Techman Robot TM Palletizing Operator User manual

Product Version: 1.0
Document Version: 1.0
Release Date: 2020-04-27
TM Palletizing
Operator
User’s Manual
Corresponding models: TM5 Series
Original Instruction
Original Instruction

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 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.

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 3
Preface
Techman Robot Inc. assumes no responsibility for any damage or injury arising from the improper use of the palletizing
operator and the robot. The following symbols indicate the definitions of the warning and caution levels used in this
manual. Pay close attention to these symbols when reading the manual and using the system 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.
WARNING: ELECTROCUTION RISK
Identifies a hazardous electrical situation.
Table 1: Safety definition symbols
The following symbols require readers’/users’attention regarding some functional details or tips.
IMPORTANT:
This symbol represents the relevant functional details to assist the programming and
use.
NOTE:
This symbol represents the relevant functional use tips to assist programming efficiency
Product Versioning Information
TM Palletizing Operator Product Version 1.0
TM Robot Software Version
1.76
TM Robot Hardware Version
3.2
TMstudio Software Version
1.0
TM Palletizing Operator Software Package
V001
TM Palletizing Operator Safety System
1.0
*Within the scope of hardware and software combination above, the product
version remains the same as TM Palletizing Operator Product Version 1.0.
Table 2: Version information

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 4
Revision History
Revision
Date
Revised Content
1.0
2020-04-22
Official release

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 5
Contents
Preface..............................................................................................................................................................................3
Product Versioning Information.........................................................................................................................................3
Revision History ................................................................................................................................................................4
1Product Introduction.................................................................................................................................................15
1.1 TM Palletizing Operator Overview ..............................................................................................................15
1.1.1 Orientations.........................................................................................................................................16
1.1.2 Palletizing Operator Base Dimensions................................................................................................16
1.2 Package Contents.......................................................................................................................................17
1.3 Teach Pendant ............................................................................................................................................23
1.4 Adjustable Flexible Gripper Overview.........................................................................................................25
1.4.1 Dimensions of Adjustable Flexible Gripper .........................................................................................25
1.4.2 Vacuum Generator Characteristics .....................................................................................................26
1.4.3 Vertical Lifting Force per Suction cup..................................................................................................27
1.4.4 Vacuum pressure sensor.....................................................................................................................27
1.4.5 Pneumatic Diagram.............................................................................................................................27
1.5 How Can I Get Help ....................................................................................................................................28
1.5.1 Related Documentations to this Manual .............................................................................................28
2Safety Information....................................................................................................................................................29
2.1 Overview .....................................................................................................................................................29
2.2 Applicable Product Version .........................................................................................................................29
2.3 Safety Precautions ......................................................................................................................................29
2.4 Overall Safety Warning ...............................................................................................................................30
2.5 Validation and Liability.................................................................................................................................31
2.6 Intended Use...............................................................................................................................................32
2.7 Limitations on Liability.................................................................................................................................33
2.8 General Environmental Considerations ......................................................................................................33
2.9 Risk Assessment.........................................................................................................................................33
2.10 Pre-Use Assessment...................................................................................................................................34
2.11 Emergency Stop..........................................................................................................................................35
2.12 3-Position Enabling Device .........................................................................................................................35
2.13 Movement without Drive Power ..................................................................................................................35
2.14 Labels..........................................................................................................................................................35
3Safety Function........................................................................................................................................................38
3.1 General Information.....................................................................................................................................38
3.1.1 Safety Function Definitions .................................................................................................................38

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3.1.2 Stopping Time and Stopping Distance in the Safety System..............................................................39
3.1.3 Software Safety Setting Permissions..................................................................................................39
3.2 Safety Device Connection Diagram, Input Discrepancy and Resume Method...........................................39
3.3 Explanation of Safety Functions..................................................................................................................40
3.3.1 SF0 Robot Stick Emergency Stop, SF1 Pendant Emergency Stop and SF2 External Emergency Stop
40
3.3.2 SF3 External Safeguard-Pause and SF4 External Safeguard-Human-Machine Safety Settings.......42
3.3.3 SF5 Pendant Enabling Device ............................................................................................................43
3.3.4 SF6 Motion Latching Mechanism........................................................................................................43
3.3.5 SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9 Safeguard-Human-Machine
Safety Settings Output .........................................................................................................................................43
3.3.6 SF10~SF15 Defined Safety Functions................................................................................................44
3.5 Safety Distance and Scenario.....................................................................................................................47
3.6 Reset Button Mechanism............................................................................................................................51
3.7 Operation Mode and Mode Switching.........................................................................................................52
3.7.1 Auto Mode...........................................................................................................................................52
3.7.2 Manual Mode.......................................................................................................................................52
3.7.2.1 Manual Control Mode (Manual Reduced Speed)............................................................................53
3.7.2.2 Hand Guide Mode...........................................................................................................................53
3.7.2.3 Manual Trial Run Mode (Manual High Speed)................................................................................53
3.7.2.4 Switching Between Modes..............................................................................................................53
3.8 Safety Setting in TMflow Software ..............................................................................................................53
4Electrical Interface ...................................................................................................................................................54
4.1 General Electrical Specifications.................................................................................................................54
4.2 Electrical Warnings and Cautions ...............................................................................................................54
4.3 A Glance inside TM Palletizing Operator Base ...........................................................................................54
4.4 Electric Switchboard inside the Distribution Box.........................................................................................55
4.5 Palletizing I/O Configuration........................................................................................................................56
4.5.1 Palletizing I/O Pin Definitions..............................................................................................................57
4.5.2 Digital Inputs........................................................................................................................................57
4.5.2.1 Considerations for Sensor Connections .........................................................................................58
4.5.3 Digital Outputs.....................................................................................................................................59
4.5.3.1 Considerations for Terminal ............................................................................................................60
4.5.4 Analog Input/Output ............................................................................................................................61
4.5.4.1 Analog Input....................................................................................................................................62
4.5.4.2 Analog Output .................................................................................................................................62

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4.6 Safety Input/Output .....................................................................................................................................63
4.6.1 Safety Input .........................................................................................................................................64
4.6.2 Safety Output ......................................................................................................................................65
4.7 Safety Controller (G9SP-N20S) I/O Configuration......................................................................................66
4.8 Safety Controller (SF-C21) I/O Configuration .............................................................................................68
4.9 Power Terminal............................................................................................................................................69
4.10 External I/O (CP1W-20EDT) and Reset Button Setting..............................................................................70
4.11 Light Indications ..........................................................................................................................................71
5Unpacking, Installation and Transportation..............................................................................................................72
5.1 Unpacking Procedures................................................................................................................................72
5.1.1 Unpacking the Control Box .................................................................................................................72
5.1.2 Unpacking the Robot...........................................................................................................................72
5.1.3 Unpacking the Palletizing Operator.....................................................................................................72
5.2 Assembling TM Palletizing Operator...........................................................................................................73
5.2.1 Removing the Rear Housing...............................................................................................................73
5.2.2 Installing TM Robot .............................................................................................................................75
5.2.3 Installing the Control Box ....................................................................................................................77
5.2.4 Installing the Rear Housing.................................................................................................................82
5.2.5 Installing Adjustable Flexible Gripper..................................................................................................84
5.2.5.1 Changing Gripper Flange Position..................................................................................................85
5.2.5.2 Installing the Gripper onto the Robot (for centered position)..........................................................87
5.2.5.3 Installing the Gripper onto the Robot (for shifted position) .............................................................88
5.2.6 Installing Cable Protection Conduit.....................................................................................................89
5.3.1 Considerations for Connecting External Compressed Air...................................................................93
5.4 Installing the Reset Button ..........................................................................................................................94
5.5 TM Palletizing Operator Transportation ......................................................................................................94
5.5.1 Encountering Non-Flat Surfaces.........................................................................................................96
5.5.2 Relocation and Storage Considerations..............................................................................................98
5.6 Installing Teach Pendant.............................................................................................................................98
5.7 Adjusting Pallet Sensor...............................................................................................................................99
5.8 Connecting Power Supply to TM Palletizing Operator..............................................................................100
5.9 Activating/Deactivating TM Palletizing Operator.......................................................................................102
5.10 Required Software Installation and Safety Configuration .........................................................................104
5.10.1 Downloading TMflow and TMstudio Software...................................................................................104
5.10.2 Entering TMflow Software .................................................................................................................104
5.10.3 Setting Teach Pendant in TMflow......................................................................................................104

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5.10.4 Reset Button Setting in TMflow.........................................................................................................108
5.10.5 TCP Setting for the Adjustable Flexible Gripper ...............................................................................108
6Application Software Setup....................................................................................................................................112
6.1 TM Palletizing Operator Software Overview.............................................................................................112
6.2 TM Palletizing Operator Software Configuration Workflow.......................................................................112
6.3 Downloading TM Palletizing Operator Software Package ........................................................................113
6.4 Setting Palletizing Application under Palletizing Wizard ...........................................................................113
6.4.1 Step 1 - Setting Box Size and Label Direction..................................................................................114
6.4.2 Step 2 –Choose/Set Pallet...............................................................................................................115
6.4.3 Step 3 –Create Pallet Layers ...........................................................................................................116
6.4.4 Step 4 –Create Palletizing Sequence ..............................................................................................119
6.4.5 Step 5 –Palletizing Simulation..........................................................................................................121
6.4.6 Step 6 –Export File...........................................................................................................................125
6.5 Configuring Palletizing Software Components in TMflow .........................................................................125
6.5.1Importing Components and Text File into TMflow.............................................................................125
6.5.2 Setting I/O While Project Stop/Error..................................................................................................130
6.5.3 Setting TMOperator_TMROBOT_TMPLTZOP_V001_Pillar.............................................................132
6.5.3.1 Lowering the Pillar Height .............................................................................................................134
6.5.4 Setting TMOperator_TMROBOT_TMPLTZOP_V001_Main .............................................................135
6.5.4.1 Step 1 –Import File.......................................................................................................................136
6.5.4.2 Step 2 –Recognizing Box Position...............................................................................................137
6.5.4.3 Step 3 –Teach Gripping Point ......................................................................................................140
6.5.4.4 Step 4 –Visual Recognition..........................................................................................................142
6.5.4.5 Sensor Input Considerations.........................................................................................................152
6.5.5 Setting TMOperator_TMROBOT_TMPLTZOP _Vxxx_Grip and TMOperator_TMROBOT_TMPLTZOP
_Vxxx_Release ..................................................................................................................................................152
6.6 Advanced Palletizing Setting.....................................................................................................................152
6.6.1 Advanced1_General_Parameters.....................................................................................................152
6.6.2 Advanced2-8 .....................................................................................................................................155
7Product Specifications ...........................................................................................................................................159
8Maintenance and Repair........................................................................................................................................161
9Warranty Statement...............................................................................................................................................163
9.1 Product Warranty.......................................................................................................................................163
9.2 Disclaimer..................................................................................................................................................163
Appendix –A: Troubleshooting and Error Messages....................................................................................................164
Troubleshooting .....................................................................................................................................................164

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Adjusting pillar height .........................................................................................................................................164
Recovering from Emergency Stop .....................................................................................................................165
Resume from Safeguard Stop Status ................................................................................................................165
Error Messages......................................................................................................................................................165
Appendix –B: Vacuum Pressure Sensor Setting..........................................................................................................167
Pressure sensor setup steps .................................................................................................................................167
Pressure setting (single-point setting mode)......................................................................................................168
Pressure sensor setup for vacuum suction cup.....................................................................................................168
Pressure setting (single-point setting mode)......................................................................................................169
Appendix –C: Declaration of Incorporation..................................................................................................................171
Appendix –D: Certificate of Compliance ......................................................................................................................172
Appendix –E: Verification of EMC Compliance............................................................................................................175
Tables
Table 1: Safety definition symbols......................................................................................................................3
Table 2: Version information ...............................................................................................................................3
Table 3: Teach Pendant Basic Functions..........................................................................................................24
Table 4: Related documentations .....................................................................................................................28
Table 5: Safety System versioning information ................................................................................................29
Table 6: Denotations of labels ..........................................................................................................................37
Table 7: Safety Function Definitions .................................................................................................................38
Table 8: Stop Category and Action of Fault Detection of SF0, SF1 and SF2...................................................40
Table 9: Stop Category and Action of Fault Detection of SF3 and SF4 ...........................................................42
Table 10: Stop Category and Action of Fault Detection of SF5........................................................................43
Table 11: Stop Category and Action of Fault Detection of SF6 ........................................................................43
Table 12: Stop Category and Action of Fault Detection of SF7, SF8 and SF9.................................................44
Table 13: Safety Function SF10~SF15 Definitions...........................................................................................45
Table 14: Stop Category and Action of Fault Detection of SF10~ SF15 ..........................................................45
Table 15: AC Input Specifications of TM Palletizing Operator..........................................................................54
Table 16: Default Pallet Templates by drop-down menu..................................................................................56
Table 17: Pin signals for DIO, Analog I/O, Safety I/O and COM.......................................................................57
Table 18: Definitions of Safety I/O connectors..................................................................................................63
Table 19: Safety controller (G9SP) pin definition..............................................................................................67
Table 20: Safety controller (SF-C21) I/O I/O.....................................................................................................69
Table 21: System Light Indicator ......................................................................................................................71
Table 22: AC Input Specifications of TM Palletizing Operator........................................................................100

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Table 23: TM Palletizing Operator software configuration workflow...............................................................112
Table 24: Default Pallet Templates by drop-down menu................................................................................115
Table 25: Functional icons for pallet layers.....................................................................................................117
Table 26: Shift Box configurations ..................................................................................................................119
Table 27: Functional icons for palletizing sequence.......................................................................................120
Table 28: Parameter descriptions...................................................................................................................124
Table 29: Component Descriptions.................................................................................................................130
Table 30: Advanced setting for general parameters.......................................................................................155
Table 31: Definitions of Advanced2-8 .............................................................................................................157
Table 32: Relevant parameters.......................................................................................................................158
Table 33: Summary of the Preventive Maintenance Procedures and Guidelines ..........................................162
Figures
Figure 1: TM Palletizing Operator Base Overview (1/2)...................................................................................15
Figure 2: TM Palletizing Operator Base Overview (2/2)...................................................................................15
Figure 3: TM Palletizing Operator Base Orientation.........................................................................................16
Figure 4: Palletizing Operator Base dimensions ..............................................................................................16
Figure 5: Adjustable Flexible Gripper Overview ...............................................................................................25
Figure 6: Dimensions of Adjustable Flexible Gripper .......................................................................................26
Figure 7: Vacuum Generator Characteristics ...................................................................................................26
Figure 8: Vertical Lifting Force per Suction Cup...............................................................................................27
Figure 9: Pneumatic Diagram...........................................................................................................................28
Figure 10: Locations of safety warning and product labels ..............................................................................36
Figure 11: Safety Device Connection diagram .................................................................................................39
Figure 12: Relationship between Payload and the Center of Gravity Offset (mm) ..........................................47
Figure 13: Palletizing operator clearance with sideways conveyor..................................................................47
Figure 14: Palletizing operator clearance with straight conveyor.....................................................................48
Figure 15: Safeguarded space setup scenario with sideways conveyor layouts .............................................48
Figure 16: Safeguarded space with different setup scenario ...........................................................................50
Figure 17: Safeguarded space setup scenarios with multi-palletizing operators.............................................50
Figure 18: Teach Pendant outside Safeguarded space ...................................................................................51
Figure 19: Inside the Distribution Box (the image serves as reference only)...................................................54
Figure 20: Electric switchboard diagram ..........................................................................................................55
Figure 21: Palletizing I/O ..................................................................................................................................56
Figure 22: Set to Sink/Source Input Type.........................................................................................................59
Figure 23: Set to Sink/Source Output Type......................................................................................................60

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Figure 24: Analog Input application ..................................................................................................................62
Figure 25: Analog_OUT application..................................................................................................................62
Figure 26: Safety Controller (G9SP).................................................................................................................66
Figure 27: Connecting Safety Devices.............................................................................................................67
Figure 28: Safety Controller SF-C21................................................................................................................68
Figure 29: Power terminal (+24V/+0V).............................................................................................................69
Figure 30: Switch to Auto mode for Reset Button ............................................................................................70
Figure 31: Pallet light indications......................................................................................................................71
Figure 32: System light indications...................................................................................................................71
Figure 33: Palletizing operator base in wooden crate ......................................................................................72
Figure 34: Unlatch the side cover hinge...........................................................................................................73
Figure 35: Remove the 6 screws......................................................................................................................74
Figure 36: Unfasten the 4 screws.....................................................................................................................74
Figure 37: Secure the robot arm onto a base plate..........................................................................................75
Figure 38: Open the covers of the cable drag chain ........................................................................................75
Figure 39: Seal and reinstall.............................................................................................................................76
Figure 40: Remove EX-IO module from control box ........................................................................................77
Figure 41: Secure the covert brackets to the legs of the control box ...............................................................77
Figure 42: Proper cable connections................................................................................................................78
Figure 43: Proper connections for robot connector cable ................................................................................79
Figure 44: All cables are firmly plugged............................................................................................................80
Figure 45: Secure the bracket plates of the control box...................................................................................81
Figure 46: Place the rear housing ....................................................................................................................82
Figure 47: Wire the robot cable through notch .................................................................................................83
Figure 48: Reinstallation of the side cover .......................................................................................................83
Figure 49: Gripper flange at centered position as delivered.............................................................................84
Figure 50: Gripper flange at shifted position.....................................................................................................84
Figure 51: Remove two M6x12L screws and detach flange knob....................................................................85
Figure 52: Remove five M6x6L screws and detach position converter............................................................85
Figure 53: Fasten the flange knob to shifted position.......................................................................................86
Figure 54: Flange position change completed .................................................................................................86
Figure 55: Align gripper and apply screws (for centered position) ...................................................................87
Figure 56: Connect 8-pin gripper cable to I/O connector on robot (for centered position)...............................87
Figure 57: Align gripper and apply screws (for shifted position).......................................................................88
Figure 58: Connect 8-pin gripper cable to I/O connector on robot (for shifted position) ..................................88
Figure 59: Segments for Velcro use.................................................................................................................89

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Figure 60: Distance intervals of each segment ................................................................................................90
Figure 61: Penetrate the air tubes and connectors (example by centered gripper position) ...........................91
Figure 62: Connect air tube plug to the gripper plug........................................................................................91
Figure 63: Connection completed.....................................................................................................................92
Figure 64: Air Unit for external compressed air supply.....................................................................................92
Figure 65: Filter Regulator and Pressure Gauge location................................................................................93
Figure 66: Installing Reset Button ....................................................................................................................94
Figure 67: TM Palletizing Operator Transportation (1/4)..................................................................................94
Figure 68: TM Palletizing Operator Transportation (2/4)..................................................................................95
Figure 69: TM Palletizing Operator Transportation (3/4)..................................................................................95
Figure 70: TM Palletizing Operator Transportation (4/4)..................................................................................96
Figure 71: Using wrench to loosen/tighten leveling mounts.............................................................................97
Figure 72: TM Palletizing Operator anchor points............................................................................................97
Figure 73: Connect the cable to the pendant ...................................................................................................98
Figure 74: Connect the cable to the palletizing operator..................................................................................99
Figure 75: Adjust pallet sensor horizontally......................................................................................................99
Figure 76: Default sensor position..................................................................................................................100
Figure 77: Maximum sensor position..............................................................................................................100
Figure 78: Power connection reference..........................................................................................................101
Figure 79: Ground connection........................................................................................................................102
Figure 80: Turn the Main Switch in a clockwise direction to power on...........................................................102
Figure 81: Log-in.............................................................................................................................................104
Figure 82: I/O setup for Pendant ....................................................................................................................105
Figure 83: Setting in User Defined I/O............................................................................................................105
Figure 84: Go to “Safety” setting ....................................................................................................................106
Figure 85: Enable device setting ....................................................................................................................106
Figure 86: Set pendant as display device.......................................................................................................107
Figure 87: Select “Pendant”............................................................................................................................107
Figure 88: Set Manual Reset..........................................................................................................................108
Figure 89: Go to TCP setting..........................................................................................................................109
Figure 90: Select “Manual Input Parameters of TCP” ....................................................................................109
Figure 91: Import the pallet tool......................................................................................................................110
Figure 92: TCP values for non-shifted gripper................................................................................................110
Figure 93: Example of non-shifted gripper ..................................................................................................... 111
Figure 94: TCP values for shifted gripper....................................................................................................... 111
Figure 95: Example of shifted gripper............................................................................................................. 111

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Figure 96: Launch Palletizing Wizard.............................................................................................................113
Figure 97: Palletizing Wizard_Step 1 .............................................................................................................114
Figure 98: Choose/set pallet...........................................................................................................................115
Figure 99: Create pallet layers .......................................................................................................................116
Figure 100: Interval value displayed...............................................................................................................117
Figure 101: Shift box.......................................................................................................................................118
Figure 102: Create palletizing sequence........................................................................................................119
Figure 103: Palletizing simulation...................................................................................................................121
Figure 104: Change gripper............................................................................................................................122
Figure 105: Parameter setting........................................................................................................................123
Figure 106: Palletizing parameter illustration .................................................................................................124
Figure 107: Export the file...............................................................................................................................124
Figure 108: Export file.....................................................................................................................................125
Figure 109: Import/Export...............................................................................................................................126
Figure 110: Import file.....................................................................................................................................126
Figure 111: Robot list......................................................................................................................................127
Figure 112: Import selected components .......................................................................................................127
Figure 113: Import completed.........................................................................................................................128
Figure 114: Import text file ..............................................................................................................................129
Figure 115: Select “Component” in Setting.....................................................................................................129
Figure 116: Enable the imported components................................................................................................130
Figure 117: Set I/O while project error............................................................................................................131
Figure 118: Set I/O while project stop.............................................................................................................131
Figure 119: Start using pillar calibration .........................................................................................................132
Figure 120: Pillar calibration...........................................................................................................................132
Figure 121: “Bool” value must be true ............................................................................................................133
Figure 122: Calibration test ............................................................................................................................133
Figure 123: Go to “Controller”.........................................................................................................................134
Figure 124: Set IO in Controller......................................................................................................................135
Figure 125: Project_Main................................................................................................................................135
Figure 126: Palletizing steps ..........................................................................................................................136
Figure 127: Setting for Import File..................................................................................................................136
Figure 128: Input the file.................................................................................................................................137
Figure 129: Go to Step 2 ................................................................................................................................137
Figure 130: Vision job.....................................................................................................................................138
Figure 131: Select “Step 2”.............................................................................................................................138

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Figure 132: Guide robot to initial position.......................................................................................................139
Figure 133: Recognizing TM Landmark .........................................................................................................139
Figure 134: Move the robot to grip the box.....................................................................................................141
Figure 135: Go to “Step 3” ..............................................................................................................................141
Figure 136: Set Point Manager.......................................................................................................................142
Figure 137: Enable overwrite..........................................................................................................................142
Figure 138: Step4_Visual Recognition ...........................................................................................................143
Figure 139: Step4_Visual Recognition ...........................................................................................................143
Figure 140: Click “+” for Step4_Visual Recognition........................................................................................144
Figure 141: Job Name Input...........................................................................................................................144
Figure 142: Calibration ...................................................................................................................................145
Figure 143: Calibration by automatic option...................................................................................................145
Figure 144: Configurations to set workspace.................................................................................................146
Figure 145: Tilt correction...............................................................................................................................147
Figure 146: Tilt Correction_Yes/No.................................................................................................................147
Figure 147: Set workspace.............................................................................................................................148
Figure 148: Workspace calibration.................................................................................................................149
Figure 149: Save Result.................................................................................................................................149
Figure 150: Save Workspace .........................................................................................................................150
Figure 151: Initial the visual recognition process ...........................................................................................151
Figure 152: Load Workspace..........................................................................................................................151
Figure 153: Advanced setting.........................................................................................................................152
Figure 154: Add a subflow ..............................................................................................................................155
Figure 155: Add nodes in the subflow ............................................................................................................156
Figure 156: Add nodes in the subflow ............................................................................................................156

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1 Product Introduction
1.1 TM Palletizing Operator Overview
TM Palletizing Operator contains a medium/heavy-payload collaborative robot TM12, a palletizing operator base,
and TM Palletizing Operator Software Package as a turnkey solution to shorten deployment process for customers.
This manual will provide a walkthrough about how to initiate palletizing applications.
Figure 1: TM Palletizing Operator Base Overview (1/2)
Figure 2: TM Palletizing Operator Base Overview (2/2)
Main Controller
(Inside)
Pallet Sensor(L)
Adjustable Flexible Gripper
Main Switch
TM12 Collaborative Robot
Robot Controller (Inside)
Pallet Status Indicator (L)
Pallet Status Indicator (R)
Cable Protection Conduit
Rear Leveling Mount
Pallet Status Sensor (L)
Air Units & Solenoid Valve
Pallet Sensor(R)
Front Leveling Mount
Telescopic Pillar
AC IN socket
Teach Pendant Connector
Round Cable Entry Plate
System Light Connector
Air Unit I/O Connector
Reset Button Connector

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1.1.1 Orientations
TM Palletizing Operator system shall be placed as the orientation shown below.
Figure 3: TM Palletizing Operator Base Orientation
1.1.2 Palletizing Operator Base Dimensions
Unit: mm
Figure 4: Palletizing Operator Base dimensions

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1.2 Package Contents
Each carton has the following contents. Check if all the items listed in this section are included when you
unpack the cartons for the first time. If any item is missing, contact your distributor or dealership
immediately.
In the Palletizing System wooden shipping crate:
1 x TM Palletizing Operator Base
1 x
Flexible holder system Cable (FHS-C) set,
including 1 x 6mm tube and 2 x Tube Fittings
PLJ6

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In the Robot Arm Carton:
Cable length: 300 cm
In the Control Box Carton:
Robot arm (TM12)

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( leave it on the top or side cover of the control box
housing to avoid operational interruptions with the
Teach Pendant)
(One large calibration plate and one small calibration
plate. Peel the protective wrap off before using.)
(One 8-pin digital I/O cable and one 5-pin analog I/O
cable)
Length: 100 cm
*The IO cables are not used in the standard
assembly of TM Palletizing Operator, but supplied for
connection with customized end-effector.
Control box
Robot Stick
Calibration Plates
IO cables

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(Two TM Landmarks. Peel the protective wrap off
before using.)
(2 wires)
Length: 300 cm
In the bracket and accessory carton:
Length: 500 cm
TM Landmark
Ground Wire
AC power cord of the TM Palletizing Operator
4 x M10X25L type screws
2 x Control box convert brackets
4 x M6X12L type screws