Omron TMflow Installation Manual
i
Software Manual
I626-E-09
TMflow
Original Instruction
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.
Software Manual TMflow Software version: 1.82
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Contents
Revision History Table ................................................................................................................................ 20
1. General................................................................................................................................................... 21
Overview ....................................................................................................................................... 21
Warning and Caution Symbols ....................................................................................................... 21
Safety Precautions ........................................................................................................................ 22
Validation and Responsibility ......................................................................................................... 23
Limitation of Liability ...................................................................................................................... 23
Functional Note Symbol ................................................................................................................. 23
2. Start up and Activation ............................................................................................................................ 24
Overview ....................................................................................................................................... 24
Start Up ......................................................................................................................................... 24
Plug in the Power .................................................................................................................... 24
Start up from Packing Pose ..................................................................................................... 24
Standard Start Up ................................................................................................................... 28
TM Robot HMI TMflow Operation ............................................................................................ 29
Local Operation Method ................................................................................................... 30
Wireless Access Point Connection Method ....................................................................... 30
Wired Network Connection Method .................................................................................. 31
3. Safety Settings ....................................................................................................................................... 33
Overview ....................................................................................................................................... 33
Safety Permission Settings ............................................................................................................ 33
Safety Setting ................................................................................................................................ 33
Performance Safety Settings ................................................................................................... 34
Human – Machine Safety Settings .......................................................................................... 35
Safety IO Settings ................................................................................................................... 38
Resume Setting of User Connected External Safeguard Input Port .................................. 39
Resume Setting of User Connected External Safeguard Input Port for Human - Machine
Safety Settings ............................................................................................................................. 39
Safeguard Port Setting for the Hardware Version prior to 2.00 (inclusive) ......................... 40
Enabling Device Setting (HW 3.2 or newer exclusive) ...................................................... 40
4. Start Your First Project ............................................................................................................................ 44
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Cartesian Limit A & B .............................................................................................................. 41
Project Speed Adjustment Setting ........................................................................................... 41
Switch between Modes ........................................................................................................... 42
Overview ....................................................................................................................................... 44
4
Initial Setting .................................................................................................................................. 44
M/A Mode and FreeBot .................................................................................................................. 44
Build and Run Your First Project .................................................................................................... 46
Shutdown ...................................................................................................................................... 49
5. Operation Interface ................................................................................................................................. 51
Overview ....................................................................................................................................... 51
Login/Logout .................................................................................................................................. 51
Connection .................................................................................................................................... 52
Local Connection .................................................................................................................... 52
Remote Connection ................................................................................................................ 52
View .............................................................................................................................................. 53
Display Board .......................................................................................................................... 53
Flow ........................................................................................................................................ 55
IO ............................................................................................................................................ 56
Simulator ................................................................................................................................. 56
Status ...................................................................................................................................... 57
Vision Viewer .......................................................................................................................... 57
Run Setting .................................................................................................................................... 58
Project ........................................................................................................................................... 59
Project Editing Toolbar ............................................................................................................ 60
Create New Project ........................................................................................................... 60
Save Project ..................................................................................................................... 61
Open Project..................................................................................................................... 61
Step Run .......................................................................................................................... 62
Point Manager .................................................................................................................. 63
Base Manager .................................................................................................................. 65
Controller .......................................................................................................................... 66
Variables ........................................................................................................................... 70
EditBlock .......................................................................................................................... 70
Current Base and Base List ............................................................................................ 71
Current TCP and TCP List .............................................................................................. 71
Display Manager ............................................................................................................. 72
Node Menu and Flow Editing Area .......................................................................................... 73
Project Function Menu ............................................................................................................ 74
Search Function ............................................................................................................... 75
Operation Space ............................................................................................................... 76
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Modbus Device ................................................................................................................. 76
Set IO while Project Error ................................................................................................. 76
Set IO while Project Stop .................................................................................................. 76
Stop Watch ....................................................................................................................... 76
View.................................................................................................................................. 77
F/T Sensor ........................................................................................................................ 77
Serial Port ......................................................................................................................... 78
Path Generate ................................................................................................................ 79
Joint Loading .................................................................................................................. 80
Network Device .............................................................................................................. 80
Robot Setting ................................................................................................................................. 81
Wizard ..................................................................................................................................... 81
Vision Setting .......................................................................................................................... 81
TCP ......................................................................................................................................... 81
IO Setup .................................................................................................................................. 81
Safety ...................................................................................................................................... 82
Controller ................................................................................................................................ 82
Speech .................................................................................................................................... 82
End Button .............................................................................................................................. 83
Component ............................................................................................................................. 84
Operation Space ................................................................................................................... 84
Command .............................................................................................................................. 84
Connection ............................................................................................................................ 84
Posture Setting...................................................................................................................... 85
Global Variables .................................................................................................................... 86
Text File Manager .................................................................................................................. 86
TMmanager ........................................................................................................................... 86
Motion Setting ....................................................................................................................... 86
System Setting .............................................................................................................................. 87
Language ................................................................................................................................ 88
System Update ....................................................................................................................... 88
Group ...................................................................................................................................... 89
User Account ........................................................................................................................... 90
Network Setting ....................................................................................................................... 90
Import/Export .......................................................................................................................... 91
Date Time................................................................................................................................ 93
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Administrator Setting ............................................................................................................... 93
Network Service ...................................................................................................................... 94
Backup\Restore..................................................................................................................... 95
Input/Display Devices ............................................................................................................ 96
Pop-out Keyboard ........................................................................................................... 96
Input Devices (HW 3.2 or newer exclusive) ..................................................................... 97
Auto Remote Mode ............................................................................................................... 97
Hard Disk Space Analysis ..................................................................................................... 98
6. Point and Base ..................................................................................................................................... 100
Overview ..................................................................................................................................... 100
Base and Right-hand Rule ........................................................................................................... 101
Right-hand Rule .................................................................................................................... 101
Types of Base ....................................................................................................................... 101
Robot Base ..................................................................................................................... 101
Vision Base ..................................................................................................................... 102
Custom Base .................................................................................................................. 102
Tool Coordinate .............................................................................................................. 103
Point Parameter ........................................................................................................................... 103
Base Shift.............................................................................................................................. 104
Tool Shift ............................................................................................................................... 106
7. Create Base ......................................................................................................................................... 108
Create Vision Base ...................................................................................................................... 108
Create a Custom Base ................................................................................................................ 108
Create New Base Node ............................................................................................................... 109
Create a New Base by Multiple Bases .................................................................................. 11 0
Create a New Base with Two Vision Bases ..................................................................... 11 0
Create a New Base with Three Vision Bases .................................................................. 110
Create a New Base with Three Points ................................................................................... 111
Create a New Base with Three Points on the Vision Base .............................................. 11 2
Create a New Base with Three Dynamic Points .............................................................. 113
8. Create the TCP ..................................................................................................................................... 114
Overview ..................................................................................................................................... 114
TCP Setting ................................................................................................................................. 114
Create Parameters of TCP with Hand Guidance Teaching .................................................... 115
Create Tool Center Point by Input Parameters ...................................................................... 11 8
9. Motion Programming ............................................................................................................................ 120
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Overview ..................................................................................................................................... 120
Point to Point (PTP) ..................................................................................................................... 121
PTP is the Fastest Way to Move ........................................................................................... 121
Speed of PTP Motion ............................................................................................................ 121
Plan for PTP Movement ........................................................................................................ 122
PTP Smart Pose Choosing.................................................................................................... 122
Line ............................................................................................................................................. 123
Line Moves the Shortest Distance ......................................................................................... 123
Speed of Line Motion ............................................................................................................ 123
Plan for Line Movement ........................................................................................................ 124
Two-Steps Motion (WayPoint) ...................................................................................................... 125
WayPoint ............................................................................................................................... 125
Plan for WayPoint Movement ................................................................................................ 126
Blending ...................................................................................................................................... 127
Blending in Movement ........................................................................................................... 127
Blending Speed Change Chart .............................................................................................. 127
Set the Blending Percentage ................................................................................................. 127
Set the Blending by Radius ................................................................................................... 128
Motion Nodes .............................................................................................................................. 128
Point Node ............................................................................................................................ 130
Generation Method of Point node ................................................................................... 130
Point Node Setting .......................................................................................................... 131
F-Point Node ......................................................................................................................... 131
Move Node ............................................................................................................................ 133
Plan for the Move Node .................................................................................................. 134
Circle Node ........................................................................................................................... 134
Circle Node Setting ......................................................................................................... 134
Reach End Point ............................................................................................................. 135
Target Central Angle ....................................................................................................... 135
Path Node ............................................................................................................................. 136
Path and PLine ............................................................................................................... 136
Path Node Setting .......................................................................................................... 136
Path File Import and Export ............................................................................................ 138
Pallet Node ........................................................................................................................... 138
Listen Node ........................................................................................................................... 140
10. Logic Programming............................................................................................................................. 142
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Overview ................................................................................................................................... 142
Variable System ......................................................................................................................... 142
Local Variables .................................................................................................................... 142
Global Variables............................................................................................................ 143
Logic Nodes .............................................................................................................................. 145
Start Node ........................................................................................................................... 145
SET Node ........................................................................................................................... 145
IF Node ............................................................................................................................... 149
WaitFor Node ...................................................................................................................... 150
Gateway Node .................................................................................................................... 150
M-Decision Node ................................................................................................................. 151
Process ..................................................................................................................................... 152
Process Nodes .................................................................................................................... 152
Subflow Node ...................................................................................................................... 154
Thread................................................................................................................................. 156
11. Vision Node ........................................................................................................................................ 157
12. Communication and Display ............................................................................................................... 159
Modbus ...................................................................................................................................... 159
Modbus System Hardware Structure ................................................................................... 159
Modbus System Software Structure .................................................................................... 159
Set Modbus TCP .......................................................................................................... 159
Set Modbus RTU .......................................................................................................... 160
Application of Modbus in Project ......................................................................................... 160
Network ..................................................................................................................................... 164
Network Node ..................................................................................................................... 165
IO .............................................................................................................................................. 166
User Defined IO .................................................................................................................. 166
External IO .......................................................................................................................... 166
Status IO ............................................................................................................................. 167
Command Node ........................................................................................................................ 167
TmComm Instruction Set ..................................................................................................... 168
File Command ..................................................................................................................... 174
Log Node ................................................................................................................................... 177
Display Node ............................................................................................................................. 178
Voice Node ................................................................................................................................ 179
13. Component ......................................................................................................................................... 181
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14. Force Related Node ............................................................................................................................ 184
Compliance node ....................................................................................................................... 184
F/T Sensor ................................................................................................................................. 188
Communication Setting ....................................................................................................... 188
Position Setting ................................................................................................................... 189
Import/Export Settings of F/T Sensor .................................................................................. 191
Force Value and Charts ....................................................................................................... 191
Touch Stop Node ....................................................................................................................... 192
Function Type: Compliance ................................................................................................. 192
Function Type: Line ............................................................................................................. 193
Touch Stop Function Type: Force Sensor ............................................................................ 195
Smart Insert Node ..................................................................................................................... 197
Approaching ........................................................................................................................ 197
Approaching principle description ................................................................................. 197
Approaching parameters setting ................................................................................... 198
Searching ............................................................................................................................ 199
Method for searching: Spiral ......................................................................................... 200
Method for searching: Linear ........................................................................................ 201
Pushing ............................................................................................................................... 202
Parameter Setting ......................................................................................................... 202
Force Control Node ................................................................................................................... 203
15. Operation Space ................................................................................................................................. 210
Overview ................................................................................................................................... 210
Operation Space Setting Page .................................................................................................. 211
Add / Modify Page ..................................................................................................................... 212
Plane Page ......................................................................................................................... 212
Cube Page .......................................................................................................................... 213
Operation Space Setting Page in the Project Editing Page ........................................................ 214
Export/Import Operation Space.................................................................................................. 216
Export Operation Space ...................................................................................................... 216
Import Operation Space ...................................................................................................... 216
16. TM Component Editor ......................................................................................................................... 219
Starting to create your first component ...................................................................................... 219
Overview ............................................................................................................................. 219
TM Component Editor settings ............................................................................................ 219
Start node ..................................................................................................................... 219
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Node settings ................................................................................................................ 222
TM Component Editor Naming Rule .................................................................................... 224
Component Naming ...................................................................................................... 224
Global Variables Naming .............................................................................................. 225
Devices ...................................................................................................................................... 226
Modbus Devices .................................................................................................................. 226
Network Devices ................................................................................................................. 226
Force Sensing Devices ....................................................................................................... 227
Features & Applicable Examples ............................................................................................... 227
Global Variables .................................................................................................................. 227
Use component in TM Component Editor ............................................................................ 228
Component Inheritance ....................................................................................................... 228
The example of point parameterization application .............................................................. 229
The example of making parameterized devices ................................................................... 231
Use thread in TM Component Editor ................................................................................... 232
Use subflow in TM Component Editor ................................................................................. 232
Hide parameters .................................................................................................................. 232
Using your component ............................................................................................................... 233
Open the component ........................................................................................................... 233
Import/Export Components ................................................................................................. 234
17. Collision Check Node ......................................................................................................................... 235
Appendix A: Modbus List .......................................................................................................................... 236
Appendix B: Display of Indication Light Ring ............................................................................................. 251
Appendix C: Tables of Safety Parameter Upper and Lower Bounds ......................................................... 255
Appendix D: Ethernet Slave Data Table .................................................................................................... 263
Appendix E: PROFINET Data Table ......................................................................................................... 269
Appendix F: Error Descriptions and Suggestions ...................................................................................... 274
Figures
Figure 1: Release the Emergency Switch ..................................................................................... 25
Figure 2: The Three Lights on The Robot Stick Flashing .............................................................. 25
Figure 3: The Indication Light Ring of The End Module Flashing in Light Blue ............................. 25
Figure 4: The Recommended Operating Sequence of Moving the Joints of TM Robot from Packing
Pose to Safe Posture............................................................................................................. 26
Figure 5: The Recommended Operating Sequence of Moving the Joints of X series TM Robot from
Packing Pose to Safe Posture ............................................................................................... 26
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Figure 6: The Indication Light Ring of The End Module Returns to Blue Light .............................. 27
Figure 7: The Normal Poses ......................................................................................................... 28
Figure 8: Release the Emergency Switch of Robot Stick .............................................................. 28
Figure 9: The Power Light on The Robot Stick Flashing ............................................................... 29
Figure 10: Wireless Access Point Connection Method (1/2) ......................................................... 30
Figure 11: Wireless Access Point Connection Method (2/2) ......................................................... 30
Figure 12: Wired Network Connection Method (1/2) ..................................................................... 32
Figure 13: Wired Network Connection Method (2/2) ..................................................................... 32
Figure 14: Safety Setting .............................................................................................................. 34
Figure 15: Angle Setting ............................................................................................................... 35
Figure 16: Human – Machine Safety Settings (1/2) ...................................................................... 36
Figure 17: Human – Machine Safety Settings (2/2) ...................................................................... 38
Figure 18: Safety IO Settings ........................................................................................................ 39
Figure 19: Auto Mode / Manual Mode (1/3) .................................................................................. 45
Figure 20: Auto Mode / Manual Mode (2/3) .................................................................................. 45
Figure 21: Auto Mode / Manual Mode (3/3) .................................................................................. 45
Figure 22: The Robot Stick for HW 3.2 or newer .......................................................................... 46
Figure 23: Build and Run Your First Project (1/5) ......................................................................... 47
Figure 24: Build and Run Your First Project (2/5) ......................................................................... 47
Figure 25: Build and Run Your First Project (3/5) ......................................................................... 48
Figure 26: Build and Run Your First Project (4/5) ......................................................................... 49
Figure 27: Build and Run Your First Project (5/5) ......................................................................... 49
Figure 28: Shutdown .................................................................................................................... 50
Figure 29: Function Menu ............................................................................................................. 51
Figure 30: Get/Release Control (Local) ........................................................................................ 52
Figure 31: View ............................................................................................................................ 53
Figure 32: Display(1/3) ................................................................................................................. 54
Figure 33: Display(2/3) ................................................................................................................. 54
Figure 34: Display(3/3) ................................................................................................................. 55
Figure 35: IO ................................................................................................................................ 56
Figure 36: Simulator ..................................................................................................................... 57
Figure 37: Status .......................................................................................................................... 57
Figure 38: Vision Viewer ............................................................................................................... 58
Figure 39: Single Project Icon ....................................................................................................... 59
Figure 40: Project Editing Page .................................................................................................... 60
Figure 41: Open and Delete Project View ..................................................................................... 62
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Figure 42: Step Run ..................................................................................................................... 63
Figure 43: Point Manager (1/2) ..................................................................................................... 64
Figure 44: Point Manager (2/2) ..................................................................................................... 64
Figure 45: Base Manager ............................................................................................................. 66
Figure 46: Controller ..................................................................................................................... 66
Figure 47: Controller (IO Control) ................................................................................................. 68
Figure 48: Controller (FreeBot Control)......................................................................................... 69
Figure 49: EditBlock ..................................................................................................................... 71
Figure 50: Base List...................................................................................................................... 71
Figure 51: Tool List ....................................................................................................................... 72
Figure 52: Display Manager .......................................................................................................... 72
Figure 53: Project Edit (1/3) .......................................................................................................... 73
Figure 54: Project Edit (2/3) .......................................................................................................... 74
Figure 55: Project Edit (3/3) .......................................................................................................... 74
Figure 56: Project Function Menu ................................................................................................. 75
Figure 57: Searching Pane ........................................................................................................... 76
Figure 58: Stop Watch Setting Page ............................................................................................. 77
Figure 59: View Tool Floating Window ......................................................................................... 77
Figure 60: Serial Port (1/2) ........................................................................................................... 78
Figure 61: Serial Port (2/2) ........................................................................................................... 78
Figure 62: Robot Setting ............................................................................................................... 81
Figure 63: Output Default Value Setting ....................................................................................... 82
Figure 64: Speech Setting ............................................................................................................ 83
Figure 65: Gripper Button ............................................................................................................. 84
Figure 66: Posture Setting ............................................................................................................ 85
Figure 67: System Setting ............................................................................................................ 88
Figure 68: Language Setting ........................................................................................................ 88
Figure 69: System Update (1/2) .................................................................................................... 89
Figure 70: System Update (2/2) .................................................................................................... 89
Figure 71: Group .......................................................................................................................... 90
Figure 72: User Account ............................................................................................................... 90
Figure 73: Network Setting (1/2) ................................................................................................... 91
Figure 74: Network Setting (2/2) ................................................................................................... 91
Figure 75: Date Time .................................................................................................................... 93
Figure 76: Administrator Setting ................................................................................................... 94
Figure 77: Network Services ......................................................................................................... 94
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Figure 78: Backup\Restore ........................................................................................................... 96
Figure 79: Pop-out Keyboard ........................................................................................................ 97
Figure 80: Input Devices ............................................................................................................... 97
Figure 81: Auto Remote Mode (1/2) ............................................................................................. 98
Figure 82: Auto Remote Mode (2/2) ............................................................................................. 98
Figure 83: Base Value of the Point ............................................................................................. 100
Figure 84: Coordinate Axis Rotation ........................................................................................... 100
Figure 85: Right-Hand Base ....................................................................................................... 101
Figure 86: Robot Base ................................................................................................................ 102
Figure 87: Servoing Vision Base is on the Camera ..................................................................... 102
Figure 88: Fix-point Vision Base is on the Object ....................................................................... 102
Figure 89: Tool Coordinates ....................................................................................................... 103
Figure 90: Point Parameter Information ...................................................................................... 104
Figure 91: Shift Function of Point Node ...................................................................................... 104
Figure 92: Base Shift Schematic Diagram .................................................................................. 105
Figure 93: Node with Base Shift ................................................................................................. 105
Figure 94: Node with Tool Shift .................................................................................................. 106
Figure 95: Tool Shift Using Keep Pose ....................................................................................... 106
Figure 96: Tool Shift Using Keep Path ........................................................................................ 107
Figure 97: Base Manager ........................................................................................................... 108
Figure 98: Build a Base by 3 Points ............................................................................................ 109
Figure 99: New Base Node......................................................................................................... 110
Figure 100: Create a New Base with Two Vision Bases ............................................................. 110
Figure 101: Create a New Base with Three Vision Bases ........................................................... 111
Figure 102: Create a New Base with Three Points ..................................................................... 112
Figure 103: Create a New Base with Three Points on the Vision Base ....................................... 112
Figure 104: Create a New Base with Three Dynamic Points ....................................................... 113
Figure 105: TCP Definition ......................................................................................................... 114
Figure 106: TCP Setting ............................................................................................................. 115
Figure 107: Set the times of calibration....................................................................................... 116
Figure 108: Teaching Screen ..................................................................................................... 116
Figure 109: The Robot Posture Needs to Change during Teaching (1/2) .................................... 117
Figure 110: The Robot Posture Needs to Change during Teaching (1/2) .................................... 117
Figure 111: Save Teaching Result .............................................................................................. 118
Figure 112: Manual Input TCP Values ........................................................................................ 119
Figure 113: TM Robot Motion Types .......................................................................................... 120
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Figure 114: PTP Motion .............................................................................................................. 121
Figure 115: Speed of PTP Motion............................................................................................... 122
Figure 116: PTP Application Examples....................................................................................... 122
Figure 117: PTP Smart Pose Choosing ...................................................................................... 123
Figure 118: Line Motion Simulation ............................................................................................ 123
Figure 119: Speed of Line Motion ............................................................................................... 123
Figure 120: Link to Project Speed............................................................................................... 124
Figure 121: Line Application Example ........................................................................................ 125
Figure 122: WayPoint Motion Status .......................................................................................... 125
Figure 123: WayPoint Setting ..................................................................................................... 126
Figure 124: WayPoint Application Examples .............................................................................. 126
Figure 125: Blending in Space .................................................................................................... 127
Figure 126: Blending Speed Change Chart ................................................................................ 127
Figure 127: Set the Blending Percentage or Set the Blending by Radius.................................... 128
Figure 128: Motion Nodes Support Variable as the Inputs .......................................................... 129
Figure 129: Speed Adjust and Speed Indication on the Node. .................................................... 130
Figure 130: Point Node ............................................................................................................... 130
Figure 131: Point Node Setting ................................................................................................... 131
Figure 132: F-Point Node ........................................................................................................... 132
Figure 133: F-Point Node Setting ............................................................................................... 132
Figure 134: Adjust F-Point Parameter during Project Running .................................................... 133
Figure 135: Move Node Setting .................................................................................................. 133
Figure 136: Plan for the Move Node ........................................................................................... 134
Figure 137: The Circle Node Plans Arc Path with 3-Point Setting Circle ..................................... 134
Figure 138: Circle Node Setting .................................................................................................. 135
Figure 139: The Circle Motion Status of Reach End Point Settting ............................................. 135
Figure 140: The Circle Motion Status of Set Angle =270° ........................................................... 136
Figure 141: PLine Blending Relationship Chart .......................................................................... 136
Figure 142: Path Node Setting ................................................................................................... 137
Figure 143: Pallet Node (1/2) ...................................................................................................... 138
Figure 144: Pallet Node (2/2) ...................................................................................................... 139
Figure 145: Pallet Patterns ......................................................................................................... 139
Figure 146: Listen Node ............................................................................................................. 140
Figure 147: Variable System ...................................................................................................... 142
Figure 148: Global Variable Setting ............................................................................................ 144
Figure 149: Global Variables after Project Is Run ....................................................................... 144
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Figure 150: SET Node ................................................................................................................ 146
Figure 151: Variable Count ......................................................................................................... 146
Figure 152: Expression Editor Parameters (1/2) ......................................................................... 147
Figure 153: Expression Editor Parameters (2/2) ......................................................................... 148
Figure 154: Add Expression ....................................................................................................... 148
Figure 155: Analog I/O Setting ................................................................................................... 149
Figure 156: IF Node.................................................................................................................... 149
Figure 157: IF Node Stop Criteria Setting ................................................................................... 150
Figure 158: Gateway Node Judges Five Conditions ................................................................... 151
Figure 159: IF Node Judges Four Conditions ............................................................................. 151
Figure 160: Stop Node Ends Project .......................................................................................... 152
Figure 161: Goto Node Flow Transfer ........................................................................................ 153
Figure 162: Goto Node Connection ............................................................................................ 153
Figure 163: Warp Node Transfers to another Project .................................................................. 153
Figure 164: Subflow Node Modularization Concept .................................................................... 154
Figure 165: Menu to Create Subpages ....................................................................................... 155
Figure 166: Select a subflow in the subflow node (1/2) ............................................................... 155
Figure 167: Select a subflow in the subflow node (2/2) ............................................................... 156
Figure 168: Thread ..................................................................................................................... 156
Figure 169: Vision Node ............................................................................................................. 157
Figure 170: Vision Node Flow ..................................................................................................... 157
Figure 171: Vision Node Setting ................................................................................................. 158
Figure 172: Robot Modbus Protocol ........................................................................................... 159
Figure 173: Modbus Device Access ........................................................................................... 160
Figure 174: Modbus TCP Local IP .............................................................................................. 161
Figure 175: Modbus Device Setting ............................................................................................ 162
Figure 176: Modbus X Axis Position Parameter Setting .............................................................. 162
Figure 177: Save the Variable of Modbus Value ......................................................................... 163
Figure 178: Use the obtained variable of SET node to obtain the value of Modbus .................... 163
Figure 179: Display displays the value obtained by Modbus ....................................................... 164
Figure 180: Network Setting ....................................................................................................... 165
Figure 181: Status IO Setting (1/2) ............................................................................................. 167
Figure 182: Status IO Setting (2/2) ............................................................................................. 167
Figure 183: Instruction Set Communicates with HMI .................................................................. 168
Figure 184: Enable TmComm Instruction Set ............................................................................. 168
Figure 185: Directive Summary Flow .......................................................................................... 170
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Figure 186: Command Node Gets RS-232 Information .............................................................. 171
Figure 187: Set and Open Serial Port (1/2) ................................................................................. 171
Figure 188: Set and Open Serial Port (2/2) ................................................................................. 172
Figure 189: Read Data and Receive as a Variable ..................................................................... 172
Figure 190: SET Node Setting .................................................................................................... 173
Figure 191: Display Node Displays the Obtained Value .............................................................. 174
Figure 192: Remotely Add Notepad and Write information ......................................................... 176
Figure 193: Display Node Displays Received Variables ............................................................. 176
Figure 194: Remotely Delete Notepad File ................................................................................. 177
Figure 195: Log Node Gets the Current Angle ............................................................................ 177
Figure 196: Log Node Setting ..................................................................................................... 178
Figure 197: Node Text Example ................................................................................................. 178
Figure 198: Display Node Displays the Robot's Position ............................................................. 179
Figure 199: Voice Node in TMflow Application............................................................................ 179
Figure 200: Select Components ................................................................................................. 181
Figure 201: Robot Setting Page Component .............................................................................. 182
Figure 202: Gripper Button Setting Page .................................................................................... 183
Figure 203: Compliance Node .................................................................................................... 184
Figure 204: Compliance Node Teach Setting ............................................................................. 186
Figure 205: Line Direction .......................................................................................................... 187
Figure 206: Rotation Direction .................................................................................................... 187
Figure 207: Compliance Variable Selection ................................................................................ 187
Figure 208: F/T Sensor ............................................................................................................... 188
Figure 209: Read Values after Setting F/T Sensor ..................................................................... 189
Figure 210: Position Setting ........................................................................................................ 190
Figure 211: Select Position Setting ............................................................................................. 190
Figure 212: Input Values ............................................................................................................ 191
Figure 213: Charts ...................................................................................................................... 191
Figure 214: Touch Stop-Compliance Settings ............................................................................ 192
Figure 215: Touch Stop-Line Settings ........................................................................................ 194
Figure 216: Force Sensor ........................................................................................................... 195
Figure 217: Force Sensor ........................................................................................................... 196
Figure 218: Approaching Principle .............................................................................................. 198
Figure 219: Approaching Parameter Setting ............................................................................... 199
Figure 220: Spiral Searching Method ......................................................................................... 199
Figure 221: Line Searching Method (1/2) .................................................................................... 200
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Figure 222: Line Searching Method (2/2) .................................................................................... 200
Figure 223: Spiral Searching Parameter Setting Interface .......................................................... 201
Figure 224: Linear Searching Parameter Setting Interface ......................................................... 202
Figure 225: Pushing Parameter Interface ................................................................................... 203
Figure 226: Force Control Node Settings .................................................................................... 203
Figure 227: Tool Coordinate System .......................................................................................... 204
Figure 228: Base Coordinate System ......................................................................................... 204
Figure 229: Trajectory Coordinate System ................................................................................. 205
Figure 230: Possible Conversion Error ....................................................................................... 205
Figure 231: F/T Operation Modes – Setpoint .............................................................................. 206
Figure 232: F/T Operation Modes – Trajectory (1/3) ................................................................... 207
Figure 233: F/T Operation Modes – Trajectory (2/3) ................................................................... 207
Figure 234: F/T Operation Modes – Trajectory (3/3) ................................................................... 208
Figure 235: Stop Criteria – F/T Reached .................................................................................... 209
Figure 236: Operation Space Setting .......................................................................................... 211
Figure 237: Plane ....................................................................................................................... 212
Figure 238: Cube (1/2) ............................................................................................................... 213
Figure 239: Cube (2/2) ............................................................................................................... 214
Figure 240: Project Editing Page and Operation Space Setting .................................................. 215
Figure 241: Click the Save Button to Save the File ..................................................................... 216
Figure 242: Start Node ............................................................................................................... 220
Figure 243: Component Icon Resolution ..................................................................................... 221
Figure 244: Node Setting (1/2) ................................................................................................... 223
Figure 245: Node Setting (2/2) ................................................................................................... 224
Figure 246: Global Variables Naming ......................................................................................... 226
Figure 247: Global Variables ...................................................................................................... 227
Figure 248: The Example of Point Parameterization Application (1/4) ........................................ 229
Figure 249: The Example of Point Parameterization Application (2/4) ........................................ 229
Figure 250: The Example of Point Parameterization Application (3/4) ........................................ 230
Figure 251: The Example of Point Parameterization Application (4/4) ........................................ 231
Figure 252: The Example of Making Parameterized Devices ...................................................... 231
Figure 253: Hide Parameters ...................................................................................................... 233
Figure 254: Open the Component .............................................................................................. 234
Figure 255: Collision Check Node .............................................................................................. 235
Tables
Software Manual TMflow Software version: 1.82
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Table 1: Hardware Versions and Applicability ............................................................................... 21
Table 2: Warning and Caution Symbols........................................................................................ 22
Table 3: Functional Note Symbols ................................................................................................ 23
Table 4: Keyboard Hot Keys in TMflow ......................................................................................... 60
Table 5: FreeBot Degree of Freedom Limitation ........................................................................... 69
Table 6: User Defined IO Setting Table ........................................................................................ 82
Table 7: Valid Blending Setting (Moving from P1 to P2) ............................................................. 128
Table 8: Variable Data Types ..................................................................................................... 143
Table 9: SET Syntax List ............................................................................................................ 147
Table 10: If Judgment Operators ................................................................................................ 150
Table 11: TM Robot Coordinates in the Modbus List .................................................................. 160
Table 12: User Defined IO Setting Table .................................................................................... 166
Table 13: TmComm Instruction set ............................................................................................. 170
Table 14: File Commands .......................................................................................................... 175
Table 15: Spiral Searching Function Setting Parameters Definition ............................................ 201
Table 16: Linear Searching Function Setting Parameter Definition ............................................. 202
Table 17: Pushing Parameter Definitions .................................................................................... 202
Table 18: Component Naming .................................................................................................... 224
Table 19: Naming Rule for Items after Components ................................................................... 225
Table 20: Modbus – Classify ...................................................................................................... 236
Table 21: Modbus – Robot Status 1 ........................................................................................... 236
Table 22: Modbus – Robot Status 2 ........................................................................................... 236
Table 23: Modbus – Control Box DI/O ........................................................................................ 237
Table 24: Modbus – End Module ................................................................................................ 237
Table 25: Modbus – Control Box AI/O ........................................................................................ 238
Table 26: Modbus – External Module ......................................................................................... 238
Table 27: Safety Connector (1/2) ................................................................................................ 239
Table 28: Safety Connector (2/2) ................................................................................................ 239
Table 29: Modbus – Robot Coordinate ....................................................................................... 240
Table 30: Modbus – Robot Coordinate (When Touch Stop node is triggered) ............................ 242
Table 31: Modbus – Run Setting ................................................................................................ 242
Table 32: Modbus – TCP Value .................................................................................................. 243
Table 33: Modbus – Robot Stick ................................................................................................. 243
Table 34: Modbus - Project Speed ............................................................................................. 243
Table 35: Modbus - End Module Button...................................................................................... 244
Table 36: Modbus – Stick Status (Pressed) ................................................................................ 244
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Table 37: Modbus – TCP Speed ................................................................................................ 245
Table 38: Modbus – TCP Force .................................................................................................. 245
Table 39: Modbus – Joint Torque ............................................................................................... 245
Table 40: Modbus – Joint Speed ................................................................................................ 245
Table 41: Modbus – Joint Current............................................................................................... 245
Table 42: Modbus – Joint Temperature ...................................................................................... 246
Table 43: Modbus – Current Base .............................................................................................. 246
Table 44: Modbus – Safety Stop Criteria .................................................................................... 247
Table 45: Modbus – Collaborative Mode .................................................................................... 247
Table 46: Modbus – Running Timer ............................................................................................ 247
Table 47: Modbus – Up Time ..................................................................................................... 248
Table 48: Modbus – Others 1 ..................................................................................................... 248
Table 49: Modbus – Others 2 ..................................................................................................... 249
Table 50: Modbus – Others 3 ..................................................................................................... 249
Table 51: Modbus – Others 4 ..................................................................................................... 250
Table 52: Blinking Ratio .............................................................................................................. 252
Table 53: Light Indications .......................................................................................................... 253
Table 54: Quick References of Color/Blinking ............................................................................ 254
Table 55: Safety Parameter Table - TM5-700/ TM5M-700 .......................................................... 255
Table 56: Safety Parameter Table - TM5X-700 .......................................................................... 256
Table 57: Safety Parameter Table - TM5-900/ TM5M-900 .......................................................... 257
Table 58: Safety Parameter Table - TM5X-900 .......................................................................... 258
Table 59: Safety Parameter Table - TM14/ TM14M .................................................................... 259
Table 60: Safety Parameter Table - TM14X ............................................................................... 260
Table 61: Safety Parameter Table - TM12/ TM12M .................................................................... 261
Table 62: Safety Parameter Table - TM12X ............................................................................... 262
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color and added safety monitoring functions to hand guiding. Updated
light ring
Revision History Table
Revision Code Date Revised Content
01
02
03
04
05
06
07 August 2020 Added 1.80 features
08 February 2021 Added 1.82 features
09 March 2021 Added 1.82.2 features
October 2018
December 2018
July 2019
August 2019
December 2019
April 2020
Original release
Software update from 1.68.6000 to 1.68.6800. Redefined the LED light
Chapter 4. Minor test fixes. Added Appendix B for indication
display.
Added 1.72.3500 features
Added X model information
Added 1.76.3300 features
Added 1.76.6300 features
Software Manual TMflow Software version: 1.82
21
and reading this manual. To check the software version, click on the interface on TMflow.
1. General
Overview
TMflow is a graphical HMI. Its purpose is to provide users with a complete, convenient and simple
interface for robot motion and logic programming environments. Through the graphical HMI, users can
simply manage and set the parameters of the robot, and use the graphical flow chart to plan the robot
movement and process logic. At the same time, the interface design of TMflow considers the use of
touch screens, allowing you to manage multiple robots from a single Windows tablet.
Users and system integrators of TM Robot must read and fully understand this chapter before using this
robot. In addition, before users perform any operation on the robot in accordance with this manual, it is
necessary to read and comply with the Safety Manual for the corresponding product's hardware and
software version, and the Hardware Installation Manual for the corresponding hardware version, before
the operation can be performed.
This manual applies to TMflow Version 1.82 or above. Confirm your software version before using
The applicability of this software to the hardware versions of each TM Robot is as follows:
Hardware Version Applicability
HW 3.0, 3.1, 3.2 Applicable
Table 1: Hardware Versions and Applicability
NOTE:
In this software, the naming rules for custom names and paths are restricted to use:
letters (both uppercase and lowercase letters), digits, and underscore.
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 each paragraph, 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.
Software Manual TMflow Software version: 1.82
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Safety Precautions
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: Warning and Caution Symbols
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 for the software and hardware version of
this product, and complete a training course for their responsibilities in regard to the robot.
Read Manual Label Impact Warning
All personnel who design the robot system must read the Hardware Installation Manual, Software
Manual, and Safety Manual for 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 shall be used according to its intended use.
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.
Software Manual TMflow Software version: 1.82
23
Validation and Responsibility
The information provided in this Manual does not include how to design, install and operate a complete
arm application, nor does it involve the peripheral devices that will affect the overall system safety. The
design and installation of the complete system must comply with the standards and regulations for
safety requirements in the country located.
Users or integrators should understand safety laws and safety
regulations in the local country, and avoid major risks present in the entire 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 the user will not modify any safety 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
Making accessible relevant documents, including the risk assessment and this manual.
Limitation of Liability
No safety-related information shall be considered a guarantee by the Corporation that a TM Robot will
not cause personnel injury or property damage.
Functional Note Symbol
The following table defines the functional note symbols used in this manual. Read the paragraphs
carefully.
IMPORTANT:
This symbol represents the relevant functional details to assist the programming and use.
NOTE:
This symbol represents the relevant functional use tips to assist programming efficiency
Table 3: Functional Note Symbols
Software Manual TMflow Software version: 1.82
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5. Uninstall any hardware that is installed outside the robot body.
2. Start up and Activation
Overview
This manual instructs users of TM Robot to perform start up procedures for the first time. Users must
first read and follow the Safety Manual for the corresponding product's software and hardware version,
and the Hardware Installation Manual for the corresponding hardware version to install the TM Robot
correctly and properly before executing the operation of this chapter; otherwise, it may result in serious
risks.
WARNING:
The following chapters of this manual will describe how to install the TM Robot after
unpacking the box. If it is your first time to install TM Robot without learning all the installation
process starting from unpacking the new product, especially when the robot has been
installed in a working environment, pay attention to the following items in order to perform first
time installation and startup operation according to this manual:
1. In order to avoid the risks of resuming work caused by the changes of the original
working environment and configuration, check with the responsible person for the
working environment and keep all necessary configuration records, such as software
settings and all hardware wirings.
2. Remove all IOs for the external connection of the Control Box, including analog IO,
digital IO, EtherCAT connection port and network ports. Remove all air lines or external
power lines connecting to the optional equipment before Commissioning.
3. Remove all Control Box external USB interface, serial port, and external connection /
external storage device connections of the network interface.
4. Uninstall any added objects / end-effectors installed to the end flange and any electrical
connections between the end effector and the End Module / Control Box.
Start Up
Plug in the Power
Plug the Power Cable of Control Box into the power socket.
WARNING:
For the procedure from product unpacking to plugging the Power Cable of the Control Box
into the power socket, read and follow the corresponding contents of the Hardware
Installation Manual.
Start up from Packing Pose
Step 1. Press the Emergency Switch of the Robot Stick.
Software Manual TMflow Software version: 1.82
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instructions shown on the screen to restart the robot.
Step 2. Press the Power Button of the Robot Stick to start the power supply of the Control
Box.
Step 3. Release the Emergency Switch of the Robot Stick by twisting it a quarter-turn
clockwise when the light on Robot Stick starts blinking.
Figure 1: Release the Emergency Switch
The three lights on the Robot Stick keep flashing. For the buttons, lights, and switch
on the Robot Stick, refer to the Hardware Installation Manual.
Figure 2: The Three Lights on The Robot Stick Flashing
CAUTION:
While booting up, if the Emergency Switch on the Robot Stick is kept pressed, the User
Connected ESTOP Input is kept open, or the User Connected ESTOP Input Port without
Robot ESTOP Output is kept open, the boot process cannot be complete. Follow the
Step 4. The Indication Light Ring of the End Module flashes in red during startup. After
the start up is completed, the Indication Light Ring of the End Module flashes in
light blue, representing that it is in the Safe Start Up Mode.
Figure 3: The Indication Light Ring of The End Module Flashing in Light Blue
Software Manual TMflow Software version: 1.82
26
release the FREE Button immediately, and the brake of each robot joint will be locked again.
Step 5. Hold the FREE Button on the End Module to release the brakes and manually
move the robot to a relatively safe position. If this is the first time unpacking the
robot, follow the illustrations below to release joints from initial posture.
Figure 4: The Recommended Operating Sequence of Moving the Joints of TM Robot
from Packing Pose to Safe Posture
Figure 5: The Recommended Operating Sequence of Moving the Joints of X series
TM Robot from Packing Pose to Safe Posture
DANGER:
Pay attention when the FREE Button is pressed and the brake is released. The robot's body
will sag due to gravity. When the FREE Button is pressed to unlock the brake, be sure to
support the end of robot and expect some sagging, and hold the end of robot, to prevent
harm such as pinching of the Operator. If there are any problems with the robot sagging,
Software Manual TMflow Software version: 1.82
DANGER:
There is no force compensation in Safe Start Up Mode. This means that it requires more
force to move each joints directly against the motor drive.
27
and repeat this step to the correct safe posture as shown in the figure.
long distance from the robot flange, will not cause harm during the calibration motion.
the safe posture after unpacking the box are opposite.
CAUTION:
If you do not follow the above instructions to move the robot to the safe posture shown in the
above figure, but continue to operate downwards to release the Emergency Switch, it may
cause certain joints of the robot (especially the fifth joint) to be outside the joint angle limit
when the robot returns to a normal state. At this time, the robot will not be able to start
correctly and the red light will be on. In this condition, press the Emergency Switch again
CAUTION:
During Joint Position Calibration, each joint of the robot will perform a calibration motion.
Make sure the robot pose is in a clear space of at least 5 degrees per joint to perform the
calibration motion before calibration. At the same time, make sure the TCP, which may be a
Step 6. Press and hold the Stop Button on the Robot Stick for about three seconds, and
the robot will enter the calibration process. During calibration, joints of the robot may
move slightly. After the calibration is completed, the Indication Light Ring of the
End Module will return to blue light, indicating that the robot has entered the Auto
Mode successfully and it can be used normally.
Figure 6: The Indication Light Ring of The End Module Returns to Blue Light
CAUTION:
When the startup from the Packing Pose is complete, use the TMflow controller page to
move the robot posture to the origin first (each joint angle: 0, 0, 0, 0, 0, 0), and then use the
FreeBot teaching to move the robot to the Normal Pose (each joint angle: 0, 0, 90, 0, 90, 0)
as shown in the figure below. Note that the joint 2 pointing directions of the Normal Pose and
Software Manual TMflow Software version: 1.82
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instructions shown on the screen to restart the robot.
Figure 7: The Normal Poses
Standard Start Up
Step 1.
Check that the robot's posture is safe.
Step 2. Check that the Emergency Switch of Robot Stick is released.
Figure 8: Release the Emergency Switch of Robot Stick
Step 3. Press the Power Button on the Robot Stick to start the robot.
CAUTION:
While booting up, if the Emergency Switch on the Robot Stick is kept pressed, the User
Connected ESTOP Input is kept open, or the User Connected ESTOP Input Port without
Robot ESTOP Output is kept open, the boot process cannot be complete. Follow the
Step 4. Check the screen on the Control Box. It should now indicate that the system
entered startup mode. The power light on the Robot Stick will keep flashing, too.
Software Manual TMflow Software version: 1.82
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a long distance to the robot flange, will not cause harm during the calibration motion.
Minimum requirements of the client device to install TMflow are as follows:
Additional
1. 2010Redistributable_bcredist (x64/x86)
Figure 9: The Power Light on The Robot Stick Flashing
Step 5. When the controller is starting up, the Indication Light Ring of the End Module
displays flashing red light. During the process, the robot will run automatic
calibration, and each joint of the robot will move slightly to calibrate.
CAUTION:
During Joint Position Calibration period, each point of the robot will perform a calibration
motion. Make sure the robot pose is in a clear space of at least 5 degrees per joint to perform
the calibration motion before calibration. At the same time, make sure the TCP, which may be
Step 6. After the controller start up is done, the Indication Light Ring of the End Module
will constantly display blue light. The robot can be used normally at this time.
TM Robot HMI TMflow Operation
TMflow and the TM Robot can be connected in ways as below:
Connect with the monitor, keyboard and mouse to the Control Box. This enables to start
TMflow.
Download the TMflow Client from customer area of the official website, and then install it on
a Windows-based computer (e.g. Windows Laptop/ Windows Tablet). Connect to the robot in
a wired or a wireless network.
NOTE:
Operating System:
CPU:
RAM:
Hard Drive Space:
Display Resolution:
Peripherals:
Supported Languages:
Windows 7 SP 1
Intel i5 series compatibles or above
4 GB at least
2 GB of available space
1366 by 768
USB ports and Ethernet ports
English, Traditional Chinese, Simplified Chinese,
Japanese, German, Korean, Vietnamese, Spanish, French,
Italian, Danish, Dutch, Czech, Hungarian, Romanian,
Portuguese, Turkish, Polish, Thai
Software Manual TMflow Software version: 1.82
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4. .Net Framework 4.52 or above.
≡
Requirements: 2. 2013Redistributable_bcredist (x64/x86)
3. 2015Redistributable_bcredist (x64/x86)
Local Operation Method
Step 1. Connect the screen, mouse, and keyboard, to the Control Box.
Step 2.
Navigate to
and click Login.
Administrator by default is not set with password. Click OK to login directly.
Step 3. Click Get Control to get control of the robot.
Wireless Access Point Connection Method
Step 1.
Step 2.
Install TMflow on client device.
Connect the robot to the same physical AP or entity AP of the same network
segment.
Physical AP
Figure 10: Wireless Access Point Connection Method (1/2)
Step 3.
Connect the client network to the above local area network.
Physical AP
Figure 11: Wireless Access Point Connection Method (2/2)
Step 4.
Open TMflow on the client device, click the upper left corner to refresh
Software Manual TMflow Software version: 1.82
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