Omron Medium & Heavy Payload TM12 Series Assembly instructions

I624-E-11
Medium &
Heavy Payload Series
Hardware Installation Manual
Corresponding models: TM12/14 Series
Original Instruction

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 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 TM12/14 Series Hardware Version: 3.2 3
Contents
Revision History Table.................................................................................................................................................9
1. Product Description...............................................................................................................................................10
1.1 Product Description ......................................................................................................................................10
1.2 How Can I Get Help?....................................................................................................................................10
1.3 Disposal and Environment............................................................................................................................10
2. Safety Information.................................................................................................................................................11
2.1 Overview......................................................................................................................................................11
2.2 Warning and Caution Symbols......................................................................................................................11
2.3 Safety Precautions .......................................................................................................................................11
2.4 Validation and Liability..................................................................................................................................12
2.5 Limitations on Liability ..................................................................................................................................12
2.6 General Safety Warning ...............................................................................................................................12
2.7 Risk Assessment..........................................................................................................................................13
2.8 Emergency Stop...........................................................................................................................................13
2.9 Movement without Drive Power ....................................................................................................................13
2.10 Labels ........................................................................................................................................................15
3. Transportation and Storage ...................................................................................................................................17
4. System Hardware..................................................................................................................................................18
4.1 Overview......................................................................................................................................................18
4.2 System Overview .........................................................................................................................................18
4.2.1 Robot Arm..............................................................................................................................................19
4.2.1.1 Dimension Drawings of Robot..........................................................................................................19
4.2.1.2 Robot Assembly Diagram ................................................................................................................22
4.2.1.3 Range of Motion ..............................................................................................................................27
4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram ..........................................................30
4.2.1.5 Payload and Torque.........................................................................................................................32
4.2.1.6 Robot Arm Installation......................................................................................................................34
4.2.2 Robot End Module .................................................................................................................................36
4.2.2.1 End Module Components ................................................................................................................36
4.2.2.2 End Flange Surface.........................................................................................................................38
4.2.2.3 End Mounting Caution .....................................................................................................................39
4.2.2.4 End Indication Light Ring Table........................................................................................................39
4.2.3 Control Box............................................................................................................................................39
4.2.3.1 Robot Stick......................................................................................................................................40
4.2.4 Robot Light Module................................................................................................................................42

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 4
4.2.4.1 Light Module Surface.......................................................................................................................42
4.2.4.2 Install Light Module..........................................................................................................................42
4.3 Operating Position of TM Robot with AGV/AIV ..............................................................................................44
4.4 Working distance and field of view of TM Robot’s EIH camera ......................................................................44
5. Electrical Interface.................................................................................................................................................45
5.1 Overview......................................................................................................................................................45
5.2 Electrical Warnings and Cautions .................................................................................................................45
5.3 Control Box ..................................................................................................................................................46
5.3.1 Safety Connector ...................................................................................................................................48
5.3.1.1 Safety Input Connector ....................................................................................................................48
5.3.1.2 Safety Output Connector .................................................................................................................50
5.3.2 Power Connector ...................................................................................................................................52
5.3.3 Digital In/Out..........................................................................................................................................52
5.3.3.1 Digital Input .....................................................................................................................................52
5.3.3.2 Digital Output...................................................................................................................................54
5.3.4 Analog In ...............................................................................................................................................56
5.3.5 Analog Out.............................................................................................................................................57
5.3.6 System Remote Power ON/OFF ............................................................................................................57
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion........................................................................................58
5.3.8 USB Port ...............................................................................................................................................58
5.4 Tool End I/O Interface...................................................................................................................................58
5.4.1 I/O Terminals..........................................................................................................................................58
5.4.2 Connecting Tool End Digital Output........................................................................................................60
5.4.3 Connecting Tool End Digital Input...........................................................................................................61
5.4.4 Connecting Tool End Analog Input..........................................................................................................61
5.5 Control Box Interfaces..................................................................................................................................62
5.6 Control Box Power Interface and Robot Interface .........................................................................................64
5.6.1 Control Box Power Interface...................................................................................................................64
5.6.2 Robot Interface ......................................................................................................................................65
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive)........................................................................66
5.6.3.1 TM12M SEMI / TM14M SEMI Series................................................................................................66
5.6.4 Detachable I/O Panel .............................................................................................................................66
6. Unboxing & Installation..........................................................................................................................................68
6.1 Overview......................................................................................................................................................68
6.2 Inspecting the Equipment .............................................................................................................................68
6.2.1 Before Unpacking ..................................................................................................................................68

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 5
6.2.2 Upon Unpacking ....................................................................................................................................68
6.3 Unboxing......................................................................................................................................................69
6.3.1 Carton Types .........................................................................................................................................69
6.3.2 Contents of Each Carton........................................................................................................................69
6.4 Installing Your Robot ....................................................................................................................................72
6.4.1 Remove the Control Box ........................................................................................................................73
6.4.2 Verification Before Removal of the Robot Arm ........................................................................................74
6.4.3 Removal of the Robot Arm and Tightening .............................................................................................74
6.4.4 Connect the Robot and the Control Box .................................................................................................76
6.4.4.1 Connect the Robot, the Control Box, and the SEMI Emergency OFF Box ........................................76
7. Maintenance and Repair .......................................................................................................................................78
Appendix A. Technical Specifications.........................................................................................................................80
Tables
Table 1: Manual Title & Description..............................................................................................................10
Table 2: Danger, Warning, and Caution Symbols .........................................................................................11
Table 3: Denotation of Labels ......................................................................................................................16
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series .....................34
Table 5: Robot Stick Basic Functions...........................................................................................................41
Table 6: Robot Stick Advanced Functions ....................................................................................................41
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module....................42
Table 8: Electrical Specification of the Light Module.....................................................................................43
Table 9: The Relation between the Working Distance and the Field of View .................................................45
Table 10: Definitions of Safety Connectors ..................................................................................................47
Table 11: Analog In & Analog Out ................................................................................................................57
Table 12: 8-pin Digital I/O Connectors of Cable............................................................................................59
Table 13: 8-pin Digital I/O Connector of Robot .............................................................................................59
Table 14: 5-pin Analog I/O Connector of Cable ............................................................................................60
Table 15: 5-pin Analog I/O connector of Robot.............................................................................................60
Table 16: Analog Input Range......................................................................................................................61
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications ...................................................65
Table 18: TM12M / TM14M Series Electrical Specifications..........................................................................65
Table 19: The Robot Arm Carton Contents...................................................................................................70
Table 20: The Control Box Carton Contents.................................................................................................72
Table 21: The SEMI Emergency OFF Switch Carton Contents.....................................................................72
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines ..........................................78

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 6
Table 23: Technical Specifications ...............................................................................................................80
Figures
Figure 1: References of Joints by Models ....................................................................................................14
Figure 2: Reference of Brake Solenoid by Joints .........................................................................................15
Figure 3: Locations of Labels.......................................................................................................................16
Figure 4: System Overview .........................................................................................................................18
Figure 5: Dimension of TM12 / TM12M........................................................................................................19
Figure 6: Dimension of TM14 / TM14M........................................................................................................20
Figure 7: Dimension of TM12X ....................................................................................................................21
Figure 8: Dimension of TM14X ....................................................................................................................22
Figure 9: Assembly of TM12 / TM12M .........................................................................................................23
Figure 10: Assembly of TM14 / TM14M .......................................................................................................24
Figure 11: Assembly of TM12X....................................................................................................................25
Figure 12: Assembly of TM14X....................................................................................................................26
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram ..............................................27
Figure 14: Pictorial view of TM12 / TM12M / TM12X Movement Range Diagram..........................................28
Figure 15: Top view of TM12 / TM12M / TM12X Movement Range Diagram ................................................28
Figure 16: Side view of TM14 / TM14M / TM14X Movement Range Diagram...............................................29
Figure 17: Pictorial view of TM14 / TM14M / TM14X Movement Range Diagram..........................................29
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram................................................30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X ...........31
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X ...........32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X........33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X........33
Figure 23: Bottom View of Robot Base ........................................................................................................35
Figure 24: Securing the ground wire with the robot ......................................................................................35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components ..................................36
Figure 26: References of TM12X / TM14X End Module Components...........................................................37
Figure 27: References of End Flange Surface .............................................................................................38
Figure 28: The Exterior and Diagram of the Control Box ..............................................................................39
Figure 29: Securing the ground wire with control box...................................................................................40
Figure 30: Robot Stick.................................................................................................................................40
Figure 31: Light Module Surface..................................................................................................................42
Figure 32: Calculation the Torque Load of the Light Module.........................................................................43
Figure 33: Electrical Polarity of Fill Light Cable ............................................................................................43

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 7
Figure 34: Top View of TM Robot Placed on the AGV/AIV............................................................................44
Figure 35: Working Distance and Field of View of TM Robot’s EIH camera ..................................................45
Figure 36: Control Box I/O Configuration (1/2) .............................................................................................46
Figure 37: Control Box I/O Configuration (2/2) .............................................................................................47
Figure 38: Safety Input Connector ...............................................................................................................48
Figure 39: The Wiring Diagram Example of Switch Type Safety Device. ......................................................49
Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device ...............................................49
Figure 41: The Wiring Diagram Example of PNP Output Type Safety Device ...............................................50
Figure 42: Safety Output Connector ............................................................................................................51
Figure 43: Safety Output Connector Wiring Diagram ...................................................................................51
Figure 44: Power Connector........................................................................................................................52
Figure 45: Digital Input ................................................................................................................................53
Figure 46: Set to Sink Input Type.................................................................................................................53
Figure 47: Set to Source Input Type ............................................................................................................54
Figure 48: Digital Output .............................................................................................................................54
Figure 49: Set to Sink Output Type..............................................................................................................55
Figure 50: Set to Source Output Type..........................................................................................................56
Figure 51: Analog In....................................................................................................................................56
Figure 52: Analog Out .................................................................................................................................57
Figure 53: System Remote Power ON/OFF .................................................................................................57
Figure 54: EtherCAT....................................................................................................................................58
Figure 55: Connecting Tool End Digital Output.............................................................................................60
Figure 56: Connecting Tool End Digital Input ...............................................................................................61
Figure 57: Connecting Tool End Analog Input ..............................................................................................61
Figure 58: Front View of the Control Box .....................................................................................................62
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series .............................................................62
Figure 60: Interfaces of the TM12M / TM14M Series....................................................................................63
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series.................................................................63
Figure 62: Control Box Power Interfaces .....................................................................................................64
Figure 63: Robot Interface...........................................................................................................................65
Figure 64: The TM12M SEMI / TM14M SEMI SEMI Emergency Off Interface............................................66
Figure 65: Detachable I/O Panel..................................................................................................................67
Figure 66: Robot Arm Carton.......................................................................................................................69
Figure 67: Control Box Carton .....................................................................................................................69
Figure 68: Moving the Control Box (1/2) ......................................................................................................73
Figure 69: Moving the Control Box (2/2) ......................................................................................................74

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 8
Figure 70: Moving the Robot Arm (1/2) ........................................................................................................75
Figure 71: Moving the Robot Arm (2/2) ........................................................................................................75
Figure 72: Connecting the Robot and the Control Box .................................................................................76
Figure 73: Connecting the Robot, the Control Box, and the SEMI Emergency OFF Box...............................76
Figure 74: Air Filter Tray ..............................................................................................................................79

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 9
Revision History Table
Revision Date Revised Content
01 October 2018 Original release
02 December 2018 Updated cover page, minor test fixes
03 August 2019 Minor text fixes. Added cables length
04
August 2019 Added Table of Rated Torque and Limit for Repeated Peak Torque.
Added X Model information.
05 December 2019 Added Hardware 3.2 changes
06 January 2020 Updated Chapter 6.3
07 April 2020 Minor text fixes. Added product brief information
08 August 2020 Added Warning Indications
09 February 2021 Added Omron Landmark
10 May 2021 Updated Power Cord Figure
11 October 2021
Added Chapter 1.3
Updated Maximum speed in Appendix A

Medium & Heavy Payload Series-Hardware Installation Manual TM12/14 Series Hardware Version: 3.2 10
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.