Techman Robot TM Palletizing Operator User manual

Product Version: 1.1
Document Version: 1.2
Release Date: 2022-04-29
TM Palletizing
Operator
User’s Manual
Corresponding models: TM5 Series
Original Instruction
Original Instruction

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 2
This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM
Robot).The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as
the Corporation). No part of this publication may be reproduced or copied in any way, shape or form without
prior authorization from the Corporation. No information contained herein shall be considered an offer or
commitment. It may be subject to change without notice. This Manual will be reviewed periodically. The
Corporation will not be liable for any error or omission.
logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the
company reserves the ownership of this manual and its copy and its copyrights.

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 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.
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 Version Information
TM Palletizing Operator Product Version 1.1
TM Robot Software Version
1.80 or above
TM Robot Hardware Version
3.2
TMstudio Software Version
1.18 or above
TM Palletizing Operator Software Package
V002
TM Palletizing Operator Safety System
1.1
*Within the scope of hardware and software combination above, the product version remains the
same as TM Palletizing Operator Product Version 1.1.

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 4
Revision History
Revision Code
Date
Description
1.0
2020-12-21
Official release
1.1
2021-10-05
Minor details revised
1.2
2022-04-29
Minor details revised

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 5
Contents
Preface.........................................................................................................................................................3
Product Version Information .........................................................................................................................3
Revision History............................................................................................................................................4
1. Product Information ................................................................................................................................15
TM Palletizing Operator Overview .................................................................................................15
Orientations.............................................................................................................................16
Palletizing Operator Base Dimensions ....................................................................................17
Package Contents .........................................................................................................................18
Teach Pendant...............................................................................................................................25
Adjustable Flexible Gripper Overview ............................................................................................27
Dimensions of Adjustable Flexible Gripper ..............................................................................27
Vacuum Generator Characteristics..........................................................................................28
Vertical Lifting Force per Suction Cup .....................................................................................29
Vacuum Pressure Sensor........................................................................................................30
Pneumatic Diagram.................................................................................................................30
How Can I Get Help?.....................................................................................................................31
Related Documents.................................................................................................................31
2. Safety Information ..................................................................................................................................32
Overview .......................................................................................................................................32
Applicable Product Version ............................................................................................................32
Safety Precautions ........................................................................................................................32
Overall Safety Warning ..................................................................................................................33
Validation and Liability ...................................................................................................................35
Intended Use .................................................................................................................................35
Limitations on Liability....................................................................................................................36
General Environmental Considerations..........................................................................................36
Risk Assessment ...........................................................................................................................37
Pre-Use Assessment ...................................................................................................................38
Emergency Stop ..........................................................................................................................38
3-Position Enabling Device ..........................................................................................................38
Movement without Driver Power ..................................................................................................39
Labels..........................................................................................................................................39
3. Safety Function.......................................................................................................................................42
General Information.......................................................................................................................42

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 6
Safety Function Definitions......................................................................................................42
Stopping Time and Stopping Distance in the Safety System ...................................................43
Software Safety Setting Permissions.......................................................................................43
Safety Device Connection Diagram, Input Discrepancy, and Resume Method...............................43
Explanation of Safety Functions ....................................................................................................44
SF0 Robot Stick Emergency Stop, SF1 Pendant Emergency Stop, and SF2 External
Emergency Stop ..............................................................................................................................44
SF3 External Safeguard-Pause and SF4 External Safeguard-Human-Machine Safety Settings
........................................................................................................................................................46
SF5 Pendant Enabling Device.................................................................................................47
SF6 Motion Latching Mechanism ............................................................................................48
SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9 Safeguard-Human-
Machine Safety Settings Output.......................................................................................................48
SF10~SF16 Defined Safety Functions ....................................................................................49
Payload and Gravity Offset Consideration .....................................................................................51
Safety Distance and Scenario........................................................................................................51
Reset Button Mechanism...............................................................................................................56
Operation Mode and Mode Switching ............................................................................................57
Auto Mode...............................................................................................................................57
Manual Mode ..........................................................................................................................57
Manual Control Mode (Manual Reduced Speed) ..............................................................58
Hand Guide Mode ............................................................................................................58
Manual Trial Run Mode (Manual High Speed) ..................................................................58
Switching Between Modes................................................................................................58
Safety Setting in Software TMflow .................................................................................................58
4. Electrical Interface ..................................................................................................................................60
General Electrical Specifications....................................................................................................60
Electrical Warnings and Cautions ..................................................................................................60
A Glance inside TM Palletizing Operator........................................................................................60
Electric Switchboard inside the Distribution Box ............................................................................61
Palletizing I/O Configuration ..........................................................................................................62
Palletizing I/O Definitions ........................................................................................................63
Digital Input.............................................................................................................................63
Digital Output ..........................................................................................................................65
Analog Input/Output ................................................................................................................67
Analog Input .....................................................................................................................68

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 7
Analog Output...................................................................................................................68
Safety Input/Output........................................................................................................................69
Safety Input.............................................................................................................................70
Safety Output ..........................................................................................................................71
Safety Controller (G9SP-N20S) I/O Configuration .........................................................................71
Safety Controller (SF-C21) I/O Configuration.................................................................................73
Power Terminal..............................................................................................................................75
External I/O (CP1W-20EDT) and Reset Button Setting................................................................75
Light Indications...........................................................................................................................76
5. Unpacking, Installation, and Transportation ............................................................................................78
Unpacking Procedures ..................................................................................................................78
Unpack the Control Box ..........................................................................................................78
Unpack the Robot ...................................................................................................................78
Unpack the Palletizing Operator..............................................................................................78
Assemble TM Palletizing Operator.................................................................................................79
Remove the Rear Housing ......................................................................................................79
Install TM Robot ......................................................................................................................82
Install the Control Box .............................................................................................................85
Install the Rear Housing ..........................................................................................................90
Install Cable Protection Conduit ..............................................................................................92
Connect External Compressed Air Supply .....................................................................................95
Considerations for Connecting External Compressed Air ........................................................96
TM Palletizing Operator Transportation..........................................................................................96
Encountering Non-Flat Surfaces .............................................................................................99
Relocation and Storage Considerations ................................................................................101
Connect/Disconnect the Teach Pendant ......................................................................................101
Install the Reset Button................................................................................................................107
SYSLIGHT Connection................................................................................................................107
Connect Power Supply to TM Palletizing Operator ......................................................................108
Activate/Deactivate TM Palletizing Operator ................................................................................110
Install Adjustable Flexible Gripper..............................................................................................112
Change Gripper Flange Position .........................................................................................113
Install the Gripper on the Robot (for centered position) .......................................................115
Install the Gripper on the Robot (for shifted position)...........................................................117
Adjust Pallet Sensor...................................................................................................................118
Required Software.....................................................................................................................119

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 8
Steps to Download TM Palletizing Operator Software Package ..........................................120
Set Teach Pendant and TCP Settings in TMflow........................................................................120
TMflow Using ......................................................................................................................120
Set Teach Pendant in TMflow..............................................................................................120
TCP Setting for the Adjustable Flexible Gripper...................................................................121
6. Software Application Setup ...................................................................................................................123
TM Palletizing Operator Software Package Overview ..................................................................123
TM Palletizing Operator Software Configuration Workflow...........................................................123
Set Palletizing Application in Palletizing Wizard ...........................................................................123
TMstudio Import/Export .........................................................................................................124
Open a Scene .......................................................................................................................124
Gripper Change ....................................................................................................................125
Select Application Type .........................................................................................................125
Start Setting Pallet ................................................................................................................126
Step 1 - Pallet Dimension and Boundary Setting...................................................................127
Step 2 - Box Dimension and Label Direction Setting .............................................................128
Step 3 – Create Pallet Layers................................................................................................128
Step 4 – Create Palletizing Sequence...................................................................................132
Copy the Box ......................................................................................................................133
Palletizing Simulation – Parameter Setting ..........................................................................135
Validate ...............................................................................................................................136
Simulation ...........................................................................................................................137
Export .................................................................................................................................137
Configure Palletizing Software Components in TMflow................................................................138
Import Components and Text Files to TMflow........................................................................138
Set I/O While Project Stop/Error............................................................................................142
Set TMOperator_TMROBOT_TMPLTZOP_V002_Pillar ........................................................143
Lower the Pillar Height....................................................................................................146
Set TMOperator_TMROBOT_TMPLTZOP_V002_Main ........................................................147
Step 1 – Import File ........................................................................................................148
Step 2 – Check Pillar Height ...........................................................................................149
Step 3 – Recognizing Box Position .................................................................................149
Step 4 – Teach Gripping Point ........................................................................................152
Step 5 – Visual Recognition............................................................................................154
Notice on Sensor Input ...................................................................................................161
Set TMOperator_TMROBOT_TMPLTZOP _Vxxx_Grip and

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 9
TMOperator_TMROBOT_TMPLTZOP _Vxxx_Release..................................................................161
Advanced Palletizing Setting........................................................................................................161
Advanced1_General_Parameters .........................................................................................162
Advanced2-8 .........................................................................................................................165
7. Product Specifications ..........................................................................................................................168
8. Maintenance and Service .....................................................................................................................170
9. Warranty and Disclaimer.......................................................................................................................172
Product Warranty.........................................................................................................................172
Disclaimer....................................................................................................................................172
Appendix – A: Troubleshooting and Error Messages ................................................................................173
Appendix – B: Vacuum Pressure Sensor Setting ......................................................................................176
Appendix – C: Recommendations on the Minimum Box Packing Units.....................................................179
Appendix – D: Declaration of Incorporation...............................................................................................180
Appendix – E: Certificate of Compliance...................................................................................................181
Appendix – F: Verification of EMC Compliance.........................................................................................184
Table
Table 1: Teach Pendant Functions...............................................................................................26
Table 2: Related Documents........................................................................................................31
Table 3: Safety System versioning information.............................................................................32
Table 4: Labels.............................................................................................................................41
Table 5: Safety Function Definitions.............................................................................................43
Table 6: Stop Category and Action of Fault Detection of SF0, SF1 and SF2 ................................45
Table 7: Stop Category and Action of Fault Detection of SF3 and SF4.........................................47
Table 8: Stop Category and Action of Fault Detection of SF5.......................................................47
Table 9: Stop Category and Action of Fault Detection of SF6.......................................................48
Table 10: Stop Category and Action of Fault Detection of SF7, SF8 and SF9 ..............................48
Table 11: Safety Function SF10~SF16 Definitions .......................................................................49
Table 12: Stop Category and Action of Fault Detection of SF10~ SF16........................................50
Table 13: AC Input Specifications of TM Palletizing Operator.......................................................60
Table 14: Electric switchboard components..................................................................................62
Table 15: I/O signals for DIO, Analog I/O, and Safety I/O.............................................................63
Table 16: Definitions of Safety I/O connectors..............................................................................70
Table 17: Safety Controller (G9SP) Pin Definitions.......................................................................72
Table 18: Safety Controller (SF-C21) I/O......................................................................................74
Table 19: System Light Indicator ..................................................................................................77

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 10
Table 20: AC Input Specifications of TM Palletizing Operator.....................................................108
Table 21: TM Palletizing Operator Software Configuration Workflow..........................................123
Table 22: Preset Pallet Templates..............................................................................................128
Table 23: Icon Functions in Create Pallet Layers........................................................................129
Table 24: Shift Box Configurations .............................................................................................131
Table 25: Snap Items .................................................................................................................131
Table 26: Palletizing Sequence Icons.........................................................................................133
Table 27: Parameter Descriptions ..............................................................................................136
Table 28: Component Descriptions.............................................................................................142
Table 29: Advanced1_General_Parameters...............................................................................164
Table 30: Advanced2-8 Definitions.............................................................................................166
Table 31: Relevant Parameters..................................................................................................167
Table 32: Summary of the Preventive Maintenance Procedures and Guidelines........................171
Figure
Figure 1: TM Palletizing Operator Base Overview (1/2)................................................................15
Figure 2: TM Palletizing Operator Base Overview (2/2)................................................................16
Figure 3: TM Palletizing Operator Base Orientation......................................................................16
Figure 4: Palletizing Operator Base Dimensions...........................................................................18
Figure 5: Adjustable Flexible Gripper Overview............................................................................27
Figure 6: Dimensions of Adjustable Flexible Gripper ....................................................................28
Figure 7: Vacuum Generator Characteristics................................................................................29
Figure 8: Vertical Lifting Force per Suction Cup............................................................................30
Figure 9: Pneumatic Diagram.......................................................................................................31
Figure 10: Locations of Safety Warning and Product Labels.........................................................41
Figure 11: Safety Device Connection Diagram.............................................................................44
Figure 12: Relationship between Payload and the Center of Gravity Offset (㎜)...........................51
Figure 13: Palletizing operator clearance with sideways conveyor................................................52
Figure 14: Palletizing operator clearance with straight conveyor ..................................................52
Figure 15: Safeguarded space setup scenario with sideways conveyor layouts ...........................53
Figure 16: Safeguarded space with different setup scenario.........................................................55
Figure 17: Safeguarded space setup scenarios with multi-palletizing operators...........................55
Figure 18: Teach Pendant outside Safeguarded space................................................................56
Figure 19: Inside the Distribution Box (the image serves as reference only).................................61
Figure 20: Electric switchboard diagram.......................................................................................61
Figure 21: Palletizing I/O ..............................................................................................................63