Revision History Table ....................................................................................................................................................... 9
1.2 How Can I Get Help? ......................................................................................................................................... 10
2. Safety Information ....................................................................................................................................................... 11
2.9 Movement without Drive Power ......................................................................................................................... 13
3. Transportation and Storage......................................................................................................................................... 17
4. System Hardware ........................................................................................................................................................ 18
4.2 System Overview ............................................................................................................................................... 18
4.2.1 Robot Arm ................................................................................................................................................... 19
4.2.1.1 Dimension Drawings of Robot .............................................................................................................. 19
4.2.1.3 Range of Motion ................................................................................................................................... 26
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
4.2.2.4 End Indication Light Ring Table ............................................................................................................ 39
4.2.3 Control Box .................................................................................................................................................. 39
5.2 Electrical Warnings and Cautions ...................................................................................................................... 46
5.3 Control Box ........................................................................................................................................................ 46
5.3.2 Power Connector ......................................................................................................................................... 52
5.3.3 Digital In/Out ................................................................................................................................................ 52
5.3.3.1 Digital Input ........................................................................................................................................... 52
5.3.3.2 Digital Output ........................................................................................................................................ 54
5.3.4 Analog In ..................................................................................................................................................... 56
5.3.5 Analog Out ................................................................................................................................................... 57
5.3.6 System Remote Power ON/OFF ................................................................................................................. 57
5.3.7 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................................... 58
5.3.8 USB Port ..................................................................................................................................................... 58
5.4 Tool End I/O Interface ........................................................................................................................................ 58
5.4.2 Connecting Tool End Digital Output ............................................................................................................ 60
5.4.3 Connecting Tool End Digital Input ............................................................................................................... 61
5.4.4 Connecting Tool End Analog Input .............................................................................................................. 61
5.5 Control Box Interfaces ....................................................................................................................................... 62
5.6 Control Box Power Interface and Robot Interface ............................................................................................. 64
5.6.1 Control Box Power Interface ....................................................................................................................... 64
6.2 Inspecting the Equipment .................................................................................................................................. 68
6.2.1 Before Unpacking ........................................................................................................................................ 68
6.2.2 Upon Unpacking .......................................................................................................................................... 68
6.3.2 Contents of Each Carton ............................................................................................................................. 69
6.4 Installing Your Robot .......................................................................................................................................... 72
6.4.1 Remove the Control Box ............................................................................................................................. 73
6.4.2 Verification Before Removal of the Robot Arm ............................................................................................ 74
6.4.3 Removal of the Robot Arm and Tightening ................................................................................................. 74
6.4.4 Connect the Robot and the Control Box ..................................................................................................... 76
7. Maintenance and Repair ............................................................................................................................................. 77
Appendix A. Technical Specifications .............................................................................................................................. 79
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 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 ................................................... 45
Table 10: Definitions of Safety Connectors....................................................................................................... 47
Table 11: Analog In & Analog Out ..................................................................................................................... 57
Table 12: 8-pin Digital I/O Connectors of Cable ............................................................................................... 59
Table 13: 8-pin Digital I/O Connector of Robot ................................................................................................. 59
Table 14: 5-pin Analog I/O Connector of Cable ................................................................................................ 60
Table 15: 5-pin Analog I/O connector of Robot ................................................................................................. 60
Table 16: Analog Input Range .......................................................................................................................... 61
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 TM5-700 / TM5M-700 .................................................................................................. 19
Figure 6: Dimension of TM5-900 / TM5M-900 .................................................................................................. 20
Figure 7: Dimension of TM5X-700 .................................................................................................................... 21
Figure 8: Dimension of TM5X-900 .................................................................................................................... 22
Figure 9: Assembly of TM5-700 / TM5M-700 ................................................................................................... 23
Figure 10: Assembly of TM5-900 / TM5M-900 ................................................................................................. 24
Figure 11: Assembly of TM5X-700 .................................................................................................................... 25
Figure 12: Assembly of TM5X-900 ................................................................................................................... 26
Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram ................................ 27
Figure 14: Pictorial view of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram ........................... 28
Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range ................................................. 28
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram ................................ 29
Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range ........................................ 29
Figure 18: Top View of TM5-900 / TM5M-900 / TM5X-900 Movement Range ................................................. 30
Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700
Figure 44: Power Connector ............................................................................................................................. 52
Figure 45: Digital Input ...................................................................................................................................... 53
Figure 46: Set to Sink Input Type ..................................................................................................................... 53
Figure 47: Set to Source Input Type ................................................................................................................. 54
Figure 48: Digital Output ................................................................................................................................... 54
Figure 49: Set to Sink Output Type .................................................................................................................. 55
Figure 50: Set to Source Output Type .............................................................................................................. 56
Figure 51: Analog In .......................................................................................................................................... 56
Figure 52: Analog Out ....................................................................................................................................... 57
Figure 53: System Remote Power ON/OFF ..................................................................................................... 57
Figure 55: Connecting Tool End Digital Output ................................................................................................ 60
Figure 56: Connecting Tool End Digital Input ................................................................................................... 61
Figure 57: Connecting Tool End Analog Input .................................................................................................. 61
Figure 58: Front View of the Control Box ......................................................................................................... 62
Figure 59: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series ........................................... 62
Figure 60: Interfaces of the TM5M-700 / TM5MX-700 / TM5M-900 / TM5MX-900 Series ............................... 63
Figure 61: Interfaces of the TM5M-700 SEMI / TM5MX-700 SEMI / TM5M-900 SEMI / TM5MX-900 SEMI
Series ........................................................................................................................................................ 63
Figure 62: Control Box Power Interfaces .......................................................................................................... 64