TM Robot Medium Series Assembly instructions

Hardware Version: 3.2
Document Version: 1.00
Release Date: 2021-07-05
Medium &
Heavy Payload Series
Hardware Installation Manual
Corresponding models: TM16 Series
Original Instruction

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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.

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Contents
Revision History Table.......................................................................................................................................................9
1. Product Description.....................................................................................................................................................10
1.1 Product Description............................................................................................................................................10
1.2 How Can I Get Help? .........................................................................................................................................10
1.3 Disposal and Environment .................................................................................................................................10
2. Safety Information .......................................................................................................................................................11
2.1 Overview ............................................................................................................................................................11
2.2 Warning and Caution Symbols ..........................................................................................................................11
2.3 Safety Precautions.............................................................................................................................................11
2.4 Validation and Liability .......................................................................................................................................12
2.5 Limitations on Liability........................................................................................................................................12
2.6 General Safety Warning.....................................................................................................................................12
2.7 Risk Assessment................................................................................................................................................13
2.8 Emergency Stop ................................................................................................................................................13
2.9 Movement without Drive Power .........................................................................................................................13
2.10 Labels ..............................................................................................................................................................15
3. Transportation and Storage.........................................................................................................................................17
4. System Hardware........................................................................................................................................................18
4.1 Overview ............................................................................................................................................................18
4.2 System Overview ...............................................................................................................................................18
4.2.1 Robot Arm ...................................................................................................................................................19
4.2.1.1 Dimension Drawings of Robot ..............................................................................................................19
4.2.1.2 Robot Assembly Diagram .....................................................................................................................19
4.2.1.3 Range of Motion ...................................................................................................................................20
4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram.............................................................22
4.2.1.5 Payload and Torque..............................................................................................................................23
4.2.1.6 Robot Arm Installation ..........................................................................................................................24
4.2.2 Robot End Module.......................................................................................................................................26
4.2.2.1 End Module Components .....................................................................................................................26
4.2.2.2 End Flange Surface ..............................................................................................................................27
4.2.2.3 End Mounting Caution ..........................................................................................................................28
4.2.2.4 End Indication Light Ring Table ............................................................................................................28
4.2.3 Control Box..................................................................................................................................................28
4.2.3.1 Robot Stick ...........................................................................................................................................29
4.2.3.2 SEMI Emergency OFF Box ..................................................................................................................31

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4.2.4 Robot Light Module .....................................................................................................................................31
4.2.4.1 Light Module Surface............................................................................................................................31
4.2.4.2 Install Light Module...............................................................................................................................31
4.3 Operating Position of TM Robot with AGV/AIV..................................................................................................33
4.4 Working distance and field of view of TM Robot’s EIH camera.........................................................................34
5. Electrical Interface.......................................................................................................................................................36
5.1 Overview ............................................................................................................................................................36
5.2 Electrical Warnings and Cautions ......................................................................................................................36
5.3 Control Box ........................................................................................................................................................36
5.3.1 Safety Connector.........................................................................................................................................38
5.3.1.1 Safety Input Connector .........................................................................................................................38
5.3.1.2 Safety Output Connector ......................................................................................................................40
5.3.2 Power Connector.........................................................................................................................................42
5.3.3 Digital In/Out................................................................................................................................................42
5.3.3.1 Digital Input...........................................................................................................................................42
5.3.3.2 Digital Output ........................................................................................................................................44
5.3.4 Analog In .....................................................................................................................................................46
5.3.5 Analog Out...................................................................................................................................................47
5.3.6 System Remote Power ON/OFF.................................................................................................................47
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ...........................................................................................48
5.3.8 USB Port .....................................................................................................................................................48
5.4 Tool End I/O Interface ........................................................................................................................................48
5.4.1 I/O Terminals ...............................................................................................................................................48
5.4.2 Connecting Tool End Digital Output ............................................................................................................50
5.4.3 Connecting Tool End Digital Input ...............................................................................................................51
5.4.4 Connecting Tool End Analog Input ..............................................................................................................51
5.5 Control Box Interfaces .......................................................................................................................................52
5.5.1 SEMI Emergency OFF Box Interfaces (TM16 SEMI exclusive) .................................................................53
5.6 Control Box Power Interface and Robot Interface .............................................................................................53
5.6.1 Control Box Power Interface .......................................................................................................................53
5.6.2 Robot Interface............................................................................................................................................55
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) ...........................................................................55
5.6.3.1 TM16M SEMI Series.............................................................................................................................56
5.6.3.2 The SEMI Emergency OFF Box ...........................................................................................................56
5.6.4 Detachable I/O Panel ..................................................................................................................................56
6. Unboxing & Installation ...............................................................................................................................................58

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6.1 Overview ............................................................................................................................................................58
6.2 Inspecting the Equipment ..................................................................................................................................58
6.2.1 Before Unpacking........................................................................................................................................58
6.2.2 Upon Unpacking..........................................................................................................................................58
6.3 Unboxing ............................................................................................................................................................59
6.3.1 Carton Types ...............................................................................................................................................59
6.3.2 Contents of Each Carton .............................................................................................................................59
6.4 Installing Your Robot ..........................................................................................................................................63
6.4.1 Remove the Control Box .............................................................................................................................63
6.4.2 Verification Before Removal of the Robot Arm............................................................................................64
6.4.3 Removal of the Robot Arm and Tightening .................................................................................................65
6.4.4 Connect the Robot and the Control Box .....................................................................................................66
6.4.4.1 Connect the Robot, the Control Box, and the SEMI Emergency OFF Box ..........................................67
7. Maintenance and Repair .............................................................................................................................................68
8. Warranty Statement ....................................................................................................................................................70
8.1 Product Warranty ...............................................................................................................................................70
8.2 Disclaimer ..........................................................................................................................................................70
Appendix A. Technical Specifications..............................................................................................................................71
Tables
Table 1: Manual Title & Description ..................................................................................................................10
Table 2: Danger, Warning, and Caution Symbols.............................................................................................11
Table 3: Denotation of Labels ...........................................................................................................................16
Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series ......................24
Table 5: Robot Stick Basic Functions ...............................................................................................................30
Table 6: Robot Stick Advanced Functions ........................................................................................................30
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module ....................32
Table 8: Electrical Specification of the Light Module ........................................................................................32
Table 9: The Relation between the Working Distance and the Field of View ...................................................35
Table 10: Definitions of Safety Connectors.......................................................................................................37
Table 11: Analog In & Analog Out .....................................................................................................................47
Table 12: 8-pin Digital I/O Connectors of Cable ...............................................................................................49
Table 13: 8-pin Digital I/O Connector of Robot .................................................................................................49
Table 14: 5-pin Analog I/O Connector of Cable ................................................................................................50
Table 15: 5-pin Analog I/O connector of Robot.................................................................................................50
Table 16: Analog Input Range ..........................................................................................................................51

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Table 17: TM16 Series Electrical Specifications...............................................................................................54
Table 18: TM16M SEMI Series Electrical Specifications ..................................................................................55
Table 19: The Robot Arm Carton Contents.......................................................................................................60
Table 20: The Control Box Carton Contents.....................................................................................................62
Table 21: The SEMI Emergency OFF Switch Carton Contents........................................................................62
Table 22: The SEMI Emergency OFF Box Carton Contents ............................................................................63
Table 23: Summary of the Preventive Maintenance Procedures and Guidelines ............................................68
Table 24: Technical Specifications ....................................................................................................................71
Figures
Figure 1: References of Joints by Models ........................................................................................................14
Figure 2: Reference of Brake Solenoid by Joints .............................................................................................15
Figure 3: Locations of Labels ...........................................................................................................................16
Figure 4: System Overview...............................................................................................................................18
Figure 5: Dimension of TM16 / TM16M SEMI ..................................................................................................19
Figure 6: Assembly of TM16 / TM16M SEMI ....................................................................................................20
Figure 7: Side view of TM16 / TM16M SEMI Movement Range Diagram........................................................21
Figure 8: Pictorial view of TM16 / TM16M SEMI Movement Range Diagram ..................................................22
Figure 9: Top View of TM16 / TM16M SEMI Movement Range Diagram ........................................................22
Figure 10: Robot Hazard Zone Diagram and Operator Position Diagram of TM16 / TM16M SEMI ................23
Figure 11: Relationship between Payload and the Center of Gravity Offset in TM16 / TM16M SEMI .............24
Figure 12: Bottom View of Robot Base ............................................................................................................25
Figure 13: Securing the ground wire with the robot..........................................................................................26
Figure 14: References of TM16 / TM16M SEMI End Module Components .....................................................26
Figure 15: References of End Flange Surface .................................................................................................27
Figure 16: The Exterior and Diagram of the Control Box .................................................................................28
Figure 17: Securing the ground wire with control box ......................................................................................29
Figure 18: Robot Stick ......................................................................................................................................29
Figure 19: The Exterior and Diagram of the SEMI Emergency OFF Box ........................................................31
Figure 20: Light Module Surface ......................................................................................................................31
Figure 21: Calculation the Torque Load of the Light Module ............................................................................32
Figure 22: Electrical Polarity of Fill Light Cable ................................................................................................33
Figure 23: Top View of TM Robot Placed on the AGV/AIV...............................................................................33
Figure 24: Working Distance and Field of View of TM Robot’s EIH camera ....................................................34
Figure 25: Control Box I/O Configuration (1/2) .................................................................................................36
Figure 26: Control Box I/O Configuration (2/2) .................................................................................................37

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Figure 27: Safety Input Connector....................................................................................................................38
Figure 28: The Wiring Diagram Example of Switch Type Safety Device..........................................................39
Figure 29: The Wiring Diagram Example of PNP Output Type Safety Device .................................................39
Figure 30: The Wiring Diagram Example of PNP Output Type Safety Device .................................................40
Figure 31: Safety Output Connector.................................................................................................................41
Figure 32: Safety Output Connector Wiring Diagram .......................................................................................41
Figure 33: Power Connector.............................................................................................................................42
Figure 34: Digital Input......................................................................................................................................43
Figure 35: Set to Sink Input Type .....................................................................................................................43
Figure 36: Set to Source Input Type.................................................................................................................44
Figure 37: Digital Output...................................................................................................................................44
Figure 38: Set to Sink Output Type ..................................................................................................................45
Figure 39: Set to Source Output Type ..............................................................................................................46
Figure 40: Analog In..........................................................................................................................................46
Figure 41: Analog Out.......................................................................................................................................47
Figure 42: System Remote Power ON/OFF .....................................................................................................47
Figure 43: EtherCAT .........................................................................................................................................48
Figure 44: Connecting Tool End Digital Output ................................................................................................50
Figure 45: Connecting Tool End Digital Input ...................................................................................................51
Figure 46: Connecting Tool End Analog Input ..................................................................................................51
Figure 47: Front View of the Control Box .........................................................................................................52
Figure 48: Interfaces of the TM16 Series .........................................................................................................52
Figure 50: Interfaces of the TM16M SEMI Series ............................................................................................53
Figure 51: Interfaces of the SEMI Emergency OFF Box ..................................................................................53
Figure 52: Control Box Power Interfaces..........................................................................................................54
Figure 53: Robot Interface ................................................................................................................................55
Figure 54: The TM16M SEMI SEMI Emergency Off Interface.......................................................................56
Figure 55: The SEMI Emergency OFF Box SEMI Emergency Off Interface....................................................56
Figure 56: Detachable I/O Panel ......................................................................................................................57
Figure 57: Robot Arm Carton............................................................................................................................59
Figure 58: SEMI Emergency OFF Switch Carton.............................................................................................59
Figure 59: Control Box Carton ..........................................................................................................................59
Figure 60: SEMI Emergency OFF Box Carton .................................................................................................59
Figure 61: Moving the Control Box (1/2)...........................................................................................................64
Figure 62: Moving the Control Box (2/2)...........................................................................................................64
Figure 63: Moving the Robot Arm (1/2) ............................................................................................................65

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Figure 64: Moving the Robot Arm (2/2) ............................................................................................................65
Figure 65: Moving the SEMI Emergency OFF Box ..........................................................................................66
Figure 66: Connecting the Robot and the Control Box.....................................................................................66
Figure 67: Connecting the Robot, the Control Box, and the SEMI Emergency OFF Box ................................67
Figure 68: Air Filter Tray ...................................................................................................................................69

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Revision History Table
Revision
Date
Revised Content
1.00
2021-07-05
Original release

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1. Product Description
1.1 Product Description
The TM Robot is a six-axis robot with power and force limiting function featuring simple programming, innovative
integrated vision capabilities together with the latest safety functionality to run at full speed with barriers and
operate in collaborative workspace.
1.2 How Can I Get Help?
You can access information sources on the corporate website:
http://tm-robot.com/
Related Manuals
This manual covers the hardware installation, operation and user maintenance of TM Robot. See the following
table for additional available manuals.
Manual Title
Description
Safety Manual
Contains safety information for TM Robots.
TMflow
Instructions for use of TMflow software.
TMvision
Instructions for use of TMvision software.
Table 1: Manual Title & Description
1.3 Disposal and Environment
TM Robots must be disposed of in accordance with the applicable legislation, regulations, and codes by the
authorities.
TM Robots are produced with restricted used of hazardous substances to protect the environment; as defined by
the Europe RoHS directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI,
polybrominated biphenyls, and polyborminated diphenyl ethers.
The following symbols are affixed on the respective manuals to indicate conformity with the above legislation.

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2. Safety Information
2.1 Overview
Users should read, understand and abide by the safety information provided in this manual before using the TM
Robot.
2.2 Warning and Caution Symbols
The Table below shows the definitions of the warning and caution levels used in this manual. Pay close attention
to them when reading the manual, and observe them to avoid personal injuries or equipment damage.
DANGER:
Identifies an imminently hazardous situation which, if not avoided, is likely to result in
serious injury, and might result in death or severe property damage.
WARNING:
Identifies a potentially hazardous situation which, if not avoided, will result in minor or
moderate injury, and might result in serious injury, death, or significant property damage.
CAUTION:
Identifies a potentially hazardous situation which, if not avoided, might result in minor
injury, moderate injury, or property damage.
Table 2: Danger, Warning, and Caution Symbols
2.3 Safety Precautions
DANGER:
This product can cause serious injury or death, or damage to itself and other equipment, if the
following safety precautions are not observed.
All personnel who install, operate, teach, program, or maintain the system must read the Hardware
installation Manual, Software Manual, and Safety Manual according to the software and hardware version of
this product, and complete a training course for their responsibilities in regard to the robot.
All personnel who design the robot system must read the Hardware installation Manual, Software Manual,
and Safety Manual according to the software and hardware version of this product, and must comply with all
local and national safety regulations for the location in which the robot is installed.
The TM Robot must be used according to its intended use.
Read Manual and Impact Warning Labels

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Results of the risk assessment may require the use of additional risk reduction measures.
Power to the robot and its power supply must be locked out and tagged out or have means to control
hazardous energy or implement energy isolation before any maintenance is performed.
 Dispose of the product in accordance with the relevant rules and regulations of the country or area
where the product is used.
2.4 Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete robotic arm
system, nor involves the peripherals that may affect the safety of the complete system. The integrators of the
robot should understand the safety laws and regulations in their countries and prevent hazards from occurring in
the complete system.
This includes but is not limited to:
Risk assessment of the whole system
Adding other machines and additional risk reduction measures based on the results of the risk assessment
Using appropriate software safety features
Ensuring Users will not modify any safety measures
Ensuring all systems are correctly designed and installed
Clearly labeling user instructions
Clearly marking the contact information for the integrator
Making relevant documents accessible, including the risk assessment, and this manual
CAUTION:
This product is a partly complete machine. The design and installation of the complete system
must comply with the safety standards and regulations in the country of use. Users and
integrators of the robot should understand the safety laws and regulations in their countries
and prevent major hazards from occurring in the complete system.
2.5 Limitations on Liability
Even if the safety instructions are followed, any safety information in the manual shall not be considered as a
guarantee that the product will not cause any personal injury or property damage.
2.6 General Safety Warning
1. The noise measured in a factory setting is about 50.4 dB (A) without production. (Measured 1m from the robot
and 1.6m above the floor, at 80% of maximum speed). If the sound pressure is over 80 dB(A) while operating,
wear proper ear protection.
2. Environmental Conditions:

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Ambient air temperature: 0˚C ~ +50˚C
Ambient relative humidity: < 85%
Transportation & Storage condition: -20˚C ~ +60˚C
Transportation & Storage humidity: < 75%
The robot needs to be protected from shock or vibration
Observe ESD precautions when installing or removing robot
2.7 Risk Assessment
Before installing or using this product, Users must first carry out the necessary risk assessment based on the
conditions of use, and pay attention to the potential remaining risk addressed by the Corporation. Refer to and
abide by the relevant chapters in Safety Manual in accordance with its software and hardware version.
2.8 Emergency Stop
If any accidents occur during the operation of the robot, Users can stop all movement by pressing the Emergency
Stop switch. When the robot stops, Users must ensure that all hazards are eliminated before manually restarting
the robot. The Emergency Stop switch is only for use in critical conditions. To stop the robot during normal
operations use the Stop Button on the system controller. When Users presses the Emergency Stop switch, the
TM Robot will disconnect power from the robot and activate the brakes after the robot motion is stopped. The
indication light ring of the robot will not display light, and the three lights from the robot stick will be constantly
blinking.
Once the risk assessment has been conducted, if an Emergency Stop switch needs to be installed, the selected
device must comply with the requirements of IEC 60204-1. After an Emergency Stop, factory reset, or any other
safety incident, refer and abide by the relevant chapters in Safety Manual in accordance with its software and
hardware version.
2.9 Movement without Drive Power
Robot without Drive Power could be found in three circumstances: Emergency stop, when disengaging
packaging posture to initial booting, and power loss. The first two could enter Safe Start up Mode by means of
releasing the Emergency Switch; the latter one is when robot loses external power. Regarding how to operate as
well as safety precautions refer and abide by the relevant chapters in the Safety Manual.
If the robot loses power, and joints need to be moved in order to clear error conditions, you will need to release
the brake for each joint as follows:
1. Remove joint cover screws (M3, Torx-T10) and joint cover.

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TM16 / TM16M SEMI
Figure 1: References of Joints by Models
2. Release the brake by pushing the pin on the brake solenoid shown in the following figures.
4th / 5th /6th Joint
3rd Joint
1st Joint
2nd Joint
3rd Joint
5th Joint
4th Joint
6th Joint
Upper arm
Lower arm
Base

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1st / 2nd Joint
Figure 2: Reference of Brake Solenoid by Joints
WARNING:
1. Due to gravity, additional supports are recommended when manually releasing the
brake.
2. When manually moving each robot joint, the movement angle must be within a range of
+/- 45。.
2.10 Labels
The following labels, especially the warning ones, are attached to the locations where specific dangers may
occur. Be sure to comply with description and warnings of the labels when operating to avoid accidents. Do not
tear, damage, or remove the labels. Be very careful if you need to handle the parts where the labels are attached.
A
Do not put your hand or fingers close to moving parts
B
Be careful not to be close to the moving parts and nearby
areas to avoid impact
C
Do not touch any internal electric parts to avoid electric
shock

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D
Product label
Table 3: Denotation of Labels
Figure 3: Locations of Labels
C
D
C
B
A

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3. Transportation and Storage
Transport the TM Robot using its original packing materials. If you will need to transport the TM Robot after
unpacking, store the packing materials in a dry place. Hold both arms of the TM Robot during transportation.
Support the arms while tightening the base screws.
Lift the control box by its handles. Store the cables before transportation.
WARNING:
Pay attention to your posture when moving the arm and control box cartons to avoid back
injury. The Corporation will not be liable for any injuries caused during transportation.
WARNING:
This product must be shipped and stored in a temperature-controlled environment, within the
range -20℃ to 60℃ (-4℉ to 140℉). The recommended humidity is up to 75 percent, non-
condensing. It should be shipped and stored in the supplied package, which is designed to
prevent damage from normal shock and vibration, You should protect the package from
excessive shock and vibration.
The product must always be stored and shipped in an upright position in a clean, dry area
that is free from condensation. Do not lay the package on its side or any other non-upright
position. This could damage the product.

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4. System Hardware
4.1 Overview
This chapter introduces the mechanical interface of the TM Robot System.
4.2 System Overview
TM Robot is made up of the robot arm and control box (including a robot stick).
Robot arm
Control Box
Robot Stick

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4.2.1 Robot Arm
4.2.1.1 Dimension Drawings of Robot
Shown below is the dimension drawing of the robot
Figure 5: Dimension of TM16 / TM16M SEMI
*All measures are in ㎜.
4.2.1.2 Robot Assembly Diagram
Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to

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disassemble any component on your own. Contact your local corporation support for any service
request.
Figure 6: Assembly of TM16 / TM16M SEMI
4.2.1.3 Range of Motion
The working spherical (radius) range from the base is 1100 ㎜ for the TM16 series.