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

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 11
Figure 22: NPN example..............................................................................................................65
Figure 23: Analog Input Application..............................................................................................68
Figure 24: Analog Output Application...........................................................................................69
Figure 25: Safety Connector (G9SP)............................................................................................72
Figure 26: Connecting Safety Devices..........................................................................................73
Figure 27: Safety Controller SF-C21.............................................................................................74
Figure 28: Power Terminal (+24V/+0V) ........................................................................................75
Figure 29: Switch to Auto Reset for Reset Button.........................................................................76
Figure 30: Pallet light indications..................................................................................................76
Figure 31: System Light Indication I/O..........................................................................................77
Figure 32: Palletizing operator base in wooden crate ...................................................................78
Figure 33: Unlatch the Side Cover Hinge......................................................................................79
Figure 34: Remove the 6 screws..................................................................................................80
Figure 35: Unfasten the 4 Screws (Applicable to Pillar Elongation 500 ㎜) ...................................80
Figure 36: Unfasten the 4 Screws (Applicable to Pillar Elongation 800 ㎜)...................................81
Figure 37: Secure the Robot onto a Base Plate............................................................................83
Figure 38: Open the Covers of the Cable Drag Chain...................................................................83
Figure 39: Seal and Reinstall (Applicable to Pillar Elongation 500 ㎜) ..........................................83
Figure 40: Seal and Reinstall (Applicable to Pillar Elongation 800 ㎜) ..........................................84
Figure 41: Remove EX-IO module from control box......................................................................85
Figure 42: Secure the Covert Brackets to the Legs of the Control Box .........................................86
Figure 43: Proper Cable Connections...........................................................................................86
Figure 44: Proper connections for robot connector cable..............................................................87
Figure 45: All Cable Firmly Plugged .............................................................................................88
Figure 46: Secure the Bracket Plates of the Control Box..............................................................89
Figure 47: Place the Rear Housing...............................................................................................90
Figure 48: Wire the Robot Cable through Notch...........................................................................91
Figure 49: Reinstall the Side Cover..............................................................................................91
Figure 50: Segments Using with Velcro........................................................................................92
Figure 51: Distance of Each Segment ..........................................................................................93
Figure 52: Penetrate the Air Tubes through (example by centered gripper position).....................94
Figure 53: Connect Air Tube Plug to the Gripper Plug..................................................................94
Figure 54: Connection Completed................................................................................................95
Figure 55: Air Unit for External Compressed Air Supply ...............................................................95
Figure 56: Filter Regulator and Pressure Gauge location .............................................................96
Figure 57: TM Palletizing Operator Transportation (1/4)...............................................................97

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 12
Figure 58: TM Palletizing Operator Transportation (2/4)...............................................................97
Figure 59: TM Palletizing Operator Transportation (3/4)...............................................................98
Figure 60: TM Palletizing Operator Transportation (4/4)...............................................................99
Figure 61: Using a wrench to Loosen/Tighten Leveling Mounts..................................................100
Figure 62: TM Palletizing Operator Anchor Points......................................................................100
Figure 63: Connect the Cable to the Pendant.............................................................................101
Figure 64: Install the grounding studs assembly.........................................................................103
Figure 65: Rotate and tighten the cable rings .............................................................................104
Figure 66: Teach Pendant Connection Completed.....................................................................105
Figure 67: Disconnect the Teach Pendant Cable........................................................................106
Figure 68: Install Reset Button ...................................................................................................107
Figure 69: SYSLIGHT Connection..............................................................................................108
Figure 70: Power Connection Reference....................................................................................109
Figure 71: Ground Connection ...................................................................................................110
Figure 72: Turn the Main Switch Clockwise to Power On ...........................................................110
Figure 73: Gripper Flange at Centered Position as Delivered.....................................................112
Figure 74: Gripper Flange at Shifted Position.............................................................................113
Figure 75: Remove Two M6x12L Screws and Detach Flange Knob...........................................113
Figure 76: Remove Five M6x6L Screws and Detach Position Converter....................................114
Figure 77: Fasten the Flange Knob to Shifted Position...............................................................115
Figure 78: Flange Position Change Completed ..........................................................................115
Figure 79: Align Gripper and Screws (for centered position).......................................................116
Figure 80: Connect 8-pin Gripper Cable to I/O Connector on Robot (for centered position)........116
Figure 81: Align Gripper and Screws (for shifted position)..........................................................117
Figure 82: Connect 8-pin Gripper Cable to I/O Connector on Robot (for shifted position)...........118
Figure 83: Adjust Pallet Sensor Horizontally...............................................................................118
Figure 84: Default Sensor Position.............................................................................................119
Figure 85: Maximum Sensor Position.........................................................................................119
Figure 86: Non-Shifted Gripper Schematic.................................................................................122
Figure 87: Shifted Gripper Schematic.........................................................................................122
Figure 88: Import........................................................................................................................124
Figure 89: Open a Scene (1/2)...................................................................................................124
Figure 90: Open a Scene (2/2)...................................................................................................125
Figure 91: Gripper Change.........................................................................................................125
Figure 92: Select Application Type.............................................................................................126
Figure 93: Pallet Setting .............................................................................................................126

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 13
Figure 94: Pallet Dimension and Boundary Setting.....................................................................127
Figure 95: Box Dimension and Label Direction Setting...............................................................128
Figure 96: Create Pallet Layers..................................................................................................129
Figure 97: Import/Export.............................................................................................................138
Figure 98: Import Files................................................................................................................139
Figure 99: Robot List..................................................................................................................139
Figure 100: Import Selected Components ..................................................................................140
Figure 101: Import Completed....................................................................................................140
Figure 102: Import Text File........................................................................................................141
Figure 103: Select Component in Setting ...................................................................................141
Figure 104: Enable Imported Components .................................................................................142
Figure 105: Set I/O While Project Error.......................................................................................143
Figure 106: Set I/O While Project Stop.......................................................................................143
Figure 107: Start Pillar Calibration..............................................................................................144
Figure 108: Pillar Calibration ......................................................................................................144
Figure 109: Bool Value for True..................................................................................................145
Figure 110: Calibration Test .......................................................................................................145
Figure 111: Controller.................................................................................................................146
Figure 112: Set I/O in Controller.................................................................................................147
Figure 113: Project_Main ...........................................................................................................147
Figure 114: Palletizing Steps......................................................................................................148
Figure 115: Import File Setting ...................................................................................................148
Figure 116: Input text file............................................................................................................149
Figure 117: Check Pillar Height..................................................................................................149
Figure 118: Go to Recognizing Box Positions.............................................................................150
Figure 119: Vision Job................................................................................................................150
Figure 120: Select Step 2...........................................................................................................151
Figure 121: Hand Guide the Robot to the Initial Position ............................................................152
Figure 122: Identify TM Landmark..............................................................................................152
Figure 123: Move the Robot to Grip the Box...............................................................................154
Figure 124: Step 3 –Teach Gripping Point.................................................................................154
Figure 125: Step4_Visual Recognition........................................................................................155
Figure 126: Input Vision Job Name.............................................................................................155
Figure 127: Calibration...............................................................................................................156
Figure 128: Automatic Calibration...............................................................................................156
Figure 129: Workspace Calibration.............................................................................................157

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Figure 130: Tilt-Correction (1/2)..................................................................................................157
Figure 131: Tilt-Correction (2/2)..................................................................................................158
Figure 132: Set Workspace........................................................................................................158
Figure 133: Workspace Calibration.............................................................................................159
Figure 134: Save Result.............................................................................................................159
Figure 135: Save Workspace .....................................................................................................160
Figure 136: Initiate Visual Recognition .......................................................................................161
Figure 137: Load Workspace......................................................................................................161
Figure 138: Advanced Settings...................................................................................................162
Figure 139: Add a Subflow .........................................................................................................165
Figure 140: Add nodes in the subflow (1/2) ................................................................................165
Figure 141: Add nodes in the subflow (2/2) ................................................................................166

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 15
1. Product Information
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 of how to configure and
initiate the applications of stacking (the pallet at each side can go with different objects), unstacking
(the pallet at each side can go with different objects), and stack changing (the pallet at each side can
go with the same objects only).
Adjustable Flexible
Gripper
Cable Protection Conduit
TM12 Collaborative
Robot
Pallet Status Sensor (L)
Main Switch
Pallet Status Indicator (R)
Electric Switchboard
(Inside)
Pallet Status Indicator (L)
Pallet Sensor(L)
Robot Controller (Inside)
Rear Leveling Mount
Figure 1: TM Palletizing Operator Base Overview (1/2)

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 16
Round Cable Entry
Plate
Teach Pendant
Connector
Telescopic Pillar
System Light
Connector
Air Units &
Solenoid Valve
AC IN socket
Pallet Sensor(R)
Reset Button
Connector
Front Leveling
Mount
Air Unit I/O
Connector
Figure 2: TM Palletizing Operator Base Overview (2/2)
Orientations
TM Palletizing Operator system shall be placed as the orientation shown below.
Figure 3: TM Palletizing Operator Base Orientation

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 17
Palletizing Operator Base Dimensions
Unit: ㎜
Applicable to Elongation 500 ㎜
Applicable to Elongation 800 ㎜

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 18
Applicable to Elongation 1200 ㎜
Figure 4: Palletizing Operator Base Dimensions
Package Contents
Check if all the items listed in this section are included when unpacking the cartons for the first time. If
any item is missing, contact your distributor or dealership immediately.
In the Palletizing System wooden shipping crate:

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 19
1 x TM Palletizing Operator Base
1 x Robot Protection Tubing which includes 2 x
6㎜Wave Tube and 2 x Tube Fittings PLJ6
In the Robot Arm carton:

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 20
Robot Arm (TM12)
Cable length: 300 cm
In the Control Box carton:
Control Box