: Digital Output...................................................................................................................................53

Figure 48: Set to Sink Output Type ..................................................................................................................54

Figure 49: Set to Source Output Type..............................................................................................................55

Figure 50: Analog In..........................................................................................................................................55

Figure 51: Analog Out.......................................................................................................................................56

Figure 52: System Remote Power ON/OFF.....................................................................................................56

Figure 53: EtherCAT.........................................................................................................................................57

Figure 54: Connecting Tool End Digital Output ................................................................................................59

Figure 55: Connecting Tool End Digital Input...................................................................................................60

Figure 56: Connecting Tool End Analog Input..................................................................................................60

Figure 57: Front View of the Control Box .........................................................................................................61

Figure 58: Interfaces of the TM16 / TM20 / TM16X / TM20X Series................................................................61

Figure 59: Interfaces of the TM16M / TM20M Series.......................................................................................62

Figure 60: Interfaces of the TM16M SEMI / TM20M SEMI Series ...................................................................62

Figure 61: Control Box Power Interfaces..........................................................................................................63

Figure 62: Robot Interface................................................................................................................................65

Figure 63: The TM16M SEMI / TM20M SEMI SEMI Emergency Off Interface................................................65

Figure 64: Detachable I/O Panel ......................................................................................................................66

Figure 65: Robot Arm Carton............................................................................................................................68

Figure 66: Control Box Carton..........................................................................................................................68

Figure 67: Moving the Control Box (1/2)...........................................................................................................72

Figure 68: Moving the Control Box (2/2)...........................................................................................................73

Figure 69: Moving the Robot Arm (1/2) ............................................................................................................74

Figure 70: Moving the Robot Arm (2/2) ............................................................................................................74

Figure 71: Moving the SEMI Emergency OFF Box ..........................................................................................75

Figure 72: Connecting the Robot and the Control Box.....................................................................................75

Figure 73: Air Filter Tray ...................................................................................................................................77

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 8

Revision History Table

Revision Date Revised Content

01 June 2022 Original release

02 March 2023 Added TM20 information

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 9

1. Product Description

1.1 Product Description

The TM Robot is a six-axis robot with power and force limiting function featuring simple programming, innovative

integrated vision capabilities together with the latest safety functionality to run at full 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 covers the hardware installation, operation and user maintenance of TM Robot. See the following

table for additional available manuals.

Manual Title Description

Safety Manual Contains safety information for TM Robots.

TMflow Instructions for use of TMflow software.

TMvision Instructions for use of TMvision software.

Table 1: Manual Title & Description

1.3 Disposal and Environment

TM Robots must be disposed of in accordance with the applicable legislation, regulations, and codes by the

authorities.

TM Robots are produced with restricted used of hazardous substances to protect the environment; as defined by

the Europe RoHS directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI,

polybrominated biphenyls, and polyborminated diphenyl ethers.

The following symbols are affixed on the respective manuals to indicate conformity with the above legislation.

Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2 10

2. Safety Information

2.1 Overview

Users should read, understand and abide by the safety information provided in this manual before using the TM

Robot.

2.2 Warning and Caution Symbols

The Table below shows the definitions of the warning and caution levels used in this manual. Pay close attention

to them when reading the manual, and observe them to avoid personal injuries or equipment damage.

DANGER:

Identifies an imminently hazardous situation which, if not avoided, is likely to result in

serious injury, and might result in death or severe property damage.

WARNING:

Identifies a potentially hazardous situation which, if not avoided, will result in minor or

moderate injury, and might result in serious injury, death, or significant property damage.

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 Precautions

DANGER:

This product can cause serious injury or death, or damage to itself and other equipment, if the

following safety precautions are not observed.

All personnel who install, operate, teach, program, or maintain the system must read the Hardware

installation Manual, Software Manual, and Safety Manual according to the software and hardware version of

this product, and complete a training course for their responsibilities in regard to the robot.

All personnel who design the robot system must read the Hardware installation Manual, Software Manual,

and Safety Manual according to the software and hardware version of this product, and must comply with all

local and national safety regulations for the location in which the robot is installed.

The TM Robot must be used according to its intended use.

Results of the risk assessment may require the use of additional risk reduction measures.

Read Manual and Impact Warning Labels

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