Omron TM Robot S Series Assembly instructions

Original Instruction
Omron TM Collaborative
Robot S Series: TM5S
and TM7S Hardware
Installation Manual
I686-E-01

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual
1
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.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual
2
Terms and Conditions Agreement
Warranty Limitations of Liability
Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship for a period of twelve months from the date of sale by Omron (or such other period
expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT,MERCHANTABILITYORFITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the
non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an
amount equal to the purchase price of the non-complying Product; provided that in no event shall
Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the
Products unless Omron’s analysis confirms that the Products were properly handled, stored,
installed and maintained and not subject to contamination, abuse, misuse or inappropriate
modification. Return of any Products by Buyer must be approved in writing by Omron before
shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from
the use of Products in combination with any electrical or electronic components, circuits, system
assemblies or any other materials or substances or environments. Any advice, recommendations or
information given orally or in writing, are not to be construed as an amendment or addition to the
above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 3
Limitations of Liability: Etc.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product
on which liability is asserted.
Application Considerations
SuitabilityofUse Omron
Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product.
At Buyer’s request, Omron will provide applicable third party certification documents
identifying ratings and limitations of use which apply to the Product. This information by itself
is not sufficient for a complete determination of the suitability of the Product in combination
with the end product, machine, system, or other application or use. Buyer shall be solely
responsible for determining appropriateness of the particular Product with respect to Buyer’s
application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTYWITHOUT ENSURING THATTHE SYSTEMAS AWHOLE HAS BEEN DESIGNED
TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED
AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable
Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may
represent the result of Omron’s test conditions and the user must correlate it to actual

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 4
application requirements. Actual performance is subject to the Omron’s Warranty and
Limitations of Liability.
 Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or
features are changed, or when significant construction changes are made. However, some
specifications of the Product may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or establish key specifications for your application. Please
consult with your Omron representative at any time to confirm actual specifications of
purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be
accurate; however, no responsibility is assumed for clerical, typographical or proofreading
errors or omissions.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 5
Contents
Revision History Table.....................................................................................................................................................10
1. Product Description.....................................................................................................................................................11
1.1 Product Description............................................................................................................................................11
1.2 How Can I Get Help? .........................................................................................................................................11
1.3 Disposal and Environment .................................................................................................................................11
2. Safety Information .......................................................................................................................................................11
2.1 Overview ............................................................................................................................................................11
2.2 Warning and Caution Symbols ..........................................................................................................................12
2.3 Limitations on Liability........................................................................................................................................12
2.4 Statement of Responsibilities for Cyersecurity Threats .....................................................................................12
2.5 Safety Precautions.............................................................................................................................................13
2.6 Validation and Liability .......................................................................................................................................14
2.7 General Safety Warning.....................................................................................................................................14
2.8 Risk Assessment................................................................................................................................................15
2.9 Emergency Stop ................................................................................................................................................15
2.10 Joint Movement without Drive Power ..............................................................................................................15
2.11 Labels...............................................................................................................................................................16
3. Transportation and Storage.........................................................................................................................................18
4. System Hardware........................................................................................................................................................19
4.1 Overview ............................................................................................................................................................19
4.2 System Overview ...............................................................................................................................................19
4.2.1 Robot Arm 20
4.2.1.1 Dimension Drawings of Robot 20
4.2.1.2 Robot Assembly Diagram 23
4.2.1.3 Range of Motion 24
4.2.1.4 Payload and Torque 28
4.2.1.5 Robot Arm Installation 30
4.2.2 Robot End Module 31
4.2.2.1 End Module Components 31
4.2.2.2 Flange Surface of the Robot End 34
4.2.2.3 End Mounting Caution 35
4.2.2.4 End Indication Light Ring Table 35
4.2.3 Control Box 36
4.2.3.1 Robot Stick 37
4.2.3.2 TM Screen (Optional) 40
4.2.4 Robot Light Module 42

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 6
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.........................................................................45
5. Electrical Interface.......................................................................................................................................................46
5.1 Overview ............................................................................................................................................................46
5.2 Electrical Warnings and Cautions ......................................................................................................................46
5.3 Control Box ........................................................................................................................................................46
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 50
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/Out 54
5.3.5 System Remote Power ON/OFF 55
5.3.6 AUTO MODE Play Confirm Port 55
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion 56
5.3.8 USB Port 56
5.3.9 COM Port 57
5.4 Tool End I/O Interface ........................................................................................................................................58
5.4.1 I/O Terminals 58
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 .............................................................................................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 TM5S-M SEMI / TM7S-M SEMI Series 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

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 7
6.3 Unboxing ............................................................................................................................................................68
6.3.1 Carton Types 68
6.3.2 Contents of Each Carton 69
6.4 Installing Your Robot ..........................................................................................................................................72
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
6.4.5 Mounting Direction 75
7. Maintenance and Repair .............................................................................................................................................77
Appendix A. Technical Specifications..............................................................................................................................80
Tables
Table 1: Manual Title & Description ..................................................................................................................11
Table 2: Danger, Warning, and Caution Symbols.............................................................................................12
Table 3: Denotation of Labels ...........................................................................................................................17
Table 4: Rated Torque and Limit for Repeated Peak Torque of TM5S and TM7S 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 ....................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: Analog In & Analog Out .....................................................................................................................55
Table 11: 8-pin Digital I/O Connectors of Cable................................................................................................58
Table 12: 8-pin Digital I/O Connector of Robot .................................................................................................59
Table 13: Analog Input Range ..........................................................................................................................60
Table 14: TM5S / TM7S / TM5S-X / TM7S-X Electrical Specifications.............................................................64
Table 15: TM5S-M / TM7S-M Series Electrical Specifications .........................................................................65
Table 16: The Robot Arm Carton Contents.......................................................................................................69
Table 17: The Control Box Carton Contents.....................................................................................................71
Table 18: The SEMI Emergency OFF Switch Carton Contents........................................................................72
Table 19: Summary of the Preventive Maintenance Procedures and Guidelines ............................................77
Table 20: Technical Specifications ....................................................................................................................80
Figures
Figure 1: Pin position for brake releasing .........................................................................................................16
Figure 2: Locations of Labels ...........................................................................................................................17

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 8
Figure 3: System Overview...............................................................................................................................19
Figure 4: Dimension of TM5S / TM5S-M ..........................................................................................................20
Figure 5: Dimension of TM7S / TM7S-M ..........................................................................................................21
Figure 6: Dimension of TM5S-X .......................................................................................................................22
Figure 7: Dimension of TM7S-X .......................................................................................................................23
Figure 8: Side View of TM5S / TM5S-M / TM5S-X Movement Range Diagram...............................................25
Figure 9: Pictorial view of TM5S / TM5S-M / TM5S-X Movement Range Diagram..........................................26
Figure 10: Top View of TM5S / TM5S-M / TM5S-X Movement Range.............................................................26
Figure 11: Side View of TM7S / TM7S-M / TM7S-X Movement Range Diagram .............................................27
Figure 12: Pictorial View of TM7S / TM7S-M / TM7S-X Movement Range......................................................27
Figure 13: Top View of TM7S / TM7S-M / TM7S-X Movement Range.............................................................28
Figure 14: Relationship between Payload and the Center of Gravity Offset in TM5S / TM5S-M / TM5S-X ....29
Figure 15: Relationship between Payload and the Center of Gravity Offset in TM7S / TM7S-M / TM7S-X ....29
Figure 16: Bottom View of Robot Base (TM5S / TM7S series) ........................................................................31
Figure 17: Grounding position for the robot......................................................................................................31
Figure 18: References of TM5S / TM5S-M / TM7S / TM7S-M End Module Components ...............................32
Figure 19: References of TM5S-X / TM7S-X End Module Components..........................................................33
Figure 20: References of the Flange Surface of the Robot End ......................................................................34
Figure 21: The Exterior and Diagram of the Control Box .................................................................................36
Figure 22: Grounding position for the control box ............................................................................................36
Figure 23: Robot Stick (front) ...........................................................................................................................37
Figure 24: Robot Stick (back) ...........................................................................................................................37
Figure 25: Operation of the Enabling Switch ....................................................................................................38
Figure 26: TM Teach Pendant (consisting of the TM Screen and Robot Stick)................................................40
Figure 27: Light Module Surface ......................................................................................................................42
Figure 28: Calculation the Torque Load of the Light Module............................................................................43
Figure 29: Electrical Polarity of Fill Light Cable ................................................................................................44
Figure 30: Top View of TM Robot Placed on the AGV/AIV...............................................................................44
Figure 31: Working Distance and Field of View of TM Robot’s EIH camera ....................................................45
Figure 32: Control Box I/O Configuration .........................................................................................................46
Figure 33: Safety Input Connector....................................................................................................................47
Figure 34: The Wiring Diagram Example of Switch Type Safety Device..........................................................48
Figure 35: The Wiring Diagram Example of PNP Output Type Safety Device .................................................48
Figure 36: The Wiring Diagram Example of PNP Output Type Safety Device .................................................49
Figure 37: Safety Output Connector.................................................................................................................49
Figure 38: Safety Output Connector Wiring Diagram .......................................................................................50
Figure 39: Power Connector.............................................................................................................................51

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 9
Figure 40: Digital Input......................................................................................................................................51
Figure 41: Set to Sink Input Type .....................................................................................................................52
Figure 42: Set to Source Input Type .................................................................................................................52
Figure 43: Digital Output...................................................................................................................................53
Figure 44: Set to Sink Output Type ..................................................................................................................53
Figure 45: Set to Source Output Type ..............................................................................................................54
Figure 46: Analog In..........................................................................................................................................54
Figure 47: Analog Out.......................................................................................................................................55
Figure 48: System Remote Power ON/OFF .....................................................................................................55
Figure 49: AUTO MODE Play Confirm Port......................................................................................................56
Figure 50: EtherCAT .........................................................................................................................................56
Figure 51: Connecting Tool End Digital Output ................................................................................................59
Figure 52: Connecting Tool End Digital Input ...................................................................................................60
Figure 53: Connecting Tool End Analog Input ..................................................................................................60
Figure 54: Front View of the Control Box (AC) .................................................................................................61
Figure 55: Front View of the Control Box (DC).................................................................................................61
Figure 56: Side View of the Control Box (DC) ..................................................................................................61
Figure 57: Front View of the Control Box (DC SEMI) .......................................................................................62
Figure 58: Side View of the Control Box (DC SEMI) ........................................................................................62
Figure 59: Interfaces of the TM5S / TM5S-X / TM7S / TM7S-X Series............................................................63
Figure 60: Interfaces of the TM5S-M / TM5S-MX / TM5S-M SEMI / TM7S-M / TM7S-M SEMI Series ...........63
Figure 61: Control Box Power Interfaces..........................................................................................................64
Figure 62: Robot Interface ................................................................................................................................65
Figure 63: The TM5S-M SEMI / TM7S-M SEMI Emergency Off Interface .......................................................66
Figure 64: Robot Arm Carton............................................................................................................................68
Figure 65: Control Box Carton (AC) .................................................................................................................68
Figure 66: Control Box Carton (DC and DC SEMI) ..........................................................................................69
Figure 67: Moving the Control Box (1/2)...........................................................................................................73
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: Connecting the Robot and the Control Box.....................................................................................75
Figure 72: Air Filter Tray (the circled parts) ......................................................................................................79

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 10
Revision History Table
Revision
Date
Revised Content
A
June, 2023
Original release

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 11
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.
2. Safety Information
2.1 Overview

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 12
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 Limitations on Liability
Even if the safety instructions are followed, any safety information in the manual shall not be considered as a
guarantee that the product will not cause any personal injury or property damage
2.4 Statement of Responsibilities for Cyersecurity Threats
To maintain the security and reliability of the system, a robust cybersecurity defense program should be
implemented, which may include some or all of the following:
Anti-virus protection
•Install the latest commercial-quality anti-virus software on the computer connected to the control system and
keep the software and virus definitions up-to-date.
•Scan USB drives or other external storage devices before connecting them to control systems and equipment.
Security measures to prevent unauthorized network access
•Install physical controls so that only authorized personnel can access control systems and equipment.
•Reduce connections to control systems and equipment via networks to prevent access from untrusted devices.
•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.
•Set strong password policies and monitor for compliance frequently.
Data input and output protection
•Backup data and keep the data up-to-date periodically to prepare for data loss.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 13
•Validate backups and retention policies to cope with unintentional modification of input/output data to control
systems and equipment.
•Validate the scope of data protection regularly to accommodate changes.
•Check validity of backups by scheduling test restores to ensure successful recovery from incidents.
•Safety design, such as emergency shutdown and fail-soft operations in case of data tampering and incidents.
Additional recommendations
•When using an external network environment to connect to an unauthorized terminal such as a SCADA, HMI or
to an unauthorized server may result in network security issues such as spoofing and tampering.
•You must take sufficient measures such as restricting access to the terminal, using a terminal equipped with a
secure function, and locking the installation area by yourself.
•When constructing network infrastructure, communication failure may occur due to cable disconnection or the
influence of unauthorized network equipment.
•Take adequate measures, such as restricting physical access to network devices, by means such as locking the
installation area.
•When using devices equipped with an SD Memory Card, there is a security risk that a third party may acquire,
alter, or replace the files and data in the removable media by removing or unmounting the media.
2.5 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.
Power to the robot and its power supply must be locked out and tagged out or have means to control
Read Manual and Impact Warning Labels

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 14
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.
2.6 Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete robotic arm
system, nor involves the peripherals that may affect the safety of the complete system. The integrators of the
robot should understand the safety laws and regulations in their countries and prevent hazards from occurring in
the complete system.
This includes but is not limited to:
Risk assessment of the whole system
Adding other machines and additional risk reduction measures based on the results of the risk assessment
Using appropriate software safety features
Ensuring Users will not modify any safety measures
Ensuring all systems are correctly designed and installed
Clearly labeling user instructions
Clearly marking the contact information for the integrator
Making relevant documents accessible, including the risk assessment, and this manual
CAUTION:
This product is a partly complete machine. The design and installation of the complete
system must comply with the safety standards and regulations in the country of use.
Users and integrators of the robot should understand the safety laws and regulations in
their countries and prevent major hazards from occurring in the complete system.
2.7 General Safety Warning
1. The noise measured in a factory setting is about 50.4 dB (A) without production. (Measured 1m from the robot
and 1.6m above the floor, at 80% of maximum speed). If the sound pressure is over 80 dB(A) while operating,
wear proper ear protection.
2. Environmental Conditions:
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

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 15
2.8 Risk Assessment
Before installing or using this product, users must first carry out the necessary risk assessment based on the
conditions of use, and pay attention to the potential remaining risk addressed by the Corporation. Refer to and
abide by the relevant chapters in Safety Manual in accordance with its software and hardware version.
2.9 Emergency Stop
If any accidents occur during the operation of the robot, Users can stop all movement by pressing the Emergency
Stop switch. When the robot stops, users must ensure that all hazards are eliminated before manually restarting
the robot. The Emergency Stop switch is only for use in critical conditions. To stop the robot during normal
operations use the Stop Button on the system controller. When Users presses the Emergency Stop switch, the
TM Robot will disconnect power from the robot and activate the brakes after the robot motion is stopped. The
indication light ring of the robot will not display light.
Once the risk assessment has been conducted, if an Emergency Stop switch needs to be installed, the selected
device must comply with the requirements of IEC 60204-1. After an Emergency Stop, factory reset, or any other
safety incident, refer and abide by the relevant chapters in Safety Manual in accordance with its software and
hardware version.
2.10 Joint Movement without Drive Power
When there is no drive power in the robot, this means the robot is powered off or has power loss. These
situations occur when the robot loses external power entirely. Regarding how to operate a robot without drive
power as well as what safety precautions should be taken when using such a robot, refer to the relevant
chapters in the Safety Manual and follow the instructions. If it is necessary to move the robot arm or joint
manually, users can release the brake of each joint manually.
To release the brake of each joint manually:
1. Remove joint cover screws (M3, Torx-T10) and joint cover, and
2. Release the brake by pushing the pin on the brake solenoid, as shown in the following figures.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 16
1st /2nd /3rd joint
4th /5th /6th joint
Figure 1: Pin position for brake releasing
DANGER:
There is no force compensation during joint movement without drive power, which
means more force is required to move each joint directly against the motor drive.
WARNING:
Users should be well trained and pay attention to moving the robot without drive power
during any emergency and abnormal situations.
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.
A
Do not put your hand or fingers close to moving parts
B
Be careful not to be close to the moving parts and nearby areas to
avoid impact
C
Do not touch any internal electric parts to avoid electric shock.
Arc flash hazard, appropriate PPE required. Failure to comply
can result in death or injury. Refer to NFPA 70 E.
Risk of fire or electric shock. The door lock is not interlocked
with the machine supply circuit disconnect. And unlocking or
opening of doors does not de-energize exposed live parts.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 17
D
Product label
Table 3: Denotation of Labels
Figure 2: Locations of Labels
C
D
C
B
A

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 18
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.
Support the arms while tightening the base screws.
Lift the control box by its handles. Store the cables before transportation.
WARNING:
Pay attention to your posture when moving the arm and control box cartons to avoid back
injury. The Corporation will not be liable for any injuries caused during transportation.
WARNING:
If the robot has not moved for a period of time, the base oil may be separated and leaked due
to the influence of gravity. It is recommended to let the joints of the robot move at a slow
speed (less than 10%) for at least 30 minutes every other month to make the base oil
circulates effectively in the joints.
WARNING:
This product must be shipped and stored in a temperature-controlled environment, within the
range -20°C to 60°C (-4°F to 140°F). The recommended humidity is up to 75 percent, non-
condensing. It should be shipped and stored in the supplied package, which is designed to
prevent damage from normal shock and vibration, You should protect the package from
excessive shock and vibration.
The product must always be stored and shipped in an upright position in a clean, dry area
that is free from condensation. Do not lay the package on its side or any other non-upright
position. This could damage the product.

Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 19
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 the Robot Stick).
Figure 3: System Overview
Control Box
Robot Stick
Robot arm