Omron TM5M-700, TM, TM5-700, TM5M-900, TM5-900 Quick Start Manual
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QUICK START GUIDE
Omron TM Collaborative Robot:
Safety Laser Scanner Installation
Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1
Page 1 of 11
Omron Automation │©2019 Omron. All rights reserved. │automation.omron.com
Table of Contents
Ver.
Date
Description
1
Jun 10, 2019
First edition (HW ver. 3.0, TMflow ver. 1.68.6800)
1. INTRODUCTION ..................................................................................................................................................................... 3
2. RELATED MANUALS ............................................................................................................................................................... 3
3. HARDWARE CONNECTIONS ................................................................................................................................................... 4
3.1. SAFETY DUAL CHANNELS ON THE TM CONTROL BOX............................................................................................................................ 4
3.1.1. E-Stop ............................................................................................................................................................................... 4
3.1.2. Safeguard A ..................................................................................................................................................................... 4
3.1.3. Safeguard B...................................................................................................................................................................... 4
3.2. G9SE RELAY POWER AND RESET/FEEDBACK ....................................................................................................................................... 5
3.3. OS32C LASER SCANNER CONNECTIONS ............................................................................................................................................. 5
4. OS32C CONFIGURATION TOOL SOFTWARE ............................................................................................................................ 6
4.1. CONNECTING THE SCANNER TO YOUR LAPTOP ..................................................................................................................................... 6
4.2. CONFIGURING THE SAFETY ZONE ...................................................................................................................................................... 8
5. APPENDIX A: CONNECTION DIAGRAMS AND PHOTOS .......................................................................................................... 10
Revision History
Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1
Omron Automation │©2019 Omron. All rights reserved. │automation.omron.com
Page 2 of 11
1. Introduction
Catalog No.
Model
Manual Name
I623-E-02
TM5-700, TM5M-700
TM5-900, TM5M-900
Collaborative Robot Hardware Installation Manual
I624-E-02
TM12, TM12M
TM14, TM14M
Collaborative Robot Hardware Installation Manual
I625-E-02
TM5-700, TM5M-700
TM14, TM14M
Collaborative Robot Safety Manual
I626-E-02
TM5-700, TM5M-700
TM14, TM14M
Software Manual TMflow
Z296-E1-11
OS32C
Safety Laser Scanner OS32C Series User’s Manual
This manual explains how to set up an Omron OS32C safety laser scanner with any Omron TM collaborative
robot via Omron G9SE-221-T05 safety relay, using the OS32C Configuration Tool software.
For detailed information other aspects of using a TM robot, including but not limited to its hardware installation,
TMflow software, and general safety information, please refer to their respective manuals and quick start
guides.
This manual covers the simplest setting, 2 zones.
About Using the OS32C Safety Laser Scanner
Always take into account the following points when using the OS32C:
Make sure OS32C is handled by a "Responsible Person" who is well aware of and familiar with the machine to be
installed. The term "Responsible Person" used means the person qualified, authorized, and responsible to
secure "safety" in each process of the design, installation, operation, maintenance services, and disposition of
the machine. It is assumed that the OS32C will be used properly according to the installation environment,
performance and function of the machine. A Responsible Person should conduct a risk assessment of the
machine and determine the suitability of this product before installation. Read this guide and “Safety Laser
Scanner OS32C Series User’s Manual” thoroughly and understand its contents.
2. Related Manuals
To ensure system safety, make sure to always read the information provided in all safety precautions and
precautions for safe use of manuals for each device that is used in the system.
TM5-900, TM5M-900
TM12, TM12M
TM5-900, TM5M-900
TM12, TM12M
Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1
Omron Automation │©2019 Omron. All rights reserved. │automation.omron.com
Page 3 of 11
2. Hardware Connections
Devices
Examples Used in This Guide
Omron TM Collaborative Robot
TM5-900
Omron Safety Laser Scanner
OS32C
Omron Safety Relay
G9SE-221-T05
E-Stop OR Safeguard A OR Safeguard B
Connect to
Top Row 1
G9SE connection 13
Top Row 2
G9SE connection 23
Bottom Row 1
G9SE connection 14
Bottom Row 2
G9SE connection 24
Gather the necessary equipment as follows, along with a laptop installed with TMflow and OS32C Configuration
Tool.
Set up the TM robot as you normally would according to the Hardware Installation Manual. Be sure to turn the
switch off at the back of the Control Box while you connect the laser scanner and relay.
2.1. Safety Dual Channels on the TM Control Box
The dual channels of the E-Stop, Safeguard A, or Safeguard B connect to the relay. The relay connectors are
shown in Fig. A-1 in Appendix A. 13/14 and 23/24 react instantaneously, while 37/28 and 47/48 has an off-delay.
Refer to the following sections to understand the differences between E-Stop, Safeguard A, and Safeguard B. A
photo of these connectors are shown in Fig. A-2 in Appendix A.
2.1.1. E-Stop
When E-Stop (Emergency Stop) is triggered (opened),
• The robot will stop movement within 610 ms
• The system will lower the upper limit of the total drive current from 20 to 3 A
• Category 1 safety function is triggered
2.1.2. Safeguard A
When Safeguard A is triggered (opened), the system goes into the Safeguard Pause state. For example, if an
object crosses a safety curtain that is connected to Safeguard A, then the system will:
1. Come to a controlled stop with power still going to the machine actuators.
2. Pause the project.
2.1.3. Safeguard B
When Safeguard B is triggered, the system goes into the Safeguard Collaborative mode. For example, if a person
steps onto a safety mat that is connected to Safeguard B, then the system will enter a collaborative mode
Omron TM Collaborative Robot: Safety Laser Scanner Installation – Ver. 1
Omron Automation │©2019 Omron. All rights reserved. │automation.omron.com
Page 4 of 11
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