Related Manuals for TM Robot Omron Medium & Heavy Payload Series
Summary of Contents for TM Robot Omron Medium & Heavy Payload Series
- Page 1 Medium & Heavy Payload Series Hardware Installation Manual Corresponding models: TM16/20 Series I678-E-02 Original Instruction...
- 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.
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Page 3: Table Of Contents
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 ............................. - Page 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 ........................
- Page 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 .....................
- Page 6 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) ....................
- Page 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 .........................
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Page 8: Revision History Table
Revision History Table Revision Date Revised Content June 2022 Original release March 2023 Added TM20 information Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 9: Product Description
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. -
Page 10: Safety Information
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. -
Page 11: Validation And Liability
Power to the robot and its power supply must be locked out and tagged out or have means to control hazardous energy or implement energy isolation before any maintenance is performed. Dispose of the product in accordance with the relevant rules and regulations of the country or area where the product is used. -
Page 12: Limitations On Liability
• Install firewalls to block unused communications ports and limit communication between systems. Limit access between control systems and systems from the IT network. • Control remote access and adopt multifactor authentication to devices with remote access to control systems and equipment. -
Page 13: Risk Assessment
Ambient air temperature: 0˚C ~ +50˚C Ambient relative humidity: < 85% Transportation & Storage condition: -20˚C ~ +60˚C Transportation & Storage humidity: < 75% The robot needs to be protected from shock or vibration Observe ESD precautions when installing or removing robot 2.8 Risk Assessment Before installing or using this product, Users must first carry out the necessary risk assessment based on the... -
Page 14: Figure 1: Reference Of Brake Solenoid By Joints
Joint Joint Joint Figure 1: Reference of Brake Solenoid by Joints WARNING: 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 。... -
Page 15: Labels
2.11 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 avoid accidents. Do not tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached. Do not put your hand or fingers close to moving parts Be careful not to be close to the moving parts and nearby areas to avoid impact... -
Page 16: 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 17: 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 18: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot Figure 4: Dimension of TM16 / TM16M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 19: Figure 5: Dimension Of Tm20 / Tm20M
Figure 5: Dimension of TM20 / TM20M *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 20: Figure 6: Dimension Of Tm16X
Figure 6: Dimension of TM16X *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 21: Robot Assembly Diagram
Figure 7: Dimension of TM20X *All measures are in ㎜. 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 any component on your own. Contact your local corporation support for any service request. -
Page 22: Range Of Motion
Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint Upper arm Upper arm Joint Joint Joint Joint Base Base TM16X TM16 / TM16M Joint Joint Joint Joint Joint Joint Lower arm Lower arm Joint Joint Upper arm Upper arm Joint Joint... -
Page 23: Figure 9: Side View Of Tm20 / Tm20M / Tm20X Movement Range Diagram
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). The emergency stop on the robot stick must be readily accessible during manual mode. At least one emergency switch is installed outside of the motion range of the robot. -
Page 24: Figure 10: Pictorial View Of Tm20 / Tm20M / Tm20X Movement Range Diagram
Figure 10: Pictorial view of TM20 / TM20M / TM20X Movement Range Diagram Warning: Risk of collision within Warning: Risk of crushing within Operator Position the operating area of the arm. the operating area of the arm. Figure 11: Top view of TM20 / TM20M / TM20X Movement Range Diagram *All measures are in ㎜. -
Page 25: Figure 12: Side View Of Tm16 / Tm16M / Tm16X Movement Range Diagram
TM16 / TM16M / TM16X Movement Range Diagram Figure 12: Side view of TM16 / TM16M / TM16X Movement Range Diagram *All measures are in ㎜. Figure 13: Pictorial view of TM16 / TM16M / TM16X Movement Range Diagram Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 26: Robot Hazard Zone Diagram And Operator Position Diagram
Warning: Risk Warning: Risk of collision Operator crushing within within the operating area of Position operating area of the the arm. arm. Figure 14: Top View of TM16 / TM16M / TM16X Movement Range Diagram *All measures are in ㎜. NOTE: Internal Singularity Point in Space: The distance from the intersection of the... -
Page 27: Figure 16: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm20 / Tm20M / Tm20X
Warning: Risk of crushing within Warning: Risk of collision within Operator Position the operating area of the arm. the operating area of the arm. Figure 16: Robot Hazard Zone Diagram and Operator Position Diagram of TM20 / TM20M / TM20X *All measures are in ㎜. -
Page 28: Payload And Torque
Warning: Risk Warning: Risk of collision Operator crushing within within the operating area of Position operating area of the the arm. arm. Figure 17: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M / TM16X *All measures are in ㎜. 4.2.1.5 Payload and Torque 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. -
Page 29: Figure 18: Relationship Between Payload And The Center Of Gravity Offset In Tm16 / Tm16M / Tm16X
TM16 / TM16M / TM16X Center of gravity offset [mm] Figure 18: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M / TM16X TM20 / TM20M / TM20X Center of gravity offset [mm] Figure 19: Relationship between Payload and the Center of Gravity Offset in TM20 / TM20M / TM20X Refer the table below for the rated torque and the limit of repeated peak torque of the robot. -
Page 30: Robot Arm Installation
DANGER: 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 31: Figure 20: Bottom View Of Robot Base
WARNING: In contact with liquids with chemical substances such as chemical solvents, lubricants, sanitizers, cleansers, etc. may cause damage to the joint covers or other components of the robot. Figure 20: Bottom View of Robot Base *All measures are in ㎜. Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. -
Page 32: Robot End Module
4.2.2 Robot End Module 4.2.2.1 End Module Components TM16 / TM16M End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 22: References of TM16 / TM16M End Module Components Medium &... -
Page 33: Figure 23: References Of Tm20 / Tm20M End Module Components
TM20 / TM20M End Module Components VISION Button POINT Button FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 23: References of TM20 / TM20M End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 34: Figure 24: References Of Tm16X End Module Components
TM16X 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) Figure 24: References of TM16X End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 35: Figure 25: References Of Tm20X End Module Components
TM20X 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) Figure 25: References of TM20X End Module Components Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 36: End Flange Surface
4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Figure 26: References of End Flange Surface *All measures are in ㎜. Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 37: 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 38: Robot Stick
CAUTION: The control box can be placed on the floor or in your working cell. Note that 5 cm clearance should be left at both sides for ventilation. Use the M4L6 screw to secure the ground wire with the control box as shown below. Figure 28: Securing the ground wire with control box 4.2.3.1 Robot Stick The Robot Stick has 6 function buttons, 3 indicator lights, 1 Emergency Switch, 1 set of speed indicator,... -
Page 39: Table 5: Robot Stick Basic Functions
Items Basic Function Emergency Switch Default emergency button for the robot 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 Button Play/Pause Project (single press) Stop Button Press this button to stop any project. -
Page 40: Robot Light Module
DANGER: 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. The control box comes with the IP32 rating, but it is not recommended to use in dusty and humid environments. -
Page 41: Table 8: Electrical Specification Of The Light Module
4.2.1.5 Payload and Torque of this manual. Refer to 4.4 for Working distance and field of view of TM Robot’s EIH camera. Electrical Specification of the Light Module... -
Page 42: Operating Position Of Tm Robot With Agv/Aiv
4.3 Operating Position of TM Robot with AGV/AIV When TM Robot is placed on an AGV/AIV in operation, the TM Robot should be paused and should not exceed the footprint of the AGV/AIV. -
Page 43: 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 ㎜ and the maximum working distance is about 300 ㎜. The zero working distance point is approximately 46.5 ㎜... -
Page 44: Table 9: The Relation Between The Working Distance And The Field Of View
46.5 Working distance = 0 Figure 34: Working Distance and Field of View of TM Robot’s EIH camera *All measures are in ㎜. The relation between the working distance and the field of view is listed below. Working distance (mm) Field of view (mm) 281.6... -
Page 45: 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 46: Table 10: Definitions Of Safety Connectors
Figure 36: Control Box I/O Configuration (2/2) Input Output Safety Safety Definition SF Input Definition SF Output Connector Connector SI0-1 User Connected SO0-1 Robot ESTOP SF10 SI0-2 ESTOP Input SO0-2 Output User Connected User Connected SI1-1 SO1-1 External Safeguard External Safeguard SF11 SI1-2 SO1-2... -
Page 47: Safety Connector
5.3.1 Safety Connector Safety I/O comes with dual redundant channel connector and has to keep both channel input/output the same value simultaneously. Single fault on either one of the single channel will not result in failure of safety functions. 5.3.1.1 Safety Input Connector User Connected ESTOP Input Port is a N.C. -
Page 48: Figure 38: The Wiring Diagram Example Of Switch Type Safety Device
Figure 38: The Wiring Diagram Example of Switch Type Safety Device. Figure 39: The Wiring Diagram Example of PNP Output Type Safety Device Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 49: Safety Output Connector
Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device 5.3.1.2 Safety Output Connector Robot ESTOP Output Port. When the robot triggers the Robot (stick) Emergency Stop signal, the output will be LOW. User Connected External Safeguard Output Port. When the robot triggers the User Connected External Safeguard Input, the output will be LOW. -
Page 50: Figure 41: Safety Output Connector
Figure 41: Safety Output Connector Figure 42: Safety Output Connector Wiring Diagram DANGER: Do not connect the safety signals to a non-safety device without the fulfilled safety level. Failure to do so may result in injury or death due to a malfunction of the safety stop. All safety I/Os come with dual redundant channel connectors. -
Page 51: 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 24V/2A output (24_EX). If the 24V load exceeds 2A, it enters Safe Mode and disables the 24V output. -
Page 52: Figure 44: Digital Input
Figure 44: Digital Input Set to sink input type When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used. Figure 45: Set to Sink Input Type Set to Source input type Medium &... -
Page 53: Digital Output
When a device such as a transistor output sensor is connected, PNP open collector transistor output can be used. Figure 46: Set to Source Input Type 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 54: Figure 48: Set To Sink Output Type
Connect DO_COM terminal to the minus side of the power supply. Figure 48: Set to Sink Output Type Set to source output type Connect DO_COM terminal to the plus side of the power supply. Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 55: Analog In
Figure 49: Set to Source Output Type 5.3.4 Analog In Figure 50: Analog In 5.3.5 Analog Out Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... -
Page 56: System Remote Power On/Off
Figure 51: Analog Out Range Resolution Accuracy Conversion Time +10.00V~-10.00V ≤ 0.2% Analog In 11bit 1 ms +10.00V~-10.00V Analog Out 11bit ± 0.07% 1 ms Table 11: Analog In & Analog Out 5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Figure 52: System Remote Power ON/OFF 5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion Medium &... -
Page 57: Usb Port
Figure 53: EtherCAT WARNING: The robot must be powered off when installing the EtherCAT Slave. Do not plug or unplug the connector while the robot is on. 5.3.8 USB Port The USB port of the control box is used for connecting the keyboard, mouse and external storage devices. External storage devices should only be used for the import/export functions of TMflow. -
Page 58: Table 12: 8-Pin Digital I/O Connectors Of Cable
Wire color Pin define +24v Brown 24V output DI_0 Digital Input0 Orange DI_1 Digital Input1 Yellow DI_2 Digital Input2 Digital Green DO_0 Output0 Digital Blue DO_1 Output1 Digital Purple DO_2 Output2 Black *The M8/8PIN connector complies with the regulation of IEC 61076-2-104. Table 12: 8-pin Digital I/O Connectors of Cable Wire Color Pin Define... -
Page 59: Connecting Tool End Digital Output
Wire Color Pin Define +24V Black 24V output Brown DI_3 Digital Input3 Digital DO_3 Output3 Orange AI Analog Input Yellow *The M8/5PIN connector complies with the regulation of IEC 61076-2-104. Table 14: 5-pin Analog I/O Connector of Cable Wire Color Pin Define +24V Black... -
Page 60: Connecting Tool End Digital Input
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 NPN. Figure 55: Connecting Tool End Digital Input 5.4.4 Connecting Tool End Analog Input Range Resolution Accuracy... -
Page 61: Control Box Interfaces
5.5 Control Box Interfaces Robot Status Display Figure 57: Front View of the Control Box CAUTION: The ETHERCAT interface can only be used to connect ETHERCAT devices. Improper connection may cause the robot to stop. Power Remote ON/OFF EtherCAT I/O Interface AC Power Switch Line-out Air Filter Screw... -
Page 62: Figure 59: Interfaces Of The Tm16M / Tm20M Series
Power Remote ON/OFF DC IN Power EtherCAT Line-out DC Power Switch I/O Interface Air Filter Screw Mic-in USB 2.0 *4 COM1 COM3 Robot Cable Adapter HDMI LAN for GigE Camera*2 COM2 3.0*2 DC IN for External Power Supply External Power Supply Remote Control Figure 59: Interfaces of the TM16M / TM20M Series Power Remote ON/OFF DC IN Power... -
Page 63: Control Box Power Interface And Robot Interface
5.6 Control Box Power Interface and Robot Interface 5.6.1 Control Box Power Interface TM16 / TM20 / TM16X / TM20X: The power cable of the control box has an IEC plug. The local power plug is connected to the IEC plug. The AC power switch must be in OFF state before plugging in or out the power cable. -
Page 64: Robot Interface
Input frequency Table 17: TM20 / TM16 / TM16X / TM20X Series Electrical Specifications *If using AC100V~AC199V power supply, the Robot will automatically limit the total output power Parameters Minimum Value Typical value Maximum value Unit Input voltage V (DC) Power consumption 1500 Table 18: TM16M Series Electrical Specifications... -
Page 65: Semi Emergency Off Interfaces (Semi Series Exclusive)
SEMI series exclusive Figure 63: The TM16M SEMI / TM20M SEMI SEMI Emergency Off Interface 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. This action impacts on the motion of the robot. -
Page 66: Detachable I/O Panel
5.6.4 Detachable I/O Panel To facilitate the wiring of the detachable I/O panel which comes with a 15 cm cable, users can loosen the tethered screws to remove the detachable I/O panel and install easily in the other place. Users are free to change the cable for the placement farther away;... -
Page 67: Unboxing & Installation
6. Unboxing & Installation 6.1 Overview These instructions guide Users of the TM Robot through the first set up. Users must thoroughly read and understand this Guide before performing the operations of this Chapter. Fail to do so may cause serious danger. -
Page 68: Unboxing
6.3 Unboxing 6.3.1 Carton Types The TM Robot product comes with 2 cartons: the robot arm carton, and the control box carton, as shown below. Also, a SEMI Emergency OFF switch carton will comes along with the SEMI series.. Refer below for the ratio of the cartons. -
Page 69: Table 20: The Robot Arm Carton Contents
Robot arm Cable length: 300 cm Table 20: The Robot Arm Carton Contents The control box carton contains: Control box Product Brief Information Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2... - Page 70 Calibration Plates (One large calibration plate and one small calibration plate. Peel the protective wrap off before using.) *The Calibration Plate comes only with TM Robots fitted with the hand-eye camera. IO cables (One 8-pin digital I/O cable and one 5-pin analog I/O cable) Length: 100 cm OMRON Landmark...
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Page 71: Installing Your Robot
Table 22: The SEMI Emergency OFF Switch Carton Contents 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 4.2.1.6 Robot Arm Installation, and follow the instructions below to install the robot. -
Page 72: Remove The Control Box
WARNING: Do not attempt to move any robot links until the robot has been secured in position. Failure to comply could result in the robot falling and causing either personnel injury or equipment damage. 6.4.1 Remove the Control Box After checking the contents, remove the contents in order and perform installation. Control box carton: ... -
Page 73: 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 74: Figure 69: Moving The Robot Arm (1/2)
Figure 69: Moving the Robot Arm (1/2) 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 75: Connect The Robot And The Control Box
For users of SEMI models, please remove the SEMI Emergency OFF Box out of its carton. For the correct holding positions, refer to the figure below. Figure 71: Moving the SEMI Emergency OFF Box 6.4.4 Connect the Robot and the Control Box Connect the cable from the robot to the robot interface of the control box. -
Page 76: Maintenance And Repair
6 months shuts off. Table 23: Summary of the Preventive Maintenance Procedures and Guidelines Only the legal distributor or authorized service center should repair the TM Robot. Users should not repair it by themselves. DANGER: Before performing maintenance or service record the details of each setting for the robot for normal operation. -
Page 77: Figure 73: Air Filter Tray
Preset operation project TCP Settings I/O Settings I/O Wiring NOTE: The filter must be changed regularly to maintain efficiency. Please contact the Corporation to purchase the filter if in demand. screw rubber edge trim tray Figure 73: Air Filter Tray Removal method: Turn of the power and lay the control box flat. -
Page 78: Appendix A. Technical Specifications
Appendix A. Technical Specifications TM16 TM20 TM16M TM20M TM16X TM20X TM16MX TM20MX Model 32 ㎏ 32.8 ㎏ 32 ㎏ 32.8 ㎏ 31.7 ㎏ 32.5 ㎏ 31.4kg 32.2kg Weight 16 ㎏ 20 ㎏ 16kg 20 ㎏ 16 ㎏ 20 ㎏ 16 ㎏ 20 ㎏... - Page 79 Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2...
- Page 80 I678-E-02 0323 (0622) 19888-210 B Medium & Heavy Payload Series-Hardware Installation Manual TM16/20 Series Hardware Version: 3.2...
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