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TM Robot TM12 Series Hardware Installation Manual

Medium & heavy payload series
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Medium &
Heavy Payload
Hardware Installation Manual
Corresponding models：TM12/14 Series
Original Instruction
Series
Hardware Version: 3.00
Document Version: 1.03
Release Date: 2018-12-07

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Summary of Contents for TM Robot TM12 Series

  • Page 1 Medium & Heavy Payload Series Hardware Installation Manual Corresponding models：TM12/14 Series Original Instruction Hardware Version: 3.00 Document Version: 1.03 Release Date: 2018-12-07...
  • Page 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.

  • Page 3: Table Of Contents

    4.2.3.1 Robot Stick ............................36 4.3 Operating Position of TM Robot with AGV ......................38 4.4 Working distance and field of view of TM Robot’s EIH camera ................. 39 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 4 5. Electrical Interface ............................... 40 5.1 Overview ................................40 5.2 Electrical Warnings and Cautions ........................40 5.3 Control Box ................................ 41 5.3.1 Safety Connector ............................42 5.3.2 Power Connector ............................45 5.3.3 Digital In/Out ..............................46 5.3.3.1 Digital Input ............................46 5.3.3.2 Digital Output: ............................
  • Page 5 6.4.4 Connect the Robot and Control Box ......................68 7. Maintenance and Repair ............................. 69 8. Warranty Statement ..............................70 8.1 Product Warranty ............................... 70 8.2 Disclaimer ................................70 9. Certificates .................................. 71 Appendix A. Technical Specifications ..........................75 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 6: Revision History Table

    Revision History Table Revision Date Revised Content 1.00 2018-06-29 Original release Add Product Description in Chapter 1 Change Warning and Caution Symbols in Chapter 2.2 Add Safety Precautions in Chapter 2.3 Add graph and description in Chapter 4.2.1.3 Robot Range of Motion Add Danger area and Operation area description in new Chapter 4.2.1.4 1.01 2018-08-30...

  • Page 7: Product Dscription

    1. Product Dscription 1.1 Product Description The TM Robot is a six-axis robot with power and force limiting function, which features simple programming, innovative integrated vision capabilities together with the latest safety functionality. 1.2 How Can I Get Help? You can access information sources on the corporate website: http://tm-robot.com/...

  • Page 8: Safety Information

    2. Safety Information 2.1 Overview The user shall 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 described in each paragraph of this Manual.

  • Page 9: Validation And Liability

     The TM Robot shall be used according to its intended use.  Results of the risk assessment may require the use of additional risk reduction measures.

  • Page 10: General Safety Warning

    Stop Button on the system controller. When the user presses the emergency switch, the TM Robot product will disconnect the power of robot and activate the brake after the robot motion is stopped. The indication light ring of the robot will not display light, and the three lights from the robot stick will be constantly blinking.

  • Page 11: Movement Without Drive Power

    2.9 Movement without Drive Power Robot without Drive Power could be found in three circumstances: Emergency stop, when disengaging packaging posture to initial booting, and power loss. The first two could enter Safe Start up Mode by means of releasing the Emergency Switch;...
  • Page 12 Joint Joint Joint WARNING: 1. Additional supports may be needed when manually releasing the brake due to gravity. 2. When manually moving each robot joint, the movement angle must be within a range of 。 +/- 45 Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 13: Labels

    2.10 Labels The following labels, especially the warning ones, are attached to the locations where specific dangers may occur. Be sure to comply with description and warnings of the labels when operating to keep the manipulator safely. Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached.

  • Page 14: Transportation And Storage

    3. Transportation and Storage Transport the TM Robot using its original packing materials. If you will need to transport the TM Robot after unpacking, store the packing materials in a dry place. Hold both arms of the TM Robot during transportation.

  • Page 15: System Hardware

    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 control box (including a robot stick). Robot arm Control Box Robot Stick...

  • Page 16: Robot Arm

    4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension diagram of the robot TM12 / TM12M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 17 TM14 / TM14M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 18 TM12X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 19 TM14X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 20: Robot Assembly Diagram

    4.2.1.2 Robot Assembly Diagram Shown below is an illustration of the robot components. To avoid safety risks, please do not attempt to disassemble any component on your own. Please contact your local corporation support for any service request. TM12 / TM12M Medium &...
  • Page 21 TM14 / TM14M Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 22 TM12X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 23 TM14X Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 24: Range Of Motion

    4.2.1.3 Range of Motion The working spherical (radius) range from the base is 1300 mm for the TM12 series and 1100 mm for the TM14 series. DANGER: With the exception of an individual being in full control of robot motion during hand-guiding, personnel shall be outside the safeguarded space when the robot is in motion while in manual mode (i.e.teaching).
  • Page 25 Pictorial view Top View Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 26 TM14 / TM14M / TM14X Movement Range Diagram Side View Pictorial view Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 27 Top View Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 28: Robot Hazard Zone Diagram And Operator Position Diagram

    4.2.1.4 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 the hazard zone to avoid safety risks. TM12 / TM12M / TM12X Warning: Risk of crushing within Warning: Risk of collision within...
  • Page 29 TM14 / TM14M / TM14X Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 30: Payload

    4.2.1.5 Payload The maximum 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 figure shows the relationship between payload and the center of gravity offset: TM12 / TM12M / TM12X Center of gravity offset [mm] TM14 / TM14M / TM14X...

  • Page 31: Robot Arm Installation

    Optional - Two openings for 6 mm position pins are provided for more secure position mounting. DANGER: 1. The TM Robot must be securely and tightly screwed down before use. The strength of the mounting surface must be sufficient. When operating at high speed, the robot can generate up to 710 N reaction force to the mounting surface and screws.

  • Page 32: Robot End Module

    4.2.2 Robot End Module 4.2.2.1 End Module Components TM12 / TM12M / TM14 / TM14M End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Camera module Flange (ISO 9409-1-50-4-M6) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 33 TM12X / TM14X End Module Components FREE Button Indication Light Ring Analog I/O Digital I/O POINT Button GRIPPER Button Flange (ISO 9409-1-50-4-M6) Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 34: End Flange Surface

    4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 35: End Mounting Caution

    4.2.2.4 End Indication Light Ring Table The Indication Light Ring of the TM Robot has several colors which represent different modes and error status. Refer to the Software Manual for the definition of the light colors.

  • Page 36: Robot Stick

    4.2.3.1 Robot Stick The Robot Stick has 6 function buttons, 3 indicator lights, 1 Emergency Switch, and 1 QR-code. Their functions are as follow: Power Button Mode Indicator Lights Power Indicator M/A Mode Switch Button + Button QR Code Label Stop Button - Button Emergency Switch...
  • Page 37 Items Basic Function Emergency Default emergency button for the robot Switch Power Button Power initiation (single press)/ Shutdown (long press) M/A Mode Switch Toggle Manual/Auto Mode (single press). See Safety Manual for details. Button Play/Pause Play/Pause Project Button Stop Button Press this button to stop any project.

  • Page 38: Operating Position Of Tm Robot With Agv

    4.3 Operating Position of TM Robot with AGV When TM Robot is placed on an AGV and while the AGV is in operation, the user should pause the TM Robot and the TM Robot itself should not exceed the footprint of the AGV.

  • Page 39: Working Distance And Field Of View Of Tm Robot's Eih Camera

    4.4 Working distance and field 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 distance is about 300 mm. The zero working distance point is approximately 49 mm in front of the flange surface and right behind the center of the protection lens.

  • Page 40: Electrical Interface

    5. Electrical Interface 5.1 Overview This chapter introduces all electrical interfaces of the robot arm and control box. 5.2 Electrical Warnings and Cautions The application design and installation of the robot should comply with the following warnings. DANGER: 1. Ensure all pieces of the equipment are kept dry. If water enters the equipment, disconnect the power and contact your supplier.

  • Page 41: Control Box

    5.3 Control Box WARNING: Except for USB ports, other interfaces have to be installed while arm is powered off. Do not install while arm is on to avoid abnormal shutdown. Control Box I/O configuration Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 42: Safety Connector

    5.3.1 Safety Connector Provides extension ports for Emergency Stop (ESTOP) & Safeguard Port. 1. ESTOP is a N.C. contact (Normally closed). When any connected ESTOP switch is OPEN, the robot enters the Emergency STOP state. 2. Safeguard A Port is a N.C. contact (Normally closed). When Safety A switch is OPEN, the robot enters the Safeguard Pause state.
  • Page 43 Application settings of the arm safety device If the safety device is used to work with the safety connectors on the TM Robot, the safety relay can be connected to the safety connector to work as the normally closed switch triggered by the safety device. If direct connection between safety device and safety connector on the TM Robot is preferred, use a safety device with PNP outputs.
  • Page 44 The wiring diagram shows the example of PNP output type safety device. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 45: Power Connector

    5.3.2 Power Connector 1. During boot, the control box will check for an external 24V input. If none is found then it will switch to the internal 24V supply. 2. 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.

  • Page 46: Digital In/Out

    5.3.3 Digital In/Out Digital input/output each has 16 channels, and its application is connected to the following sections. 5.3.3.1 Digital Input Inputs can be set to either sink input or source input by selection.  Set to sink input type When a device such as a transistor output type sensor is connected, NPN open collector transistor output can be used.

  • Page 47: Digital Output

     Set to Source input type When a device such as a transistor output type sensor is connected, PNP open collector transistor output can be used. 5.3.3.2 Digital Output: Outputs can be set to either sink output or source output by selection. The maximum drive current is 300mA per channel.
  • Page 48  Set to sink output type. Connect DO_COM terminal to the minus side of the power supply. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 49  Set to source output type. Connect DO_COM terminal to the plus side of the power supply. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 50: Analog In

    5.3.4 Analog In Analog In only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. 5.3.5 Analog Out Analog Out only supports a voltage mode and detection range of -10.00 V ~ +10.00 V. Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 51: System Remote Power On/Off

    5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Remote ON/OFF 5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion WARNING: The robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while the robot is on.

  • Page 52: Tool End I/O Interface

    5.4 Tool End I/O Interface There are two small connectors on the tool end of the robot: a 8-pin connector and a 5-pin connector. The 8-pin connector is for digital I/O. The 5-pin connector is for analog I/O. 5.4.1 I/O Terminals The tool end 24V has a maximum output current of 1.5A.
  • Page 53 5-pin analog I/O connector of Cable Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3 DO_3 Digital Output3 Orange AI Analog Input Yellow 5-pin analog I/O connector of Robot Wire Color Pin Define Black +24V 24V output Brown DI_3 Digital Input3...

  • Page 54: Connecting Tool End Digital Output

    5.4.2 Connecting Tool End Digital Output The following figure shows how to connect the tool end digital output: 5.4.3 Connecting Tool End Digital Input The following figure shows how to connect the tool end digital input: NOTE: If sensors are connected directly then they should be of the NPN type. 5.4.4 Connecting Tool End Analog Input Input range of -10.00 V ~ +10.00 V.

  • Page 55: Control Box Interfaces

    5.5 Control Box Interfaces Robot Status Display CAUTION: The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause the robot to stop. AC Adapter EtherCAT Power Remote ON/OFF AC Power Switch Line-out I/O Interface Air Filter Screw Mic-in COM1 COM3...
  • Page 56 EtherCAT Power Remote ON/OFF DC IN Power Line-out DC Power Switch I/O Interface Air Filter Screw Mic-in USB 2.0 *4 COM1 COM3 Robot Cable Adapter COM2 HDMI USB 3.0*2 LAN for GigE Camera*2 DC IN for External Power Supply External Power Supply Remote Control TM12M / TM14M Series EtherCAT Power Remote ON/OFF...

  • Page 57: Control Box Power Interface And Robot Interface

    5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM12 / TM14 / TM12X / TM14X: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. TM12M / TM14M: The power cable of the control box has Hirose (HRS) DF60 series connector.
  • Page 58 TM12 / TM14 / TM12X / TM14X Series electrical specifications: Parameters Minimum value Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) External mains fuse (220V~240V) Input frequency *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power TM12M / TM14M Series electrical specifications: Parameters Minimum Value...

  • Page 59: Robot Interface

    EMO interface. SEMI Series only CAUTION: For SEMI Series, when SEMI Emergency Off Switch is not connected with EMO, the TM Robot cannot be booted. WARNING: When SEMI Emergency Off Switch is pressed, all power will be cut off immediately.

  • Page 60: Unboxing & Installation

    6.1 Overview These instructions guide the user of the TM Robot through the first set up. The user must thoroughly read and understand this Guide before performing the operations of this Chapter. Fail to do so may cause serious danger.

  • Page 61: Unboxing

    6.3 Unboxing 6.3.1 Carton Types The TM Robot product is packed in 2 cartons: the robot arm carton and the control box carton, as shown below: Robot arm carton: Control box carton: Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 62: Contents Of Each Carton

    6.3.2 Contents of Each Carton Each carton has the following contents. Check them when you unpack the cartons for the first time. If any item is missing, contact your vendor. The robot arm carton contains: Robot arm Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 63 The control box carton contains: Control box Calibration Plates (Contains one large and one small calibration plate) *The Calibration Plate comes only with TM robots fitted with the hand-eye camera. No Calibration Plate includes in the following series: TM12X / TM14X Series IO cables (2 packs: 8-pig digital I/O connector of cable, 5-pin...
  • Page 64 Power cable of the control box (TM12 / TM14 / TM12X / TM14X) (1 cable) *Exact delivery of power plug will vary from regions to regions. Power cable of the control box (TM12M / TM14M) (1 cable) Ground Wire (1 pack) SEMI Emergency OFF Switch (SEMI Series only) (1 pack)

  • Page 65: Installing Your Robot

    6.4 Installing 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 Subsection 4.2.1.6 "Robot Arm Installation" in this Guide in advance. Then follow these instructions to install the robot.

  • Page 66: Verification Before Removal Of The Robot Arm

    6.4.2 Verification Before Removal of the Robot Arm The TM Robot arm cannot stand independently after being removed from the carton. Prepare four screws (M10 *4) that used to attach the robot to the base near the robot base in advance. If the base is designed with corresponding pinholes, mount them to the base.
  • Page 67 The Robot Arm itself should be handled with at least two people. One person should carry the Lower arm and Upper arm, and the other should hold on to the position between the base and 1 Joint as well as the Joint.

  • Page 68: Connect The Robot And Control Box

    6.4.4 Connect the Robot and Control Box Connect the power cable from the control box to the robot, and then connect the power cable from AC power to the control box to boot up the controller. WARNING: 1. Ensure that all cables are correctly connected before the control box is energized. Always use genuine power cables correctly.

  • Page 69: Maintenance And Repair

    EMO button (SEMI version only) 6 months shuts off. Only the legal distributor or authorized service center should repair the TM Robot. The user should not repair it himself or herself. DANGER: Before performing maintenance or service, record the details of each setting for the robot for normal operation.

  • Page 70: Warranty Statement

    8. Warranty Statement 8.1 Product Warranty The user (customer) may make a request to his/her dealer and retailer within any reasonable situation. The manufacturer will provide warranty under the following conditions: During the first twelve months of the warranty period (no more than 15 months from the date of shipment), The Corporation will provide necessary spares for malfunctioned parts of new equipment due to production and manufacture error or damage.

  • Page 71: Certificates

    9. Certificates Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 72 Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 73 Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...
  • Page 74 Medium & Heavy payload Series-Hardware Installation Manual TM12/14 Series Hardware Version:3.00 Document Version:1.03...

  • Page 75: Appendix A. Technical Specifications

    Appendix A. Technical Specifications Model TM14 TM12 TM14X TM12X TM14M TM12M 32.6 Kg 33.3 Kg 32.3 Kg 33 Kg 32.6 Kg 33.3 Kg Weight 14 kg 12 kg 14 kg 12 kg 14 kg 12 kg Maximum Payload 1100 mm 1300 mm 1100 mm 1300 mm...

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