TM Robot TM5 Manual
TM5
Guide Book
Hardware Version: 1.00
Software Version: 1.64
ii Release Date : 2017-10-01
iii
The information contained herein is the property of Techman Robot Corporation (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 should be reviewed periodically. The Corporation will not
be liable for any error or omission.
and logos are the registered trademark of TECHMAN ROBOT INC. and the company reserves the
ownership of this manual and its copy and its copyrights.
iv
I Hardware Installation Manual
1. Safety Information
1.1 Overview
1.2 Validation and Liability
1.3 Limitations on Liability
1.4 Warning and Caution Symbols
1.5 General Safety Warning
1.6 Scope of Use
1.7 Risk Assessment
1.8 Emergency Stop
1.9 Joint Rotation without Drive Power
2. Safety Functions and Interface
2.1 Overview
2.2 Safe Stop Time
2.3 Safety-related Limiting Mechanisms
2.4 Singularity/Singular Point
2.5 Safety Setting
2.5.1 Operating Position
2.6 Operating Mode
2.6.1 Auto Mode
2.6.2 Manual Mode
2.6.2.1 Manual Control Mode
2.6.2.2 Manual Trial Run Mode
2.6.3 Changing the Operating Mode
2.7 Hold to Run
2.8 Collaborative Mode and Safety Zone Setup
2.8.1 Collaborative Mode and Parameter Configuration
2.8.2 Collaborative Space Configuration for Safety
3. Transportation
4. System Hardware
4.1 Overview
4.2 System Overview
4.2.1 Robot Arm
4.2.1.1 Robot Range of Motion
4.2.1.2 Robot Arm Maximum Allowed Payload
4.2.1.3 Robot Arm Installation
4.2.2 Robot End Module
4.2.2.1 End Module Components
4.2.2.2 End Flange Surface
4.2.2.3 End Mounting Caution
4.2.2.4 End Indication Light Ring Table
4.2.3 Control Box
4.2.3.1 Robot Stick
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5. Electrical Interface
5.1 Overview
5.2 Electrical Warnings and Cautions
5.3 Control Box
5.3.1 Safety Connector
5.3.2 Power Connector
5.3.3 Digital In/Out
5.3.4 Analog In
5.3.5 Analog Out
5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion
5.3.7 USB Port
5.4 Tool End I/O Interface
5.4.1 I/O Terminals
5.4.2 Connecting Tool End Digital Out
5.4.3 Connecting Tool End Digital In
5.4.4 Connecting Tool End Analog In
5.5 Control Box Interfaces
5.6 Control Box Power Interface and Robot Interface
5.6.1 Control Box Power Interface
5.6.2 Robot Interface
6. Maintenance and Repair
7. Warranty Statement
7.1 Product Warranty
7.2 Disclaimer
Appendix A. Stop Time and Distance
Appendix B. Technical Specifications
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1
Hardware Installation Manual
I
Hardware Version: 1.00
Software Version: 1.64
I Hardware Installation Manual 1. Safety Information2
1. Safety Information
1.1 Overview
This chapter describes important safety information about the Techman Robot. The users and system
integrators of the Techman Robot should carefully read and understand this chapter before using this robot.
1.2 Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete robotic arm
system, nor involves the peripherals which may affect the safety of the complete system. The design and
installation of the complete system must comply with the safety standards and regulations in the country of
use. The integrators of the robot should understand the safety laws and regulations in their countries and
prevent major 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 safety mechanisms based on the results of the risk assessment;
• Building appropriate safety mechanisms in the software;
• Ensuring the user will not modify any safety-related measures;
• Ensuring all systems are correctly designed and installed;
• Clearly labeling user instructions;
• Clearly marked symbols for installation of the robot arm and the integrator contact details; and
• Collecting all documents into the technology folder, including the risk assessment, and this Manual.
1.3 Limitations on Liability
No safety-related information shall be considered a guarantee by Techman Robot that TM5 will not cause
personnel injury or property damage.
3I Hardware Installation Manual 1. Safety Information
Note
Danger Warning
This symbol indicates that failure to observe these instructions will
lead to death or serious injuries.
This symbol indicates that failure to observe these instructions may
lead to injuries.
This symbol indicates that failure to observe these instructions may
lead to equipment damage.
Danger
Warning
Note
1.4 Warning and Caution Symbols
The Table below shows the definitions of the warning and caution levels described in each paragraph of this
Manual. Pay close attention to them when reading each paragraph, and observe them to avoid personal
injuries or equipment damage.
I Hardware Installation Manual 1. Safety Information4
1.5 General Safety Warning
The following shows the general warnings and cautions. Note that there may be related warnings and
cautions listed in the remaining sections, in addition to the ones described in this section. Read them
carefully as well.
Danger:
1. Before handling, installation, operating, maintaining and servicing this product, carefully read the
product's specifications and operating manual. Make sure that all conditions meet the requirements of the
specifications and manual to avoid unexpected accidents during use (e.g. improper operation or operating
conditions that exceed the product specifications) that may cause personnel injury or damage to this
product.
2. Before using and installing this product, the installer must perform the necessary risk assessments
based on the conditions of use to avoid serious personal injuries during operation (e.g. Collision between
equipment and personnel) due to improper parameter settings.
Warning:
1. Before using this product, make sure that there is at least 1 or more emergency stop device on the
machine to stop the movement of the robot in case of accidents. Always make sure that the devices are
functioning properly.
2. Prior to assembly and disassembly, or servicing and maintenance of this product, make sure that the
power is disconnected and the rear area is clear before proceeding. Doing so will help prevent injury to
personnel or damage to equipment due to accidental short-circuits or electrocution during use.
3. When operating this product, the operator should not wear loose clothing or other accessories (e.g.
necklaces, ties,and bracelets) to avoid injuries which may happen when said clothes or accessories are
drawn into the machine during operation.
4. In the event of product malfunction, follow the proper procedures and channels to contact qualified
personnel for troubleshooting and repair. To prevent damage to the equipment due to improper disassembly,
the operator is strictly prohibited against attempting to make direct repairs.
5. Before the robot begins operations, make sure that each part is secured in place to prevent any accidents
due to the robot being improperly secured during operation.
6. Before the robot begins operations, always make sure that no personnel or obstacles are within its range
of motion. If the operating environment involves human-machine collaborative work, always perform the
necessary risk assessments before the start of operations.
7. Unauthorized personnel are not allowed to operate this product in order to prevent any possibility of
personal injury or damage to the machine caused by improper operation.
8. Do not install or operate this product in dangerous environments (e.g. in the presence of a strong
magnetic field; dangerous gases; fire, or flammables) to avoid dangers which may occur due to external
conditions during operation.
5I Hardware Installation Manual 1. Safety Information
Note:
1. Personnel approaching or operating the robot should check the machine warning lights before proceeding.
2. After editing the task flow, always start operations in Manual Mode to check that all actions can be
performed correctly during operation before switching the operating mode to Auto.
3. Do not turn off power to the machine while it is in motion unless absolutely necessary.
1.6 Scope of Use
The TM Robot is a collaborative robot with a built-in vision system. The dedicated HMI simplifies robot
deployment and increases its operational flexibility, making it suitable able for the production and
manufacturing industries.
The design of the TM Robot focuses on the safety of the human-machine collaboration. However, the
collaborative robot is intended only for the applications for which risk assessment has been conducted
without any hazards identified. The risk assessment involves the robot and the related peripherals as well
as environment.
The risk assessment has been performed for any use or application and no hazard is found. The use of the
robot for any purpose other than the intended is prohibited. The Corporation shall not in any event be liable
for any conditions including, but not limited to, the following:
- Use in a potentially hazardous environment
- Use in any applications that may threaten human lives
- Use in any application that may cause personal injuries
- Use before completion of the risk assessment
- Use for auxiliary support
- Use when the rated performance cannot be reached
- Use when the reaction time of safety functions is insufficient.
- Use with inappropriate parameters for operations
- Applications which may cause damage to the robot itself
1.7 Risk Assessment
Before using and installing this product, the user must perform the necessary risk assessments based on
the conditions of use. Refer to the regulations specified in the documentation, such as ISO-10218-2, ISO-
12100, and ISO-15066 for details. The purpose of the risk assessment is to predict possible accidents
during the operation, and prevent the occurrence of accidents or reduce the severity of injuries effectively
with appropriate protective measures. Therefore, the scope of the risk assessment must include any oper-
ation of the machine. Once a risk assessment has been conducted, the user may use the relevant external
components (e.g. sensors, emergency stop devices, fencing or other barrier devices) and configuration of
safety-related parameters in the operating system to prevent potential accidents during operations. External
safety-related components should be installed as directed. Refer to Chapter 2 for the safety settings of the
operating system and how other safety components should be used.
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