Omron TM12, TM14 Installation Manual
Medium &
Heavy Payload Series
Hardware Installation Manual
Corresponding models: TM12/14 Series
Original Instruction
I624-E-09
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 Dscription ....................................................................................................................................................... 10
1.1 Product Description ............................................................................................................................................ 10
1.2 How Can I Get Help? ......................................................................................................................................... 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 ..................................................................................................................... 22
4.2.1.3 Range of Motion ................................................................................................................................... 27
4.2.1.4 Robot Hazard Zone Diagram and Operator Position Diagram ............................................................. 30
4.2.1.5 Payload and Torque .............................................................................................................................. 32
4.2.1.6 Robot Arm Installation .......................................................................................................................... 34
4.2.2 Robot End Module....................................................................................................................................... 36
4.2.2.1 End Module Components ..................................................................................................................... 36
4.2.2.2 End Flange Surface .............................................................................................................................. 38
4.2.2.3 End Mounting Caution .......................................................................................................................... 39
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4.2.2.4 End Indication Light Ring Table ............................................................................................................ 39
4.2.3 Control Box .................................................................................................................................................. 39
4.2.3.1 Robot Stick ........................................................................................................................................... 40
4.2.4 Robot Light Module ..................................................................................................................................... 42
4.2.4.1 Light Module Surface ............................................................................................................................ 42
4.2.4.2 Install Light Module ............................................................................................................................... 42
4.3 Operating Position of TM Robot with AGV/AIV .................................................................................................. 44
4.4 Working distance and field of view of TM Robot’s EIH camera ......................................................................... 45
5. Electrical Interface ....................................................................................................................................................... 47
5.1 Overview ............................................................................................................................................................ 47
5.2 Electrical Warnings and Cautions ...................................................................................................................... 47
5.3 Control Box ........................................................................................................................................................ 47
5.3.1 Safety Connector ......................................................................................................................................... 49
5.3.1.1 Safety Input Connector ......................................................................................................................... 49
5.3.1.2 Safety Output Connector ...................................................................................................................... 51
5.3.2 Power Connector ......................................................................................................................................... 53
5.3.3 Digital In/Out ................................................................................................................................................ 53
5.3.3.1 Digital Input ........................................................................................................................................... 53
5.3.3.2 Digital Output ........................................................................................................................................ 55
5.3.4 Analog In ..................................................................................................................................................... 57
5.3.5 Analog Out ................................................................................................................................................... 58
5.3.6 System Remote Power ON/OFF ................................................................................................................. 58
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................................... 59
5.3.8 USB Port ..................................................................................................................................................... 59
5.4 Tool End I/O Interface ........................................................................................................................................ 59
5.4.1 I/O Terminals ............................................................................................................................................... 59
5.4.2 Connecting Tool End Digital Output ............................................................................................................ 61
5.4.3 Connecting Tool End Digital Input ............................................................................................................... 62
5.4.4 Connecting Tool End Analog Input .............................................................................................................. 62
5.5 Control Box Interfaces ....................................................................................................................................... 63
5.6 Control Box Power Interface and Robot Interface ............................................................................................. 65
5.6.1 Control Box Power Interface ....................................................................................................................... 65
5.6.2 Robot Interface ............................................................................................................................................ 66
5.6.3 SEMI Emergency Off Interfaces (SEMI series exclusive) ........................................................................... 67
5.6.3.1 TM12M SEMI / TM14M SEMI Series ................................................................................................... 67
5.6.4 Detachable I/O Panel .................................................................................................................................. 67
6. Unboxing & Installation ............................................................................................................................................... 69
6.1 Overview ............................................................................................................................................................ 69
6.2 Inspecting the Equipment .................................................................................................................................. 69
6.2.1 Before Unpacking ........................................................................................................................................ 69
6.2.2 Upon Unpacking .......................................................................................................................................... 69
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6.3 Unboxing ............................................................................................................................................................ 70
6.3.1 Carton Types ............................................................................................................................................... 70
6.3.2 Contents of Each Carton ............................................................................................................................. 70
6.4 Installing Your Robot .......................................................................................................................................... 73
6.4.1 Remove the Control Box ............................................................................................................................. 74
6.4.2 Verification Before Removal of the Robot Arm ............................................................................................ 75
6.4.3 Removal of the Robot Arm and Tightening ................................................................................................. 75
6.4.4 Connect the Robot and the Control Box ..................................................................................................... 77
7. Maintenance and Repair ............................................................................................................................................. 78
Appendix A. Technical Specifications .............................................................................................................................. 80
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 ...................... 34
Table 5: Robot Stick Basic Functions ............................................................................................................... 41
Table 6: Robot Stick Advanced Functions ........................................................................................................ 41
Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module .................... 42
Table 8: Electrical Specification of the Light Module ........................................................................................ 43
Table 9: The Relation between the Working Distance and the Field of View ................................................... 46
Table 10: Definitions of Safety Connectors....................................................................................................... 48
Table 11: Analog In & Analog Out ..................................................................................................................... 58
Table 12: 8-pin Digital I/O Connectors of Cable ............................................................................................... 60
Table 13: 8-pin Digital I/O Connector of Robot ................................................................................................. 60
Table 14: 5-pin Analog I/O Connector of Cable ................................................................................................ 61
Table 15: 5-pin Analog I/O connector of Robot ................................................................................................. 61
Table 16: Analog Input Range .......................................................................................................................... 62
Table 17: TM12 / TM14 / TM12X / TM14X Series Electrical Specifications ..................................................... 66
Table 18: TM12M / TM14M Series Electrical Specifications............................................................................. 66
Table 19: The Robot Arm Carton Contents ....................................................................................................... 71
Table 20: The Control Box Carton Contents ..................................................................................................... 73
Table 21: The SEMI Emergency OFF Switch Carton Contents ........................................................................ 73
Table 22: Summary of the Preventive Maintenance Procedures and Guidelines ............................................ 78
Table 23: Technical Specifications .................................................................................................................... 80
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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 TM12 / TM12M ............................................................................................................ 19
Figure 6: Dimension of TM14 / TM14M ............................................................................................................ 20
Figure 7: Dimension of TM12X ......................................................................................................................... 21
Figure 8: Dimension of TM14X ......................................................................................................................... 22
Figure 9: Assembly of TM12 / TM12M .............................................................................................................. 23
Figure 10: Assembly of TM14 / TM14M ............................................................................................................ 24
Figure 11: Assembly of TM12X ......................................................................................................................... 25
Figure 12: Assembly of TM14X......................................................................................................................... 26
Figure 13: Side View of TM12 / TM12M / TM12X Movement Range Diagram ................................................ 27
Figure 14: Pictorial view of TM12 / TM12M / TM12X Movement Range Diagram ........................................... 28
Figure 15: Top view of TM12 / TM12M / TM12X Movement Range Diagram .................................................. 28
Figure 16: Side view of TM14 / TM14M / TM14X Movement Range Diagram ................................................. 29
Figure 17: Pictorial view of TM14 / TM14M / TM14X Movement Range Diagram ........................................... 29
Figure 18: Top View of TM14 / TM14M / TM14X Movement Range Diagram .................................................. 30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM12 / TM12M / TM12X ........... 31
Figure 20: Robot Hazard Zone Diagram and Operator Position Diagram of TM14 / TM14M / TM14X ........... 32
Figure 21: Relationship between Payload and the Center of Gravity Offset in TM12 / TM12M / TM12X ........ 33
Figure 22: Relationship between Payload and the Center of Gravity Offset in TM14 / TM14M / TM14X ........ 33
Figure 23: Bottom View of Robot Base ............................................................................................................ 35
Figure 24: Securing the ground wire with the robot .......................................................................................... 35
Figure 25: References of TM12 / TM12M / TM14 / TM14M End Module Components ................................... 36
Figure 26: References of TM12X / TM14X End Module Components ............................................................. 37
Figure 27: References of End Flange Surface ................................................................................................. 38
Figure 28: The Exterior and Diagram of the Control Box ................................................................................. 39
Figure 29: Securing the ground wire with control box ...................................................................................... 40
Figure 30: Robot Stick ...................................................................................................................................... 40
Figure 31: Light Module Surface ...................................................................................................................... 42
Figure 32: Calculation the Torque Load of the Light Module ............................................................................ 43
Figure 33: Electrical Polarity of Fill Light Cable ................................................................................................ 44
Figure 34: Top View of TM Robot Placed on the AGV/AIV ............................................................................... 45
Figure 35: Working Distance and Field of View of TM Robot’s EIH camera .................................................... 46
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Figure 36: Control Box I/O Configuration (1/2) ................................................................................................. 47
Figure 37: Control Box I/O Configuration (2/2) ................................................................................................. 48
Figure 38: Safety Input Connector .................................................................................................................... 49
Figure 39: The Wiring Diagram Example of Switch Type Safety Device. ......................................................... 50
Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device ................................................. 50
Figure 41: The Wiring Diagram Example of PNP Output Type Safety Device ................................................. 51
Figure 42: Safety Output Connector ................................................................................................................. 52
Figure 43: Safety Output Connector Wiring Diagram ....................................................................................... 52
Figure 44: Power Connector ............................................................................................................................. 53
Figure 45: Digital Input ...................................................................................................................................... 54
Figure 46: Set to Sink Input Type ..................................................................................................................... 54
Figure 47: Set to Source Input Type ................................................................................................................. 55
Figure 48: Digital Output ................................................................................................................................... 55
Figure 49: Set to Sink Output Type .................................................................................................................. 56
Figure 50: Set to Source Output Type .............................................................................................................. 57
Figure 51: Analog In .......................................................................................................................................... 57
Figure 52: Analog Out ....................................................................................................................................... 58
Figure 53: System Remote Power ON/OFF ..................................................................................................... 58
Figure 54: EtherCAT ......................................................................................................................................... 59
Figure 55: Connecting Tool End Digital Output ................................................................................................ 61
Figure 56: Connecting Tool End Digital Input ................................................................................................... 62
Figure 57: Connecting Tool End Analog Input .................................................................................................. 62
Figure 58: Front View of the Control Box ......................................................................................................... 63
Figure 59: Interfaces of the TM12 / TM14 / TM12X / TM14X Series ................................................................ 63
Figure 60: Interfaces of the TM12M / TM14M Series ....................................................................................... 64
Figure 61: Interfaces of the TM12M SEMI / TM14M SEMI Series ................................................................... 64
Figure 62: Control Box Power Interfaces .......................................................................................................... 65
Figure 63: Robot Interface ................................................................................................................................ 66
Figure 64: The TM12M SEMI / TM14M SEMI SEMI Emergency Off Interface .............................................. 67
Figure 65: Detachable I/O Panel ...................................................................................................................... 68
Figure 66: Robot Arm Carton ............................................................................................................................ 70
Figure 67: Control Box Carton .......................................................................................................................... 70
Figure 68: Moving the Control Box (1/2) ........................................................................................................... 74
Figure 69: Moving the Control Box (2/2) ........................................................................................................... 75
Figure 70: Moving the Robot Arm (1/2) ............................................................................................................ 76
Figure 71: Moving the Robot Arm (2/2) ............................................................................................................ 76
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Figure 72: Connecting the Robot and the Control Box ..................................................................................... 77
Figure 73: Air Filter Tray ................................................................................................................................... 79
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Revision History Table
Revision Date Revised Content
01 October 2018 Original release
02 December 2018 Updated cover page, minor test fixes
03 August 2019 Minor text fixes. Added cables length
04 August 2019
05 December 2019 Added Hardware 3.2 changes
06 January 2020 Updated Chapter 6.3
07 April 2020 Minor text fixes. Added product brief information
08 August 2020 Added Warning Indications
09 February 2021 Added Omron Landmark
Updated Table of Rated Torque and Limit for Repeated Peak Torque.
Added X Model information.
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1. Product Dscription
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://www.ia.omron.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
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serious injury, and might result in death or severe property damage.
moderate injury, and might result in serious injury, death, or significant property damage.
injury, moderate injury, or property damage.
Read Manual and Impact Warning Labels
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
WARNING:
Identifies a potentially hazardous situation which, if not avoided, will result in minor or
CAUTION:
Identifies a potentially hazardous situation which, if not avoided, might result in minor
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.
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This product is a partly complete machine. The design and installation of the complete system
and prevent major hazards from occurring in the complete system.
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:
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
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 49.3 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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TM12 / TM12M
TM14 / TM14M
2nd Joint
3rd Joint
TM12X
1st Joint
2nd Joint
6th Joint
TM14X
6th Joint
5th Joint
Lower arm
3rd Joint
2nd Joint
5th Joint 4th Joint
4th Joint
Upper arm
1st Joint
Base
5th Joint
Lower arm
5th Joint
6th Joint
4th Joint
Upper arm
1st Joint
Base
6th Joint
4th Joint
Lower arm
3rd Joint
Upper arm
Base
Lower arm
3rd Joint
2nd Joint
Figure 1: References of Joints by Models
2. Release the brake by pushing the pin on the brake solenoid shown in the following figures.
Upper arm
1st Joint
Base
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when manually releasing the brake.
+/- 45。.
1st / 2nd Joint
3rd Joint
4th / 5th /6th Joint
Figure 2: Reference of Brake Solenoid by Joints
WARNING:
1. Due to gravity, additional supports are recommended
2. When manually moving each robot joint, the movement angle must be within a range of
2.10 Labels
The following labels, especially the warning ones, are attached to the locations where specific dangers may occur.
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c parts to avoid electric
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
Be careful not to be close to the moving parts and nearby
B
areas to avoid impact
Do not touch any internal electri
C
shock
D
Product label
Table 3: Denotation of Labels
C
B A
C
D
Figure 3: Locations of Labels
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injury. The Corporation will not be liable for any injuries caused during transportation.
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
WARNING:
This product must be shipped and stored in a temperature-controlled environment, within the
range -20°C to 60°C (-4°F to 140°F). 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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Robot arm
Control Box
Robot Stick
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).
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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 TM12 / TM12M
*All measures are in mm.
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Figure 6: Dimension of TM14 / TM14M
*All measures are in mm.
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Figure 7: Dimension of TM12X
*All measures are in mm.
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Figure 8: Dimension of TM14X
*All measures are in mm.
4.2.1.2 Robot Assembly Diagram
Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to
disassemble any component on your own. Contact your local corporation support for any service
request.
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Figure 9: Assembly of TM12 / TM12M
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Figure 10: Assembly of TM14 / TM14M
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Figure 11: Assembly of TM12X
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